【发布时间】：2021-11-21 11:32:55
【问题描述】：
Ubuntu 20.04 LTS 蟒蛇 3.8 ROS Noetic Desktop 完整安装
确认我确实有文件/lib/libgdal.so.26
已经执行pip3 install opencv-python
已经执行sudo apt install --reinstall gdal-bin libgdal-dev python3-gdal
已经执行sudo apt-get install ros-noetic-cv-bridge
-- 上面的结果是ros-noetic-cv-bridge已经是最新版本了。
但是当我的代码运行时
from cv_bridge.boost.cv_bridge_boost import getCvType
我明白了
ImportError: /lib/libgdal.so.26: undefined symbol: sqlite3_column_table_name 不知该如何处理
注意：我按照Unable to use cv_bridge with ROS Kinetic and Python3的说明进行操作
我尝试用“noetic”替换“kinetic”并将版本号替换为我的（1.15.0）。
按照指示执行catkin build cv_bridge，但给了我一些奇怪的输出。
警告 cc1plus：警告：/home/tdadmin/.local/bin/python3.6m：不是目录 cc1plus：警告：/home/tdadmin/.local/bin/python3.6m：不是目录 cc1plus：警告：/home/tdadmin/.local/bin/python3.6m：不是目录 cc1plus：警告：/home/tdadmin/.local/bin/python3.6m：不是目录 cd /home/tdadmin/catkin_workspace/build/cv_bridge； catkin build --get-env cv_bridge | catkin env -si /usr/bin/make --jobserver-auth=3,4;光盘-
我不知道它为什么要看 python3.6m。我按照 3.8 的说明设置了可执行行。
E：下面是~/catkin_workspace/src/vision_opencv/cv_bridge/CMakeLists.txt 内容。
cmake_minimum_required(VERSION 3.0.2)
project(cv_bridge)
find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
if(NOT ANDROID)
find_package(PythonLibs)
if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
# Debian Buster
find_package(Boost REQUIRED python37)
else()
# Ubuntu Focal
find_package(Boost REQUIRED python)
endif()
else()
find_package(Boost REQUIRED)
endif()
set(_opencv_version 4)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
set(_opencv_version 3)
endif()
find_package(OpenCV ${_opencv_version4} REQUIRED
COMPONENTS
opencv_core
opencv_imgproc
opencv_imgcodecs
CONFIG
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS rosconsole sensor_msgs
DEPENDS OpenCV
CFG_EXTRAS cv_bridge-extras.cmake
)
catkin_python_setup()
include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
if(NOT ANDROID)
add_subdirectory(python)
endif()
add_subdirectory(src)
if(CATKIN_ENABLE_TESTING)
add_subdirectory(test)
endif()
# install the include folder
install(
DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
也就是说这个目录下还有很多其他的 CMakeLists.txt，包括
./src/vision_opencv/cv_bridge/python、./src/vision_opencv/cv_bridge/test、./src/vision_opencv/cv_bridge/、./src/vision_opencv/cv_bridge/src
E2 : 这些是来自catkin build cv_bridge的结果
catkin build cv_bridge
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Profile: default
Extending: [cached] /opt/ros/noetic
Workspace: /home/tdadmin/catkin_workspace
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Build Space: [exists] /home/tdadmin/catkin_workspace/build
Devel Space: [exists] /home/tdadmin/catkin_workspace/devel
Install Space: [exists] /home/tdadmin/catkin_workspace/install
Log Space: [exists] /home/tdadmin/catkin_workspace/logs
Source Space: [exists] /home/tdadmin/catkin_workspace/src
DESTDIR: [unused] None
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: merged
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Additional CMake Args: -DPYTHON_EXECUTABLE=/usr/bin/python3.8 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
[build] Found '4' packages in 0.0 seconds.
Starting >>> cv_bridge
Finished <<< cv_bridge [ 0.9 seconds ]
[build] Summary: All 1 packages succeeded!
[build] Ignored: 3 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 0.9 seconds total.
【问题讨论】：
-
您是否也更改了
DPYTHON_INCLUDE_DIR和DPYTHON_LIBRARY标志？你的CMakeLists.txt文件是什么样的？ -
你用python3.8编译过opencv吗？如果没有，试试这个，然后在 python 3.8 的 ros 中编译 cv_bridge
-
@DrYuanShenghai 我对此比较陌生，我主要只是使用 Python。在python中用ros编译是什么意思？
-
@BTables 是的，我也更新了这些。 CMakeLists.txt 存在于我机器上的几十个地方。我应该告诉你哪一个？
-
@Jibril 每个包都有自己的
CMakeLists.txt，这就是catkin和cmake在构建每个包时知道要做什么。我很好奇cv_bridge包中的那个。Catkin在单个上下文中构建所有包，所以我相信如果 cv_bridge 中不明确的规则可能会在某处被覆盖
标签： python opencv importerror ros