ros加载编译opencv-3.4.9，编译安装opencv-3.4.9

以你之姓@ 2022-10-29 01:59 413阅读 0赞

ros加载编译opencv-3.4.9

ros中配置opencv

1.加载自己的opencv库 cv_bridge find_package(OpenCV REQUIRED)

  1. cmake_minimum_required(VERSION 3.0.2)
  2. project(visualOrientation)
  4. ## Compile as C++11, supported in ROS Kinetic and newer
  5.  add_compile_options(-std=c++11)
  6. #set(OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/build)
  7. # 配置依赖目录及程序输出目录
  8. #set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIR}/bin" CACHE PATH "Runtime directory" FORCE)
  9. #set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Library directory" FORCE)
  10. #set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Archive directory" FORCE)
  11. ## Find catkin macros and libraries
  12. ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  13. ## is used, also find other catkin packages
  14. #set(CMAKE_PREFIX_PATH ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
  15. #set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
  16. #set(CMAKE_MODULE_PATH /home/iimt/3rdparty/OpenCV-3.4.9)
  18. #set(OpenCV_DIR /home/iimt/3rdparty/OpenCV-3.4.9)
  20. find_package(catkin REQUIRED COMPONENTS
  21.   roscpp
  22.   rosmsg
  23.   rospy
  24.         sensor_msgs
  25.         cv_bridge
  26.         image_transport
  27.         tf
  28. )
  29. #cv_bridge
  30. find_package(OpenCV REQUIRED)
  32. ## System dependencies are found with CMake's conventions
  33. # find_package(Boost REQUIRED COMPONENTS system)
  36. ## Uncomment this if the package has a setup.py. This macro ensures
  37. ## modules and global scripts declared therein get installed
  38. ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
  39. # catkin_python_setup()
  41. ################################################
  42. ## Declare ROS messages, services and actions ##
  43. ################################################
  45. ## To declare and build messages, services or actions from within this
  46. ## package, follow these steps:
  47. ## * Let MSG_DEP_SET be the set of packages whose message types you use in
  48. ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
  49. ## * In the file package.xml:
  50. ##   * add a build_depend tag for "message_generation"
  51. ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
  52. ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
  53. ##     but can be declared for certainty nonetheless:
  54. ##     * add a exec_depend tag for "message_runtime"
  55. ## * In this file (CMakeLists.txt):
  56. ##   * add "message_generation" and every package in MSG_DEP_SET to
  57. ##     find_package(catkin REQUIRED COMPONENTS ...)
  58. ##   * add "message_runtime" and every package in MSG_DEP_SET to
  59. ##     catkin_package(CATKIN_DEPENDS ...)
  60. ##   * uncomment the add_*_files sections below as needed
  61. ##     and list every .msg/.srv/.action file to be processed
  62. ##   * uncomment the generate_messages entry below
  63. ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
  65. ## Generate messages in the 'msg' folder
  66. # add_message_files(
  67. #   FILES
  68. #   Message1.msg
  69. #   Message2.msg
  70. # )
  72. ## Generate services in the 'srv' folder
  73. # add_service_files(
  74. #   FILES
  75. #   Service1.srv
  76. #   Service2.srv
  77. # )
  79. ## Generate actions in the 'action' folder
  80. # add_action_files(
  81. #   FILES
  82. #   Action1.action
  83. #   Action2.action
  84. # )
  86. ## Generate added messages and services with any dependencies listed here
  87. # generate_messages(
  88. #   DEPENDENCIES
  89. #   std_msgs  # Or other packages containing msgs
  90. # )
  92. ################################################
  93. ## Declare ROS dynamic reconfigure parameters ##
  94. ################################################
  96. ## To declare and build dynamic reconfigure parameters within this
  97. ## package, follow these steps:
  98. ## * In the file package.xml:
  99. ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
  100. ## * In this file (CMakeLists.txt):
  101. ##   * add "dynamic_reconfigure" to
  102. ##     find_package(catkin REQUIRED COMPONENTS ...)
  103. ##   * uncomment the "generate_dynamic_reconfigure_options" section below
  104. ##     and list every .cfg file to be processed
  106. ## Generate dynamic reconfigure parameters in the 'cfg' folder
  107. # generate_dynamic_reconfigure_options(
  108. #   cfg/DynReconf1.cfg
  109. #   cfg/DynReconf2.cfg
  110. # )
  112. ###################################
  113. ## catkin specific configuration ##
  114. ###################################
  115. ## The catkin_package macro generates cmake config files for your package
  116. ## Declare things to be passed to dependent projects
