sensor_msgs::Image转换成深度图，或直接获取距离

1.使用cv_bridge

#include <cv_bridge/cv_bridge.h>
void CB(const sensor_msgs::ImageConstPtr& depth) {
   
  cv_bridge::CvImageConstPtr depth_ptr;
  depth_ptr =
      cv_bridge::toCvShare(depth, sensor_msgs::image_encodings::TYPE_32FC1);
  cv::imshow("res", depth_ptr->image);
  cv::waitKey(1);
}

• 显示的图像不对，试了好几个image_encodings都不行

2.直接获取距离

• 属性
  • height: 480
  • width: 640
  • encoding: “16UC1”
  • is_bigendian: 0

typedef