為了學習slam，在ubuntu16.04系統上安裝opencv3.2.0以及對應的opencv_contrib3.2.0
安裝過程
下載
Github上下載有的時候比較慢，我這里分享了OpenCV3.2.0+OpenCV_contrib3.2.0的下載鏈接（包括一些編譯過程中需要下載的文件）
鏈接：Download 提取碼：8jaw
安裝opencv依賴庫
$ sudo apt-get install build-essential
$ sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev
$ sudo apt-get -install libgtk2.0-dev pkg-config python-dev python-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libtiff5-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libtbb-dev libqt4-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev
事實上，OpenCV的依賴庫很多，缺失某些項編譯的時候會出錯或者影響某些功能。OpenCV會在cmake的時候檢查依賴項是否安裝，如果出錯，按照提示安裝依賴項即可。
解壓opencv-3.2.0文件
$ unzip opencv-3.2.0.zip //我這里當前文件路徑為 /Downloads
解壓opencv_contrib-3.2.0.tar.gz
$ tar -zxvf opencv_contrib-3.2.0.tar.gz -C ./opencv-3.2.0/
編譯
$ cd opencv-3.2.0/
$ mkdir build
$ cd build
$ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=/home/ai/downloads/opencv-3.2.0/opencv_contrib-3.2.0/modules/ -D WITH_TBB=ON -D BUILD_SHARED_LIBS=OFF -D WITH_OPENMP=OFF -D ENABLE_PRECOMPILED_HEADERS=OFF ..
安裝
$ sudo make -j8 //多線程
$ sudo make install
配置環境
$ sudo gedit /etc/ld.so.conf.d/opencv.conf
# 在最后一行添加 /usr/local/lib
$ sudo gedit /etc/bash.bashrc
# 在最后一行中添加：
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/opencv320/lib/pkgconfig
export PKG_CONFIG_PATH
$ sudo ldconfig
$ sudo cp /usr/local/lib/pkgconfig/opencv.pc /usr/lib/pkgconfig
最后安裝成功
$ pkg-config --modversion opencv
遇到的問題
1. 下載ippicv_linux_20151201.tgz超時
解決方案：手動下載
如果終端下載過慢，或者出現超時。上面的下載包里有這個壓縮文件，把這個壓縮文件放入/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/夾中。（嚴格來說，是放入錯誤提示的文件路徑）
2. 缺少gtk+-3.0
No package 'gtk+-3.0' found
解決方案：
$ sudo apt-get install libgtk-3-dev
3. 缺少依賴項
-- No package 'gstreamer-base-1.0' found
-- No package 'gstreamer-video-1.0' found
-- No package 'gstreamer-app-1.0' found
-- No package 'gstreamer-riff-1.0' found
-- No package 'gstreamer-pbutils-1.0' found
解決方案：
$ sudo apt-get install libgstreamer0.10-dev
$ sudo apt-get install libgstreamer-plugins-base0.10-dev
$ sudo apt-get install libgstreamer1.0-dev
$ sudo apt-get install libgstreamer-plugins-base1.0-dev
$ sudo apt-get install libgstreamer1.0-dev
$ sudo apt-get install libgstreamer-plugins-base0.10-dev
$ sudo apt-get install libgstreamer0.10-dev
$ sudo apt-get install libgstreamer-plugins-base1.0-dev
如果下載這些依賴這些包的時候，出現無法定位軟件包，應該是系統的源的有問題，可以換其他源，我后面改用阿里的源可以成功下載依賴項。
3. 缺少libavresample、libgphoto2包
-- No package 'libavresample' found
-- No package 'libgphoto2' found
解決方案：
$ sudo apt-get install libavresample-dev
$ sudo apt-get install libgphoto2-dev
4. 缺少libavresample包
-- No package 'libavresample' found
解決方案：
$ sudo apt-get install libavresample-dev
$ sudo apt-get install libgphoto2-dev
5. 找不到OpenBLAS include
-- Could not find OpenBLAS include. Turning OpenBLAS_FOUND off
-- Could not find OpenBLAS lib. Turning OpenBLAS_FOUND off
解決方案：
$ sudo apt-get install libopenblas-dev
6. 找不到Doxygen include
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
解決方案：
$ sudo apt-get install doxygen
7. 找不到JNI
-- Could NOT find JNI (missing: JAVA_AWT_LIBRARY JAVA_JVM_LIBRARY JAVA_INCLUDE_PATH JAVA_INCLUDE_PATH2 JAVA_AWT_INCLUDE_PATH)
解決方案：
詳見參考[1]
8. make的時候缺失opencv_lapack.h
解決方案：
$ sudo apt-get install liblapacke-dev checkinstall
9.提示no package opencv found
pkg-config --modversion opencv 的時候提示找不到opencv包
解決方案：
配置環境時缺少了一行代碼：
$ sudo cp /usr/local/opencv320/lib/pkgconfig/opencv.pc /usr/lib/pkgconfig
10.出現Makefile:160: recipe for target 'all' failed
解決方案：
opencv_contrib的路徑有問題，在編譯時候最好指定opencv_contrib的文件路徑，否則會在make的時候出現makefile找不到的問題。
參考
[1] https://blog.csdn.net/weixin_41896508/article/details/80795239
[2] https://blog.csdn.net/qq_29229045/article/details/78527391