cpp版ros2、opencv转换

ros2转opencv

#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.hpp>
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subscriber_ = this->create_subscription<sensor_msgs::msg::Image>(  "img", 10, std::bind(&SubscriberObjectNode::topic_callback, this, std::placeholders::_1));cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);cv::Mat img = cv_ptr->image;

opencv转ros2

#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.hpp>
​
publisher_ = this->create_publisher<sensor_msgs::msg::Image>("img", 10);cv::Mat mat2 = cv::imread("img.jpg");sensor_msgs::msg::Image::ConstPtr msg = cv_bridge::CvImage(std_msgs::msg::Header(), "bgr8", mat2).toImageMsg();
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publisher_->publish(*msg);