注意，本文章只针对简单的应用，不涉及到复杂的严重依赖OpenCV模块的项目。如果依赖复杂，可能会导致OpenCV 2.X与OpenCV 3.X的运行时库同时被加载，导致运行时候崩溃。
最近在使用ROS开发项目，代码从Indigo(Ubuntu 14.04)升级到Kinetic（Ubuntu 16.04）。
发现OpenCV升级到了opencv-3.2.0-dev版本,但是实际使用中发现代码在opencv-2.4.9版本上能正确运行，但是升级到opencv-3.2.0-dev版本之后，就不能正常工作了。
为了查找问题，需要降级一下OpenCV版本。
网上查找了一下，找到如下解决方法：
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$ sudo apt-get install libcv-dev $ sudo apt-get install libopencv-dev $ sudo apt-get install libopencv-contrib-dev $ sudo apt-get install libopencv-gpu-dev $ sudo gedit /opt/ros/kinetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake |
然后修改如下的内容(修改之前请注意先备份）
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第94-96行： if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ") set(cv_bridge_INCLUDE_DIRS "") set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev") #112行： set(libraries "cv_bridge;/opt/ros/kinetic/lib/libopencv_calib3d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_core3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_features2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_flann3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_highgui3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ml3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_objdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_photo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_shape3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stitching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_superres3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_video3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videoio3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videostab3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_viz3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_aruco3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bgsegm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bioinspired3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ccalib3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_cvv3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_datasets3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_dpm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_face3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_fuzzy3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_hdf3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_line_descriptor3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_optflow3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_phase_unwrapping3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_plot3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_reg3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_rgbd3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_saliency3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stereo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_structured_light3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_surface_matching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_text3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ximgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xobjdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xphoto3.so.3.2.0") |
指向系统自带的opencv-2.4.9版本
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#94-96行： if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ") set(cv_bridge_INCLUDE_DIRS "") set(_include_dirs "include;/usr/include/opencv;/usr/include") #112行： set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so") |
修改完成后，必要的情况下,请在删除~/workspace/ros/catkin/目录下的build，devel目录之后，重新编译。