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Question

using namespace std;
using namespace cv;
using namespace cv::ximgproc;

班级立体声的功能：

 void stereo_matcher::cpu_sgbm_matcher(cv::Mat& IL, cv::Mat& IR, int min_disp, int max_disp)
    {
        int cn = IL.channels();
    int winsize =9; //3

//    Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,256,9,0,0,1,63);
     Ptr<StereoSGBM> left_matcher = StereoSGBM::create(0,max_disp,winsize);

    left_matcher->setPreFilterCap(63);
    left_matcher->setBlockSize(winsize);
    left_matcher->setP1(8*cn*winsize*winsize); //8
    left_matcher->setP2(32*cn*winsize*winsize); //32
    left_matcher->setMinDisparity(min_disp);
    left_matcher->setNumDisparities(max_disp);
    left_matcher->setUniquenessRatio(10);
    left_matcher->setSpeckleWindowSize(100);
    left_matcher->setSpeckleRange(32);
    left_matcher->setDisp12MaxDiff(1);
    left_matcher->setMode(StereoSGBM::MODE_HH);

    left_matcher->compute(IL, IR, disp16L);

   Ptr<StereoMatcher> right_matcher = createRightMatcher(left_matcher);

    right_matcher->compute(IR, IL, disp16R);

//    cout<<disp16L<<endl;

    Mat filtered_disp;
    Mat conf_map = Mat(IL.rows,IL.cols,CV_8U);
    conf_map = Scalar(255);
    Ptr<DisparityWLSFilter> wls_filter=createDisparityWLSFilter(left_matcher);
//    wls_filter = createDisparityWLSFilter(left_matcher);
    cout<<"Here§§"<<endl;
    wls_filter->setLambda(8000);

    wls_filter->setSigmaColor(1.5);


    double filtering_time = (double)getTickCount();
    wls_filter->filter(disp16L,IL,filtered_disp,disp16R);
    filtering_time = ((double)getTickCount() - filtering_time)/getTickFrequency();
    cout<<"Filtering time: "<<filtering_time<<"s"<<endl;


    disp16L=filtered_disp.clone();

    disp16L.convertTo(disp32F, CV_32F,(double)1.0/(16.0),0.0);

//    //! [visualization]
//    double vis_mult=1.0;
//    Mat raw_disp_vis;
//    cv::ximgproc::getDisparityVis(disp16L,raw_disp_vis,vis_mult);
//    namedWindow("raw disparity", WINDOW_AUTOSIZE);
//    imshow("raw disparity", raw_disp_vis);
//    Mat filtered_disp_vis;
//    cv::ximgproc::getDisparityVis(filtered_disp,filtered_disp_vis,vis_mult);
//    namedWindow("filtered disparity", WINDOW_AUTOSIZE);
//    imshow("filtered disparity", filtered_disp_vis);
//    waitKey(0);
//    //! [visualization]

}

我做了什么：我发现以下示例： https://github.com/Itseez/opencv_contrib/blob/master/modules/ximgproc/samples/disparity_filtering.cpp

我已经从以下程序安装了Opencv额外模块： https://github.com/Itseez/opencv_contrib

问题：即使我的IDE（Qt）识别出头文件

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编译时出现以下错误： ../../lib/libstereo.a(stereo_matcher.cpp.o）：在函数stereo_matcher::cpu_sgbm_matcher(cv::Mat&, cv::Mat&, int, int)': stereo_matcher.cpp:(.text+0xcc9): undefined reference to cv :: ximgproc :: createDisparityWLSFilter（cv :: Ptr）＆＃39; collect2：错误：ld返回1退出状态 make [2]： * [../bin/test_stereo]错误1 make [1]：* [apps / CMakeFiles / test_stereo.dir / all]错误2

如何链接此OpenCV库

提前感谢您提供帮助

Answer 1

在Qt Creator中，我添加了.pro文件行LIBS += -lopencv_ximgproc，它对我有所帮助。（Qt 5.11，OpenCV 3.2，Linux Ubuntu 18.04）

INCLUDEPATH += /usr/local/include/opencv
....
LIBS += -lopencv_ximgproc

您应该在文件夹/usr/local/include/opencv库文件中

libopencv_ximgproc.so

将cv :: ximproc库链接到项目时出错

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1 个答案: