Revision history [back]

^I integrated http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages with https://github.com/epsilonorion/ros_tutorials/blob/master/opencv_tut/src/simpleCanny.cpp

Here's the code: include ros/ros.h include image_transport/image_transport.h include cv_bridge/cv_bridge.h include sensor_msgs/image_encodings.h include opencv2/imgproc/imgproc.hpp include opencv2/highgui/highgui.hpp include stdlib.h

class ImageConverter { ros::NodeHandle nh_; image_transport::ImageTransport it_; image_transport::Subscriber image_sub_; image_transport::Publisher image_pub_;

public: ImageConverter() : it_(nh_) { // Subscribe to input video feed and publish output video feed image_sub_ = it_.subscribe("/image_raw", 1, &ImageConverter::imageCb, this); image_pub_ = it_.advertise("/canny_edge/output_video", 1); cv::namedWindow(OPENCV_WINDOW); } ~ImageConverter() { cv::destroyWindow(OPENCV_WINDOW); }

 void imageCb(const sensor_msgs::ImageConstPtr& msg)
 {
   cv_bridge::CvImagePtr cv_ptr;
   try
   {
     cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
   }
   catch (cv_bridge::Exception& e)
   {
     ROS_ERROR("cv_bridge exception: %s", e.what());
    return;
   }

Mat out1; Mat gray_out; Mat canny_out; Mat gray_out1; Mat img1; cv::cvtColor(cv_ptr->image, gray_out, CV_RGB2GRAY); cv::GaussianBlur(gray_out, gray_out, Size(3, 3), 0, 0); cv::Canny(gray_out, canny_out, 50, 125, 3); cv::cvtColor(canny_out, gray_out1, CV_GRAY2RGB); cv::imshow( "CAMERA FEED", cv_ptr->image); cv::imshow( "GRAY CAMERA", gray_out); cv::imshow( "CANNY CAMERA", canny_out); cv::imshow( "CANNY EDGE DETECTION",gray_out1); cvWaitKey(3); image_pub_.publish(cv_ptr->toImageMsg()); } }; int main(int argc, char** argv) { ros::init(argc, argv, "image_converter"); ImageConverter ic; ros::spin(); return 0; }