ROS图像和OpenCV图像相互转换

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于 2024-06-03 10:00:22 发布

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分类专栏：开发文章标签： opencv 计算机视觉

本文链接：https://blog.csdn.net/solititude/article/details/139406442

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ROS图像和OpenCV图像相互转换

【只谈干货】ROS图像和OpenCV图像的相互转换

sensor_msgs::Image转Mat

void chatterCallback(const sensor_msgs::Image::ConstPtr& msg)
{
	cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
	Mat img = cv_ptr -> image;
	cv::imshow("image", img);
	cv::waitKey(1);
}

Mat转sensor_msgs::Image

while (ros::ok())
{
	//替换为需要转换的图像
	Mat image;
	//将Mat类型转为sensor_msgs::Image
	sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
	//发布消息
	chatter_pub.publish(msg);

	ros::spinOnce();
	loop_rate.sleep();
	}