ROS image上下颠倒
时间: 2023-11-17 09:16:09 浏览: 42
要在ROS中将图像上下颠倒,你可以使用`image_transport`和`cv_bridge`库来完成。以下是一个简单的示例代码:
```python
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
def image_callback(msg):
try:
# 将ROS图像消息转换为OpenCV图像格式
bridge = CvBridge()
cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
# 上下翻转图像
flipped_image = cv2.flip(cv_image, 0)
# 将OpenCV图像转换回ROS图像消息
flipped_msg = bridge.cv2_to_imgmsg(flipped_image, "bgr8")
# 发布翻转后的图像消息
flipped_image_pub.publish(flipped_msg)
except CvBridgeError as e:
print(e)
rospy.init_node('image_flipper')
# 创建图像订阅者和发布者
image_sub = rospy.Subscriber('input_image', Image, image_callback)
flipped_image_pub = rospy.Publisher('flipped_image', Image, queue_size=10)
rospy.spin()
```
你需要将`input_image`和`flipped_image`分别替换为输入图像话题和翻转后图像的输出话题。在ROS中运行此节点后,它将订阅输入图像话题,并通过翻转图像并发布到输出话题来实现图像上下颠倒。