ROS 下使用Opencv4.4.0，并且使用cv_bridge转换msgs 与 opencv图像

Opencv4.4.0安装

参考 https://blog.csdn.net/weixin_43436587/article/details/107622477

在Opencv4.4.0 中使用cv_bridge转换msgs 与 opencv图像

参考https://blog.csdn.net/bigdog_1027/article/details/79092263

步骤按参考链接进行，下边是我更改的两处地方，供参考

#############orial version#####
#if(NOT "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv " STREQUAL " ")
  #set(cv_bridge_INCLUDE_DIRS "")
  #set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv")

############changed version 4.4.0
if(NOT "include;/usr/local/include/opencv4 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/local/include/opencv4;/usr/local/include;/usr/include")




################orial opencv version####
#set(libraries "cv_bridge;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3.1;/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1")

################changed opencv4.4.0##
#;/usr/local/lib/opencv_dnn_superres.so.4.4.0;/usr/local/lib/opencv_dnn_objdetect.so.4.4.0;/usr/local/lib/opencv_dnn.so.4.4.0
set(libraries "cv_bridge;/usr/local/lib/libopencv_core.so.4.4.0;/usr/local/lib/libopencv_imgproc.so.4.4.0;/usr/local/lib/libopencv_imgcodecs.so.4.4.0;/usr/local/lib/libopencv_calib3d.so.4.4.0;/usr/local/lib/libopencv_highgui.so.4.4.0")

cv_bridge-extras.cmake 修改

#set(OpenCV_VERSION 3.3.1)
#set(OpenCV_VERSION_MAJOR 3)
#set(OpenCV_VERSION_MINOR 3)
#set(OpenCV_VERSION_PATCH 1)
#set(OpenCV_SHARED ON)
#set(OpenCV_CONFIG_PATH /opt/ros/kinetic/share/OpenCV-3.3.1-dev)
#set(OpenCV_INSTALL_PATH /opt/ros/kinetic)
#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;opencv_viz;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cvv;opencv_datasets;opencv_dpm;opencv_face;opencv_fuzzy;opencv_hdf;opencv_img_hash;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_reg;opencv_rgbd;opencv_saliency;opencv_stereo;opencv_structured_light;opencv_surface_matching;opencv_text;opencv_tracking;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto)
#set(OpenCV_USE_MANGLED_PATHS TRUE)
#set(OpenCV_MODULES_SUFFIX )

set(OpenCV_VERSION 4.4.0)
set(OpenCV_VERSION_MAJOR 4)
set(OpenCV_VERSION_MINOR 3)
set(OpenCV_VERSION_PATCH 13)
set(OpenCV_SHARED ON)
set(OpenCV_CONFIG_PATH /usr/local/share/opencv4)
set(OpenCV_INSTALL_PATH /usr/local/)
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;opencv_viz;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cvv;opencv_datasets;opencv_dpm;opencv_face;opencv_fuzzy;opencv_hdf;opencv_img_hash;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_reg;opencv_rgbd;opencv_saliency;opencv_stereo;opencv_structured_light;opencv_surface_matching;opencv_text;opencv_tracking;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto)
set(OpenCV_USE_MANGLED_PATHS TRUE)
set(OpenCV_MODULES_SUFFIX )