ROS 移植KCF代码

首先说明一下，melodic版本支持python2.7, 因此python版本的kcf没有尝试过，3.6版本的python可以直接调用

安装过opencv_contrib3.4.1的c++库，但是ros中会出现冲突，所以放弃了，直接使用自带的opencv3.2版本。使用kcf的源码进行编译。链接



如上图所示，是整个kcf包的源码，我们需要修改runtracker.pp的源码

#include <ros/ros.h>
#include <stdio.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <geometry_msgs/Twist.h>
//***split****************************
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <kcftracker.hpp>

using namespace std;
using namespace cv;
bool drawing_box = false;
bool gotBB = false;
cv::Rect box;//画出的矩形框
static const char WINDOW[] = "Image window";

//画矩形框
void mouseHandler(int event, int x, int y, int flags, void *param){
	switch (event){
	case CV_EVENT_MOUSEMOVE:
		if (drawing_box){
			box.width = x - box.x;
			box.height = y - box.y;
		}
		break;
	case CV_EVENT_LBUTTONDOWN:
		drawing_box = true;
		box = Rect(x, y, 0, 0);
		break;
	case CV_EVENT_LBUTTONUP:
		drawing_box = false;
		if (box.width < 0){
			box.x += box.width;
			box.width *= -1;
		}
		if (box.height < 0){
			box.y += box.height;
			box.height *= -1;
		}
		gotBB = true;   //已经获得bounding box  
		break;
	}
}
void drawBox(Mat& image, CvRect box, Scalar color, int thick){
	rectangle(image, cvPoint(box.x, box.y), cvPoint(box.x + box.width, box.y + box.height), color, thick);
}
int main(int argc, char **argv)
{     
  ros::init(argc, argv, "image_converter");
  VideoCapture capture;
  capture.open(0);
  cvNamedWindow("KCF", CV_WINDOW_AUTOSIZE);
	cvSetMouseCallback("KCF", mouseHandler, NULL);  //用鼠标选中初始目标的bounding box  
	bool HOG = true;
	bool FIXEDWINDOW = false;
	bool MULTISCALE = true;
	bool SILENT = false;
	bool LAB = false ;
	// Create KCFTracker object
  KCFTracker tracker(HOG, FIXEDWINDOW, MULTISCALE, LAB);
  Rect result;
  Mat frame;
  double duration = 0;
 int count = 0;
  while(!gotBB)
 {
  capture>>frame;
  drawBox(frame, box, (0, 0, 255), 2);  //把bounding box 画出来  
		imshow("KCF", frame);
		if (cvWaitKey(33) == 'q')
			return 0;

}
 cvSetMouseCallback("KCF", NULL, NULL);  //如果已经获得第一帧用户框定的box了，就取消鼠标响应  
	printf("Initial Bounding Box = x:%d y:%d h:%d w:%d\n", box.x, box.y, box.width, box.height);
	tracker.init(box, frame);//初始化追踪框
while (capture.read(frame))
	{
		auto t_start = clock();
		result = tracker.update(frame);//追踪
									   //画矩形框
		auto t_end = clock();
		duration += (double)(t_end - t_start) / CLOCKS_PER_SEC;
		//求FPS:
		cout << "FPS: " << count / duration << "\n";
		count++;
		rectangle(frame, Point(result.x, result.y), Point(result.x + result.width, result.y + result.height), Scalar(0, 255, 255), 1, 8);
		if (!SILENT) {
			imshow("KCF", frame);
			waitKey(1);
		}
	}
  //Reading an image from the file
  cv::Mat cv_image ;
  capture.read(cv_image);
  //cv::imread("/home/jsy/Desktop/test.png");
  if(cv_image.empty() )
    {
        ROS_ERROR("Read the picture failed!");
        return -1;
    }
 
  //Convert OpenCV image to ROS message
  ros::NodeHandle node;
  image_transport::ImageTransport transport(node);
  image_transport::Publisher image_pub; 
  image_pub=transport.advertise("OutImage", 1);
  ros::Time time=ros::Time::now(); 
 
  cv_bridge::CvImage cvi;
  cvi.header.stamp = time;
  cvi.header.frame_id = "image";
  cvi.encoding = "bgr8";
  cvi.image = cv_image;
 
  sensor_msgs::Image im;
  cvi.toImageMsg(im);
  image_pub.publish(im);
  ROS_INFO("Converted Successfully!");
 
  //Show the image
  cv::namedWindow(WINDOW);
  cv::imshow(WINDOW,cv_image);
  cv::waitKey(0);
  ros::spin();
  return 0;
}

其实和c++的源码一样，没有什么区别，我直接从Windows上复制粘贴的。

重要的是CMakeLists.text 文件

找到包的位置

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  std_msgs
  cv_bridge
image_transport
)
find_package(OpenCV REQUIRED)

添加库

include_directories(
#include
  ${catkin_INCLUDE_DIRS}
)
include_directories(${OpenCV_INCLUDE_DIRS})
FILE(GLOB_RECURSE sourcefiles "src/*.cpp")

file命令将kcf包的源码编译。

添加c++ library

include_directories(${CMAKE_SOURCE_DIR}/src/)
include_directories(${PROJECT_SOURCE_DIR}/src)  
INCLUDE_DIRECTORIES( ${CMAKE_BINARY_DIR}/)

添加可执行文件

add_executable(kcf_node ${sourcefiles})

添加链接文件

target_link_libraries(kcf_node ${OpenCV_LIBRARIES})
target_link_libraries(kcf_node ${catkin_LIBRARIES})

ok!