I'm trying to run ROS Melodic with OpenCV 4.2.0 on windows What is wrong with my CMakeLists? I have added OpenCV to my system path, but Catkin_make always gives this error:
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "4.2.0".
The following configuration files were considered but not accepted:
C:/opt/rosdeps/x64/CMake/OpenCVConfig.cmake, version: 3.4.1
The version it finds is the OpenCV shipped with ROS melodic distribution. How do I change where CMake searches?
This is my CMake:
cmake_minimum_required(VERSION 2.8.3)
project(nav_ross)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
cv_bridge
image_transport
pcl_ros
sensor_msgs
visualization_msgs
dynamic_reconfigure
geometry_msgs
)
find_package(OpenCV 4.2.0 REQUIRED)
add_message_files(
FILES
nav_msg.msg
)
generate_messages(
DEPENDENCIES
std_msgs
visualization_msgs
geometry_msgs
)
generate_dynamic_reconfigure_options(
cfg/post-process-config.cfg
)
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime cv_bridge image_transport pcl_ros sensor_msgs visualization_msgs geometry_msgs
)
include_directories(
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
../../cpp
cfg/cpp/nav_ross
)
add_library(iasdk_static STATIC ../../cpp/radarclient.cpp ../../cpp/tcpradarclient.cpp ../../cpp/tcpsocket.cpp ../../cpp/timer.cpp ../../cpp/threadedclass.cpp)
add_executable(Movement-Detector Movement-Detector.cpp)
target_link_libraries(Movement-Detector ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_dependencies(Movement-Detector nav_ross_generate_messages_cpp)
add_executable(talker1 talker1.cpp)
target_link_libraries(talker1 ${catkin_LIBRARIES} ${OpenCV_LIBS} iasdk_static)
add_dependencies(talker1 nav_ross_generate_messages_cpp ${devel2_pkg_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(Mobile_Platform Mobile_Platform.cpp)
target_link_libraries(Mobile_Platform ${catkin_LIBRARIES} ${OpenCV_LIBS} iasdk_static)
add_dependencies(Mobile_Platform nav_ross_generate_messages_cpp ${devel2_pkg_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Try to tell CMake where is your OpenCV, maybe it looks for the first one, and if found forces to use.
find_package(OpenCV REQUIRED PATHS Path/to/OpenCV NO_DEFAULT_PATH)
Related
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?
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
I have been losing my head over this for some time now. So I need to use the opencv in a ros melodic package built by the catkin on the Ubuntu 18.04. The idea is to make a package which is actually just a library and this library using all the regular ros packages (image_transport, cv_bridge, roscpp, rospy, std_msgs, genmsg, tf, actionlib_msgs, actionlib ).
Just to let you know, I have 2 opencv installed, the openCV 3.2 in the usr/share and the openCV 4.3 in the usr/local/share, that is why I have specifically set the openCV_DIR to point to the 3.2 version.
I have tried to add message to the CMakeList.txt to print out the opencv_version, opencv_include_dir and opencv_libs and the version is 3.2.0, include_dirs is /usr/include;/usr/include/opencv and libs are opencv_calib3d;opencv_core;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_viz;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_datasets;opencv_dpm;opencv_face;opencv_freetype;opencv_fuzzy;opencv_hdf;opencv_line_descriptor;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_reg;opencv_rgbd;opencv_saliency;opencv_stereo;opencv_structured_light;opencv_surface_matching;opencv_text;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto
in my pkg_library CMakeList.txt I have this:
cmake_minimum_required(VERSION 2.8.3)
project(pkg_libraries)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
set( OpenCV_DIR "/usr/share/OpenCV/" )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(
catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
genmsg
tf
actionlib_msgs
actionlib
sensor_msgs
cv_bridge
image_transport
message_generation
)
find_package(
OpenCV REQUIRED
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES pkg_libraries
CATKIN_DEPENDS roscpp rospy std_msgs tf actionlib actionlib_msgs cv_bridge
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME}
src/imageSaver.cpp
)
target_link_libraries( ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS} )
install(
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(
DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
the compilation of the pkg_libraries with the catkin_build looks just fine, but later when I try to do catkin_build in the another package which includes the pkg_libraries, it fails with the error:
libpkg_libraries.so: undefined reference to
`cv::imwrite(std::__cxx11::basic_string,
std::allocator > const&, cv::_InputArray const&,
std::vector > const&)'
Which I would say looks like the linker error, because I have used the cv::imwrite only in the pkg_libraries. and the package which reports the error includes only the pkg_libraries. So the pkg_libraries but it is obviously not linked properly, but it is built without errors.
