代码什么都不做，当我运行它（ROS，opencv）

问题描述：

所以这是我的问题。我使用ROS和opencv，尝试使用两个摄像头创建深度图。但是，我写的代码似乎没有做任何事情，并且我为什么会有点困惑。（我以前运行的代码具有相同的结构）代码什么都不做，当我运行它（ROS，opencv）

#!/usr/bin/env python 
from __future__ import print_function 
import roslib 
roslib.load_manifest('test_cam') 
import sys 
import rospy 
import cv2 
from std_msgs.msg import String 
from sensor_msgs.msg import Image 
from cv_bridge import CvBridge, CvBridgeError 
import message_filters 

class image_converter: 

    def __init__(self): 

    self.bridge = CvBridge() 
    self.image_sub_1 = message_filters.Subscriber("/cameras/left_hand_camera/image",Image) 
    self.image_sub_2 = message_filters.Subscriber("/cameras/head_camera/image",Image) 
    self.ts = message_filters.TimeSynchronizer([self.image_sub_1, self.image_sub_2], 10) 
    self.ts.registerCallback(self.callback) 

    def callback(self,Image): 
    try: 
     cv_image_1 = self.bridge.imgmsg_to_cv2(Image, "bgr8") 
     cv_image_2 = self.bridge.imgmsg_to_cv2(Image, "bgr8") 

    except CvBridgeError as e: 
     print(e) 

    stereo = cv2.StereoBM_create(numDisparities=16, blockSize=15) 
    disparity = stereo.compute(cv_image_1,cv_image_2) 
    plt.imshow(disparity,'gray') 
    plt.show() 
    plt.waitKey(1) 

def main(args): 
    ic = image_converter() 

    rospy.init_node('image_converter', anonymous=True) 
    try: 
    rospy.spin() 
    except KeyboardInterrupt: 
    print("Shutting down") 
    cv2.destroyAllWindows() 

if __name__ == '__main__': 
    main(sys.argv)

我不是rospy的专家，但是在您的回调中将cv_image_1和cv_image_2设置为相同的图像是不是真的？ – datjko

答

在订阅任何主题之前，您必须执行rospy.init。

代码什么都不做，当我运行它（ROS，opencv）

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