【视频开发】【计算机视觉】doppia编译之四：安装其他库、编译和运行doppia
（与本节内容无关///////////////////////////保存图片参数为—-gui.save_all_screenshots true////////////////////）
在我们安装好CUDA、boost、OpenCV之后，接下来的一些库（libSDL、protobuf等）的安装，我们都可以用系统内部的程序进行安装。比如
安装libSDL,我们终端输入
apt-cache search libsdl
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系统会给出一系列程序，我们选择其中的libsdl1.2-dev进行安装。
sudo apt-get install libsdl1.2-dev
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(这里注意不要安装libsdl2-dev,因为安装之后生成的文件夹是SDL2,之后doppia调用时会出现找不到“SDL files”的错误)
安装protobuf库，则是我经过多番测试，得到的能够通过v1,v2测试的安装方法。（之前尝试安装protobuf2.5.0和protobuf2.4.1,doppia都找不到路径，而想把它们删除又删除不了，很麻烦），之后我测试了几个自带的protobuf库，发现安装以下四个库能够通过v1,v2的测试，安装命令为：
sudo apt-get install libprotobuf-dev libprotoc-dev python-protobuf protobuf-compiler
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切换到doppia目录下，运行
sudo sh ./generate_protocol_buffer_files.sh
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protobuf通过doppia-v1检测的返回信息为
Generating objects detection files...
(Ground plane and video input files not yet handled by this script)
End of game. Have a nice day!
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protobuf通过doppia-v2检测的返回信息为
+ cd src/objects_detection/
+ protoc --cpp_out=./ detector_model.proto detections.proto
+ protoc --python_out=../../tools/objects_detection/ detector_model.proto detections.proto
+ cd ../..
+ cd src/stereo_matching/ground_plane/
+ protoc --cpp_out=./ plane3d.proto
+ protoc --python_out=../../../tools/stixels_evaluation plane3d.proto
+ cd ../../..
+ cd src/stereo_matching/stixels/
+ protoc --cpp_out=./ -I. -I../ground_plane --include_imports stixels.proto ground_top_and_bottom.proto
--include_imports only makes sense when combined with --descriptor_set_out.
+ protoc --python_out=../../../tools/stixels_evaluation -I. -I../ground_plane --include_imports stixels.proto ground_top_and_bottom.proto
--include_imports only makes sense when combined with --descriptor_set_out.
+ cd ../../..
+ cd src/video_input/calibration
+ protoc --cpp_out=./ calibration.proto
+ cd ../../..
+ cd src/helpers/data
+ protoc --cpp_out=./ DataSequenceHeader.proto
+ protoc --python_out=../../../tools/data_sequence DataSequenceHeader.proto
+ cd ../../..
+ cd src/helpers
+ cd ../..
+ cd src/tests/data_sequence/
+ protoc --cpp_out=./ TestData.proto
+ cd ../../..
+ echo End of game. Have a nice day!
End of game. Have a nice day!
