ROS中安装任意版本的OPENCV

转自:http://tieba.baidu.com/p/5023000237

安装 Opencv 3.2 on Ubuntu 16.04 并创建node测试

step 1: 安装一些package

sudo apt-get -y install libopencv-dev build-essential cmake git libgtk2.0-dev pkg-config python-dev python-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libtbb-dev libqt4-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils unzip

step 2: 创建新的文件夹作为OpenCV的目录

mkdir opencv

step 3: 将路径转到OpenCV的目录

cd opencv

step 4: 下载OpenCV的安装包

wget https://github.com/Itseez/opencv/archive/3.2.0.zip -O opencv-3.2.0.zip

(注:此处3.2.0可换成任意自己需要的版本即可直接下载相应版本)

step 5: 解压OpenCV的安装包

unzip opencv-3.2.0.zip

step 6: 将路径转到opencv-3.2.0的目录

cd opencv-3.2.0

step 7: 创建build文件夹

mkdir build

step 8: 将路径转到build文件夹

cd build

step 9: 运行cmake

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..

step 10: 运行make

make -j $(nproc)

step 11: 运行install

sudo make install

step 12: 运行bash

sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'

step 13: 运行配置

sudo ldconfig

step 14: 重启

Reboot your machine and run following command to check installed version

step 15: 查询版本

pkg-config --modversion opencv
安装成功！可以创建一个node测试了！
ROS node:
在自己的 package 的 src 目录下创建自己的.cpp file.
修改
CMakeLists.txt 和 package.xml, 主要是为了添加 opencv 的头文件 header files 路径 和
libraries 路径, target_link_libraries( 你的可执行文件名 ${catkin_LIBRARIES}
$(OpenCV_LIBARARIES))
参考：
https://www.linuxhint.com/stellarium-0-14-1-desktop-planetarium-projector-released/
http://www.pyimagesearch.com/2016/10/24/ubuntu-16-04-how-to-install-opencv/