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项目场景：

编译雷达相机项目时遇到PCL和OPENCV的版本号出现的问题：

link library [libpcl_io.so] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/lib

usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_features2d.so.3.4.0, may conflict with libopencv_core.so.4.2

 

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解决方案：

PCL：

Cmakelists中原本

find_package(PCL REQUIRED)

重新指定路径，排除自带的文件，改为：

set(PCL_DIR "/usr/local/lib/")

find_package(PCL 1.8 REQUIRED)

file(GLOB_RECURSE OLD_PCL "/usr/lib/x86_64-linux-gnu/libpcl*")

list(REMOVE_ITEM catkin_LIBRARIES ${OLD_PCL})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

OPENCV：

按照pcl同样的方法修改后仍报错，直接修改cv_bridge中的内容：

打开 /opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake  进行替换

1）

#if(NOT "include;/usr/include/opencv4 " STREQUAL " ")
==>
if(NOT "include;/usr/local/include/opencv " STREQUAL " ")

#set(_include_dirs "include;/usr/include/opencv4")
==>
set(_include_dirs "include;/usr/local/include/opencv")

"/usr/local/include/opecncv"是自己安装的路径

2） 替换lib的路径，注意自己安装路径中没有的lib需要删掉。

set(libraries "cv_bridge;/usr/include/x86_64-linux-gnu/.....
==>
set(libraries "cv_bridge;/usr/local/lib/libopencv_calib3d.so.3.4.0;....