cpp版ros2、opencv转换

lucust

于 2024-03-06 16:33:43 发布

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文章标签： opencv c++ 人工智能

本文链接：https://blog.csdn.net/lucust/article/details/136510497

本文介绍了如何在ROS2中使用OpenCV，包括从ROS主题接收图像数据（SubscriberObjectNode）并转换为OpenCV格式，以及将OpenCV图片发布回ROS主题（publisher_）。展示了cv_bridge在两者间的重要桥梁作用。

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ros2转opencv

#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.hpp>

subscriber_ = this->create_subscription<sensor_msgs::msg::Image>(  
            "img", 10, std::bind(&SubscriberObjectNode::topic_callback, this, std::placeholders::_1));
        
cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
            cv::Mat img = cv_ptr->image;

opencv转ros2

#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.hpp>

publisher_ = this->create_publisher<sensor_msgs::msg::Image>("img", 10);
            
cv::Mat mat2 = cv::imread("img.jpg");
            
sensor_msgs::msg::Image::ConstPtr msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", mat2).toImageMsg();

publisher_->publish(*msg);