c++ - 生成错误 : undefined reference to `cv_bridge::CvImage::toImageMsg() const'

Question

我正在使用 ROS Kinetic 并尝试编写一个程序来读取两个视频并将它们发布在两个不同的主题上。但我认为我在链接 OpenCV 库时犯了一些错误。我收到以下错误。

CMakeFiles/src.dir/src/src.cpp.o: In function `main':
src.cpp:(.text+0x3fd): undefined reference to `cv_bridge::CvImage::toImageMsg() const'
src.cpp:(.text+0x56d): undefined reference to `cv_bridge::CvImage::toImageMsg() const'
collect2: error: ld returned 1 exit status
MultiCamImages/CMakeFiles/src.dir/build.make:165: recipe for target 'MultiCamImages/src' failed
make[2]: *** [MultiCamImages/src] Error 1
CMakeFiles/Makefile2:1089: recipe for target 'MultiCamImages/CMakeFiles/src.dir/all' failed
make[1]: *** [MultiCamImages/CMakeFiles/src.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

这是我的源文件:

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

#include <opencv2/opencv.hpp>

#include <iostream>
#include <fstream>

using namespace std;

int main(int argc, char** argv){
    ros::init(argc, argv, "PublishMultiCamImages");

    ros::NodeHandle nh;

    image_transport::ImageTransport it(nh);
    image_transport::Publisher pub1 = it.advertise("/camera/image_raw1", 1);
    image_transport::Publisher pub2 = it.advertise("/camera/image_raw2", 1);

    cv::Mat im;
    cv::String Path1("/home/akanksha/COSLAM_Dataset/EA-01/grayscale/*.jpg");
    cv::String Path2("/home/akanksha/COSLAM_Dataset/EA-02/grayscale/*.jpg");

    //time = ros::Time::now();

    vector<cv::String> fn1;
    vector<cv::String> fn2;
    cv::glob(Path1,fn1, true); // recurse
    cv::glob(Path2,fn2, true);

    ros::Rate r(50);

    int l1 = fn1.size();
    int l2 = fn2.size();

    int count1 = 0, count2 = 0;
    bool flag;
    while(ros::ok()){
        flag = true;
        if(count1 < l1){
            cv::Mat image1 = cv::imread(fn1[count1]);
            sensor_msgs::ImagePtr msg1 = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image1).toImageMsg();
            pub1.publish(msg1);
            count1++;
            flag = false;
        }
        if(count2 < l2){
            cv::Mat image2 = cv::imread(fn2[count2]);
            sensor_msgs::ImagePtr msg2 = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image2).toImageMsg();
            pub2.publish(msg2);
            count2++;
            flag = false;
        }

        if(flag)
            break;

        r.sleep();
    }

    ros::shutdown();

    return 0;


}

这是我的 CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(MultiCamImages)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  image_transport
  OpenCV
)
# find_package(OpenCV REQUIRED)

set(OpenCV_LIBS opencv_core opencv_imgproc opencv_calib3d opencv_video opencv_features2d opencv_ml opencv_highgui opencv_objdetect)

add_executable(src src/src.cpp)
target_link_libraries(src ${catkin_LIBRARIES} ${OpenCV_LIBS})

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES MultiCamImages
#  CATKIN_DEPENDS roscpp
#  DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

这是我的 pakage.xml

<?xml version="1.0"?>
<package>
  <name>MultiCamImages</name>
  <version>0.0.0</version>
  <description>The MultiCamImages package</description>

  <maintainer email="akanksha@todo.todo">akanksha</maintainer>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <run_depend>roscpp</run_depend>
  <build_depend>sensor_msgs</build_depend>
  <run_depend>sensor_msgs</run_depend>
  <build_depend>cv_bridge</build_depend>
  <run_depend>cv_bridge</run_depend>

</package>

如果您能指出问题，那将是一个很大的帮助。谢谢!

Answer 1

您似乎没有在 cmake 文件中链接 cv_bridge。也许你想要这个:

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  image_transport
  OpenCV
)