在 Windows 8 上构建 aruco 2.0.5
Build aruco 2.0.5 on Windows 8
我正尝试按照 the aruco developper 的建议，使用 cmake 3.5.2 在我的 Windows 机器上安装 aruco。
我的配置：
- Windows8
- CMake 3.5.2
- ArUco 2.0.5
我可以在cmake中配置生成aruco成功
然后我去 aruco\build -> 右键单击 -> 打开 cmd -> 输入 mingw32-make -> 得到以下错误：
C:\aruco-2.0.5\build>mingw32-make
Scanning dependencies of target aruco
[ 2%] Building CXX object src/CMakeFiles/aruco.dir/ar_omp.cpp.obj
[ 4%] Building CXX object src/CMakeFiles/aruco.dir/cameraparameters.cpp.obj
[ 6%] Building CXX object src/CMakeFiles/aruco.dir/cvdrawingutils.cpp.obj
In file included from C:\aruco-2.0.5\src\aruco.h:149:0,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markerdetector.h:160:40: warning: "/*" within comment [-Wcomm
ent]
ARUCO_MIP_36h12, //**** recommended
^
C:\aruco-2.0.5\src\markerdetector.h:212:60: warning: unused parameter 'r2' [-Wun
used-parameter]
void setThresholdParamRange(size_t r1 = 0, size_t r2 = 0) {_params. _thresP
aram1_range = r1; }
^
C:\aruco-2.0.5\src\markerdetector.h:267:30: warning: unused parameter 'val' [-Wu
nused-parameter]
void setDesiredSpeed(int val){}
^
In file included from C:\aruco-2.0.5\src\posetracker.h:33:0,
from C:\aruco-2.0.5\src\aruco.h:150,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::to
Stream(std::ostream&)':
C:\aruco-2.0.5\src\markermap.h:49:77: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void toStream(std::ostream &str){str<<id<<" "<<size()<<" ";for(int i=0;i<si
ze();i++) str<<at(i).x<<" "<<at(i).y<<" "<<at(i).z<<" ";}
^
In file included from C:\aruco-2.0.5\src\posetracker.h:33:0,
from C:\aruco-2.0.5\src\aruco.h:150,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::fr
omStream(std::istream&)':
C:\aruco-2.0.5\src\markermap.h:50:80: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void fromStream(std::istream &str){int s;str>>id>>s;resize(s);for(int i=0;i
<size();i++) str>>at(i).x>>at(i).y>>at(i).z;}
^
[ 9%] Building CXX object src/CMakeFiles/aruco.dir/dictionary.cpp.obj
In file included from C:\aruco-2.0.5\src\dictionary.cpp:9:0:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::to
Stream(std::ostream&)':
C:\aruco-2.0.5\src\markermap.h:49:77: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void toStream(std::ostream &str){str<<id<<" "<<size()<<" ";for(int i=0;i<si
ze();i++) str<<at(i).x<<" "<<at(i).y<<" "<<at(i).z<<" ";}
^
In file included from C:\aruco-2.0.5\src\dictionary.cpp:9:0:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::fr
omStream(std::istream&)':
C:\aruco-2.0.5\src\markermap.h:50:80: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void fromStream(std::istream &str){int s;str>>id>>s;resize(s);for(int i=0;i
<size();i++) str>>at(i).x>>at(i).y>>at(i).z;}
^
C:\aruco-2.0.5\src\dictionary.cpp: In static member function 'static std::string
aruco::Dictionary::getTypeString(aruco::Dictionary::DICT_TYPES)':
C:\aruco-2.0.5\src\dictionary.cpp:236:11: warning: enumeration value 'ARTAG' not
handled in switch [-Wswitch]
switch(t){
^
C:\aruco-2.0.5\src\dictionary.cpp: In member function 'aruco::MarkerMap aruco::D
ictionary::createMarkerMap(cv::Size, int, int, const std::vector<int>&, bool)':
C:\aruco-2.0.5\src\dictionary.cpp:275:39: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
if (gridSize.height*gridSize.width!=ids.size())throw cv::Exception(9001, "g
ridSize != ids.size()Invalid ", "Dictionary::createMarkerMap", __FILE__, __LINE_
_);
^
C:\aruco-2.0.5\src\dictionary.cpp:284:23: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
