有时候需要同时使用较高版本的openCV,但一般默认安装的ros系统的cv_bridge包关联的Opencv版本都较低,这时候就需要将cv_bridge关联到自己安装的高版本OpenCV。
成功方法为第三条,前两条为遇到的问题记录。
注意:切勿随意尝试卸载cv_bridge包
1.首先,我尝试了网上已有的一些通过修改cv_bridge的配置文件的方法,
$ cd /opt/ros/kinetic/share/cv_bridge/cmake/
$ sudo gedit cv_bridgeConfig.cmake
但依然不行,在编译的时候还是会出现错误:
/usr/bin/ld: warning: libopencv_core.so.3.2, needed by //opt/lib/libopencv_imgcodecs.so, may conflict with libopencv_core.so.3.4
2.尝试下载cv_bridge的包自己编译
参考博客,下载了一个文件夹为vision_opencv的包,但是在编译的时候总是出现以下两个问题。
Errors << cv_bridge:cmake /home/zhangman/VisionTracking/logs/cv_bridge/build.cmake.002.log
CMake Error at /usr/share/cmake-3.5/Modules/FindBoost.cmake:1677 (message):
Unable to find the requested Boost libraries.
Boost version: 1.58.0
Boost include path: /usr/include
Could not find the following Boost libraries:
boost_python37
No Boost libraries were found. You may need to set BOOST_LIBRARYDIR to the
directory containing Boost libraries or BOOST_ROOT to the location of
Boost.
Call Stack (most recent call first):
CMakeLists.txt:11 (find_package)
这个问题通过修改软件包里cv_bridge包下的cmakelist文件中的设置,ubuntu18.04自带了python3.6。在cv_bridge/cmakelists.txt中,把第8行find_package(Boost REQUIRED python37)改为find_package(Boost REQUIRED python3)。
然后第二个问题一直没解决:
In file included from /usr/include/python2.7/numpy/ndarrayobject.h:27:0,
from /home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp:26,
from /home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.cpp:35:
/home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘void* do_numpy_import()’:
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
rror, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: note: in definition of macro ‘import_array’
rror, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
3.最后尝试重新找cv_bridge的包进行编译
最后找到一个可以成功编译的cv_bridge包。
mkdir -p cv_bridge_ws/src
cd cv_bridge_ws/src
git clone https://gitee.com/bingobinlw/cv_bridge //此链接适用于18.04
cd ..
然后将自己安装的opencv编译生成的build文件路径加入到克隆下来的这个包里的CMakeLists.txt,修改添加下列语句(详见此文件目录下的CMakeLists.txt文件)
set(OpenCV_DIR "your-path/opencv-x.x.x/build")
编译cv_bridge包
catkin_make
最后在所需要使用cv_bridge的ros包里的CMakeLists.txt文件中添加opencv路径以及cv_bridge路径
set(OpenCV_DIR "your-path/opencv-x.x.x/build")
set(cv_bridge_DIR your-path/cv_bridge_ws/devel/share/cv_bridge/cmake)
下面是一个CMakeLists.txt示例:
cmake_minimum_required(VERSION 3.0.2)
project(ros_detection_tracking)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
set(OpenCV_DIR "/home/base/shared_dir/opencv-3.4.12/build")
set(cv_bridge_DIR /home/base/shared_dir/sensorfusion/cv_bridge_ws/devel/share/cv_bridge/cmake)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
pcl_conversions
pcl_ros
roscpp
rospy
sensor_msgs
std_msgs
tf
image_transport
message_generation
cmake_modules
dynamic_reconfigure
)
find_package(OpenCV REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# sensor_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ros_detection_tracking
# CATKIN_DEPENDS cv_bridge pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs tf
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
#include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/ros_detection_tracking.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ros_detection_tracking_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
add_executable(detectandtrack src/image_process/detectandtrackNode.cpp src/image_process/camFusion_Student.cpp src/image_process/lidarData.cpp
src/image_process/matching2D_Student.cpp src/image_process/objectDetection2D.cpp)
target_link_libraries(detectandtrack ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_dependencies(detectandtrack ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#add_executable(detectandtrack src/project/project.cpp)
#target_link_libraries(detectandtrack ${catkin_LIBRARIES}
# ${OpenCV_LIBS})
#add_dependencies(detectandtrack ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_detection_tracking.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)