  117. ## INCLUDE_DIRS: uncomment this if your package contains header files
  118. ## LIBRARIES: libraries you create in this project that dependent projects also need
  119. ## CATKIN_DEPENDS: catkin_packages dependent projects also need
  120. ## DEPENDS: system dependencies of this project that dependent projects also need
  121. catkin_package(
  122. #  INCLUDE_DIRS include
  123. #  LIBRARIES visualOrientation
  124. #  CATKIN_DEPENDS roscpp rosmsg rospy
  125. #  DEPENDS system_lib
  126. )
  128. ###########
  129. ## Build ##
  130. ###########
  132. ## Specify additional locations of header files
  133. ## Your package locations should be listed before other locations
  134. include_directories(
  135. # include
  136.   ${catkin_INCLUDE_DIRS}
  137. )
  138. include_directories(/usr/include/eigen3)
  139. #include_directories(${OpenCV_INCLUDE_DIRS})
  140. ## Declare a C++ library
  141. # add_library(${PROJECT_NAME}
  142. #   src/${PROJECT_NAME}/visualOrientation.cpp
  143. # )
  145. ## Add cmake target dependencies of the library
  146. ## as an example, code may need to be generated before libraries
  147. ## either from message generation or dynamic reconfigure
  148. # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  150. ## Declare a C++ executable
  151. ## With catkin_make all packages are built within a single CMake context
  152. ## The recommended prefix ensures that target names across packages don't collide
  153. add_executable(main_node src/main.cpp)
  154. add_executable(CameraIntrinsicFromFiles_node src/CameraIntrinsicFromFiles.cpp)
  155. add_executable(QRcodeOrlentationCalibration_node src/QRcodeOrlentationCalibration.cpp)
  156. add_executable(saveImgeAndCarPose src/saveImgeAndCarPose.cpp)
  157. ## Rename C++ executable without prefix
  158. ## The above recommended prefix causes long target names, the following renames the
  159. ## target back to the shorter version for ease of user use
  160. ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
  161. # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
  163. ## Add cmake target dependencies of the executable
  164. ## same as for the library above
  165. # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  167. ## Specify libraries to link a library or executable target against
  168.  target_link_libraries(
  169.          main_node
  170.    ${catkin_LIBRARIES}
  171.    ${OpenCV_LIBS}
  172.  )
  173. target_link_libraries(
  174.         CameraIntrinsicFromFiles_node
  175.         ${catkin_LIBRARIES}
  176. )
  177. target_link_libraries(
  178.         QRcodeOrlentationCalibration_node
  179.         ${catkin_LIBRARIES}
  180. )
  181. target_link_libraries(
  182.         saveImgeAndCarPose
  183.         ${catkin_LIBRARIES}
  184. )
  186. #link_directories(${OpenCV_LIBRARY_DIRS})
  188. #############
  189. ## Install ##
  190. #############
  192. # all install targets should use catkin DESTINATION variables
  193. # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
  195. ## Mark executable scripts (Python etc.) for installation
  196. ## in contrast to setup.py, you can choose the destination
  197. # catkin_install_python(PROGRAMS
  198. #   scripts/my_python_script
  199. #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  200. # )
  202. ## Mark executables for installation
  203. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
  204. # install(TARGETS ${PROJECT_NAME}_node
  205. #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  206. # )
  208. ## Mark libraries for installation
  209. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
  210. # install(TARGETS ${PROJECT_NAME}
  211. #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  212. #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  213. #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
  214. # )
  216. ## Mark cpp header files for installation
  217. # install(DIRECTORY include/${PROJECT_NAME}/
  218. #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  219. #   FILES_MATCHING PATTERN "*.h"
  220. #   PATTERN ".svn" EXCLUDE
  221. # )
  223. ## Mark other files for installation (e.g. launch and bag files, etc.)
  224. # install(FILES
  225. #   # myfile1
  226. #   # myfile2
  227. #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  228. # )
  230. #############
  231. ## Testing ##
  232. #############
  234. ## Add gtest based cpp test target and link libraries
  235. # catkin_add_gtest(${PROJECT_NAME}-test test/test_visualOrientation.cpp)
  236. # if(TARGET ${PROJECT_NAME}-test)
  237. #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
  238. # endif()
  240. ## Add folders to be run by python nosetests
  241. # catkin_add_nosetests(test)

