[实例]ROS使用OpenCV读取图像并发布图像消息在rviz中显示

Posted 2020-10-14

思路：
（1）使用opencv读取本地图像
（2）调用cv_bridge::CvImage（）.toImageMsg()将本地图像发送给rviz显示

一、使用opencv读取本地图像并发布图像消息

（1）利用catkin新建一个工程叫rosopencv,并进行初始化

 mkdir -p rosopencv/src
 cd rosopencv/src
 catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport
 cd ..
 catkin_make
 source ./devel/setup.bash

（2）编辑主函数代码

主函数rosopencv.cpp内容如下

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

#include <stdio.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("camera/image", 1);

  cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);
  if(image.empty()){
   printf("open error\n");
   }
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();

  ros::Rate loop_rate(5);
  while (nh.ok()) {
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
}

注意:cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);这句中的"/home/topeet/test.jpg"需要改成自己图片的路径.

（3）编辑CmakeLists.txt

在工程目录下的/src/rosopencv/src/CmakeLists.txt中加入如下内容

    add_executable(rosopencv src/rosopencv.cpp)  
    target_link_libraries(rosopencv ${catkin_LIBRARIES})  
    add_dependencies(rosopencv robot_vision_generate_messages_cpp)

二、编译和运行

编译

cd ~/dev/workspace/rosopencv
catkin_make

运行

rosrun rosopencv rosopencv 

输入

rostopic echo /camera/image

全是数字。

三、在rviz 中显示

运行rviz

rosrun rviz rviz

左边点击add
选中image
在image的topic选项中选
/camera/image

 

转载自:http://blog.csdn.net/ktigerhero3/article/details/70157582