compressed_msg = CompressedImage() compressed_msg.header.stamp = rospy.Time.now() compressed_msg.format = "jpg" compressed_msg.data = np.array(cv2.imencode('.jpg', image, [cv2.IMWRITE_JPEG_QUALITY, 5])[1]).tobytes() cimage_pub.publish(compressed_msg) 接收图像 from sensor_msgs.msg i...
(目前由于只用到C++下的opencv格式转ROS压缩图像格式以及Python下的ROS压缩图像格式转pil格式,所以只有这两个的代码) namespaceenc=sensor_msgs::image_encodings;sensor_msgs::CompressedImagecv_to_ros(cv::Matimage)// 将cv图像格式转换为ROS压缩图像格式{std::stringencoding="bgr8";intbitDepth=enc::bitDepth(...
cv_ptr->image);cv::waitKey(3);// Output modified video streamimage_pub_.publish(cv_ptr->toImageMsg());}};intmain(intargc,char**argv){ros::init(argc,argv,"image_converter");ImageConverteric;ros::spin();return0;}
大多数 ROS 相机驱动程序提供的默认主题是: /rosout /rosout_agg /usb_cam/camera_info /usb_cam/image_raw /usb_cam/image_raw/compressed /usb_cam/image_raw/compressed/parameter_descriptions /usb_cam/image_raw/compressed/parameter_updates /usb_cam/image_raw/compressedDepth /usb_cam/image_raw/comp...
Image:图像数据。 CompressedImage:压缩图像数据。 FluidPressure:液压数据。 TFMessage:坐标系变换数据。 NavSatFix:GPS数据。 TimeReference:时间参考数据。 MultiArrayDimension:多维数组数据的维度信息。 MultiArrayLayout:多维数组数据的布局信息。 ImageProjection:用于三维重建的图像投影数据。
ROS中原始图像格式"sensor_msgs/Image"如下: # This message contains an uncompressed image # (0, 0) is at top-left corner of image # Header header # std_msgs/Header uint32 height # image height, that is, number of rows uint32 width # image width, that is, number of columns ...
用image_transport 可以将类型 sensor_msgs/CompressedImage 换为 sensor_msgs/Image 具体做法为: 在执行 rosbag play XXXX.bag 前,先执行命令 打开一个终端执行命令: rosrun image_transport republish compressedin:=/camera/left/image_raw rawout:=/camera/left/image_raw ...
Hi, I am using Realsense-ROS's published topic "'/camera/aligned_depth_to_color/image_raw/compressed". It is jpeg compressed and
$ rosed beginner_tutorials subscriber_publisher_CompressedImage.py 手工输入如下完整示例代码:(忽略注释部分) #!/usr/bin/env python """OpenCV feature detectors with ros CompressedImage Topics in python. This example subscribes to a ros topic containing sensor_msgs ...
ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-...