I'm making a program in C++ that uses 2 images to detect SURF Features, compute the matches with a bruteforcematcher and draws it.
Here's the code
#include <cstdio>
#include <string>
#include <vector>
#include "opencv/cv.h"
#include "opencv/highgui.h"
#include "opencv2/features2d/features2d.hpp"
using namespace cv;
using namespace std;
int main(int argc, char **argv){
if (argc <3) {
cout << "Usage: " << argv[0] << " imageLocation1 imageLocation2" << endl;
return -1;
}
Mat source1 = imread(argv[1],CV_LOAD_IMAGE_GRAYSCALE);
Mat source2 = imread(argv[2],CV_LOAD_IMAGE_GRAYSCALE);
if(source1.empty() || source2.empty()){
printf("Can't load all the images!");
return -1;
}
//Initialise the Wrapping Class for Surf()
SurfFeatureDetector detector(400);
//detect : first param: Image, second param: vector (output)
vector<KeyPoint> keypoints1,keypoints2;
detector.detect(source1,keypoints1);
detector.detect(source2,keypoints2);
//Initialise wrapping class for descriptors computing using SURF() class.
SurfDescriptorExtractor extractor;
//Compute: Input:image, keypoints Output:descriptors
Mat descriptors1,descriptors2;
extractor.compute(source1,keypoints1,descriptors1);
extractor.compute(source2,keypoints2,descriptors2);
//Initialise BruteForceMatcher: For each descriptor in the first set, this matcher finds the closest descriptor in the second set by trying each on (=brute)
BruteForceMatcher< L2<float> > matcher;
vector< DMatch > matches;
//match: execute the matcher!
matcher.match(descriptors1,descriptors2, matches);
//Draw the matches with drawMatches
Mat target;
drawMatches(source1,keypoints1,source2,keypoints2,matches,target);
imshow("Matches", target);
waitKey(0);
return 0;
}
Building isn't a problem, but when linking, I get this very nasty errors:
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o: In function `cv::BruteForceMatcher<cv::L2<float> >::~BruteForceMatcher()':
lennart_martens_opgave13.cpp:(.text._ZN2cv17BruteForceMatcherINS_2L2IfEEED2Ev[_ZN2cv17BruteForceMatcherINS_2L2IfEEED5Ev]+0xb): undefined reference to `cv::DescriptorMatcher::~DescriptorMatcher()'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o: In function `cv::BruteForceMatcher<cv::L2<float> >::~BruteForceMatcher()':
lennart_martens_opgave13.cpp:(.text._ZN2cv17BruteForceMatcherINS_2L2IfEEED0Ev[_ZN2cv17BruteForceMatcherINS_2L2IfEEED5Ev]+0x12): undefined reference to `cv::DescriptorMatcher::~DescriptorMatcher()'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o: In function `main':
lennart_martens_opgave13.cpp:(.text.startup+0x172): undefined reference to `cv::SurfFeatureDetector::SurfFeatureDetector(double, int, int, bool)'
lennart_martens_opgave13.cpp:(.text.startup+0x24f): undefined reference to `cv::FeatureDetector::detect(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat const&) const'
lennart_martens_opgave13.cpp:(.text.startup+0x30a): undefined reference to `cv::FeatureDetector::detect(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat const&) const'
lennart_martens_opgave13.cpp:(.text.startup+0x346): undefined reference to `cv::SurfDescriptorExtractor::SurfDescriptorExtractor(int, int, bool, bool)'
lennart_martens_opgave13.cpp:(.text.startup+0x495): undefined reference to `cv::DescriptorExtractor::compute(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat&) const'
lennart_martens_opgave13.cpp:(.text.startup+0x4bb): undefined reference to `cv::DescriptorExtractor::compute(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat&) const'
lennart_martens_opgave13.cpp:(.text.startup+0x5ac): undefined reference to `cv::DescriptorMatcher::match(cv::Mat const&, cv::Mat const&, std::vector<cv::DMatch, std::allocator<cv::DMatch> >&, cv::Mat const&) const'
lennart_martens_opgave13.cpp:(.text.startup+0x6de): undefined reference to `cv::drawMatches(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> > const&, cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> > const&, std::vector<cv::DMatch, std::allocator<cv::DMatch> > const&, cv::Mat&, cv::Scalar_<double> const&, cv::Scalar_<double> const&, std::vector<char, std::allocator<char> > const&, int)'
lennart_martens_opgave13.cpp:(.text.startup+0x781): undefined reference to `cv::DescriptorMatcher::~DescriptorMatcher()'
lennart_martens_opgave13.cpp:(.text.startup+0x7ad): undefined reference to `vtable for cv::SurfDescriptorExtractor'
lennart_martens_opgave13.cpp:(.text.startup+0x7b5): undefined reference to `cv::DescriptorExtractor::~DescriptorExtractor()'
lennart_martens_opgave13.cpp:(.text.startup+0x7d8): undefined reference to `vtable for cv::SurfFeatureDetector'
lennart_martens_opgave13.cpp:(.text.startup+0x7e0): undefined reference to `cv::FeatureDetector::~FeatureDetector()'
lennart_martens_opgave13.cpp:(.text.startup+0x8c8): undefined reference to `vtable for cv::SurfFeatureDetector'
