fix:Fix ubuntu22.04 compilation error

PJLab-ADG · Apr 11, 2023 · 45c8a63 · 45c8a63
1 parent b2ea8da
commit 45c8a63
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Showing 18 changed files with 29 additions and 16 deletions.
diff --git a/camera_intrinsic/calib_verification/CMakeLists.txt b/camera_intrinsic/calib_verification/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(CameraCalibration C CXX)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(OpenCV REQUIRED)
 

diff --git a/camera_intrinsic/intrinsic_calib/CMakeLists.txt b/camera_intrinsic/intrinsic_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(CameraCalibration C CXX)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(OpenCV REQUIRED)
 

diff --git a/camera_intrinsic/intrinsic_calib/src/IntrinsicCalibration.cpp b/camera_intrinsic/intrinsic_calib/src/IntrinsicCalibration.cpp
@@ -78,7 +78,7 @@ bool IntrinsicCalibration::Calibrate(const std::string &img_dir_path,
                 selected_file_names.push_back(file_names[i]);
                 cv::imwrite(selected_image_path_+file_names[i], 
                             cv::imread(img_dir_path_+file_names[i]));
-                cv::TermCriteria criteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 
+                cv::TermCriteria criteria(cv::TermCriteria::EPS | cv::TermCriteria::EPS, 
                                         grid_size_, 0.001);
                 cv::cornerSubPix(input_image, image_corners, cv::Size(5, 5), 
                                 cv::Size(-1, -1), criteria);

diff --git a/imu_heading/auto_calib/CMakeLists.txt b/imu_heading/auto_calib/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(rec_parser C CXX)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
+
 find_package(PCL REQUIRED)
 find_package(Boost REQUIRED system)
 

diff --git a/lidar2camera/auto_calib/CMakeLists.txt b/lidar2camera/auto_calib/CMakeLists.txt
@@ -4,6 +4,7 @@ project(lidar2camera)
 set(CMAKE_BUILD_TYPE "Release")
 set(CMAKE_CXX_FLAGS "-std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})

diff --git a/lidar2camera/auto_calib/src/optimizer.cpp b/lidar2camera/auto_calib/src/optimizer.cpp
@@ -131,8 +131,8 @@ float Optimizer::MaskRegistrationLoss(
   Eigen::Matrix4d T = curr_optim_extrinsic_;
   T *= deltaT;
   for (const auto &src_pt : register_cloud->points) {
-    if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-        !pcl_isfinite(src_pt.z))
+    if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+        !std::isfinite(src_pt.z))
       continue;
     Eigen::Vector4d vec;
     vec << src_pt.x, src_pt.y, src_pt.z, 1;
@@ -192,8 +192,8 @@ void Optimizer::SaveProjectResult(
             << translation(2) << std::endl;
   cv::Mat image = distance_img->clone();
   for (const auto &src_pt : register_cloud->points) {
-    if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-        !pcl_isfinite(src_pt.z))
+    if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+        !std::isfinite(src_pt.z))
       continue;
     Eigen::Vector4d vec;
     vec << src_pt.x, src_pt.y, src_pt.z, 1;

diff --git a/lidar2camera/joint_calib/src/camera_calibrator.cpp b/lidar2camera/joint_calib/src/camera_calibrator.cpp
@@ -63,7 +63,7 @@ void CameraCalibrator::get_result(cv::Mat &camera_matrix, cv::Mat &k,
                                   std::vector<cv::Mat> &tvecsMat) {
   double re_error =
       cv::calibrateCamera(_boards_pts_3d, _imgs_pts, image_size, camera_matrix,
-                          k, rvecsMat, tvecsMat, CV_CALIB_FIX_PRINCIPAL_POINT);
+                          k, rvecsMat, tvecsMat, cv::CALIB_FIX_PRINCIPAL_POINT);
   std::cout << "reprojection is " << re_error << std::endl;
 
