关于Ubuntu18.04/20.04安装后的一系列环境配置过程的总结

# 找到以下代码段，修改如下：
if [ "$color_prompt" = yes ]; then
    #PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w$(git_branch)\[\033[00m\]\$ '
else
    #PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\W$(git_branch)\$ '
fi

# 在最后加入如下代码段：
git_branch()
{
   branch=`git rev-parse --abbrev-ref HEAD 2>/dev/null`
   if [ "${branch}" != "" ]
   then
       if [ "${branch}" = "(no branch)" ]
       then
           branch="(`git rev-parse --short HEAD`...)"
       fi
       #echo -e " \033[01;36m[$branch]\033[0m " # 天蓝色字体
       #echo -e " \033[46;37m[$branch]\033[0m "  # 天蓝色背景，白色字体
       echo -e " \033[1;43;37m[$branch]\033[0m " # 黄色背景，白色字体
   fi
}

~~之后保存退出~~

source ~/.bashrc

~~这样就可以更清晰的显示git分支~~~

2.更换国内源

sudo gedit /etc/apt/sources.list

~~将原本的注释掉，在最下方加入:~~

~~# 中科大源（Ubuntu 18.04）~~

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse

## Not recommended
# deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

# 中科大源（Ubuntu 20.04）
deb https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse

deb https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse

## Not recommended
# deb https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

~~或（寻找属于自己的发行版）：~~

~~https://mirrors.ustc.edu.cn/repogen/https://mirrors.ustc.edu.cn/repogen/~~

sudo apt-get update

~~anaconda镜像源（~/.condarc）:~~

channels:
- defaults
show_channel_urls: true
default_channels:
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/r
- https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/msys2
custom_channels:
conda-forge: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
msys2: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
bioconda: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
menpo: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
pytorch: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
pytorch-lts: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
simpleitk: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud
deepmodeling: https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/
nvidia: https://mirrors.cernet.edu.cn/anaconda-extra/cloud/
envs_dirs:
- /home/m0rtzz/Program_Files/anaconda3/envs

3.设置/home文件夹下为英文

export LANG=en_US

xdg-user-dirs-gtk-update

~~编辑选择右边的Update Names~~

~~之后执行以下语句：~~

export LANG=zh_CN

reboot

~~勾选不要在次询问我，并选择保留旧的名称~~

4.禁用Nouveau驱动

sudo gedit /etc/modprobe.d/blacklist.conf

输入

blacklist nouveau
options nouveau modeset=0

~~保存后关闭，打开终端，输入：~~

sudo update-initramfs -u

reboot

5.安装Nvidia驱动（有可能会损坏系统，如果损坏可以重装并看看网上的其他教程，除了这种安装方法还有其他安装方法，自行上网了解）

~~打开终端，输入：~~

sudo apt-get install gcc g++ make

sudo ubuntu-drivers devices

~~寻找带有recommended的版本，输入~~

sudo apt-get install nvidia-driver-* nvidia-settings nvidia-prime

~~（*是你的版本号）~~

sudo apt-get update

sudo apt-get upgrade

reboot

~~验证版本~~

nvidia-smi

6.cuda安装：

~~https://developer.nvidia.com/cuda-toolkit-archivehttps://developer.nvidia.com/cuda-toolkit-archive~~

~~选择和上一步nvidia-smi显示的cuda版本对应的进行安装，官方有教程~~

~~安装好之后打开终端输入~~

sudo gedit ~/.bashrc

~~在最后输入~~

#cuda
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64
export PATH=$PATH:/usr/local/cuda/bin
export CUDA_HOME=/usr/local/cuda  #cuda的软连接库,可以设置多版本共存指向

~~保存后关闭，打开终端，输入：~~

source ~/.bashrc

sudo gedit /etc/profile

~~在最后加入~~

#cuda
export PATH=/usr/local/cuda/bin:$PATH
export PATH=/usr/local/cuda/bin:$PATH

