1.数据分析
kitti数据集的2011_09_26_drive_0005_sync文件夹下,有四个存放图像数据的文件夹,分别为image_00(左侧灰度)、image_01(右侧灰度)、image_02(左侧彩色)、image_03(右侧彩色),其中的图片都是以每秒拍10张来记录的。
2.新建发布图片的功能包
#进入工作空间catkin_ws,在src目录下创建功能包
$catkin_create_pkg kitti_tutorial rospy
cd ..
catkin_make
在功能包src目录下创建kitti.py文件
#!/usr/bin/env python3
import os
import cv2
from cv_bridge import CvBridge
//将opencv转化为ros
from sensor_msgs.msg import Image
import rospy
DATA_PATH = "/home/sk/Desktop/data/kitti/2011_09_26/2011_09_26_drive_0005_sync/"
if __name__ == "__main__":
frame =0
rospy.init_node("kitti_node",anonymous=True)
cam_pub = rospy.Publisher("kitti_cam", Image, queue_size=10)
bridge = CvBridge()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
img = cv2.imread(os.path.join(DATA_PATH, "image_02/data/%010d.png"%frame))
cam_pub.publish(bridge.cv2_to_imgmsg(img,"bgr8"))
rospy.loginfo("kitti published")
rate.sleep()
frame +=1
frame %=154
运行roscore
roscd kitti_turial/src
chmod +x kitti.py
rosrun kitti_turial kitti.py
#roscd 直接切换到ros包的位置
#chmod +x就是赋予用户文件的执行权限
打开rviz ,添加image