[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;
                                      ^

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

#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

using namespace std;

class CameraSplitter
{
public:
        CameraSplitter():nh_("~"),it_(nh_)
        {
                image_sub_ = it_.subscribe("/usb_cam/image_raw", 1, &CameraSplitter::imageCallback, this);
                image_pub_left_ = it_.advertiseCamera("/left_cam/image_raw", 1);
                image_pub_right_ = it_.advertiseCamera("/right_cam/image_raw", 1);
                cinfo_ =boost::shared_ptr<camera_info_manager::CameraInfoManager>(new camera_info_manager::CameraInfoManager(nh_));

                //读取参数服务器参数，得到左右相机参数文件的位置
                string left_cal_file = nh_.param<std::string>("left_cam_file", "");
                string right_cal_file = nh_.param<std::string>("right_cam_file", "");
                if(!left_cal_file.empty())
                {
                        if(cinfo_->validateURL(left_cal_file)) {
                                cout<<"Load left camera info file: "<<left_cal_file<<endl;
                                cinfo_->loadCameraInfo(left_cal_file);
                                ci_left_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
                        } 
                        else {
                                cout<<"Can't load left camera info file: "<<left_cal_file<<endl;
                                ros::shutdown()
                        }
                }
                else {
                        cout<<"Did not specify left camera info file." <<endl
                        ci_left_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
                }
                if(!right_cal_file.empty())
                {
                        if(cinfo_->validateURL(right_cal_file)) {
                                cout<<"Load right camera info file: "<<right_cal_file<<endl;
                                cinfo_->loadCameraInfo(right_cal_file);
                                ci_right_ = sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));
                        }
                        else {
                                cout<<"Can't load right camera info file: "<<left_cal_file<<endl;
                                ros::shutdown()
                        }
                }
                else {
                        cout<<"Did not specify right camera info file." <<endl
                        ci_right_=sensor_msgs::CameraInfoPtr(new sensor_msgs::CameraInfo());
                }
        }

        void imageCallback(const sensor_msgs::ImageConstPtr& msg)
        {
                cv_bridge::CvImageConstPtr cv_ptr;
                namespace enc= sensor_msgs::image_encodings;
                cv_ptr= cv_bridge::toCvShare(msg, enc::BGR8);
                //截取ROI(Region Of Interest)，即左右图像，会将原图像数据拷贝出来。
                leftImgROI_=cv_ptr->image(cv::Rect(0,0,cv_ptr->image.cols/2, cv_ptr->image.rows));
                rightImgROI_=cv_ptr->image(cv::Rect(cv_ptr->image.cols/2,0, cv_ptr->image.cols/2, cv_ptr->image.rows ));
                //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
                leftImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,leftImgROI_) );
                rightImgPtr_=cv_bridge::CvImagePtr(new cv_bridge::CvImage(cv_ptr->header, cv_ptr->encoding,rightImgROI_) );

                //发布到/left_cam/image_raw和/right_cam/image_raw
                ci_left_->header = cv_ptr->header         //很重要，不然会提示不同步导致无法去畸变
                ci_right_->header = cv_ptr->header
                image_pub_left_.publish(leftImgPtr_->toImageMsg(),ci_left_);
                image_pub_right_.publish(rightImgPtr_->toImageMsg(),ci_right_);
        }

private:
        ros::NodeHandle nh_;
        image_transport::ImageTransport it_;
        image_transport::Subscriber image_sub_;
        image_transport::CameraPublisher image_pub_left_;
        image_transport::CameraPublisher image_pub_right_;
        boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
        sensor_msgs::CameraInfoPtr ci_left_;
        sensor_msgs::CameraInfoPtr ci_right_;

        cv::Mat leftImgROI_;
        cv::Mat rightImgROI_;
        cv_bridge::CvImagePtr leftImgPtr_=NULL;
        cv_bridge::CvImagePtr rightImgPtr_=NULL;
};

int main(int argc,char** argv)
{
        ros::init(argc,argv, "camera_split");
        CameraSplitter cameraSplitter;
        ros::spin();
        return 0;
}

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。

跳转到最佳答案楼层

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。