CVBridge 与高版本OPENCV冲突解决

一级目录

二级目录

三级目录

下载cvbridge

mkdir -p cv_bridge_ws/src
cd cv_bridge_ws/src
git clone https://gitee.com/bingobinlw/cv_bridge  //此链接适用于18.04
cd ..

编译

• 然后将自己安装的opencv编译生成的build文件路径加入到克隆下来的这个包里的CMakeLists.txt，修改添加下列语句（详见此文件目录下的CMakeLists.txt文件）

set(OpenCV_DIR "your-path/opencv-x.x.x/build")
catkin_make

编译问题

https://github.com/ros-perception/vision_opencv/issues/272

高赞回答

1. Add set (CMAKE_CXX_STANDARD 11) to your top level cmake

2. In cv_bridge/src CMakeLists.txt line 35 change to if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)

3. In cv_bridge/src/module_opencv3.cpp change signature of two functions

   💡 `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`

💡 `bool allocate(UMatData* u, int accessFlags, UMatUsageFlags usageFlags) const`

TO

💡 `bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const`

• 然后以可以重新编译

使用

最后在所需要使用cv_bridge的ros包里的CMakeLists.txt文件中添加opencv路径以及cv_bridge路径

set(OpenCV_DIR "your-path/opencv-x.x.x/build")
set(cv_bridge_DIR your-path/cv_bridge_ws/devel/share/cv_bridge/cmake)