I'm starting a project with OpenCV with ROS and i need to use xfeatures2d that is in opencv_contrib. I follow this instructions and modify my CMake File in this way:
cmake_minimum_required(VERSION 3.0.2)
project(visual_odometry)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
roscpp
rospy
sensor_msgs
nav_msgs
geometry_msgs
std_msgs
)
find_package(OpenCV 4 REQUIRED)
catkin_package()
include_directories(
# include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(show_image src/show_image.cpp)
target_link_libraries(show_image
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})
add_executable(show_video src/show_video.cpp)
target_link_libraries(show_video
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})
add_executable(visual_Odometry src/visual_Odometry.cpp)
target_link_libraries(visual_Odometry
${catkin_LIBRARIES}
${OpenCV_LIBRARIES})
After catkin_make
:
/usr/bin/ld: warning: libopencv_imgproc.so.4.5, needed by /usr/local/lib/libopencv_xfeatures2d.so.4.5.3, may conflict with libopencv_imgproc.so.3.2
During run time, some functions of imgproc like CLAHE algorithm doesn't work and my node stop to work.
When i build with catkin_make, cv_bridge find opencv3.2 default in ros, but my node find opencv4 thanks to CMake file. So, can I fix this? It is possible build in opencv3.2 a opencv_contrib? It is possibile to change the version of opencv in cv_bridge?
CodePudding user response:
I found a solution in Github:
In catkin_ws/src:
git clone https://github.com/fizyr-forks/vision_opencv/tree/opencv4
cd vision_opencv
git checkout opencv4