问
链接opencv非自由组件(特别是SIFT功能和OCL)
我在操作系统升级(Ubuntu 12.04到14.04)和重新安装opencv后编译代码时遇到问题.
一般问题是opencv的"nonfree"部分,我使用以下过程从源代码编译:
mkdir ~/OpenCV && cd ~/OpenCV wget http://downloads.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.10/opencv-2.4.10.zip unzip opencv-2.4.10.zip cd opencv-2.4.10 cmake -D WITH_CUDA=ON -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr . make sudo make install
这将安装非自由库,如cmake的输出中所验证的:
-- General configuration for OpenCV 2.4.10 ===================================== -- Version control: unknown -- -- Platform: -- Host: Linux 3.13.0-37-generic x86_64 -- CMake: 2.8.12.2 -- CMake generator: Unix Makefiles -- CMake build tool: /usr/bin/make -- Configuration: RELEASE -- -- C/C++: -- Built as dynamic libs?: YES -- C++ Compiler: /usr/bin/c++ (ver 4.8.2) -- C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -msse3 -ffunction-sections -O3 -DNDEBUG -DNDEBUG -- C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -msse3 -ffunction-sections -g -O0 -DDEBUG -D_DEBUG -- C Compiler: /usr/bin/cc -- C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -msse3 -ffunction-sections -O3 -DNDEBUG -DNDEBUG -- C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -msse -msse2 -msse3 -ffunction-sections -g -O0 -DDEBUG -D_DEBUG -- Linker flags (Release): -- Linker flags (Debug): -- Precompiled headers: YES -- -- OpenCV modules: -- To be built: core flann imgproc highgui features2d calib3d ml video legacy objdetect photo gpu ocl nonfree contrib python stitching superres ts videostab -- Disabled: world -- Disabled by dependency: - -- Unavailable: androidcamera dynamicuda java viz -- -- GUI: -- QT: NO -- GTK+ 2.x: YES (ver 2.24.23) -- GThread : YES (ver 2.40.0) -- GtkGlExt: NO -- OpenGL support: NO -- VTK support: NO -- -- Media I/O: -- ZLib: /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8) -- JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (ver ) -- PNG: /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.50) -- TIFF: /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 - 4.0.3) -- JPEG 2000: /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1) -- OpenEXR: /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 1.6.1) -- -- Video I/O: -- DC1394 1.x: NO -- DC1394 2.x: YES (ver 2.2.1) -- FFMPEG: YES -- codec: YES (ver 54.35.0) -- format: YES (ver 54.20.4) -- util: YES (ver 52.3.0) -- swscale: YES (ver 2.1.1) -- gentoo-style: YES -- GStreamer: NO -- OpenNI: NO -- OpenNI PrimeSensor Modules: NO -- PvAPI: NO -- GigEVisionSDK: NO -- UniCap: NO -- UniCap ucil: NO -- V4L/V4L2: NO/YES -- XIMEA: NO -- Xine: NO -- -- Other third-party libraries: -- Use IPP: NO -- Use Eigen: YES (ver 3.2.0) -- Use TBB: NO -- Use OpenMP: NO -- Use GCD NO -- Use Concurrency NO -- Use C=: NO -- Use Cuda: NO -- Use OpenCL: YES -- -- OpenCL: -- Version: dynamic -- Include path: /home/ian/Downloads/opencv-2.4.10/3rdparty/include/opencl/1.2 -- Use AMD FFT: NO -- Use AMD BLAS: NO -- -- Python: -- Interpreter: /usr/bin/python2 (ver 2.7.6) -- Libraries: /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.6) -- numpy: /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.8.2) -- packages path: lib/python2.7/dist-packages -- -- Java: -- ant: NO -- JNI: NO -- Java tests: NO -- -- Documentation: -- Build Documentation: NO -- Sphinx: NO -- PdfLaTeX compiler: /usr/bin/pdflatex -- -- Tests and samples: -- Tests: YES -- Performance tests: YES -- C/C++ Examples: NO -- -- Install path: /usr -- -- cvconfig.h is in: /home/ian/Downloads/opencv-2.4.10 -- ----------------------------------------------------------------- --
但是,当我尝试编译以下代码时:
#include#include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/nonfree/features2d.hpp" #include #include "boost/filesystem.hpp" #include #include using namespace cv; using namespace std; using namespace boost::filesystem; void createDicitonary(Mat & dictionary, string path_positive, string path_negative) { string filename; //to store the current input image Mat input; //To store the keypoints that will be extracted by SIFT vector keypoints; //To store the SIFT descriptor of current image Mat descriptor; //To store all the descriptors that are extracted from all the images. Mat featuresUnclustered; //The SIFT feature extractor and descriptor SiftDescriptorExtractor detector(500); for (directory_iterator itr(path_positive); itr!=directory_iterator(); ++itr) { filename = path_positive+itr->path().leaf().string(); //open the file input = imread(filename, CV_LOAD_IMAGE_GRAYSCALE); //Load as grayscale //detect feature points detector.detect(input, keypoints); //compute the descriptors for each keypoint detector.compute(input, keypoints,descriptor); //put the all feature descriptors in a single Mat object featuresUnclustered.push_back(descriptor); } for (directory_iterator itr(path_negative); itr!