编译code_utils问题的解决方法

首先建立工作空间并编译：

mkdir -p calibration_ws/src
cd calibration_ws/src
git clone https://github.com/gaowenliang/code_utils.git
cd ..
catkin_make

编译过程中遇到的问题：
问题一：

/home/usrname/calibration_ws/src/code_utils/include/code_utils/backward.hpp:216:12: fatal error: elfutils/libdw.h: 没有那个文件或目录
  216 | #  include <elfutils/libdw.h>
      |            ^~~~~~~~~~~~~~~~~~
compilation terminated.

解决方法：

sudo apt-get install libdw-dev

问题二：

usr/local/include/ceres/internal/fixed_array.h:39:10: fatal error: glog/logging.h: 没有那个文件或目录
   39 | #include "glog/logging.h"
      |          ^~~~~~~~~~~~~~~~
compilation terminated.

解决方法：

sudo apt-get install libgoogle-glog-dev

问题三：

home/usrname/calibration_ws/src/code_utils/src/sumpixel_test.cpp:2:10: fatal error: backward.hpp: 没有那个文件或目录
    2 | #include "backward.hpp"
      |          ^~~~~~~~~~~~~~
compilation terminated.

解决方法：在code_utils的CMakeLists.txt文件中添加路径即可解决

include_directories("include/code_utils")

问题四：

home/usrname/calibration_ws/src/code_utils/src/mat_io_test.cpp:33:47: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope
   33 |     Mat img1 = imread( "/home/gao/IMG_1.png", CV_LOAD_IMAGE_UNCHANGED );
      |                                               ^~~~~~~~~~~~~~~~~~~~~~~
/home/usrname/calibration_ws/src/code_utils/src/sumpixel_test.cpp:84:47: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope
   84 |     Mat img1 = imread( "/home/gao/IMG_1.png", CV_LOAD_IMAGE_GRAYSCALE );
      |                                               ^~~~~~~~~~~~~~~~~~~~~~~
/home/usrname/calibration_ws/src/code_utils/src/sumpixel_test.cpp:94:35: error: ‘CV_MINMAX’ was not declared in this scope; did you mean ‘CV_MMX’?
   94 |     normalize( img, img2, 0, 255, CV_MINMAX );
      |                                   ^~~~~~~~~
      |                                   CV_MMX
/home/usrname/calibration_ws/src/code_utils/src/sumpixel_test.cpp: In function ‘void test2()’:
/home/fcwd/calibration_ws/src/code_utils/src/sumpixel_test.cpp:107:47: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope
  107 |     Mat img1 = imread( "/home/gao/IMG_1.png", CV_LOAD_IMAGE_GRAYSCALE );
      |                                               ^~~~~~~~~~~~~~~~~~~~~~~
/home/usrname/calibration_ws/src/code_utils/src/sumpixel_test.cpp:117:35: error: ‘CV_MINMAX’ was not declared in this scope; did you mean ‘CV_MMX’?
  117 |     normalize( img, img2, 0, 255, CV_MINMAX );
      |                                   ^~~~~~~~~
      |                                   CV_MMX

解决方法：
出现该问题是因为opencv4.x以上，有些宏和API的名字有所更改，可以按照以下对应关系更改：

CV_LOAD_IMAGE_UNCHANGED 改为 cv::IMREAD_UNCHANGED
CV_LOAD_IMAGE_GRAYSCALE 改为 cv::IMREAD_GRAYSCALE
CV_LOAD_IMAGE_COLOR     改为 cv::IMREAD_COLOR
CV_LOAD_IMAGE_ANYDEPTH  改为 cv::IMREAD_ANYDEPTH
CV_MINMAX               改为 CV_MMX

全部更改后再次编译即可成功。

编译code_utils问题的解决方法

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