ros中配置第三方opencv

  1. cmake_minimum_required(VERSION 3.0.2)
  2. project(demour)
  4. ## Compile as C++11, supported in ROS Kinetic and newer
  5. # add_compile_options(-std=c++11)
  7. ## Find catkin macros and libraries
  8. ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9. ## is used, also find other catkin packages
  10. find_package(catkin REQUIRED COMPONENTS
  11.         roscpp
  12.         rosmsg
  13.         rospy
  14.         diagnostic_msgs
  15.         )
  17. find_package(OpenCV REQUIRED)
  19. set(CMAKE_INCLUDE_CURRENT_DIR ON)
  20. set(CMAKE_AUTOMOC ON)
  22. find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport Network)
  24. ## System dependencies are found with CMake's conventions
  25. # find_package(Boost REQUIRED COMPONENTS system)
  28. ## Uncomment this if the package has a setup.py. This macro ensures
  29. ## modules and global scripts declared therein get installed
  30. ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
  31. # catkin_python_setup()
  33. ################################################
  34. ## Declare ROS messages, services and actions ##
  35. ################################################
  37. ## To declare and build messages, services or actions from within this
  38. ## package, follow these steps:
  39. ## * Let MSG_DEP_SET be the set of packages whose message types you use in
  40. ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
  41. ## * In the file package.xml:
  42. ##   * add a build_depend tag for "message_generation"
  43. ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
  44. ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
  45. ##     but can be declared for certainty nonetheless:
  46. ##     * add a exec_depend tag for "message_runtime"
  47. ## * In this file (CMakeLists.txt):
  48. ##   * add "message_generation" and every package in MSG_DEP_SET to
  49. ##     find_package(catkin REQUIRED COMPONENTS ...)
  50. ##   * add "message_runtime" and every package in MSG_DEP_SET to
  51. ##     catkin_package(CATKIN_DEPENDS ...)
  52. ##   * uncomment the add_*_files sections below as needed
  53. ##     and list every .msg/.srv/.action file to be processed
  54. ##   * uncomment the generate_messages entry below
  55. ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
  57. ## Generate messages in the 'msg' folder
  58. # add_message_files(
  59. #   FILES
  60. #   Message1.msg
  61. #   Message2.msg
  62. # )
  64. ## Generate services in the 'srv' folder
  65. # add_service_files(
  66. #   FILES
  67. #   Service1.srv
  68. #   Service2.srv
  69. # )
  71. ## Generate actions in the 'action' folder
  72. # add_action_files(
  73. #   FILES
  74. #   Action1.action
  75. #   Action2.action
  76. # )
  78. ## Generate added messages and services with any dependencies listed here
  79. # generate_messages(
  80. #   DEPENDENCIES
  81. #   std_msgs  # Or other packages containing msgs
  82. # )
  84. ################################################
  85. ## Declare ROS dynamic reconfigure parameters ##
  86. ################################################
  88. ## To declare and build dynamic reconfigure parameters within this
  89. ## package, follow these steps:
  90. ## * In the file package.xml:
  91. ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
  92. ## * In this file (CMakeLists.txt):
  93. ##   * add "dynamic_reconfigure" to
  94. ##     find_package(catkin REQUIRED COMPONENTS ...)
  95. ##   * uncomment the "generate_dynamic_reconfigure_options" section below
  96. ##     and list every .cfg file to be processed
  98. ## Generate dynamic reconfigure parameters in the 'cfg' folder
  99. # generate_dynamic_reconfigure_options(
  100. #   cfg/DynReconf1.cfg
  101. #   cfg/DynReconf2.cfg
  102. # )
  104. ###################################
  105. ## catkin specific configuration ##
  106. ###################################
  107. ## The catkin_package macro generates cmake config files for your package
  108. ## Declare things to be passed to dependent projects
  109. ## INCLUDE_DIRS: uncomment this if your package contains header files
  110. ## LIBRARIES: libraries you create in this project that dependent projects also need
