视觉里程计学习(一) ROS实时读取并显示摄像头图像

任务描述

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• test_image_publisher.cpp : 从计算机摄像头读取图像并发布图像信息”camera/image”

• test_image_subscriber.cpp : 读取publisher发布的图像信息

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test_image_publisher.cpp

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一. 代码结构分析

1. 初始化

ros::init(argc, argv, "image_publisher");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1);

初始化节点,设置发送器.这里要发送一个名叫"camera/image"的消息到公共空间("\"目录)

1. 从摄像头读取图像

cv::VideoCapture cap(0);

得到一个摄像头句柄,接下来靠

cap >> frame;

直接得到图片.
3. 发布图像消息到公共空间

pub.publish(msg);  

二. 完整代码

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sstream>

int main(int argc, char** argv) {


    ros::init(argc, argv, "image_publisher");
    ros::NodeHandle nh;
    image_transport: