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How to convert an an opencv image using cvBridge??

asked 2012-04-28 05:12:45 -0500

updated 2012-04-28 05:57:30 -0500

Kevin gravatar image

How do I convert an image I have opened through opencv into sensor_msgs/image??

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If either of these answers answered your question, please mark one as "correct" so this questions gets closed out ... thanks!

Kevin gravatar imageKevin ( 2012-04-30 14:16:37 -0500 )edit

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answered 2012-04-28 05:51:16 -0500

Mac gravatar image

I recommend the cv_bridge tutorials.

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answered 2012-04-28 05:54:20 -0500

Kevin gravatar image

updated 2012-04-28 05:56:43 -0500

Here is a snippet of code I have used to do this and the full code is here. It is a package that also uses opencv to grab images and publish them. Some of the variables are:

image_transport::ImageTransport transport;
image_transport::CameraPublisher image_pub;
camera_info_manager::CameraInfoManager info_mgr;

And the code:

        // if subscribers, pub images
        if(image_pub.getNumSubscribers() >  0) {

            ros::Time time = ros::Time::now();

            // convert OpenCV image to ROS message
            cv_bridge::CvImage cvi;
            cvi.header.stamp = time;
            cvi.header.frame_id = "image";
            cvi.encoding = "bgr8";
            cvi.image = cv_image;

            // get camera parameters 
            sensor_msgs::CameraInfo info = info_mgr.getCameraInfo();
            info.header.stamp = cvi.header.stamp;
            info.header.frame_id = cvi.header.frame_id; // whatever it is called
            info.width = cv_image.cols;
            info.height = cv_image.rows;

            sensor_msgs::Image im;
            cvi.toImageMsg(im);
            image_pub.publish(im,info);
        }
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Asked: 2012-04-28 05:12:45 -0500

Seen: 3,926 times

Last updated: Apr 28 '12