ROS使用python3的cv-bridge功能所需的功能包

# add library include_directories(./) add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES}) install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ) if(NOT ANDROID) # add a Boost Python library find_package(PythonInterp REQUIRED) find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}") #Get the numpy include directory from its python module if(NOT PYTHON_NUMPY_INCLUDE_DIR) execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())" RESULT_VARIABLE PYTHON_NUMPY_PROCESS OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR OUTPUT_STRIP_TRAILING_WHITESPACE) if(PYTHON_NUMPY_PROCESS EQUAL 0) file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH) set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory") else(PYTHON_NUMPY_PROCESS EQUAL 0) message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.") endif(PYTHON_NUMPY_PROCESS EQUAL 0) endif(NOT PYTHON_NUMPY_INCLUDE_DIR) include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR}) if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3) add_definitions(-DPYTHON3) endif() add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp) target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PROJECT_NAME} ) if(NOT APPLE) target_link_libraries(${PROJECT_NAME}_boost ${PYTHON_LIBRARIES}) endif() set_target_properties(${PROJECT_NAME}_boost PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/ RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION}/${PROJECT_NAME}/boost/ PREFIX "" ) if(APPLE) set_target_properties(${PROJECT_NAME}_boost PROPERTIES SUFFIX ".so") set_target_properties(${PROJECT_NAME}_boost PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") endif() if(MSVC) set_target_properties(${PROJECT_NAME}_boost PROPERTIES SUFFIX ".pyd") endif() install(TARGETS ${PROJECT_NAME}_boost DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}/boost/) endif()