ros加载编译opencv-3.4.9，编译安装opencv-3.4.9

2022-10-29 01:59 200阅读 0赞

## **                                                        ros加载编译opencv-3.4.9** ##

ros中配置opencv

1.加载自己的opencv库 cv\_bridge  find\_package(OpenCV REQUIRED)

cmake_minimum_required(VERSION 3.0.2)
    project(visualOrientation)
    
    ## Compile as C++11, supported in ROS Kinetic and newer
     add_compile_options(-std=c++11)
    #set(OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/build)
    # 配置依赖目录及程序输出目录
    #set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIR}/bin" CACHE PATH "Runtime directory" FORCE)
    #set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Library directory" FORCE)
    #set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Archive directory" FORCE)
    ## Find catkin macros and libraries
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    #set(CMAKE_PREFIX_PATH ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
    #set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
    #set(CMAKE_MODULE_PATH /home/iimt/3rdparty/OpenCV-3.4.9)
    
    #set(OpenCV_DIR /home/iimt/3rdparty/OpenCV-3.4.9)
    
    find_package(catkin REQUIRED COMPONENTS
      roscpp
      rosmsg
      rospy
            sensor_msgs
            cv_bridge
            image_transport
            tf
    )
    #cv_bridge
    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
    #   std_msgs  # Or other packages containing 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 visualOrientation
    #  CATKIN_DEPENDS roscpp rosmsg rospy
    #  DEPENDS system_lib
    )
    
    ###########
    ## Build ##
    ###########
    
    ## Specify additional locations of header files
    ## Your package locations should be listed before other locations
    include_directories(
    # include
      ${catkin_INCLUDE_DIRS}
    )
    include_directories(/usr/include/eigen3)
    #include_directories(${OpenCV_INCLUDE_DIRS})
    ## Declare a C++ library
    # add_library(${PROJECT_NAME}
    #   src/${PROJECT_NAME}/visualOrientation.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(main_node src/main.cpp)
    add_executable(CameraIntrinsicFromFiles_node src/CameraIntrinsicFromFiles.cpp)
    add_executable(QRcodeOrlentationCalibration_node src/QRcodeOrlentationCalibration.cpp)
    add_executable(saveImgeAndCarPose src/saveImgeAndCarPose.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(
             main_node
       ${catkin_LIBRARIES}
       ${OpenCV_LIBS}
     )
    target_link_libraries(
            CameraIntrinsicFromFiles_node
            ${catkin_LIBRARIES}
    )
    target_link_libraries(
            QRcodeOrlentationCalibration_node
            ${catkin_LIBRARIES}
    )
    target_link_libraries(
            saveImgeAndCarPose
            ${catkin_LIBRARIES}
    )
    
    #link_directories(${OpenCV_LIBRARY_DIRS})
    
    #############
    ## 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_visualOrientation.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)

ros中配置第三方opencv

cmake_minimum_required(VERSION 3.0.2)
    project(demour)
    
    ## 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
    find_package(catkin REQUIRED COMPONENTS
            roscpp
            rosmsg
            rospy
            diagnostic_msgs
            )
    
    find_package(OpenCV REQUIRED)
    
    set(CMAKE_INCLUDE_CURRENT_DIR ON)
    set(CMAKE_AUTOMOC ON)
    
    find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport Network)
    
    ## 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
    #   std_msgs  # Or other packages containing 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 demour
            #  CATKIN_DEPENDS roscpp rosmsg rospy
            #  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}
    )
    
    ## Declare a C++ library
    # add_library(${PROJECT_NAME}
    #   src/${PROJECT_NAME}/demour.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_subdirectory(src/driver)
    #add_executable(ur_cpp_node src/ur_cpp.cpp src/PaintWidget.cpp src/Type.cpp src/urwWritWindow.cpp)
    add_executable(ur_cpp_node src/ur_cpp.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(
    #        ur_cpp_node
    #        ${catkin_LIBRARIES}
    #        ${OpenCV_LIBS}
    #        driver
    #)
    target_link_libraries(
            ur_cpp_node
            ${catkin_LIBRARIES}
            ${OpenCV_LIBS}
            driver
    )
    
