opencv-3.4.0
下载：
https://github.com/opencv/opencv/tree/3.4.0
安装：
cd opencv-3.4.0
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install
安装过程中若报此错误: cv2.cpp:885:34: error: invalid conversion from ‘const char’ to ‘char*’ [-fpermissive]*
则需要将opencv-3.4.0/modules/python/src2/cv2.cpp文件中如下行:
char* str = PyString_AsString(obj);
改写为：
const char* str = PyString_AsString(obj);
在/tmp 路径下新建 "OpenSpacePlannerDebug" 文件夹,以存放每次搜索过程的图片
mkdir /tmp/OpenSpacePlannerDebug
编译&运行
bash ./scripts/build.sh
./test/bin/test_open_space_planner