ROS筆記 -發佈本地視頻

發佈的topic是/image_raw , 格式爲ROS圖片格式。輸入的視頻源只要opencv能讀取就可以。視頻發佈完後會退出程序。

#include <ros/ros.h>
#include<image_transport/image_transport.h>
#include<cv_bridge/cv_bridge.h>
#include<sensor_msgs/image_encodings.h>
#include<opencv2/opencv.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
using namespace cv;

#include<stdio.h>
#include<math.h>
#include<vector>
using namespace std;

cv_bridge::CvImagePtr cv_ptr;
using namespace cv;


int main(int argc , char ** argv)
{
    ros::init(argc , argv , "publisher");
    //cv::namedWindow("Example2", WINDOW_AUTOSIZE);
    VideoCapture cap;
    cap.open("/home/shanyx/Desktop/video.mp4");
    Mat frame;
    ROS_INFO("SUCCESS,waiting for image");

    ros::NodeHandle n;    //初始化節點，調用ros api接口句柄。
    //定義一個發佈者
    ros::Publisher chatter_pub = n.advertise<cv_bridge::CvImage>("/image_raw", 1000);
    ros::Rate loop_rate(100);  //設置發佈頻率

    


    while (ros::ok())
    {
        cap >> frame;
        if (frame.empty()) return 0;
        //cv::imshow("source",frame);
        sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
        chatter_pub.publish(msg);
        loop_rate.sleep();
        //cv::waitKey(10);
    }
    ros::spin();
    return 0;
}