~~保存后关闭，打开终端，输入：~~

 source /etc/profile

~~验证cuda版本~~

nvcc -V

~~安装成功！~~

7.cudnn安装：

~~cuDNN Archive | NVIDIA DeveloperExplore and download past releases from cuDNN GPU-accelerated primitive library for deep neural networks.https://developer.nvidia.com/rdp/cudnn-archive~~

~~同样需要选择与刚才安装cuda对应的版本下载，下载好后进入文件所在目录打开终端~~

tar -xvf cudnn-*-linux-x64-*.tgz

~~打开终端：~~

sudo cp -r cuda/include/* /usr/local/cuda/include/
sudo cp cuda/lib64/libcudnn* /usr/local/cuda/lib64/

sudo chmod a+r /usr/local/cuda/include/cudnn.h
sudo chmod a+r /usr/local/cuda/lib64/libcudnn*

sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_adv_train.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_adv_train.so.8
sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_ops_infer.so.8
sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_cnn_train.so.8
sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_adv_infer.so.8
sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_ops_train.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_ops_train.so.8
sudo ln -sf /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8.0.1 /usr/local/cuda-11.4/targets/x86_64-linux/lib/libcudnn_cnn_infer.so.8
sudo ln -sf /usr/local/cuda-11.4/lib64/libcudnn.so.8 /usr/local/cuda-11.4/lib64/libcudnn.so.8.2.2

~~验证是否安装成功~~

cat /usr/local/cuda/include/cudnn_version.h

8.安装ROS（有些图忘记截了）

~~设置中科大源~~

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

~~设置公钥~~

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt install ros-melodic-desktop-full

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo apt-get install python3-pip

~~使用阿里镜像源加速pip下载：~~

sudo pip3 install rosdepc -i https://mirrors.aliyun.com/pypi/simple/

sudo rosdepc init
rosdepc update

sudo chmod 777 -R ~/.ros/

roscore

~~再新建两个终端，分别输入~~

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

~~在rosrun turtlesim turtle_teleop_key所在终端点击一下任意位置，然后使用↕↔小键盘控制，看小海龟会不会动，如果会动则安装成功~~

9.安装opencv-3.4.16和opencv_contrib-3.4.16（Ubuntu18.04），Ubuntu20.04请装opencv-4.2.0及其扩展模块：

虽然使用cv_bridge时某些shared object有可能和ROS自带的opencv-3.2.0版本冲突，但实测安装3.2.0对cuda的兼容性太差导致无法使用深度相机，所以安装官网最近更新过的OpenCV3.4.16

经尝试多版本Ubuntu和OpenCV，装Ubuntu20.04，ROS noetic和OpenCV4.2.0及其扩展模块才能解决将彩色图像转换为网络所需的输入Blob后前馈时抛出的（raised OpenCV exception，error: (-215:Assertion failed)等等）。

git clone -b 3.4.16 https://gitee.com/KylenWrt/opencv.git opencv-3.4.16

cd opencv-3.4.16

git clone -b 3.4.16 https://gitee.com/zsy26226/opencv_contrib.git opencv_contrib-3.4.16

~~安装所需依赖库，打开终端，输入：~~

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev liblapacke-dev checkinstall

sudo apt-get install liblapacke-dev checkinstall

~~进入opencv-3.4.16文件夹，打开终端，输入：~~

mkdir build

cd build

~~接下来编译安装，注意此命令的OPENCV_EXTRA_MODULES_PATH=后边的路径是你电脑下的绝对路径，请自行修改~~

cmake -D CMAKE_BUILD_TYPE=RELEASE -D WITH_GTK_2_X=ON -D OPENCV_ENABLE_NONFREE=ON -D OPENCV_GENERATE_PKGCONFIG=YES -D OPENCV_EXTRA_MODULES_PATH=/home/m0rtzz/Program_Files/opencv-3.4.16/opencv_contrib-3.4.16/modules -D WITH_CUDA=ON -D WITH_CUDNN=ON -D WITH_FFMPEG=ON -D WITH_OPENGL=ON -D WITH_NVCUVID=ON -D -DENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_EXE_LINKER_FLAGS=-lcblas -DWITH_LAPACK=OFF -j16 ..

