系统环境
ubuntu20，ros是noetic，opencv是4.2.0。但是有个标定的qt程序是依赖opencv2.3.14，所以需要额外安装一个opencv2.3.14。
opencv2.3.14安装过程
- 在下面的链接下载opencv
https://opencv.org/releases/page/6/
- 安装对应的依赖
sudo apt-get install build-essential
sudo apt-get install cmake
sudo apt-get install libgtk2.0-dev
sudo apt-get install pkg-config
sudo apt-get install python-dev
sudo apt-get install python-numpy
sudo apt-get install libavcodec-dev
sudo apt-get install libavformat-dev
sudo apt-get install libswscale-dev
- 然后打开modules\core\include\opencv2\core打开version.hpp文件，记下版本号。回到 cmake文件夹下打开 OpenCVPackaging.cmake 文件并添加以下代码
set(OPENCV_VCSVERSION "2.4.13.0")
set(CPACK_PACKAGE_VERSION "${OPENCV_VCSVERSION}")
- 然后将OpenCVDetectCXXCompiler.cmake的内容替换为如下：
# ----------------------------------------------------------------------------
# Detect Microsoft compiler:
# ----------------------------------------------------------------------------
if(CMAKE_CL_64)
set(MSVC64 1)
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(CMAKE_COMPILER_IS_GNUCXX 1)
set(CMAKE_COMPILER_IS_CLANGCXX 1)
endif()
if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
set(CMAKE_COMPILER_IS_GNUCC 1)
set(CMAKE_COMPILER_IS_CLANGCC 1)
endif()
if("${CMAKE_CXX_COMPILER};${CMAKE_C_COMPILER}" MATCHES "ccache")
set(CMAKE_COMPILER_IS_CCACHE 1)
endif()
# ----------------------------------------------------------------------------
# Detect Intel ICC compiler -- for -fPIC in 3rdparty ( UNIX ONLY ):
# see include/opencv/cxtypes.h file for related ICC & CV_ICC defines.
# NOTE: The system needs to determine if the '-fPIC' option needs to be added
# for the 3rdparty static libs being compiled. The CMakeLists.txt files
# in 3rdparty use the CV_ICC definition being set here to determine if
# the -fPIC flag should be used.
# ----------------------------------------------------------------------------
if(UNIX)
if (__ICL)
set(CV_ICC __ICL)
elseif(__ICC)
set(CV_ICC __ICC)
elseif(__ECL)
set(CV_ICC __ECL)
elseif(__ECC)
set(CV_ICC __ECC)
elseif(__INTEL_COMPILER)
set(CV_ICC __INTEL_COMPILER)
elseif(CMAKE_C_COMPILER MATCHES "icc")
set(CV_ICC icc_matches_c_compiler)
endif()
endif()
if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
set(CV_ICC __INTEL_COMPILER_FOR_WINDOWS)
endif()
# ----------------------------------------------------------------------------
# Detect GNU version:
# ----------------------------------------------------------------------------
if(CMAKE_COMPILER_IS_CLANGCXX)
set(CMAKE_GCC_REGEX_VERSION "4.2.1")
set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
set(CMAKE_OPENCV_GCC_VERSION 42)
set(CMAKE_OPENCV_GCC_VERSION_NUM 402)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
ERROR_STRIP_TRAILING_WHITESPACE)
string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
elseif(CMAKE_COMPILER_IS_GNUCXX)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
# Look for the version number, major.minor.build
string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
if(NOT CMAKE_GCC_REGEX_VERSION)#major.minor
string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
endif()
if(CMAKE_GCC_REGEX_VERSION)
# Split the parts:
string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")
list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
else()#compiler returned just the major version number
string(REGEX MATCH "[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
if(NOT CMAKE_GCC_REGEX_VERSION)#compiler did not return anything reasonable
set(CMAKE_GCC_REGEX_VERSION "0")
message(WARNING "GCC version not detected!")
