ros_hydro_OpenCV_kinect_imageconverter

最新推荐文章于 2021-05-09 22:18:03 发布

原创最新推荐文章于 2021-05-09 22:18:03 发布 · 1.2k 阅读

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1.创建好的工作空间catkin_ws

2.创建程序包beginner_opencv,注意其依赖项

cd ~/catkin_ws/src

catkin_create_pkg beginner_opencv sensor_msgs cv_bridge roscpp std_msgs image_transport

3.编写节点image_converter.cpp及相关配置

cd beginner_opencv/src

gedit image_converter.cpp

加入内容，其中接受话题是 /camera/rgb/image_color，表明使用kinect摄像头。

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

static const std::string OPENCV_WINDOW = "Image window";

class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;

public:
ImageConverter()
    : it_(nh_)
{
    // Subscrive to input video feed and publish output video feed
    image_sub_ = it_.subscribe("/camera/rgb/image_color", 1,
      &ImageConverter::imageCb, this);
    image_pub_ = it_.advertise("/image_converter/output_video", 1);

    cv::namedWindow(OPENCV_WINDOW);
}

~ImageConverter()
{
    cv::destroyWindow(OPENCV_WINDOW);
}

void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
    cv_bridge::CvImagePtr cv_ptr;
    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }

    // Draw an example circle on the video stream
    if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
      cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));

    // Update GUI Window
    cv::imshow(OPENCV_WINDOW, cv_ptr->image);
    cv::waitKey(3);

    // Output modified video stream
    image_pub_.publish(cv_ptr->toImageMsg());
}
};

int main(int argc, char** argv)
{
ros::init(argc, argv, "image_converter");
ImageConverter ic;
ros::spin();
return 0;
}

4.配置

CMakeLists.txt中加入

add_executable(image_converter src/image_converter.cpp)

add_dependencies(image_converter beginner_opencv_generate_messages_cpp)

target_link_libraries(image_converter
${catkin_LIBRARIES}
)