<code>.

├── AUTHORS.md

├── CHANGELOG.rst

├── CMakeLists.txt

├── config

│   └── usb_cam.yml

├── include

│   └── usb_cam

│   ├── camera_driver.h

│   ├── converters.h

│   ├── types.h

│   ├── usb_cam.h

│   └── util.h

├── launch

│   ├── test_img_view.launch

│   ├── usb_cam.launch

│   └── usb_cam-test.launch

├── LICENSE

├── mainpage.dox

├── package.xml

├── README.md

├── scripts

│   └── image_splitter.py

└── src

├── camera_driver.cpp

├── converters.cpp

├── LICENSE

├── usb_cam.cpp

├── usb_cam_node.cpp

└── util.cpp

image_splitter.py具体内容如下：

#!/usr/bin/env python

import rospy

from sensor_msgs.msg import Image

from cv_bridge import CvBridge

import cv2

def callback(data):

bridge = CvBridge()

try:

cv_image = bridge.imgmsg_to_cv2(data, "bgr8")

height, width, _ = cv_image.shape

left_image = cv_image[:, :width//2]

right_image = cv_image[:, width//2:]

left_image_msg = bridge.cv2_to_imgmsg(left_image, "bgr8")

right_image_msg = bridge.cv2_to_imgmsg(right_image, "bgr8")

left_pub.publish(left_image_msg)

right_pub.publish(right_image_msg)

except CvBridgeError as e:

rospy.logerr(e)

if __name__ == '__main__':

rospy.init_node('image_splitter', anonymous=True)

left_pub = rospy.Publisher('/usb_cam_left/image_raw', Image, queue_size=10)

right_pub = rospy.Publisher('/usb_cam_right/image_raw', Image, queue_size=10)

rospy.Subscriber('/usb_cam/image_raw', Image, callback)

rospy.spin()

sudo chmod +x image_splitter.py

在usb_cam功能包下的CMakelist中添加：

catkin_install_python(PROGRAMS

scripts/image_splitter.py

DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

更改usb_cam-test.launch文件内容，如下：

这里的分辨率我直接把横向*2，比如正常1280*720，更改后就应该是2560*720

<launch>

<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >code>

<param name="video_device" value="/dev/video0" />code>

<param name="image_width" value="1280" />code>

<param name="image_height" value="480" />code>

<param name="pixel_format" value="yuyv" />code>

<param name="color_format" value="yuv422p" />code>

<param name="camera_frame_id" value="usb_cam" />code>

<param name="io_method" value="mmap"/>code>

</node>

<node name="image_splitter" pkg="usb_cam" type="image_splitter.py" output="screen" />code>

<node name="image_view_left" pkg="image_view" type="image_view" respawn="false" output="screen">code>

<remap from="image" to="/usb_cam_left/image_raw"/>code>

<param name="autosize" value="true" />code>

</node>

<node name="image_view_right" pkg="image_view" type="image_view" respawn="false" output="screen">code>

<remap from="image" to="/usb_cam_right/image_raw"/>code>

<param name="autosize" value="true" />code>

</node>

</launch>

编译工作空间：

cd ~/catkin_ws

# 因为安装了conda，导致python位置会指向conda的base环境，

#可以conda deactivate，也可以指定python位置

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

#当前窗口内容生效

source devel/setup.bash

4、启动看看