通过ros订阅orbbec astra深度摄像头的话题，图像无法显示.

2017-04-21 10:00:29 1.7k 阅读 AI 写同款 · GEO 优化AI 选题数据监测一键分发 ›

ROS学习笔记（十四）奥比中光Orbbec Astra Pro深度相机测试Orbbec Astra Pro深度相机测试环境： ubuntu20.04 noetic 安装依赖 sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros 可能出现的问题： 20.04 中没有 ros-noetic-libuvc ros-$ROS_DISTRO-libuvc ，目前测试没有发现问阅读详情

通过roslaunch打开astra摄像头后，写了订阅rgb节点的opencv程序去订阅/camera/rgb/image_raw，编译没问题，运行时imshow（）窗口出现两秒钟就卡死黑屏，无法显示图像，如图

下面是订阅节点代码，求助该如何解决：
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

using namespace std;
using namespace cv;

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg,sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
Mat img_rgb = cv_ptr->image;
imshow("view",img_rgb);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "image_listener");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
cv::namedWindow("view");
image_transport::Subscriber sub = it.subscribe("camera/rgb/image_raw", 1,imageCallback);
ros::spin();
return 0;
}

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