Ros Indigo using OpenCV3

Ros Indigo版本默认使用的是2.4.8版本的OpenCV,实在是太旧了。于是我clone了最新的3.3版本,build了之后,参考了[1]上的解决方案,修改了package的cmakelists.txt文件:

# don't use opencv as found by any prior running of find_package
unset(OpenCV_CONFIG_PATH CACHE)
unset(OpenCV_DIR CACHE)

set(TMP_PREFIX_PATH ${CMAKE_PREFIX_PATH})
set(CMAKE_PREFIX_PATH "$ENV{HOME}/special/install")
set(OpenCV_DIR "./opencv-3.3.0/build")
find_package(OpenCV 3.3 EXACT REQUIRED)

message(STATUS "OpenCV library status:")
message(STATUS " version: ${OpenCV_VERSION}")
message(STATUS " libraries: ${OpenCV_LIBS}")
message(STATUS " include path: ${OpenCV_INCLUDE_DIRS}")

# restore CMAKE_PREFIX_PATH and other cached variables
# so nothing other package finds this opencv
set(CMAKE_PREFIX_PATH ${TMP_PREFIX_PATH})

unset(OpenCV_CONFIG_PATH CACHE)
unset(OpenCV_DIR CACHE)

...

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

target_link_libraries(foo_node
${OpenCV_LIBS}
${catkin_LIBRARIES}
)

注意在target_link_libraries中,${OpenCV_LIBS}需要放到${catkin_LIBRARIES}之前,不然系统有可能会先调用系统默认的2.4.8版本的OpenCV。

如果cv_bridge发生冲突,可以从这里,下载cv_bridge,并且使用高版本的OpenCV编译cv_bridge


  1. https://answers.ros.org/question/214043/use-ros-indigo-opencv3-alongside-248/