我们通常需要使用不同版本的opencv，这时候如果用cmake构建工程，直接指定本地编译好的路径就可以，在CMakeLists.txt中添加：

set(OpenCV_DIR “/home/zzy/downloads/3party/opencv-4.4.0/build/”)

cmake更新

vscode:

"code-runner.executorMap": {
    "javascript": "node",
    "java": "cd $dir && javac $fileName && java $fileNameWithoutExt",
    "c": "cd $dir && gcc $fileName -o $fileNameWithoutExt && $dir$fileNameWithoutExt",
    "cpp": "cd $dir && g++ -std=c++2a $fileName -o $fileNameWithoutExt && $dir$fileNameWithoutExt",
    "objective-c": "cd $dir && gcc -framework Cocoa $fileName -o $fileNameWithoutExt && $dir$fileNameWithoutExt",
    "php": "php",
    "python": "cd $dir && python -u $fileName"
}

EIGEN3 CMAKE 报错：
Update my Eigen version from 3.2 to 3.3.9 (git clone && make && make install)
Then replace find_package(Eigen3 REQUIRED) to

list(APPEND CMAKE_INCLUDE_PATH "/usr/local/include")
find_package (Eigen3 3.3 REQUIRED NO_MODULE)

needed by /usr/local/lib/libpangolin.so, not found (try using -rpath or -rpath-link)报错：
sudo apt-get install libpython3.9

overload atomicAdd 报错：
Try to add the following code at the beginning of ‘cuda_coarse_tracker_private.cu’

#if !defined(__CUDA_ARCH__) || __CUDA_ARCH__ >= 600
#else
__device__ double atomicAdd(double* address, double val)
{
    unsigned long long int* address_as_ull =
                              (unsigned long long int*)address;
    unsigned long long int old = *address_as_ull, assumed;

    do {
        assumed = old;
        old = atomicCAS(address_as_ull, assumed,
                        __double_as_longlong(val +
                               __longlong_as_double(assumed)));

    // Note: uses integer comparison to avoid hang in case of NaN (since NaN != NaN)
    } while (assumed != old);

    return __longlong_as_double(old);
}
#endif