  111. ## CATKIN_DEPENDS: catkin_packages dependent projects also need
  112. ## DEPENDS: system dependencies of this project that dependent projects also need
  113. catkin_package(
  114.         #  INCLUDE_DIRS include
  115.         #  LIBRARIES demour
  116.         #  CATKIN_DEPENDS roscpp rosmsg rospy
  117.         #  DEPENDS system_lib
  118. )
  120. ###########
  121. ## Build ##
  122. ###########
  124. ## Specify additional locations of header files
  125. ## Your package locations should be listed before other locations
  126. include_directories(
  127.         # include
  128.         ${catkin_INCLUDE_DIRS}
  129. )
  131. ## Declare a C++ library
  132. # add_library(${PROJECT_NAME}
  133. #   src/${PROJECT_NAME}/demour.cpp
  134. # )
  136. ## Add cmake target dependencies of the library
  137. ## as an example, code may need to be generated before libraries
  138. ## either from message generation or dynamic reconfigure
  139. # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  141. ## Declare a C++ executable
  142. ## With catkin_make all packages are built within a single CMake context
  143. ## The recommended prefix ensures that target names across packages don't collide
  144. add_subdirectory(src/driver)
  145. #add_executable(ur_cpp_node src/ur_cpp.cpp src/PaintWidget.cpp src/Type.cpp src/urwWritWindow.cpp)
  146. add_executable(ur_cpp_node src/ur_cpp.cpp)
  148. ## Rename C++ executable without prefix
  149. ## The above recommended prefix causes long target names, the following renames the
  150. ## target back to the shorter version for ease of user use
  151. ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
  152. # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
  154. ## Add cmake target dependencies of the executable
  155. ## same as for the library above
  156. # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  158. ## Specify libraries to link a library or executable target against
  160. #target_link_libraries(
  161. #        ur_cpp_node
  162. #        ${catkin_LIBRARIES}
  163. #        ${OpenCV_LIBS}
  164. #        driver
  165. #)
  166. target_link_libraries(
  167.         ur_cpp_node
  168.         ${catkin_LIBRARIES}
  169.         ${OpenCV_LIBS}
  170.         driver
  171. )
  173. #############
  174. ## Install ##
  175. #############
  177. # all install targets should use catkin DESTINATION variables
  178. # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
  180. ## Mark executable scripts (Python etc.) for installation
  181. ## in contrast to setup.py, you can choose the destination
  182. # catkin_install_python(PROGRAMS
  183. #   scripts/my_python_script
  184. #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  185. # )
  187. ## Mark executables for installation
  188. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
  189. # install(TARGETS ${PROJECT_NAME}_node
  190. #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  191. # )
  193. ## Mark libraries for installation
  194. ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
  195. # install(TARGETS ${PROJECT_NAME}
  196. #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  197. #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  198. #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
  199. # )
  201. ## Mark cpp header files for installation
  202. # install(DIRECTORY include/${PROJECT_NAME}/
  203. #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  204. #   FILES_MATCHING PATTERN "*.h"
  205. #   PATTERN ".svn" EXCLUDE
  206. # )
  208. ## Mark other files for installation (e.g. launch and bag files, etc.)
  209. # install(FILES
  210. #   # myfile1
  211. #   # myfile2
  212. #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  213. # )
  215. #############
  216. ## Testing ##
  217. #############
  219. ## Add gtest based cpp test target and link libraries
  220. # catkin_add_gtest(${PROJECT_NAME}-test test/test_demour.cpp)
  221. # if(TARGET ${PROJECT_NAME}-test)
  222. #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
  223. # endif()
  225. ## Add folders to be run by python nosetests
  226. # catkin_add_nosetests(test)

