可视化图片

catkin新建工程

 mkdir -p rosopencv/src
 cd rosopencv/src
 catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport
 cd ..
 catkin_make
 source ./devel/setup.bash

主函数代码

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
 
#include <stdio.h>
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_publisher");
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("camera/image", 1);
 
  cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);
  if(image.empty()){
   printf("open error\n");
   }
  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
 
  ros::Rate loop_rate(5);
  while (nh.ok()) {
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
}

cmakelists.txt

在功能包中的cmakelists.txt添加如下代码

set(OpenCV_DIR /usr/local/share/OpenCV)
message(STATUS "    version: ${OpenCV_VERSION}")
find_package(OpenCV REQUIRED)
add_executable(rosopencv src/rosopencv.cpp)
include_directories(${OpenCV_INCLUDE_DIRS})
target_link_libraries(cmaketest ${OpenCV_LIBS})

编译和运行

cd ~/dev/workspace/rosopencv
catkin_make

在第一个terminal输入

rosrun rosopencv rosopencv 

在第二个terminal输入

rosrun rosopencv rosopencv 

在rviz中显示

rosrun rviz rviz

左下角add，按照topic进行添加操作

可视化realsense

安装realsense SDK

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

# 运行可视化界面
realsense-viewer

在ROS中安装realsense

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
#添加环境变量
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
# 运行
roslaunch realsense2_camera rs_camera.launch

在rviz中显示

在terminal输入

rviz

添加你感兴趣的topic
这里我可视化了深度图和RGB

参考

https://blog.csdn.net/qq_31918961/article/details/104737351?ops_request_misc=&request_id=&biz_id=102&utm_term=realsensing%20%20%20%E5%9C%A8%20%20%20rviz%E4%B8%AD%E6%98%BE%E7%A4%BA&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-1-104737351.142^v67control,201^v4add_ask,213^v2t3_control1&spm=1018.2226.3001.4187