【ros】使用image_transport功能包见图像转换为sensor_msgs/Image消息

一、下载image_common包并编译

下载包

git clone https://github.com/ros-perception/image_common.git

将包image_common / image_transport / tutorial 文件夹复制到你的工作空间的src下，并进行编译 catkin_make。

还有一种操作 在workspace的src下创建软链接。

ln -s`pwd` / image_common / image_transport / tutorial / ./src/image_transport_tutorial

可参考官方链接：
http://wiki.ros.org/image_transport/Tutorials/PublishingImages
（包含从网络摄像头添加视频流 博主暂时未实践）

二、image_transport_tutorial包

使用image_transport_tutorial中的代码进行图像转换
参考链接：http://wiki.ros.org/image_transport/Tutorials/ExaminingImagePublisherSubscriber

publisher 发布者的命令：

roscore  ## 启动ros
rosrun image_transport_tutorial my_publisher path/to/some/image.jpg   ## path是绝对路径
rostopic list //查看话题  ## 如果出现 /camera/image 话题发布成功
rostopic echo /camera/image   ## 展示话题信息  /camera/image 消息类型为sensor_msgs/Image

subscriber 订阅者的命令：

 rosrun image_transport_tutorial my_subscriber  ##订阅话题/camera/image
 rosrun rqt_graph rqt_graph  ## 展示ros节点关系

三、代码分析

my_publisher.cpp
重点两句话：

  cv::Mat image = cv::imread(argv[1], cv::IMREAD_COLOR);
  //读图像
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
  //图像转换

全部代码：

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

int main(int argc, char** argv)
{
  //Node initialization with three parameters 
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh;

  //ros nodehandle link with imagetransport
  image_transport::ImageTransport it(nh);

  //topic name is camera/image,the publish message queue size is 1.
  image_transport::Publisher pub = it.advertise("camera/image", 1);

  //read image,argv[1] is a path that image put in.
  //use cv_bridge function make image transport to sensor_msgs.
  cv::Mat image = cv::imread(argv[1], cv::IMREAD_COLOR);
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();

  ros::Rate loop_rate(0.5);
  while (nh.ok()) {
    //public message
    pub.publish(msg);
    //wait a callback function which handle subscription nodes(this code don't subscrip message)
    ros::spinOnce();
    //sleep 1/0.5=2s
    loop_rate.sleep();
  }
}

my_subscriber.cpp
订阅者代码功能：仅展示图片。

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  try
  {
    cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
    //展示图片
    cv::waitKey(10);
  }
  catch (cv_bridge::Exception& e)
  {
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  cv::namedWindow("view");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
}