按照CUDA使能流程安装新版本OpenCV
文章链接
-
建议将其中的
checkout版本改为3.4.14，这样可以直接使用后文文档，若有需要使用硬件相机，在cmake中加入-D WITH_GSTREAMER=ON -
下载过慢可以直接到OpenCV官网下载对应版本，如依此操作，则可以省去
checkout步骤 -
若不需要
Cuda版，亦可以单独编译OpenCV
修改cv_bridgeConfig.cmake文件
-
由于卸载原生
OpenCV的过程中可能会顺带卸载cv_bridge -
查看
/opt/ros/noetic/share目录下是否有cv_bridge文件夹，若没有则重新安装
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sudo apt-get install ros-noetic-cv-bridge
- 将
/opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake文件内容替换如下
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# generated from catkin/cmake/template/pkgConfig.cmake.in
# append elements to a list and remove existing duplicates from the list
# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
# self contained
macro(_list_append_deduplicate listname)
if(NOT "${ARGN}" STREQUAL "")
if(${listname})
list(REMOVE_ITEM ${listname} ${ARGN})
endif()
list(APPEND ${listname} ${ARGN})
endif()
endmacro()
# append elements to a list if they are not already in the list
# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
# self contained
macro(_list_append_unique listname)
foreach(_item ${ARGN})
list(FIND ${listname} ${_item} _index)
if(_index EQUAL -1)
list(APPEND ${listname} ${_item})
endif()
endforeach()
endmacro()
# pack a list of libraries with optional build configuration keywords
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_pack_libraries_with_build_configuration VAR)
set(${VAR} "")
set(_argn ${ARGN})
list(LENGTH _argn _count)
set(_index 0)
while(${_index} LESS ${_count})
list(GET _argn ${_index} lib)
if("${lib}" MATCHES "^(debug|optimized|general)$")
math(EXPR _index "${_index} + 1")
if(${_index} EQUAL ${_count})
message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
endif()
list(GET _argn ${_index} library)
list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
else()
list(APPEND ${VAR} "${lib}")
endif()
math(EXPR _index "${_index} + 1")
endwhile()
endmacro()
# unpack a list of libraries with optional build configuration keyword prefixes
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_unpack_libraries_with_build_configuration VAR)
set(${VAR} "")
foreach(lib ${ARGN})
string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
list(APPEND ${VAR} "${lib}")
endforeach()
endmacro()
if(cv_bridge_CONFIG_INCLUDED)
return()
endif()
set(cv_bridge_CONFIG_INCLUDED TRUE)
# set variables for source/devel/install prefixes
if("FALSE" STREQUAL "TRUE")
set(cv_bridge_SOURCE_PREFIX /tmp/binarydeb/ros-noetic-cv-bridge-1.16.2)
set(cv_bridge_DEVEL_PREFIX /tmp/binarydeb/ros-noetic-cv-bridge-1.16.2/.obj-x86_64-linux-gnu/devel)
set(cv_bridge_INSTALL_PREFIX "")
set(cv_bridge_PREFIX ${cv_bridge_DEVEL_PREFIX})
else()
set(cv_bridge_SOURCE_PREFIX "")
set(cv_bridge_DEVEL_PREFIX "")
set(cv_bridge_INSTALL_PREFIX /opt/ros/noetic)
set(cv_bridge_PREFIX ${cv_bridge_INSTALL_PREFIX})
endif()
# warn when using a deprecated package
if(NOT "" STREQUAL "")
set(_msg "WARNING: package 'cv_bridge' is deprecated")
# append custom deprecation text if available
if(NOT "" STREQUAL "TRUE")
set(_msg "${_msg} ()")
endif()
message("${_msg}")
endif()
# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
set(cv_bridge_FOUND_CATKIN_PROJECT TRUE)
#if(NOT "include;/usr/include/opencv4 " STREQUAL " ")
if(NOT "include;/usr/local/include/opencv;/usr/local/include/opencv2 " STREQUAL " ")
set(cv_bridge_INCLUDE_DIRS "")
#set(_include_dirs "include;/usr/include/opencv4")
set(_include_dirs "include;/usr/local/lib;/usr/local/include/opencv;/usr/local/include/opencv2;/usr/local/include;/usr/include")
if(NOT "https://github.com/ros-perception/vision_opencv/issues " STREQUAL " ")
set(_report "Check the issue tracker 'https://github.com/ros-perception/vision_opencv/issues' and consider creating a ticket if the problem has not been reported yet.")
