=cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); //将ROS消息中的图象信息提取,生成新cv类型的图象,复制给CvImage指针 } catch(cv_bridge::Exception&//异常处理 { ROS_ERROR("cv_bridge exception: %s", e.what()); return; } image_process(cv_ptr->image); //得到了cv::Mat类...
ros安装的时候默认的opencv版本是4.2,和本地安装的opencv版本不匹配(我的本地安装的是4.5) 解决方案 单独重新安装cv_bridge库//下载对应版本的cv_bridge包(我安装的foxy) $ git clone https://github.com/ros-perception/vision_opencv.git -b foxy //进入cv_bridge目录, //修改CMakeLists.txt文件的opencv版本...
1.Ros kinetic版本,一般自带cv_bridge, 若没有可以通过apt下载 sudoapt-getinstallros-kinetic-cv-bridge 2.OpenCV 2.4.9版本,一般来说cv_bridge依赖的OpenCV版本为2.4.8,亲测2.4.9可以用,安装可以参考https://blog.csdn.net/u013250416/article/details/78913126 2.1 先下载OpenCV的源码http://opencv.org/downl...
ROS1中cv_bridge::CvImagePtr是boost::make_shared,这种类型显然比std::make_shared更高效,但 ROS2 中没有使用这种更高效的数据结构, 这两个变量类型在 ROS 头文件中可以查看,算是一个小细节。 cv_bridge::CvImagePtr cv_ptr = boost::make_sh...
一、首先进行cv_bridge的编译 因为原来系统自带的cv_bridge只能在python2下使用,所以这里需要python3编译一下cv_bridge。 1、首先进入系统真正的空间中:打开一个新的终端,最好运行一下 source deactivate 1. 2、首先进入python3的环境并安装相关依赖包
# 添加需要用到的 ROS2 包find_package(rclcpp REQUIRED)# find_package(sensor_msgs REQUIRED)# find_package(cv_bridge REQUIRED) # 添加依赖的 ROS2 库,上面添加的包在这里也需要添加才能使用ament_target_dependencies(${PROJECT_NA...
│ ├── cv_bridge │ ├── image_geometry │ └── vision_opencv └── xacro ├── cmake ├── scripts ├── test └── xacro 编译 cd ws colcon build 环境设置 source devel/setup.bash (For ROS1) & source install/setup.bash (for ROS2) ...
这里用到了cv_bridge。通过cv_bridge实现opencv和ros图像消息的转换。 #include<chrono>#include<functional>#include<memory>#include<string>#include"std_msgs/msg/string.hpp"#include"opencv2/opencv.hpp"#include"rclcpp/rclcpp.hpp"#include"sensor_msgs/msg/image.hpp"#include<cv_bridge/cv_bridge.h>using...
from cv_bridge import CvBridge from sensor_msgs.msg import Image import cv2 class CameraPubNode(Node): def __init__(self, name): super().__init__(name) self.pub = self.create_publisher(Image, 'image_raw', 10) self.timer = self.create_timer(0.5, self.timer_callback) ...
("view", cv_bridge::toCvShare(msg, "bgr8")->image); int keycode = cv::waitKey(30) & 0xff; if(keycode == 27){ RCLCPP_INFO(this->get_logger(),"Exit Display"); }// end if(keycode == 27) }// end try catch (cv_bridge::Exception& e){ RCLCPP_ERROR(this->get_log...