31 lines
708 B
C++
31 lines
708 B
C++
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#include <ros/ros.h>
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#include <opencv2/opencv.hpp>
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#include <image_transport/image_transport.h>
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#include <cv_bridge/cv_bridge.h>
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//#include <math.hpp>
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void callback(const sensor_msgs::ImageConstPtr& msg) {
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cv_bridge::CvImagePtr cv_ptr;
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try {
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cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
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}catch(cv_bridge::Exception& e) {
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ROS_ERROR("cv_bridge exception: %s", e.what());
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return;
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}
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const cv::Mat& input = cv_ptr->image;
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}
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int main(int argc, char** argv) {
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ros::init(argc, argv, "descripteur");
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ros::NodeHandle n;
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image_transport::ImageTransport it(n);
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image_transport::Subscriber sub = it.subscribe("/image_raw", 1, callback);
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ros::spin();
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}
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