blocks|key|1219822|text|是的，您可以在ROS订阅服务器的帮助下这样做，如下所示(大部分代码取自这里)：|type|unstyled|depth|inlineStyleRanges|entityRanges|offset|length|data|1219823|import+rospy
from+sensor_msgs.msg+import+Image+as+msg_Image
from+cv_bridge+import+CvBridge,+CvBridgeError
import+sys
import+os

class+ImageListener:
++++def+__init__(self,+topic):
++++++++self.topic+=+topic
++++++++self.bridge+=+CvBridge()
++++++++self.sub+=+rospy.Subscriber(topic,+msg_Image,+self.imageDepthCallback)

++++def+imageDepthCallback(self,+data):
++++++++try:
++++++++++++cv_image+=+self.bridge.imgmsg_to_cv2(data,+data.encoding)
++++++++++++pix+=+(data.width/2,+data.height/2)
++++++++++++sys.stdout.write('%25s:+Depth+at+center(%25d,+%25d):+%25f(mm)\r'+%25+(self.topic,+pix[0],+pix[1],+cv_image[pix[1],+pix[0]]))
++++++++++++sys.stdout.flush()
++++++++except+CvBridgeError+as+e:
++++++++++++print(e)
++++++++++++return


if+__name__+==+'__main__':
++++rospy.init_node("depth_image_processor")
++++topic+=+'/camera/depth/image_rect_raw'++#+check+the+depth+image+topic+in+your+Gazebo+environmemt+and+replace+this+with+your
++++listener+=+ImageListener(topic)
++++rospy.spin()|code-block|syntax|javascript|1219824|注意事项：要安装CvBridge，您可以遵循以下说明：|style|BOLD|1219825|+sudo+apt-get+install+ros-(ROS+version+name)-cv-bridge

+sudo+apt-get+install+ros-(ROS+version+name)-vision-opencv|1219826|更多信息：桥|1219827|entityMap|0|LINK|mutability|MUTABLE|url|https://github.com/IntelRealSense/realsense-ros/edit/development/realsense2_camera/scripts/show_center_depth.py|1|http://wiki.ros.org/cv_bridge^0|Z|2|0|0|0|0|4|0|0|5|1|1|0^^$0|@$1|2|3|4|5|6|7|10|8|@]|9|@$A|11|B|12|1|13]]|C|$]]|$1|D|3|E|5|F|7|14|8|@]|9|@]|C|$G|H]]|$1|I|3|J|5|6|7|15|8|@$A|16|B|17|K|L]]|9|@]|C|$]]|$1|M|3|N|5|F|7|18|8|@]|9|@]|C|$G|H]]|$1|O|3|P|5|6|7|19|8|@]|9|@$A|1A|B|1B|1|1C]]|C|$]]|$1|Q|3|-4|5|6|7|1D|8|@]|9|@]|C|$]]]|R|$S|$5|T|U|V|C|$W|X]]|Y|$5|T|U|V|C|$W|Z]]]]

yeah, you can do this with help of a ROS subscriber as follows (most of the code was taken from <a href="https://github.com/IntelRealSense/realsense-ros/edit/development/realsense2_camera/scripts/show_center_depth.py" rel="nofollow noreferrer">here</a>):
<pre><code>import rospy
from sensor_msgs.msg import Image as msg_Image
from cv_bridge import CvBridge, CvBridgeError
import sys
import os

class ImageListener:
 def __init__(self, topic):
 self.topic = topic
 self.bridge = CvBridge()
 self.sub = rospy.Subscriber(topic, msg_Image, self.imageDepthCallback)

 def imageDepthCallback(self, data):
 try:
 cv_image = self.bridge.imgmsg_to_cv2(data, data.encoding)
 pix = (data.width/2, data.height/2)
 sys.stdout.write('%s: Depth at center(%d, %d): %f(mm)\r' % (self.topic, pix[0], pix[1], cv_image[pix[1], pix[0]]))
 sys.stdout.flush()
 except CvBridgeError as e:
 print(e)
 return


if __name__ == '__main__':
 rospy.init_node(&quot;depth_image_processor&quot;)
 topic = '/camera/depth/image_rect_raw' # check the depth image topic in your Gazebo environmemt and replace this with your
 listener = ImageListener(topic)
 rospy.spin()
</code></pre>
Note: To install CvBridge, you may follow the instructions below:
<pre><code> sudo apt-get install ros-(ROS version name)-cv-bridge

 sudo apt-get install ros-(ROS version name)-vision-opencv
</code></pre>
More information: <a href="http://wiki.ros.org/cv_bridge" rel="nofollow noreferrer">http://wiki.ros.org/cv_bridge</a>

