编译vins_fusion遇到opencv库链接冲突

细火荒原

https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
catkin_make结果：

[ 90%] Linking CXX executable /home/bluesea/vins_ws/devel/lib/loop_fusion/loop_fusion_node
/usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by /home/bluesea/vins_ws/devel/lib/libcamera_models.so, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by /home/bluesea/vins_ws/devel/lib/libcamera_models.so, may conflict with libopencv_imgproc.so.4.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /home/bluesea/vins_ws/devel/lib/libcamera_models.so, may conflict with libopencv_core.so.4.2
/usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/bluesea/vins_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.4, needed by /home/bluesea/vins_ws/devel/lib/libvins_lib.so, may conflict with libopencv_imgcodecs.so.4.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_video.so.3.4.11, may conflict with libopencv_core.so.4.2
[ 98%] Built target kitti_gps_test
/usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/bluesea/vins_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.4, needed by /home/bluesea/vins_ws/devel/lib/libvins_lib.so, may conflict with libopencv_imgcodecs.so.4.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_video.so.3.4.11, may conflict with libopencv_core.so.4.2
[ 98%] Built target kitti_odom_test
/usr/bin/ld: warning: libopencv_video.so.4.2, needed by /home/bluesea/vins_ws/devel/lib/libvins_lib.so, may conflict with libopencv_video.so.3.4
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_video.so.3.4.11, may conflict with libopencv_core.so.4.2
[100%] Built target vins_node

运行节点vins_node报错：段错误（核心已转储）

尝试解决：
https://blog.csdn.net/qq_52068373/article/details/127871743
将/opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake按照博客中的修改后编译报错

-- +++ processing catkin package: 'loop_fusion'
-- ==> add_subdirectory(VINS-Fusion/loop_fusion)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:173 (message):
  Project 'loop_fusion' tried to find library
  'usr/local/lib/libopencv_calib3d.so'.  The library is neither a target nor
  built/installed properly.  Did you compile project 'cv_bridge'? Did you
  find_package() it before the subdirectory containing its code is included?
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  VINS-Fusion/loop_fusion/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!

请问如何解决

Elysia

@2790341615 我也遇到过。有个功能只有在高版本的OpenCV中才有实现。

最后的解决方法为，将冲突的包在本地编译而不是安装ROS编译好的版本，就可以统一使用编译环境的OpenCV了。

如果是一些内置包，比如CV_Bridge之类的，有许多其他包依赖无法卸载的，我的做法是拉取源码，然后把包名批量替换为my_cv_bridge，然后只在我需要不同的OpenCV版本的地方才用这个自己替换后的包，达到统一版本的效果。

细火荒原

十分简单和无语：不用改cv_bridgeConfig，由于ros使用4.2，只要vins也用4.2就行了，在报错的功能包cmakelist加入find_package(OpenCV 4)，并将 #include "opencv2/imgcodecs/legacy/constants_c.h" 在任意一个 .cpp file（如KITTIGPSTest.cpp）就可以了