3.ros中更换第三方opencv库

配置文件地址为：/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

将119行注释（可以在vim中按：输入set number显示行号）或者直接在里面修改，结果如下

注意：set(libraries “ 后面把所有库都加进去）

cmakelist.txt按第一个写

  1. # generated from catkin/cmake/template/pkgConfig.cmake.in
  3. # append elements to a list and remove existing duplicates from the list
  4. # copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
  5. # self contained
  6. macro(_list_append_deduplicate listname)
  7.   if(NOT "${ARGN}" STREQUAL "")
  8.     if(${listname})
  9.       list(REMOVE_ITEM ${listname} ${ARGN})
  10.     endif()
  11.     list(APPEND ${listname} ${ARGN})
  12.   endif()
  13. endmacro()
  15. # append elements to a list if they are not already in the list
  16. # copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
  17. # self contained
  18. macro(_list_append_unique listname)
  19.   foreach(_item ${ARGN})
  20.     list(FIND ${listname} ${_item} _index)
  21.     if(_index EQUAL -1)
  22.       list(APPEND ${listname} ${_item})
  23.     endif()
  24.   endforeach()
  25. endmacro()
  27. # pack a list of libraries with optional build configuration keywords
  28. # copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
  29. # self contained
  30. macro(_pack_libraries_with_build_configuration VAR)
  31.   set(${VAR} "")
  32.   set(_argn ${ARGN})
  33.   list(LENGTH _argn _count)
  34.   set(_index 0)
  35.   while(${_index} LESS ${_count})
  36.     list(GET _argn ${_index} lib)
  37.     if("${lib}" MATCHES "^(debug|optimized|general)$")
  38.       math(EXPR _index "${_index} + 1")
  39.       if(${_index} EQUAL ${_count})
  40.         message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
  41.       endif()
  42.       list(GET _argn ${_index} library)
  43.       list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
  44.     else()
  45.       list(APPEND ${VAR} "${lib}")
  46.     endif()
  47.     math(EXPR _index "${_index} + 1")
  48.   endwhile()
  49. endmacro()
  51. # unpack a list of libraries with optional build configuration keyword prefixes
  52. # copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
  53. # self contained
  54. macro(_unpack_libraries_with_build_configuration VAR)
  55.   set(${VAR} "")
  56.   foreach(lib ${ARGN})
  57.     string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
  58.     list(APPEND ${VAR} "${lib}")
  59.   endforeach()
  60. endmacro()
  63. if(cv_bridge_CONFIG_INCLUDED)
  64.   return()
  65. endif()
  66. set(cv_bridge_CONFIG_INCLUDED TRUE)
  68. # set variables for source/devel/install prefixes
  69. if("FALSE" STREQUAL "TRUE")
  70.   set(cv_bridge_SOURCE_PREFIX /tmp/binarydeb/ros-kinetic-cv-bridge-1.12.8)
  71.   set(cv_bridge_DEVEL_PREFIX /tmp/binarydeb/ros-kinetic-cv-bridge-1.12.8/obj-x86_64-linux-gnu/devel)
  72.   set(cv_bridge_INSTALL_PREFIX "")
  73.   set(cv_bridge_PREFIX ${cv_bridge_DEVEL_PREFIX})
  74. else()
  75.   set(cv_bridge_SOURCE_PREFIX "")
  76.   set(cv_bridge_DEVEL_PREFIX "")
  77.   set(cv_bridge_INSTALL_PREFIX /opt/ros/kinetic)
  78.   set(cv_bridge_PREFIX ${cv_bridge_INSTALL_PREFIX})
  79. endif()
  81. # warn when using a deprecated package
  82. if(NOT "" STREQUAL "")
  83.   set(_msg "WARNING: package 'cv_bridge' is deprecated")
  84.   # append custom deprecation text if available
  85.   if(NOT "" STREQUAL "TRUE")
  86.     set(_msg "${_msg} ()")
  87.   endif()
  88.   message("${_msg}")
  89. endif()
  91. # flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
  92. set(cv_bridge_FOUND_CATKIN_PROJECT TRUE)
  93. ##susususu
  94. #if(NOT "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv " STREQUAL " ")
  95. if(NOT "include;/home/iimt/3rdparty/OpenCV-3.4.9/include " STREQUAL " ")
  96.   set(cv_bridge_INCLUDE_DIRS "")
  97. ##susususu
  98.   #set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv")
  99. set(_include_dirs "include;/home/iimt/3rdparty/OpenCV-3.4.9/include")
  100.   if(NOT "https://github.com/ros-perception/vision_opencv/issues " STREQUAL " ")
  101.     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.")
  102.   elseif(NOT "http://www.ros.org/wiki/cv_bridge " STREQUAL " ")
  103.     set(_report "Check the website 'http://www.ros.org/wiki/cv_bridge' for information and consider reporting the problem.")
  104.   else()
  105.     set(_report "Report the problem to the maintainer 'Vincent Rabaud <vincent.rabaud@gmail.com>' and request to fix the problem.")
  106.   endif()
  107.   foreach(idir ${_include_dirs})
  108.     if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
  109.       set(include ${idir})
  110.     elseif("${idir} " STREQUAL "include ")
  111.       get_filename_component(include "${cv_bridge_DIR}/../../../include" ABSOLUTE)
  112.       if(NOT IS_DIRECTORY ${include})
  113.         message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
  114.       endif()
  115.     else()
  116.       message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
  117.     endif()
  118.     _list_append_unique(cv_bridge_INCLUDE_DIRS ${include})
  119.   endforeach()
