使用catkin (ROS)工作空间构建opencv 2.4.13.6时出错

Question

我想使用opencv 2.4构建我的项目(在ROS中

我安装了ros-kinetic版本和opencv3包(默认情况下，通过libopencv-dev ros-kinetic opencv3，只有opencv3可用)。为了我的项目的目的，我需要opencv-2.4版本。我尝试了几种方法(通过我的项目的CMakelists.txt等)来链接我的定制opencv (在usr/local/include中)，但都没有成功。

我的项目总是链接到已安装的ros opencv (/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2)。

我得到了以下错误

    /usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = Eigen::Matrix<double, 3, 1>; _Alloc = Eigen::aligned_allocator_indirection<Eigen::Matrix<double, 3, 1> >; std::vector<_Tp, _Alloc>::value_type = Eigen::Matrix<double, 3, 1>]
       push_back(const value_type& __x)
       ^
/usr/include/c++/5/bits/stl_vector.h:913:7: note:   no known conversion for argument 1 from ‘cv::Point {aka cv::Point_<int>}’ to ‘const value_type& {aka const Eigen::Matrix<double, 3, 1>&}’
/home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:1107:79: error: no matching function for call to ‘std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >::push_back(cv::Point)’
           points.push_back(cv::Point(tmp_corners[35].x(), tmp_corners[35].y()));
                                                                               ^
In file included from /usr/include/c++/5/vector:64:0,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/base/matrix.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/base/point_matrix.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/globals.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/base_object.h:33,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/sensor.h:21,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/color/sensor.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/pinhole/sensor.h:32,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/include/rgbd_calibration/calibration_test.h:21,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:18:
/usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = Eigen::Matrix<double, 3, 1>; _Alloc = Eigen::aligned_allocator_indirection<Eigen::Matrix<double, 3, 1> >; std::vector<_Tp, _Alloc>::value_type = Eigen::Matrix<double, 3, 1>]
       push_back(const value_type& __x)
       ^
/usr/include/c++/5/bits/stl_vector.h:913:7: note:   no known conversion for argument 1 from ‘cv::Point {aka cv::Point_<int>}’ to ‘const value_type& {aka const Eigen::Matrix<double, 3, 1>&}’
/home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:1108:79: error: no matching function for call to ‘std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >::push_back(cv::Point)’
           points.push_back(cv::Point(tmp_corners[30].x(), tmp_corners[30].y()));
                                                                               ^
In file included from /usr/include/c++/5/vector:64:0,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/base/matrix.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/base/point_matrix.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/globals.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/base_object.h:33,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/objects/sensor.h:21,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/color/sensor.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/pinhole/sensor.h:32,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/include/rgbd_calibration/calibration_test.h:21,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:18:
/usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = Eigen::Matrix<double, 3, 1>; _Alloc = Eigen::aligned_allocator_indirection<Eigen::Matrix<double, 3, 1> >; std::vector<_Tp, _Alloc>::value_type = Eigen::Matrix<double, 3, 1>]
       push_back(const value_type& __x)
       ^
/usr/include/c++/5/bits/stl_vector.h:913:7: note:   no known conversion for argument 1 from ‘cv::Point {aka cv::Point_<int>}’ to ‘const value_type& {aka const Eigen::Matrix<double, 3, 1>&}’
/home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:1110:113: error: no matching function for call to ‘fillConvexPoly(cv::Mat&, std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >&, cv::Scalar)’
           cv::fillConvexPoly(tmp_image, points, cv::Scalar(c == 0 ? 128 : 0, c == 1 ? 128 : 0, c == 2 ? 128 : 0));
                                                                                                                 ^
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/imgproc/imgproc.hpp:48:0,
                 from /opt/ros/kinetic/include/image_geometry/pinhole_camera_model.h:6,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/pinhole/camera_model.h:32,
                 from /home/user1/user1/catkin_ws/src/calibration_toolkit/calibration_common/include/calibration_common/pinhole/sensor.h:33,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/include/rgbd_calibration/calibration_test.h:21,
                 from /home/user1/user1/catkin_ws/src/rgbd_calibration/src/rgbd_calibration/calibration_test.cpp:18:
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/imgproc.hpp:4452:17: note: candidate: void cv::fillConvexPoly(cv::Mat&, const Point*, int, const Scalar&, int, int)
 CV_EXPORTS void fillConvexPoly(Mat& img, const Point* pts, int npts,
                 ^
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/imgproc.hpp:4452:17: note:   candidate expects 6 arguments, 3 provided
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/imgproc.hpp:4469:19: note: candidate: void cv::fillConvexPoly(cv::InputOutputArray, cv::InputArray, const Scalar&, int, int)
 CV_EXPORTS_W void fillConvexPoly(InputOutputArray img, InputArray points,
                   ^
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/imgproc.hpp:4469:19: note:   no known conversion for argument 2 from ‘std::vector<Eigen::Matrix<double, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1> > >’ to ‘cv::InputArray {aka const cv::_InputArray&}’
rgbd_calibration/CMakeFiles/test_calibration.dir/build.make:62: recipe for target 'rgbd_calibration/CMakeFiles/test_calibration.dir/src/rgbd_calibration/test_node.cpp.o' failed
make[2]: *** [rgbd_calibration/CMakeFiles/test_calibration.dir/src/rgbd_calibration/test_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
rgbd_calibration/CMakeFiles/test_calibration.dir/build.make:86: recipe for target 'rgbd_calibration/CMakeFiles/test_calibration.dir/src/rgbd_calibration/calibration_test.cpp.o' failed
make[2]: *** [rgbd_calibration/CMakeFiles/test_calibration.dir/src/rgbd_calibration/calibration_test.cpp.o] Error 1
CMakeFiles/Makefile2:3448: recipe for target 'rgbd_calibration/CMakeFiles/test_calibration.dir/all' failed
make[1]: *** [rgbd_calibration/CMakeFiles/test_calibration.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 98%] Linking CXX executable /home/user1/user1/catkin_ws/devel/lib/rgbd_calibration/rgbd_offline_calibration
[ 98%] Built target rgbd_offline_calibration
Makefile:138: recipe for target 'all' failed

我尝试了几种方法，比如在项目的CMakeLists.txt中插入find_package(OpenCV 2.4.12 REQUIRED NO_MODULE #Should be optional, tells CMake to use config mode PATHS /usr/local # Tells CMake to look here NO_DEFAULT_PATH #and don't look anywhere else )，但仍然存在相同的问题。

有没有一种安全的方法可以显式地链接到我的自定义opencv？

Answer 1

对于您的问题，有几个可能的答案。首先，运行pkg-config --modversion opencv，以确保您请求的版本存在。然后，您可以尝试执行以下操作：

1)在你的CMakeLists.txt中：find_package(OpenCV REQUIRED PATHS path/to/opencv/opencv/opencv-2.4.12/cmake)

2)在同一文件的开头，添加以下内容：

set(OpenCV_INCLUDE_DIRS
  /usr/local/include
  /usr/local/include/opencv2
)

set(OpenCV_LIB_DIR
  /usr/local/lib
)

3)在运行catkin构建之前，运行

export CMAKE_PREFIX_PATH=/usr/local:$CMAKE_PREFIX_PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

4)当心！每次运行catkin build之前，都要执行catkin clean。总是有可能不删除以前的配置，并且无法检测到您请求的新OpenCV版本。

它们中的一个，或者它们的组合可能会起作用。