ROS、opencv3和CMake-无法删除库

工作环境：

• Kubuntu 14.04 LTS 64位
• ROS Indigo(最新的完整桌面安装(
• OpenCV 2.4.8

出于某种未知的原因，我决定安装ros-indigo-opencv3软件包，我几乎立即后悔了，因为我还有Ubuntu 14.04-OpenCV 2.4.8附带的默认版本。

起初，我注意到QtCreator警告我，当我只使用构建我的CMake项目时，2.4.8和3.0.0之间可能不兼容(你可以在本文末尾看到CMakeLists.txt(

find_package(OpenCV REQUIRED)

然后，围绕cv:：stereoSGBM模块的一些缺失参考开始出现错误。名称空间或其他方面似乎有一些变化，我使用的库使用了OpenCV的2.x分支(发现这显然很难：D(，因此我告诉自己——我想我会删除上面提到的OpenCV 3.0.0的ROS包，并坚持2.4.8。

卸载那个软件包后，一切都变得一团糟。尽管在我的项目的CMakeLists.txt中，我明确指出了2.4.8版本。待使用

find_package(OpenCV 2.4.8 REQUIRED)

在用roslaunch启动我的节点时，立即死亡，并出现以下错误：

/pmd_nano_node：加载共享库时出错：libopencv_higgui.so.3.0：无法打开共享对象文件：没有这样的文件或目录

啊。。。可以我检查了我的系统上是否留下了什么东西(可能是坏软件包，无法安装，因此无法正确安装？(。让我惊讶的是，当我调用定位并用grep 显示结果时

user:~$ locate libopencv | grep 3.0

我有

/opt/ros/indigo/lib/libopencv_calib3d.so.3.0
/opt/ros/indigo/lib/libopencv_calib3d.so.3.0.0
/opt/ros/indigo/lib/libopencv_core.so.3.0
/opt/ros/indigo/lib/libopencv_core.so.3.0.0
...
(basically all opencv libs)

所以有些东西还是留在了那里(我指的是一切：D(。然而，想象一下，当我cd访问/opt/ros/Indico/lib/时，发现没有一个文件与OpenCV远程相关，更不用说OpenCV 3.0.0了。

使用pkg配置至少会返回我所期望的：

user:~$ pkg-config --cflags opencv
-I/usr/include/opencv
user:~$ pkg-config --libs opencv
/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so ...
-lopencv_calib3d ...

注意：我仍然不知道为什么--cflags从未显示opencv2include文件夹(opencv2作为参数不被pkg配置识别(

进一步的调查使我重新运行我的项目的CMakeLists.txt，并按要求使用3.0版本，事实上，CMake现在抱怨只找到2.4.8。应用程序试图获得OpenCV共享库的3.0.0版本的原因还有待观察。

有什么建议或以前遇到过这种问题的人吗？

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(pmd_nano)
SET(CMAKE_CXX_FLAGS "-std=c++0x -fpermissive -Wno-deprecated -Wno-sign-compare")
SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -Wall")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
SET(CMAKE_CXX_LINK_FLAGS_DEBUG "-pg")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  pcl_conversions
  pcl_msgs
  pcl_ros
  roscpp
  sensor_msgs
  std_msgs
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(PCL REQUIRED)
find_package(OpenCV 2.4.8 REQUIRED COMPONENTS highgui imgproc)
# Do NOT use OpenCV 3.0.0 or all hell will break loose. Package incompatilibity will be a fascinating thing to deal with...
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
#  LIBRARIES pmd_nano
 CATKIN_DEPENDS cv_bridge image_transport pcl_conversions pcl_msgs pcl_ros roscpp sensor_msgs std_msgs uvc_camera
 DEPENDS
   system_lib # Boost PCL OpenCV
   boost_system
   PCL
   opencv_highgui opencv_imgproc
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(pmd_nano
#   src/${PROJECT_NAME}/pmd_nano_node.cpp
# )
## Declare a cpp executable
add_executable(pmd_nano_node
    src/pmd_nano_node.cpp
    src/ColorCamera.cpp
    src/DepthCamera.cpp
    src/PMDNano.cpp
)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(pmd_nano_node pmd_nano_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})
#link_directories(${PROJECT_NAME}_node ${Boost_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}_node boost_system)
link_directories(${PROJECT_NAME}_node ${PCL_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}_node opencv_highgui opencv_imgproc)
target_link_libraries(${PROJECT_NAME}_node pthread)
target_link_libraries(pmd_nano_node ${PROJECT_SOURCE_DIR}/lib/libpmdaccess2.so)

#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pmd_nano.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

编辑：

运行sudo updatedb至少解决了locate问题。运行时的错误仍然存在。