Ubuntu環境下でビルドエラーが発生してしまう

Question

前提・実現したいこと

intel realsense D435iを用いて、ROSで下記のsave_pcd.cppを使用しRGB画像とPCD画像の取得をしたいと思っています。

発生している問題・エラーメッセージ

catkin_ws上で下記のプログラム(save_pcd.cpp)を含めた状態でcatkin_makeを行ったところ以下のようなエラーが発生してしまっています。

CMakeFiles/save_pcd.dir/src/save_pcd.cpp.o: 関数 `SavePCD::image_cb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)' 内:
save_pcd.cpp:(.text._ZN7SavePCD8image_cbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN7SavePCD8image_cbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x180): `cv::imshow(cv::String const&, cv::_InputArray const&)' に対する定義されていない参照です
save_pcd.cpp:(.text._ZN7SavePCD8image_cbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN7SavePCD8image_cbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x1a8): `cv::waitKey(int)' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
realsense/CMakeFiles/save_pcd.dir/build.make:316: ターゲット '/home/student/catkin_ws/devel/lib/realsense/save_pcd' のレシピで失敗しました
make[2]: *** [/home/user/catkin_ws/devel/lib/realsense/save_pcd] エラー 1
CMakeFiles/Makefile2:1978: ターゲット 'realsense/CMakeFiles/save_pcd.dir/all' のレシピで失敗しました
make[1]: *** [realsense/CMakeFiles/save_pcd.dir/all] エラー 2
Makefile:138: ターゲット 'all' のレシピで失敗しました
make: *** [all] エラー 2
Invoking "make -j4 -l4" failed

save_pcd.cpp

#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/highgui/highgui.hpp>
#include <pcl_ros/io/pcd_io.h>
#include <sensor_msgs/image_encodings.h>


int n = -1;


class SavePCD {
private:
  ros::NodeHandle _nh;
  ros::Subscriber _sub1, _sub2;
  pcl::PointCloud<pcl::PointXYZRGB> input_cloud;
  int save_count;

public:
  SavePCD() : save_count(0) {
    //* subscribe ROS topics
    _sub1 = _nh.subscribe ("/camera/color/image_raw", 1,  &SavePCD::image_cb, this);
    ROS_INFO ("Listening for incoming data on topic /camera/rgb/image_color ..." );
    _sub2 = _nh.subscribe ("/camera/depth_registered/points", 1,  &SavePCD::points_cb, this);
    ROS_INFO ("Listening for incoming data on topic /camera/depth_registered/points ..." );
  }
  ~SavePCD() {}

  //* get points
  void points_cb( const sensor_msgs::PointCloud2ConstPtr& cloud ){
    if ((cloud->width * cloud->height) == 0)
      return;
    pcl::fromROSMsg (*cloud, input_cloud);
    
    //*rotated_cloud = rotation_x(input_cloud, 180);//回転
    //pcl::fromROSMsg (*rotated_cloud, input_cloud);
  }

  //* show color img and save color img + point cloud
  void image_cb( const sensor_msgs::ImageConstPtr& msg ){
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg);

    //* show color img
    cv::Mat color_img = cv_ptr->image;
    std::cout << "Scene total points: " << color_img.size << "; Selected Keypoints: " << std::endl;
    cv::cvtColor(color_img, color_img, cv::COLOR_BGR2RGB);
    cv::imshow( "color image", color_img );
    cv::waitKey(10);

    if ((input_cloud.width * input_cloud.height) == 0)
      return;

    
    
    std::stringstream filename1;
    filename1 << save_count << ".png";
    cv::imwrite( filename1.str(), color_img );
    std::cout << filename1.str() << " saved." << std::endl;

    std::stringstream filename2;
    filename2 << save_count << ".pcd";
    pcl::io::savePCDFileBinary( filename2.str(), input_cloud );
    std::cout << filename2.str() << " saved." << std::endl;
    usleep( 300000 );
    save_count++;
    n++;
    
