wpb_home_behaviors 和 wpb_home_tutorials 功能包的 OpenCV 链接问题

[XKHoshizora]

我在 Jetson 上编译 wpb_home_behaviors 功能包时，出现了编译错误。

从错误日志可以看出，wpb_home_behaviors 和 wpb_home_tutorials 功能包的 OpenCV 链接出现了问题，特别是以下文件中：

wpb_home_behaviors/src/wpb_home_face_detect_3d.cpp wpb_home_behaviors/src/wpb_home_objects_3d.cpp wpb_home_behaviors/src/wpb_home_grab_server.cpp

wpb_home_tutorials/src/wpb_home_face_detect.cpp wpb_home_tutorials/src/wpb_home_obj_detect.cpp

这些文件都涉及到 OpenCV 的 cv::Mat 类，而链接器未能找到 cv::Mat::Mat() 的实现，说明在这些文件中 OpenCV 并未正确链接。

因此，需要将 OpenCV 库显式地链接到使用 OpenCV 的可执行文件，需要对 CMakeLists.txt 文件进行如下修改：

wpb_home_behaviors/CMakeLists.txt

target_link_libraries(wpb_home_grab_server
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(wpb_home_pass_server
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(wpb_home_objects_3d
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(wpb_home_grab_action
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(wpb_home_face_detect_3d
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

target_link_libraries(wpb_home_place_action
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

wpb_home_behaviors/CMakeLists.txt

target_link_libraries(wpb_home_face_detect
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)

target_link_libraries(wpb_home_obj_detect
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)