def main(args): image_pub = rospy.Publisher("image_topic", Image, queue_size=1) bridge = CvBridge() bridge.frame_id = "camera_link" rospy.init_node('image_converter', anonymous=True) camera = cv2.VideoCapture(0) while not rospy.is_shutdown(): try: (_, frame) = camera.read() image_pub.publish(bridge.cv2_to_imgmsg(frame, "bgr8")) except CvBridgeError as e: print(e)
#!/usr/bin/env python from __future__ import print_function import roslib import sys import rospy from std_msgs.msg import String from sensor_msgs.msg import Image from cv_bridge import CvBridge, CvBridgeError import cv2 import numpy as np image_pub = rospy.Publisher("image_topic", Image, queue_size=1) bridge = CvBridge() bridge.frame_id = "camera_link" rospy.init_node('image_converter', anonymous=True) kamera = cv2.VideoCapture(0) kamera.set(cv2.CAP_PROP_FPS, 30) indicator_red_cascade = cv2.CascadeClassifier('indicator-red.xml') indicator_green_cascade = cv2.CascadeClassifier('indicator-green.xml') indicator_white_cascade = cv2.CascadeClassifier('indicator-white.xml') two_state_lever_switch_cascade = cv2.CascadeClassifier( '2-state-lever-switch.xml') socket_cascade = cv2.CascadeClassifier('socket.xml') two_state_rot_main_switch_cascade = cv2.CascadeClassifier( '2-state-rot-main-switch.xml') two_state_rot_switch_cascade = cv2.CascadeClassifier('2-state-rot-switch.xml') press_button_cascade = cv2.CascadeClassifier('press-button.xml') pipe_cascade = cv2.CascadeClassifier('pipe.xml') font = cv2.FONT_HERSHEY_SIMPLEX