对‘cv::rectangle(cv::_InputOutputArray const&, cv::Rect_＜int＞, cv::Scalar_＜double＞ const&, int, int,

对‘cv::rectangle(cv::_InputOutputArray const&, cv::Rect_<int>, cv::Scalar_<double> const&, int, int, int)’未定义的引用

cmake_minimum_required(VERSION 2.8.3)

project(drone_detect)

set(CMAKE_BUILD_TYPE "Release")

ADD_COMPILE_OPTIONS(-std=c++11 )

ADD_COMPILE_OPTIONS(-std=c++14 )

## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,

## enforcing cleaner code.

set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

## Find catkin macros and libraries

find_package(catkin REQUIRED

COMPONENTS

roscpp

sensor_msgs

roslint

cv_bridge

message_filters

)

## Find system libraries

find_package(Eigen3 REQUIRED)

find_package(OpenCV REQUIRED)

find_package(Boost REQUIRED)

###################################

## catkin specific configuration ##

###################################

## The catkin_package macro generates cmake config files for your package

## Declare things to be passed to dependent projects

## INCLUDE_DIRS: uncomment this if your package contains header files

## LIBRARIES: libraries you create in this project that dependent projects also need

## CATKIN_DEPENDS: catkin_packages dependent projects also need

## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

INCLUDE_DIRS

include

## This is only necessary because Eigen3 sets a non-standard EIGEN3_INCLUDE_DIR variable

${EIGEN3_INCLUDE_DIR}

LIBRARIES

CATKIN_DEPENDS

roscpp

sensor_msgs

DEPENDS OpenCV Eigen Boost

## find_package(Eigen3) provides a non standard EIGEN3_INCLUDE_DIR instead of Eigen3_INCLUDE_DIRS.

## Therefore, the DEPEND does not work as expected and we need to add the directory to the INCLUDE_DIRS

# Eigen3

## Boost is not part of the DEPENDS since it is only used in source files,

## Dependees do not depend on Boost when they depend on this package.

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

include_directories(

include

${catkin_INCLUDE_DIRS}

# Set manually because Eigen sets a non standard INCLUDE DIR

${EIGEN3_INCLUDE_DIR}

# Set because Boost is an internal dependency, not transitive.

${Boost_INCLUDE_DIRS}

${OpenCV_INCLUDE_DIRS}

)

## Declare cpp executables

add_executable(${PROJECT_NAME}

src/${PROJECT_NAME}_node.cpp

src/drone_detector.cpp

)

target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_11)

## Add dependencies to exported targets, like ROS msgs or srvs

add_dependencies(${PROJECT_NAME}

${catkin_EXPORTED_TARGETS}

)

 

target_link_libraries(${PROJECT_NAME}

${catkin_LIBRARIES}

${OpenCV_LIBS}

)

#############

## Install ##

#############

# Mark executables and/or libraries for installation

install(

TARGETS ${PROJECT_NAME}

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

# Mark cpp header files for installation

install(

DIRECTORY include/${PROJECT_NAME}/

DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

FILES_MATCHING PATTERN "*.h"

)

# Mark other files for installation

install(

DIRECTORY doc

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

#############

## Testing ##

#############

# if(${CATKIN_ENABLE_TESTING})

# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")

# ## Add gtest based cpp test target and link libraries

# catkin_add_gtest(${PROJECT_NAME}-test

# test/test_drone_detector.cpp)

# target_link_libraries(${PROJECT_NAME}-test)

# endif()

##########################

## Static code analysis ##

##########################

roslint_cpp()

cv::rectangle(depth_img_, cv::Rect(searchbox_lu_[i], searchbox_rd_[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0);

cv::rectangle(depth_img_, cv::Rect(boundingbox_lu_[i], boundingbox_rd_[i]), cv::Scalar(0, 0, 0), 5, cv::LINE_8, 0);

