将ROS Noetic链接到OpenCV的构建
我正在写一个使用OpenCV和Sift的ROS节点（ROS Noetic，Ubuntu 20.04）。 从OPENCV版本4开始，SIFT算法是 opencv_contrib package的一部分。 在我的ROS节点中，我想使用ROS包CV_Bridge，在OpenCV映像格式和ROS Image传感器消息之间转换。
我的理解是，
- 仅当与源中的OpenCV一起构建此类软件包时，OPENCV_CONTRIB软件包中的代码才可用。
- CV_Bridge取决于OpenCV的Ubuntu软件包版本，libopencv-dev。
我目前都已经安装了（Ubuntu软件包和从源中收集的版本），并且我试图使我的节点取决于源代码编译，以便使用非免费算法。 为此，我的过程是（使用其他模块编译OpenCV和OpenCV_ENABLE_NONFREE = ON之后）添加到CMAKELISTS.TXT.txt以下行：
find_package(OpenCV PATHS .../opencv-4.5.4/cmake)
include_directories(include ${catkin_INCLUDE_DIRS} .../opencv-4.5.4/include)
link_directories(.../opencv-4.5.4/lib)
add_executable(...)
target_link_libraries(nodeName ${catkin_LIBRARIES} .../opencv-4.5.4/lib)
为了将我的代码链接到编译版本的OpenCV版本。但是，当我尝试使用catkin build进行构建时，我会得到：
In file included from [...]:
[...]/markerDetection.h:8:10: fatal error: opencv2/xfeatures2d.hpp: No such file or directory
8 | #include <opencv2/xfeatures2d.hpp>
我怀疑ROS试图链接到我通过软件包管理器安装的版本，实际上它没有opencv2 /xfeatures2d.hpp库。 我是否在cmakelists.txt中设置了错误的选项？我想做的甚至可能做的事情吗？
I am writing a ROS node which uses OpenCV and SIFT (ROS Noetic, Ubuntu 20.04).
As of OpenCV version 4, the SIFT algorithm is part of the opencv_contrib package.
Within my ROS node, I want to use the ROS package cv_bridge, to convert between the OpenCV image format and ROS image sensor messages.
My understanding is that
- Code in the opencv_contrib package is only usable if such package is built together with OpenCV from source.
- cv_bridge depends on the Ubuntu package version of OpenCV, libopencv-dev.
I currently have both installed (the Ubuntu package and the version compiled from source) and I am trying to have my node depend on the source-compiled one, in order to use the non-free algorithms.
My procedure in order to do this is (after compiling OpenCV with the additional modules and OPENCV_ENABLE_NONFREE=ON) adding to the CMakeLists.txt of my package the following lines:
find_package(OpenCV PATHS .../opencv-4.5.4/cmake)
include_directories(include ${catkin_INCLUDE_DIRS} .../opencv-4.5.4/include)
link_directories(.../opencv-4.5.4/lib)
add_executable(...)
target_link_libraries(nodeName ${catkin_LIBRARIES} .../opencv-4.5.4/lib)
in order to link my code to the compiled version of OpenCV. However, when I try to build it with catkin build I obtain:
In file included from [...]:
[...]/markerDetection.h:8:10: fatal error: opencv2/xfeatures2d.hpp: No such file or directory
8 | #include <opencv2/xfeatures2d.hpp>
I suspect that ROS is trying to link to the version I installed through the package manager, which in fact does not have the opencv2/xfeatures2d.hpp library.
Am I setting the wrong options in CMakeLists.txt? Is what I am trying to do even possible?
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