0.功能作用
(1)繪制簡單形狀--線,橢圓,圓,多邊形,矩形
(2)移動影像視窗
(3)可改寫為功能包,給其他程式用
1.構建作業空間
mkdir -p opencv_ws1/src
cd opencv_ws1/src
catkin_create_pkg basic_drawing roscpp rospy cv_bridge std_msgs2.添加檔案并編譯運行
(1)官網下載opencv的source版本,這里選擇了opencv4.5.3,解壓,進入到下述檔案夾找到下述檔案.
opencv-4.5.3/samples/cpp/tutorial_code/ImgProc/basic_drawing/Drawing_1.cpp復制檔案到"1"中創建作業空間的
/xx/opencv_ws1/src/basic_drawing/src檔案夾下,并改寫檔案名為:basic_draw_node.cpp
(2)撰寫CMakeLists.txt檔案
找到basic_drawing包的CMakeLists.txt檔案,在下述檔案夾中
/xx/opencv_ws1/src/basic_drawing改寫如下,其中OpenCV部分為改寫的部分,用"##"標記了.
cmake_minimum_required(VERSION 3.0.2)
project(basic_drawing)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
roscpp
rospy
std_msgs
)
find_package(OpenCV REQUIRED)##
catkin_package()
include_directories(
# include
${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
)##
add_executable(basic_draw_node src/basic_draw_node.cpp)
target_link_libraries(basic_draw_node
${catkin_LIBRARIES} ${OpenCV_LIBS}
)##
(3)運行
終端回到作業空間檔案夾下opencv_ws1,輸入下述命令.
catkin_make
rosrun basic_drawing basic_draw_node 得結果如圖:
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標籤：其他