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解决Ubuntu20,opencv4,ceres14报错首先关于ceres报错，大部分原因是ceres编译时用的c++14，vins代码用的c++11直接修改相关的cmakelist.txt文件# set(CMAKE_CXX_FLAGS "-std=c++14")set(CMAKE_CXX_FLAGS "-std=c++14")opencv相关修改：CV_FONT_HERSHEY_SIMPLEX替换成cv::FONT_HERSHEY_SIMPLEXCV_AA替换: cv::LINE_AA利

OpenCV3工程转OpenCV4编译1.工具vscode的全局正则替换2.CMake替换3.替换mat格式转换4.CV_AA5.CV_CALIB_*等6.CV_LOAD_IMAGE_UNCHANGED、CV_LOAD_IMAGE_GRAYSCALE7.cv::FONT_HERSHEY_SIMPLEX8.CV_LOAD_IMAGE_GRAYSCALE9.注意line_descriptor的使用10.参考1.工具vscode的全局正则替换2.CMake替换查找：(find_package(OpenCV)