【只谈干货】ROS图像和OpenCV图像的相互转换

1. sensor_msgs::Image转Mat

sub节点的回调函数

void chatterCallback(const sensor_msgs::Image::ConstPtr& msg)
{
	cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
	Mat img = cv_ptr -> image;
	cv::imshow("image", img);
	cv::waitKey(1);
}

2. Mat转sensor_msgs::Image

pub节点的while循环

while (ros::ok())
{
	//替换为需要转换的图像
	Mat image;
	//将Mat类型转为sensor_msgs::Image
	sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
	//发布消息
	chatter_pub.publish(msg);

	ros::spinOnce();
	loop_rate.sleep();
	}

Reference:
http://wiki.ros.org/image_transport/Tutorials/PublishingImages