What am I missing here?
Thanks
the problem was because of the pkg_libraries is built like a shared library in which I have had another .cpp and .h which were using different openCV versions (default opencv 3.2) and I think the problem happened because by loading the libpkg_libraries.so I have made a conflict between openCV version.
Anyway, now I have made separate libraries and it works as it suppose to work.
Thanks
I'm getting this error when I catkin_make my workspace:
[100%] Linking CXX executable /home/ankilp/test_ws/devel/lib/lidar_depth/lidar_depth
/usr/bin/ld: cannot find -lQt5::Widgets
This is my CMakeList file:
cmake_minimum_required(VERSION 2.8.3)
project(lidar_depth)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
genmsg
)
find_package( PCL REQUIRED)
find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
include(${QT_USE_FILE})
add_definitions(-DQT_NO_KEYWORDS)
catkin_package(
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(${PROJECT_NAME} src/LidarDepth.cpp src/Projection_matrices.hpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${QT_LIBRARIES}
)
I don't explicitly use anything related to Qt. I installed Qt5 separately but the problem persists. Is there a separate process to link Qt to my system?
It looks like you're using at least ROS Kinetic (based on the comment where you add compile options). Most things in Kinetic depend on Qt5 instead of Qt4. Try making the following changes to your CMakeLists.txt file:
Replace this line
find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
with these lines
find_package(Qt5 COMPONENTS Core Gui Widgets REQUIRED)
set(QT_LIBRARIES Qt5::Widgets)
If this doesn't work for you, leave a comment as I have a working CMakeLists.txt file for Qt5 in Kinetic and can probably determine what else needs changed, but I think that is the minimal change to make.
If you have installed Qt seperately, you have to tell CMAKE where it can find you installation. This can be done by specifying the CMAKE_PREFIX_PATH inside the CMakeLists.txt file or in the terminal before executing cmake (ref). E.g.:
$ export CMAKE_PREFIX_PATH=/location/to/you/installation
I am new to Computer Vision. On Cmake, i am trying to use PCL and OpenCV with a 2D Lidar sensor.
I saw this tutorial: [http://unanancyowen.com/en/pcl18/#Download1
And to configure PCL on CmakeLists.txt the following code is used:
cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
# Find Packages
find_package( PCL 1.8 REQUIRED )
if( PCL_FOUND )
# Additional Include Directories
# [C/C++]>[General]>[Additional Include Directories]
include_directories( ${PCL_INCLUDE_DIRS} )
# Preprocessor Definitions
# [C/C++]>[Preprocessor]>[Preprocessor Definitions]
add_definitions( ${PCL_DEFINITIONS} )
#add_definitions( -DPCL_NO_PRECOMPILE )
# Additional Library Directories
# [Linker]>[General]>[Additional Library Directories]
link_directories( ${PCL_LIBRARY_DIRS} )
# Additional Dependencies
# [Linker]>[Input]>[Additional Dependencies]
target_link_libraries( project ${PCL_LIBRARIES} )
endif()
And to configure CmakeLists.txt for OpenCV, the following code:
cmake_minimum_required( VERSION 3.6 )
# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )
# Project Settings for OpenCV
if( OpenCV_FOUND )
# Additional Include Directories
# [C/C++]>[General]>[Additional Include Directories]
include_directories( ${OpenCV_INCLUDE_DIRS} )
# Additional Library Directories
# [Linker]>[General]>[Additional Library Directories]
link_directories( ${OpenCV_LIB_DIR} )
# Additional Dependencies
# [Linker]>[Input]>[Additional Dependencies]
target_link_libraries( project ${OpenCV_LIBS} )
endif()
How do i make a CmakeLists.txt to use with both? PCL and OpenCV.
