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https://github.com/6-robot/wpr_simulation.git
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22 lines
613 B
Python
Executable File
22 lines
613 B
Python
Executable File
#!/usr/bin/env python
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# coding=utf-8
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import rospy
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import cv2
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from sensor_msgs.msg import Image
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from cv_bridge import CvBridge, CvBridgeError
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# 彩色图像回调函数
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def Cam_RGB_Callback(msg):
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bridge = CvBridge()
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cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
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# 弹出窗口显示图片
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cv2.imshow("Image window", cv_image)
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cv2.waitKey(1)
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# 主函数
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if __name__ == "__main__":
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rospy.init_node("demo_cv_image")
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# 订阅机器人视觉传感器Kinect2的图像话题
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rgb_sub = rospy.Subscriber("/kinect2/hd/image_color_rect",Image,Cam_RGB_Callback,queue_size=10)
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rospy.spin() |