ROS订阅并发布图像节点
该程序实现tx2板上opencv获取USB相机图像,并发布为一个图像消息以供PC上的从机获取并显示。
环境:
ubuntu 1604
ROS:kinetic
平台:TX2 相机:罗技C270
头文件
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
其中的 <image_transport/image_transport.h>是ROS图像消息传输必须的头件,cv_bridge/cv_bridge.h是将opencv格式与ROS格式图像转换必须的头文件。<opencv2/opencv.hpp>是opencv所需的头文件。这些相应的库需要再Cmake文件中的find_package中声明
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
image_transport
cv_bridge
std_msgs
)
find_package(OpenCV REQUIRED)
关键代码 发布部分
ros::init(argc, argv, "hough_detect");//init node
ros::NodeHandle n;
image_transport::ImageTransport it(n);
image_transport::Publisher pub = it.advertise("camera/image", 1);// init pub0 object
sensor_msgs::ImagePtr msg;
VideoCapture capture(1);//camera video on ubuntu1604(1 is usb camera) (0 is laptop camera)
ros::Rate loop_rate(10);
cv::Mat frame;
Mat frameGary;
while (ros::ok())
{
capture >> frame;
if(frame.empty()){
ROS_ERROR("video is error");
break;
}
cvtColor(frame, frameGary, CV_BGR2GRAY);
//pub the image topic information
msg = cv_bridge::CvImage(std_msgs::Header(),"mono8",frameGary).toImageMsg();//mono8 gary picture
pub.publish(msg);
cv::waitKey(1);
ros::spinOnce();
loop_rate.sleep();
}
- image_transport::ImageTransport it(n) 例化一个图像传输的对象it
- image_transport::Publisher pub = it.advertise(“camera/image”, 1);例化一个图像发布的对象pub 命名为“camera/image”队列长度为1
- sensor_msgs::ImagePtr msg;定义一个图像消息对象msg
- VideoCapture capture(1) 利用opencv获取视频流。1为USB摄像头0为自带摄像头
- cvtColor(frame, frameGary, CV_BGR2GRAY);将获取的图像转化为灰度图像
- msg = cv_bridge::CvImage(std_msgs::Header(),“mono8”,frameGary).toImageMsg();将opencv灰度转化为ROS支持的灰度图像
- pub.publish(msg);将图像发布出去
实验效果
完整功能包代码
该功能包包括两个部分hough_detect_pub.cpp与hough_detect_sub.cpp。其
hough_detect_pub.cpp
1.实现霍夫圆检测将检测后的圆标记再图像中并将该图像发布为图像消息。
2.将圆心坐标发布为CircleCenter消息
3.圆心坐标通过串口传输到stm32单片机。
hough_detect_sub.cpp
1.获取圆心消息
2.获取实时图像消息