Found the answer asking on the website that i got those files:
http://unanancyowen.com/en/pcl18/#comment-1221
This is the code to pull OpenCV and PCL:
cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )
# Set StartUp Project (Option)
# (This setting is able to enable by using CMake 3.6.0 RC1 or later.)
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
# Find Packages
# Find PCL
find_package( PCL 1.8 REQUIRED )
# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )
if( PCL_FOUND AND OpenCV_FOUND )
# [C/C++]>[General]>[Additional Include Directories]
include_directories( ${PCL_INCLUDE_DIRS} )
include_directories( ${OpenCV_INCLUDE_DIRS} )
# [C/C++]>[Preprocessor]>[Preprocessor Definitions]
add_definitions( ${PCL_DEFINITIONS} )
# For Use Not PreCompiled Features
#add_definitions( -DPCL_NO_PRECOMPILE )
# [Linker]>[General]>[Additional Library Directories]
link_directories( ${PCL_LIBRARY_DIRS} )
link_directories( ${OpenCV_LIB_DIR} )
# [Linker]>[Input]>[Additional Dependencies]
target_link_libraries( project ${PCL_LIBRARIES} )
target_link_libraries( project ${OpenCV_LIBS} )
endif()
And on this link there is an old explanation and here my question on the OpenCV here.
To use PCL and OpenCV simultaneously in the same project,You can write CMakeLists.txt file in minimum line as below:
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(project_name)
find_package(PCL 1.4 REQUIRED)
find_package(OpenCV REQUIRED)
include_directories(${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS} )
add_executable (project_executable main.cpp)
target_link_libraries (project_executable ${PCL_LIBRARIES} ${OpenCV_LIBS})
Am so far not able to use cv_bridge. Am getting this compilation error
CMake Error at /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake:106 (message):
Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'/opt/ros/indigo//usr/include/opencv'. Ask the maintainer ..
May be the problem in my CMake (...?)
cmake_minimum_required(VERSION 2.8.3)
project(XY)
find_package(catkin REQUIRED COMPONENTS
cv_bridge
image_transport
roscpp
rospy
std_msgs
)
#set(OpenCV_DIR "/usr/local/lib/opencv")
find_package(OpenCV REQUIRED core imgproc highgui PATHS /home/polar/soft/lib/opencv/opencv-3.1.0/cmake)
include_directories( ${OpenCV_INCLUDE_DIRS} )
if(OpenCV_FOUND)
# include_directories(${Boost_INCLUDE_DIRS})
message("\n\n OpenCV found!!!! \n\n")
endif()
Any idea on the cause of the problem and how to solve it please?
I was using ROS fuerte in the past and never experience such problems....
Finally, I modified file /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake
I changed
set(cv_bridge_FOUND_CATKIN_PROJECT TRUE)
if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
set(cv_bridge_INCLUDE_DIRS "")
set(_include_dirs "include;/usr/include/opencv;/usr/include")
to
set(cv_bridge_FOUND_CATKIN_PROJECT TRUE)
if(NOT "include;/usr/local/include/opencv" STREQUAL " ")
set(cv_bridge_INCLUDE_DIRS "")
set(_include_dirs "/usr/local/include/opencv;/usr/include;/usr/local/include")
In fact I just changed usr/include to /usr/local/include. This solved my problem. But I do not think it the correct way to do (?).