ROS 订阅图像节点(1)

博客

http://blog.csdn.net/github_30605157/article/details/50990493

参考ROS原网站

http://wiki.ros.org/image_transport/Tutorials

ROS：两个节点同时具有发布和订阅图像信息的功能

http://blog.csdn.net/ding977921830/article/details/70168877

 

 

 

发射结点　my_publisher

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.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(argv[1], CV_LOAD_IMAGE_COLOR);
  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();
  }
}

 

 

接收节点　my_subscriber

接受完要等待一下

#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)
{
  try
  {
   // image = cv_bridge::toCvShare(msg, "bgr8")->image;
   // cv::imshow("view", image);
  //  cvWaitKey(1);
   cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
   cvWaitKey(1);

  }
  catch (cv_bridge::Exception& e)
  {
    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  cv::namedWindow("view", 0);
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
  
  
  ros::spin();
  cv::destroyWindow("view");
}

 

ｃａｍｋｅ.list

 

cmake_minimum_required(VERSION 2.8.3)
project(my_image_transport)


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  OpenCV
)


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES my_image_transport
  CATKIN_DEPENDS cv_bridge image_transport
#  DEPENDS system_lib
)



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



#build my_publisher and my_subscriber
add_executable(my_publisher src/my_publisher.cpp)
target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(my_subscriber src/my_subscriber.cpp)
target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

 package。xml

 

<?xml version="1.0"?>
<package format="2">
  <name>my_image_transport</name>
  <version>0.0.0</version>
  <description>The my_image_transport package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="[e-mail]">Jane Doe</maintainer> -->
  <maintainer email="[e-mail]">drone</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/my_image_transport</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="[e-mail]">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  <build_depend>opencv2</build_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>image_transport</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

 

 

 

测试命令

发射
rosrun my_image_ansport my_publisher 2.png
接受
rosrun my_image_transport my_subscriber

 http://www.cvlibs.net/datasets/kitti/eval_odometry.php