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new camera calibraction fix

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cyy_mac
2026-03-26 05:48:03 +08:00
parent e5f044de0d
commit 12353769d2
2 changed files with 22 additions and 10 deletions
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21
src/camera_calibration/CMakeLists.txt
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@@ -8,7 +8,6 @@ endif()
# Find dependencies # Find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED) find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED) find_package(sensor_msgs REQUIRED)
find_package(image_transport REQUIRED) find_package(image_transport REQUIRED)
@@ -23,7 +22,7 @@ include_directories(
${EIGEN3_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
) )
# Node library # Node library - without rclcpp_components registration
add_library(camera_calibration_lib SHARED add_library(camera_calibration_lib SHARED
src/calibration_node.cpp src/calibration_node.cpp
) )
@@ -39,13 +38,21 @@ ament_target_dependencies(camera_calibration_lib
rm_interfaces rm_interfaces
) )
# Component library for component container # Create executable directly instead of using component registration
rclcpp_components_register_node(camera_calibration_lib add_executable(camera_calibration_node src/calibration_node.cpp)
PLUGIN "camera_calibration::CalibrationNode" ament_target_dependencies(camera_calibration_node
EXECUTABLE camera_calibration_node rclcpp
std_msgs
sensor_msgs
image_transport
cv_bridge
OpenCV
Eigen3
rm_interfaces
) )
target_link_libraries(camera_calibration_node camera_calibration_lib)
install(TARGETS camera_calibration_lib install(TARGETS camera_calibration_lib camera_calibration_node
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib
RUNTIME DESTINATION lib RUNTIME DESTINATION lib

11
src/camera_calibration/src/calibration_node.cpp
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@@ -488,6 +488,11 @@ cv::Mat CalibrationNode::drawCalibrationResults(const cv::Mat& image,
} // namespace camera_calibration } // namespace camera_calibration
#include "rclcpp_components/register_node_macro.hpp" int main(int argc, char** argv) {
rclcpp::init(argc, argv);
RCLCPP_COMPONENTS_REGISTER_NODE(camera_calibration::CalibrationNode) rclcpp::NodeOptions options;
auto node = std::make_shared<camera_calibration::CalibrationNode>(options);
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}