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To publish cv::Mat to ROS topic do tjhe following:

1) Include cv_bridge and sensor_msgs Image (You already did that=) )

#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>

2) Set up image publisher for sensor_msgs/Image somewhere:

ros::Publisher out_img_pub =nh.advertise<sensor_msgs::Image>("image_out", 2, false);

3) In your conde where you have filled your cv::Mat convert it to sensor_msgs/image and publish:

// assuming you have declared and filled cv::Mat your_mat with data in colorspace "bgr8"
  cv_bridge::CvImage lo_img;

  lo_img.encoding = "bgr8";                        // or which enconding your data has
  lo_img.header.stamp = ros::Time::now();          //  or whatever timestamp suits here;
  lo_img.header.frame_id = "whatever_frame";       // frame id as neededby you
  lo_img.image = your_mat;                          // point cv_bridge to your object

// publishing data
out_img_pub.publish( lo_img.toImageMsg() );