安装过程:
1.创建单独工作空间
mkdir -p catkin_workspace/src
cd catkin_workspace
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so
2.指示catkin将内置包安装到安装位置,这一步不成功也没关系,可不用。
catkin config --install
3.在catkin_workspace工作空间中克隆 cv_bridge src
git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
4.在存储库中查找cv_bridge的版本, 我是melodic
apt-cache show ros-melodic-cv-bridge | grep Version
5.在git repo中切换正确的版本,我是1.13.1
cd src/vision_opencv/
git checkout 1.13.1
cd ../../
6.编译
catkin build cv_bridge
问题1:
报错cmake那个文件opencv版本是3,解决方法:找到报错的地方,把3改成4
find_package(OpenCV 4 REQUIRED #这里
COMPONENTS
opencv_core
opencv_imgproc
opencv_imgcodecs
CONFIG
)
问题2:
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)
解决:
#在cv_bridge/src CMakeLists.txt line 35 change to
if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
In cv_bridge/src/module_opencv3.cpp change signature of two functions:
1:
UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, int flags, UMatUsageFlags usageFlags) const
to
UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const
2:
bool allocate(UMatData* u, int accessFlags, UMatUsageFlags usageFlags) const
to
bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const
再编译就可以