blocks|key|1219915|text|要补充上述答案，请注意深度/图像_rect_raw主题。很有可能您实际上想要原始图像，您可以从/camera/aligned_depth_to_color/+image+_raw中获得该图像。|type|unstyled|depth|inlineStyleRanges|entityRanges|data|1219916|默认情况下，此主题可能不是活动的，例如，在d435i上，您应该切换align_depth:=true选项：|1219917|roslaunch+realsense2_camera+rs_camera.launch+align_depth:=true|code-block|syntax|javascript|1219918|有关更多信息，请参见https://github.com/IntelRealSense/realsense-ros#usage-instructions。|offset|length|1219919|entityMap|0|LINK|mutability|MUTABLE|url|https://github.com/IntelRealSense/realsense-ros#usage-instructions^0|0|0|0|A|1U|0|0^^$0|@$1|2|3|4|5|6|7|U|8|@]|9|@]|A|$]]|$1|B|3|C|5|6|7|V|8|@]|9|@]|A|$]]|$1|D|3|E|5|F|7|W|8|@]|9|@]|A|$G|H]]|$1|I|3|J|5|6|7|X|8|@]|9|@$K|Y|L|Z|1|10]]|A|$]]|$1|M|3|-4|5|6|7|11|8|@]|9|@]|A|$]]]|N|$O|$5|P|Q|R|A|$S|T]]]]

To complement the above answer, be careful to the depth/image_rect_raw topic. Very likely you actually want the raw image, which you can obtain from /camera/aligned_depth_to_color/image_raw.
This topic may not be active by default, for instance on d435i you should toggle the align_depth:=true option:
<pre><code>roslaunch realsense2_camera rs_camera.launch align_depth:=true
</code></pre>
See <a href="https://github.com/IntelRealSense/realsense-ros#usage-instructions" rel="nofollow noreferrer">https://github.com/IntelRealSense/realsense-ros#usage-instructions</a> for more info.

I have a drone in a Gazebo environment with a RealSense d435 camera on it. My plan is to use YOLO to find the center of an object of interest, and then find the depth of that point from the depth image. I heard that the depth camera outputs an image where the depth values are encoded in the RGB values. When further looking this up online, I found that there is a pyrealsense2 library that has functions for everything I need.
The implementations I've seen online need you to create a <code>pyrealsense.pipeline()</code> and get your frames from that. The issue is this seems to only work if you have a RealSense camera connected to your computer. Since mine exists in the Gazebo environment, I need a way to get and use the depth frame in a ROS callback. How would I do this? Any pointers would be greatly appreciated

Getting RealSense depth frame in ROS

翻译质量差，导致语言生硬或混乱。

没有提供实际的解决方法或示例。

解答不清晰，无法理解或解决问题。

页面排版不美观，阅读体验差。

文章

问答

视频

教程

学习中心

腾讯云实验室

直播

竞赛

腾讯云代码分析专区

腾讯iOA零信任安全管理系统专区

腾讯云架构师技术同盟交流圈

腾讯云数据库专区

腾讯云智能顾问专区

腾讯云原生专区

腾讯混元专区

腾讯云TCE专区

腾讯云Lighthouse专区

腾讯云HAI专区

腾讯云Edgeone专区

腾讯云存储专区

腾讯云智能专区

腾讯轻联专区 

腾讯云开发专区

TAPD专区

腾讯轻量云游戏服专区

EdgeOne AI 安全实战专区

腾讯云最具价值专家

腾讯云架构师技术同盟

腾讯云创作之星

腾讯云开发者先锋

腾讯云代码助手

云原生构建

TAPD 敏捷项目管理

Cloud Studio

SDK中心

API中心

命令行工具

涵盖代码开发、场景应用、自动测试全流程，助你从零构建专属AI助手

一站式MCP教程库，解锁AI应用新玩法

聚焦“写作效率、视觉美观与运行性能”三方面进行全面升级，为您提供更高效、稳定的创作环境

社区富文本&Markdown编辑器全新改版上线，欢迎大家体验!

诚挚邀请您参与本次调研，分享您的真实使用感受与建议。您的反馈至关重要，感谢您的支持与参与！

社区新版编辑器体验调研

我在Gazebo的环境中有一架无人机，上面有一个RealSense d435摄像头。我的计划是使用YOLO找到感兴趣对象的中心，然后从深度图像中找到该点的深度。我听说深度摄像机输出一个图像，其中深度值被编码在RGB值中。当我在网上进一步查找这个问题时，我发现有一个pyrealsense2库可以满足我所需的所有功能。我在...

问在ROS中获取RealSense深度帧
EN

Stack Overflow用户

社区

活动

圈层

关于

腾讯云开发者

热门产品

热门推荐

更多推荐

问在ROS中获取RealSense深度帧EN