OpenCV学习实践(1) opencv代码学习实践:Basic Drawing

0.功能作用

        (1)绘制简单形状--线,椭圆,圆,多边形,矩形
        (2)移动图像窗口

        (3)可改写为功能包,给其他程序用

1.构建工作空间

mkdir -p opencv_ws1/src
cd opencv_ws1/src
catkin_create_pkg basic_drawing roscpp rospy cv_bridge std_msgs

2.添加文件并编译运行

        (1)官网下载opencv的source版本,这里选择了opencv4.5.3,解压,进入到下述文件夹找到下述文件.

opencv-4.5.3/samples/cpp/tutorial_code/ImgProc/basic_drawing/Drawing_1.cpp

        复制文件到"1"中创建工作空间的

/xx/opencv_ws1/src/basic_drawing/src

        文件夹下,并改写文件名为:basic_draw_node.cpp

        (2)编写CMakeLists.txt文件

        找到basic_drawing包的CMakeLists.txt文件,在下述文件夹中

/xx/opencv_ws1/src/basic_drawing

        改写如下,其中OpenCV部分为改写的部分,用"##"标记了.

cmake_minimum_required(VERSION 3.0.2)
project(basic_drawing)


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  rospy
  std_msgs
)
find_package(OpenCV REQUIRED)##

catkin_package()

include_directories(
# include
  ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
)##

add_executable(basic_draw_node src/basic_draw_node.cpp)
target_link_libraries(basic_draw_node
  ${catkin_LIBRARIES} ${OpenCV_LIBS}
)##

        (3)运行

        终端回到工作空间文件夹下opencv_ws1,输入下述命令.

catkin_make
source devel/setup.zsh
#####或者source devel/setup.bash
rosrun basic_drawing basic_draw_node  

        得结果如图:

@meng