ros中为C++程序导入opencv库

用vscode运行c++程序：

只需配置三个.json
这部分详情可以参考Ubuntu20下 vscode配置OpenCV 4.5.5

1. c_cpp_properties.json

   {
       "configurations": [
           {
               "name": "Linux",
               "includePath": [
                   "${workspaceFolder}/**",
               
                   "/usr/local/include/opencv4"
               ],
               "defines": [],
               "compilerPath": "/usr/bin/gcc",
               "cStandard": "gnu11",
               "cppStandard": "gnu++14",
               "intelliSenseMode": "linux-gcc-x64"
           }
       ],
       "version": 4
   }
   

2. launch.json

   {
       // Use IntelliSense to learn about possible attributes.
       // Hover to view descriptions of existing attributes.
       // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
       "version": "0.2.0",
       "configurations": [
           {
               "name": "g++ - Build and debug active file",
               "type": "cppdbg",
               "request": "launch",
               "program": "${fileDirname}/${fileBasenameNoExtension}",  //程序文件路径
               "args": [],  //程序运行需传入的参数
               "stopAtEntry": false,
               "cwd": "${fileDirname}",
               "environment": [],
               "externalConsole": true,   //运行时是否显示控制台窗口
               "MIMode": "gdb",
               "setupCommands": [
                   {
                       "description": "Enable pretty-printing for gdb",
                       "text": "-enable-pretty-printing",
                       "ignoreFailures": true
                   }
               ],
               "preLaunchTask": "C/C++: g++ build active file",
               "miDebuggerPath": "/usr/bin/gdb"
           }
       ]
   }
   

3. settings.json

   {
       "files.associations": 
       {
           "cctype": "cpp",
           "clocale": "cpp",
           "cmath": "cpp",
           "cstdarg": "cpp",
           "cstddef": "cpp",
           "cstdio": "cpp",
           "cstdlib": "cpp",
           "cstring": "cpp",
           "ctime": "cpp",
           "cwchar": "cpp",
           "cwctype": "cpp",
           "array": "cpp",
           "atomic": "cpp",
           "strstream": "cpp",
           "*.tcc": "cpp",
           "bitset": "cpp",
           "chrono": "cpp",
           "complex": "cpp",
           "condition_variable": "cpp",
           "cstdint": "cpp",
           "deque": "cpp",
           "list": "cpp",
           "unordered_map": "cpp",
           "vector": "cpp",
           "exception": "cpp",
           "algorithm": "cpp",
           "functional": "cpp",
           "iterator": "cpp",
           "map": "cpp",
           "memory": "cpp",
           "memory_resource": "cpp",
           "numeric": "cpp",
           "optional": "cpp",
           "random": "cpp",
           "ratio": "cpp",
           "set": "cpp",
           "string": "cpp",
           "string_view": "cpp",
           "system_error": "cpp",
           "tuple": "cpp",
           "type_traits": "cpp",
           "utility": "cpp",
           "fstream": "cpp",
           "initializer_list": "cpp",
           "iomanip": "cpp",
           "iosfwd": "cpp",
           "iostream": "cpp",
           "istream": "cpp",
           "limits": "cpp",
           "mutex": "cpp",
           "new": "cpp",
           "ostream": "cpp",
           "sstream": "cpp",
           "stdexcept": "cpp",
           "streambuf": "cpp",
           "thread": "cpp",
           "cfenv": "cpp",
           "cinttypes": "cpp",
           "typeindex": "cpp",
           "typeinfo": "cpp",
           "variant": "cpp",
           "bit": "cpp"
       }
   }
   

4. tasks.json

   {
       "tasks": [
           {
               "type": "cppbuild",
               "label": "C/C++: g++ build active file",  /* 与launch.json文件里的preLaunchTask的内容保持一致 */
               "command": "/usr/bin/g++",
               "args": [
                   "-std=c++11",
                   "-g",
                   //"${file}",   /* 编译单个文件 */
                   "${fileDirname}/*.cpp",  /* 编译多个文件 */
                   "-o",
                   "${fileDirname}/${fileBasenameNoExtension}",  /* 输出文件路径 */
   
                   /* 项目所需的头文件路径 */
                   "-I","${workspaceFolder}/",
                   "-I","/usr/local/include/",
                   "-I","/usr/local/include/opencv4/",
                   "-I","/usr/local/include/opencv4/opencv2",
   
                   /* 项目所需的库文件路径 */
                   "-L", "/usr/local/lib",
   
                   /* OpenCV的lib库 */
                   "/usr/local/lib/libopencv_*",
   
               ],
               "options": {
                   "cwd": "${fileDirname}"
               },
               "problemMatcher": [
                   "$gcc"
               ],
               "group": {
                   "kind": "build",
                   "isDefault": true
               },
               "detail": "Task generated by Debugger."
           }
       ],
       "version": "2.0.0"
   }
   

2.在ros中配置opencv

只需在工作包的CMakeLists.txt文件中加入以下配置:

1. 通过locate OpenCVConfig.cmake找到Opencv库路径
2. 在cmakelist.txt里手动添加set(OpenCV_DIR 路径)
3. 在find_package中加入OpenCV
4. 在include_directories中加入{OPENCV_INCLUDE_DIRS}
5. 为可执行文件设置链接target_link_libraries(文件名 ${OpenCV_LIBS})
   （后两项不必要）