GVINS编译出现大量的error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope错误

错误：

/home/knight/GVINS_GI/src/GVINS-main/camera_model/src/chessboard/Chessboard.cc:38:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope  CV_CALIB_CB_NORMALIZE_IMAGE +

解决：
1.查看自己的OPENCV版本

pkg-config --modversion opencv 

2.看出错代码位置

/home/knight/GVINS_GI/src/GVINS-main/camera_model/src/chessboard/Chessboard.cc

3.打开位于上层的cmakelist文件将

将这个：find_package( OpenCV REQUIRED )
替换为（自己的版本）：find_package( OpenCV 3 REQUIRED )

4.catkin_make