ROS 节点中 OpenCV 4 与 cv_bridge 之间的冲突

Question

我正在用带有 ROS 的 OpenCV 开始一个项目，我需要使用 opencv_contrib 中的 xfeatures2d。我按照 this instructions 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})

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

在运行时间段内，imgproc的一些函数如CLAHE算法失效，导致我的节点停止工作。

当我使用 catkin_make 构建时，cv_bridge 发现 ros 中默认的 opencv3.2，但由于 CMake 文件，我的节点找到了 opencv4。那么，我可以解决这个问题吗？可以在 opencv3.2 中构建 opencv_contrib 吗？可以在 cv_bridge?

中更改 opencv 的版本

Answer 1

我在 Github 中找到了解决方案：

在catkin_ws/src中：

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

ROS 节点中 OpenCV 4 与 cv_bridge 之间的冲突

Conflict between OpenCV 4 and cv_bridge in ROS Node

opencv

ros