From dd06f7bbf1b74346b619b44dbcdcdb25b9f6eef1 Mon Sep 17 00:00:00 2001
From: LaurentWang <lambda@makehave.com>
Date: Sun, 25 Apr 2021 18:28:39 +0800
Subject: [PATCH] [fix] fixed vision lidar fusion preview opencv link error on
 AGX Xavier.

---
 .../src/Perception/vision_lidar_fusion/CMakeLists.txt    | 9 ++++++++-
 .../launch/vision_lidar_fusion.launch                    | 2 +-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/algorithms/src/Perception/vision_lidar_fusion/CMakeLists.txt b/algorithms/src/Perception/vision_lidar_fusion/CMakeLists.txt
index 063f1e4f..68c4b747 100644
--- 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
index 12bb3044..1cbe5e70 100644
--- 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>