error: ‘cv::SIFT’ has not been declared, ‘USAC_ACCURATE’ is not a member of ‘cv’的参考解决方法

写在前面

自己的测试环境：
Ubuntu20.04
OpenCV 4.5.4 (源码安装的，默认安装路径在 /usr/local/下)

一、问题描述

编译调用 OpenCV 的程序时，遇到如下报错：

error: ‘cv::SIFT’ has not been declared
   30 |     detector_ = cv::SIFT::create();

‘USAC_ACCURATE’ is not a member of ‘cv’
  239 |       t_vec, true, 500, 2.0, 0.999, inliers_pnp, cv::USAC_ACCURATE);

二、解决方法

出现这个报错的原因首先是 OpenCV 版本太低导致的。因此自己从 OpenCV4.2.0升级到了OpenCV 4.5.4 ，但是依旧出现这个报错，经过查找资料，如下解决方法：
首先需要将OpenCV版本升级到 OpenCV 4.5.0 以上，然后进行如下修改：

sudo gedit /opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

将文件中的94-96行：

if(NOT "include;/usr/include/opencv4 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv4")

修改为：

if(NOT "include;/usr/local/include/opencv4 " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/local/include/opencv4")

然后再次进行编译，应该可以编译通过。

参考链接

[1] YukunXia. SuperPoint-Stereo-Visual-Odometry/tree/test_two_batches/src/odml_visual_odometry/README.md. https://github.com/YukunXia/SuperPoint-Stereo-Visual-Odometry/blob/test_two_batches/src/odml_visual_odometry/README.md, 2021-11-25/2024-07-09.