ROS系列——Qt下接收ros的图像话题，并对图像显示

说明

Qt下开发ros程序，接收图像话题，并通过Qt控件对图像进行显示。

关键源代码

void MainWidget::imgCallback(const sensor_msgs::Image::ConstPtr& msg)
{
    cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
    cv::Mat conversion_mat_ = cv_ptr->image;
    QImage image(conversion_mat_.data, conversion_mat_.cols, conversion_mat_.rows, conversion_mat_.step[0], QImage::Format_RGB888);
    ui->image_frame->setImage(image);
}

简单解释

namespace cv_bridge {
class CvImage
{
public:
  std_msgs::Header header;
  std::string encoding;
  cv::Mat image;
};
typedef boost::shared_ptr<CvImage> CvImagePtr;
typedef boost::shared_ptr<CvImage const> CvImageConstPtr;
}

// Case 1: Always copy, returning a mutable CvImage
CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
                    const std::string& encoding = std::string());
CvImagePtr toCvCopy(const sensor_msgs::Image& source,
                    const std::string& encoding = std::string());

// Case 2: Share if possible, returning a const CvImage
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source,
                          const std::string& encoding = std::string());
CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
                          const boost::shared_ptr<void const>& tracked_object,
                          const std::string& encoding = std::string());

主要链接详细解释