   Eigen::Matrix3d camera_intrinsic;

diff --git a/lidar2camera/manual_calib/CMakeLists.txt b/lidar2camera/manual_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lidar2camera)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(Pangolin REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})

diff --git a/lidar2imu/auto_calib/CMakeLists.txt b/lidar2imu/auto_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(LidarToImu)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 ## Get Pangolin
 find_package(Pangolin 0.4 REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})
@@ -12,7 +13,7 @@ link_directories(${OpenCV_LIBRARY_DIRS})
 include_directories(${OpenCV_INCLUDE_DIRS})
 
 add_subdirectory(ceres)
-include_directories(${PROJECT_SOURCE_DIR}/eigen3)
+include_directories(SYSTEM ${PROJECT_SOURCE_DIR}/eigen3)
 include_directories(${PROJECT_SOURCE_DIR}/ceres/include)
 
 include_directories(${EIGEN_ROOT})

diff --git a/lidar2imu/auto_calib/src/calibration.cpp b/lidar2imu/auto_calib/src/calibration.cpp
@@ -253,8 +253,8 @@ void Calibrator::SaveStitching(const Eigen::Matrix4d transform,
     }
     Eigen::Matrix4d T = lidar_poses_[i] * transform;
     for (const auto &src_pt : cloud->points) {
-      if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-          !pcl_isfinite(src_pt.z))
+      if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+          !std::isfinite(src_pt.z))
         continue;
       Eigen::Vector3d p(src_pt.x, src_pt.y, src_pt.z);
       Eigen::Vector3d p_res;

diff --git a/lidar2imu/auto_calib/src/registration.cpp b/lidar2imu/auto_calib/src/registration.cpp
@@ -126,8 +126,8 @@ void Registrator::SaveStitching(const std::string &stitching_path) {
     lidar_pose *= delta_pose;
 
     for (const auto &src_pt : pcds_[i].points) {
-      if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-          !pcl_isfinite(src_pt.z))
+      if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+          !std::isfinite(src_pt.z))
         continue;
       Eigen::Vector3d p(src_pt.x, src_pt.y, src_pt.z);
       Eigen::Vector3d p_res;
@@ -383,8 +383,8 @@ size_t Registrator::ComputeVoxelOccupancy(float var[6]) {
 
 #pragma omp parallel for
     for (const auto &src_pt : pcds_[i].points) {
-      if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-          !pcl_isfinite(src_pt.z))
+      if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+          !std::isfinite(src_pt.z))
         continue;
 
       Eigen::Vector3d p(src_pt.x, src_pt.y, src_pt.z);

diff --git a/lidar2imu/manual_calib/CMakeLists.txt b/lidar2imu/manual_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(LidarToImu)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(Pangolin REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})

diff --git a/lidar2imu/manual_calib/src/run_lidar2imu.cpp b/lidar2imu/manual_calib/src/run_lidar2imu.cpp
@@ -313,8 +313,8 @@ int ProcessLidarFrame(const std::vector<pcl::PointCloud<pcl::PointXYZI>> &pcds,
     T *= calibration_matrix_;
 
     for (const auto &src_pt : pcds[i].points) {
-      if (!pcl_isfinite(src_pt.x) || !pcl_isfinite(src_pt.y) ||
-          !pcl_isfinite(src_pt.z))
+      if (!std::isfinite(src_pt.x) || !std::isfinite(src_pt.y) ||
+          !std::isfinite(src_pt.z))
         continue;
       pcl::PointXYZI dst_pt;
       Eigen::Vector3d p(src_pt.x, src_pt.y, src_pt.z);

diff --git a/lidar2lidar/auto_calib/CMakeLists.txt b/lidar2lidar/auto_calib/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(LidarToLidar)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
+
 ## Get Pangolin
 find_package(Pangolin 0.4 REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})

diff --git a/lidar2lidar/manual_calib/CMakeLists.txt b/lidar2lidar/manual_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(LidarToLidar)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(Pangolin REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})

diff --git a/radar2camera/manual_calib/CMakeLists.txt b/radar2camera/manual_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(RadarToCamera)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(Pangolin REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})

diff --git a/radar2camera/manual_calib/include/birdview.hpp b/radar2camera/manual_calib/include/birdview.hpp
@@ -38,7 +38,7 @@ class BirdView {
   }
 
   void mouse_event(int event, int x, int y) {
-    if (event == CV_EVENT_LBUTTONDOWN) {
+    if (event == cv::EVENT_LBUTTONDOWN) {
       picked_points_.push_back(cv::Point2f(x, y));
       std::cout << "picked " << x << ", " << y << std::endl;
       cv::circle(image_, cv::Point(x, y), 6, cv::Scalar(0, 0, 255), -1);

diff --git a/radar2lidar/manual_calib/CMakeLists.txt b/radar2lidar/manual_calib/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(RadarToLidar)
 set(CMAKE_CXX_FLAGS "-std=c++11 -g -Wall")
+set(CMAKE_CXX_STANDARD 14)
 
 find_package(Pangolin REQUIRED)
 include_directories(${Pangolin_INCLUDE_DIRS})