ROS中的OpenCV

ROS中的OpenCv

ROS 在kinetic版本中自带了 OpenCV3，通过 ros-kinetic-opencv3安装。在目录 /opt/ros/kinetic/include/opencv-3.1.0-dev中。

在ROS中使用自带的OpenCV

头文件如下：

#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

CMakeLists.txt改动如下：

set(OpenCV_DIR /opt/ros/kinetic/include/opencv-3.1.0-dev)
find_package(catkin REQUIRED COMPONENTS 
  roscpp
  OpenCV
)
include_directories(
 include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)
target_link_libraries(testing
${catkin_LIBRARIES} 
${OpenCV_LIBRARIES}
)

CMakeLists.txt文件中如果没有`set(OpenCV_DIR /opt/ros/kinetic/include/opencv-3.1.0-dev)`，将会报错：

Could not find a package configuration file provided by "OpenCV" with any
  of the following names:

    OpenCVConfig.cmake
    opencv-config.cmake