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我试图编译opencv-3.0.0-beta/samples/gpu/stereo_match.cpp，但我遇到了一些链接错误：错误链接OpenCV的GPU ::立体声采样
/Users/George/Qt/5.7/clang_64/bin/qmake -spec macx-clang CONFIG+=debug CONFIG+=x86_64 CONFIG+=qml_debug -o Makefile ../qt-test/qt-test.pro
/Applications/IDEsAndEditors/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/clang++ -headerpad_max_install_names -stdlib=libc++ -Wl,-syslibroot,/Applications/IDEsAndEditors/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.11.sdk -mmacosx-version-min=10.8 -Wl,-rpath,/Users/George/Qt/5.7/clang_64/lib -o qt-test.app/Contents/MacOS/qt-test main.o mainwindow.o camviewer.o moc_mainwindow.o -F/Users/George/Qt/5.7/clang_64/lib -L/usr/local/lib -L/usr/local/Cellar/opencv3/3.1.0_3/share/OpenCV/3rdparty/lib -L/Developer/NVIDIA/CUDA-7.5 -L/usr/local/Cellar/opencv3/3.1.0_3/lib -lopencv_cudabgsegm -lopencv_cudaobjdetect -lopencv_cudastereo -lopencv_stitching -lopencv_cudafeatures2d -lopencv_superres -lopencv_videostab -lopencv_cudaoptflow -lopencv_cudalegacy -lopencv_cudawarping -lopencv_aruco -lopencv_bgsegm -lopencv_bioinspired -lopencv_ccalib -lopencv_dnn -lopencv_dpm -lopencv_fuzzy -lopencv_hdf -lopencv_line_descriptor -lopencv_optflow -lopencv_plot -lopencv_reg -lopencv_saliency -lopencv_stereo -lopencv_structured_light -lopencv_rgbd -lopencv_surface_matching -lopencv_tracking -lopencv_datasets -lopencv_text -lopencv_face -lopencv_xfeatures2d -lopencv_shape -lopencv_video -lopencv_ximgproc -lopencv_calib3d -lopencv_features2d -lopencv_flann -lopencv_xobjdetect -lopencv_objdetect -lopencv_ml -lopencv_xphoto -lippicv -lopencv_highgui -lopencv_videoio -lopencv_photo -lopencv_imgcodecs -lopencv_cudaimgproc -lopencv_cudafilters -lopencv_imgproc -lopencv_cudaarithm -lopencv_core -lopencv_cudev -framework QtWidgets -framework QtGui -framework QtCore -framework DiskArbitration -framework IOKit -framework OpenGL -framework AGL
Undefined symbols for architecture x86_64:
"cv::cuda::printShortCudaDeviceInfo(int)", referenced from:
App::App(Params const&) in main.o
"cv::cuda::GpuMat::defaultAllocator()", referenced from:
App::run() in main.o
App::App(Params const&) in main.o
"cv::cuda::GpuMat::create(int, int, int)", referenced from:
cv::cuda::GpuMat::GpuMat(cv::Size_<int>, int, cv::cuda::GpuMat::Allocator*) in main.o
"cv::cuda::GpuMat::upload(cv::_InputArray const&)", referenced from:
App::run() in main.o
App::handleKey(char) in main.o
"cv::cuda::GpuMat::release()", referenced from:
cv::cuda::GpuMat::~GpuMat() in main.o
"cv::cuda::getDevice()", referenced from:
App::App(Params const&) in main.o
"cv::String::deallocate()", referenced from:
cv::String::~String() in main.o
"cv::String::allocate(unsigned long)", referenced from:
cv::String::String(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in main.o
cv::String::String(char const*) in main.o
"cv::imshow(cv::String const&, cv::_InputArray const&)", referenced from:
App::run() in main.o
App::handleKey(char) in main.o
"cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)", referenced from:
App::run() in main.o
"cv::cuda::GpuMat::download(cv::_OutputArray const&) const", referenced from:
App::run() in main.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make: *** [qt-test.app/Contents/MacOS/qt-test] Error 1
22:12:45: The process "/usr/bin/make" exited with code 2.
