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ROS——使用OpenCV实现摄像头的发送和接收

2022-04-21 21:57:00 【Irving.Gao】

文章目录

参考教程：OpenCV调用USB摄像头并发布topic（详细图文）

使用OpenCV读取摄像头并发布图像话题

image_pub.cpp

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <cv_bridge/cv_bridge.h>
#include <iostream>
 
int main(int argc, char** argv)
{
    
  ros::init(argc, argv, "img_publisher");
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("/camera/color/image_raw", 1);
 
  cv::VideoCapture cap;
  cv::Mat frame;
  int deviceID=0;
  if(argc>1)
	deviceID=argv[1][0]-'0';
  int apiID=cv::CAP_ANY;
  cap.open(deviceID+apiID);
  if(!cap.isOpened()){
    
	std::cerr<<"ERROR! Unable to open camera"<<std::endl;
	return -1;
  }
 
  ros::Rate loop_rate(30);
  while (nh.ok()) {
    
	cap.read(frame);
	if(!frame.empty()){
    
		sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
		pub.publish(msg);
	}
    	ros::spinOnce();
    	loop_rate.sleep();
  }
  return 0;
}

使用OpenCV接收图像

在ROS中 opencv 发布和接收图像消息

image_sub.cpp

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

cv::Mat image;

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
    
  ROS_INFO_STREAM("Get Msg");
  try
  {
    
    image = cv_bridge::toCvShare(msg, "bgr8") -> image;
    cv::imshow("view", image);
  }
  catch (cv_bridge::Exception& e)
  {
    
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
  cv::waitKey(1);
}

int main(int argc, char **argv)
{
    
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  cv::namedWindow("view");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("/camera/color/image_raw", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
}

CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  roscpp
  OpenCV
  cv_bridge
  image_transport
)

find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED)

catkin_package()

include_directories(
  include 
  
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(image_pub src/image_pub.cpp)
target_link_libraries(image_pub ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES})

add_executable(image_sub  src/image_sub.cpp)
target_link_libraries(image_sub  ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES})