" ‘selectROI’ was not declared in this scope "

edit

Hello,

I am trying to use OpenCV's object tracker(s) and I am running into this error of selectROI not being found. I Looked at the other posts (Post 1 Post 2) and the solutions did not work for me.

I went ahead and tried implementing the same object tracking code outside ros/catkin and it worked perfectly. So I am thinking that its a catkin problem and was hoping to get some help with this! Here is my code:

#include ros/ros.h
#include image_transport/image_transport.h
#include cv_bridge/cv_bridge.h
#include sensor_msgs/image_encodings.h
#include opencv2/imgproc.hpp
#include opencv2/highgui.hpp
#include opencv2/opencv.hpp
#include opencv2/tracking.hpp
#include opencv2/core/ocl.hpp
#include iostream
#include cstring

using namespace cv;
using namespace std;
static const std::string OPENCV_WINDOW = "Image window";

#define SSTR( x ) static_cast< std::ostringstream & >( \
( std::ostringstream() << std::dec << x ) ).str()


class ObjectTracking
{
public:
  ObjectTracking():nh_(ros::NodeHandle()),
  nh_private_(ros::NodeHandle("~"))
  {
    // image_sub_ = nh_.subscribe("camera/rgb/image_raw",1,
    //     &ObjectTracking::imageCb,this);
    cv::namedWindow(OPENCV_WINDOW);
    // tracking();
  }
  ~ObjectTracking()
  {
    cv::destroyWindow(OPENCV_WINDOW);
  }
  // ros::Subscriber image_sub_;
  //
  // void imageCb(const sensor_msgs::ImageConstPtr& msg);
  void tracking()
  {
    cv::Rect2d roi;
    cv::Mat frame;
    cv::Ptr<tracker> tracker = TrackerKCF::create();
    cv::VideoCapture cap(0);
    cap >> frame;
    if (frame.empty())
    {
      cout<<"Import Fail!!";
    }
    roi = selectROI(OPENCV_WINDOW,frame);
    // cv::Rect2d roi(375, 244, 65, 150);
    // cv::rectangle(frame, roi, Scalar( 255, 0, 0 ), 2, 1 );
    if(roi.width == 0 || roi.height == 0)
      cout<<"ROI Fail";
    tracker->init(frame,roi);
    cout << "Start the tracking process , press ESC to quit" << endl;
    while(1)
    {
        cap >> frame;
        if(frame.rows == 0 || frame.cols == 0)
          break;
        tracker->update(frame,roi);
        rectangle(frame,roi,Scalar(255,0,0),2,1);
        Point center_of_rect  =(roi.br() + roi.tl()) * 0.5;
        circle(frame,center_of_rect,3,Scalar(0,0,255));
        putText(frame, "KCF Tracker", Point(100,20), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(50,170,50),2);
        putText(frame,"X " + SSTR(double(center_of_rect.x)) + " Y " + SSTR(double(center_of_rect.y)), Point(100,50), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(255,0,50),2 );
        imshow("tracker",frame);
        if(waitKey(1) == 27)break;
    }
  }

  private:
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;

};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "object_track");
  ObjectTracking ot;
  ot.tracking();
  ros::spin();
  return 0;
}

cmake_minimum_required(VERSION 2.8.3)
project(object_tracking)


set(OpenCV_DIR /usr/local/share/OpenCV/)
find_package( OpenCV REQUIRED)


find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
  cv_bridge
)

catkin_package()

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

LINK_DIRECTORIES(/usr/local/lib)
add_executable(obj_trk2
              src/obj_track.cpp
              )

target_link_libraries(obj_trk2
                ${catkin_LIBRARIES}
                ${OpenCV_LIBS}
                /usr/local/lib/libopencv_tracking.so
                )