Astra+在imagecallback里面同时处理彩色图和深度图

在imagepub.cpp文件中

#include
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using namespace std;
using namespace cv;
using namespace sensor_msgs;
using namespace message_filters;



//回调函数
void imageCalllback(const sensor_msgs::ImageConstPtr &colorimg,const sensor_msgs::ImageConstPtr &depthimg)
{
    cv_bridge::CvImagePtr depth_ptr;
    depth_ptr = cv_bridge::toCvCopy(depthimg,   sensor_msgs::image_encodings::TYPE_16UC1);
    cv::Mat frame;

    depth_ptr->image.copyTo(frame);
    // frame.copyTo(image);
    cv::imshow("frame", frame);
    cv::waitKey(10);
    //cv::imwrite


}

int main(int argc, char** argv)
{
	ros::init(argc, argv, "image_listener");
	ros::NodeHandle n;

    message_filters::Subscriber subscriber_color_img(n,"/camera/color/image_raw", 1);

    message_filters::Subscriber subscriber_depth_img(n,"/camera/depth/image_raw",1);

    typedef message_filters::sync_policies::ApproximateTime syncPolicy; Synchronizersync(syncPolicy(10),subscriber_color_img,subscriber_depth_img);
    sync.registerCallback(boost::bind(&imageCalllback, _1, _2));

    ros::spin();
    return 0;
}

这里需要注意的是在主函数中为sensor_msgs::Image，不是sensor_msgs::ImageConstPtr

对应的cmakelist.txt

我这里是源码安装的opencv，注意一下opencv的路径

cmake_minimum_required(VERSION 3.0.2)
project(imagetransport)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)


#opencv目录
set(OpenCV_DIR /usr/local/share/OpenCV4)
find_package(OpenCV REQUIRED)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
  message_filters
)

catkin_package()
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(imagepub src/imagepub.cpp)
target_link_libraries(imagepub ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(imagesub src/imagesub.cpp)
target_link_libraries(imagesub ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

message(STATUS "opencv version:${OpenCV_VERSION}")
message(STATUS "opencv lib:${OpenCV_LIBS}")
message(STATUS "opencv include dir:${OpenCV_INCLUDE_DIRS}")
message(STATUS "opencv config path:${OpenCV_CONFIG_PATH}")


## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES imagetransport
#  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/imagetransport.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/imagetransport_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_imagetransport.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

对应的package.xml

  imagetransport
  0.0.0
  The imagetransport package

  
  
  
  zym


  
  
  
  TODO


  
  
  
  


  
  
  
  


  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  catkin
  cv_bridge
  image_transport
  roscpp
rospy
  sensor_msgs
  std_msgs
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
   message_runtime


  
  
    

  

如果不知道自己深度图是多少位，记得rostopic echo话题名就行