~~过程中会出现IPPICV: Download: ippicv_2020_lnx_intel64_20191018_general.tgz~~

~~解决方法：~~

cd ../ && mkdir downloads

cd downloads && pwd

~~复制绝对路径后：~~

~~打开这个ippicv.cmake~~

~~把绝对路径复制进去：~~

~~然后把下面网址下载的文件cp进去就行了（或者开头百度云分享链接中自取~）~~

https://github.com/opencv/opencv_3rdparty/blob/ippicv/master_20191018/ippicv/ippicv_2020_lnx_intel64_20191018_general.tgzhttps://github.com/opencv/opencv_3rdparty/blob/ippicv/master_20191018/ippicv/ippicv_2020_lnx_intel64_20191018_general.tgz之后重新打开终端，输入：cmake（别忘了改路径）：

cmake -D CMAKE_BUILD_TYPE=RELEASE -D WITH_GTK_2_X=ON -D OPENCV_ENABLE_NONFREE=ON -D OPENCV_GENERATE_PKGCONFIG=YES -D OPENCV_EXTRA_MODULES_PATH=/home/m0rtzz/Program_Files/opencv-3.4.16/opencv_contrib-3.4.16/modules -D WITH_CUDA=ON -D WITH_CUDNN=ON -D WITH_FFMPEG=ON -D WITH_OPENGL=ON -D WITH_NVCUVID=ON -D -DENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_EXE_LINKER_FLAGS=-lcblas -DWITH_LAPACK=OFF -j16 ..

~~这些.i文件需要在国外下载，网上说下载好文件直接把他们放进相对应的目录下就行，实测不行（建议科学的上网，想试试网上说法的：~~

Reference：fatal error: boostdesc_bgm.i: No such file or directory_"atal error: boostdesc_bgm.i: no such file or dire_eziaowonder的博客-CSDN博客OpenCV4 编译 fatal error: boostdesc_bgm.i: No such file or directory环境编译参考错误原因数据参考环境硬件：树莓派 4B 4G系统：RasberryPi OS编译参考Raspberry pi 树莓派安装 OpenCV 4.1.2子豪兄教你在树莓派上安装OpenCV错误编译到 83% 左右的时候出现类似下图的错误(当时没截图，用 #1301 的部分出错报告)[ 80%] Building CXX object modules/xfhttps://blog.csdn.net/curious_undergather/article/details/111639199?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522167905082916800184134715%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fblog.%2522%257D&request_id=167905082916800184134715&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~first_rank_ecpm_v1~rank_v31_ecpm-1-111639199-null-null.blog_rank_default&utm_term=boosetdesc_bgm.i&spm=1018.2226.3001.4450 文件的话，开头百度云分享链接里都有)

cmake -D CMAKE_BUILD_TYPE=RELEASE -D WITH_GTK_2_X=ON -D OPENCV_ENABLE_NONFREE=ON -D OPENCV_GENERATE_PKGCONFIG=YES -D OPENCV_EXTRA_MODULES_PATH=/home/m0rtzz/Program_Files/opencv-3.4.16/opencv_contrib-3.4.16/modules -D WITH_CUDA=ON -D WITH_CUDNN=ON -D WITH_FFMPEG=ON -D WITH_OPENGL=ON -D WITH_NVCUVID=ON -D -DENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_EXE_LINKER_FLAGS=-lcblas -DWITH_LAPACK=OFF -j16 ..