for (int i=0;i<ids.size();i++) TInfo[i].id=ids[i];
^
C:\aruco-2.0.5\src\dictionary.cpp:285:13: warning: unused variable 'sizeY' [-Wun
used-variable]
int sizeY=gridSize.height*MarkerSize+(gridSize.height-1)*MarkerDistance
;
^
C:\aruco-2.0.5\src\dictionary.cpp:286:13: warning: unused variable 'sizeX' [-Wun
used-variable]
int sizeX=gridSize.width*MarkerSize+(gridSize.width-1)*MarkerDistance;
^
C:\aruco-2.0.5\src\dictionary.cpp:312:37: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
if (CurMarkerIdx>=ids.size()) throw cv::Exception(999," Fid
ucidalMarkers::createMarkerMapImage_ChessMarkerMap","INTERNAL ERROR. REWRITE THI
S!!",__FILE__,__LINE__);
^
C:\aruco-2.0.5\src\dictionary.cpp:300:13: warning: unused variable 'centerX' [-W
unused-variable]
int centerX=sizeX/2;
^
C:\aruco-2.0.5\src\dictionary.cpp:301:13: warning: unused variable 'centerY' [-W
unused-variable]
int centerY=sizeY/2;
^
C:\aruco-2.0.5\src\dictionary.cpp:303:14: warning: unused variable 'centerData'
[-Wunused-variable]
bool centerData=true;
^
[ 11%] Building CXX object src/CMakeFiles/aruco.dir/ippe.cpp.obj
C:\aruco-2.0.5\src\ippe.cpp: In function 'void IPPE::IPPComputeRotations(double,
double, double, double, double, double, cv::OutputArray, cv::OutputArray)':
C:\aruco-2.0.5\src\ippe.cpp:307:45: warning: variable 'ata10' set but not used [
-Wunused-but-set-variable]
double a00, a01, a10,a11, ata00, ata01, ata10,ata11,b00, b01, b10,b11,binv0
0, binv01, binv10,binv11;
^
C:\aruco-2.0.5\src\ippe.cpp:311:19: warning: variable 'a' set but not used [-Wun
used-but-set-variable]
double b0, b1,a,gamma,dtinv;
^
[ 13%] Building CXX object src/CMakeFiles/aruco.dir/marker.cpp.obj
C:\aruco-2.0.5\src\marker.cpp: In member function 'void aruco::Marker::rotateXAx
is(cv::Mat&)':
C:\aruco-2.0.5\src\marker.cpp:299:22: error: 'M_PI' was not declared in this sco
pe
float angleRad = M_PI / 2;
^
src\CMakeFiles\aruco.dir\build.make:187: recipe for target 'src/CMakeFiles/aruco
.dir/marker.cpp.obj' failed
mingw32-make[2]: *** [src/CMakeFiles/aruco.dir/marker.cpp.obj] Error 1
CMakeFiles\Makefile2:116: recipe for target 'src/CMakeFiles/aruco.dir/all' faile
d
mingw32-make[1]: *** [src/CMakeFiles/aruco.dir/all] Error 2
Makefile:126: recipe for target 'all' failed
mingw32-make: *** [all] Error 2
C:\aruco-2.0.5\build>mingw32-make
Scanning dependencies of target aruco
[ 2%] Building CXX object src/CMakeFiles/aruco.dir/marker.cpp.obj
C:\aruco-2.0.5\src\marker.cpp: In member function 'void aruco::Marker::rotateXAx
is(cv::Mat&)':
C:\aruco-2.0.5\src\marker.cpp:299:22: error: 'M_PI' was not declared in this sco
pe
float angleRad = M_PI / 2;
^
src\CMakeFiles\aruco.dir\build.make:187: recipe for target 'src/CMakeFiles/aruco
.dir/marker.cpp.obj' failed
mingw32-make[2]: *** [src/CMakeFiles/aruco.dir/marker.cpp.obj] Error 1
CMakeFiles\Makefile2:116: recipe for target 'src/CMakeFiles/aruco.dir/all' faile
d
mingw32-make[1]: *** [src/CMakeFiles/aruco.dir/all] Error 2
Makefile:126: recipe for target 'all' failed
mingw32-make: *** [all] Error 2
我也尝试用代码块来做，但我得到了完全相同的错误。
开发者发布了新版本2.0.7修复了这个问题。
为了拥有aruco我做了什么：
- 在 sourceforge 上下载 .zip
- 解压缩
- 在 aruco-2.0.7 中创建一个构建文件夹
- 打开cmake-gui配置并生成
- 进入你的构建文件夹
- 从那里打开命令 window
- 输入 mingw32-make
库应该已经正确编译。
如果您的编译器缺少 omp.h，请在 Internet 上查找源代码并将其添加到 MinGW\include 中的 mingw。你应该准备好了。不要忘记将 aruco 添加到您的路径并重新启动。
如果您使用的是 ide，则必须添加此库，因为它是一个外部库，但这是另一个问题。
最后，您可能对 c++11 有一些疑问。我正在做。如果有人知道如何在 mingw 上允许它（到目前为止我还没有找到任何可以理解的解释）
我正尝试按照 the aruco developper 的建议，使用 cmake 3.5.2 在我的 Windows 机器上安装 aruco。
