Ubuntu20运行vins fusion中解决cv_brige与opencv版本冲突问题

一、安装包信息

1. 相关安装包版本

1. eigen：版本：3.3.7
2. ceres：版本：1.14
3. opencv两个版本opencv3.4.6和ros noetic自带的opencv4

2. opencv双版本安装

安装不同的版本，只需要将其安装的路径修改即可，我这里是ros noetic使用的默认路径，opencv3.4.6的安装修改了安装路径到/usr/opencv_v_346

• 版本3.4.6

  • opencv安装及修改安装路径参考教程：链接
    • 关键是：sudo cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/opencv_v_ .. 中CMAKE_INSTALL_PREFIX指定安装路径
  • 安装之后，opencv3版本相关文件路径
    • /usr/opencv_v_346/bin/
    • /usr/opencv_v_346/lib/
    • /usr/opencv_v_346/include/opencv
    • /usr/opencv_v_346/include/opencv2
    • /usr/opencv_v_346/share/licenses/opencv3
    • /usr/opencv_v_346/share/OpenCV

• ros中opencv4安装之后，相关文件路径（默认）

  • /usr/bin/
  • /usr/lib/jni/
  • /usr/lib/x86_64-linux-gnu/
  • /usr/include/opencv4
  • /usr/include/opencv4/opencv2
  • /usr/include/boost/compute/
  • /usr/share/licenses/opencv4
  • /usr/share/opencv4
  • /usr/share/java/opencv4
  • /usr/share/java/
  • /usr/share/man/man1/
  • /usr/share/doc/
  • /usr/share/lintian/overrides/
  • /var/lib/dpkg/info/

二、ros程序中使用自己的opencv包

方案1. 不使用cv_bridge(不推荐)

修改cmakelist中opencv的版本，使程序使用自己的opencv3.4.6
参考链接

• 找到自定义安装opencv的opencvConfig.cmake配置文件的路径/usr/opencv_v_346/share/Opencv
• 指定该文件的目录set(OpenCV_DIR /usr/opencv_v_346/share/Opencv)
• 用find package指令找到OpenCV包find_package(OpenCV 3 REQUIRED)
• 指定OpenCV的头文件目录include_directories( ${OpenCV_INCLUDE_DIRS})
• 将编译生成的文件与OpenCV的动态库/静态库进行链接target_link_libraries(${OpenCV_LIBS})

方案2. 修改ros中的cv_bridge包，使其调用自己的opencv版本

参考链接
参考链接

**方法：**进入cv_bridge配置文件所在目录，并用gedit指令打开相关配置文件进行修改

cd /opt/ros/noetic/share/cv_bridge/cmake/

2.1 修改cv_bridgeConfig.cmake

sudo gedit cv_bridgeConfig.cmake

• 对以下两个部分进行修改，一个是包含的头文件目录，将其修改为自己的opencv安装目录
  注意自己安装目录前边还有个include;

  #if(NOT "include;/usr/include/opencv4 " STREQUAL " ")
  #  set(cv_bridge_INCLUDE_DIRS "")
  #  set(_include_dirs "include;/usr/include/opencv4")
  
  # 346表示安装的版本是opencv3.4.6
  if(NOT "include;/usr/opencv_v_346/include;/usr/opencv_v_346/include/opencv" STREQUAL " ")
    set(cv_bridge_INCLUDE_DIRS "")
    set(_include_dirs "include;/usr/opencv_v_346/include;/usr/opencv_v_346/include/opencv")
  

• 另一个是将指定库文件也修改为自己安装的opencv库文件
  注意自己库文件前边还有个cv_bridge;，如果丢失会报cv_bridge中的函数未定义

  #set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/   x86_64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0")
  
  set(libraries "cv_bridge;/usr/opencv_v_346/lib/libopencv_videoio.so.3.4.6;/usr/opencv_v_346/lib/libopencv_imgproc.so.3.4.6;/usr/opencv_v_346/lib/libopencv_stitching.so.3.4.6;/usr/opencv_v_346/lib/libopencv_calib3d.so.3.4.6;/usr/opencv_v_346/lib/libopencv_objdetect.so.3.4.6;/usr/opencv_v_346/lib/libopencv_features2d.so.3.4.6;/usr/opencv_v_346/lib/libopencv_shape.so.3.4.6;/usr/opencv_v_346/lib/libopencv_imgcodecs.so.3.4.6;/usr/opencv_v_346/lib/libopencv_core.so.3.4.6;/usr/opencv_v_346/lib/libopencv_ml.so.3.4.6;/usr/opencv_v_346/lib/libopencv_flann.so.3.4.6;/usr/opencv_v_346/lib/libopencv_videostab.so.3.4.6;/usr/opencv_v_346/lib/libopencv_photo.so.3.4.6;/usr/opencv_v_346/lib/libopencv_superres.so.3.4.6;/usr/opencv_v_346/lib/libopencv_dnn.so.3.4.6;/usr/opencv_v_346/lib/libopencv_video.so.3.4.6;/usr/opencv_v_346/lib/libopencv_highgui.so.3.4.6")
  

