未定义的引用…编译ros节点时

Question

我正在尝试编写一个使用OpenCV非自由组件(SURF)的ROS-Node。我在使用catkin_make:

编译包时遇到了麻烦

//usr/local/lib/libopencv_nonfree.so: undefined reference to `cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)'

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(homography_test)
## Find catkin macros and libraries
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  cv_bridge
  image_transport
)
catkin_package(
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
    ${catkin_INCLUDE_DIRS}
    /usr/local/include
    /usr/include
    /usr/include/gstreamer-1.0
    /usr/include/glib-2.0
    /usr/lib/x86_64-linux-gnu/glib-2.0/include
)
## Declare a cpp executable
#add_executable(display_image src/display_image_node.cpp)
add_executable(homography src/sample.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
#add_dependencies(homography_test homography_test_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(
    homography
    ${catkin_LIBRARIES}
    gstreamer-1.0
    gobject-2.0
    glib-2.0
    opencv_nonfree
    opencv_calib3d
    opencv_contrib
    opencv_core
    opencv_features2d
    opencv_flann
    opencv_gpu
    opencv_highgui
    opencv_imgproc
    opencv_legacy
    opencv_ml
    opencv_objdetect
    opencv_ocl
    opencv_photo
    opencv_stitching
    opencv_superres
    opencv_ts
    opencv_video
    opencv_videostab
    rt
    pthread
    m
    dl
)
link_directories(/usr/local/lib)

但是如果我手动编译相同的代码，但不是作为ROS-node，一切都工作。

Answer 1

似乎opencv_ocl库没有被正确链接。此外，您可以通过使用find_package来获得OpenCV配置，从而大大简化CMakeLists.txt文件。尝试将这些行添加到您的CMakeLists.txt文件中:

find_package(OpenCV REQUIRED core ocl)
include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
target_link_libraries(homography ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} )

你需要指定你想要在find_package中包含哪些OpenCV库。我只列出了core和ocl，因为ocl似乎是您需要的，但其他可能也需要。