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https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
60 lines
2 KiB
C++
60 lines
2 KiB
C++
#include <ros/ros.h>
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#include <image_transport/image_transport.h>
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#include <opencv2/highgui/highgui.hpp>
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#include <cv_bridge/cv_bridge.h>
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#include <sstream> // for converting the command line parameter to integer,用于将命令行参数转换为整数
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int main(int argc, char **argv)
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{
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// Check if video source has been passed as a parameter,检查视频源是否已作为参数传递
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if (argv[1] == NULL)
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{
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ROS_INFO("argv[1]=NULL\n");
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return 1;
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}
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ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点
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ros::NodeHandle nh;
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image_transport::ImageTransport it(nh);
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image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题
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ros::Rate loop_rate(200); // refresh Hz.
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// Convert the passed as command line parameter index for the video device to an integer，
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// 将作为命令行参数传递的视频设备索引转换为整数
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std::istringstream video_sourceCmd(argv[1]);
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int video_source;
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// Check if it is indeed a number，检查它是否确实是一个数字
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if (!(video_sourceCmd >> video_source))
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{
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ROS_INFO("video_sourceCmd is %d\n", video_source);
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return 1;
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}
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cv::VideoCapture cap(video_source);
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// Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备
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if (!cap.isOpened())
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{
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ROS_INFO("can not opencv video device\n");
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return 1;
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}
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cv::Mat frame;
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sensor_msgs::ImagePtr msg;
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while (nh.ok())
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{
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cap >> frame;
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// cv::imshow("veiwer", frame);
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// Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容
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if (!frame.empty())
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{
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msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
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pub.publish(msg);
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//cv::Wait(1);
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}
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ros::spinOnce();
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loop_rate.sleep();
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// if(cv::waitKey(2) >= 0)
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// break;
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}
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}
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