You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
28 lines
871 B
28 lines
871 B
#!/usr/bin/env python3
|
|
|
|
import cv2
|
|
import numpy as np
|
|
import rospy
|
|
from cv_bridge import CvBridge # Check if ros_numpy can be used instead
|
|
from sensor_msgs.msg import Image
|
|
|
|
if __name__ == '__main__':
|
|
rospy.init_node("webcam_node", anonymous=True)
|
|
rgb_topic_name = '/camera/color/image_raw' #'/camera/infra1/image_rect_raw'
|
|
webcam_pub = rospy.Publisher(rgb_topic_name, Image, queue_size=1)
|
|
vid = cv2.VideoCapture(0)
|
|
bridge = CvBridge()
|
|
|
|
while(True):
|
|
ret, frame = vid.read()
|
|
cv2.imshow('frame', frame)
|
|
image_message = bridge.cv2_to_imgmsg(frame, encoding="passthrough")
|
|
webcam_pub.publish(image_message)
|
|
# press 'q' to quit
|
|
if cv2.waitKey(1) & 0xFF == ord('q'):
|
|
break
|
|
|
|
# After the loop release the cap object
|
|
vid.release()
|
|
# Destroy all the windows
|
|
cv2.destroyAllWindows()
|