    #############
    ## 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_demour.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)

3.ros中更换第三方opencv库

配置文件地址为：/opt/ros/melodic/share/cv\_bridge/cmake/cv\_bridgeConfig.cmake

将119行注释（可以在vim中按：输入set number显示行号）或者直接在里面修改，结果如下

注意：set(libraries " 后面把所有库都加进去）

cmakelist.txt按第一个写

# 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-kinetic-cv-bridge-1.12.8)
      set(cv_bridge_DEVEL_PREFIX /tmp/binarydeb/ros-kinetic-cv-bridge-1.12.8/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/kinetic)
      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)
    ##susususu
    #if(NOT "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv " STREQUAL " ")
    if(NOT "include;/home/iimt/3rdparty/OpenCV-3.4.9/include " STREQUAL " ")
      set(cv_bridge_INCLUDE_DIRS "")
    ##susususu
      #set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv")
    set(_include_dirs "include;/home/iimt/3rdparty/OpenCV-3.4.9/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()
    
    ##susususu
    
    #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")
    #set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4.9")
    set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_aruco.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bgsegm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_bioinspired.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_calib3d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ccalib.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_core.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_datasets.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dnn_objdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_dpm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_face.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_features2d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_flann.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_freetype.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_fuzzy.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hdf.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_hfs.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_highgui.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgcodecs.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_img_hash.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_imgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_line_descriptor.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ml.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_objdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_optflow.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_phase_unwrapping.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_photo.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_plot.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_reg.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_rgbd.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_saliency.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_sfm.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_shape.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stereo.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_stitching.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_structured_light.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_superres.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_surface_matching.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_text.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_tracking.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_video.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videoio.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_videostab.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_viz.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xfeatures2d.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_ximgproc.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xobjdetect.so.3.4.9;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so.3.4;/home/iimt/3rdparty/OpenCV-3.4.9/lib/libopencv_xphoto.so.3.4.9")
    #set(libraries "cv_bridge;/home/iimt/3rdparty/OpenCV-3.4.9/lib")
    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/kinetic/lib;/opt/ros/kinetic/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()

# 编译opencv-3.4.9 #

# 编译安装OpenCV依赖库 #

## 编译安装OpenCV环境 ##

### 准备源码 ###

# 编译工具
    sudo apt-get install build-essential
    # 必须的
    sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
    
    sudo apt-get install libeigen3-dev libgflags-dev libgoogle-glog-dev
    sudo apt-get install libsuitesparse-dev
    
    # 可选的
    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 gtk-3.0-dev
    sudo apt-get install libatlas-base-dev gfortran
    
    # 创建一个总目录存放两个子目录
    mkdir -p ~/3rdparty/source/opencv_env
    cd ~/3rdparty/source/opencv_env
    
    # 如果网络好就直接执行命令 , 总共700MB
    git clone -b 3.4 https://gitee.com/mirrors/opencv.git
    git clone -b 3.4 https://gitee.com/mirrors/opencv_contrib.git
    
    # 或者直接使用资料中下好的文件, 将这两个文件拷贝到opencv_env路径下
    opencv-3.4.9.zip
    opencv_contrib-3.4.9.tar.gz
    # 使用tar -zxvf xxx.tar.gz 将上述两个文件进行解压

### 准备编译依赖的文件 ###

修改hosts文件

打开此链接：https://githubusercontent.com.ipaddress.com/raw.githubusercontent.com

将其中显示的IP Address地址复制到粘贴板，这里为`199.232.96.133`

![image-20201118151707815][]

编辑系统的hosts文件：

sudo gedit /etc/hosts

把以下内容追加到末尾即可：

199.232.96.133  raw.githubusercontent.com

注意，这里用到的ip地址是我在网站链接中获取的，可能与你获得的不同，注意区分，直接复制使用不保证有效！

提前释放要下载的内容到.cache目录

建议在直接将cache.tar.gz内容解压缩到opencv源码根目录下的.cache，即可避免由于需要在线下载会出现的问题。原因是执行cmake时候，脚本会自动到github的资源库`raw.githubusercontent.com`下载文件，而这个网站时不时的就被河蟹了（科学上网可以解决，但不是人人都有梯子的），所以这里提前把脚本要下载的准备到opencv源码根目录里的`.cache`里即可。注意此cache目前在`opencv-3.4.9`情况下可用，其他版本不保证。