我的配置：
- Windows8
- CMake 3.5.2
- ArUco 2.0.5
我可以在cmake中配置生成aruco成功
然后我去 aruco\build -> 右键单击 -> 打开 cmd -> 输入 mingw32-make -> 得到以下错误：
C:\aruco-2.0.5\build>mingw32-make
Scanning dependencies of target aruco
[ 2%] Building CXX object src/CMakeFiles/aruco.dir/ar_omp.cpp.obj
[ 4%] Building CXX object src/CMakeFiles/aruco.dir/cameraparameters.cpp.obj
[ 6%] Building CXX object src/CMakeFiles/aruco.dir/cvdrawingutils.cpp.obj
In file included from C:\aruco-2.0.5\src\aruco.h:149:0,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markerdetector.h:160:40: warning: "/*" within comment [-Wcomm
ent]
ARUCO_MIP_36h12, //**** recommended
^
C:\aruco-2.0.5\src\markerdetector.h:212:60: warning: unused parameter 'r2' [-Wun
used-parameter]
void setThresholdParamRange(size_t r1 = 0, size_t r2 = 0) {_params. _thresP
aram1_range = r1; }
^
C:\aruco-2.0.5\src\markerdetector.h:267:30: warning: unused parameter 'val' [-Wu
nused-parameter]
void setDesiredSpeed(int val){}
^
In file included from C:\aruco-2.0.5\src\posetracker.h:33:0,
from C:\aruco-2.0.5\src\aruco.h:150,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::to
Stream(std::ostream&)':
C:\aruco-2.0.5\src\markermap.h:49:77: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void toStream(std::ostream &str){str<<id<<" "<<size()<<" ";for(int i=0;i<si
ze();i++) str<<at(i).x<<" "<<at(i).y<<" "<<at(i).z<<" ";}
^
In file included from C:\aruco-2.0.5\src\posetracker.h:33:0,
from C:\aruco-2.0.5\src\aruco.h:150,
from C:\aruco-2.0.5\src\cvdrawingutils.h:31,
from C:\aruco-2.0.5\src\cvdrawingutils.cpp:28:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::fr
omStream(std::istream&)':
C:\aruco-2.0.5\src\markermap.h:50:80: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void fromStream(std::istream &str){int s;str>>id>>s;resize(s);for(int i=0;i
<size();i++) str>>at(i).x>>at(i).y>>at(i).z;}
^
[ 9%] Building CXX object src/CMakeFiles/aruco.dir/dictionary.cpp.obj
In file included from C:\aruco-2.0.5\src\dictionary.cpp:9:0:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::to
Stream(std::ostream&)':
C:\aruco-2.0.5\src\markermap.h:49:77: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void toStream(std::ostream &str){str<<id<<" "<<size()<<" ";for(int i=0;i<si
ze();i++) str<<at(i).x<<" "<<at(i).y<<" "<<at(i).z<<" ";}
^
In file included from C:\aruco-2.0.5\src\dictionary.cpp:9:0:
C:\aruco-2.0.5\src\markermap.h: In member function 'void aruco::Marker3DInfo::fr
omStream(std::istream&)':
C:\aruco-2.0.5\src\markermap.h:50:80: warning: comparison between signed and uns
igned integer expressions [-Wsign-compare]
void fromStream(std::istream &str){int s;str>>id>>s;resize(s);for(int i=0;i
<size();i++) str>>at(i).x>>at(i).y>>at(i).z;}
^
C:\aruco-2.0.5\src\dictionary.cpp: In static member function 'static std::string
aruco::Dictionary::getTypeString(aruco::Dictionary::DICT_TYPES)':
C:\aruco-2.0.5\src\dictionary.cpp:236:11: warning: enumeration value 'ARTAG' not
handled in switch [-Wswitch]
switch(t){
^
C:\aruco-2.0.5\src\dictionary.cpp: In member function 'aruco::MarkerMap aruco::D
ictionary::createMarkerMap(cv::Size, int, int, const std::vector<int>&, bool)':
C:\aruco-2.0.5\src\dictionary.cpp:275:39: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
if (gridSize.height*gridSize.width!=ids.size())throw cv::Exception(9001, "g
ridSize != ids.size()Invalid ", "Dictionary::createMarkerMap", __FILE__, __LINE_
_);
^
C:\aruco-2.0.5\src\dictionary.cpp:284:23: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
