ROS——使用OpenCV实现摄像头的发送和接收

• • 使用OpenCV读取摄像头并发布图像话题
  • 使用OpenCV接收图像
  • 编译过程报错解决
  • C++节点和python节点间传送图像

参考教程：OpenCV调用USB摄像头并发布topic（详细图文）

image_pub.cpp

#include 
#include 
#include 
#include 
#include 
#include 
 
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"< 
使用OpenCV接收图像 
在ROS中 opencv 发布和接收图像消息
 
image_sub.cpp
 
#include 
#include 
#include 
#include 

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})
 
 
编译过程报错解决 
参考文章：OpenCV找不到config.cmake（简单直接的解决方法）：Could not find a package configuration file provided by “OpenCV“
 
C++节点和python节点间传送图像 
基于ROS利用客户端和服务端实现C++节点和python节点间传送图像