ROS indigo版本cv_bridge配置opencv3.4.1与默认opencv2冲突的问题

ROS indigo 的cv_bridge默认的opencv版本为opencv2.4.8，但项目里的opencv版本要求opencv3，如果使用默认设置，则报错：

Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName

实际上FileStorage的读入路径没有问题，结果表现为不能读入文件。

解决办法：

更改cv_bridge的.cmake文件：

sudo gedit /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake

注释掉默认的opencv头文件路径，改为自己的opencv3的头文件路径

#change opencv version to 3.4.1
#if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
if(NOT "include;/opencv3.4.1/usr/include/opencv2;/opencv3.4.1/usr/include " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
#change opencv version to 3.4.1
#set(_include_dirs "include;/usr/include/opencv;/usr/include")
set(_include_dirs "include;/opencv3.4.1/usr/include/opencv2;/opencv3.4.1/usr/include")

注释掉默认的opencv库文件路径，改为自己需要的opencv3的库文件路径

#change opencv version to 3.4.1
#set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_video.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_flann.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.2.4.8")
set(libraries "cv_bridge;/opencv3.4.1/usr/lib/libopencv_videostab.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_video.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_superres.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_stitching.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_photo.so.3.4.1;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so.2.4.8;/opencv3.4.1/usr/lib/libopencv_objdetect.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_ml.so.3.4.1;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so.2.4.8;/opencv3.4.1/usr/lib/libopencv_imgproc.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_highgui.so.3.4.1;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so.2.4.8;/opencv3.4.1/usr/lib/libopencv_flann.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_features2d.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_core.so.3.4.1;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so.2.4.8;/opencv3.4.1/usr/lib/libopencv_calib3d.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_aruco.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_bgsegm.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_bioinspired.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_ccalib.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_datasets.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_dpm.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_face.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_freetype.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_fuzzy.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_hdf.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_hfs.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_imgcodecs.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_img_hash.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_line_descriptor.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_objdetect.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_optflow.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_phase_unwrapping.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_plot.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_reg.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_rgbd.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_saliency.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_sfm.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_shape.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_stereo.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_structured_light.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_surface_matching.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_tracking.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_viz.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_xfeatures2d.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_ximgproc.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_xobjdetect.so.3.4.1;/opencv3.4.1/usr/lib/libopencv_xphoto.so.3.4.1")

保存，重新catkin_make，问题解决。

如果需要切换回来，再恢复即可。

镜像问题：

https://blog.csdn.net/m0_37811342/article/details/79971993

更新：

以上操作只解决了FileStorage的读取问题，但依然在cv_bridge::toCvCopy函数上莫名报错，发现这种方式还是不能从根本上解决问题，回想起编译时的警告：

/usr/bin/ld: warning: libopencv_highgui.so.2.4, needed by /opt/ros/jade/lib/libcv_bridge.so, may conflict with libopencv_highgui.so.3.2

解决问题的根本方法是另外安装一个版本的cv_bridge，即kenetic版本，编译后发现，kinetic版本的cv_bridge与indigo版本的其他package是兼容的（暂时没出现什么异常）

注意：保留indigo版本的cv_bridge，另外安装新的kinetic版本：

选择kinetic分支：

git clone [email protected]:ros-perception/vision_opencv.git
mkdir build
cd build
cmake ../cv_bridge
make 
sudo make install

在使用到cv_bridge的package的CMakeLists.txt中，在find_package(cv_bridge)之前添加：

set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)

如：

set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)
find_package(catkin REQUIRED COMPONENTS
    OpenCV
    roscpp
    std_msgs
    sensor_msgs
    cv_bridge
    camera_model
    )

添加库路径到环境变量.bashrc

export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH

PS:在indigo中默认find_package 时寻找自己安装的opencv3.4.1

#默认使用opencv3
export PKG_CONFIG_PATH=/opencv3.4.1/usr/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opencv3.4.1/usr/lib:/usr/local/lib:$LD_LIBRARY_PATH