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irapkaist
Support Ubunutu 20.04 which uses OpenCV 4 and PCL 1.10
This fixes two errors in trying to build on an Ubunutu 20.04 machine. This is on ros noetic with opencv 4 and pcl 1.10. Here are the two errors:
OpenCV 4 Errors:
Errors << file_player:make /home/patrick/workspace/catkin_ws_ov/logs/file_player/build.make.005.log
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp: In member function ‘void ROSThread::StereoThread()’:
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp:1515:63: error: ‘CV_LOAD_IMAGE_ANYDEPTH’ was not declared in this scope
1515 | current_left_image = imread(current_stereo_left_name, CV_LOAD_IMAGE_ANYDEPTH);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp:1556:59: error: ‘CV_LOAD_IMAGE_ANYDEPTH’ was not declared in this scope
1556 | next_left_image = imread(next_stereo_left_name, CV_LOAD_IMAGE_ANYDEPTH);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp: In member function ‘void ROSThread::OmniThread()’:
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp:1650:50: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
1650 | omni0_image = imread(current_omni0_name, CV_LOAD_IMAGE_COLOR);
| ^~~~~~~~~~~~~~~~~~~
/home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.cpp:1733:49: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
1733 | omni0_image = imread(next_omni0_name, CV_LOAD_IMAGE_COLOR);
| ^~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/file_player.dir/build.make:104: CMakeFiles/file_player.dir/src/ROSThread.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:2549: CMakeFiles/file_player.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
PCL Errors (small subset):
/usr/include/c++/9/bits/stl_algo.h:161:23: required from ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)> >]’
/usr/include/c++/9/bits/stl_algo.h:3963:28: required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>]’
/usr/include/pcl-1.10/pcl/common/io.h:65:77: required from here
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>) (const pcl::PCLPointField&)’
283 | { return bool(_M_pred(*__it)); }
| ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/io/file_io.h:41,
from /usr/include/pcl-1.10/pcl/io/pcd_io.h:44,
from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:70,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.h:67,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.h:13,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.cpp:1:
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note: candidate: ‘pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>’
65 | [&field_name](const auto field) { return field.name == field_name; });
| ^
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note: no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘int’
In file included from /usr/include/c++/9/bits/stl_algobase.h:71,
from /usr/include/c++/9/bits/char_traits.h:39,
from /usr/include/c++/9/ios:40,
from /usr/include/c++/9/ostream:38,
from /usr/include/c++/9/iostream:39,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.h:3,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/main.cpp:1:
/usr/include/c++/9/bits/predefined_ops.h: In instantiation of ‘bool __gnu_cxx::__ops::_Iter_pred<_Predicate>::operator()(_Iterator) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>]’:
/usr/include/c++/9/bits/stl_algo.h:120:14: required from ‘_RandomAccessIterator std::__find_if(_RandomAccessIterator, _RandomAccessIterator, _Predicate, std::random_access_iterator_tag) [with _RandomAccessIterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)> >]’
/usr/include/c++/9/bits/stl_algo.h:161:23: required from ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)> >]’
/usr/include/c++/9/bits/stl_algo.h:3963:28: required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>]’
/usr/include/pcl-1.10/pcl/conversions.h:318:93: required from here
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>) (const pcl::PCLPointField&)’
283 | { return bool(_M_pred(*__it)); }
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/c++/9/bits/predefined_ops.h:283:11: note: candidate: ‘void (*)(const int&)’ <conversion>
/usr/include/c++/9/bits/predefined_ops.h:283:11: note: candidate expects 2 arguments, 2 provided
In file included from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:44,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.h:67,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.h:13,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/main.cpp:1:
/usr/include/pcl-1.10/pcl/conversions.h:317:28: note: candidate: ‘pcl::toPCLPointCloud2(const pcl::PCLPointCloud2&, pcl::PCLImage&)::<lambda(const int&)>’
317 | const auto predicate = [](const auto& field) { return field.name == "rgb"; };
| ^
/usr/include/pcl-1.10/pcl/conversions.h:317:28: note: no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘const int&’
In file included from /usr/include/c++/9/bits/stl_algobase.h:71,
from /usr/include/c++/9/bits/char_traits.h:39,
from /usr/include/c++/9/ios:40,
from /usr/include/c++/9/ostream:38,
from /usr/include/c++/9/iostream:39,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.h:3,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/main.cpp:1:
/usr/include/c++/9/bits/predefined_ops.h: In instantiation of ‘bool __gnu_cxx::__ops::_Iter_pred<_Predicate>::operator()(_Iterator) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>]’:
/usr/include/c++/9/bits/stl_algo.h:120:14: required from ‘_RandomAccessIterator std::__find_if(_RandomAccessIterator, _RandomAccessIterator, _Predicate, std::random_access_iterator_tag) [with _RandomAccessIterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)> >]’
/usr/include/c++/9/bits/stl_algo.h:161:23: required from ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = __gnu_cxx::__ops::_Iter_pred<pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)> >]’
/usr/include/c++/9/bits/stl_algo.h:3963:28: required from ‘_IIter std::find_if(_IIter, _IIter, _Predicate) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::PCLPointField*, std::vector<pcl::PCLPointField> >; _Predicate = pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>]’
/usr/include/pcl-1.10/pcl/common/io.h:65:77: required from here
/usr/include/c++/9/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>) (const pcl::PCLPointField&)’
283 | { return bool(_M_pred(*__it)); }
| ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/io/file_io.h:41,
from /usr/include/pcl-1.10/pcl/io/pcd_io.h:44,
from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:70,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/ROSThread.h:67,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/mainwindow.h:13,
from /home/patrick/workspace/catkin_ws_ov/src/file_player/src/main.cpp:1:
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note: candidate: ‘pcl::getFieldIndex(const pcl::PCLPointCloud2&, const string&)::<lambda(int)>’
65 | [&field_name](const auto field) { return field.name == field_name; });
| ^
/usr/include/pcl-1.10/pcl/common/io.h:65:9: note: no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘int’
make[2]: *** [CMakeFiles/file_player.dir/build.make:78: CMakeFiles/file_player.dir/file_player_autogen/mocs_compilation.cpp.o] Error 1
make[2]: *** [CMakeFiles/file_player.dir/build.make:91: CMakeFiles/file_player.dir/src/mainwindow.cpp.o] Error 1
make[2]: *** [CMakeFiles/file_player.dir/build.make:117: CMakeFiles/file_player.dir/src/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2549: CMakeFiles/file_player.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
