ROS各消息类型的data理解

1.sensor_msgs::Image

• data按rgbrgb…的方式保存图像

#include <fstream>
#include <opencv2/opencv.hpp>
#include <iostream>

using namespace std;

int data[3 * 640 * 480];

void array2mat(const std::vector<unsigned char> data, int width, int height)
{
   
   
  cv::Mat src = cv::Mat::zeros(height, width, CV_8UC3);
  for (int i = 0; i < height; ++i) 
  {
   
   
    for (int j = 0; j < width; j++)
    {
   
   
      src.at<cv::Vec3b>(i, j)[0] = data[(width * i + j)*3+2