endif()
set(CMAKE_OPENCV_GCC_VERSION_MAJOR ${CMAKE_GCC_REGEX_VERSION})
set(CMAKE_OPENCV_GCC_VERSION_MINOR 0)
endif()
set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")
if(WIN32)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
set(MINGW64 1)
endif()
endif()
endif()
if(MSVC64 OR MINGW64)
set(X86_64 1)
elseif(MINGW OR (MSVC AND NOT CMAKE_CROSSCOMPILING))
set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "amd64.*|x86_64.*|AMD64.*")
set(X86_64 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm.*|ARM.*)")
set(ARM 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)")
set(AARCH64 1)
endif()
# Workaround for 32-bit operating systems on 64-bit x86_64 processor
if(X86_64 AND CMAKE_SIZEOF_VOID_P EQUAL 4 AND NOT FORCE_X86_64)
message(STATUS "sizeof(void) = 4 on x86 / x86_64 processor. Assume 32-bit compilation mode (X86=1)")
unset(X86_64)
set(X86 1)
endif()
# Similar code exists in OpenCVConfig.cmake
if(NOT DEFINED OpenCV_STATIC)
# look for global setting
if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
set(OpenCV_STATIC OFF)
else()
set(OpenCV_STATIC ON)
endif()
endif()
if(MSVC)
if(CMAKE_CL_64)
set(OpenCV_ARCH x64)
elseif((CMAKE_GENERATOR MATCHES "ARM") OR ("${arch_hint}" STREQUAL "ARM") OR (CMAKE_VS_EFFECTIVE_PLATFORMS MATCHES "ARM|arm"))
# see Modules/CmakeGenericSystem.cmake
set(OpenCV_ARCH ARM)
else()
set(OpenCV_ARCH x86)
endif()
if(MSVC_VERSION EQUAL 1400)
set(OpenCV_RUNTIME vc8)
elseif(MSVC_VERSION EQUAL 1500)
set(OpenCV_RUNTIME vc9)
elseif(MSVC_VERSION EQUAL 1600)
set(OpenCV_RUNTIME vc10)
elseif(MSVC_VERSION EQUAL 1700)
set(OpenCV_RUNTIME vc11)
elseif(MSVC_VERSION EQUAL 1800)
set(OpenCV_RUNTIME vc12)
elseif(MSVC_VERSION EQUAL 1900)
set(OpenCV_RUNTIME vc14)
elseif(MSVC_VERSION EQUAL 1910)
set(OpenCV_RUNTIME vc15)
endif()
elseif(MINGW)
set(OpenCV_RUNTIME mingw)
if(MINGW64)
set(OpenCV_ARCH x64)
else()
set(OpenCV_ARCH x86)
endif()
endif()
- 创建build目录然后编译。（不知道为什么我用cmake-gui去配置安装参数的时候，opencv在编译的时候会卡在3%就自动跳出，不继续编译了，不知道是什么原因，所以后续就没有cmake-gui去配置参数）
这里我是改了安装的目录，直接安装在build/install文件夹中，而不是在默认的/usr/local中，这是因为想切换opencv版本方便，而且也只是这个程序要用2.4.13而已。
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install ..
