ros订阅图片python_使用python订阅ROS传感器消息/图像

import rospy

from sensor_msgs.msg import Image

from std_msgs.msg import String

from cv_bridge import CvBridge, CvBridgeError

import cv2

import numpy as np

import tensorflow as tf

import classify_image

class RosTensorFlow():

def __init__(self):

classify_image.maybe_download_and_extract()

self._session = tf.Session()

classify_image.create_graph()

self._cv_bridge = CvBridge()

self._sub = rospy.Subscriber('image', Image, self.callback, queue_size=1)

self._pub = rospy.Publisher('result', String, queue_size=1)

self.score_threshold = rospy.get_param('~score_threshold', 0.1)

self.use_top_k = rospy.get_param('~use_top_k', 5)

def callback(self, image_msg):

try:

cv_image = self._cv_bridge.imgmsg_to_cv2(image_msg, desir