  120. endif()
  122. ##susususu
  124. #set(libraries "cv_bridge;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1")
  125. #set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4.9")
  126. set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so.3.4.9")
  127. #set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib")
  128. foreach(library ${libraries})
  129.   # keep build configuration keywords, target names and absolute libraries as-is
  130.   if("${library}" MATCHES "^(debug|optimized|general)$")
  131.     list(APPEND cv_bridge_LIBRARIES ${library})
  132.   elseif(${library} MATCHES "^-l")
  133.     list(APPEND cv_bridge_LIBRARIES ${library})
  134.   elseif(${library} MATCHES "^-")
  135.     # This is a linker flag/option (like -pthread)
  136.     # There's no standard variable for these, so create an interface library to hold it
  137.     if(NOT cv_bridge_NUM_DUMMY_TARGETS)
  138.       set(cv_bridge_NUM_DUMMY_TARGETS 0)
  139.     endif()
  140.     # Make sure the target name is unique
  141.     set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")
  142.     while(TARGET "${interface_target_name}")
  143.       math(EXPR cv_bridge_NUM_DUMMY_TARGETS "${cv_bridge_NUM_DUMMY_TARGETS}+1")
  144.       set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")
  145.     endwhile()
  146.     add_library("${interface_target_name}" INTERFACE IMPORTED)
  147.     if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
  148.       set_property(
  149.         TARGET
  150.         "${interface_target_name}"
  151.         APPEND PROPERTY
  152.         INTERFACE_LINK_LIBRARIES "${library}")
  153.     else()
  154.       target_link_options("${interface_target_name}" INTERFACE "${library}")
  155.     endif()
  156.     list(APPEND cv_bridge_LIBRARIES "${interface_target_name}")
  157.   elseif(TARGET ${library})
  158.     list(APPEND cv_bridge_LIBRARIES ${library})
  159.   elseif(IS_ABSOLUTE ${library})
  160.     list(APPEND cv_bridge_LIBRARIES ${library})
  161.   else()
  162.     set(lib_path "")
  163.     set(lib "${library}-NOTFOUND")
  164.     # since the path where the library is found is returned we have to iterate over the paths manually
  165.     foreach(path /opt/ros/kinetic/lib;/opt/ros/kinetic/lib)
  166.       find_library(lib ${library}
  167.         PATHS ${path}
  168.         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
  169.       if(lib)
  170.         set(lib_path ${path})
  171.         break()
  172.       endif()
  173.     endforeach()
  174.     if(lib)
  175.       _list_append_unique(cv_bridge_LIBRARY_DIRS ${lib_path})
  176.       list(APPEND cv_bridge_LIBRARIES ${lib})
  177.     else()
  178.       # as a fall back for non-catkin libraries try to search globally
  179.       find_library(lib ${library})
  180.       if(NOT lib)
  181.         message(FATAL_ERROR "Project '${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?")
  182.       endif()
  183.       list(APPEND cv_bridge_LIBRARIES ${lib})
  184.     endif()
  185.   endif()
  186. endforeach()
  188. set(cv_bridge_EXPORTED_TARGETS "")
  189. # create dummy targets for exported code generation targets to make life of users easier
  190. foreach(t ${cv_bridge_EXPORTED_TARGETS})
  191.   if(NOT TARGET ${t})
  192.     add_custom_target(${t})
  193.   endif()
  194. endforeach()
  196. set(depends "rosconsole;sensor_msgs")
  197. foreach(depend ${depends})
  198.   string(REPLACE " " ";" depend_list ${depend})
  199.   # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
  200.   list(GET depend_list 0 cv_bridge_dep)
  201.   list(LENGTH depend_list count)
  202.   if(${count} EQUAL 1)
  203.     # simple dependencies must only be find_package()-ed once
  204.     if(NOT ${cv_bridge_dep}_FOUND)
  205.       find_package(${cv_bridge_dep} REQUIRED NO_MODULE)
  206.     endif()
  207.   else()
  208.     # dependencies with components must be find_package()-ed again
  209.     list(REMOVE_AT depend_list 0)
  210.     find_package(${cv_bridge_dep} REQUIRED NO_MODULE ${depend_list})
  211.   endif()
  212.   _list_append_unique(cv_bridge_INCLUDE_DIRS ${${cv_bridge_dep}_INCLUDE_DIRS})
  214.   # merge build configuration keywords with library names to correctly deduplicate
  215.   _pack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})
  216.   _pack_libraries_with_build_configuration(_libraries ${${cv_bridge_dep}_LIBRARIES})
  217.   _list_append_deduplicate(cv_bridge_LIBRARIES ${_libraries})
  218.   # undo build configuration keyword merging after deduplication
  219.   _unpack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})
  221.   _list_append_unique(cv_bridge_LIBRARY_DIRS ${${cv_bridge_dep}_LIBRARY_DIRS})
  222.   list(APPEND cv_bridge_EXPORTED_TARGETS ${${cv_bridge_dep}_EXPORTED_TARGETS})
  223. endforeach()
  225. set(pkg_cfg_extras "cv_bridge-extras.cmake")
  226. foreach(extra ${pkg_cfg_extras})
  227.   if(NOT IS_ABSOLUTE ${extra})
  228.     set(extra ${cv_bridge_DIR}/${extra})
  229.   endif()
  230.   include(${extra})
  231. endforeach()

