【发布时间】：2015-10-24 02:55:15
【问题描述】：
工作环境：
- Kubuntu 14.04 LTS 64 位
- ROS Indigo（最新的完整桌面安装）
- OpenCV 2.4.8
由于某种未知的原因，我决定安装 ros-indigo-opencv3 软件包，我几乎立刻就后悔了，因为我还有 Ubuntu 14.04 附带的默认版本 - OpenCV 2.4.8 .
起初我注意到 QtCreator 在我构建 CMake 项目时警告我 2.4.8 和 3.0.0 之间可能不兼容（您可以在本文末尾看到 CMakeLists.txt），仅使用
find_package(OpenCV REQUIRED)
然后错误开始在 cv::stereoSGBM 模块周围出现一些缺失的引用。命名空间或其他任何东西似乎发生了一些变化，我正在使用的库使用 OpenCV 的 2.x 分支（发现显然很难：D）因此我告诉自己 - 我想我会删除上面提到的 ROS 包对于 OpenCV 3.0.0 并坚持使用 2.4.8。
卸载该软件包后，一切都变了。即使在我的项目的 CMakeLists.txt 中，我明确指出了 2.4.8 版本。被使用
find_package(OpenCV 2.4.8 REQUIRED)
在使用 roslaunch 启动我的节点时立即死亡，并出现以下错误：
.../pmd_nano_node：加载共享库时出错：libopencv_highgui.so.3.0：无法打开共享对象文件：没有这样的文件或目录
嗯...好吧...我检查了我的系统上是否留下了一些东西（可能是坏包，无法安装并因此正确安装？）。令我惊讶的是调用 locate 并使用 grep
管道传输结果user:~$ locate libopencv | grep 3.0
我明白了
/opt/ros/indigo/lib/libopencv_calib3d.so.3.0
/opt/ros/indigo/lib/libopencv_calib3d.so.3.0.0
/opt/ros/indigo/lib/libopencv_core.so.3.0
/opt/ros/indigo/lib/libopencv_core.so.3.0.0
...
(basically all opencv libs)
所以毕竟有些东西留在那里（我的意思是一切：D）。然而，想象一下当我 cd-ed 到 /opt/ros/indigo/lib/ 并发现 NOT A SINGLE 文件甚至与 OpenCV 远程相关，更不用说 OpenCV 3.0 时我会感到惊讶。 0.
使用 pkg-config 至少会返回我所期望的：
user:~$ pkg-config --cflags opencv
-I/usr/include/opencv
user:~$ pkg-config --libs opencv
/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so ...
-lopencv_calib3d ...
注意：我仍然不知道为什么 --cflags 从不显示 opencv2 包含文件夹（opencv2 作为参数不被 pkg-config 识别）
进一步调查让我重新运行我的项目的 CMakeLists.txt，并要求 3.0.0 版本，实际上 CMake 现在抱怨只有 2.4.8 是成立。尽管应用程序试图获取 3.0.0 版本的 OpenCV 共享库，但出于什么原因仍有待观察。
任何建议或以前遇到过此类问题的人？
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(pmd_nano)
SET(CMAKE_CXX_FLAGS "-std=c++0x -fpermissive -Wno-deprecated -Wno-sign-compare")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -Wall")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
SET(CMAKE_CXX_LINK_FLAGS_DEBUG "-pg")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
pcl_conversions
pcl_msgs
pcl_ros
roscpp
sensor_msgs
std_msgs
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)
find_package(OpenCV 2.4.8 REQUIRED COMPONENTS highgui imgproc)
# Do NOT use OpenCV 3.0.0 or all hell will break loose. Package incompatilibity will be a fascinating thing to deal with...
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
# LIBRARIES pmd_nano
CATKIN_DEPENDS cv_bridge image_transport pcl_conversions pcl_msgs pcl_ros roscpp sensor_msgs std_msgs uvc_camera
DEPENDS
system_lib # Boost PCL OpenCV
boost_system
PCL
opencv_highgui opencv_imgproc
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(pmd_nano
# src/${PROJECT_NAME}/pmd_nano_node.cpp
# )
## Declare a cpp executable
add_executable(pmd_nano_node
src/pmd_nano_node.cpp
src/ColorCamera.cpp
src/DepthCamera.cpp
src/PMDNano.cpp
)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(pmd_nano_node pmd_nano_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
#link_directories(${PROJECT_NAME}_node ${Boost_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}_node boost_system)
link_directories(${PROJECT_NAME}_node ${PCL_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}_node opencv_highgui opencv_imgproc)
target_link_libraries(${PROJECT_NAME}_node pthread)
target_link_libraries(pmd_nano_node ${PROJECT_SOURCE_DIR}/lib/libpmdaccess2.so)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pmd_nano.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
编辑：
运行 sudo updatedb 至少解决了 locate 问题。运行时的错误仍然存在。
【问题讨论】：
标签： c++ opencv cmake ros opencv3.0