ROS：zbar+opencv 二维码识别

一、zbar安装
1.下载zabr：zbar官网
或GitHub
或命令行直接下载

wget http://downloads.sourceforge.net/zbar/0.10/zbar-0.10.tar.bz2

2.解压安装
预先安装以下包

sudo apt install python-gtk2 python-gtk2-dev libmagickwand-dev imagemagick autoconf libv4l-dev

设置

sudo ln -s /usr/include/libv4l1-videodev.h   /usr/include/linux/videodev.h

安装

tar xf zbar-0.10.tar.bz2
cd zbar-0.10
sed -i 's|linux/videodev.h|libv4l1-videodev.h|g' zbar/video/v4l1.c include/config.h.in configure.ac configure
export CFLAGS=""
./configure --prefix=/usr --without-gtk --without-python
make
sudo make install

二、代码
1.zbar_opencv.cpp

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include