当使用opencv3.1版本的时候，有时候会出现问题。原因是在安装ros-indigo-desktop-full 的时候有些package依赖于opencv2.4.8，例如cv_bridge or image_pipeline等package 。
#include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv2/highgui/highgui.hpp> #include <opencv2/aruco.hpp> #include <cv_bridge/cv_bridge.h> #include <iostream> using std::cout; using std::endl; using std::stringstream; using std::string; unsigned int fileNum = 1; bool saveCloud(false); void imageCallback(const sensor_msgs::ImageConstPtr& msg) { cv::imshow("Show RgbImage", cv_bridge::toCvShare(msg,"rgb8")->image); char key; key=cvWaitKey(33); if(key==32) //the Ascii of "Space key" is 32 saveCloud = true; if(saveCloud) { stringstream stream; stringstream stream1; stream <<"Goal RgbImage" << fileNum<<".jpg"; stream1 <<"/home/hansry/qt_catkin_ws2/src/linkage_point/" << fileNum <<".jpg"; string filename = stream.str(); string filename1 = stream1.str(); cv::imwrite(filename1,cv_bridge::toCvShare(msg)->image);//保存图片 saveCloud = false; fileNum++; cout << filename << " had Saved."<< endl; } } int main(int argc, char **argv) { ros::init(argc, argv, "Image_listener"); ros::NodeHandle nh; cv::namedWindow("Show RgbImage");//用于创建一个窗口 cv::startWindowThread(); image_transport::ImageTransport it(nh); image_transport::Subscriber sub = it.subscribe("/camera/rgb/image_raw", 1, imageCallback); //image_transport::Subscriber sub = it.subscribe("/camera/ir/camera", 1,); ros::spin(); cv::destroyWindow("Show RgbImage"); }Cmakelist文件为：
cmake_minimum_required(VERSION 2.8.3) project(Detect_mark) find_package(catkin REQUIRED COMPONENTS sensor_msgs cv_bridge std_msgs image_transport roscpp ) #find_package( OpenCV REQUIRED ) set(OpenCV_DIR /usr/local/opencv310/share/OpenCV) find_package(OpenCV 3.1 REQUIRED ) include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS} /usr/local/opencv310/include) find_package( "/usr/local/opencv310/include/opencv2" ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) include_directories( ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) add_executable(Detect_mark src/Detect_mark.cpp) target_link_libraries(Detect_mark ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} )该程序中订阅了Xtion里面的一个节点，然后通过回调函数将图像显示出来并且保存，但是在这里中，我们需要将ROS支持的图片格式转换成opencv3支持的图片格式，这就需要用到cv::bridge（我们安装ros的时候是依赖与opencv2的），直接编译会出现以下问题：
/usr/bin/ld: warning: libopencv_imgproc.so.2.4, needed by /opt/ros/indigo/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.0 /usr/bin/ld: warning: libopencv_core.so.2.4, needed by /opt/ros/indigo/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.0解决方法是： 分别下载cv_bridge or image_pipeline等package到你的src目录下面，然后在工作空间catkin_make一下（即重新编译）即可，下载链接分别为：https://github.com/ros-perception/ima...https://github.com/ros-perception/vis... 如下图所示：
除了cpp文件之外，还有下载的vision_opencv,即上述的俩个链接，即可解决上面的问题，得到结果如下：
正常使用！！！
