在ROS下使用OpenCV

最新推荐文章于 2024-03-05 13:01:25 发布
最新推荐文章于 2024-03-05 13:01:25 发布
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分类专栏： ROS OpenCV 文章标签： c++ linux cv
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在ROS下使用OpenCV

请先自行创建好工作空间，具体请参考
todo
在工作空间/src目录下

catkin_create_package opencv_test roscpp OpenCV 
#注意OpenCV大小写

catkin_create_package 命令在此处所引用的包，最后反映在cmakelists.txt中就是以下代码，所以忘记添加必要的包也没有关系，只需要手动在cmakelist文件中修改以下代码，加入对应的依赖包即可

find_package(catkin REQUIRED COMPONENTS
				  roscpp
					OpenCV
)

再在opencv_test/src目录下，创建一个opencv_test_node.cpp，在其中加入

此处的源码的名称当然也可以变成其他的名字，但是由于系统生成的cmakeLists文件是默认把节点的名字设定为<package_node>，所以我也默认把源文件写为这样

#include<ros/ros.h> //ros标准库头文件
#include<iostream> //C++标准输入输出库
 
//OpenCV2标准头文件
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>

using namespace cv;
using namespace std;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "opencv_test"); 
    if(argc != 2)
    {
        cout<<"usage:rosrun opencv_test opencv_test_node <path of picture>"<<endl;
    }  //图片路径最好为绝对路径
    Mat image = cv::imread(argv[1]);
    if(image.empty())
    {
        cout<<"open image error!"<<endl;
    }
    imshow("", image);
    waitKey(5000);//等待5秒
    ros::spin();
}

打开opencv_test目录下的cmakelists.txt，这时系统应该已经生成了部分代码如下

cmake_minimum_required(VERSION 3.0.2)
project(opencv_test)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-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
  OpenCV
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

## 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 exec_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 exec_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  # Or other packages containing 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 exec_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 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
#  LIBRARIES opencv_test
#  CATKIN_DEPENDS roscpp
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/opencv_test.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}_node src/opencv_test_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}_node
#   ${catkin_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
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_opencv_test.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)

为了简化，我摘出并修改有效代码如下

cmake_minimum_required(VERSION 3.0.2)
project(opencv_test)

find_package(catkin REQUIRED COMPONENTS
		  roscpp
			OpenCV
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
#生成一个名为opencv_test_node的可执行文件，此即该功能包的节点
#该节点名字即rosrun的第三个参数 node_name
add_executable(${PROJECT_NAME}_node src/opencv_test_node.cpp)

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

注意此处的

find_package(catkin REQUIRED COMPONENTS
		  roscpp
			OpenCV
)

的意思是，catkin是一个必须找到的依赖包，如果没有找到将会停止编译，而这个包含有roscpp、OpenCV这两个组件，最后这个两个组件的头文件路径以及依赖库路径将会赋给catkin_INCLUDE_DIRS 和 catkin_LIBRARIES

如果你在创建包的时候，没有包含OpenCV，那么你就必须手动添加。

回到工作空间目录下，编译包

catkin_make

编译成功以后，运行该节点，先启动roscore，再rosrun，注意环境变量问题

rosrun opencv_test opencv_test_node <图片的绝对路径>

即可发现打开了一张图片。

总结

  • 在一个功能包下，可以有多个节点，所谓节点其实就是，功能包所编译出的可执行文件，这些可执行文件被放在工作空间/build目录下
  • 创建包时忘记添加必要的包也没有关系，手动在cmakelists find_package中添加对应的包即可，如果非要说有什么影响的话，可能就是手动添加的包，不会加入到package.xml文件中吧
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