Ubuntu18.04安装opencv3.4.4+cv_bridge

ubuntu18.04安装opencv3.4.4过程：
步骤：
安装依赖包：
sudo apt-get update
sudo apt-get upgrade
//依赖包
sudo apt-get install build-essential  
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev  
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev  
sudo apt-get install qt5-default ccache libv4l-dev libavresample-dev  libgphoto2-dev libopenblas-base libopenblas-dev doxygen  openjdk-8-jdk pylint libvtk6-dev
sudo apt-get install pkg-config
解压opencv压缩包，编译安装：
cd opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make
sudo make install
配置环境：
sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig
配置 bash:
sudo gedit /etc/bash.bashrc
在文件最末尾添加
    PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
    export PKG_CONFIG_PATH  
保存，执行如下命令使得配置生效source /etc/bash.bashrc  
然后更新sudo updatedb

参照https://blog.csdn.net/qq_33728095/article/details/104256301

 

1.错误：E: 无法定位软件包 libjasper-dev
解决：sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

2.错误： fatal error: linux/videodev.h: not found
解决：sudo apt-get install libv4l-dev*
sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h

 

cv_bridge编译过程：
1.错误：
CMake Error at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1947 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.65.1

  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.
解决：ubuntu18.04自带了python3.6，用python3可以找到。在/home/yy/cv_bridge/src/vision_opencv/cmakelists.txt中，把第8行find_package(Boost REQUIRED python37)改为find_package(Boost REQUIRED python3).

2.错误：【未解决】
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
 tring(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
解决：看编译过程输出系统找pythonlibs是找到了2.7的，用set设置了python3的路径还是不行。于是考虑把python3.6设置成了系统默认版本。
设置系统默认版本python：这里使用的是优先级设置，后面的数字越大，优先级越高。
sudo update-alternatives --install /usr/bin/python python /usr/bin/python2.7 1
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.6 2
在终端中直接输入python，可以看到默认版本。
还是不行 ，因为catkin依赖的是python2.7,修改了python默认版本catkin_make会报错无法进行。

最终解决：删掉原来的包，用源码编译！参照https://gitee.com/bingobinlw/cv_bridge/blob/master/README.md

 

 

cv_bridge步骤：

mkdir -p cv_bridge_ws/src
cd cv_bridge_ws/src
git clone https://gitee.com/bingobinlw/cv_bridge
cd ..

将opencv编译生成的build文件路径加入到CMakeLists.txt（详见此文件目录下的CMakeLists.txt文件）

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

最后catkin_make，终于成功了！！！