=directory_iterator(); ++itr) { filename = path_negative+itr->path().leaf().string(); //open the file input = imread(filename, CV_LOAD_IMAGE_GRAYSCALE); //Load as grayscale //detect feature points detector.detect(input, keypoints); //compute the descriptors for each keypoint detector.compute(input, keypoints,descriptor); //put the all feature descriptors in a single Mat object featuresUnclustered.push_back(descriptor); } //Construct BOWKMeansTrainer //the number of bags int dictionarySize=10; //define Term Criteria TermCriteria tc(CV_TERMCRIT_EPS,100,0.001); //retries number int retries=1; //necessary flags int flags=KMEANS_PP_CENTERS; //Create the BoW (or BoF) trainer BOWKMeansTrainer bowTrainer(dictionarySize,tc,retries,flags); //cluster the feature vectors dictionary=bowTrainer.cluster(featuresUnclustered); } void labelSamples(string path,Mat & train,Mat & response,int label, Mat & dictionary) { Ptr matcher = DescriptorMatcher::create("FlannBased"); Ptr extractor = new SiftDescriptorExtractor(); BOWImgDescriptorExtractor dextract( extractor, matcher ); SiftFeatureDetector detector(500); for (directory_iterator itr(path); itr!=directory_iterator(); ++itr) { string filename = path+itr->path().leaf().string(); // set training data using BOWImgDescriptorExtractor dextract.setVocabulary( dictionary ); std::vector keypoints; Mat img = imread( filename, CV_LOAD_IMAGE_GRAYSCALE ); detector.detect( img, keypoints); Mat desc; dextract.compute( img, keypoints, desc ); if ( !desc.empty() ) { train.push_back( desc ); // update training data response.push_back( label ); // update response data } } } int main(int argc, char* argv[]) { cout << "Starting Training" << std::endl; if (argc != 3) { std::cout << "Error: please use the program as such: cartrainer path-to-positive-director path-to-negative-directory" << std::endl; return 1; } std::string pos(argv[1]); std::string neg(argv[2]); if (!is_directory(pos)) { std::cout << "Error: " << pos << "not a directory" << std::endl; return 1; } if (!is_directory(neg)) { std::cout << "Error: " << neg << "not a directory" << std::endl; return 1; } Mat dictionary; createDicitonary(dictionary,pos,neg); cout << "Created dictionary" << std::endl; Mat train,response; labelSamples(pos,train,response,1,dictionary); cout << "Labelled Positive Samples" << std::endl; labelSamples(neg,train,response,-1,dictionary); cout << "Labelled Negative Samples" << std::endl; // svm parameters CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS, 1000, FLT_EPSILON); CvSVMParams svm_param = CvSVMParams( CvSVM::EPS_SVR, CvSVM::LINEAR, 10.0, 8.0, 1.0, 10.0, 0.5, 0.0001, NULL, criteria); // train svm cv::SVM svm; svm.train(train, response,cv::Mat(),cv::Mat(),svm_param); svm.save("svm-car-classifier.xml"); FileStorage fs("training_data.yml", FileStorage::WRITE); fs << "dictionary" << dictionary; fs << "train" << train; fs << "response" << response; fs.release(); return 0; }
使用以下makefile:
CC = g++
LINK = g++
INSTALL = install
CFLAGS = `pkg-config opencv --cflags` -I /usr/include/boost-1_46 -I.
LFLAGS = `pkg-config opencv --libs` -L /usr/lib -L /opt/ros/indigo/lib -lboost_system -lboost_filesystem -lopencv_features2d -lopencv_nonfree -lopencv_ocl
all: cartrainer
TrainClassifier.o: TrainClassifier.cpp
$(CC) $(CFLAGS) -o $@ -c $^
cartrainer: TrainClassifier.o
$(LINK) -o $@ $^ $(LFLAGS)
clean:
rm -f cartrainer *.o
install:
cp cartrainer ~/usr/bin/
通过以下方式:
make
我收到以下错误:
/usr/lib/libopencv_nonfree.so: undefined reference to `cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)' collect2: error: ld returned 1 exit status make: *** [cartrainer] Error 1
我尝试通过以下方式将其添加到我的ldconfig:
/etc/ld.so.conf.d/opencv.conf包含:
/usr/include /usr/lib
之后我跑了:
sudo ldconfig
当我使用以下CMakesList.txt在ROS中编译类似的包时,也会发生同样的错误:
cmake_minimum_required(VERSION 2.8.3)
project(car_detector)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_generation
camera_capture
cv_bridge
image_transport
image_util
lib_map_interface
)
find_package(OpenCV REQUIRED)
# Generate messages in the 'msg' folder
add_message_files(
FILES
CarDetection.msg
CarDetections.msg
)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
catkin_package(CATKIN_DEPENDS message_runtime std_msgs image_util lib_map_interface)
include_directories(${catkin_INCLUDE_DIRS}
${lib_map_interface_INCLUDE_DIRS})
add_executable(node_car_detector NodeCarDetector.cpp)
target_link_libraries(node_car_detector ${catkin_LIBRARIES} libimage_util)
add_dependencies(node_car_detector ${catkin_EXPORTED_TARGETS})
add_executable(node_car_classifier NodeCarClassifier.cpp)
target_link_libraries(node_car_classifier ${catkin_LIBRARIES} ${OpenCV_LIBS} libimage_util lib_map_interface)
add_dependencies(node_car_classifier ${catkin_EXPORTED_TARGETS})
我不知道还有什么可以尝试所以如果有人有任何想法,我会非常感激
非常感谢!
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