安装OpenCV3.2.0 - ubuntu18.04 cuda9.2

前言：本来ubuntu18.0.4应该是自带OpenCV3.2的，但是我不知道做了什么，它不见了（或是升级到pencv4了）！！！但melodic用的是opencv3.2导致有些库因版本不同产生冲突。固打算装回opencv3.2（不删除opencv4，可以切换使用）

1、安装opencv3.2.0依赖

sudo apt-get install build-essential  
  
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev  
  
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev  
 
sudo apt-get install build-essential qt5-default ccache libv4l-dev libavresample-dev  libgphoto2-dev libopenblas-base libopenblas-dev doxygen  openjdk-8-jdk pylint libvtk6-dev
 
sudo apt-get install pkg-config

2、下载opencv3.2.0和opencv_contrib

opencv3.2.0 github链接
https://github.com/opencv/opencv/releases/tag/3.2.0

opencv_contrib github链接
https://github.com/opencv/opencv_contrib/tags?after=3.4.3

分别解压，然后将解压后的opencv_contrib放到opencv3.2.0根目录下。

3、因为cuda9.2的版本比较高，不支持opencv3.2.0的编译，因此要对opencv3.2.0中的一些文件进行修改

A、在opencv3.2.0的cmake文件夹中找到FindCUDA.cmake文件

1）找到命令行

find_cuda_helper_libs(nppi)

改为

  find_cuda_helper_libs(nppial)
  find_cuda_helper_libs(nppicc)
  find_cuda_helper_libs(nppicom)
  find_cuda_helper_libs(nppidei)
  find_cuda_helper_libs(nppif)
  find_cuda_helper_libs(nppig)
  find_cuda_helper_libs(nppim)
  find_cuda_helper_libs(nppist)
  find_cuda_helper_libs(nppisu)
  find_cuda_helper_libs(nppitc)

2）找到命令行

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")

改为

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppial_LIBRARY};${CUDA_nppicc_LIBRARY};${CUDA_nppicom_LIBRARY};${CUDA_nppidei_LIBRARY};${CUDA_nppif_LIBRARY};${CUDA_nppig_LIBRARY};${CUDA_nppim_LIBRARY};${CUDA_nppist_LIBRARY};${CUDA_nppisu_LIBRARY};${CUDA_nppitc_LIBRARY};${CUDA_npps_LIBRARY}")

3）找到命令行

unset(CUDA_nppi_LIBRARY CACHE)

改为

unset(CUDA_nppial_LIBRARY CACHE)
unset(CUDA_nppicc_LIBRARY CACHE)
unset(CUDA_nppicom_LIBRARY CACHE)
unset(CUDA_nppidei_LIBRARY CACHE)
unset(CUDA_nppif_LIBRARY CACHE)
unset(CUDA_nppig_LIBRARY CACHE)
unset(CUDA_nppim_LIBRARY CACHE)
unset(CUDA_nppist_LIBRARY CACHE)
unset(CUDA_nppisu_LIBRARY CACHE)
unset(CUDA_nppitc_LIBRARY CACHE)

B、在opencv3.2.0的cmake中找到文件OpenCVDetectCUDA.cmake

修改以下命令行

  set(cuda_arch_ptx "")
  if(CUDA_GENERATION STREQUAL "Fermi")
    set(cuda_arch_bin "2.0")
  elseif(CUDA_GENERATION STREQUAL "Kepler")
    set(cuda_arch_bin "3.0 3.5 3.7")

将以上命令改为

  set(cuda_arch_ptx "")
  if(CUDA_GENERATION STREQUAL "Kepler")
    set(cuda_arch_bin "3.0 3.5 3.7")
  elseif(CUDA_GENERATION STREQUAL "Maxwell")
    set(cuda_arch_bin "5.0 5.2")

