SC-A-LOAM install (ROS noetic)

#SC-A-LOAM
https://github.com/gisbi-kim/SC-A-LOAM

hpc@hpc-ubuntu:~$ mkdir -p ~/catkin_sc_a_loam/src
hpc@hpc-ubuntu:~/catkin_sc_a_loam$ cd ~/catkin_sc_a_loam/src/
hpc@hpc-ubuntu:~/catkin_sc_a_loam/src$ git clone https://github.com/gisbi-kim/SC-A-LOAM
Cloning into 'SC-A-LOAM'...
remote: Enumerating objects: 239, done.
remote: Total 239 (delta 0), reused 0 (delta 0), pack-reused 239
Receiving objects: 100% (239/239), 46.07 MiB | 13.42 MiB/s, done.
Resolving deltas: 100% (88/88), done.
hpc@hpc-ubuntu:~/catkin_sc_a_loam/src$ cd ../
hpc@hpc-ubuntu:~/catkin_sc_a_loam$ catkin_make

 /home/hpc/catkin_sc_a_loam/src/SC-A-LOAM/src/scanRegistration.cpp:44:10: fatal error: opencv/cv.h: No such file or directory
   44 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
compilation terminated.

/home/hpc/catkin_sc_a_loam/src/SC-A-LOAM/src/kittiHelper.cpp:91:64: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope
   91 |         cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);
      |                                                                ^~~~~~~~~~~~~~~~~~~~~~~

make: *** [Makefile:141: all] Error 2
Invoking "make -j14 -l14" failed

reference: https://wenda.ncnynl.com/question/116482

src/kittiHelper.cpp:91-95

//cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);

cv::Mat left_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);

right_image_path << dataset_folder << "sequences/" + sequence_number + "/image_1/" << std::setfill('0') << std::setw(6) << line_num << ".png";

//cv::Mat right_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);

cv::Mat right_image = cv::imread(left_image_path.str(), cv::IMREAD_GRAYSCALE);

reference: https://github.com/ethz-asl/image_undistort/issues/68

src/scanRegistration.cpp:44

//#include <opencv/cv.h>

#include <opencv2/core.hpp>

 

 [100%] Linking CXX executable /home/hpc/catkin_sc_a_loam/devel/lib/aloam_velodyne/kittiHelper
[100%] Built target kittiHelper

hpc@hpc-ubuntu:~/catkin_sc_a_loam$ source devel/setup.bash
hpc@hpc-ubuntu:~/catkin_sc_a_loam$ roslaunch aloam_velodyne aloam_custom.launch 

rm: cannot remove '/Scans/': No such file or directory
mkdir: cannot create directory ‘/Scans/’: Permission denied
rm: cannot remove '/SCDs/': No such file or directory
mkdir: cannot create directory ‘/SCDs/’: Permission denied
Initialization finished
[ WARN] [1664158342.481403106]: time Map corner and surf num are not enough
posegraph prior node 0 added
terminate called after throwing an instance of 'pcl::IOException'
  what():  : [pcl::PCDWriter::writeBinary] Error during open!

[alaserPGO-4] process has died [pid 37974, exit code -6, cmd /home/hpc/catkin_sc_a_loam/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points __name:=alaserPGO __log:=/home/hpc/.ros/log/a5801d3c-3d40-11ed-b53e-2dc9e9051f41/alaserPGO-4.log].
log file: /home/hpc/.ros/log/a5801d3c-3d40-11ed-b53e-2dc9e9051f41/alaserPGO-4*.log
[alaserMapping-3] process has died [pid 37969, exit code -11, cmd /home/hpc/catkin_sc_a_loam/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/velodyne_points __name:=alaserMapping __log:=/home/hpc/.ros/log/a5801d3c-3d40-11ed-b53e-2dc9e9051f41/alaserMapping-3.log].
log file: /home/hpc/.ros/log/a5801d3c-3d40-11ed-b53e-2dc9e9051f41/alaserMapping-3*.log

hpc@hpc-ubuntu:~$ rqt