sudo make -j16

~~打开那个头文件，把报错所在行改为：~~

#include "lapacke.h"

sudo make -j16

sudo make install

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

加入

/usr/local/lib

~~保存后关闭，打开终端，输入：~~

sudo ldconfig

sudo gedit /etc/bash.bashrc

加入

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

~~保存后关闭，打开终端，输入：~~

source /etc/bash.bashrc

测试

cd ../samples/cpp/example_cmake
cmake -j8 .
sudo make -j8
./opencv_example

~~安装成功！~~

~~设置cv_bridge的版本：~~

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

# generated from catkin/cmake/template/pkgConfig.cmake.in

# append elements to a list and remove existing duplicates from the list
# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
# self contained
macro(_list_append_deduplicate listname)
  if(NOT "${ARGN}" STREQUAL "")
    if(${listname})
      list(REMOVE_ITEM ${listname} ${ARGN})
    endif()

    list(APPEND ${listname} ${ARGN})
  endif()
endmacro()

# append elements to a list if they are not already in the list
# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
# self contained
macro(_list_append_unique listname)
  foreach(_item ${ARGN})
    list(FIND ${listname} ${_item} _index)

    if(_index EQUAL -1)
      list(APPEND ${listname} ${_item})
    endif()
  endforeach()
endmacro()

# pack a list of libraries with optional build configuration keywords
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_pack_libraries_with_build_configuration VAR)
  set(${VAR} "")
  set(_argn ${ARGN})
  list(LENGTH _argn _count)
  set(_index 0)

  while(${_index} LESS ${_count})
    list(GET _argn ${_index} lib)

    if("${lib}" MATCHES "^(debug|optimized|general)$")
      math(EXPR _index "${_index} + 1")

      if(${_index} EQUAL ${_count})
        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
      endif()

      list(GET _argn ${_index} library)
      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
    else()
      list(APPEND ${VAR} "${lib}")
    endif()

    math(EXPR _index "${_index} + 1")
  endwhile()
endmacro()

# unpack a list of libraries with optional build configuration keyword prefixes
# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
# self contained
macro(_unpack_libraries_with_build_configuration VAR)
  set(${VAR} "")

  foreach(lib ${ARGN})
    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
    list(APPEND ${VAR} "${lib}")
  endforeach()
endmacro()

if(cv_bridge_CONFIG_INCLUDED)
  return()
endif()

set(cv_bridge_CONFIG_INCLUDED TRUE)

# set variables for source/devel/install prefixes
if("FALSE" STREQUAL "TRUE")
  set(cv_bridge_SOURCE_PREFIX /tmp/binarydeb/ros-melodic-cv-bridge-1.13.1)
  set(cv_bridge_DEVEL_PREFIX /tmp/binarydeb/ros-melodic-cv-bridge-1.13.1/.obj-x86_64-linux-gnu/devel)
  set(cv_bridge_INSTALL_PREFIX "")
  set(cv_bridge_PREFIX ${cv_bridge_DEVEL_PREFIX})
else()
  set(cv_bridge_SOURCE_PREFIX "")
  set(cv_bridge_DEVEL_PREFIX "")
  set(cv_bridge_INSTALL_PREFIX /opt/ros/melodic)
  set(cv_bridge_PREFIX ${cv_bridge_INSTALL_PREFIX})
endif()

# warn when using a deprecated package
if(NOT "" STREQUAL "")
  set(_msg "WARNING: package 'cv_bridge' is deprecated")

  # append custom deprecation text if available
  if(NOT "" STREQUAL "TRUE")
    set(_msg "${_msg} ()")
  endif()

  message("${_msg}")
endif()

# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
set(cv_bridge_FOUND_CATKIN_PROJECT TRUE)

