From 797b9192fc4ba9ac3109029e3e668cd763d96e6d Mon Sep 17 00:00:00 2001
From: libing64 <libing64@gmail.com>
Date: Fri, 8 Jan 2021 23:00:07 +0800
Subject: [PATCH] FIX: fix compling error in ubuntu20.04

---
 CMakeLists.txt                        | 2 +-
 Examples/ROS/ORB_SLAM2/CMakeLists.txt | 2 +-
 Thirdparty/DBoW2/CMakeLists.txt       | 2 +-
 include/Frame.h                       | 1 +
 include/LoopClosing.h                 | 2 +-
 include/ORBextractor.h                | 4 ++--
 include/PnPsolver.h                   | 2 ++
 include/Tracking.h                    | 2 ++
 src/Sim3Solver.cc                     | 2 +-
 9 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 08a8af468e..75bff4d03f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,7 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 3.0 QUIET)
+find_package(OpenCV 4.2 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
diff --git a/Examples/ROS/ORB_SLAM2/CMakeLists.txt b/Examples/ROS/ORB_SLAM2/CMakeLists.txt
index 7cbf71c199..2a71cfbff5 100644
--- a/Examples/ROS/ORB_SLAM2/CMakeLists.txt
+++ b/Examples/ROS/ORB_SLAM2/CMakeLists.txt
@@ -30,7 +30,7 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)
 
-find_package(OpenCV 3.0 QUIET)
+find_package(OpenCV 4.2 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
index 0eb512600a..cba8660286 100644
--- a/Thirdparty/DBoW2/CMakeLists.txt
+++ b/Thirdparty/DBoW2/CMakeLists.txt
@@ -24,7 +24,7 @@ set(SRCS_DUTILS
   DUtils/Random.cpp
   DUtils/Timestamp.cpp)
 
-find_package(OpenCV 3.0 QUIET)
+find_package(OpenCV 4.2 QUIET)
 if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
diff --git a/include/Frame.h b/include/Frame.h
index a6a8032f57..c7af17106c 100644
--- a/include/Frame.h
+++ b/include/Frame.h
@@ -31,6 +31,7 @@
 #include "ORBextractor.h"
 
 #include <opencv2/opencv.hpp>
+#include <opencv2/imgcodecs/legacy/constants_c.h>
 
 namespace ORB_SLAM2
 {
diff --git a/include/LoopClosing.h b/include/LoopClosing.h
index 7eb0416b15..c3adf13acd 100644
--- a/include/LoopClosing.h
+++ b/include/LoopClosing.h
@@ -47,7 +47,7 @@ class LoopClosing
 
     typedef pair<set<KeyFrame*>,int> ConsistentGroup;    
     typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
-        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
+        Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;
 
 public:
 
diff --git a/include/ORBextractor.h b/include/ORBextractor.h
index 66e8e7a547..51a763ab45 100644
--- a/include/ORBextractor.h
+++ b/include/ORBextractor.h
@@ -23,8 +23,8 @@
 
 #include <vector>
 #include <list>
-#include <opencv/cv.h>
-
+#include <opencv2/imgcodecs/legacy/constants_c.h>
+#include <unistd.h>
 
 namespace ORB_SLAM2
 {
diff --git a/include/PnPsolver.h b/include/PnPsolver.h
index f92544fc8f..871ff01894 100644
--- a/include/PnPsolver.h
+++ b/include/PnPsolver.h
@@ -52,6 +52,8 @@
 #define PNPSOLVER_H
 
 #include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/types_c.h>
+
 #include "MapPoint.h"
 #include "Frame.h"
 
diff --git a/include/Tracking.h b/include/Tracking.h
index 5aaa93ef26..b9124a697d 100644
--- a/include/Tracking.h
+++ b/include/Tracking.h
@@ -24,6 +24,8 @@
 
 #include<opencv2/core/core.hpp>
 #include<opencv2/features2d/features2d.hpp>
+#include <opencv2/imgcodecs/legacy/constants_c.h>
+#include <opencv2/imgproc/types_c.h>
 
 #include"Viewer.h"
 #include"FrameDrawer.h"
diff --git a/src/Sim3Solver.cc b/src/Sim3Solver.cc
index 4ad44ff0de..092cc2fd5b 100644
--- a/src/Sim3Solver.cc
+++ b/src/Sim3Solver.cc
@@ -214,7 +214,7 @@ cv::Mat Sim3Solver::find(vector<bool> &vbInliers12, int &nInliers)
 
 void Sim3Solver::ComputeCentroid(cv::Mat &P, cv::Mat &Pr, cv::Mat &C)
 {
-    cv::reduce(P,C,1,CV_REDUCE_SUM);
+    cv::reduce(P,C,1, cv::REDUCE_SUM);
     C = C/P.cols;
 
     for(int i=0; i<P.cols; i++)