elseif(NOT "http://www.ros.org/wiki/cv_bridge " STREQUAL " ")
set(_report "Check the website 'http://www.ros.org/wiki/cv_bridge' for information and consider reporting the problem.")
else()
set(_report "Report the problem to the maintainer 'Vincent Rabaud <vincent.rabaud@gmail.com>' and request to fix the problem.")
endif()
foreach(idir ${_include_dirs})
if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
set(include ${idir})
elseif("${idir} " STREQUAL "include ")
get_filename_component(include "${cv_bridge_DIR}/../../../include" ABSOLUTE)
if(NOT IS_DIRECTORY ${include})
message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}")
endif()
else()
message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}")
endif()
_list_append_unique(cv_bridge_INCLUDE_DIRS ${include})
endforeach()
endif()
set(libraries "cv_bridge;/usr/local/lib/libopencv_ml.so;/usr/local/lib/libopencv_dnn.so;/usr/local/lib/libopencv_viz.so;/usr/local/lib/libopencv_core.so;/usr/local/lib/libopencv_flann.so;/usr/local/lib/libopencv_photo.so;/usr/local/lib/libopencv_shape.so;/usr/local/lib/libopencv_video.so;/usr/local/lib/libopencv_ml.so.3.4;/usr/local/lib/libopencv_calib3d.so;/usr/local/lib/libopencv_dnn.so.3.4;/usr/local/lib/libopencv_highgui.so;/usr/local/lib/libopencv_imgproc.so;/usr/local/lib/libopencv_videoio.so;/usr/local/lib/libopencv_viz.so.3.4;/usr/local/lib/libopencv_core.so.3.4;/usr/local/lib/libopencv_superres.so;/usr/local/lib/libopencv_flann.so.3.4;/usr/local/lib/libopencv_imgcodecs.so;/usr/local/lib/libopencv_ml.so.3.4.14;/usr/local/lib/libopencv_objdetect.so;/usr/local/lib/libopencv_photo.so.3.4;/usr/local/lib/libopencv_shape.so.3.4;/usr/local/lib/libopencv_stitching.so;/usr/local/lib/libopencv_video.so.3.4;/usr/local/lib/libopencv_videostab.so;/usr/local/lib/libopencv_dnn.so.3.4.14;/usr/local/lib/libopencv_features2d.so;/usr/local/lib/libopencv_viz.so.3.4.14;/usr/local/lib/libopencv_calib3d.so.3.4;/usr/local/lib/libopencv_core.so.3.4.14;/usr/local/lib/libopencv_highgui.so.3.4;/usr/local/lib/libopencv_imgproc.so.3.4;/usr/local/lib/libopencv_videoio.so.3.4;/usr/local/lib/libopencv_flann.so.3.4.14;/usr/local/lib/libopencv_photo.so.3.4.14;/usr/local/lib/libopencv_shape.so.3.4.14;/usr/local/lib/libopencv_superres.so.3.4;/usr/local/lib/libopencv_video.so.3.4.14;/usr/local/lib/libopencv_imgcodecs.so.3.4;/usr/local/lib/libopencv_objdetect.so.3.4;/usr/local/lib/libopencv_stitching.so.3.4;/usr/local/lib/libopencv_videostab.so.3.4;/usr/local/lib/libopencv_calib3d.so.3.4.14;/usr/local/lib/libopencv_features2d.so.3.4;/usr/local/lib/libopencv_highgui.so.3.4.14;/usr/local/lib/libopencv_imgproc.so.3.4.14;/usr/local/lib/libopencv_videoio.so.3.4.14;/usr/local/lib/libopencv_superres.so.3.4.14;/usr/local/lib/libopencv_imgcodecs.so.3.4.14;/usr/local/lib/libopencv_objdetect.so.3.4.14;/usr/local/lib/libopencv_stitching.so.3.4.14;/usr/local/lib/libopencv_videostab.so.3.4.14;/usr/local/lib/libopencv_features2d.so.3.4.14")
foreach(library ${libraries})
# keep build configuration keywords, target names and absolute libraries as-is
if("${library}" MATCHES "^(debug|optimized|general)$")
list(APPEND cv_bridge_LIBRARIES ${library})
elseif(${library} MATCHES "^-l")
list(APPEND cv_bridge_LIBRARIES ${library})
elseif(${library} MATCHES "^-")
# This is a linker flag/option (like -pthread)
# There's no standard variable for these, so create an interface library to hold it
if(NOT cv_bridge_NUM_DUMMY_TARGETS)