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到这里，我们该安装的库大部分已经安装成功，接下来就可以开始编译doppia啦！（至于可能还缺少的库，可以根据doppia的错误提示进行安装）
编译运行doppia/src/applications/objects_detection
由于我只需要用到doppia的objects_detection的功能，而之前我在编译doppia-v2时，ground_estimation和stixel_world都能编译运行。所以这次在编译doppia-v1时，我就直接切入“主题”，编译运行objects_detection。下面也主要是列出我在编译objects_detection是遇到的问题以及相应的解决方案。
错误一，创建(build)错误
error:
/home/mx/doppia/src/applications/objects_detection/../../../src/helpers/data/DataSequence.hpp:293:56: error: invalid use of incomplete type ‘class google::protobuf::io::CodedInputStream’
const bool read_size_success = input_coded_stream_p->ReadLittleEndian64(&size);
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solution:
在
doppia/src/helpers/data/DataSequence.hpp
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头文件中，在
#include "DataSequenceHeader.pb.h"
#include <google/protobuf/io/zero_copy_stream_impl.h>
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两行之间添加一行新的引用，如下，
#include "DataSequenceHeader.pb.h"
#include <google/protobuf/io/coded_stream.h>
#include <google/protobuf/io/zero_copy_stream_impl.h>
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错误二，创建(build)错误
error:
/home/mx/doppia/src/applications/objects_detection/../../../src/objects_detection/gpu/integral_channels_detector.cu.hpp:23:9: error: ‘fast_stage_t’ in ‘class doppia::SoftCascadeOverIntegralChannelsModel’ does not name a type
typedef SoftCascadeOverIntegralChannelsModel::fast_stage_t cascade_stage_t;
^
/home/mx/doppia/src/applications/objects_detection/../../../src/objects_detection/gpu/integral_channels_detector.cu.hpp:33:36: error: ‘cascade_stage_t’ was not declared in this scope
typedef Cuda::DeviceMemoryLinear2D<cascade_stage_t> gpu_detection_cascade_per_scale_t;
^
/home/mx/doppia/src/applications/objects_detection/../../../src/objects_detection/gpu/integral_channels_detector.cu.hpp:33:51: error: template argument 1 is invalid
typedef Cuda::DeviceMemoryLinear2D<cascade_stage_t> gpu_detection_cascade_per_scale_t;
^
/home/mx/doppia/src/applications/objects_detection/../../../src/objects_detection/gpu/integral_channels_detector.cu.hpp:33:86: error: invalid type in declaration before ‘;’ token
typedef Cuda::DeviceMemoryLinear2D<cascade_stage_t> gpu_detection_cascade_per_scale_t;
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这里出现错误原因是因为common_settings.cmake中没有添加cuda链接库路径。
solution:
编辑common_settings.cmake,在其中添加一个条件项
elseif(${HOSTNAME} STREQUAL "mx-pc")
message(STATUS "Using mx-pc optimisation options")
option(USE_GPU "Should the GPU be used ?" TRUE)
set(CUDA_BUILD_CUBIN OFF)
set(local_CUDA_LIB_DIR "/usr/local/cuda/lib64")
set(cuda_LIBS "")
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这里mx-pc是我电脑的主机名，你需要将它改成自己电脑的主机名。
错误三，创建(build)错误
error:
/home/mx/doppia/src/objects_detection/SoftCascadeOverIntegralChannelsFastFractionalStage.cpp:24:9: error: ‘swap’ is not a member of ‘std’
std::swap(weak_classifier.level2_true_node, weak_classifier.level2_false_node);
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solution:
在
doppia/src/objects_detection/SoftCascadeOverIntegralChannelsFastFractionalStage.cpp
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文件开头添加一行引用
#include<iostream>
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解决了以上三个错误后，doppia就可以创建(build)成功啦！但要想运行成功，还得改正以下2个错误。
错误四，链接(link)错误
error:
Linking CXX executable objects_detection
/usr/bin/ld: cannot find -lboost_program_options-mt
/usr/bin/ld: cannot find -lboost_filesystem-mt
/usr/bin/ld: cannot find -lboost_system-mt
/usr/bin/ld: cannot find -lboost_thread-mt
collect2: error: ld returned 1 exit status
make[2]: *** [objects_detection] 错误 1
make[1]: *** [CMakeFiles/objects_detection.dir/all] 错误 2
make: *** [all] 错误 2
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这里出现错误的原因，是boost库链接出错，这时候我们需要修改CMakeList.txt文件，这里我就直接把CMakeList.txt贴出来，修改的地方做过注释。
solution:
# This is a CMake build file, for more information consult:
# http://en.wikipedia.org/wiki/CMake
# and
# http://www.cmake.org/Wiki/CMake
# http://www.cmake.org/cmake/help/syntax.html
# http://www.cmake.org/Wiki/CMake_Useful_Variables
# http://www.cmake.org/cmake/help/cmake-2-8-docs.html
# to compile the local code you can use: cmake ./ && make -j2
# ----------------------------------------------------------------------
# Base CMake setup
cmake_minimum_required (VERSION 2.6)
set(doppia_root "../../..")
