Go to the documentation of this file.00001 #include <ros/ros.h>
00002 #include <image_transport/image_transport.h>
00003 #include <opencv2/highgui/highgui.hpp>
00004 #include <cv_bridge/cv_bridge.h>
00005
00006 void imageCallback(const sensor_msgs::ImageConstPtr& msg)
00007 {
00008 try
00009 {
00010 cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
00011 cv::waitKey(10);
00012 }
00013 catch (cv_bridge::Exception& e)
00014 {
00015 ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
00016 }
00017 }
00018
00019 int main(int argc, char **argv)
00020 {
00021 ros::init(argc, argv, "image_listener");
00022 ros::NodeHandle nh;
00023 cv::namedWindow("view");
00024 cv::startWindowThread();
00025 image_transport::ImageTransport it(nh);
00026 image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
00027 ros::spin();
00028 cv::destroyWindow("view");
00029 }