CV GPU Support without losing cvBridge and image_transport

asked 2013-05-06 07:13:05 -0500

szutshi
21 ●2 ●2 ●3

updated 2014-01-28 17:16:26 -0500

ngrennan
1 ●1 ●1

I am assuming the latest openCV compiled from scratch with GPU support enabled won't give me access to the ROS cv_bridge and image_transport that you need to in order to work with the images. How can I get around this? I want to be able to access the images with cv bridge and image transport but install opencv with CUDA. Ideally I would want to download your source and recompile it with the WITH_CUDA flag...unfortunately I am not sure how to go about that.

Please let me know, we have a deadline soon and this would be really useful.

answered 2014-01-07 04:16:37 -0500

Wolf

7555 ●71 ●105 ●162

I compiled a newer OpenCV Version with the WITH_CUDA flag and installed it to /usr/local

In catkin packages I can now choose by selecting a particular version in find_package:

find_package( OpenCV 2.4.7 REQUIRED )

As the installed version is newer than the builtin ROS version, specifying the version assures that cmake pulls the locally compiled version with CUDA support.

The libs/includes of the specified version are not in ${catkin_INCLUDE_DIRS} and {catkin_LIBRARIES} so I added ${OpenCV_INCLUDE_DIRS} to include_directories and ${OpenCV_LIBS} to target_link_libraries.

I can now use OpenCV Cuda support in the package together with image_transport, cv_brigde

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How are you able to do this? I'm having issues with the ROS 2.4.6.1 version being linked, despite having all of the same thinks in place, find_package, Include Dirs, Libs, etc. here: http://answers.ros.org/question/122801/groovy-opencv-247-with_cuda/

DiJuMx ( 2014-01-27 02:59:52 -0500 )edit

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