96 lines
3.6 KiB
Markdown
96 lines
3.6 KiB
Markdown
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# 在ROS中重新编译和配置OpenCV 4.2版本
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## 背景问题
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1. GTK的依赖与ORB中的GTK依赖有冲突。
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2. 如果需要新增加模块且不希望系统中有多份OpenCV，可以按照以下方法重新编译OpenCV并重置系统中的OpenCV。
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## 步骤
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### 1. 下载OpenCV源码和OpenCV-contrib源码
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- OpenCV: [opencv 4.2.0](https://opencv.org/blog/opencv-4-2-0/) 或者 [GitHub](https://github.com/opencv/opencv/releases/tag/4.2.0)
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- OpenCV-contrib: [GitHub](https://github.com/opencv/opencv_contrib/releases/tag/4.2.0)
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### 2. 编译OpenCV和contrib库
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推荐安装cmake-gui:
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```sh
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sudo apt-get install cmake-gui
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```
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#### 2.1 更改CMakeList
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- `opencv/3rdparty/carotene/CMakeList.txt`
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将以下内容添加到文件中：
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```cmake
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set_source_files_properties(${carotene_sources} COMPILE_FLAGS "--param ipa-cp-unit-growth=100000 --param inline-unit-growth=100000 --param large-stack-frame-growth=5000")
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```
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- `opencv_contrib/modules/sfm/src/libmv_light/libmv/multiview/CMakeLists.txt`
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将以下内容添加到文件中：
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```cmake
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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``
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#### 2.2 配置CMake编译选项
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选择安装模块和安装路径，注意路径不要设置为系统路径，后面会手动拷贝到系统目录中：
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```sh
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cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules-4.2.0/modules \
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-DOPENCV_GENERATE_PKGCONFIG=TRUE \
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-DCMAKE_INSTALL_PREFIX=/home/autolabor/ThirdParty/opencv-build \
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-DBUILD_TESTS=OFF \
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-DCMAKE_CXX_STANDARD=11
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-DCMAKE_CXX_STANDARD_REQUIRED=ON..
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```
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或者通过cmake-gui选择这些编译选项
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#### 2.3 编译和安装
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```sh
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sudo make install -j8
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```
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### 3. 覆盖系统OpenCV库
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#### 3.1 拷贝文件夹内容
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分别将右侧的`bin`、`include`、`lib`、`share`中的内容拷贝到：
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```sh
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sudo cp -r /home/autolabor/ThirdParty/opencv-build/build/bin/* /usr/bin/
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sudo cp -r /home/autolabor/ThirdParty/opencv-build/build/include/opencv4 /usr/include/
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sudo cp -r /home/autolabor/ThirdParty/opencv-build/build/share/opencv4 /usr/share/
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sudo cp /home/autolabor/ThirdParty/opencv-build/build/lib/*.4.2.0 /usr/lib/aarch64-linux-gnu/
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```
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#### 3.2 创建软链接脚本
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执行`create_link.sh`脚本，添加so库的链接 `*.so -> *.so.4.2`, `*.so.4.2 -> *.so.4.2.0`
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#### 3.3 配置pkgconfig
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拷贝`opencv4.pc`文件到`/usr/lib/aarch64-linux-gnu/pkgconfig/`中：
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```sh
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sudo cp /home/autolabor/ThirdParty/opencv-build/build/lib/pkgconfig/opencv4.pc /usr/lib/aarch64-linux-gnu/pkgconfig/
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```
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使用`pkg-config --modversion opencv4`，检查是否配置成功，正常能看到4.2.0的输出了。
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#### 3.4 配置CMake文件
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- 拷贝Opencv的CMake文件到`/usr/lib/aarch64-linux-gnu/cmake/`中：
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```sh
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sudo cp -r /home/autolabor/ThirdParty/opencv-build/build/lib/cmake/opencv4 /usr/lib/aarch64-linux-gnu/cmake/
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```
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- 修改`OpenCVConfig.cmake`文件，将`OpenCV_INSTALL_PATH`目录多添加一层`../`，即指向`/usr`。
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- 修改`OpenCVModules-release.cmake`文件，将所有的`/lib/`替换为`/aarch64-linux-gnu/`。
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这样就完成了CMake的配置，在调用`find_package(OpenCV)`时，会调用这几个CMake文件。
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#### 3.5 配置Python
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拷贝python3.8和python2.7调用的动态连接库：
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```sh
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sudo cp /home/autolabor/ThirdParty/opencv-build/build/lib/python3.8/dist-packages/cv2/python3.8/*.so /usr/lib/python3.8/dist-packages/cv2/python3.8/
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sudo cp /home/autolabor/ThirdParty/opencv-build/build/lib/python2.7/dist-packages/cv2/python2.7/*.so /usr/lib/python2.7/dist-packages/cv2/python2.7/
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```
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此时，就可以在Python中调用`import cv2`了。
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