需要一个/left/image和/right/image的节点,我这里使用uvc_camera这个节点,下载看前文摄像头标定总结,运行指令:
$ rosrun uvc_camera uvc_stereo_node
具体的程序代码为:
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
static const std::string OPENCV_WINDOW1 = "Image window1";
static const std::string OPENCV_WINDOW2 = "Image window2";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_1;
image_transport::Subscriber image_sub_2;
image_transport::Publisher image_pub_1;
image_transport::Publisher image_pub_2;
public:
ImageConverter()
: it_(nh_)
{
// Subscrive to input video feed and publish output video feed
image_sub_1 = it_.subscribe("/left/image_raw", 1,
&ImageConverter::imageCb1, this);
image_sub_2 = it_.subscribe("/right/image_raw", 1,
&ImageConverter::imageCb2, this);
image_pub_1 = it_.advertise("/image_converter/output_video1", 1);
image_pub_2 = it_.advertise("/image_converter/output_video2", 1);
cv::namedWindow(OPENCV_WINDOW1);
cv::namedWindow(OPENCV_WINDOW2);
}
~ImageConverter()
{
cv::destroyWindow(OPENCV_WINDOW1);
cv::destroyWindow(OPENCV_WINDOW2);
}
void imageCb1(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
// Draw an example circle on the video stream
if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));
// Update GUI Window
cv::imshow(OPENCV_WINDOW1, cv_ptr->image);
cv::waitKey(3);
// Output modified video stream
image_pub_1.publish(cv_ptr->toImageMsg());
}
void imageCb2(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
// Draw an example circle on the video stream
if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));
// Update GUI Window
cv::imshow(OPENCV_WINDOW2, cv_ptr->image);
cv::waitKey(3);
// Output modified video stream
image_pub_2.publish(cv_ptr->toImageMsg());
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_converter");
ImageConverter ic;
ros::spin();
return 0;
}