set(cv_bridge_NUM_DUMMY_TARGETS 0)
endif()
# Make sure the target name is unique
set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")
while(TARGET "${interface_target_name}")
math(EXPR cv_bridge_NUM_DUMMY_TARGETS "${cv_bridge_NUM_DUMMY_TARGETS}+1")
set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")
endwhile()
add_library("${interface_target_name}" INTERFACE IMPORTED)
if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
set_property(
TARGET
"${interface_target_name}"
APPEND PROPERTY
INTERFACE_LINK_LIBRARIES "${library}")
else()
target_link_options("${interface_target_name}" INTERFACE "${library}")
endif()
list(APPEND cv_bridge_LIBRARIES "${interface_target_name}")
elseif(TARGET ${library})
list(APPEND cv_bridge_LIBRARIES ${library})
elseif(IS_ABSOLUTE ${library})
list(APPEND cv_bridge_LIBRARIES ${library})
else()
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
foreach(path /opt/ros/noetic/lib;/opt/ros/noetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
if(lib)
set(lib_path ${path})
break()
endif()
endforeach()
if(lib)
_list_append_unique(cv_bridge_LIBRARY_DIRS ${lib_path})
list(APPEND cv_bridge_LIBRARIES ${lib})
else()
# as a fall back for non-catkin libraries try to search globally
find_library(lib ${library})
if(NOT lib)
message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'cv_bridge'? Did you find_package() it before the subdirectory containing its code is included?")
endif()
list(APPEND cv_bridge_LIBRARIES ${lib})
endif()
endif()
endforeach()
set(cv_bridge_EXPORTED_TARGETS "")
# create dummy targets for exported code generation targets to make life of users easier
foreach(t ${cv_bridge_EXPORTED_TARGETS})
if(NOT TARGET ${t})
add_custom_target(${t})
endif()
endforeach()
set(depends "rosconsole;sensor_msgs")
foreach(depend ${depends})
string(REPLACE " " ";" depend_list ${depend})
# the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
list(GET depend_list 0 cv_bridge_dep)
list(LENGTH depend_list count)
if(${count} EQUAL 1)
# simple dependencies must only be find_package()-ed once
if(NOT ${cv_bridge_dep}_FOUND)
find_package(${cv_bridge_dep} REQUIRED NO_MODULE)
endif()
else()
# dependencies with components must be find_package()-ed again
list(REMOVE_AT depend_list 0)
find_package(${cv_bridge_dep} REQUIRED NO_MODULE ${depend_list})
endif()
_list_append_unique(cv_bridge_INCLUDE_DIRS ${${cv_bridge_dep}_INCLUDE_DIRS})
# merge build configuration keywords with library names to correctly deduplicate
_pack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})
_pack_libraries_with_build_configuration(_libraries ${${cv_bridge_dep}_LIBRARIES})
_list_append_deduplicate(cv_bridge_LIBRARIES ${_libraries})
# undo build configuration keyword merging after deduplication
_unpack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})
_list_append_unique(cv_bridge_LIBRARY_DIRS ${${cv_bridge_dep}_LIBRARY_DIRS})
_list_append_deduplicate(cv_bridge_EXPORTED_TARGETS ${${cv_bridge_dep}_EXPORTED_TARGETS})
endforeach()
set(pkg_cfg_extras "cv_bridge-extras.cmake")
foreach(extra ${pkg_cfg_extras})
if(NOT IS_ABSOLUTE ${extra})
set(extra ${cv_bridge_DIR}/${extra})
endif()
include(${extra})
endforeach()
编译
- 删除工作空间下除了
src外的其余文件，包括src文件夹中可能包含旧的CMakeLists文件，最好也删除
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cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=Release DCMAKE_CXX_FLAGS=-DCV__ENABLE_C_API_CTORS
