cv_bridge
==========
# Introduction
cv_bridge converts between ROS2 image messages and OpenCV image representation for perception applications. As follows:
This ros2 branch initially derives from porting on the basis of [ros kinetic branch](https://github.com/ros-perception/vision_opencv/tree/kinetic/cv_bridge)
# Installation
Firstly, it assumes that the `ros2 core` has already been installed, please refer to [ROS2 installation](https://github.com/ros2/ros2/wiki/Installation) to get started if the `ros2 core` isn't ready to use
## Install dependencies
OpenCV3 is a must to install, please refer to the official installation guide from [OpenCV Tutorials](http://docs.opencv.org/master/d9/df8/tutorial_root.html)
Since ros2 bases on python3, please make sure that python3-numpy is installed, or install like this:
```bash
sudo apt install python3-numpy
```
Now cv_bridge python backend still has dependency on python boost (`equal or higer than 1.58.0`), and install them as follows in Ubuntu 16.04:
```bash
sudo apt install libboost-python1.58.0
cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libboost_python-py35.so libboost_python3.so
```
## Build and Test
### Fetch the latest code and build
```bash
cd <YOUR_ROS2_WORKSPACE>
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout ros2
colcon build --symlink-install
```
### Run the tests
Python tests have dependency to opencv python support and install it:
```bash
pip3 install opencv-python
```
Next to prepare runtime environment and run tests:
```bash
source <YOUR_ROS2_WORKSPACE>/install/local_setup.bash
colcon test
```
# Known issues
* `boost endian`: remove boost endian APIs with standard C++ 11 or higer instead
* Not verify with Windows and OS X environment and there may be building or running issues
ros学习的一些材料踩踩踩踩踩
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2022-06-27
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ros学习的一些材料踩踩踩踩踩 （179个子文件） 
shell_node.cc 3KB my_class.cc 447B submodule_b.cc 77B submodule_a.cc 77B setup.cfg 87B .clang-format 113B cv_bridge.cpp 26KB rgb_colors.cpp 11KB module_opencv3.cpp 9KB utest2.cpp 8KB module_opencv2.cpp 8KB module.cpp 4KB utest.cpp 4KB test_compression.cpp 1KB test_endian.cpp 1KB test_rgb_colors.cpp 483B mainpage.dox 235B cv_bridge.h 16KB rgb_colors.h 4KB shell_node.h 1KB my_class.h 895B submodule_b.h 80B submodule_a.h 80B pycompat.hpp 3KB module.hpp 1KB cv_bridge-extras.cmake.in 472B __init__.py.plain.in 0B c_cpp_properties.json 450B settings.json 109B README.md 2KB TrafficSignType.msg 13KB VehicleReport.msg 6KB BoundingBox3D.msg 3KB Boundary.msg 3KB ImageRoiBitmap.msg 2KB ArsTrack.msg 2KB ObjectTrackTimed.msg 2KB EgoFusion.msg 2KB ObjectTrack.msg 2KB VisionColorTypeAnchorsMod.msg 1KB VisionBinaryListMod.msg 1KB SteeringCmd.msg 1KB LaneAssignment.msg 1KB RoadMarking.msg 1KB Lane.msg 1KB AccelerationCmd.msg 1KB DetectedObject.msg 1KB LaneTrafficSign.msg 973B LaneObject.msg 930B BoundingBox2D.msg 799B VehicleCommand.msg 767B DetectedObjectMod.msg 767B ObjectTrajectory.msg 709B WayPoint.msg 699B DetectedObject3D.msg 657B TrafficSignTrack.msg 611B PgmLaneLine.msg 610B Road.msg 593B SurfaceLine.msg 581B errorCode.msg 574B Curve.msg 510B EffectiveSpeedLimit.msg 510B LanesPointCloud.msg 496B LanesFeatures.msg 481B TrafficSign.msg 456B OccupancyGrid.msg 452B Localisation.msg 449B GridCell.msg 440B SurfaceModel.msg 434B DrivingStage.msg 410B WayBoundary.msg 403B PgmLaneParticle.msg 384B LineTypeMod.msg 371B Odometry.msg 364B BlindSpot.msg 328B TwistWithCovariance.msg 326B NamedFloatArray.msg 325B PoseWithCovariance.msg 323B RoadMapData.msg 321B PgmLaneParticleArray.msg 311B vehicleStatus.msg 295B chassisEHS3.msg 278B DetectionState.msg 271B speedinfo.msg 251B CanInformation.msg 247B VisionLanesRawMod.msg 242B VisionLineMod.msg 241B InterfaceStatus.msg 235B LaneTrafficSignArray.msg 230B LineColorTypeAnchorMod.msg 226B LineColor.msg 219B VisionLanes.msg 215B VisionLanesRaw.msg 215B LineColorMod.msg 211B TrafficSignTrackArray.msg 196B DetectedObjectArrayMod.msg 192B VisionLine.msg 179B DetectedTrafficSignArray.msg 178B LineType.msg 176B vehicleSpeedAcc.msg 176B共 179 条
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