# if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
# set(cv_bridge_INCLUDE_DIRS "")
# set(_include_dirs "include;/usr/include;/usr/include/opencv")
if(NOT "include;/usr/local/include/opencv;/usr/local/include/opencv2 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/local/include/opencv;/usr/local/include/opencv;/usr/local/include/;/usr/include")

  if(NOT "https://github.com/ros-perception/vision_opencv/issues " STREQUAL " ")
    set(_report "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.")
  elseif(NOT "http://www.ros.org/wiki/cv_bridge " STREQUAL " ")
    set(_report "Check the website 'http://www.ros.org/wiki/cv_bridge' for information and consider reporting the problem.")
  else()
    set(_report "Report the problem to the maintainer 'Vincent Rabaud <vincent.rabaud@gmail.com>' and request to fix the problem.")
  endif()

  foreach(idir ${_include_dirs})
    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
      set(include ${idir})
    elseif("${idir} " STREQUAL "include ")
      get_filename_component(include "${cv_bridge_DIR}/../../../include" ABSOLUTE)

      if(NOT IS_DIRECTORY ${include})
        message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
      endif()
    else()
      message(FATAL_ERROR "Project 'cv_bridge' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
    endif()

    _list_append_unique(cv_bridge_INCLUDE_DIRS ${include})
  endforeach()
endif()

# set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0")
set(libraries "cv_bridge;/usr/local/lib/libopencv_core.so.3.4.16;/usr/local/lib/libopencv_imgproc.so.3.4.16;/usr/local/lib/libopencv_imgcodecs.so.3.4.16")

foreach(library ${libraries})
  # keep build configuration keywords, target names and absolute libraries as-is
  if("${library}" MATCHES "^(debug|optimized|general)$")
    list(APPEND cv_bridge_LIBRARIES ${library})
  elseif(${library} MATCHES "^-l")
    list(APPEND cv_bridge_LIBRARIES ${library})
  elseif(${library} MATCHES "^-")
    # This is a linker flag/option (like -pthread)
    # There's no standard variable for these, so create an interface library to hold it
    if(NOT cv_bridge_NUM_DUMMY_TARGETS)
      set(cv_bridge_NUM_DUMMY_TARGETS 0)
    endif()

    # Make sure the target name is unique
    set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")

    while(TARGET "${interface_target_name}")
      math(EXPR cv_bridge_NUM_DUMMY_TARGETS "${cv_bridge_NUM_DUMMY_TARGETS}+1")
      set(interface_target_name "catkin::cv_bridge::wrapped-linker-option${cv_bridge_NUM_DUMMY_TARGETS}")
    endwhile()

    add_library("${interface_target_name}" INTERFACE IMPORTED)

    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
      set_property(
        TARGET
        "${interface_target_name}"
        APPEND PROPERTY
        INTERFACE_LINK_LIBRARIES "${library}")
    else()
      target_link_options("${interface_target_name}" INTERFACE "${library}")
    endif()

    list(APPEND cv_bridge_LIBRARIES "${interface_target_name}")
  elseif(TARGET ${library})
    list(APPEND cv_bridge_LIBRARIES ${library})
  elseif(IS_ABSOLUTE ${library})
    list(APPEND cv_bridge_LIBRARIES ${library})
  else()
    set(lib_path "")
    set(lib "${library}-NOTFOUND")

    # since the path where the library is found is returned we have to iterate over the paths manually
    foreach(path /opt/ros/melodic/lib;/opt/ros/melodic/lib)
      find_library(lib ${library}
        PATHS ${path}
        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

      if(lib)
        set(lib_path ${path})
        break()
      endif()
    endforeach()

    if(lib)
      _list_append_unique(cv_bridge_LIBRARY_DIRS ${lib_path})
      list(APPEND cv_bridge_LIBRARIES ${lib})
    else()
      # as a fall back for non-catkin libraries try to search globally
      find_library(lib ${library})

      if(NOT lib)
        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'cv_bridge'?  Did you find_package() it before the subdirectory containing its code is included?")
      endif()

      list(APPEND cv_bridge_LIBRARIES ${lib})
    endif()
  endif()
endforeach()

set(cv_bridge_EXPORTED_TARGETS "")