`cache.tar.gz`的百度网盘链接: https://pan.baidu.com/s/1kZU1gakKLP-LjSxQ4DYw7g 提取码: 5fxk

然后执行以下命令，将其内容解压到opencv的源码根目录

tar -zxvf cache.tar.gz -C opencv

此时，进入opencv目录，确认是否有.cache目录即可，注意这个是隐藏目录，文件浏览器里按 `Ctrl+H` 可以查看隐藏目录，命令行里可以输入`ls -al`查看

### 配置&编译&安装 ###

# 进入Opencv目录
    cd opencv-3.4.9
    # 创建一个build目录
    mkdir build
    # 进入build目录
    cd build
    
    # cmake编译配置：也可以自行使用cmake-gui配置
    
    # 一定要确保以下用到的OPENCV_EXTRA_MODULES_PATH参数路径在你那里是存在且正确的！！！
    
    # 注意末尾的两个点 .. 不能少，注意最后一个参数要根据你自己的路径来
    cmake -D CMAKE_BUILD_TYPE=Release \
          -D BUILD_opencv_python2=OFF \
          -D BUILD_opencv_python3=ON \
          -D CMAKE_INSTALL_PREFIX=/usr/local \
          -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules ..
    
    # 或者用这个，可以编译安装一些Python和C++案例
    cmake -D CMAKE_BUILD_TYPE=Release \
          -D BUILD_opencv_python2=OFF \
          -D BUILD_opencv_python3=ON \
          -D CMAKE_INSTALL_PREFIX=/usr/local \
          -D INSTALL_PYTHON_EXAMPLES=ON \
          -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules \
          -D BUILD_EXAMPLES=ON ..
    
    # 或者指定任意输出目录，例如我把OpenCV输出到 ~/3rdparty/OpenCV-3.4.9
    cmake -D CMAKE_BUILD_TYPE=Release \
         -D BUILD_opencv_python2=OFF \
         -D BUILD_opencv_python3=ON \
         -D CMAKE_INSTALL_PREFIX=~/3rdparty/OpenCV-3.4.9 \
         -D INSTALL_PYTHON_EXAMPLES=ON \
         -D OPENCV_EXTRA_MODULES_PATH=~/3rdparty/source/opencv_env/opencv_contrib-3.4.9/modules \
         -D BUILD_EXAMPLES=ON ..
    
    
    # 开启8个线程
    make -j8
    
    # 编译成功之后, 再执行安装
    # 这里会安装到刚刚CMAKE_INSTALL_PREFIX指定的路径，如果时使用的~/开头的用户目录，建议不要加sudo
    sudo make install

正常情况下，编译安装即到此完毕！

### 出现的问题 ###

**！！！！！！！！！！如果.cache目录已按照上述步骤自行解压过，则以下步骤可以省略！！！！！！！！！！！！！！！**

*  **ippicv**

由于是外国服务器原因，这里极大概率会出现下载错误，会提示`ippicv_2019_lnx_intel64_general_20180723.tgz` 下载失败!！解决方式如下

**方式1：**推荐

将`ippicv_2019_lnx_intel64_general_20180723.tgz`拷贝为`opencv/.cache/ippicv/c0bd78adb4156bbf552c1dfe90599607-ippicv_2019_lnx_intel64_general_20180723.tgz`即可

**方式2：**

# 打开终端，输入
    gedit ~/opencv_env/opencv/3rdparty/ippicv/ippicv.cmake #就是这个文件的路径
    # 将47行的
    "https://raw.githubusercontent.com/opencv/opencv_3rdparty/${IPPICV_COMMIT}ippicv/"
    # 改为步骤1中手动下载的文件的本地路径(也就是将网络下载的模式改为本地文件下载的模式):
     "file:///home/itheima/opencv_env/" #（仅供参考，根据自己的路径填写,ippicv所在的目录）

