cv::Mat和ROS图像互相转换

最新推荐文章于 2023-09-21 17:03:24 发布

白色小靴

最新推荐文章于 2023-09-21 17:03:24 发布

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本文链接：https://blog.csdn.net/weixin_44684139/article/details/108759860

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需要用到ros下的cv_bridge作为桥梁

cv::Mat转sensor_msgs::Image

将cv::Mat image 转为 sensor_msgs::ImagePtr msg

#include "ros/ros.h"
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include "opencv2/opencv.hpp"

中间代码省略

  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  // 发布图像
  image_pub.publish(*msg);

cv_bridge::CvImage返回一个sensor_msgs::ImagePtr类型，因此发布的时候需要*msg

sensor_msgs::Image转cv::Mat

将sensor_msgs::Image msg转为cv::Mat img__

#include "ros/ros.h"
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include "opencv2/opencv.hpp"

中间代码略

        cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg,  sensor_msgs::image_encodings::TYPE_8UC3);
        cv::Mat img__ = cv_ptr->image;