Ubuntu 22.04 Build not Recognizing Viz Module

[CharlieRusso001]

Description:
When compiling the viz module from OpenCV is not recognized.

Command:

# replace this line with the command(s) you used

make -j$(nproc)

Console output:

/home/charl/scald/mapping/Kimera-VIO/src/frontend/RgbdCamera.cpp: In function ‘void VIO::convertToPcl(const cv::Mat&, const cv::Mat&, const Intrinsics&, const T&, cv::Mat*, cv::Mat*)’:
/home/charl/scald/mapping/Kimera-VIO/src/frontend/RgbdCamera.cpp:53:48: error: ‘viz’ is not a member of ‘cv’
   53 |       cv::Mat(img_rows, img_cols, CV_8UC3, cv::viz::Color::red());

Please give also the following information:

• Kimera-Vio branch, tag or commit used: The most recent
• GTSAM version used:
• OpenGV version used:
• OpenCV version used: type opencv_version 4.6.0
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 22.04
• Did you change the source code? (yes / no): no

Is there any way to fix this build issue

[limshoonkit]

Did you build your opencv from source?

1. If so you may need to enable the -DWITH_VTK=On option when building it.
   You can check your opencv version and lib by adding the following lines in CMakeLists.txt

message(STATUS "OpenCV Include: ${OpenCV_INCLUDE_DIRS}")
message(STATUS "OpenCV Libs: ${OpenCV_LIBRARIES}")

2. Following are the options I used to compile it.

find_package(OpenCV 4.10 REQUIRED 
            COMPONENTS 
            viz core imgproc highgui features2d calib3d rgbd video)

3. In some include folder, camera.h for instance, you may have to add the following header file

#include <opencv2/viz.hpp>

Happy debugging!