set(CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
set(CMAKE_MODULE_PATH "./" ${doppia_root} ${CMAKE_MODULE_PATH})
set(CMAKE_MODULE_PATH "/home/rodrigob/work/code/doppia_references/cuda/FindCUDA/CMake/cuda" ${CMAKE_MODULE_PATH})
set(CMAKE_MODULE_PATH "/users/visics/rbenenso/code/references/cuda/FindCUDA/CMake/cuda" ${CMAKE_MODULE_PATH})
# ----------------------------------------------------------------------
# Setup the project
include(FindPkgConfig)
project (ObjectsDetection)
# ----------------------------------------------------------------------
# Site specific configurations
include(${doppia_root}/common_settings.cmake)
# ----------------------------------------------------------------------
# Setup required libraries
pkg_check_modules(libpng REQUIRED libpng)
#pkg_check_modules(OpenEXR REQUIRED OpenEXR)
pkg_check_modules(opencv REQUIRED opencv>=2.3)
#set(vw_LIBRARIES "-lvwCore -lvwImage -lvwStereo -lvwFileIO -lvwMath -lvwInterestPoint")
set(opencv_LIBRARIES
opencv_core opencv_imgproc opencv_highgui opencv_ml
opencv_video opencv_features2d
opencv_calib3d
#opencv_objdetect opencv_contrib
opencv_legacy opencv_flann
) # quick hack for opencv2.4 support
# 修改1:find where is boost
#(+)find_package(Boost REQUIRED
#(+) COMPONENTS program_options filesystem system thread
#(+) )
find_package(Boost REQUIRED
COMPONENTS program_options filesystem system thread
)
# ----------------------------------------------------------------------
# Setup CUDA
if(USE_GPU)
find_package(CUDA 4.0 REQUIRED)
include_directories(${CUDA_INCLUDE_DIRS} ${CUDA_CUT_INCLUDE_DIR})
endif(USE_GPU)
# ----------------------------------------------------------------------
# Setup link and include directories
set(local_LIBRARY_DIRS
"/usr/local/lib"
"/users/visics/rbenenso/no_backup/usr/local/lib"
"/usr/lib64"
"/usr/lib64/atlas"
"/usr/lib/sse2/atlas"
"/usr/lib/llvm-2.8/lib"
${local_CUDA_LIB_DIR}
)
set(local_INCLUDE_DIRS
"/users/visics/rbenenso/no_backup/usr/local/include"
"/usr/include/eigen2/"
"/usr/local/include/eigen2"
"/usr/local/cuda/include"
${CUDA_INCLUDE_DIRS}
)
link_directories(
${libpng_LIBRARY_DIRS}
${OpenEXR_LIBRARY_DIRS}
${opencv_LIBRARY_DIRS}
${local_LIBRARY_DIRS}
)
include_directories(
"${doppia_root}/libs"
"${doppia_root}/src"
${libpng_INCLUDE_DIRS}
${OpenEXR_INCLUDE_DIRS}
${opencv_INCLUDE_DIRS}
${local_INCLUDE_DIRS}
"${doppia_root}/libs/cudatemplates/include"
)
if(USE_GPU)
cuda_include_directories("${doppia_root}/libs/")
endif(USE_GPU)
# ----------------------------------------------------------------------
# Collect source files
set(doppia_src "${doppia_root}/src")
set(doppia_stereo "${doppia_root}/src/stereo_matching")
file(GLOB SrcCpp
"./ObjectsDetection*.cpp"
"./draw*.cpp"
"${doppia_src}/*.cpp"
#"${doppia_src}/objects_detection/*.c*"
"${doppia_src}/objects_detection/Abstract*.c*"
"${doppia_src}/objects_detection/*Converter.c*"
"${doppia_src}/objects_detection/Base*.c*"
"${doppia_src}/objects_detection/*Factory.c*"
"${doppia_src}/objects_detection/Greedy*.c*"
"${doppia_src}/objects_detection/Detection*.c*"
