Ubuntu ROS Opencv 验证

Ubuntu ROS Opencv 验证

为验证我的系统是否能支持ROS用Opencv，做以下内容：

1. 创建工作空间

mkdir ros_opencv/src -p

2. 初始化工作空间

cd ros_opencv/src
catkin_init_workspace

3. 创建opencv_test功能包

 catkin_create_pkg opencv_test sensor_msgs cv_bridge roscpp std_msgs image_transport

4. 编写程序opencv_test_node.cpp

vim src/opencv_test_node.cpp

#include <ros/ros.h>
#include <stdio.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
 
static const char WINDOW[] = "Image window";
static void help()
{
    printf("\nThis program demonstrates converting OpenCV Image to ROS Image messages  \n"
        );
 
}
 
int main(int argc, char** argv)
{
  help();
  ros::init(argc, argv, "image_converter");
 
  //Reading an image from the file
  // ubuntu 是我自己的用户名，需要根据自己的实际用户名修改，不然找不到文件
  cv::Mat cv_image = 
  cv::imread("/home/ubuntu/ros_opencv/src/opencv_test/imag/1.jpg");
  if(cv_image.empty() )
    {
        ROS_ERROR("Read the picture failed!");
        return -1;
    }
 
  //Convert OpenCV image to ROS message
  ros::NodeHandle node;
  image_transport::ImageTransport transport(node);
  image_transport::Publisher image_pub; 
  image_pub=transport.advertise("OutImage", 1);
  ros::Time time=ros::Time::now(); 
 
  cv_bridge::CvImage cvi;
  cvi.header.stamp = time;
  cvi.header.frame_id = "image";
  cvi.encoding = "bgr8";
  cvi.image = cv_image;
 
  sensor_msgs::Image im;
  cvi.toImageMsg(im);
  image_pub.publish(im);
  ROS_INFO("Converted Successfully!");
 
  //Show the image
  cv::namedWindow(WINDOW);
  cv::imshow(WINDOW,cv_image);
  cv::waitKey(0);
 
  ros::spin();
  return 0;
}

5. 修改CMakeLists.txt文件

vim CMakeListx.txt

在find_package( )前添加：

set(OpenCV_DIR /usr/share/OpenCV/)

tips: 这里是设置opencv路径，需要根据自己系统路径修改

在文件最后添加：

include_directories(include ${OpenCV_INCLUDE_DIRS})
include_directories(include ${catkin_INCLUDE_DIRS})
 
add_executable(opencv_test_node src/opencv_test_node.cpp)
target_link_libraries(opencv_test_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(opencv_test_node opencv_test_gen.cpp)

6. 添加图片

mkdir image

将这张图片保存到image文件夹中，并修改文件名为：1.jpg

7. 编译 加载工作空间

cd ~/ros_opencv
catkin_make
sudo echo "~/ros_opencv/devel/setup.bash" >> ~/.bashrc

如图：

8. 运行

打开一个终端

roscore

打开另一个终端

rosrun opencv_test opencv_test_node