cv_bridgeConfig.cmake出错

参考文章：https://www.cnblogs.com/xsy123/p/14488021.html

错误描述

出现错误如下:

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
  Project 'cv_bridge' specifies '/usr/include/opencv4/opencv' as an include
  dir, which is not found.  It does neither exist as an absolute directory
  nor in '${prefix}//usr/include/opencv4/opencv'.  Check the issue tracker
  'https://github.com/ros-perception/vision_opencv/issues' and consider
  creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
  CMakeLists.txt:54 (find_package)


-- Configuring incomplete, errors occurred!

或者出现如下错误：

undefined reference to `cv::FileStorage::FileStorage(std::__cxx11::basic_string<char, std::char_traits<char>,

分析原因

出现错误可能在于多版本OpenCV并存产生的冲突。
我的环境是TX2，自带OpenCV4，又在自己的目录下安装了OpenCV3。编译ORBSLAM3的时候，把CMakeList中的OpenCV定向到了自己的OpenCV3文件夹。而安装ROS的时候，cvbridge会默认链接/usr目录下的默认版本。

解决方法

首先检查 opencv cflags:

$ pkg-config --cflags opencv
-I/home/nvidia/opencv-3.4.14/include/opencv -I/home/nvidia/opencv-3.4.14/include

$ pkg-config --cflags opencv4
-I/usr/include/opencv4/opencv -I/usr/include/opencv4

然后修改cv_bridgeConfig.cmake中的内容

cd /opt/ros/melodic/share/cv_bridge/cmake/
sudo gedit cv_bridgeConfig.cmake

找到cv_bridgeConfig.cmake （94行），原内容如下（方便备份）：

if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include;/usr/include/opencv")

如果要用 opencv3 改成:

if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/home/nvidia/opencv-3.4.14/include/opencv;/home/nvidia/opencv-3.4.14/include")

如果要用 opencv4 改成:

if(NOT "include;/usr/include;/usr/include/opencv4 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv4/opencv;/usr/include/opencv4")