目前本菜鸟正在跟随高翔博士的《视觉SLAM十四讲》学习基本的SLAM框架及相关算法理论。
在运行ch5的imageBasics程序(即利用opencv实现图像读取、显示、遍历像素、赋值及拷贝)时出现了错误。
原代码如下:
#include <iostream>
#include <chrono>
using namespace std;
#include <opencv/cv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
int main ( int argc, char** argv )
{
// 读取argv[1]指定的图像
cv::Mat image; //此处为初始化,定义变量image
image = cv::imread( argv[1] ); //cv::imread函数读取指定路径下的图像 argv[1]表示第一个参数
// 判断图像文件是否正确读取
if ( image.data == nullptr ) //数据不存在,可能是文件不存在
{
cerr<<"文件"<<argv[1]<<"不存在."<<endl; //cerr通常用于输出错误信息与其他不属于正常逻辑的输出内容,不缓冲
return 0;
}
//若文件顺利读取, 则首先输出一些基本信息
cout<<"图像宽为"<<image.cols<<endl;
cout<<"图像高为"<<image.rows<<endl;
cout<<"图像通道数为"<<image.channels()<<endl;
cv::imshow( "image", image ); // 用cv::imshow显示图像
cv::waitKey ( 0 ); // 暂停程序,等待一个按键输入
// 判断image的类型
if ( image.type() != CV_8UC1 && image.type() != CV_8UC3 )
//8表示像素所占位数; U代表无符号整形unsigned char;C1表示通道数为1,C3表示通道数为3
{
// 图像类型不符合要求
cout<<"请输入一张彩色图或灰度图."<<endl;
return 0;
}
// 遍历图像, 请注意以下遍历方式亦可使用于随机像素访问
for ( size_t y=0; y<image.rows; y++ )
{
// 用cv::Mat::ptr获得图像的行指针
unsigned char* row_ptr = image.ptr<unsigned char> ( y ); // row_ptr是第y行的头指针
//image.ptr<unsigned char>(y) 表示取出第y行的指针
for ( size_t x=0; x<image.cols; x++ )
{
// 访问位于 x,y 处的像素
unsigned char* data_ptr = &row_ptr[ x*image.channels() ]; // data_ptr 指向待访问的像素数据
// =&表示将x*image.channels()的指针赋给data_ptr 获得x列的指针
// 输出该像素的每个通道,如果是灰度图就只有一个通道
//以下操作为取出(x,y)像素处的每个通道的值
for ( int c = 0; c != image.channels(); c++ )
{
unsigned char data = data_ptr[c]; // data为I(x,y)第c个通道的值
}
}
}
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>( t2-t1 );
cout<<"遍历图像用时:"<<time_used.count()<<" 秒。"<<endl;
// 关于 cv::Mat 的拷贝
// 直接赋值并不会拷贝数据,即原值会随着新值变化
cv::Mat image_another = image;
// 修改 image_another 会导致 image 发生变化
image_another ( cv::Rect ( 0,0,100,100 ) ).setTo ( 0 ); // 将左上角100*100的块置零
cv::imshow ( "image", image );
cv::waitKey ( 0 );
// 使用clone函数来拷贝数据,新值的变化不会引起原值的变化
cv::Mat image_clone = image.clone();
image_clone ( cv::Rect ( 0,0,100,100 ) ).setTo ( 255 );
cv::imshow ( "image", image );
cv::imshow ( "image_clone", image_clone );
cv::waitKey ( 0 );
// 对于图像还有很多基本的操作,如剪切,旋转,缩放等,限于篇幅就不一一介绍了,请参看OpenCV官方文档查询每个函数的调用方法.
cv::destroyAllWindows(); //关闭窗口
return 0;
}
使用Kdevelop构建后报错:
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:16:13: error: ‘imread’ is not a member of ‘cv’
image = cv::imread( argv[1] ); //cv::imread函数读取指定路径下的图像 argv[1]表示第一个参数
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:32:5: error: ‘imshow’ is not a member of ‘cv’
cv::imshow( "image", image ); // 用cv::imshow显示图像
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:33:5: error: ‘waitKey’ is not a member of ‘cv’
cv::waitKey ( 0 ); // 暂停程序,等待一个按键输入
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:70:94: error: ‘t1’ was not declared in this scope
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>( t2-t1 );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:81:5: error: ‘imshow’ is not a member of ‘cv’
cv::imshow ( "image", image );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:82:5: error: ‘waitKey’ is not a member of ‘cv’
cv::waitKey ( 0 );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:87:5: error: ‘imshow’ is not a member of ‘cv’
cv::imshow ( "image", image );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:88:5: error: ‘imshow’ is not a member of ‘cv’
cv::imshow ( "image_clone", image_clone );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:89:5: error: ‘waitKey’ is not a member of ‘cv’
cv::waitKey ( 0 );
^
/home/darrick/SLAM-book-master/ch5/imageBasics/imageBasics.cpp:93:5: error: ‘destroyAllWindows’ is not a member of ‘cv’
cv::destroyAllWindows(); //关闭窗口
^
make[2]: *** [CMakeFiles/imageBasics.dir/imageBasics.cpp.o] Error 1
make[1]: *** [CMakeFiles/imageBasics.dir/all] Error 2
make: *** [all] Error 2
在网上查找诸多教程仍没有成功解决,直到某个机缘巧合之下,终于找到了解决方法
可以看到在cv::imread这里出现了错误,编译后下面打了波浪线
于是我们把cv::imread删掉几个字母,重新键入imread,此时我们可以看到,出现了辅助选择框:
点击第一个选项,后波浪线即可消失。并且在库函数引用声明中,多了一段:
#include "../../../opencv-3.1.0/modules/imgcodecs/include/opencv2/imgcodecs.hpp"
对后面的cv::imshow等执行同样的操作,即可解决问题。
分析:
原来的库引用申明中包括三个:
#include <opencv/cv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
但实际上因为安装的原因,imread等函数并非在上述三个中,因此可以通过kdevelop编译器的智能编辑,将正确的库引用进来。
Good luck !