为了学习slam，在ubuntu16.04系统上安装opencv3.2.0以及对应的opencv_contrib3.2.0
安装过程
下载
Github上下载有的时候比较慢，我这里分享了OpenCV3.2.0+OpenCV_contrib3.2.0的下载链接（包括一些编译过程中需要下载的文件）
链接：Download 提取码：8jaw
安装opencv依赖库
$ 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
事实上，OpenCV的依赖库很多，缺失某些项编译的时候会出错或者影响某些功能。OpenCV会在cmake的时候检查依赖项是否安装，如果出错，按照提示安装依赖项即可。
解压opencv-3.2.0文件
$ unzip opencv-3.2.0.zip //我这里当前文件路径为 /Downloads
解压opencv_contrib-3.2.0.tar.gz
$ tar -zxvf opencv_contrib-3.2.0.tar.gz -C ./opencv-3.2.0/
编译
$ 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 ..
安装
$ sudo make -j8 //多线程
$ sudo make install
配置环境
$ 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
最后安装成功
$ pkg-config --modversion opencv
遇到的问题
1. 下载ippicv_linux_20151201.tgz超时
解决方案：手动下载
如果终端下载过慢，或者出现超时。上面的下载包里有这个压缩文件，把这个压缩文件放入/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/夹中。（严格来说，是放入错误提示的文件路径）
2. 缺少gtk+-3.0
No package 'gtk+-3.0' found
解决方案：
$ sudo apt-get install libgtk-3-dev
3. 缺少依赖项
-- 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
解决方案：
$ 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
如果下载这些依赖这些包的时候，出现无法定位软件包，应该是系统的源的有问题，可以换其他源，我后面改用阿里的源可以成功下载依赖项。
3. 缺少libavresample、libgphoto2包
-- No package 'libavresample' found
-- No package 'libgphoto2' found
解决方案：
$ sudo apt-get install libavresample-dev
$ sudo apt-get install libgphoto2-dev
4. 缺少libavresample包
-- No package 'libavresample' found
解决方案：
$ 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
解决方案：
$ sudo apt-get install libopenblas-dev
6. 找不到Doxygen include
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
解决方案：
$ 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)
解决方案：
详见参考[1]
8. make的时候缺失opencv_lapack.h
解决方案：
$ sudo apt-get install liblapacke-dev checkinstall
9.提示no package opencv found
pkg-config --modversion opencv 的时候提示找不到opencv包
解决方案：
配置环境时缺少了一行代码：
$ sudo cp /usr/local/opencv320/lib/pkgconfig/opencv.pc /usr/lib/pkgconfig
10.出现Makefile:160: recipe for target 'all' failed
解决方案：
opencv_contrib的路径有问题，在编译时候最好指定opencv_contrib的文件路径，否则会在make的时候出现makefile找不到的问题。
参考
[1] https://blog.csdn.net/weixin_41896508/article/details/80795239
[2] https://blog.csdn.net/qq_29229045/article/details/78527391