/usr/bin/ld: warning: libopencv_imgcodecs.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.3.3
/usr/bin/ld: warning: libopencv_core.so.3.3, needed by /usr/local/lib/libopencv_imgcodecs.so.3.3.1, may conflict with libopencv_core.so.3.2
CMakeFiles/drone_detect.dir/src/drone_detector.cpp.o：在函数‘detect::DroneDetector::rcvDepthImgCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)’中：
/home/amov/Prometheus/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detector.cpp:202：对‘cv::rectangle(cv::_InputOutputArray const&, cv::Rect_<int>, cv::Scalar_<double> const&, int, int, int)’未定义的引用
/home/amov/Prometheus/Modules/ego_planner/ego-planner-swarm/src/planner/drone_detect/src/drone_detector.cpp:203：对‘cv::rectangle(cv::_InputOutputArray const&, cv::Rect_<int>, cv::Scalar_<double> const&, int, int, int)’未定义的引用
collect2: error: ld returned 1 exit status

  bool test_mode = 1;

  int test_path = 0;

bool MBPlanner::setVelCb(planner_msgs::planner_set_vel::Request& req,

                         planner_msgs::planner_set_vel::Response& res) {

  do_set_vel = req.set;

  vel_to_set(0) = req.root_vel.linear.x;

  vel_to_set(1) = req.root_vel.linear.y;

  vel_to_set(2) = req.root_vel.linear.z;

  res.success = true;

  return true;

}

void yawToQuaternion(double yaw, geometry_msgs::Quaternion& quaternion) {

  quaternion.w = cos(yaw / 2);

  quaternion.x = 0;

  quaternion.y = 0;

  quaternion.z = sin(yaw / 2);

}

void updatePose(geometry_msgs::Pose& pose, double new_x, double new_y) {

    double dx = new_x - pose.position.x;

    double dy = new_y - pose.position.y;

    double yaw = std::atan2(dy, dx);

    pose.position.x = new_x;

    pose.position.y = new_y;

    pose.orientation = tf::createQuaternionMsgFromYaw(yaw);

}

bool MBPlanner::testmodeServiceCallback(planner_msgs::planner_srv::Request& req,

                                       planner_msgs::planner_srv::Response& res) {

  //改，测试模式

  if (test_mode){

    res.path.clear();

    test_path ++;

    if (test_path == 5 ){

      test_mode = 0;

    }

  }

  else{

    res.path.clear();

    cout<<"停"<<endl;

    return 1;

  }

  // 初始化路径点

  geometry_msgs::Pose current_pose;

  current_pose.position.x =current_state_.position(0); // 初始位置

  current_pose.position.y = current_state_.position(1);

  current_pose.position.z = current_state_.position(2); // 高度固定为0.5

  current_pose.orientation = tf::createQuaternionMsgFromYaw(current_state_.yaw); // 初始方向朝向x轴正方向

  const double delta_theta = M_PI / 40.0; // 圆弧路径的角度增量

  const double radius = 1.0; // 圆弧的半径

  switch(test_path) {

      case 1: {

          // 直线路径

          for (double x = 0.2; x <= 1.63; x += 0.143) {

              updatePose(current_pose, x, 0);

              res.path.push_back(current_pose);

          }

          break;

      }

      case 2: {

          // 圆弧路径

          for (double theta = 0; theta <= M_PI/2; theta += delta_theta) {

              double x = 1.63 + radius * sin(theta);

              double y = 1-radius * cos(theta);

              updatePose(current_pose, x, y);

              current_pose.position.z =current_pose.position.z - 0.008;

              res.path.push_back(current_pose);

          }

          break;

      }

      case 3: {

          // 垂直线路径

          for (double y = current_pose.position.y; y <= 3.1; y += 0.23) {

              updatePose(current_pose, 2.63, y);

              current_pose.position.z =current_pose.position.z ;

              res.path.push_back(current_pose);

          }

          break;

      }

      case 4: {

          // 圆弧路径

          for (double theta = M_PI/2; theta >= 0; theta -= delta_theta) {

              double x = 1.63 + radius * sin(theta);

              double y = 3.1 + radius * cos(theta);

              updatePose(current_pose, x, y);

              current_pose.position.z =current_pose.position.z + 0.008;

              res.path.push_back(current_pose);

          }

          break;

      }

      case 5: {

          // 反向直线路径

          for (double x = 1.63; x >= -0.5; x -= 0.31) {

              updatePose(current_pose, x, 4.0);

              current_pose.position.z =current_pose.position.z + 0.03;

              res.path.push_back(current_pose);

          }

          break;

      }

  }

 

  return true;

}