如何在ros系统中添加#include "cv.h"头文件
时间: 2023-12-10 20:03:23 浏览: 28
要在ROS系统中使用OpenCV库中的函数,需要在ROS的CMakeLists.txt文件中添加OpenCV库的链接。同时,还需要包含OpenCV库的头文件。
假设你已经安装了OpenCV库,可以按照以下步骤将其添加到ROS工程中:
1. 打开CMakeLists.txt文件,找到以下代码块:
```
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
```
2. 在该代码块下方添加以下代码:
```
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
```
这将告诉ROS系统在构建过程中查找OpenCV库,并将其包含路径添加到编译器的搜索路径中。
3. 在需要使用OpenCV库的源文件中添加以下代码:
```
#include <opencv2/opencv.hpp>
```
这将包含OpenCV库的所有头文件。
完成以上步骤后,你就可以在ROS系统中使用OpenCV库了,例如:
```
cv::Mat image = cv::imread("example.jpg");
cv::imshow("Example", image);
cv::waitKey(0);
```
相关问题
Ros中使用OpenCV库实现人脸识别18.04
在ROS中使用OpenCV库实现人脸识别,可以按照以下步骤进行:
1. 安装OpenCV库
在Ubuntu 18.04下,可以使用以下命令安装OpenCV库:
```
sudo apt-get install libopencv-dev
```
2. 创建ROS包
使用以下命令创建ROS包:
```
catkin_create_pkg face_recognition roscpp rospy std_msgs sensor_msgs cv_bridge image_transport
```
3. 创建ROS节点
在ROS包中创建一个名为`face_recognition_node.cpp`的ROS节点,并在其中实现人脸识别算法。
首先,需要包含以下头文件:
```cpp
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
```
然后,定义ROS节点类,并在类中添加订阅器和回调函数,用于接收图像消息和进行人脸识别:
```cpp
class FaceRecognitionNode
{
public:
FaceRecognitionNode()
{
image_sub_ = nh_.subscribe("/camera/rgb/image_raw", 1, &FaceRecognitionNode::imageCallback, this);
}
void imageCallback(const sensor_msgs::Image::ConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
// 人脸识别算法
cv::CascadeClassifier face_cascade;
face_cascade.load("/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml");
std::vector<cv::Rect> faces;
cv::Mat gray;
cv::cvtColor(cv_ptr->image, gray, cv::COLOR_BGR2GRAY);
cv::equalizeHist(gray, gray);
face_cascade.detectMultiScale(gray, faces, 1.1, 2, 0 | cv::CASCADE_SCALE_IMAGE, cv::Size(30, 30));
// 在图像中绘制人脸框
for (size_t i = 0; i < faces.size(); i++)
{
cv::rectangle(cv_ptr->image, faces[i], cv::Scalar(0, 255, 0), 2);
}
// 发布识别结果
image_pub_.publish(cv_ptr->toImageMsg());
}
private:
ros::NodeHandle nh_;
ros::Subscriber image_sub_;
ros::Publisher image_pub_;
};
```
在回调函数中,将ROS图像消息转换为OpenCV图像格式,并使用OpenCV的人脸识别算法`CascadeClassifier`进行人脸检测。检测到人脸后,在图像中绘制人脸框,并将识别结果发布为ROS图像消息。
4. 编译ROS节点
使用以下命令编译ROS节点:
```
cd ~/catkin_ws
catkin_make
```
5. 运行ROS节点
在终端中运行以下命令启动ROS节点:
```
rosrun face_recognition face_recognition_node
```
接着,使用以下命令启动相机节点,向ROS节点发送图像消息:
```
roslaunch usb_cam usb_cam-test.launch
```
最后,可以使用以下命令查看ROS节点发布的人脸识别结果:
```
rosrun image_view image_view image:=/face_recognition/image_raw
```
这样就可以在ROS中实现基于OpenCV的人脸识别功能。
在ROS2中将深度图数据转换为三维坐标的c++示例
很高兴为您回答这个问题。在ROS2中,将深度图数据转换为三维标可以使用以下C++示例代码:
```cpp
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <geometry_msgs/msg/point_cloud2.hpp>
#include <image_geometry/pinhole_camera_model.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
using namespace cv;
class DepthToPCLNode : public rclcpp::Node
{
public:
DepthToPCLNode()
: Node("depth_to_pcl_node") {
depth_camera_info_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>(
"camera_info", rclcpp::SensorDataQoS(),
std::bind(&DepthToPCLNode::depthCameraInfoCallback, this, std::placeholders::_1));
depth_image_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
"depth_image", rclcpp::SensorDataQoS(),
std::bind(&DepthToPCLNode::depthImageCallback, this, std::placeholders::_1));
point_cloud_pub_ = this->create_publisher<geometry_msgs::msg::PointCloud2>(
"point_cloud", rclcpp::SensorDataQoS());
}
private:
void depthCameraInfoCallback(const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg) {
image_geometry::PinholeCameraModel camera_model;
camera_model.fromCameraInfo(camera_info_msg);
fx_ = camera_model.fx();
fy_ = camera_model.fy();
cx_ = camera_model.cx();
cy_ = camera_model.cy();
camera_info_received_ = true;
}
void depthImageCallback(const sensor_msgs::msg::Image::SharedPtr depth_image_msg) {
if (!camera_info_received_) {
return;
}
cv_bridge::CvImagePtr depth_image_ptr;
try {
depth_image_ptr = cv_bridge::toCvCopy(depth_image_msg, sensor_msgs::image_encodings::TYPE_32FC1);
}
catch (cv_bridge::Exception& e) {
RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud(new pcl::PointCloud<pcl::PointXYZ>());
for (size_t v = 0; v < depth_image_ptr->image.rows; ++v) {
for (size_t u = 0; u < depth_image_ptr->image.cols; ++u) {
float depth = depth_image_ptr->image.at<float>(v, u);
if (!std::isnan(depth) && depth > 0.0f) {
pcl::PointXYZ point_cloud_point;
point_cloud_point.x = (u - cx_) * depth / fx_;
point_cloud_point.y = (v - cy_) * depth / fy_;
point_cloud_point.z = depth;
point_cloud->points.push_back(point_cloud_point);
}
}
}
geometry_msgs::msg::PointCloud2 point_cloud_msg;
pcl::toROSMsg(*point_cloud, point_cloud_msg);
point_cloud_msg.header = depth_image_msg->header;
point_cloud_pub_->publish(point_cloud_msg);
}
rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr depth_camera_info_sub_;
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr depth_image_sub_;
rclcpp::Publisher<geometry_msgs::msg::PointCloud2>::SharedPtr point_cloud_pub_;
bool camera_info_received_ = false;
float fx_, fy_, cx_, cy_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<DepthToPCLNode>());
rclcpp::shutdown();
return 0;
}
```
这个示例代码包括ROS2中的所有必需头文件和订阅/发布相关的示例代码。当收到深度相机信息和深度图像时,它将创建一个点云并将其转换为ROS PointCloud2消息发布到`point cloud`主题。