【ros】使用opnecv发布和接收图像

记录一下在ros中使用opencv显示图像和发布接收图像的一些步骤。

1. 准备工作

首先ubuntu16.04的ros-kinetic版本自带opencv的所以就不用再单独安装喽。

• 修改一下CMakeLists.txt

  find_package(catkin REQUIRED COMPONENTS
    roscpp
    rospy
    std_msgs
    sensor_msgs
    message_filters
    OpenCV
    cv_bridge 
    image_transport
  )
  
  find_package(PCL 1.7 REQUIRED)
  find_package(OpenCV REQUIRED)
  
  include_directories(include ${catkin_INCLUDE_DIRS})
  include_directories(include ${OpenCV_INCLUDE_DIRS})
  include_directories(include ${PCL_INCLUDE_DIRS})
  
  add_executable(hw_opencv src/hw_opencv.cpp)
  target_link_libraries (hw_opencv ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
  

2. 调用opencv显示图像

• 代码

  #include "ros/ros.h"    
  #include <sensor_msgs/PointCloud2.h>
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/image_encodings.h> //头文件sensor_msgs/Image是ROS下的图像的类型，这个头文件中包含对图像进行编码的函数。
  #include <image_transport/image_transport.h> //这个头文件中包含的是ImageTransport类，这个类提供ROS中图像的订阅和发布。
  #include <cv_bridge/cv_bridge.h> //头文件cv_bridge中包含了CvBridge类，而CvBridge中的API可以将ROS下的sensor_msgs/Image消息类型转化成cv::Mat
  #include <opencv2/imgproc/imgproc.hpp>
  #include <opencv2/highgui/highgui.hpp>
  #include <iostream>
  
  using namespace std;
  
  static const char WINDOW[] = "Image window";
  
  int main(int argc, char **argv)
  {
  
      ros::init(argc, argv, "hw_opencv");
      ros::NodeHandle node;
  
      cout << "\033[1;31m hw1! \033[0m" << endl;
  
      cv::Mat cv_image = cv::imread("/home/djq/me.jpg");
  
      if(cv_image.empty() )
      {
          ROS_ERROR("Read the picture failed!");
          return -1;
      }
      
      // Show the image
      cv::namedWindow(WINDOW);
      cv::imshow(WINDOW,cv_image);
      cv::waitKey(0);
      
      return 0;
  }
  
  

• 效果
  

3. 发布图像

• 代码

  #include "ros/ros.h"    
  #include <sensor_msgs/PointCloud2.h>
  #include <sensor_msgs/Image.h>
  #include <sensor_msgs/image_encodings.h> //头文件sensor_msgs/Image是ROS下的图像的类型，这个头文件中包含对图像进行编码的函数。
  
  #include <image_transport/image_transport.h> //这个头文件中包含的是ImageTransport类，这个类提供ROS中图像的订阅和发布。
  #include <opencv2/highgui/highgui.hpp> //调用opencv库
  #include <opencv2/imgproc/imgproc.hpp>
  #include <cv_bridge/cv_bridge.h> //头文件cv_bridge中包含了CvBridge类，而CvBridge中的API可以将ROS下的sensor_msgs/Image消息类型转化成cv::Mat
  
  #include <iostream>
  #include <typeinfo>
  
  using namespace std;
  
  int main(int argc, char **argv)
  {
  
      ros::init(argc, argv, "hw_opencv");
      ros::NodeHandle node;
  
      image_transport::ImageTransport transport(node);
      image_transport::Publisher image_pub = transport.advertise("OutImage", 1);
  
      cout << "\033[1;31m hw_opencv! \033[0m" << endl;
  
      cv::Mat cv_image = cv::imread("/home/djq/me.jpg");
  
      if(cv_image.empty() )
      {
          ROS_ERROR("Read the picture failed!");
          return -1;
      }
  
      //将opencv格式的图像转化为ROS所支持的消息类型，从而发布到相应的话题上。
      sensor_msgs::ImagePtr im_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", cv_image).toImageMsg();
      // sensor_msgs::Image im=*im_msg;
      // printf("%s\n",typeid(im_msg).name());//类型
      // printf("%s\n",typeid(im).name());//类型
  
      ros::Rate loop_rate(1);
  
      //发布图片消息
      while (ros::ok()) 
      {
          image_pub.publish(im_msg);
          ROS_INFO("Converted Successfully!");
          
          ros::spinOnce();
  
          loop_rate.sleep();
      }
  
      return 0;
  }
  

• 结果
  ps：查看图像也可以用这个指令

  rqt_image_view
  

4. 接收图像

• 代码

  #include <ros/ros.h>
  #include <image_transport/image_transport.h>
  #include <opencv2/highgui/highgui.hpp>
  #include <cv_bridge/cv_bridge.h>
  
  #include <iostream>
  using namespace std;
  
  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    cout << "\033[1;32m go! \033[0m" << endl;
  
    try
    {
      // 用于将ROS图像消息转化为Opencv支持的图像格式（采用BGR8编码方式）
      cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
    }
  }
   
  int main(int argc, char **argv)
  {
    ros::init(argc, argv, "image_listener");
    ros::NodeHandle node;
  
    cout << "\033[1;31m hw_opencv! \033[0m" << endl;
  
    cv::namedWindow("view");
    cv::startWindowThread();
    image_transport::ImageTransport transport(node);
    image_transport::Subscriber sub = transport.subscribe("OutImage", 1, imageCallback);
    ros::spin();
    cv::destroyWindow("view");
  }
  

• 效果
  使用rosnode list查看当前所有的node
  使用rosrun rqt_graph rqt_graph，查看