ROS下配置OpenCV+一些错误解决（段错误，核心已转储）

ROS下使用OpenCV详细步骤+一些错误解决（段错误，核心已转储！！）

1.OpenCV环境配置和路径设置

进入opencv文件夹，创建编译文件夹

mkdir build
cd build
cmake ..
cmake-gui   //先行下载gui版本cmake

选择OpenCV源码所在路径和编译文件所在路径，单击【Configure】按钮，默认选项即可，单击【Finish】后，在cmake界面会出现很多变量。

BUILD_opencv_world和OPENCV_ENABLE_NONFREE两个变量，在其后面的方框上打勾。

OPENCV_EXTRA_MODULES_PATH变量，选择路径为opencv_contrib中的module文件夹

再次Configue,Configuring done后generate

sudo make
sudo make install
sudo gedit /etc/ld.so.conf.d/opencv.conf

在空白文件输入以下路径

/usr/local/lib

打开终端，使路径生效

sudo ldconfig

配置bshrc

sudo gedit /etc/bash.bashrc

在打开的文件最末尾添加以下代码并保存，保存后退出

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH  

继续在终端执行以下命令使得配置生效

source /etc/bash.bashrc

2.OpenCV测试程序

mkdir -p ros_opencv/src
 cd ros_opencv/src
 catkin_init_workspace
 catkin_create_pkg opencv_test sensor_msgs cv_bridge roscpp std_msgs image_transport

修改opencv_test目录下的CMakeLists.txt
主要在find_package加上

find_package(OpenCV REQUIRED)        //单独写，不然可能会报错

以及加上

include_directories(include ${OpenCV_INCLUDE_DIRS})
include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(opencv_test_node src/opencv_test_node.cpp)
target_link_libraries(opencv_test_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(opencv_test_node opencv_test_gencpp)     //这个后面如果报错，是因为你的环境不是gencpp

然后你需要下载一张图片放在一个已知的位置，为读取图片做准备

touch opencv_test_node.cpp         //看上面的CMakeLists.txt的节点名字

#include <ros/ros.h>
#include <stdio.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

static const char WINDOW[] = "Image window";
static void help()
{
    printf("\nThis program demonstrates converting OpenCV Image to ROS Image messages  \n"
        );

}

int main(int argc, char** argv)
{
  help();
  ros::init(argc, argv, "image_converter");

  //Reading an image from the file
  cv::Mat cv_image = cv::imread("图片路径");
  if(cv_image.empty() )
    {
        ROS_ERROR("Read the picture failed!");
        return -1;
    }

  //Convert OpenCV image to ROS message
  ros::NodeHandle node;
  image_transport::ImageTransport transport(node);
  image_transport::Publisher image_pub; 
  image_pub=transport.advertise("OutImage", 1);
  ros::Time time=ros::Time::now(); 

  cv_bridge::CvImage cvi;
  cvi.header.stamp = time;
  cvi.header.frame_id = "image";
  cvi.encoding = "bgr8";
  cvi.image = cv_image;

  sensor_msgs::Image im;
  cvi.toImageMsg(im);
  image_pub.publish(im);
  ROS_INFO("Converted Successfully!");

  //Show the image
  cv::namedWindow(WINDOW);
  cv::imshow(WINDOW,cv_image);
  cv::waitKey(0);

  ros::spin();
  return 0;
}

3.编译

cd ros_opencv
catkin_make

可能遇到编译错误：

1.could not find opencv

解决方案：

确认是否正确安装opencv

再看第一部分使用cmakeGUI配置和路径设置是否成功

CMake Error at CMakeLists.txt:xx (find_package):
By not providing "xx.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "OpenCV", but
CMake did not find one.
Could not find a package configuration file provided by "OpenCV" with any
of the following names:
OpenCVConfig.cmake
opencv-config.cmake
Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
"OpenCV_DIR" to a directory containing one of the above files. If "OpenCV"
provides a separate development package or SDK, be sure it has been
installed.

解决方案：

将opencv安装目录添加到CMAKE_PREFIX_PATH

例如，按照错误信息指示，在CMakeLists.txt中加入一行list，路径要改成自己的opencv安装路径

list(APPEND CMAKE_PREFIX_PATH "/home/xx/opencv版本号/")
find_package(OpenCV REQUIRED)

或设置OpenCV_DIR为一个包含OpenCVConfig.cmake或者opencv-config.cmake的目录

CMakeLists.txt中加入一行set OpenCV_DIR，以opencv4为例，后面的路径要改成你的路径，注意不是安装根目录，是安装目录中包含OpenCVConfig.cmake的文件夹路径

set(OpenCV_DIR /opt/opencv版本号/lib/cmake/opencv4)
find_package(OpenCV REQUIRED)

3.could not find gencpp

在CMakeLists.txt最后一行将 add_dependencies(opencv_test_node opencv_test_gencpp) 删掉

或者不冲突的话，将CMakeLists.txt的第一行改为

cmake_minimum_required(VERSION 2.8.3)

4.运行

roscore
source devel/setup.bash
rosrun opencv_test opencv_test_node

运行时遇到错误：

1.检查bashrc是否有source环境变量

sudo  gedit ~/.bashrc
//在文件末加上
source ~/工作空间/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/工作空间/
//重启bashrc
source ~/.bashrc
//查看ros路径是否添加上
echo $ROS_PACKAGE_PATH

2.报错：段错误，核心已转储

原因大致上是;访问不存在的内存地址、访问系统保护的内存地址和访问只读的内存地址

在这里这是因为ros有自带了的opencv，与本地版本有冲突会出现以上错误，可能性太多了，所以讲解思路：

(1)设置core文件，找到段错误生成的core文件

(2)利用core文件，使用GDB测试找到问题所在

到运行这一步，你可以直接在相关路径下的终端启动gdb测试，可以看到对内存出现非法访问时将收到段错误信号SIGSEGV下面就是出错的位置，我们然后使用backtrace回溯定位问题（gdb/bt)

最后，你找到出调用库时出问题的路径，把版本改为你调用的opencv库的版本，问题解决

运行成功

原文链接：https://blog.csdn.net/qq_28306361/article/details/851421923