# create dummy targets for exported code generation targets to make life of users easier
foreach(t ${cv_bridge_EXPORTED_TARGETS})
  if(NOT TARGET ${t})
    add_custom_target(${t})
  endif()
endforeach()

set(depends "rosconsole;sensor_msgs")

foreach(depend ${depends})
  string(REPLACE " " ";" depend_list ${depend})

  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
  list(GET depend_list 0 cv_bridge_dep)
  list(LENGTH depend_list count)

  if(${count} EQUAL 1)
    # simple dependencies must only be find_package()-ed once
    if(NOT ${cv_bridge_dep}_FOUND)
      find_package(${cv_bridge_dep} REQUIRED NO_MODULE)
    endif()
  else()
    # dependencies with components must be find_package()-ed again
    list(REMOVE_AT depend_list 0)
    find_package(${cv_bridge_dep} REQUIRED NO_MODULE ${depend_list})
  endif()

  _list_append_unique(cv_bridge_INCLUDE_DIRS ${${cv_bridge_dep}_INCLUDE_DIRS})

  # merge build configuration keywords with library names to correctly deduplicate
  _pack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})
  _pack_libraries_with_build_configuration(_libraries ${${cv_bridge_dep}_LIBRARIES})
  _list_append_deduplicate(cv_bridge_LIBRARIES ${_libraries})

  # undo build configuration keyword merging after deduplication
  _unpack_libraries_with_build_configuration(cv_bridge_LIBRARIES ${cv_bridge_LIBRARIES})

  _list_append_unique(cv_bridge_LIBRARY_DIRS ${${cv_bridge_dep}_LIBRARY_DIRS})
  list(APPEND cv_bridge_EXPORTED_TARGETS ${${cv_bridge_dep}_EXPORTED_TARGETS})
endforeach()

set(pkg_cfg_extras "cv_bridge-extras.cmake")

foreach(extra ${pkg_cfg_extras})
  if(NOT IS_ABSOLUTE ${extra})
    set(extra ${cv_bridge_DIR}/${extra})
  endif()

  include(${extra})
endforeach()

~~opencv-3.4.4cmake命令：~~

cmake -D CMAKE_BUILD_TYPE=BUILD -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_GTK_2_X=ON -D OPENCV_ENABLE_NONFREE=ON -D OPENCV_GENERATE_PKGCONFIG=YES -D OPENCV_EXTRA_MODULES_PATH=/home/m0rtzz/Program_Files/opencv-3.4.4/opencv_contrib-3.4.4/modules -D WITH_CUDA=ON -D WITH_CUDNN=ON -D WITH_FFMPEG=ON -D WITH_OPENGL=ON -D WITH_NVCUVID=ON -D -DENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_EXE_LINKER_FLAGS=-lcblas -DWITH_LAPACK=OFF -D WITH_OPENMP=ON  -D BUILD_TESTS=OFF -D WITH_OPENGL=ON -D BUILD_opencv_xfeatures2d=ON -D CUDA_nppicom_LIBRARY=stdc++ -DENABLE_PRECOMPILED_HEADERS=OFF -DENABLE_PRECOMPILED_HEADERS=OFF -D CUDA_ARCH_BIN=8.6 -D CUDA_nppicom_LIBRARY=stdc++ -D CUDA_GENERATION=Auto -D CUDA_HOST_COMPILER:FILEPATH=/usr/bin/gcc-7 -j16 ..

~~opencv-4.2.0cmake命令（Ubuntu20.04装这个）：~~

cmake -D CMAKE_BUILD_TYPE=RELEASE -D OPENCV_GENERATE_PKGCONFIG=ON -D INSTALL_PYTHON_EXAMPLES=ON -D INSTALL_C_EXAMPLES=ON -D OPENCV_EXTRA_MODULES_PATH=/home/m0rtzz/Program_Files/opencv-4.2.0/opencv_contrib-4.2.0/modules -D WITH_V4L=ON -D WITH_QT=ON -D WITH_GTK=