如何将ros下sensor

如何将ros下sensor 使用ros_numpy package

Tools for converting ROS messages to and from numpy arrays. Contains two functions:

arr = numpify(msg, …) - try to get a numpy object from a message msg
= msgify(MessageType, arr, …) - try and convert a numpy object to a message

安装方式：

git clone https://github.com/eric-wieser/ros_numpy.git
cd ros_numpy/
python setup.py install
python3 setup.py install

使用：

  from sensor_msgs.msg import Image
  import ros_numpy
  import PIL
  image = ros_numpy.numpify(image)        
  image = PIL.Image.fromarray(image)

其中image是class 'sensor_msgs.msg._Image.Image’类型，使用ros_numpy下的函数将其转换为np.array,就可以利用PIL.Image.fromarray进行图像处理。

PIL和numpy array的转化

import PIL
image = Image.open(“###.jpg”)   # image is a PIL image 
array = numpy.array(image)          # array is a numpy array 
image2 = Image.fromarray(array)   # image2 is a PIL image