*  **face\_landmark\_model.dat**

cmake过程中会到[https://raw.githubusercontent.com/opencv/opencv\_3rdparty/8afa57abc8229d611c4937165d20e2a2d9fc5a12/face\_landmark\_model.dat][https_raw.githubusercontent.com_opencv_opencv_3rdparty_8afa57abc8229d611c4937165d20e2a2d9fc5a12_face_landmark_model.dat]下载dat文件，这里提前准备好，就不需要联网下啦，进入opencv源码根目录，执行：

mkdir -p .cache/data
    
    cp face_landmark_model.dat .cache/data/7505c44ca4eb54b4ab1e4777cb96ac05-face_landmark_model.dat

*  **opencv boostdesc\_bgm.i**

> opencv boostdesc\_bgm.i: No such file or directory

查看下载失败的文件

opencv/build$ cat CMakeDownloadLog.txt

直接自行下载到指定目录，或将一下文件拷贝到指定目录

### Clion中添加依赖参考 ###

修改Cmake配置文件

cmake_minimum_required(VERSION 3.14)
    project(study_opencv_cpp)
    
    set(CMAKE_CXX_STANDARD 11)
    
    find_package(OpenCV REQUIRED)
    
    add_executable(main main.cpp)
    target_link_libraries(main ${OpenCV_LIBS})

## 代码测试 ##

### Mat类 ###

数据类型定义

CV_位数(S|U|F)C通道数量
    位数:
        8位 , 16位, 32位 ,64位  单通道颜色取值范围是0-255,所以通常是8位
    
    S|U|F:
        S--代表---signed int---有符号整形
        U--代表--unsigned int--无符号整形
        F--代表--float---------单精度浮点型
    
    C通道数量:
        通道数量 = 1：灰度图片,单通道图像
        通道数量 = 3：灰度图片,单通道图像
        通道数量 = 4：带Alph通道的RGB图像,png图片是这种

### 图片基本操作 ###

#include <iostream>
    #include <opencv2/opencv.hpp>
    
    using namespace std;
    using namespace cv;
    
    int main(){
    
        Mat img = imread("../assets/lena.jpg",IMREAD_COLOR);
        cout<<"read img success!";
        imshow("img",img);
    
        // 获取图片的大小
        Size imgSize = img.size();
        cout<<"img size:"<<imgSize;
        // 获取图片的通道数量
        int channels = img.channels();
        // 获取数据类型
        cout<<"channels:"<<channels<<"type:"<<img.type()<<endl;
    
    
        // 创建一个图片对象
        Mat dst(400,600,CV_8UC3);
        // 在图片中间增加一根红色的线
        for(int i=0;i<600;i++){
            dst.at<Vec3b>(200,i) = Vec3b(0,0,255);
        }
    
        namedWindow("dst",WINDOW_NORMAL);
        imshow("dst",dst);
    
        waitKey(0);
        destroyAllWindows();
        return 0;
    }

### 图像剪切 ###

示例代码

#include <iostream>
    #include <opencv2/opencv.hpp>
    
    using namespace std;
    using namespace cv;
    
    int main(){
        Mat img = imread("../assets/itheima.jpg",IMREAD_COLOR);
    
        // 定义要截取的矩形框
        Rect rect(100,50,200,200);
    
        // 这样即可完成截取
        Mat roi = img(rect);
    
        imshow("src",img);
        imshow("roi",roi);
    
    
        waitKey(0);
        destroyAllWindows();
        return 0;
    }

[image-20201118151707815]: /images/20221024/501520b01876493dafbcacc255534185.png
[https_raw.githubusercontent.com_opencv_opencv_3rdparty_8afa57abc8229d611c4937165d20e2a2d9fc5a12_face_landmark_model.dat]: https://raw.githubusercontent.com/opencv/opencv_3rdparty/8afa57abc8229d611c4937165d20e2a2d9fc5a12/face_landmark_model.dat