转自我的博客(http://gongzheng92.net)
今天在编译自己的drone_sensor模块的时候(含stereo camera)出现了
/home/joey/pfl/ros/src/drone_sensor/src/stereo_camera/CameraThread.cpp: In member function ‘virtual void CameraThread::loop()’: /home/joey/pfl/ros/src/drone_sensor/src/stereo_camera/CameraThread.cpp:65:47: error: ‘cvDeInterlace’ was not declared in this scope
cvDeInterlace(img, evenImage, oddImage);
^
/home/joey/pfl/ros/src/drone_sensor/src/stereo_camera/CameraThread.cpp: In member function ‘void CameraThread::publishImage(image_transport::CameraPublisher&, IplImage*)’: /home/joey/pfl/ros/src/drone_sensor/src/stereo_camera/CameraThread.cpp:85:32: error: no matching function for call to ‘cv::Mat::Mat(IplImage*&)’
cv::Mat image = cv::Mat(img);
的错误(我的catkin_ws
即为~/pfl/ros
)
我的配置为:
- Ubuntu 16.04 虚拟机
- ROS版本为Kinect,路径为
/opt/ros/kinect
通过这条问题里中提到的命令查询opencv的路径与版本还有依赖库:
pkg-config --modversion opencv
2.4.9.1
pkg-config --cflags opencv
-I/usr/include/opencv
pkg-config --libs opencv
#这里有好多.so文件的路径,每个人都不尽一样,略去。
从报错以及网上的资料可以发现造成错误的原因主要是由于ros在Kinect的版本中自带了opencv3(通过ros-kinect-opencv3安装),在目录/opt/ros/kinetic/include/opencv-3.1.0-dev
下。cv3与cv2的不兼容造成了错误。具体造成本错误的原因是cvDeInterlace这个函数存在于cvaux.h
所引用的opencv2/legacy/legacy.hpp
文件中,而在cv3中cvaux并没有引用这个文件(那么在cv3中对应的函数应该如何调用?)
在这个问题中题主遇到了非常相似的情况,然而给出的解决方式:
将cmakelist中
find_package(OpenCV REQUIRED)
改为
find_package(OpenCV 2.4.8 EXACT REQUIRED)
(其中2.4.8为具体版本号,我的情况为2.4.9.1)
并没有用,make还是会去调用ros的cv3.
继续在网上翻找之后发现时cv_bridge的问题。ros kinect的cv_bridge会自动关联cv3。具体在/opt/ros/kinetic/share/cv_bridge/cmake
中的cv_bridgeConfig.cmake
里可以看到:
第94-96行:
if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ")
set(cv_bridge_INCLUDE_DIRS "")
set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev")
以及第112行的所有lib都是cv3的。
因此将所有的这些opencv的路径都改为系统的opencv路径即可解决问题。同时上述的find_package中的信息并没有必要修改。
附上我的修改方案:
#94-96行:
if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
set(cv_bridge_INCLUDE_DIRS "")
set(_include_dirs "include;/usr/include/opencv;/usr/include")
#112行:
set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so")