Error while building/deploying project qt-test (kit: Desktop Qt 5.7.0 clang 64bit)
When executing step "Make"
我使用Qt Creator的4.0.2和项目文件这篇文章Configuring Qt for OpenCV on OSX。我已经根据指南通过安装自制软件OpenCV的3.0：
Built from source on 2016-06-24 at 23:14:16 with: --with-contrib --with-cuda --with-openni2
我仔细检查过和CUDA库似乎安装：
libopencv_aruco.3.1.0.dylib libopencv_cudafilters.3.1.0.dylib libopencv_dnn.3.1.0.dylib libopencv_imgproc.3.1.0.dylib libopencv_saliency.3.1.0.dylib libopencv_video.3.1.0.dylib
libopencv_aruco.3.1.dylib libopencv_cudafilters.3.1.dylib libopencv_dnn.3.1.dylib libopencv_imgproc.3.1.dylib libopencv_saliency.3.1.dylib libopencv_video.3.1.dylib
libopencv_aruco.dylib libopencv_cudafilters.dylib libopencv_dnn.dylib libopencv_imgproc.dylib libopencv_saliency.dylib libopencv_video.dylib
libopencv_bgsegm.3.1.0.dylib libopencv_cudaimgproc.3.1.0.dylib libopencv_dpm.3.1.0.dylib libopencv_line_descriptor.3.1.0.dylib libopencv_shape.3.1.0.dylib libopencv_videoio.3.1.0.dylib
libopencv_bgsegm.3.1.dylib libopencv_cudaimgproc.3.1.dylib libopencv_dpm.3.1.dylib libopencv_line_descriptor.3.1.dylib libopencv_shape.3.1.dylib libopencv_videoio.3.1.dylib
libopencv_bgsegm.dylib libopencv_cudaimgproc.dylib libopencv_dpm.dylib libopencv_line_descriptor.dylib libopencv_shape.dylib libopencv_videoio.dylib
libopencv_bioinspired.3.1.0.dylib libopencv_cudalegacy.3.1.0.dylib libopencv_face.3.1.0.dylib libopencv_ml.3.1.0.dylib libopencv_stereo.3.1.0.dylib libopencv_videostab.3.1.0.dylib
libopencv_bioinspired.3.1.dylib libopencv_cudalegacy.3.1.dylib libopencv_face.3.1.dylib libopencv_ml.3.1.dylib libopencv_stereo.3.1.dylib libopencv_videostab.3.1.dylib
libopencv_bioinspired.dylib libopencv_cudalegacy.dylib libopencv_face.dylib libopencv_ml.dylib libopencv_stereo.dylib libopencv_videostab.dylib
libopencv_calib3d.3.1.0.dylib libopencv_cudaobjdetect.3.1.0.dylib libopencv_features2d.3.1.0.dylib libopencv_objdetect.3.1.0.dylib libopencv_stitching.3.1.0.dylib libopencv_xfeatures2d.3.1.0.dylib
libopencv_calib3d.3.1.dylib libopencv_cudaobjdetect.3.1.dylib libopencv_features2d.3.1.dylib libopencv_objdetect.3.1.dylib libopencv_stitching.3.1.dylib libopencv_xfeatures2d.3.1.dylib
libopencv_calib3d.dylib libopencv_cudaobjdetect.dylib libopencv_features2d.dylib libopencv_objdetect.dylib libopencv_stitching.dylib libopencv_xfeatures2d.dylib
libopencv_ccalib.3.1.0.dylib libopencv_cudaoptflow.3.1.0.dylib libopencv_flann.3.1.0.dylib libopencv_optflow.3.1.0.dylib libopencv_structured_light.3.1.0.dylib libopencv_ximgproc.3.1.0.dylib
libopencv_ccalib.3.1.dylib libopencv_cudaoptflow.3.1.dylib libopencv_flann.3.1.dylib libopencv_optflow.3.1.dylib libopencv_structured_light.3.1.dylib libopencv_ximgproc.3.1.dylib
libopencv_ccalib.dylib libopencv_cudaoptflow.dylib libopencv_flann.dylib libopencv_optflow.dylib libopencv_structured_light.dylib libopencv_ximgproc.dylib
libopencv_core.3.1.0.dylib libopencv_cudastereo.3.1.0.dylib libopencv_fuzzy.3.1.0.dylib libopencv_photo.3.1.0.dylib libopencv_superres.3.1.0.dylib libopencv_xobjdetect.3.1.0.dylib
libopencv_core.3.1.dylib libopencv_cudastereo.3.1.dylib libopencv_fuzzy.3.1.dylib libopencv_photo.3.1.dylib libopencv_superres.3.1.dylib libopencv_xobjdetect.3.1.dylib
