ROS节点中OpenCV 4与cv_bridge的冲突

Question

我正在用OpenCV启动一个带有ROS的项目，我需要使用opencv_contrib中的xfeatures2d。我遵循本指令并以这种方式修改我的CMake文件：

cmake_minimum_required(VERSION 3.0.2)
project(visual_odometry)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  nav_msgs
  geometry_msgs
  std_msgs
)

find_package(OpenCV 4 REQUIRED) 

catkin_package()

include_directories(
# include  
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(show_image src/show_image.cpp)
target_link_libraries(show_image 
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})

add_executable(show_video src/show_video.cpp)
target_link_libraries(show_video 
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})

add_executable(visual_Odometry src/visual_Odometry.cpp)
target_link_libraries(visual_Odometry 
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})

在catkin_make之后：

/usr/bin/ld: warning: libopencv_imgproc.so.4.5, needed by /usr/local/lib/libopencv_xfeatures2d.so.4.5.3, may conflict with libopencv_imgproc.so.3.2

在运行时，imgproc的一些功能(如CLAHE算法)不能工作，而我的节点停止工作。

当我使用catkin_make构建时，cv_bridge发现opencv3.2默认设置为ros，但由于CMake文件，我的节点找到了opencv4。我能修好这个吗？可以在opencv3.2a opencv_contrib中构建吗？是否有可能在cv_bridge中更改opencv的版本？

Answer 1

我在Github中找到了一个解决方案

在catkin_ws/src中：

git clone https://github.com/fizyr-forks/vision_opencv/tree/opencv4
cd vision_opencv
git checkout opencv4