在ros下使用opencv, cv_bridge这个软件包是必须要使用的,正如roswiki上所说的:http://wiki.ros.org/opencv3
至少使用cv_bridge或者image_geometry中的一个,你才能使用libopncv-dev, 这一条适用于kinetic及以上的版本。
我将opencv实现kalman滤波的程序写在ros里,并成功编译,运行。代码如下:
cv_klf.cpp(我自己取得名字)
#include <ros/ros.h>
#include "opencv2/highgui.hpp"
#include "opencv2/video/tracking.hpp"
#include <stdio.h>
using namespace cv;
static inline Point calcPoint(Point2f center, double R, double angle)
{
return center + Point2f((float)cos(angle), (float)-sin(angle))*(float)R;
}
static void help()
{
printf( "\nExample of c calls to OpenCV's Kalman filter.\n"
" Tracking of rotating point.\n"
" Rotation speed is constant.\n"
" Both state and measurements vectors are 1D (a point angle),\n"
" Measurement is the real point angle + gaussian noise.\n"
" The real and the estimated points are connected with yellow line segment,\n"
" the real and the measured points are connected with red line segment.\n"
" (if Kalman filter works correctly,\n"
" the yellow segment should be shorter than the red one).\n"
"\n"
" Pressing any key (except ESC) will reset the tracking with a different speed.\n"
" Pressing ESC will stop the program.\n"
);
}
int main(int, char**)
{
help();
Mat img(500, 500, CV_8UC3);
KalmanFilter KF(2, 1, 0);
Mat state(2, 1, CV_32F); /* (phi, delta_phi) */
Mat processNoise(2, 1, CV_32F);
Mat measurement = Mat::zeros(1, 1, CV_32F);
char code = (char)-1;
for(;;)
{
randn( state, Scalar::all(0), Scalar::all(0.1) );
KF.transitionMatrix = (Mat_<float>(2, 2) << 1, 1, 0, 1);
setIdentity(KF.measurementMatrix);
setIdentity(KF.processNoiseCov, Scalar::all(1e-5));
setIdentity(KF.measurementNoiseCov, Scalar::all(1e-1));
setIdentity(KF.errorCovPost, Scalar::all(1));
randn(KF.statePost, Scalar::all(0), Scalar::all(0.1));
for(;;)
{
Point2f center(img.cols*0.5f, img.rows*0.5f);
float R = img.cols/3.f;
double stateAngle = state.at<float>(0);
Point statePt = calcPoint(center, R, stateAngle);
Mat prediction = KF.predict();
double predictAngle = prediction.at<float>(0);
Point predictPt = calcPoint(center, R, predictAngle);
randn( measurement, Scalar::all(0), Scalar::all(KF.measurementNoiseCov.at<float>(0)));
// generate measurement
measurement += KF.measurementMatrix*state;
double measAngle = measurement.at<float>(0);
Point measPt = calcPoint(center, R, measAngle);
// plot points
#define drawCross( center, color, d ) \
line( img, Point( center.x - d, center.y - d ), \
Point( center.x + d, center.y + d ), color, 1, LINE_AA, 0); \
line( img, Point( center.x + d, center.y - d ), \
Point( center.x - d, center.y + d ), color, 1, LINE_AA, 0 )
img = Scalar::all(0);
drawCross( statePt, Scalar(255,255,255), 3 );
drawCross( measPt, Scalar(0,0,255), 3 );
drawCross( predictPt, Scalar(0,255,0), 3 );
line( img, statePt, measPt, Scalar(0,0,255), 3, LINE_AA, 0 );
line( img, statePt, predictPt, Scalar(0,255,255), 3, LINE_AA, 0 );
if(theRNG().uniform(0,4) != 0)
KF.correct(measurement);
randn( processNoise, Scalar(0), Scalar::all(sqrt(KF.processNoiseCov.at<float>(0, 0))));
state = KF.transitionMatrix*state + processNoise;
imshow( "Kalman", img );
code = (char)waitKey(100);
if( code > 0 )
break;
}
if( code == 27 || code == 'q' || code == 'Q' )
break;
}
return 0;
}
CMakeLists.txt如下:
cmake_minimum_required(VERSION 2.8.3)
project(cv_klf)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
cv_bridge
)
## System dependencies are found with CMake's conventions
find_package(OpenCV REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## 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 you 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
LIBRARIES cv_klf
CATKIN_DEPENDS roscpp std_msgs cv_bridge
# DEPENDS OpenCV
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${OPENCV_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/cv_klf.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME} src/cv_klf_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OPENCV_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# 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"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_cv_klf.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
package.xm如下:
<?xml version="1.0"?>
<package>
<name>cv_klf</name>
<version>0.0.0</version>
<description>The cv_klf package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="wuming@todo.todo">riki</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/cv_klf</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>cv_bridge</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>cv_bridge</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
网上很多说不到点子上,管家在于在CMakeLists.txt和package.xml中添加依赖cv_bridge 或者image_geometry。
以及在CMakeLists.txt中正确设置opencv链接,其实就添加三处:
1:find_package(OpenCV REQUIRED)
2:include_directories(
${catkin_INCLUDE_DIRS}
${OPENCV_INCLUDE_DIRS}
)
3:target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OPENCV_LIBRARIES}
)