Hello everyone,
I am having some trouble to store the result of cv_bridge::CvImage::toImageMsg() as a sensor_msgs::Image.
The reason why I want to do this is because the sensor_msgs::Image belongs to a custom message I have created which contains some other piece of information.
Is there any way to store a cv::Mat in a sensor_msgs::Image besides doing it "manually" in a for loop?
Thank you in advance.
Originally posted by Geropan on ROS Answers with karma: 21 on 2013-03-07
Post score: 1
The signatures for the method (from CvImage) are:
void toImageMsg (sensor_msgs::Image &ros_image) const
sensor_msgs::ImagePtr toImageMsg () const
So we use the first option. And note that the image message is passed by reference. So you construct your message, let's say it's my_msg, and let's say the image that is a part of it is called img. If your CvImage object is my_cv_img then you would call:
my_cv_img.toImageMsg(my_msg.img);
And you are done. Note that toImageMsg allocates the memory for the image data itself, as can be seen by looking at the code for it: cv_bridge.cpp
Originally posted by DamienJadeDuff with karma: 399 on 2013-09-26
This answer was ACCEPTED on the original site
Post score: 2