/usr/bin/env pythonimportrospyfromsensor_msgs.msgimportImageimportcv2fromcv_bridgeimportCvBridgeclassImageSubscriber:def__init__(self):self.bridge=CvBridge()self.subscriber=rospy.Subscriber('/camera/image',Image,self.callback)rospy.init_node('image_subscriber',anonymous=True)defcallback(self,data):...
#!/usr/bin/env pythonimportrospyfromsensor_msgs.msgimportImagefromcv_bridgeimportCvBridgeimportcv2defcamera_publisher():# 初始化ROS节点rospy.init_node('camera_publisher',anonymous=True)# 创建ROS发布者image_pub=rospy.Publisher('/camera/image_raw',Image,queue_size=10)# 使用CvBridge将OpenCV图像转换...
subscribe(pointcloud_topic, 10, &pointcloud_pub_sub::callback, this); } void pointcloud_pub_sub::callback(const sensor_msgs::PointCloud2ConstPtr &cloud) { pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::fromROSMsg(*cloud, *temp_cloud); ...
安装sensor_msgs 这个比较简单直接使用pip就可以了 python pip install sensor_msgs --extra-index-url https://rospypi.github.io/simple/ 问题 实际使用过程中遇到了一个问题,在解析图片信息的时候 python fromcv_bridge.boost.cv_bridge_boostimportcvtColor2 ...
from sensor_msgs.msg import CompressedImage # We do not use cv_bridge it does not support CompressedImage in python # from cv_bridge import CvBridge, CvBridgeError VERBOSE=False class image_feature: def __init__(self): '''Initialize ros publisher, ros subscriber''' ...
import rospy import sys import cv2 from sensor_msgs.msg import Image, CameraInfo from cv_bridge import CvBridge, CvBridgeError from std_msgs.msg import String import numpy as np 以下代码部分是 Python 中的类定义,我们将使用它们来演示CvBridge函数。 该类称为cvBridgeDemo: class cvBridgeDemo(): ...
import mathfromsensor_msgs.msg import Imufromgeometry_msgs.msg import Pose, Quaternion,PoseWithCovarianceStamped import PyKDL def quat_to_angle(quat): rot=PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w)returnmap(normalize_angle,rot.GetRPY()) ...
importrospyimportmessage_filtersfromsensor_msgs.msgimportPointCloud2fromargparseimportArgumentParserclassPointCloudSubscriber(object):def__init__(self,topic):"""Args:topic: str or List:str. 比如 '/rslidar'"""self.topic=topicdefcallback(self,*msgs):"""Args:msgs:(tuple:PointCloud2)Returns:"""if...
我正在尝试从 ROS 中的 kinect 对点云进行一些分割。截至目前我有这个: import rospy import pcl from sensor_msgs.msg import PointCloud2 import sensor_msgs.point_cloud2 as pc2 def on_new_point_cloud(data): pc = pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z")) ...
#write by leo at2018.04.26#function:#display the frame from another node.importrospyimportnumpyasnp from sensor_msgs.msgimportImage from cv_bridgeimportCvBridge,CvBridgeErrorimportcv2 defcallback(data):# define picture to_down' coefficientofratio scaling_factor=0.5global count,bridge count=count+1...