git config --global url.https://github.com.insteadOf git://github.comsudo apt update sudo apt upgrade -y # 安装编译工具和依赖库 sudo apt install -y \ build-essential \ cmake \ git \ pkg-config \ libgtk-3-dev \ libavcodec-dev \ libavformat-dev \ libswscale-dev \ libv4l-dev \ libxvidcore-dev \ libx264-dev \ libjpeg-dev \ libpng-dev \ libtiff-dev \ gfortran \ openexr \ libatlas-base-dev \ python3-dev \ python3-numpy \ libtbb2 \ libtbb-dev \ libdc1394-22-dev \ libopenexr-dev \ libgstreamer-plugins-base1.0-dev \ libgstreamer1.0-dev \ libcanberra-gtk-module \ libcanberra-gtk3-module步骤 2下载 OpenCV 4.2.0 源码bash# 创建工作目录 mkdir -p ~/opencv42 cd ~/opencv42 # 下载 OpenCV 4.2.0 的源码压缩包 wget -c https://github.com/opencv/opencv/archive/refs/tags/4.2.0.zip -O opencv-4.2.0.zip # 3. 下载 opencv_contrib 4.2.0 的源码压缩包 wget -c https://github.com/opencv/opencv_contrib/archive/refs/tags/4.2.0.zip -O opencv_contrib-4.2.0.zip# 解压 unzip opencv-4.2.0.zip unzip opencv_contrib-4.2.0.zip#或者 mkdir ~/opencv42 cd ~/opencv42 git clone https://github.com/opencv/opencv.git git clone https://github.com/opencv/opencv_contrib.git cd opencv git checkout 4.2.0 cd ../opencv_contrib git checkout 4.2.02 编译cd ~/opencv42/opencvmkdir buildcd buildcmake \-D CMAKE_BUILD_TYPERelease \-D CMAKE_INSTALL_PREFIX/opt/opencv-4.2 \-D OPENCV_EXTRA_MODULES_PATH~/opencv42/opencv_contrib/modules \-D BUILD_EXAMPLESOFF \-D BUILD_TESTSOFF \-D BUILD_PERF_TESTSOFF \-D WITH_TBBON \-D WITH_V4LON \-D WITH_QTON \-D WITH_OPENGLON ..3 编译安装cmake ..make -j8sudo make install五、配置 OpenCV 环境变量1 动态库路径echo /opt/opencv-4.2/lib | sudo tee /etc/ld.so.conf.d/opencv-4.2.confsudo ldconfig验证ldconfig -p | grep opencv2 bashrc 配置echo export LD_LIBRARY_PATH/opt/opencv-4.2/lib:$LD_LIBRARY_PATH ~/.bashrcsource ~/.bashrc六、解决 ROS OpenCV 3.2 冲突ROS Melodic 默认/usr/lib/x86_64-linux-gnu/libopencv*.so.3.2而 FAST-LIVO2 需要/opt/opencv-4.2必须重新编译 cv_bridge七、编译 OpenCV4 版本的 cv_bridge1 创建 workspacemkdir -p ~/catkin_ws/srccd ~/catkin_wscatkin_make2 下载 vision_opencvcd ~/catkin_ws/srcgit clone https://github.com/ros-perception/vision_opencv.git3 切换版本Melodic 推荐cd vision_opencvgit checkout melodic4 修改 OpenCV 版本在cv_bridge/CMakeLists.txt中修改确认find_package(OpenCV 4 REQUIRED)这样的话编译过之后会让他和opencv4“连接”起来5 编译cd ~/catkin_wscatkin_make \-DOpenCV_DIR/opt/opencv-4.2/lib/cmake/opencv4 \-DCMAKE_BUILD_TYPERelease6 验证ldd ~/catkin_ws/devel/lib/libcv_bridge.so | grep opencv应该全部是libopencv_core.so.4.2libopencv_imgproc.so.4.2而不是带有3.2显示的语句eg opencv 3.2十七、常见问题总结1 OpenCV 冲突现象libopencv_imgcodecs.so.3.2libopencv_imgcodecs.so.4.2解决重新编译 cv_bridge2 Python cv2 报错ImportError: libopencv_hdf.so.4.2解决sudo ldconfig