lennart_martens_opgave13.cpp:(.text.startup+0x8d0): undefined reference to `cv::FeatureDetector::~FeatureDetector()'
lennart_martens_opgave13.cpp:(.text.startup+0x942): undefined reference to `vtable for cv::SurfDescriptorExtractor'
lennart_martens_opgave13.cpp:(.text.startup+0x94a): undefined reference to `cv::DescriptorExtractor::~DescriptorExtractor()'
lennart_martens_opgave13.cpp:(.text.startup+0x9a2): undefined reference to `cv::DescriptorMatcher::~DescriptorMatcher()'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x10): undefined reference to `cv::DescriptorMatcher::add(std::vector<cv::Mat, std::allocator<cv::Mat> > const&)'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x14): undefined reference to `cv::DescriptorMatcher::clear()'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x18): undefined reference to `cv::DescriptorMatcher::empty() const'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x20): undefined reference to `cv::DescriptorMatcher::train()'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x24): undefined reference to `cv::DescriptorMatcher::read(cv::FileNode const&)'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x28): undefined reference to `cv::DescriptorMatcher::write(cv::FileStorage&) const'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x30): undefined reference to `cv::BruteForceMatcher<cv::L2<float> >::knnMatchImpl(cv::Mat const&, std::vector<std::vector<cv::DMatch, std::allocator<cv::DMatch> >, std::allocator<std::vector<cv::DMatch, std::allocator<cv::DMatch> > > >&, int, std::vector<cv::Mat, std::allocator<cv::Mat> > const&, bool)'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTVN2cv17BruteForceMatcherINS_2L2IfEEEE[vtable for cv::BruteForceMatcher<cv::L2<float> >]+0x34): undefined reference to `cv::BruteForceMatcher<cv::L2<float> >::radiusMatchImpl(cv::Mat const&, std::vector<std::vector<cv::DMatch, std::allocator<cv::DMatch> >, std::allocator<std::vector<cv::DMatch, std::allocator<cv::DMatch> > > >&, float, std::vector<cv::Mat, std::allocator<cv::Mat> > const&, bool)'
CMakeFiles/opg13.dir/src/lennart_martens_opgave13.o:(.rodata._ZTIN2cv17BruteForceMatcherINS_2L2IfEEEE[typeinfo for cv::BruteForceMatcher<cv::L2<float> >]+0x8): undefined reference to `typeinfo for cv::DescriptorMatcher'
collect2: ld gaf exit-status 1 terug
make[2]: *** [bin/opg13] Fout 1
make[1]: *** [CMakeFiles/opg13.dir/all] Fout 2
make: *** [all] Fout 2
I really don't know what the problem is. I didn't find a thing at the Internet. Hope someone can help!
Edit: This is my CMakeLists.txt:
cmake_minimum_required(VERSION 2.4)
PROJECT(LABO5)
# paths
INCLUDE_DIRECTORIES(src)
INCLUDE_DIRECTORIES(/usr/local/include)
LINK_DIRECTORIES(/usr/local/lib)
LINK_DIRECTORIES(/usr/lib)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/bin)
SET(CMAKE_CXX_FLAGS "-o3 -w")
SET(CMAKE_CXX_LINK_FLAGS "-pg")
SET(OpenCV_LIBRARIES opencv_core opencv_highgui opencv_imgproc )
ADD_EXECUTABLE(opg13 src/lennart_martens_opgave13.cpp)
TARGET_LINK_LIBRARIES(opg13 ${OpenCV_LIBRARIES})
SET(CMAKE_BUILD_TYPE Release)
If you're using opencv 2.4, SURF and SIFT interfaces are changed to nonfree folder. You can use it by including this line
#include <opencv2/nonfree/features2d.hpp>
then you can use SurfFeatureDetector as before.
For SURF, @Mingyi Wu have answered. For BruteForceMatcher, please
#include <opencv2/legacy/legacy.hpp>
if you're using opencv2.4 or trunk from svn, SURF and SIFT interfaces are changed. http://code.opencv.org/projects/opencv/wiki/ChangeLog
I really don't know what the problem is.
The problem is most likely incorrect link line. Unfortunately, you didn't say what your link line is, so no further help could be given. Reading this may be helpful.
I had a similar problem after installing ROS. The problem was that I was linking to the wrong libraries.
I fixed the link errors by adding the following line to my CMakeLists.txt: link_directories(/opt/ros/groovy/lib)
for ocv 2.4.9:#include <opencv2/nonfree/features2d.hpp> is the location of SURF. In project Settings select Configuration Properties, then Linker, then Input and then add opencv_nonfree249d.lib to Additional Dependencies. With those ones the following example from ocv documentation works fine :-) http://docs.opencv.org/doc/tutorials/features2d/feature_detection/feature_detection.html#feature-detection
I had this problem after upgrade OpenCV from 2.3.1 to 2.4.5, and I've solved this issue linking opencv_nonfree, and add the necessary headers for my project:
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/nonfree/features2d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
来源：https://stackoverflow.com/questions/9968993/opencv-undefined-reference-surffeaturedetector-and-bruteforcematcher