编译opencv-3.4.9

编译安装OpenCV依赖库

编译安装OpenCV环境

准备源码

  1. # 编译工具
  2. sudo apt-get install build-essential
  3. # 必须的
  4. sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
  6. sudo apt-get install libeigen3-dev libgflags-dev libgoogle-glog-dev
  7. sudo apt-get install libsuitesparse-dev
  9. # 可选的
  10. sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev 
  11. sudo apt-get install gtk-3.0-dev
  12. sudo apt-get install libatlas-base-dev gfortran
  14. # 创建一个总目录存放两个子目录
  15. mkdir -p ~/3rdparty/source/opencv_env
  16. cd ~/3rdparty/source/opencv_env
  18. # 如果网络好就直接执行命令 , 总共700MB
  19. git clone -b 3.4 https://gitee.com/mirrors/opencv.git
  20. git clone -b 3.4 https://gitee.com/mirrors/opencv_contrib.git
  22. # 或者直接使用资料中下好的文件, 将这两个文件拷贝到opencv_env路径下
  23. opencv-3.4.9.zip
  24. opencv_contrib-3.4.9.tar.gz
  25. # 使用tar -zxvf xxx.tar.gz 将上述两个文件进行解压

准备编译依赖的文件

修改hosts文件

打开此链接：https://githubusercontent.com.ipaddress.com/raw.githubusercontent.com

将其中显示的IP Address地址复制到粘贴板，这里为199.232.96.133

image-20201118151707815

编辑系统的hosts文件：

  1. sudo gedit /etc/hosts

把以下内容追加到末尾即可：

  1. 199.232.96.133  raw.githubusercontent.com

注意，这里用到的ip地址是我在网站链接中获取的，可能与你获得的不同，注意区分，直接复制使用不保证有效！

提前释放要下载的内容到.cache目录

建议在直接将cache.tar.gz内容解压缩到opencv源码根目录下的.cache，即可避免由于需要在线下载会出现的问题。原因是执行cmake时候，脚本会自动到github的资源库raw.githubusercontent.com下载文件，而这个网站时不时的就被河蟹了（科学上网可以解决，但不是人人都有梯子的），所以这里提前把脚本要下载的准备到opencv源码根目录里的.cache里即可。注意此cache目前在opencv-3.4.9情况下可用，其他版本不保证。

cache.tar.gz的百度网盘链接: https://pan.baidu.com/s/1kZU1gakKLP-LjSxQ4DYw7g 提取码: 5fxk

然后执行以下命令，将其内容解压到opencv的源码根目录

  1. tar -zxvf cache.tar.gz -C opencv

此时，进入opencv目录，确认是否有.cache目录即可，注意这个是隐藏目录，文件浏览器里按 Ctrl+H 可以查看隐藏目录，命令行里可以输入ls -al查看

配置&编译&安装

  1. # 进入Opencv目录
  2. cd opencv-3.4.9
  3. # 创建一个build目录
  4. mkdir build
  5. # 进入build目录
  6. cd build
  8. # cmake编译配置：也可以自行使用cmake-gui配置
  10. # 一定要确保以下用到的OPENCV_EXTRA_MODULES_PATH参数路径在你那里是存在且正确的！！！
  12. # 注意末尾的两个点 .. 不能少，注意最后一个参数要根据你自己的路径来
  13. cmake -D CMAKE_BUILD_TYPE=Release \
  14.       -D BUILD_opencv_python2=OFF \
  15.       -D BUILD_opencv_python3=ON \
  16.       -D CMAKE_INSTALL_PREFIX=/usr/local \
  17.       -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules ..
  19. # 或者用这个，可以编译安装一些Python和C++案例
  20. cmake -D CMAKE_BUILD_TYPE=Release \
  21.       -D BUILD_opencv_python2=OFF \
  22.       -D BUILD_opencv_python3=ON \
  23.       -D CMAKE_INSTALL_PREFIX=/usr/local \
  24.       -D INSTALL_PYTHON_EXAMPLES=ON \
  25.       -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules \
  26.       -D BUILD_EXAMPLES=ON ..
  28. # 或者指定任意输出目录，例如我把OpenCV输出到 ~/3rdparty/OpenCV-3.4.9
  29. cmake -D CMAKE_BUILD_TYPE=Release \
  30.      -D BUILD_opencv_python2=OFF \
  31.      -D BUILD_opencv_python3=ON \
  32.      -D CMAKE_INSTALL_PREFIX=~/3rdparty/OpenCV-3.4.9 \
  33.      -D INSTALL_PYTHON_EXAMPLES=ON \
  34.      -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules \
  35.      -D BUILD_EXAMPLES=ON ..
  38. # 开启8个线程
  39. make -j8
  41. # 编译成功之后, 再执行安装
  42. # 这里会安装到刚刚CMAKE_INSTALL_PREFIX指定的路径，如果时使用的~/开头的用户目录，建议不要加sudo
  43. sudo make install