"${doppia_src}/objects_detection/*Model.c*"
"${doppia_src}/objects_detection/*Stage.c*"
"${doppia_src}/objects_detection/*Integral*.c*"
"${doppia_src}/objects_detection/MultiscalesIntegral*.c*"
"${doppia_src}/objects_detection/integral_channels/Integral*.cpp"
"${doppia_src}/objects_detection/FastestPedestrian*.c*"
"${doppia_src}/objects_detection/DetectorSearchRange.c*"
"${doppia_src}/objects_detection/*.pb.c*"
"${doppia_src}/objects_detection/non_maximal_suppression/*.c*"
"${doppia_src}/objects_tracking/*.cpp"
"${doppia_src}/applications/*.cpp"
"${doppia_src}/applications/stixel_world/*Gui.cpp"
"${doppia_src}/applications/stixel_world/draw*.cpp"
#"${doppia_stereo}/*.cpp"
"${doppia_stereo}/cost_volume/*CostVolume.cpp"
"${doppia_stereo}/cost_volume/*CostVolumeEstimator*.cpp"
"${doppia_stereo}/cost_volume/DisparityCostVolumeFromDepthMap.cpp"
"${doppia_stereo}/cost_functions.cpp"
"${doppia_stereo}/CensusCostFunction.cpp"
"${doppia_stereo}/CensusTransform.cpp"
"${doppia_stereo}/GradientTransform.cpp"
"${doppia_stereo}/AbstractStereoMatcher.cpp"
"${doppia_stereo}/AbstractStereoBlockMatcher.cpp"
"${doppia_stereo}/SimpleBlockMatcher.cpp"
"${doppia_stereo}/MutualInformationCostFunction.cpp"
"${doppia_stereo}/ConstantSpaceBeliefPropagation.cpp"
"${doppia_stereo}/qingxiong_yang/*.cpp"
"${doppia_stereo}/SimpleTreesOptimizationStereo.cpp"
"${doppia_stereo}/OpenCvStereo.cpp"
"${doppia_stereo}/ground_plane/*.cpp"
"${doppia_stereo}/stixels/*.cpp"
#"${doppia_stereo}/stixels/*.cc"
"${doppia_src}/video_input/*.cpp"
"${doppia_src}/video_input/calibration/*.c*"
"${doppia_src}/video_input/preprocessing/*.cpp"
#"${doppia_src}/features_tracking/*.cpp"
"${doppia_src}/image_processing/*.cpp"
"${doppia_src}/drawing/gil/*.cpp"
)
file(GLOB HelpersCpp
#"${doppia_src}/helpers/*.cpp"
"${doppia_src}/helpers/data/*.c*"
"${doppia_src}/helpers/any_to_string.cpp"
"${doppia_src}/helpers/get_section_options.cpp"
"${doppia_src}/helpers/Log.cpp"
"${doppia_src}/helpers/loggers.cpp"
"${doppia_src}/helpers/AlignedImage.cpp"
"${doppia_src}/helpers/replace_environment_variables.cpp"
"${doppia_src}/helpers/objects_detection/*.cpp"
)
file(GLOB SrcGpuCpp
"${doppia_src}/objects_detection/Gpu*.cpp"
"${doppia_src}/objects_detection/integral_channels/Gpu*.cpp"
"${doppia_src}/helpers/gpu/*.cpp"
#"${doppia_stereo}/SimpleTreesGpuStereo.cpp"
)
file(GLOB SrcCuda
"${doppia_src}/objects_detection/integral_channels/gpu/*.cu"
"${doppia_src}/objects_detection/integral_channels/gpu/*.cpp"
"${doppia_src}/objects_detection/gpu/*.cu"
"${doppia_src}/objects_detection/gpu/*.cpp"
#"${doppia_src}/helpers/gpu/*.cu"
# "${doppia_stereo}/*.cu.c*"
# "${doppia_stereo}/*.cu"
# "${doppia_stereo}/gpu/*.cu.c*"
# "${doppia_stereo}/gpu/*.cu"
)
list(REMOVE_ITEM SrcCpp ${SrcCuda}) # just in case
if(USE_GPU)
# add GPU related source code to the executable list
list(APPEND SrcCpp ${SrcGpuCpp})
# add GPU related libraries
list(APPEND opencv_LIBRARIES opencv_gpu)
# ----------------------------------------------------------------------
# Compile CUDA stuff
cuda_include_directories(${local_CUDA_CUT_INCLUDE_DIRS})
