[fix] fixed vision lidar fusion preview opencv link error on AGX Xavier.

loulansuiye · Apr 25, 2021 · dd06f7b · dd06f7b
1 parent e145498
commit dd06f7b
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/algorithms/src/Perception/vision_lidar_fusion/CMakeLists.txt b/algorithms/src/Perception/vision_lidar_fusion/CMakeLists.txt
@@ -2,13 +2,20 @@ cmake_minimum_required(VERSION 2.8.3)
 project(vision_lidar_fusion)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
+#add_compile_options(-std=c++11 -O0)
 add_compile_options(-std=c++11 -O3)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
+#set(CMAKE_BUILD_TYPE DEBUG)
 set(CMAKE_BUILD_TYPE RELEASE)
-find_package(OpenCV 3.4.5 REQUIRED)
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
+    find_package(OpenCV 3.4.5 REQUIRED)
+else()
+    set (OpenCV_DIR /home/gi/nvme/opencv-3.4.5/build)
+endif()
+
 find_package(PCL 1.8 REQUIRED)
 #find_package(PCL REQUIRED)
 find_package(Glog REQUIRED)

diff --git a/algorithms/src/Perception/vision_lidar_fusion/launch/vision_lidar_fusion.launch b/algorithms/src/Perception/vision_lidar_fusion/launch/vision_lidar_fusion.launch
@@ -5,7 +5,7 @@
     <param name="min_cluster_size" type="int" value="25"/>
     <param name="max_cluster_size" type="int" value="200000"/>
     <param name="cluster_tolerance" type="double" value="0.25"/>
-    <node name="vision_lidar_fusion_node" pkg="vision_lidar_fusion" type="vision_lidar_fusion_node" output="screen"> <!--launch-prefix="gdb \-\-args" -->
+    <node name="vision_lidar_fusion_node" pkg="vision_lidar_fusion" type="vision_lidar_fusion_node" output="screen">
         <param name="visualize" type="bool" value="true"/>
         <param name="config_file_path" type="string" value="/home/gi/GAAS_contrib/config/camera1_lidar1.yaml"/>
     </node>