- 解决完报错就是正常的编译，即可完成。
make -j8
sudo make install
出现的报错
- 出现stdlib.h这个错误。
/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: No such file or directory
#include_next <stdlib.h>
^~~~~~~~~~
查博客，发现只需要cmake中添加下面的参数即可
-D ENABLE_PRECOMPILED_HEADERS=OFF
- 出现旧版本冲突的问题，
opencv-3.1.0/modules/videoio/src/cap_ffmpeg_impl.hpp:1313:21: error: ‘CODEC_FLAG_GLOBAL_HEADER’ was not declared in this scope
c->flags |= CODEC_FLAG_GLOBAL_HEADER;
由ffmpeg的版本问题引起。在最新版本的ffmpeg中对很多关键字进行了重命名，例如：CODEC_FLAG_GLOBAL_HEADER就被重新命名为AV_CODEC_FLAG_GLOBAL_HEADER。
解决方法：只需要报错的hpp文件中，加入下面的语句即可：
#define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
#define AVFMT_RAWPICTURE 0x0020
最后将安装好的opencv添加到系统环境中（可选）
这个将安装好的opencv加入环境中，非必要，因为当我用这个版本的opencv的时候，我会去在cmakelist.txt中手动去指定opencv的include目录和lib目录。
- 方法一：在 /etc/ld.so.conf.d 目录中创建opencv2.conf，
sudo gedit /etc/ld.so.conf.d/opencv.conf
往这个opencv2.conf添加内容，指定lib目录
/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib
然后配置库
sudo ldconfig
接着改变环境变量：
sudo gedit /etc/bash.bashrc
将下面的内容加入到bash.bashrc文件末尾（记住是两个路径）
export LD_LIBRARY_PATH=/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib:$LD_LIBRARY_PATH
export PKG_CONFIG_PATH=/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib/pkgconfig:$PKG_CONFIG_PATH
然后source
source ~/.bashrc
最后是查看版本
pkg-config --modversion opencv2 #查看版本号
输出下面这个版本就算配置成功：
xz@xz-Legion:/etc/ld.so.conf.d$ pkg-config --modversion opencv2
2.4.13
- 方法二（推荐）：打开~/.bashrc
gedit ~/.bashrc
添加以下内容到.bashrc文件末尾
export LD_LIBRARY_PATH=/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib:$LD_LIBRARY_PATH
export PKG_CONFIG_PATH=/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib/pkgconfig:$PKG_CONFIG_PATH
然后source
source ~/.bashrc
最后是查看版本
pkg-config --modversion opencv2 #查看版本号
输出下面这个版本就算配置成功：
xz@xz-Legion:/etc/ld.so.conf.d$ pkg-config --modversion opencv2
2.4.13
这两种方法本质上是修改系统环境和修改当前局部环境，反正都适用。
qt5与opencv的链接过程
qt的版本：
因为上面的opencv是为了一个qt程序安装的。一开始向的就是在qt程序中的.pro后缀的文件中找到opencv的依赖，然后将他的包含目录和库的目录改成上面opencv的安装位置，这样就可以链接上。但是改了之后一直还是连不上，编译报错，找不到头文件opencv2/core/eigen.hpp还有其他。
下面是我改了后的.pro文件：
#-------------------------------------------------
#
# Project created by QtCreator 2021-04-07T13:54:49
#
#-------------------------------------------------
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = untitled
TEMPLATE = app
# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
CONFIG += c++11
SOURCES += \
main.cpp \
mainwindow.cpp
HEADERS += \
mainwindow.h
FORMS += \
mainwindow.ui
# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
INCLUDEPATH += /usr/local/include \
/usr/include/boost \
/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/include/opencv \
/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/include/opencv2 \
# /usr/local/include/opencv \
# /usr/local/include/opencv2 \
/usr/include/eigen3 \
LIBS += /usr/lib/x86_64-linux-gnu/libboost* \
-L/usr/lib/x86_64-linux-gnu -lpthread \
/home/xz/code/camera_lidar_calibration/opencv2.4.13/build/install/lib/libopencv* \
/usr/lib/x86_64-linux-gnu/libboost* \
/usr/lib/x86_64-linux-gnu/libyaml* \
可以看到include和lib都写了opencv的目录，但是就是链接不上。
解决方法
因为网上很多都是说改这个.pro文件，但是实际并没用处。所以我就直接下载了qt creator。
sudo apt-get install qtcreator
通过qtcreator打开这个qt代码工程。打开后是这样的：
这里可以把输出目录改一下，然后就是回到编辑模块，在项目这里点击右键，会有添加库的选项
然后选择添加库，选择外部库：
这个时候就可以将前面安装的opencv库的目录放进去，然后下一步
最后就是完成：
本质上它就是把上面的语句添加到.pro文件中（完成后，也可以清楚看到多了上面的这些语句），来添加opencv的依赖，让程序能够找到opencv，然后就不会报错了。
总结
这个qt真的万万没想到，还要下载qtcreator去配置。而且为什么我给的是绝对路径的目录，他找不到，而他加的语句是相对目录去找的。不是很能理解，但总算代码能跑起来了。（浪费一个下午）
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