slam ch8

https://opencv.org/opencv-4-1-2/

cmake -D CMAKE_BUILD_TYPE=Release -D OPENCV_GENERATE_PKGCONFIG=ON -D CMAKE_INSTALL_PREFIX=/usr/local/opencv4 ..

cmake_minimum_required(VERSION 2.8)

project(ch8)



set(CMAKE_BUILD_TYPE "Release")

add_definitions("-DENABLE_SSE")

set(CMAKE_CXX_FLAGS "-std=c++14 ${SSE_FLAGS} -g -O3 -march=native")



find_package(OpenCV 4 REQUIRED)

find_package(Sophus REQUIRED)

find_package(Pangolin REQUIRED)



find_package(fmt REQUIRED)

include_directories(${fmt_INCLUDE_DIRS})

# target_link_libraries(joinMap fmt::fmt)

set(FMT_LIBRARIES fmt::fmt)



include_directories(

        ${OpenCV_INCLUDE_DIRS}

        ${G2O_INCLUDE_DIRS}

        ${Sophus_INCLUDE_DIRS}

        "/usr/include/eigen3/"

        ${Pangolin_INCLUDE_DIRS}

)



add_executable(optical_flow optical_flow.cpp)

target_link_libraries(optical_flow ${OpenCV_LIBS} fmt)



add_executable(direct_method direct_method.cpp)

target_link_libraries(direct_method ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv4/lib/cmake/opencv4 ..

v::cvtColor(img2, img2_single,/*cv::CV_GRAY2BGR*/cv::COLOR_GRAY2BGR);