Aruco教程代码无法编译

Question

你好，我得到一个错误，当使用aruco。我只是想从教程中获得一个有效的例子。我根据教程做了所有的事情，但是我得到了：

    /home/pi/Programs/markerDetection/markerDetection.cpp: In function ‘int main(int, char**)’:
/home/pi/Programs/markerDetection/markerDetection.cpp:26:104: error: invalid initialization of reference of type ‘cv::Ptr<cv::aruco::Dictionary>&’ from expression of type ‘cv::aruco::Dictionary’
   aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, parameters, rejectedCandidates);
                                                                                                        ^
In file included from /home/pi/Programs/markerDetection/markerDetection.cpp:6:0:
/home/pi/opencv/include/opencv2/aruco.hpp:176:19: note: in passing argument 2 of ‘void cv::aruco::detectMarkers(cv::InputArray, cv::Ptr<cv::aruco::Dictionary>&, cv::OutputArrayOfArrays, cv::OutputArray, const cv::Ptr<cv::aruco::DetectorParameters>&, cv::OutputArrayOfArrays)’
 CV_EXPORTS_W void detectMarkers(InputArray image, Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                   ^
CMakeFiles/marker.dir/build.make:54: recipe for target 'CMakeFiles/marker.dir/markerDetection.cpp.o' failed
make[2]: *** [CMakeFiles/marker.dir/markerDetection.cpp.o] Error 1
CMakeFiles/Makefile2:60: recipe for target 'CMakeFiles/marker.dir/all' failed
make[1]: *** [CMakeFiles/marker.dir/all] Error 2
Makefile:76: recipe for target 'all' failed
make: *** [all] Error 2

我的代码是：

#include "opencv2/opencv.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio/videoio.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/aruco.hpp"
#include <vector>

using namespace cv;
using namespace std;

int main (int argc, char** argv)
{
        VideoCapture cap;

        if(!cap.open(0)){
                return 0;
        }
        for(;;){
                Mat inputImage;
                cap >> inputImage;
                vector< int > markerIds;
                vector< vector<Point2f> > markerCorners, rejectedCandidates;
                aruco::DetectorParameters parameters;
                aruco::Dictionary dictionary = aruco::getPredefinedDictionary(aruco::DICT_6X6_250);
                aruco::detectMarkers(inputImage, dictionary, markerCorners, markerIds, parameters, rejectedCandidates);
                Mat outputImage;
                aruco::drawDetectedMarkers(outputImage, markerCorners, markerIds);
                if(inputImage.empty()) break;
                imshow("Webcam", outputImage);
                if(waitKey(1) >= 0) break;
        }

        return 0;
}

我知道有太多的包含，代码需要一些工作，但我只需要它来编译，我不知道那里发生了什么。功能是否发生了变化？

Answer 1

以下代码适用于我：

字典声明：

cv::Ptr<cv::aruco::Dictionary> dictionary =   cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);

因为函数getPredefinedDictionary返回一个Ptr<Dictionary> (http://docs.opencv.org/trunk/d9/d6a/group__aruco.html)

要检测标记，请执行以下操作：

cv::aruco::detectMarkers(gray, dictionary, marker_corners, marker_ids);

Answer 2

我和你有同样的问题。下面是这个技巧的用法：

而不是：

aruco::DetectorParameters parameters;
aruco::Dictionary dictionary=aruco::getPredefinedDictionary(aruco::DICT_6X6_250);

使用：

cv::Ptr<aruco::DetectorParameters> parameters;
cv::Ptr<aruco::Dictionary> dictionary=aruco::getPredefinedDictionary(aruco::DICT_6X6_250);

我希望它能对你有所帮助。

Answer 3

我遗漏了一些包含文件。这些是我现在拥有的：

#include "opencv2/aruco.hpp"
#include <iostream>
#include <stdio.h>
#include <opencv2/highgui.hpp>
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core.hpp"
#include "opencv2/videoio/videoio.hpp"
#include <vector>

这些库是(这些库包含在Project-> Properties->settings->Linker->Input中)：

opencv_core450.lib
opencv_highgui450.lib
opencv_objdetect450.lib
opencv_videoio450.lib
opencv_imgproc450.lib
opencv_imgcodecs450.lib
opencv_aruco450.lib
opencv_core450d.lib
opencv_highgui450d.lib
opencv_objdetect450d.lib
opencv_videoio450d.lib
opencv_imgproc450d.lib
opencv_imgcodecs450d.lib
opencv_aruco450d.lib

据我所知，opencv_aruco450.lib没有正确保存。这是我的问题。