正常情况下，编译安装即到此完毕！

出现的问题

！！！！！！！！！！如果.cache目录已按照上述步骤自行解压过，则以下步骤可以省略！！！！！！！！！！！！！！！

  • ippicv

由于是外国服务器原因，这里极大概率会出现下载错误，会提示ippicv_2019_lnx_intel64_general_20180723.tgz 下载失败!！解决方式如下

方式1：推荐

将ippicv_2019_lnx_intel64_general_20180723.tgz拷贝为opencv/.cache/ippicv/c0bd78adb4156bbf552c1dfe90599607-ippicv_2019_lnx_intel64_general_20180723.tgz即可

方式2：

  1. # 打开终端，输入
  2. gedit ~/opencv_env/opencv/3rdparty/ippicv/ippicv.cmake #就是这个文件的路径
  3. # 将47行的
  4. "https://raw.githubusercontent.com/opencv/opencv_3rdparty/${IPPICV_COMMIT}ippicv/"
  5. # 改为步骤1中手动下载的文件的本地路径(也就是将网络下载的模式改为本地文件下载的模式):
  6.  "file:///home/itheima/opencv_env/" #（仅供参考，根据自己的路径填写,ippicv所在的目录）
  • face_landmark_model.dat

cmake过程中会到https://raw.githubusercontent.com/opencv/opencv_3rdparty/8afa57abc8229d611c4937165d20e2a2d9fc5a12/face_landmark_model.dat下载dat文件，这里提前准备好，就不需要联网下啦，进入opencv源码根目录，执行：

  1. mkdir -p .cache/data
  3. cp face_landmark_model.dat .cache/data/7505c44ca4eb54b4ab1e4777cb96ac05-face_landmark_model.dat
  • opencv boostdesc_bgm.i

opencv boostdesc_bgm.i: No such file or directory

查看下载失败的文件

  1. opencv/build$ cat CMakeDownloadLog.txt

直接自行下载到指定目录，或将一下文件拷贝到指定目录

Clion中添加依赖参考

修改Cmake配置文件

  1. cmake_minimum_required(VERSION 3.14)
  2. project(study_opencv_cpp)
  4. set(CMAKE_CXX_STANDARD 11)
  6. find_package(OpenCV REQUIRED)
  8. add_executable(main main.cpp)
  9. target_link_libraries(main ${OpenCV_LIBS})

代码测试

Mat类

数据类型定义

  1. CV_位数(S|U|F)C通道数量
  2. 位数:
  3.     8位 , 16位, 32位 ,64位  单通道颜色取值范围是0-255,所以通常是8位
  5. S|U|F:
  6.     S--代表---signed int---有符号整形
  7.     U--代表--unsigned int--无符号整形
  8.     F--代表--float---------单精度浮点型
  10. C通道数量:
  11.     通道数量 = 1：灰度图片,单通道图像
  12.     通道数量 = 3：灰度图片,单通道图像
  13.     通道数量 = 4：带Alph通道的RGB图像,png图片是这种

图片基本操作

  1. #include <iostream>
  2. #include <opencv2/opencv.hpp>
  4. using namespace std;
  5. using namespace cv;
  7. int main(){
  9.     Mat img = imread("../assets/lena.jpg",IMREAD_COLOR);
  10.     cout<<"read img success!";
  11.     imshow("img",img);
  13.     // 获取图片的大小
  14.     Size imgSize = img.size();
  15.     cout<<"img size:"<<imgSize;
  16.     // 获取图片的通道数量
  17.     int channels = img.channels();
  18.     // 获取数据类型
  19.     cout<<"channels:"<<channels<<"type:"<<img.type()<<endl;
  22.     // 创建一个图片对象
  23.     Mat dst(400,600,CV_8UC3);
  24.     // 在图片中间增加一根红色的线
  25.     for(int i=0;i<600;i++){
  26.         dst.at<Vec3b>(200,i) = Vec3b(0,0,255);
  27.     }
  29.     namedWindow("dst",WINDOW_NORMAL);
  30.     imshow("dst",dst);
  32.     waitKey(0);
  33.     destroyAllWindows();
  34.     return 0;
  35. }

图像剪切

示例代码

  1. #include <iostream>
  2. #include <opencv2/opencv.hpp>
  4. using namespace std;
  5. using namespace cv;
  7. int main(){
  8.     Mat img = imread("../assets/itheima.jpg",IMREAD_COLOR);
  10.     // 定义要截取的矩形框
  11.     Rect rect(100,50,200,200);
  13.     // 这样即可完成截取
  14.     Mat roi = img(rect);
  16.     imshow("src",img);
  17.     imshow("roi",roi);
  20.     waitKey(0);
  21.     destroyAllWindows();
  22.     return 0;
  23. }

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