在ros2上使用opencv显示一张图片

1.先将图片放到桌面上

2.打开终端ctrl+alt+T，检察自己是否已安装opencv

3.创建工作环境

4.进入工作目次并创建ROS2包添加OpenCV依靠项

5.进入/home/kong/opencv_ws/opencv_use/src目次创建.cpp文件并编辑

6.代码如下

1. my_opencv.cpp
2. #include <cstdio>
3. #include <opencv2/opencv.hpp>
5. using namespace cv;
7. int main(int argc, char ** argv)
8. {
9.   (void) argc;
10.   (void) argv;
11.   Mat src = imread("/home/kong/Desktop/image.png");
12.   if(src.empty()){
13.     printf("无法读取图片，请检查图片路径是否正确。\n");
14.   }
15.   imshow("src",src);
16.   waitKey(0);
17.   printf("hello world opencv_use package\n");
18.   return 0;
19. }

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1. CMakeLists.txt
2. cmake_minimum_required(VERSION 3.8)
3. project(opencv_use)
5. if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
6.   add_compile_options(-Wall -Wextra -Wpedantic)
7. endif()
9. # find dependencies
10. find_package(ament_cmake REQUIRED)
11. find_package(rclcpp REQUIRED)
12. find_package(OpenCV REQUIRED)
13. find_package(sensor_msgs REQUIRED)
14. find_package(cv_bridge REQUIRED)
15. find_package(image_transport REQUIRED)
16. include_directories(${OpenCV_INCLUDE_DIRS})
19. add_executable(my_opencv src/my_opencv.cpp)
20. target_link_libraries(my_opencv ${OpenCV_LIBRARIES})
21. target_include_directories(my_opencv PUBLIC
22.   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
23.   $<INSTALL_INTERFACE:include>)
24. target_compile_features(my_opencv PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
25. ament_target_dependencies(
26.   my_opencv
27.   "rclcpp"
28.   "OpenCV"
29.   "sensor_msgs"
30.   "cv_bridge"
31.   "image_transport"
32. )
34. install(TARGETS my_opencv
35.   DESTINATION lib/${PROJECT_NAME})
37. if(BUILD_TESTING)
38.   find_package(ament_lint_auto REQUIRED)
39.   # the following line skips the linter which checks for copyrights
40.   # comment the line when a copyright and license is added to all source files
41.   set(ament_cmake_copyright_FOUND TRUE)
42.   # the following line skips cpplint (only works in a git repo)
43.   # comment the line when this package is in a git repo and when
44.   # a copyright and license is added to all source files
45.   set(ament_cmake_cpplint_FOUND TRUE)
46.   ament_lint_auto_find_test_dependencies()
47. endif()
49. ament_package()

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7.编译运行

现象

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