/root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In destructor ‘virtual usb_cam::AbstractV4LUSBCam::~AbstractV4LUSBCam()’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:239:5: error: ‘av_packet_free’ was not declared in this scope av_packet_free(&avpkt); ^~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:239:5: note: suggested alternative: ‘av_packet_ref’ av_packet_free(&avpkt); ^~~~~~~~~~~~~~ av_packet_ref /root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In static member function ‘static bool usb_cam::AbstractV4LUSBCam::init_decoder()’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:379:13: error: ‘av_packet_alloc’ was not declared in this scope avpkt = av_packet_alloc(); ^~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:379:13: note: suggested alternative: ‘av_image_alloc’ avpkt = av_packet_alloc(); ^~~~~~~~~~~~~~~ av_image_alloc /root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In static member function ‘static bool usb_cam::AbstractV4LUSBCam::decode_ffmpeg(const void*, int, usb_cam::camera_image_t*)’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:779:8: error: ‘avcodec_send_packet’ was not declared in this scope if(avcodec_send_packet(avcodec_context, avpkt) < 0) ^~~~~~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:779:8: note: suggested alternative: ‘av_append_packet’ if(avcodec_send_packet(avcodec_context, avpkt) < 0) ^~~~~~~~~~~~~~~~~~~ av_append_packet /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:792:9: error: ‘avcodec_receive_frame’ was not declared in this scope if (avcodec_receive_frame(avcodec_context, avframe_camera) < 0) ^~~~~~~~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:792:9: note: suggested alternative: ‘avcodec_free_frame’ if (avcodec_receive_frame(avcodec_context, avframe_camera) < 0) ^~~~~~~~~~~~~~~~~~~~~ avcodec_free_frame usb_cam/CMakeFiles/v4l_driver.dir/build.make:110: recipe for target 'usb_cam/CMakeFiles/v4l_driver.dir/src/camera_driver.cpp.o' failed make[2]: *** [usb_cam/CMakeFiles/v4l_driver.dir/src/camera_driver.cpp.o] Error 1 CMakeFiles/Makefile2:656: recipe for target 'usb_cam/CMakeFiles/v4l_driver.dir/all' failed make[1]: *** [usb_cam/CMakeFiles/v4l_driver.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

根据错误信息，看起来在您的代码中缺少对FFmpeg相关函数的声明。建议您在使用这些函数之前添加FFmpeg头文件的包含语句。

请将以下行添加到 `camera_driver.cpp` 文件的开头，即在任何其他 `#include` 语句之前：

extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libswscale/swscale.h>
}

这些头文件包含了FFmpeg库提供的函数和数据结构的声明。通过添加这些头文件的包含语句，您可以正确地使用这些函数。

重新编译您的项目，看看是否仍然存在相同的错误。如果问题仍然存在，请确保您已正确安装FFmpeg库，并检查您的代码中是否有其他引用FFmpeg函数的地方。

如果问题仍然存在，请提供更多关于您的编译环境和代码的详细信息，以便更好地帮助您解决问题。

相关问题

/root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In destructor ‘virtual usb_cam::AbstractV4LUSBCam::~AbstractV4LUSBCam()’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:231:5: error: ‘av_packet_free’ was not declared in this scope av_packet_free(&avpkt); ^~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:231:5: note: suggested alternative: ‘av_packet_ref’ av_packet_free(&avpkt); ^~~~~~~~~~~~~~ av_packet_ref /root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In static member function ‘static bool usb_cam::AbstractV4LUSBCam::init_decoder()’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:371:13: error: ‘av_packet_alloc’ was not declared in this scope avpkt = av_packet_alloc(); ^~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:371:13: note: suggested alternative: ‘av_image_alloc’ avpkt = av_packet_alloc(); ^~~~~~~~~~~~~~~ av_image_alloc /root/catkin_uc/src/usb_cam/src/camera_driver.cpp: In static member function ‘static bool usb_cam::AbstractV4LUSBCam::decode_ffmpeg(const void*, int, usb_cam::camera_image_t*)’: /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:771:8: error: ‘avcodec_send_packet’ was not declared in this scope if(avcodec_send_packet(avcodec_context, avpkt) < 0) ^~~~~~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:771:8: note: suggested alternative: ‘avcodec_get_name’ if(avcodec_send_packet(avcodec_context, avpkt) < 0) ^~~~~~~~~~~~~~~~~~~ avcodec_get_name /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:784:9: error: ‘avcodec_receive_frame’ was not declared in this scope if (avcodec_receive_frame(avcodec_context, avframe_camera) < 0) ^~~~~~~~~~~~~~~~~~~~~ /root/catkin_uc/src/usb_cam/src/camera_driver.cpp:784:9: note: suggested alternative: ‘avcodec_free_frame’ if (avcodec_receive_frame(avcodec_context, avframe_camera) < 0) ^~~~~~~~~~~~~~~~~~~~~ avcodec_free_frame usb_cam/CMakeFiles/v4l_driver.dir/build.make:110: recipe for target 'usb_cam/CMakeFiles/v4l_driver.dir/src/camera_driver.cpp.o' failed make[2]: *** [usb_cam/CMakeFiles/v4l_driver.dir/src/camera_driver.cpp.o] Error 1 CMakeFiles/Makefile2:656: recipe for target 'usb_cam/CMakeFiles/v4l_driver.dir/all' failed make[1]: *** [usb_cam/CMakeFiles/v4l_driver.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2

根据您提供的错误信息，错误是由于在camera_driver.cpp文件中未找到av_packet_free、av_packet_alloc、avcodec_send_packet和avcodec_receive_frame等函数导致的。

这些函数属于FFmpeg库，您需要确保已正确链接并包含FFmpeg库。您可以按照以下步骤检查和解决此问题：

1. 确保您已经正确地安装了FFmpeg库。请参考FFmpeg的官方文档或安装说明，确保您已经正确地安装了FFmpeg库。

2. 在CMakeLists.txt文件中，确保已经添加了链接FFmpeg库的指令。可以使用`target_link_libraries()`函数将FFmpeg库链接到您的项目中。在您的CMakeLists.txt文件中，找到与您的目标（例如v4l_driver）相关的`add_library()`或`add_executable()`函数，并在其下方添加以下代码：

   target_link_libraries(your_target_name avcodec avformat swscale)

请将`your_target_name`替换为实际的目标名称。

3. 确保在camera_driver.cpp文件中包含了必要的头文件。在camera_driver.cpp文件的开头，添加以下代码：

   #include <libavcodec/avcodec.h>
   #include <libavformat/avformat.h>
   #include <libswscale/swscale.h>

请根据您的实际情况调整头文件路径。

4. 重新编译您的项目，确保现在能够正确链接和使用FFmpeg库。

如果您仍然遇到问题，请提供更多关于您的CMakeLists.txt文件和相关代码的信息，以便我们能够更好地帮助您解决问题。

/bin/sh: 1: ../../catkin_generated/env_cached.sh: Permission denied

这个错误通常表示你在运行脚本时没有执行权限。你可以尝试使用`chmod +x`命令给脚本添加执行权限，例如：

chmod +x ../../catkin_generated/env_cached.sh

然后再次运行脚本看看是否能够执行成功。如果问题仍然存在，可能是由于其他权限或路径问题导致的，请提供更多的上下文信息，以便我能够更好地帮助你。