//融合代码
g++  -std=c++11 ./*.cpp -o main.out -I /usr/local/include -I /usr/local/include/opencv4 -I /usr/include -I /opt/ros/melodic/include -I /home/firefly/Desktop/object_detect_sdk_1804/install/include  -L /usr/local/lib -l opencv_core -l opencv_imgproc -l opencv_imgcodecs -l opencv_highgui -l opencv_dnn -l opencv_videoio -l opencv_calib3d -L /usr/lib/obj_sdk -l rknn_sdk -l rknnrt -l roscpp -l roslib -l rosconsole -l roscpp_serialization -L /opt/ros/melodic/lib -l rostime -l boost_system -l pthread -l udev

//编译cartographer
catkin_make_isolated --install --use-ninja -DFORCE_DEBUG_BUILD=True

1. map.cpp 的编译命令
g++ -g -std=c++11 ./map.cpp -o map.out -I /usr/lo