How to publish image to ROS in Simulink

2 ビュー (過去 30 日間)
Kun Yan
Kun Yan 2018 年 6 月 11 日
コメント済み: Syed Adil Ahmed 2020 年 10 月 21 日
I use the function writeImage() in matlab function to write a MATLAB image to the ROS image message,but when I run the simulink model, an error appears: Undefined function or variable 'writeImage'. How to solve this problem? How to publish image to ROS in Simulink?

回答 (1 件)

JAI PRAKASH
JAI PRAKASH 2018 年 11 月 4 日
If your matlab image is 'RGB' matrix, you can use following matlab function block + Bus assignment block as shown in figure.
function [H, W, Enc, EncLength, IsBig, Step, Data, DataLength] = fcn(im)
[H, W, n] = size(im);
H =uint32(H); W =uint32(W);
im = permute(im,[2 1 3]);
Data1 = im(:);
Data2 = reshape(Data1,[H*W,n])';
Data = Data2(:);
Enc = zeros(1,128, 'uint8');
Enc(1:4) = uint8('rgb8'); % uint8('rgb8')
EncLength = uint32(4);
IsBig = uint8(0);
Step = uint32(W*n);
DataLength = uint32(H*W*n);
See the attached simulink readymade block also to convert MAT image to ros image message.
  3 件のコメント
Pavan Anandareddy
Pavan Anandareddy 2020 年 9 月 17 日
Hi,
Were you able to solve this error?
Syed Adil Ahmed
Syed Adil Ahmed 2020 年 10 月 21 日
For those interested you can fix the non matching size of the Data bus variable by changing array sizes in Simulink for ros. This option is under tools> ROS in simulink.

サインインしてコメントする。

カテゴリ

Help Center および File ExchangeSpecialized Messages についてさらに検索

タグ

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by