From e51fec59a18ed535a2884c732e705c060a2facda Mon Sep 17 00:00:00 2001
From: Borong Yuan <yuanborong@hotmail.com>
Date: Fri, 1 Jan 2021 14:30:02 +0800
Subject: [PATCH 1/2] update headers to support opencv 4

---
 include/Exp_mat.h    | 2 +-
 src/laserMapping.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/Exp_mat.h b/include/Exp_mat.h
index 84ba4f8..7ab2897 100644
--- a/include/Exp_mat.h
+++ b/include/Exp_mat.h
@@ -3,7 +3,7 @@
 
 #include <math.h>
 #include <Eigen/Core>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 // #include <common_lib.h>
 
 #define SKEW_SYM_MATRX(v) 0.0,-v[2],v[1],v[2],0.0,-v[0],-v[1],v[0],0.0
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index 59b4f9a..8410317 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -43,7 +43,7 @@
 #include <Exp_mat.h>
 #include <ros/ros.h>
 #include <Eigen/Core>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <common_lib.h>
 #include "IMU_Processing.hpp"
 #include <nav_msgs/Odometry.h>

From db012b4118079a64de2c2b5512e979910778f6e6 Mon Sep 17 00:00:00 2001
From: Borong Yuan <yuanborong@hotmail.com>
Date: Fri, 1 Jan 2021 14:32:40 +0800
Subject: [PATCH 2/2] add missing dependencies to find generated msgs

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 31fe073..7e1b95d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,6 +79,7 @@ add_executable(loam_feat_extract src/feature_extract.cpp)
 target_link_libraries(loam_feat_extract ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 
 add_executable(loam_laserMapping src/laserMapping.cpp)
+add_dependencies(loam_laserMapping ${catkin_EXPORTED_TARGETS})
 target_link_libraries(loam_laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS} ${PYTHON_LIBRARIES})
 target_include_directories(loam_laserMapping PRIVATE ${PYTHON_INCLUDE_DIRS})
 # target_compile_definitions(loam_laserMapping PRIVATE ROOT_DIR="${CMAKE_CURRENT_SOURCE_DIR}")