Expand description
cv-bridge is a crate for converting between OpenCV and ROS Image.
This works in conjunction to the ros_rust crate.
Crate Status
- Currently only supports the standard CV encodings
- Currently only supports CV_8U and CV_16U channel depths
- Does not support compressed images
Examples
Convert from ROS Image to OpenCV Mat
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();
}Re-exports
pub use cv_image::CvImage;