思路： （1）使用opencv读取本地图像 （2）调用cv_bridge::CvImage（）.toImageMsg()将本地图像发送给rviz显示

1.使用opencv读取本地图像并发布图像消息

（1）利用catkin新建一个工程叫rosopencv,并进行初始化

mkdir -p rosopencv/src cd rosopencv/src catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport cd .. catkin_make source ./devel/setup.bash

（2）编辑主函数代码 主函数rosopencv.cpp内容如下

#include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv2/highgui/highgui.hpp> #include <cv_bridge/cv_bridge.h> #include <stdio.h> int main(int argc, char** argv) { ros::init(argc, argv, "image_publisher"); ros::NodeHandle nh; image_transport::ImageTransport it(nh); image_transport::Publisher pub = it.advertise("camera/image", 1); cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR); if(image.empty()){ printf("open error\n"); } sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg(); ros::Rate loop_rate(5); while (nh.ok()) { pub.publish(msg); ros::spinOnce(); loop_rate.sleep(); } }

我的opencv2.4.11安装路径在/usr/local目录下 （3）编辑CmakeLists.txt 在工程目录下的/src/rosopencv/src/CmakeLists.txt中加入如下内容

add_executable(rosopencv src/rosopencv.cpp) INCLUDE_DIRECTORIES(/usr/local/include) link_directories(/usr/local/lib) TARGET_LINK_LIBRARIES(rosopencv libopencv_calib3d.so libopencv_core.so libopencv_features2d.so libopencv_flann.so libopencv_highgui.so libopencv_imgproc.so libopencv_ml.so libopencv_objdetect.so libopencv_photo.so libopencv_video.so libopencv_videostab.so) target_link_libraries(rosopencv ${catkin_LIBRARIES})

告诉Cmake 库函数头文件，库函数路径，库函数名字，由于我安装了很多个版本的opencv，因此直接用暴力方法指导库函数名称。其实有一种方法可以很简单的设定调用哪种版本的opencv库，参考 http://blog.csdn.net/u012816621/article/details/51732932 方法是在CMakeLists.txt中用set语句设置OpenCV_DIR的值。这个路径是指定opencv版本的安装路径下的share/OpenCV（安装opencv 时会自动生成4个文件夹bin include lib share，share文件夹的作用原来是这样的！） 因此，简单版的CmakeLists.txt如下。

set(OpenCV_DIR /usr/local/share/OpenCV) message(STATUS " version: ${OpenCV_VERSION}") find_package(OpenCV REQUIRED) add_executable(rosopencv src/rosopencv.cpp) include_directories(${OpenCV_INCLUDE_DIRS}) target_link_libraries(cmaketest ${OpenCV_LIBS})

2编译和运行

编译

cd ~/dev/workspace/rosopencv catkin_make

运行

rosrun rosopencv rosopencv

输入

rostopic echo /camera/image

全是数字。

3.在rviz 中显示

rosrun rviz rviz

左边点击add 选中image 在image的topic选项中选 /camera/image

沧海飞帆 认证博客专家 火星工程师 热爱多传感器融合slam、机器人、人工智能相关技术。立志于让机器人更智能，为人类移民火星做铺垫。让科技使生活更幸福，让科技改变世界。