pcl和opencv多版本共存

pcl和opencv多版本共存

在Ubuntu 16.04系統下安裝kinetic版本ROS， 會默認安裝opencv 3.3.1和pcl1.7.

• opencv安裝路徑

/opt/ros/kinetic/

• pcl安裝路徑

/usr/

如果想安裝opencv2.4版本，或者安裝pcl 1.8版本，那么如何設置安裝路徑，同時在CMakeLists中調用版本。

• opencv 2.4

首先從github上下載相應版本的release壓縮包

cd opencv-2.4
mkdir build 
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv-2.4 -DOPENCV_EXTRA_MODULES_PATH=path to opencv_contrib-3.2.0/modules/ ..
make -j4
sudo make install -j4

注：如果不設置-DCMAKE_INSTALL_PREFIX則默認安裝位置為： /usr/local/

在CMakeLists.txt設置，主要是設置OpenCVConfig.cmake的路徑。

set(OpenCV_DIR  "/usr/local/opencv-2.4/share/OpenCV/")
find_package(OpenCV)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
add_definitions(${OpenCV_DEFINATIONS})

• pcl 1.8

首先從github上下載相應版本的release壓縮包

cd pcl-1.8
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/pcl-1.8 -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
make -j4
sudo make install -j4

在CMakeLists.txt設置，主要是設置PCLConfig.cmake的路徑。

set(PCL_DIR "/usr/local/pcl-1.8/share/pcl-1.8")
find_package(PCL 1.8 REQUIRED COMPONENTS)
include_directiories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definations(${PCL_DEFINATIONS})

注： 依賴庫安裝沒有介紹

• 參考： https://blog.csdn.net/m0_37579176/article/details/83344698