C、将头文件cuda_fp16.h添加至 opencv3.2.0/modules/cudev/include/opencv2/cudev/common.hpp

在common.hpp中添加

#include <cuda_fp16.h>

4、编译opencv3.2.0 with cuda9.2

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE   -D CMAKE_INSTALL_PREFIX=/usr/local/opencv320 -D WITH_TBB=ON -D WITH_V4L=ON   -D WITH_QT=ON   -D WITH_OPENGL=ON   -D WITH_CUDA=ON   -D ENABLE_FAST_MATH=1 -D CUDA_FAST_MATH=1   -D CUDA_NVCC_FLAGS="-D_FORCE_INLINES"   -D WITH_CUBLAS=1 -D OPENCV_EXTRA_MODULES_PATH=/home/sharine/software/opencv-3.2.0/opencv_contrib-3.2.0/modules/ -D CUDA_GENERATION=Kepler -D OPENCV_ENABLE_NONFREE=True \..
make -j8

注意：

-D CMAKE_INSTALL_PREFIX=/usr/local/opencv320 命令设置opencv安装位置

-D OPENCV_EXTRA_MODULES_PATH=/home/sharine/software/opencv-3.2.0/opencv_contrib-3.2.0/modules/ 命令为opencv_contrib中modules的文件夹位置，根据自己路径设置

5、因为网络问题会缺少很多文件

# 下载后，放到 opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e 下
ippicv_linux_20151201.tgz

# 下载后，放到 opencv-3.2.0/opencv_contrib-3.2.0/modules/xfeatures2d/src 下
boostdesc_bgm.i
boostdesc_bgm_bi.i
boostdesc_bgm_hd.i
boostdesc_lbgm.i
boostdesc_binboost_064.i
boostdesc_binboost_128.i
boostdesc_binboost_256.i
vgg_generated_120.i
vgg_generated_64.i
vgg_generated_80.i
vgg_generated_48.i

这些文件的资源放在了我的github上
https://github.com/SharineLee/opencv320-tool

下载后的文件放到opencv-3.2.0/opencv_contrib-3.2.0/modules/xfeatures2d/src目录下

但是继续编译程序还是可能会尝试继续下载以上文件

这里面就需要注释xfeatures2d/CMakeList.txt中的最后两行（opencv3.4.0不需要注释）：

include(cmake/download_vgg.cmake)
include(cmake/download_boostdesc.cmake)

然后保存。接着cmake就不会报错了。

6、 编译

用以下命令进行编译安装

make -j8
sudo make install

（1）ERORR 1：

/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: No such file or directory

就需要重新cmake

并且将cmake选项中加入

-D ENABLE_PRECOMPILED_HEADERS=OFF 

（2）ERORR 2：

fatal error: LAPACKE_H_PATH-NOTFOUND/lapacke.h: No such file or directory #include “LAPACKE_H_PATH-NOTFOUND/lapacke.h”

解决方法：

sudo apt-get install liblapacke-dev checkinstall
打开opencv-3.2.0/build/opencv_lapack.h
将第二行中的#include"LAPACKE_H_PATH-NOTFOUND/lapacke.h" 修改为#include"lapacke.h"

（3）ERORR 3：

[ 92%] Linking CXX executable ../../bin/opencv_test_sfm
../../lib/libopencv_sfm.so.3.4.10：对‘google::InitVLOG3__(int**, int*, char const*, int)’未定义的引用
../../lib/libopencv_sfm.so.3.4.10：对‘google::kLogSiteUninitialized’未定义的引用

关闭BUILD中的TEST项，即-DBUILD_TESTS=OFF可通过。

7、在ROS项目中使用

（1）为了让melodic找到安装的opencv3.2.0，我们要把系统中安装的opencv3.2.0文件夹链接到/usr/include/opencv中。

sudo ln -s /usr/local/opencv320 /usr/include/opencv

（2）为了让melodic找到opencv2（fatal error: opencv2/opencv.hpp: No such file or directory）

sudo ln -s /usr/local/opencv320/opencv2 /usr/include/opencv2

（3）为了使ros工作空间找到opencv3.2.0，在CmakeList.txt中
将find_package(OpenCV REQUIRED)
改为find_package(OpenCV 3 REQUIRED)

参考

https://blog.csdn.net/weixin_51925771/article/details/121120677
https://zhuanlan.zhihu.com/p/367323296
https://blog.csdn.net/qq_41246375/article/details/119487839
https://blog.csdn.net/weixin_43409736/article/details/121096223