我正在使用ROS Kinetic和OpenCV。我创建了一个使用CUDA实现的OpenCV算法的节点（在ros-kinetic-opencv3包中没有），所以我在启用了CUDA的情况下从源编译OpenCV并将其安装在/usr/local中。
要测试我的/usr/local安装是否按预期工作（如果我的代码是正确的），我使用以下CMakeList.txt在ROS之外创建了一个程序：
cmake_minimum_required(VERSION 2.8.3)
project(stereo_algorithms_testing)
set(ENV{OpenCV_DIR} "/usr/local")
find_package(OpenCV REQUIRED)
include_directories(include ${OpenCV_INCLUDE_DIRS})
add_executable(stereo_algorithms main.cpp)
target_link_libraries(stereo_algorithms ${OpenCV_LIBS})
当我运行cmake .时，我得到以下输出：
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/g++
-- Check for working CXX compiler: /usr/bin/g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found CUDA: /usr/local/cuda (found suitable exact version "8.0")
-- Found OpenCV: /usr/local (found version "3.2.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/degraw/Opencv_testing/stereo_algorithms/test
一切都很好，代码按预期运行，没有运行时错误。
现在，当我在ROS节点中使用相同的代码时，我有以下CMakeList.txt：
cmake_minimum_required(VERSION 2.8.3)
project(depth_calculator)
set(ENV{OpenCV_DIR} "/usr/local")
find_package(OpenCV REQUIRED core highgui calib3d PATHS /usr/local NO_DEFAULT_PATH)
find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport)
catkin_package()
include_directories(include ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
add_executable(double_image_acq src/double_image_acquisition.cpp)
target_link_libraries(double_image_acq ${OpenCV_LIBS} ${catkin_LIBRARIES})
请注意，我明确告诉cmake只在/usr/local中查找OpenCV。
catkin_make的输出是：
-- Using CATKIN_DEVEL_PREFIX: /home/degraw/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/degraw/catkin_ws/devel;/usr/local;/opt/ros/kinetic
-- This workspace overlays: /home/degraw/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/degraw/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - depth_calculator
-- ~~ - zed_wrapper
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'depth_calculator'
-- ==> add_subdirectory(depth_calculator)
-- Found OpenCV: /opt/ros/kinetic (found version "3.2.0") found components: core highgui calib3d
...
...
...
Running command: "make -j4 -l4" in "/home/degraw/catkin_ws/build"
[ 14%] Built target zed_wrapper_gencfg
[ 28%] Linking CXX executable /home/degraw/catkin_ws/devel/lib/depth_calculator/double_image_acq
[ 57%] Built target ZEDWrapper
[ 85%] Built target zed_wrapper_node
CMakeFiles/double_image_acq.dir/src/double_image_acquisition.cpp.o: In function `OpencvDisparityCalculator::callback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
double_image_acquisition.cpp:(.text._ZN25OpencvDisparityCalculator8callbackERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEES9_[_ZN25OpencvDisparityCalculator8callbackERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEES9_]+0x1ad): undefined reference to `cv::cuda::createStereoBM(int, int)'
collect2: error: ld returned 1 exit status
depth_calculator/CMakeFiles/double_image_acq.dir/build.make:175: recipe for target '/home/degraw/catkin_ws/devel/lib/depth_calculator/double_image_acq' failed
make[2]: *** [/home/degraw/catkin_ws/devel/lib/depth_calculator/double_image_acq] Error 1
CMakeFiles/Makefile2:353: recipe for target 'depth_calculator/CMakeFiles/double_image_acq.dir/all' failed
make[1]: *** [depth_calculator/CMakeFiles/double_image_acq.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
显然它是一个链接器问题。它找到错误的OpenCV（ROS OpenCV），它不包括CUDA的库。
如何告诉catkin_make在/usr/local中找到OpenCV？