image_transport Documentation

最新推荐文章于 2024-01-25 01:52:20 发布

转载最新推荐文章于 2024-01-25 01:52:20 发布 · 342 阅读

1 ·

CC 4.0 BY-SA版权

原文链接：http://docs.ros.org/api/image_transport/html/

本文深入讲解了ROS（Robot Operating System）中图像传输的实现方式，包括如何使用image_transport的类替代传统的ros::Publisher和ros::Subscriber进行图像发布与订阅。此外，文章还介绍了用于同步图像和相机信息的CameraPublisher与CameraSubscriber，以及适用于复杂同步需求的SubscriberFilter。

http://docs.ros.org/api/image_transport/html/

Code API
When transporting images, you should use image_transport’s classes as drop-in replacements for ros::Publisher and ros::Subscriber.

image_transport::ImageTransport - use this to create a Publisher or Subscriber
image_transport::Publisher - manage advertisements for an image topic, using all available transport options
image_transport::Subscriber - manage an Image subscription callback using a particular transport
Camera drivers publish a “camera_info” sibling topic containing important metadata on how to interpret an image for vision applications. image_transport included helper classes to publish (image, info) message pairs and re-synchronize them on the client side:

image_transport::CameraPublisher - manage advertisements for camera images
image_transport::CameraSubscriber - manage a single subscription callback to synchronized image (using any transport) and CameraInfo topics
For other synchronization or filtering needs, see the low-level filter class:

image_transport::SubscriberFilter - a wrapper for image_transport::Subscriber compatible with message_filters