[已解决]opencv问题

1012327963

在linux上不好截图 我把错误复制一下 问了学长也没啥解决办法
错误
/home/yufeng001/ros_ws/src/camera_split/src/camera_splid.cpp:95:37: error: could not convert ‘0l’ from ‘long int’ to ‘cv_bridge::CvImagePtr {aka boost::shared_ptr<cv_bridge::CvImage>}’
  cv_bridge::CvImagePtr leftImgPtr_= NULL;
                                     ^
/home/yufeng001/ros_ws/src/camera_split/src/camera_splid.cpp:96:38: error: could not convert ‘0l’ from ‘long int’ to ‘cv_bridge::CvImagePtr {aka boost::shared_ptr<cv_bridge::CvImage>}’
  cv_bridge::CvImagePtr rightImgPtr_= NULL;
                                      ^

1. #include <ros/ros.h>
   
2. #include <iostream>
   
3. #include <image_transport/image_transport.h>
   
4. #include <cv_bridge/cv_bridge.h>
   
5. #include <sensor_msgs/image_encodings.h>
   
6. #include <camera_info_manager/camera_info_manager.h>
   
7. 
   
8. #include <opencv2/opencv.hpp>
   
9. #include <opencv2/imgproc/imgproc.hpp>
   
10. #include <opencv2/highgui/highgui.hpp>
    
11. 
    
12. using namespace std;
    
13. 
    
14. class CameraSplitter
    
15. {
    
16. public:
    
17.         CameraSplitter():nh_("~"),it_(nh_)
    
18.         {
    
19.                 image_sub_ = it_.subscribe("/usb_cam/image_raw", 1, &CameraSplitter::imageCallback, this);
    
20.                 image_pub_left_ = it_.advertiseCamera("/left_cam/image_raw", 1);
    
21.                 image_pub_right_ = it_.advertiseCamera("/right_cam/image_raw", 1);
    
22.                 cinfo_ =boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(nh_));
    
23. 
    
24.                 //读取参数服务器参数，得到左右相机参数文件的位置
    
25.                 string left_cal_file = nh_.param<std::string>("left_cam_file", "");
    
26.                 string right_cal_file = nh_.param<std::string>("right_cam_file", "");
    
27.                 if(!left_cal_file.empty())
    
28.                 {
    
29.                         if(cinfo_->validateURL(left_cal_file)) {
    
30.                                 cout<<"Load left camera info file: "<<left_cal_file<<endl;
    
31.                                 cinfo_->loadCameraInfo(left_cal_file);
    
32.                                 ci_left_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
    
33.                         }
    
34.                         else {
    
35.                                 cout<<"Can't load left camera info file: "<<left_cal_file<<endl;
    
36.                                 ros::shutdown()
    
37.                         }
    
38.                 }
    
39.                 else {
    
40.                         cout<<"Did not specify left camera info file." <<endl
    
41.                         ci_left_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
    
42.                 }
    
43.                 if(!right_cal_file.empty())
    
44.                 {
    
45.                         if(cinfo_->validateURL(right_cal_file)) {
    
46.                                 cout<<"Load right camera info file: "<<right_cal_file<<endl;
    
47.                                 cinfo_->loadCameraInfo(right_cal_file);
    
48.                                 ci_right_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
    
49.                         }
    
50.                         else {
    
51.                                 cout<<"Can't load right camera info file: "<<left_cal_file<<endl;
    
52.                                 ros::shutdown()
    
53.                         }
    
54.                 }
    
55.                 else {
    
56.                         cout<<"Did not specify right camera info file." <<endl
    
57.                         ci_right_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
    
58.                 }
    
59.         }
    
60. 
    
61.         void imageCallback(const sensor_msgs::ImageConstPtr& msg)
    
62.         {
    
63.                 cv_bridge::CvImageConstPtr cv_ptr;
    
64.                 namespace enc= sensor_msgs::image_encodings;
    
65.                 cv_ptr= cv_bridge::toCvShare(msg, enc::BGR8);
    
66.                 //截取ROI(Region Of Interest)，即左右图像，会将原图像数据拷贝出来。
    
67.                 leftImgROI_=cv_ptr->image(cv::Rect(0,0,cv_ptr->image.cols/2, cv_ptr->image.rows));
    
68.                 rightImgROI_=cv_ptr->image(cv::Rect(cv_ptr->image.cols/2,0, cv_ptr->image.cols/2, cv_ptr->image.rows ));
    
69.                 //创建两个CvImage, 用于存放原始图像的左右部分。CvImage创建时是对Mat进行引用的,不会进行数据拷贝
    
70.                 leftImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,leftImgROI_) );
    
71.                 rightImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,rightImgROI_) );
    
72. 
    
73.                 //发布到/left_cam/image_raw和/right_cam/image_raw
    
74.                 ci_left_->header = cv_ptr->header         //很重要，不然会提示不同步导致无法去畸变
    
75.                 ci_right_->header = cv_ptr->header
    
76.                 image_pub_left_.publish(leftImgPtr_->toImageMsg(),ci_left_);
    
77.                 image_pub_right_.publish(rightImgPtr_->toImageMsg(),ci_right_);
    
78.         }
    
79. 
    
80. private:
    
81.         ros::NodeHandle nh_;
    
82.         image_transport::ImageTransport it_;
    
83.         image_transport::Subscriber image_sub_;
    
84.         image_transport::CameraPublisher image_pub_left_;
    
85.         image_transport::CameraPublisher image_pub_right_;
    
86.         boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
    
87.         sensor_msgs::CameraInfoPtr ci_left_;
    
88.         sensor_msgs::CameraInfoPtr ci_right_;
    
89. 
    
90.         cv::Mat leftImgROI_;
    
91.         cv::Mat rightImgROI_;
    
92.         cv_bridge::CvImagePtr leftImgPtr_=NULL;
    
93.         cv_bridge::CvImagePtr rightImgPtr_=NULL;
    
94. };
    
95. 
    
96. int main(int argc,char** argv)
    
97. {
    
98.         ros::init(argc,argv, "camera_split");
    
99.         CameraSplitter cameraSplitter;
    
100.         ros::spin();
     
101.         return 0;
     
102. }
     
103. 
     

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最佳答案

月排行榜 / 总排行榜

赚小钱

2021-5-28 21:49:50

数据类型不对，不能把NULL赋值给 CvImagePtr，错误信息说的很明确了， CvImagePtr 就是
boost::shared_ptr<cv_bridge::CvImage>，库里面绝逼有初始化函数。

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赚小钱

数据类型不对，不能把NULL赋值给 CvImagePtr，错误信息说的很明确了， CvImagePtr 就是
boost::shared_ptr<cv_bridge::CvImage>，库里面绝逼有初始化函数。