cuda_include_directories(${CUDA_INCLUDE_DIRS} ${CUDA_CUT_INCLUDE_DIR} ${local_CUDA_CUT_INCLUDE_DIR})
link_directories(${local_CUDA_CUT_LIBRARY_DIRS})
cuda_add_library(cuda_stuff_library ${SrcCuda})
target_link_libraries(cuda_stuff_library
${CUDA_LIBRARIES}
${cutil_LIB}
)
#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} --generate-line-info) # used during profiling
endif(USE_GPU)
# ----------------------------------------------------------------------
# Create the executable
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") # required for unrestricted unions
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -p") # add gprof information
add_library(cpp_stuff_library ${SrcCpp} ${HelpersCpp})
add_executable(objects_detection "./objects_detection.cpp")
target_link_libraries(objects_detection
cpp_stuff_library
${cg_LIBRARIES}
# linking with CgGL _after_ boost_program_options generates a segmentation fault ! boost_program_options 1.39 has a bug
#修改2:link to boost
#(-)boost_program_options-mt boost_filesystem-mt boost_system-mt boost_thread-mt
#(+)${Boost_LIBRARIES}
${Boost_LIBRARIES}
protobuf pthread
SDL X11 Xext #Xrandr
gomp
${libpng_LIBRARIES} jpeg
# ${OpenEXR_LIBRARIES}
${opencv_LIBRARIES}
#${vw_LIBRARIES}
#csparse sparse spblas mv
#lapack blas atlas
${google_perftools_LIBS} # enables profiling, see http://code.google.com/p/google-perftools
#`OcelotConfig -l`
#ocelot
#boost_system-mt boost_filesystem-mt boost_thread-mt
#GLEW
#LLVMAsmParser LLVMX86Disassembler LLVMX86AsmParser LLVMX86CodeGen LLVMSelectionDAG
#LLVMAsmPrinter LLVMMCParser LLVMX86AsmPrinter LLVMX86Info LLVMJIT
#LLVMExecutionEngine LLVMCodeGen LLVMScalarOpts LLVMInstCombine LLVMTransformUtils LLVMipa
#LLVMAnalysis LLVMTarget LLVMMC LLVMCore LLVMSupport LLVMSystem
)
if(USE_GPU)
target_link_libraries(objects_detection cuda_stuff_library ${local_CUDA_LIB})
endif(USE_GPU)
# ----------------------------------------------------------------------
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到这里就OK啦！
最后运行成功你会看到一个简短地video，以及下面这样的信息
2015-05-09 16:33:23 {7feb06974880} [ BaseIntegralChannelsDetector ] : Warning: At scale index 47 the detection window size is larger than the biggest ground plane corridor. Setting the detection search to a single line.
scale_index == 47, original_height == 18, updated_height == 1
Expected speed gain == 5.28x (num pixels original/updated)
GpuVeryFastIntegralChannelsDetector::compute_v2 max search range (min_x, min_y; max_x, max_y) == (0, 0; 153, 58)
2015-05-09 16:33:23 {7feb06974880} [ GpuIntegralChannelsDetector ] : scaled_x == 640, scaled_y == 480
Requested frame number 11 but frames should be in range (0, 10)
Processed a total of 10 input frames
Average objects detection speed per iteration 29.36 [Hz] (in the last 10 iterations)
End of game, have a nice day.
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好啦，doppia编译到此也就结束啦！
希望这几篇文章能帮助正在读博客的你。
doppia及作者相关介绍链接：
http://blog.csdn.net/xizero00/article/details/43227019
https://bitbucket.org/rodrigob/doppia
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