编译问题

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编译出错
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/common_2d_calib.cpp.o
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_vertical_line(IplImage*, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_horizontal_line(IplImage*, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_center_pt_line(IplImage*, CvPoint, int, int, int, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_string_on_buttun(IplImage*, const char*, int, int, int, bool)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_scan_image(IplImage*, Two_dimensional_vector*)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: error: ‘CV_RGB’ was not declared in this scope
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: note: suggested alternative: ‘CV_8U’
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
CV_8U
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:110: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/Makefile2:5873: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 93%] Built target calibrationtoolkit_autogen
[ 94%] Linking CXX executable /home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/cvstd.inl.hpp:150：对‘cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:349: recipe for target '/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher] Error 1
CMakeFiles/Makefile2:5667: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

按提示修改，继续报错
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/cvstd.inl.hpp:150：对‘cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:349: recipe for target '/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher] Error 1
CMakeFiles/Makefile2:5667: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_vertical_line(IplImage*, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:64: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(120, 120, 120), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_horizontal_line(IplImage*, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:60: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(120, 120, 120), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_center_pt_line(IplImage*, CvPoint, int, int, int, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:72:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:78:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_string_on_buttun(IplImage*, const char*, int, int, int, bool)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:70: error: expression cannot be used as a function
plot_string(image, text, thickness, x, y, CV_8U(250, 250, 250));
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:70: error: expression cannot be used as a function
plot_string(image, text, thickness, x, y, CV_8U(150, 150, 150));
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_scan_image(IplImage*, Two_dimensional_vector*)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:47: error: expression cannot be used as a function
cvCircle(image, pt, 2, CV_8U(0, 255, 0), CV_FILLED, 8, 0);
^
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:110: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
CMakeFiles/Makefile2:5873: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
CMakeFiles/calibrationtoolkit.dir/CalibrationToolkit/calibrationtoolkit.cpp.o：在函数‘nlopt::opt::mythrow(nlopt_result) const’中：
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/build.make:396: recipe for target '/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/libcalibrationtoolkit.so' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/libcalibrationtoolkit.so] Error 1
CMakeFiles/Makefile2:5770: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed