x3派编译darkin_ros遇到问题及解决方案

一、编译darknet_ros时报错：OpenCV 4.x+ requires enabled C++11 support

安装的ubuntu版本是20.04，对应安的noetic包里自带的是Opencv4.2，因此需要更改ros编译时使用的opencv版本。

1、安装opencv3.4.5

下载opencv3.4.5 和opencv-contrib-3.4.5

下载opencv各版本连接：opencv 标签 - Gitee.com

下载opencv-conterib各版本连接：opencv_contrib 标签 - Gitee.com

2、安装依赖

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"

如果报错 add-apt-repository: command not found

输入以下命令

sudo apt-get install software-properties-common
sudo apt-get update

重新执行sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main",又报错 E: Failed to fetch
先查看自己板卡是什么系统，如下

cat /etc/debian_version

我的输出 bullyseye/sid

bullseye/sid 2019年07月06日，Debian代号为“buster”发布Stable稳定版本，同日Debian代号为“bullseye”进入testing版本通道，2019年10月24日，Ubuntu20.04LTS建立代号“FocalFossa”，所以Ubuntu20.04LTS基于Debian代号为“bullseye”的Testing通道，而不是基于Unstable通道。

这里给出了国内一些 bullseye/sid 依赖下载源

输入

sudo gedit /etc/apt/sources.list

刚才如果是bullyseye/sid用下面替换全部内容，不是的话需要另外找源

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-proposed main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main multiverse restricted universe
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main multiverse restricted universe

然后输入命令安装依赖

sudo apt update
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff5.dev libswscale-dev libjasper-dev 
sudo apt install libcanberra-gtk-module libcanberra-gtk3-module 

3、解压

解压opencv3.4.5和opencv_contrib3.4.5文件，将后者移动到opencv3.4.5文件夹中;
将opencv3.4.5更名为opencv，opencv_contrib3.4.5文件更名为opencv_contrib;
在opencv文件中新建文件夹build

cd ~/opencv/build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib/modules/ ..

/usr/local 是指默认将要 install 的路径

OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib/modules/ … 是指 opencv_contrib3.4.5 中 modules所在的路径，后面的两点不可省略

4、编译安装

sudo make -j4
sudo make install

可能问题：fatal error: boostdesc_bgm.i: No such file or directory compilation terminated
还会出现fatal error: boostdesc_bgm.i: No such file or directory compilation terminated.的问题

解决办法：

直接用别人分享的，链接: https://pan.baidu.com/s/1LwuXsAAHIizlHVx7Obd9fw 提取码: 3sw1 ，
把下载好的这几个文件复制到opencv_contrib/modules/xfeatures2d/src/路径重新编译、安装就大功告成了！

重新编译

make -j4
sudo make install

就可以拉

5、查看opencv版本

pkg-config opencv --modversion

6、设置opencv的环境变量

6.1 添加库路径(创建opencv.conf文件)

输入命令：

 sudo gedit /etc/ld.so.conf.d/opencv.conf

在里面添加

/usr/local/lib

保存并推出。

6.2 添加环境变量

输入命令

sudo gedit /etc/profile

在末尾添加

export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

更新环境变量

source /etc/profile

 6.3 设置另外环境变量

 输入命令

sudo gedit /etc/bash.bashrc

在末尾加入

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

 更新环境变量

source /etc/profile

 6.4 更新系统库缓存

 输入命令：

ldconfig

 7.进入/opt/ros/noetic/share/cv_bridge/cmake/

打开cv_bridgeConfig.cmake文件，做以下更改：（注释掉的是源代码，后边是更改后的）

#if(NOT "include;/usr/include/opencv4 " STREQUAL " ")

if(NOT "include;/usr/local/include/opencv; /usr/local/include/opencv2 " STREQUAL " ")

set(cv_bridge_INCLUDE_DIRS "")

#set(_include_dirs "include;/usr/include/opencv4")

set(_include_dirs "include;/usr/local/lib;/usr/local/include/opencv;/usr/local/include/opencv2;/usr/local/include;/usr/include")

 将/opt/ros/noetic/share/cv_bridge/cmake/ 下的 cv_bridge-extras.cmake替换为/usr/local/share/cv_bridge/cmake/ 下的cv_bridge-extras.cmake

8、回到工作空间重新编译darkin_ros功能包

还有报错：OpenCV 4.x+ requires enabled C++11 support

找到工作空间 catkin_ws/devel/share/cv_bridge/cmake

打开cv_bridgeConfig.cmake文件，做类似第7步更改

将cv_bridge-extras.cmake替换为/usr/local/share/cv_bridge/cmake/ 下的cv_bridge-extras.cmake

9、回到工作空间重新编译darkin_ros功能包就可以成功了

参考

05-旭日X3派测评——Open Cv &Pangolin等库安装&ORB_SLAM2 安装运行_旭日派x3 opencv 加速-CSDN博客

[详细教程] opencv的完全卸载和重新安装--3.x版本与4.x版本_opencv编译一半卸载-CSDN博客

【问题解决】编译darknet_ros时报错：OpenCV 4.x+ requires enabled C++11 support_error "opencv 4.x+ requires enabled c++11 support-CSDN博客

linux 修改opencv路径,linux下设置opencv环境变量-CSDN博客