for (int i=0;i<ids.size();i++) TInfo[i].id=ids[i];
^
C:\aruco-2.0.5\src\dictionary.cpp:285:13: warning: unused variable 'sizeY' [-Wun
used-variable]
int sizeY=gridSize.height*MarkerSize+(gridSize.height-1)*MarkerDistance
;
^
C:\aruco-2.0.5\src\dictionary.cpp:286:13: warning: unused variable 'sizeX' [-Wun
used-variable]
int sizeX=gridSize.width*MarkerSize+(gridSize.width-1)*MarkerDistance;
^
C:\aruco-2.0.5\src\dictionary.cpp:312:37: warning: comparison between signed and
unsigned integer expressions [-Wsign-compare]
if (CurMarkerIdx>=ids.size()) throw cv::Exception(999," Fid
ucidalMarkers::createMarkerMapImage_ChessMarkerMap","INTERNAL ERROR. REWRITE THI
S!!",__FILE__,__LINE__);
^
C:\aruco-2.0.5\src\dictionary.cpp:300:13: warning: unused variable 'centerX' [-W
unused-variable]
int centerX=sizeX/2;
^
C:\aruco-2.0.5\src\dictionary.cpp:301:13: warning: unused variable 'centerY' [-W
unused-variable]
int centerY=sizeY/2;
^
C:\aruco-2.0.5\src\dictionary.cpp:303:14: warning: unused variable 'centerData'
[-Wunused-variable]
bool centerData=true;
^
[ 11%] Building CXX object src/CMakeFiles/aruco.dir/ippe.cpp.obj
C:\aruco-2.0.5\src\ippe.cpp: In function 'void IPPE::IPPComputeRotations(double,
double, double, double, double, double, cv::OutputArray, cv::OutputArray)':
C:\aruco-2.0.5\src\ippe.cpp:307:45: warning: variable 'ata10' set but not used [
-Wunused-but-set-variable]
double a00, a01, a10,a11, ata00, ata01, ata10,ata11,b00, b01, b10,b11,binv0
0, binv01, binv10,binv11;
^
C:\aruco-2.0.5\src\ippe.cpp:311:19: warning: variable 'a' set but not used [-Wun
used-but-set-variable]
double b0, b1,a,gamma,dtinv;
^
[ 13%] Building CXX object src/CMakeFiles/aruco.dir/marker.cpp.obj
C:\aruco-2.0.5\src\marker.cpp: In member function 'void aruco::Marker::rotateXAx
is(cv::Mat&)':
C:\aruco-2.0.5\src\marker.cpp:299:22: error: 'M_PI' was not declared in this sco
pe
float angleRad = M_PI / 2;
^
src\CMakeFiles\aruco.dir\build.make:187: recipe for target 'src/CMakeFiles/aruco
.dir/marker.cpp.obj' failed
mingw32-make[2]: *** [src/CMakeFiles/aruco.dir/marker.cpp.obj] Error 1
CMakeFiles\Makefile2:116: recipe for target 'src/CMakeFiles/aruco.dir/all' faile
d
mingw32-make[1]: *** [src/CMakeFiles/aruco.dir/all] Error 2
Makefile:126: recipe for target 'all' failed
mingw32-make: *** [all] Error 2
C:\aruco-2.0.5\build>mingw32-make
Scanning dependencies of target aruco
[ 2%] Building CXX object src/CMakeFiles/aruco.dir/marker.cpp.obj
C:\aruco-2.0.5\src\marker.cpp: In member function 'void aruco::Marker::rotateXAx
is(cv::Mat&)':
C:\aruco-2.0.5\src\marker.cpp:299:22: error: 'M_PI' was not declared in this sco
pe
float angleRad = M_PI / 2;
^
src\CMakeFiles\aruco.dir\build.make:187: recipe for target 'src/CMakeFiles/aruco
.dir/marker.cpp.obj' failed
mingw32-make[2]: *** [src/CMakeFiles/aruco.dir/marker.cpp.obj] Error 1
CMakeFiles\Makefile2:116: recipe for target 'src/CMakeFiles/aruco.dir/all' faile
d
mingw32-make[1]: *** [src/CMakeFiles/aruco.dir/all] Error 2
Makefile:126: recipe for target 'all' failed
mingw32-make: *** [all] Error 2
我也尝试用代码块来做，但我得到了完全相同的错误。
开发者发布了新版本2.0.7修复了这个问题。
为了拥有aruco我做了什么：
- 在 sourceforge 上下载 .zip
- 解压缩
- 在 aruco-2.0.7 中创建一个构建文件夹
- 打开cmake-gui配置并生成
- 进入你的构建文件夹
- 从那里打开命令 window
- 输入 mingw32-make
库应该已经正确编译。
如果您的编译器缺少 omp.h，请在 Internet 上查找源代码并将其添加到 MinGW\include 中的 mingw。你应该准备好了。不要忘记将 aruco 添加到您的路径并重新启动。
如果您使用的是 ide，则必须添加此库，因为它是一个外部库，但这是另一个问题。
最后，您可能对 c++11 有一些疑问。我正在做。如果有人知道如何在 mingw 上允许它（到目前为止我还没有找到任何可以理解的解释）