libopencv_core.dylib libopencv_cudastereo.dylib libopencv_fuzzy.dylib libopencv_photo.dylib libopencv_superres.dylib libopencv_xobjdetect.dylib
libopencv_cudaarithm.3.1.0.dylib libopencv_cudawarping.3.1.0.dylib libopencv_hdf.3.1.0.dylib libopencv_plot.3.1.0.dylib libopencv_surface_matching.3.1.0.dylib libopencv_xphoto.3.1.0.dylib
libopencv_cudaarithm.3.1.dylib libopencv_cudawarping.3.1.dylib libopencv_hdf.3.1.dylib libopencv_plot.3.1.dylib libopencv_surface_matching.3.1.dylib libopencv_xphoto.3.1.dylib
libopencv_cudaarithm.dylib libopencv_cudawarping.dylib libopencv_hdf.dylib libopencv_plot.dylib libopencv_surface_matching.dylib libopencv_xphoto.dylib
libopencv_cudabgsegm.3.1.0.dylib libopencv_cudev.3.1.0.dylib libopencv_highgui.3.1.0.dylib libopencv_reg.3.1.0.dylib libopencv_text.3.1.0.dylib pkgconfig
libopencv_cudabgsegm.3.1.dylib libopencv_cudev.3.1.dylib libopencv_highgui.3.1.dylib libopencv_reg.3.1.dylib libopencv_text.3.1.dylib python2.7
libopencv_cudabgsegm.dylib libopencv_cudev.dylib libopencv_highgui.dylib libopencv_reg.dylib libopencv_text.dylib
libopencv_cudafeatures2d.3.1.0.dylib libopencv_datasets.3.1.0.dylib libopencv_imgcodecs.3.1.0.dylib libopencv_rgbd.3.1.0.dylib libopencv_tracking.3.1.0.dylib
libopencv_cudafeatures2d.3.1.dylib libopencv_datasets.3.1.dylib libopencv_imgcodecs.3.1.dylib libopencv_rgbd.3.1.dylib libopencv_tracking.3.1.dylib
libopencv_cudafeatures2d.dylib libopencv_datasets.dylib libopencv_imgcodecs.dylib libopencv_rgbd.dylib libopencv_tracking.dylib
的.pro文件看起来是这样的：
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = qt-test
TEMPLATE = app
SOURCES += main.cpp\
mainwindow.cpp \
camviewer.cpp
HEADERS += mainwindow.h \
camviewer.h \
tick_meter.hpp
FORMS += mainwindow.ui
INCLUDEPATH += /Developer/NVIDIA/CUDA-7.5/include
LIBS += -L/usr/local/lib -L/usr/local/Cellar/opencv3/3.1.0_3/share/OpenCV/3rdparty/lib -L/Developer/NVIDIA/CUDA-7.5
QT_CONFIG -= no-pkg-config
CONFIG += link_pkgconfig
PKGCONFIG += opencv
所以据我所知，我已经用CUDA安装了opencv 3.0，并且我正在链接库，但我不确定为什么这些符号似乎丢失了。
如何加倍检查我是否正确链接？
链接和编译此示例的正确方法是什么？
#include <iostream>
#include <string>
#include <sstream>
#include <iomanip>
#include <stdexcept>
#include <opencv2/core/utility.hpp>
#include "opencv2/cudastereo.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"
using namespace cv;
using namespace std;
bool help_showed = false;
struct Params
{
Params();
static Params read(int argc, char** argv);
string left;
string right;
string method_str() const
{
switch (method)
{
case BM: return "BM";
case BP: return "BP";
case CSBP: return "CSBP";
}
return "";
}
enum {BM, BP, CSBP} method;
int ndisp; // Max disparity + 1
};
struct App
{
App(const Params& p);
void run();
void handleKey(char key);
void printParams() const;
void workBegin() { work_begin = getTickCount(); }
void workEnd()
{
int64 d = getTickCount() - work_begin;
double f = getTickFrequency();
work_fps = f/d;
}
string text() const
{
stringstream ss;
ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
<< setprecision(4) << work_fps;
return ss.str();
}
private:
Params p;
bool running;
Mat left_src, right_src;
Mat left, right;