  }
  
};

  //rotate
  pcl::PointCloud<pcl::PointXYZRGB> rotation_x(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, double theta)///rotate point cloud by Y axiz
{


    Eigen::Matrix3f rot_x;
    pcl::PointCloud<pcl::PointXYZRGB> cloud_out;
    cloud_out = *cloud;
    double theta_x = theta * 3.1415926 / 180.0;//角度の変換
    rot_x(0,0) = 1.0;
    rot_x(1,0) = 0.0;
    rot_x(2,0) = 0.0;
    //rot_x(3,0) = 0.0;
    rot_x(0,1) = 0.0;
    rot_x(1,1) = cos(theta_x);
    rot_x(2,1) = -sin(theta_x);
    //rot_x(3,1) = 0.0;
    rot_x(0,2) = 0.0;
    rot_x(1,2) = sin(theta_x);
    rot_x(2,2) = cos(theta_x);
    //rot_x(3,2) = 0.0;
    //rot_x(0,3) = 0.0;
    //rot_x(1,3) = 0.0;
    //rot_x(2,3) = 0.0;
    //rot_x(3,3) = 1.0;

    for(size_t i = 0; i < cloud->points.size(); ++i){
        cloud_out.points[i].x = rot_x(0,0) * cloud->points[i].x + rot_x(0,1) * cloud->points[i].y + rot_x(0,2) * cloud->points[i].z ;
        cloud_out.points[i].y = (rot_x(1,0) * cloud->points[i].x + rot_x(1,1) * cloud->points[i].y + rot_x(1,2) * cloud->points[i].z)*1 ;
        cloud_out.points[i].z = (rot_x(2,0) * cloud->points[i].x + rot_x(2,1) * cloud->points[i].y + rot_x(2,2) * cloud->points[i].z)*1 ;
    }

    return cloud_out;
}

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

  ros::init(argc,argv,"save_pcd");
  SavePCD spcd;
  ros::spin();
  
  //realsensence用 上下反転
  std::stringstream readname;
  readname << n << ".pcd";
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
  pcl::io::loadPCDFile (readname.str(), *cloud);
  std::cout << readname.str() << " read." << std::endl;
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr rotated_cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
  *rotated_cloud = rotation_x(cloud, 0);
  pcl::io::savePCDFileBinary("e.pcd", *rotated_cloud); 
  
  return 0;
}

###Cmakelists.txt

cmake_minimum_required(VERSION 3.0.2)
project(realsense)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  pcl_ros
  roscpp
)
find_package(OpenCV REQUIRED)

include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(save_pcd src/save_pcd.cpp)

 target_link_libraries(save_pcd
   ${catkin_LIBRARIES}
   ${OpenCV_LIBRSRIES}
 )

###package.xml

<?xml version="1.0"?>
<package format="2">
  <name>realsense</name>
  <version>0.0.0</version>
  <description>The realsense package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="[e-mail]">Jane Doe</maintainer> -->
  <maintainer email="[e-mail]">user</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/realsense</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="[e-mail]">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>pcl_ros</build_depend>
  <build_depend>roscpp</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>pcl_ros</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>pcl_ros</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <build_depend>opencv2</build_depend>
  <exec_depend>opencv2</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

いろいろと個人的に調べてみたのですが、なかなか解決できないので質問させていただきました。
pythonの経験は少しありますが、c++やopencvの経験はない初心者です。
また、こういったことを質問するは初めてなので質問内容などわかりにくい部分をあると思いますが、よろしくお願いいたします。

Comments

[itagagaki]

${OpenCV_LIBRSRIES} の実際の値が何になっているのかが気になりますね。

[si03]

無知で申し訳ないのですが、実際の値とはどういう意味でしょうか？

Answer 1

OpenCV_LIBRSRIES ではなく OpenCV_LIBRARIES では

Comments

[si03]

回答ありがとうございます。
誤字でのエラーでした。
恥ずかしい限りです。