将ros cv_bridge关联到自己安装的Opencv版本

有时候需要同时使用较高版本的openCV,但一般默认安装的ros系统的cv_bridge包关联的Opencv版本都较低，这时候就需要将cv_bridge关联到自己安装的高版本OpenCV。
成功方法为第三条，前两条为遇到的问题记录。
注意：切勿随意尝试卸载cv_bridge包
1.首先，我尝试了网上已有的一些通过修改cv_bridge的配置文件的方法，

$ cd /opt/ros/kinetic/share/cv_bridge/cmake/
$ sudo gedit cv_bridgeConfig.cmake

但依然不行，在编译的时候还是会出现错误：

/usr/bin/ld: warning: libopencv_core.so.3.2, needed by //opt/lib/libopencv_imgcodecs.so, may conflict with libopencv_core.so.3.4

2.尝试下载cv_bridge的包自己编译
参考博客，下载了一个文件夹为vision_opencv的包，但是在编译的时候总是出现以下两个问题。

Errors     << cv_bridge:cmake /home/zhangman/VisionTracking/logs/cv_bridge/build.cmake.002.log
CMake Error at /usr/share/cmake-3.5/Modules/FindBoost.cmake:1677 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.58.0

  Boost include path: /usr/include

  Could not find the following Boost libraries:

          boost_python37

  No Boost libraries were found.  You may need to set BOOST_LIBRARYDIR to the
  directory containing Boost libraries or BOOST_ROOT to the location of
  Boost.
Call Stack (most recent call first):
  CMakeLists.txt:11 (find_package)

这个问题通过修改软件包里cv_bridge包下的cmakelist文件中的设置，ubuntu18.04自带了python3.6。在cv_bridge/cmakelists.txt中，把第8行find_package(Boost REQUIRED python37)改为find_package(Boost REQUIRED python3)。

然后第二个问题一直没解决：

In file included from /usr/include/python2.7/numpy/ndarrayobject.h:27:0,
                 from /home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp:26,
                 from /home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.cpp:35:
/home/base/shared_dir/sensorfusion/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘void* do_numpy_import()’:
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
 rror, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
                                                  ^
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: note: in definition of macro ‘import_array’
 rror, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

3.最后尝试重新找cv_bridge的包进行编译
最后找到一个可以成功编译的cv_bridge包。

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 ..

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")

编译cv_bridge包

catkin_make

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)

下面是一个CMakeLists.txt示例：

cmake_minimum_required(VERSION 3.0.2)
project(ros_detection_tracking)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
set(OpenCV_DIR "/home/base/shared_dir/opencv-3.4.12/build")
set(cv_bridge_DIR /home/base/shared_dir/sensorfusion/cv_bridge_ws/devel/share/cv_bridge/cmake)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  pcl_conversions
  pcl_ros
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf
  image_transport
  message_generation
  cmake_modules
  dynamic_reconfigure
)
find_package(OpenCV REQUIRED)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ros_detection_tracking
#  CATKIN_DEPENDS cv_bridge pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs tf
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 #include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/ros_detection_tracking.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ros_detection_tracking_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
add_executable(detectandtrack src/image_process/detectandtrackNode.cpp src/image_process/camFusion_Student.cpp src/image_process/lidarData.cpp
src/image_process/matching2D_Student.cpp src/image_process/objectDetection2D.cpp)
target_link_libraries(detectandtrack ${catkin_LIBRARIES}  ${OpenCV_LIBS})
add_dependencies(detectandtrack ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#add_executable(detectandtrack src/project/project.cpp)
#target_link_libraries(detectandtrack ${catkin_LIBRARIES}
#                                ${OpenCV_LIBS})
#add_dependencies(detectandtrack ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_detection_tracking.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)