fix: 3.4.19 opencv complie.

src/mynteye/api/processor/rectify_processor.cc

@@ -298,13 +298,13 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
   cv::Mat P1 = cv::Mat(3, 4, CV_64F);
   cv::Mat P2 = cv::Mat(3, 4, CV_64F);
 
-  CvMat c_R = cv_R, c_t = cv_t;
+    CvMat c_R = cvMat(cv_R), c_t = cvMat(cv_t);
-  CvMat c_K1 = K1, c_K2 = K2, c_D1 = D1, c_D2 = D2;
+  CvMat c_K1 = cvMat(K1), c_K2 = cvMat(K2), c_D1 =cvMat(D1), c_D2 = cvMat(D2);
-  CvMat c_R1 = R1, c_R2 = R2, c_P1 = P1, c_P2 = P2;
+  CvMat c_R1 = cvMat(R1), c_R2 = cvMat(R2), c_P1 = cvMat(P1), c_P2 = cvMat(P2);
   double T_mul_f;
   double cx1_min_cx2;
   stereoRectify(leftOdo, rightOdo, &c_K1, &c_K2, &c_D1, &c_D2,
-      image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f,
+      cvSize(image_size1.width, image_size1.height), &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2, &T_mul_f,
       &cx1_min_cx2);
 
   VLOG(2) << "K1: " << K1 << std::endl;

src/mynteye/api/processor/rectify_processor.h

@@ -89,7 +89,7 @@ class RectifyProcessor : public Processor {
       CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
       double *cx1_min_cx2,
       int flags = cv::CALIB_ZERO_DISPARITY, double alpha = -1,
-      CvSize newImgSize = cv::Size());
+      CvSize newImgSize = cvSize(0,0));
 
   Eigen::Matrix4d loadT(const mynteye::Extrinsics& in);
   void loadCameraMatrix(cv::Mat& K, cv::Mat& D,  // NOLINT