Python ROS opencv msg 不使用cv_brigde

ROS Melodic 的cv_brigde只支持python2版本， python3 需要自己编译， 比较麻烦。 可以直接使用sensor_msg.Image 直接传输

Publish

将opencv图像转为sensor_msg
img_msg.data = np.array(cv2.cvtColor(QueryImg, cv2.COLOR_BGR2RGB)).tostring()

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import cv2
import rospy
from sensor_msgs.msg import Image as Image_msg
import numpy as np

rospy.init_node("usb_cam_pub")
cam = cv2.VideoCapture(-1, cv2.CAP_V4L2)

# 图片话题
img_pub = rospy.Publisher('/cam_img', Image_msg, queue_size=1)
img_msg = Image_msg()
img_msg.header.stamp = rospy.Time.now()
img_msg.header.frame_id = 'world'
img_msg.encoding='rgb8'

while cam.isOpened() and not rospy.is_shutdown():
    ret, QueryImg = cam.read()
    if ret == True:
        img_msg.header.stamp = rospy.Time.now()
        img_msg.height, img_msg.width = QueryImg.shape[0], QueryImg.shape[1]
        img_msg.data = np.array(cv2.cvtColor(QueryImg, cv2.COLOR_BGR2RGB)).tostring() # rviz 显示的格式rgb
        img_pub.publish(img_msg)
        cv2.imshow('QueryImage', QueryImg)
    else:
        print("NOT FRAME!!")
cv2.destroyAllWindows()
cam.release()

---

Subscribe

将sensor_msg 转为 opencv图像
img = np.ndarray(shape=(img_msg.height, img_msg.width, 3), dtype=np.uint8, buffer=img_msg.data)

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import numpy as np
from sensor_msgs.msg import Image as Image_msg
import rospy

def img_callback(img_msg):
    """
    img_msg.header.stamp;
    img_msg.height;
    img_msg.width;
    img_msg.encoding
    """
	global start_time
	img = np.ndarray(shape=(img_msg.height, img_msg.width, 3), dtype=np.uint8, buffer=img_msg.data)
	print("--> cost time", time.time() - start_time)
	start_time = time.time()
    cv2.imshow('img', img)
    cv2.waitKey(1)

global start_time
start_time = time.time()

if __name__ == "__main__":
	rospy.init_node("sub_cam")
	sub_cam = rospy.Subscriber('/cam_img', Image_msg, callback=img_callback, queue_size=1)
	rospy.spin()

Note:

在sub和pub时， quene_size=1， 将消息队列设为1，不然延时较为明显。