在Ubuntu中编译一个基于OpenCV和ROS的项目

Question

在我的项目上运行CMake(实际上是rosmake)时，我收到一个错误。我已经安装了OpenCV，但我得到以下错误:

Linking CXX shared library ../lib/libCornerHelper.so
  /usr/bin/ld: cannot find -lopencv_contrib
  /usr/bin/ld: cannot find -lopencv_legacy
  /usr/bin/ld: cannot find -lopencv_stitching
  /usr/bin/ld: cannot find -lopencv_gpu
  /usr/bin/ld: cannot find -lopencv_objdetect
  /usr/bin/ld: cannot find -lopencv_calib3d
  /usr/bin/ld: cannot find -lopencv_features2d
  /usr/bin/ld: cannot find -lopencv_video
  /usr/bin/ld: cannot find -lopencv_highgui
  /usr/bin/ld: cannot find -lopencv_ml
  /usr/bin/ld: cannot find -lopencv_imgproc
  /usr/bin/ld: cannot find -lopencv_flann
  /usr/bin/ld: cannot find -lopencv_core
  collect2: ld returned 1 exit status
  make[3]: *** [../lib/libCornerHelper.so] Error 1

有人知道怎么解决这个问题吗?

Answer 1

显然，他找不到opencv链接到你的项目。您是否将它安装在/usr或/usr/local以外的其他地方?

如果是，则需要将路径添加到LD_LIBRARY_PATH变量中，以此类推。当你运行这个程序时，你的系统显示了什么?

pkg-config --cflags --libs opencv

如果你得到这样的信息，那么你的系统是正常的。

-I/opt/opencv/include/opencv -I/opt/opencv/include  -L/opt/opencv/lib -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_ml -lopencv_video -lopencv_features2d -lopencv_calib3d -lopencv_objdetect -lopencv_contrib -lopencv_legacy -lopencv_flann 

但是如果你不这样做，你的系统无法找到它，cmake也不会找到它:

Package opencv was not found in the pkg-config search path. Perhaps you should add the directory containing `opencv.pc' to the PKG_CONFIG_PATH environment variable No package 'opencv' found

Answer 2

如果您在ROS中使用OpenCV，如果您在manifest.xml文件中声明了对opencv2的依赖，则应该自动选择适当的链接标志和路径。

如果你仍然有问题，我建议你搜索ROS答案，如果你没有找到任何东西，在那里问你的问题。这是官方的ROS支持论坛，可能会为您提供比StackOverflow更好的ROS特定问题的答案。