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 = "0.2.0"

or you can use cargo to add the dependency:

cargo add cv_bridge

Converting between ROS image messages and OpenCV images

use cv_bridge::CvImage;
use rosrust::sensor_msgs::Image;
use opencv::prelude::*;

fn main() {
    # Convert from ROS image message to OpenCV image
    let ros_image = Image::default();
    let cv_image = CvImage::from_imgmsg(ros_image);
    let mat = cv_image.as_cvmat("rgb8".to_string());
   
    # Convert from OpenCV image to ROS image message
    let cv_image = CvImage::from_cvmat(mat);
    let ros_image = cv_image.into_imgmsg();
}

Using the underlying DynamicImage type

use cv_bridge::CvImage;
use rosrust::sensor_msgs::Image;
use image::DynamicImage;

fn main() {
    # Convert from ROS image message to 
    let ros_image = Image::default();
    let cv_image = CvImage::from_imgmsg(ros_image);

    # Using the underlying DynamicImage type
    let image = cv_image.as_image(); # Returns a immutable reference to the underlying DynamicImage
    let image = cv_image.as_mut_image(); # Returns a mutable reference to the underlying DynamicImage
    
}

Creating CvImage from a vector of bytes

use cv_bridge::CvImage;
use std::vec;

fn main() {
    let bytes:Vec<u8> = vec![0, 0, 0, 255, 255, 255, 0, 0, 0, 255, 255, 255, 0, 0, 0, 255, 255, 255, 0, 0, 0, 255, 255, 255, 0, 0, 0]; # 3x3 image with 3 channels
    let cv_image = CvImage::from_vec(3, 3, "rgb8".to_string(), bytes); # width, height, encoding, bytes
}

Features

• Covert to and from sensor_msgs/Image and opencv::core::Mat
• Support for various encodings defined in image crate
• Allows working with the internal DynamicImage type of the image crate
• Covert to and from sensor_msgs/CompressedImage and opencv::core::Mat
• Documentation and examples
• Tutorial