2.2 修改cv_bridge-extras.cmake文件

sudo gedit cv_bridge-extras.cmake

如果不修改该文件，打印当前的opencv版本，仍是ros的，并且会有warning。（其实使用的还是自己安装的，只是显示的是ros的）

```python
#set(OpenCV_VERSION 4.2.0)
#set(OpenCV_VERSION_MAJOR 4)
#set(OpenCV_VERSION_MINOR 2)
#set(OpenCV_VERSION_PATCH 0)
#set(OpenCV_SHARED ON)
#set(OpenCV_CONFIG_PATH /usr/lib/x86_64-linux-gnu/cmake/opencv4)
#set(OpenCV_INSTALL_PATH /usr)
#set(OpenCV_LIB_COMPONENTS opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_datasets;opencv_dnn_objdetect;opencv_dnn_superres;opencv_dpm;opencv_face;opencv_freetype;opencv_fuzzy;opencv_hdf;opencv_hfs;opencv_img_hash;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_quality;opencv_reg;opencv_rgbd;opencv_saliency;opencv_shape;opencv_stereo;opencv_structured_light;opencv_superres;opencv_surface_matching;opencv_text;opencv_tracking;opencv_videostab;opencv_viz;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto)
#set(OpenCV_USE_MANGLED_PATHS FALSE)
#set(OpenCV_MODULES_SUFFIX )

set(OpenCV_VERSION 3.4.6)
set(OpenCV_VERSION_MAJOR 3)
set(OpenCV_VERSION_MINOR 4)
set(OpenCV_VERSION_PATCH 6)
set(OpenCV_SHARED ON)
set(OpenCV_CONFIG_PATH /usr/opencv_v_346/share/OpenCV)
set(OpenCV_INSTALL_PATH /usr/opencv_v_346/)
set(OpenCV_LIB_COMPONENTS opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab)
set(OpenCV_USE_MANGLED_PATHS FALSE)
set(OpenCV_MODULES_SUFFIX )
```

方案3. 修改cv_bridge功能包，对源码进行编译

• 参考链接：
  自己编译功能包cv_bridge

• 相关命令
  cmake文件输出打印消息：

  SET(Opencv_DIR "/usr/local/opencv2.4.11")
  find_package(OpenCV  REQUIRED)
  
  MESSAGE(STATUS "OpenCV version: "${OpenCV_VERSION})
  MESSAGE(${PROJECT_SOURCE_DIR})
  MESSAGE(${PROJECT_BINARY_DIR})
  

  查看linux下的opencv安装路径：

  sudo find / -iname "*opencv*"
  

  在全盘上不区分大小写，搜索带有关键字opencv的所有文件及文件夹都会输出到终端，如果输出太长建议输出到txt文件里查看，如下：

  sudo find / -iname "*opencv*" > /home/ubuntu/Desktop/opencv_find.txt
  

  查看opencv版本：

  pkg-config --modversion opencv
  

3.1 源码下载地址以及源码修改

**目的：**使功能包使用opencv3编译而不是opencv4
源码官网地址

• 从官网下载cv_bridge的对应版本的源代码，拷贝cv_bridge安装包到工作空间下，
• 修改名称：将功能包文件名改为cv::bridge_1
• 修改cv::bridge_1/CMakeLists.txt中的工程名称

  project(cv_bridge)   改为   project(cv_bridge_1)  
  

• 修改cv::bridge_1/package.xml

   <name>cv_bridge</name>  改为  <name>cv_bridge_1</name>
  

• 在cmakelist文件中，将find_package(OpenCV 4)的位置全改为OpenCv3

3.2 方式一：单独编译该源码

• 将该功能包单独放进ros工作空间
• 对该工作空间进行编译，生成cv_bridge_1功能包，然后在bashrc文件，添加环境变量
  • 添加方式1: 直接使用 gedit 或 vi 编辑 .bashrc 文件，最后添加该内容
  • 添加方式2:echo “source ~/工作空间/devel/setup.bash” >> ~/.bashrc
• 然后将vins fusion代码中，依赖项cv_bridge改为cv_bridge_1，同时将find_package(OpenCV 4)的位置全改为OpenCv3

3.3 方式二：该源码和vins fusion功能包一起编译

两个功能包同时编译，面临编译顺序的问题，因为vins功能包需要调用cv_bridge_1功能包，因此需要先对cv_bridge_1进行编译。

主要参考下面链接里方法2：手动修改依赖关系
功能包之间的相互调用
ROS中package.xml和cmakelist介绍

• 首先将cv_bridge_1功能包和vins fusion功能包放入同一个工作空间src目录下
• 然后将vins fusion代码中，所有使用cv_bridge的地方，在cmakelist文件中将cv_bridge改为cv_bridge_1；
• 所有使用cv_bridge的地方，修改package.xml文件，手动添加依赖：

    <build_depend>cv_bridge_1</build_depend>
    <run_depend>cv_bridge_1</run_depend>
  

• 所有find_package(OpenCV 4)的位置全改为OpenCv3
• 最后直接catkin_make编译该工作空间即可