1

vision_test/CMakeLists.txt

@@ -5,6 +5,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+set(OpenCV_DIR /usr/local/lib/cmake/opencv4)
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 
@@ -37,6 +39,7 @@ target_include_directories(
   detect_node 
   PRIVATE
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/eigen-3.4.1>
+  ${OpenCV_INCLUDE_DIRS}
   PUBLIC 
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>

vision_test/src/test.cpp

@@ -0,0 +1,20 @@
+#include <opencv2/opencv.hpp>
+
+int main() {
+    cv::Mat img = cv::imread("/home/lyx/ROS2/hivecore_part_test/src/hivecore_robot_vision/test/color_image.png");
+
+    cv::dnn::Net net = cv::dnn::readNetFromONNX("/home/lyx/ROS2/hivecore_part_test/src/hivecore_robot_vision/vision_test/checkpoints/yolo11n-seg.onnx");
+    
+    net.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV);
+    net.setPreferableTarget(cv::dnn::DNN_TARGET_CPU);
+
+    cv::Mat blob = cv::dnn::blobFromImage(img,
+                                        1/255.0,
+                                        cv::Size(640, 640),
+                                        cv::Scalar(),
+                                        true, false);
+    net.setInput(blob);
+    cv::Mat out = net.forward();
+    return 0;
+}
+