相机发布的ros话题转换为opencv图像

核心原理

订阅相机发布的ros话题进入回调函数，在回调函数中进行转换，即ros话题转换为cv_bridge，再转换为opencv图像
ros中图像格式
sensor_msgs::ImageConstPtr
cv_bridge图像格式
cv_bridge::CvImagePtr
opencv图像格式
cv::Mat

c++版本代码

test2.cpp

#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

cv_bridge::CvImagePtr cv_ptr;
cv::Mat a;

void callback(const sensor_msgs::ImageConstPtr& msg)
{
  cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
  a = cv_ptr->image;
  cv::imshow("window", a);
  cv::waitKey(3);
}
int main(int argc, char** argv){
  ros::init(argc, argv, "main");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("/usb_cam/image_raw", 1, callback);
  ros::spin();
  return 0;
}

CmakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(ros2cv)
set(CMAKE_BUILD_TYPE "Debug")
find_package(catkin REQUIRED COMPONENTS
  roscpp
  sensor_msgs
  cv_bridge
)
find_package( OpenCV REQUIRED )
generate_messages(
  DEPENDENCIES
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS} 
)
add_executable(test2 src/test2.cpp)
target_link_libraries(test2 ${catkin_LIBRARIES} ${OpenCV_LIBS} )

功能包上传到csdn，链接为https://download.csdn.net/download/zhaohaowu/19405550

python版本代码

test.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import cv2
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image

class image_converter:
    def __init__(self):    
        # 创建cv_bridge，声明图像的发布者和订阅者
        self.image_pub = rospy.Publisher("cv_bridge_image", Image, queue_size=1)
        self.bridge = CvBridge()
        self.image_sub = rospy.Subscriber("/usb_cam/image_raw", Image, self.callback)

    def callback(self,data):
        # 使用cv_bridge将ROS的图像数据转换成OpenCV的图像格式
        try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError as e:
            print e

        # 在opencv的显示窗口中绘制一个圆，作为标记
        (rows,cols,channels) = cv_image.shape
        if cols > 60 and rows > 60 :
            cv2.circle(cv_image, (60, 60), 30, (0,0,255), -1)

        # 显示Opencv格式的图像
        cv2.imshow("Image window", cv_image)
        cv2.waitKey(3)

        # 再将opencv格式额数据转换成ros image格式的数据发布
        try:
            self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
        except CvBridgeError as e:
            print e

if __name__ == '__main__':
    try:
        # 初始化ros节点
        rospy.init_node("cv_bridge_test")
        rospy.loginfo("Starting cv_bridge_test node")
        image_converter()
        rospy.spin()
    except KeyboardInterrupt:
        print "Shutting down cv_bridge_test node."
        cv2.destroyAllWindows()

直接python test.py运行