4 releases
0.3.3 | Feb 11, 2023 |
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0.3.2 | Feb 11, 2023 |
0.2.0 |
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0.1.1 |
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cv-bridge-rs
Rust implemenation of cv_bridge that converts between ROS image messages and OpenCV images
Warning: This package is still under active development. Use at your own risk.
Getting Started
Adding cv_bridge to your project
Add the following to your Cargo.toml file under dependencies:
[dependencies]
cv-bridge = "0.3.3"
or you can use cargo to add the dependency:
cargo add cv_bridge
Converting between ROS image messages and OpenCV images
use opencv::highgui;
use cv_bridge::{
CvImage,
msgs::sensor_msgs::Image,
};
fn main() {
// Initialize ros node
rosrust::init("image_viewer");
// Create image subscriber
let _subscriber_raii = rosrust::subscribe(
"/camera/image_raw",
5,
move |image: Image| {
// Convert ros Image to opencv Mat
let mut cv_image = CvImage::from_imgmsg(image).expect("failed to construct CvImage from ros Image");
let mat = cv_image.as_cvmat().expect("failed to convert CvImage to Mat");
// Display image
let window = "view";
highgui::named_window(window, highgui::WINDOW_AUTOSIZE).unwrap();
highgui::imshow(window, &mat).unwrap();
highgui::wait_key(1).unwrap();
}
);
rosrust::spin();
}
Features
- Covert to and from sensor_msgs/Image and opencv::core::Mat
- Support for various encodings defined by sensor_msgs: image_encodings.h crate
- Support for 8-bit and 16-bit depth channels
- Support for 32-bit and 64-bit depth channels
- Documentation and examples
- Covert to and from sensor_msgs/CompressedImage and opencv::core::Mat
Dependencies
~26–40MB
~822K SLoC