ros+opencv之简单入门

ROS和Opencv的融合，感觉还是各自干各自的活，只不过中间通过cv_bridge进行链接转换下。图片（视频流）的读取，既可以采用ＲＯＳ的方式，也可以采用 opencv直接读取。方便了和ROS其他包的扩展，也就不用考虑程序结构的实现了，确实是“不用重复造轮子”了。
程序代码如下：

#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

int main(int argc,char** argv)
{
   
    ros::init(argc,argv,"image_test");
    cv::Mat image;
    cv::VideoCapture capture(0);
    if(!capture.isOpened()){
   
        ROS_ERROR("failed to open camera");
        ros::shutdown();
    }
    image = cv::imread("/home/chasing/Templates/ros_tmp/src/opencvtest/src/ubuntu.png");

    ROS_INFO_STREAM("opencv"<<image.cols<<"\t"<<image.rows);
    cv::imshow("image",image);
    cv::waitKey(0);
    ros::NodeHandle nh;
    ros::Publisher image_pub= nh.advertise<sensor_msgs::Image>("myopencv/image_raw",10);
    cv::Mat edges;

    ros::Rate rate(10);
    while(ros::ok())
    {
   

        capture>>edges;
        cv::