cuda::GpuMat d_left, d_right;
Ptr<cuda::StereoBM> bm;
Ptr<cuda::StereoBeliefPropagation> bp;
Ptr<cuda::StereoConstantSpaceBP> csbp;
int64 work_begin;
double work_fps;
};
static void printHelp()
{
cout << "Usage: stereo_match_gpu\n"
<< "\t--left <left_view> --right <right_view> # must be rectified\n"
<< "\t--method <stereo_match_method> # BM | BP | CSBP\n"
<< "\t--ndisp <number> # number of disparity levels\n";
help_showed = true;
}
int main(int argc, char** argv)
{
try
{
if (argc < 2)
{
printHelp();
return 1;
}
Params args = Params::read(argc, argv);
if (help_showed)
return -1;
App app(args);
app.run();
}
catch (const exception& e)
{
cout << "error: " << e.what() << endl;
}
return 0;
}
Params::Params()
{
method = BM;
ndisp = 64;
}
Params Params::read(int argc, char** argv)
{
Params p;
for (int i = 1; i < argc; i++)
{
if (string(argv[i]) == "--left") p.left = argv[++i];
else if (string(argv[i]) == "--right") p.right = argv[++i];
else if (string(argv[i]) == "--method")
{
if (string(argv[i + 1]) == "BM") p.method = BM;
else if (string(argv[i + 1]) == "BP") p.method = BP;
else if (string(argv[i + 1]) == "CSBP") p.method = CSBP;
else throw runtime_error("unknown stereo match method: " + string(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--ndisp") p.ndisp = atoi(argv[++i]);
else if (string(argv[i]) == "--help") printHelp();
else throw runtime_error("unknown key: " + string(argv[i]));
}
return p;
}
App::App(const Params& params)
: p(params), running(false)
{
cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
cout << "stereo_match_gpu sample\n";
cout << "\nControls:\n"
<< "\tesc - exit\n"
<< "\tp - print current parameters\n"
<< "\tg - convert source images into gray\n"
<< "\tm - change stereo match method\n"
<< "\ts - change Sobel prefiltering flag (for BM only)\n"
<< "\t1/q - increase/decrease maximum disparity\n"
<< "\t2/w - increase/decrease window size (for BM only)\n"
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
}
void App::run()
{
// Load images
left_src = imread(p.left);
right_src = imread(p.right);
if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
// Set common parameters
bm = cuda::createStereoBM(p.ndisp);
bp = cuda::createStereoBeliefPropagation(p.ndisp);
csbp = cv::cuda::createStereoConstantSpaceBP(p.ndisp);
// Prepare disparity map of specified type
Mat disp(left.size(), CV_8U);
cuda::GpuMat d_disp(left.size(), CV_8U);
cout << endl;
printParams();
running = true;
while (running)
{
workBegin();
switch (p.method)
{
case Params::BM:
if (d_left.channels() > 1 || d_right.channels() > 1)
{
cout << "BM doesn't support color images\n";
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
cout << "image_channels: " << left.channels() << endl;
d_left.upload(left);
d_right.upload(right);
imshow("left", left);
imshow("right", right);
}
bm->compute(d_left, d_right, d_disp);
break;
case Params::BP: bp->compute(d_left, d_right, d_disp); break;
case Params::CSBP: csbp->compute(d_left, d_right, d_disp); break;
}
workEnd();
// Show results
d_disp.download(disp);
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
imshow("disparity", disp);
handleKey((char)waitKey(3));
}
}
