python 怎么得到图像深度图 软件_使用imgmsg_to_cv2 [python]获取ROS中灰度的深度图像...

毕竟，我找到了一个解决方案，你可以在这里看到：

def Depthcallback(self,msg_depth): # TODO still too noisy!

try:

# The depth image is a single-channel float32 image

# the values is the distance in mm in z axis

cv_image = self.bridge.imgmsg_to_cv2(msg_depth, "32FC1")

# Convert the depth image to a Numpy array since most cv2 functions

# require Numpy arrays.

cv_image_array = np.array(cv_image, dtype = np.dtype('f8'))

# Normalize the depth image to fall between 0 (black) and 1 (white)

# http://docs.ros.org/electric/api/rosbag_video/html/bag__to__video_8cpp_source.html lines 95-125

cv_image_norm = cv2.normalize(cv_image_array, cv_image_array, 0, 1, cv2.NORM_MINMAX)

# Resize to the desired size

cv_image_resized = cv2.resize(cv_image_norm, self.desired_shape, interpolation = cv2.INTER_CUBIC)

self.depthimg = cv_image_resized

cv2.imshow("Image from my node", self.depthimg)

cv2.waitKey(1)

except CvBridgeError as e:

print(e)

然而，结果并不像我从ROS的image_view节点那样完美，但它仍然是可以接受的！