Scanning dependencies of target image_listen_node
[ 62%] Built target imu_subscribe_node
[ 50%] Building CXX object image_listen/CMakeFiles/image_listen_node.dir/src/rgb_listener.cpp.o
[ 62%] Built target laser_subscribe_node
[ 87%] Built target laser_avoid_node
[100%] Linking CXX executable /home/nvidia/tutorial_subscriber/devel/lib/image_listen/image_listen_node
CMakeFiles/image_listen_node.dir/src/rgb_listener.cpp.o: In function `callbackImage(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
rgb_listener.cpp:(.text+0x598): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)'
rgb_listener.cpp:(.text+0x5b0): undefined reference to `cv::waitKey(int)'
collect2: error: ld returned 1 exit status
image_listen/CMakeFiles/image_listen_node.dir/build.make:128: recipe for target '/home/nvidia/tutorial_subscriber/devel/lib/image_listen/image_listen_node' failed
make[2]: *** [/home/nvidia/tutorial_subscriber/devel/lib/image_listen/image_listen_node] Error 1
CMakeFiles/Makefile2:461: recipe for target 'image_listen/CMakeFiles/image_listen_node.dir/all' failed
make[1]: *** [image_listen/CMakeFiles/image_listen_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

 

code

#include <ros/ros.h>

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

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <stdio.h>

void callbackImage (const sensor_msgs::ImageConstPtr & img_ptr);

int cnt;
int idx;

int  main (int argc, char** argv)
{

  cnt = 0;
  idx = 0;

  ros::init (argc, argv, "image_retriever");

  ros::NodeHandle handler;
  image_transport::ImageTransport it (handler);

  std::string topic_img = "/usb_cam/image_raw";
  image_transport::Subscriber it_sub_img = it.subscribe (topic_img, 100,
							 callbackImage);

  ros::spin ();

  return 0;
}

void callbackImage (const sensor_msgs::ImageConstPtr & msg_img)
{

  cv_bridge::CvImagePtr img_ptr;
  try
    {
      if (sensor_msgs::image_encodings::isColor (msg_img->encoding))
	{
	  img_ptr = cv_bridge::toCvCopy (msg_img,
					 sensor_msgs::image_encodings::BGR8);
	}
      else
	{
	  img_ptr = cv_bridge::toCvCopy (msg_img,
					 sensor_msgs::image_encodings::MONO8);

	}

      if (img_ptr->image.data)
	{

	  cv::Mat image = img_ptr->image;

	  cv::imshow ("raw", image);
	  cv::waitKey (3);
  //   if(cnt% 2 == 0){
      char fn[30];
      sprintf(fn, "rawoutput%04d.pgm", idx);

      std::vector<int> param;
      param.push_back(CV_IMWRITE_PXM_BINARY);
      param.push_back(1);

      cv::imwrite(fn, image, param);

      idx++;
   //  }

	  ROS_INFO("image data retireved!\n");
	}

    }
  catch (cv_bridge::Exception &e)
    {
      ROS_ERROR("error in image data retrieval!\n");
    }

  cnt++;
}

 

CMakelists.txt

cmake_minimum_required(VERSION 2.8.3)
project(image_listen)

add_compile_options(-std=c++11)


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  rospy
  sensor_msgs
  std_msgs
  image_transport
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Opencv)


catkin_package(
  INCLUDE_DIRS include
  LIBRARIES image_listen
  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs image_transport
  DEPENDS system_lib
)
include_directories(
 include
  ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
)


add_executable(${PROJECT_NAME}_node src/rgb_listener.cpp)
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(${PROJECT_NAME}_node   ${catkin_LIBRARIES} ${OpenCV_LIBS}  )