void App::printParams() const
{
cout << "--- Parameters ---\n";
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
cout << "image_channels: " << left.channels() << endl;
cout << "method: " << p.method_str() << endl
<< "ndisp: " << p.ndisp << endl;
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm->getBlockSize() << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
break;
case Params::BP:
cout << "iter_count: " << bp->getNumIters() << endl;
cout << "level_count: " << bp->getNumLevels() << endl;
break;
case Params::CSBP:
cout << "iter_count: " << csbp->getNumIters() << endl;
cout << "level_count: " << csbp->getNumLevels() << endl;
break;
}
cout << endl;
}
void App::handleKey(char key)
{
switch (key)
{
case 27:
running = false;
break;
case 'p': case 'P':
printParams();
break;
case 'g': case 'G':
if (left.channels() == 1 && p.method != Params::BM)
{
left = left_src;
right = right_src;
}
else
{
cvtColor(left_src, left, COLOR_BGR2GRAY);
cvtColor(right_src, right, COLOR_BGR2GRAY);
}
d_left.upload(left);
d_right.upload(right);
cout << "image_channels: " << left.channels() << endl;
imshow("left", left);
imshow("right", right);
break;
case 'm': case 'M':
switch (p.method)
{
case Params::BM:
p.method = Params::BP;
break;
case Params::BP:
p.method = Params::CSBP;
break;
case Params::CSBP:
p.method = Params::BM;
break;
}
cout << "method: " << p.method_str() << endl;
break;
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm->getPreFilterType())
{
case 0:
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
break;
case cv::StereoBM::PREFILTER_XSOBEL:
bm->setPreFilterType(0);
break;
}
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case '2':
if (p.method == Params::BM)
{
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case '3':
if (p.method == Params::BP)
{
bp->setNumIters(bp->getNumIters() + 1);
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumIters(csbp->getNumIters() + 1);
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case 'e': case 'E':
if (p.method == Params::BP)
{
bp->setNumIters(max(bp->getNumIters() - 1, 1));
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumIters(max(csbp->getNumIters() - 1, 1));
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case '4':
if (p.method == Params::BP)
{
bp->setNumLevels(bp->getNumLevels() + 1);
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumLevels(csbp->getNumLevels() + 1);
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
case 'r': case 'R':
if (p.method == Params::BP)
{
bp->setNumLevels(max(bp->getNumLevels() - 1, 1));
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp->setNumLevels(max(csbp->getNumLevels() - 1, 1));
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
}
}
更新 如何在Qt Creator中编译，以及任何提示？
不确定它是否能够解决问题，但使用opencv 3.1的样本，而不是3.0 beta，因为您安装了opencv 3.1。你会在github上找到它，只要确保分支/标签是3.1。这个api已经从3.0 beta版变成了... – Miki
@Miki好的提示，但是，我比较了[opencv 3.0中的stereo_match.cpp]（https://github.com/opencv/opencv/blob/3.0.0/samples /gpu/stereo_match.cpp）与来自opencv 3.1的[stereo_match.cpp]（https://github.com/opencv/opencv/blob/3.1.0/samples/gpu/stereo_match.cpp）相同。 –
你可以尝试明确链接“-llibopencvxxx”....我通常这样做，但不是在OSX上......只是一个疯狂的猜测; D – Miki