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View Code? Open in Web Editor NEWFeatures detection, match and track module. Supported features: orb and superpoints
License: MIT License
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Can u explain ur matching strategy in superpointmatcher?
Hi, I see ur code recently, and it's an effective c++ version code about superpoint. But I can't understand the matching method in ur code. Why dot product can represent similarity between descriptors?
Build & make errors
Hi~
I want to try your demo, but after I tried to build it, some errors occurred:
After I use make -j4, it occurred:
Scanning dependencies of target FeatureTracker
[ 12%] Building CXX object CMakeFiles/FeatureTracker.dir/src/ORBFeatureMatcher.cc.o
[ 25%] Building CXX object CMakeFiles/FeatureTracker.dir/src/SuperPointFeatureTracker.cc.o
[ 50%] Building CXX object CMakeFiles/FeatureTracker.dir/src/ORBFeatureDetector.cc.o
[ 50%] Building CXX object CMakeFiles/FeatureTracker.dir/src/main_track.cc.o
[ 62%] Building CXX object CMakeFiles/FeatureTracker.dir/src/SuperPointFeatureDetector.cc.o
[ 75%] Building CXX object CMakeFiles/FeatureTracker.dir/src/ORBFeatureTracker.cc.o
[ 87%] Building CXX object CMakeFiles/FeatureTracker.dir/src/SuperPointFeatureMatcher.cc.o
[100%] Linking CXX executable FeatureTracker
CMakeFiles/FeatureTracker.dir/src/main_track.cc.o：In function ‘_GLOBAL__sub_I_main_track.cc’：
main_track.cc:(.text.startup+0x1194)：undefined reference to ‘google::FlagRegisterer::FlagRegisterer<std::string>(char const*, char const*, char const*, std::string*, std::string*)’
main_track.cc:(.text.startup+0x121e)：undefined reference to ‘google::FlagRegisterer::FlagRegisterer<std::string>(char const*, char const*, char const*, std::string*, std::string*)’
main_track.cc:(.text.startup+0x12d6)：undefined reference to ‘google::FlagRegisterer::FlagRegisterer<std::string>(char const*, char const*, char const*, std::string*, std::string*)’
CMakeFiles/FeatureTracker.dir/src/ORBFeatureDetector.cc.o：In function ‘std::string* google::MakeCheckOpString<int, int>(int const&, int const&, char const*)’：
ORBFeatureDetector.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPSsRKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPSsRKT_RKT0_PKc]+0x50)：undefined reference to ‘google::base::CheckOpMessageBuilder::NewString()’
CMakeFiles/FeatureTracker.dir/src/ORBFeatureDetector.cc.o：In function ‘std::string* google::MakeCheckOpString<float, int>(float const&, int const&, char const*)’：
ORBFeatureDetector.cc:(.text._ZN6google17MakeCheckOpStringIfiEEPSsRKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIfiEEPSsRKT_RKT0_PKc]+0x56)：undefined reference to ‘google::base::CheckOpMessageBuilder::NewString()’
CMakeFiles/FeatureTracker.dir/src/ORBFeatureMatcher.cc.o：In function ‘std::string* google::MakeCheckOpString<float, double>(float const&, double const&, char const*)’：
ORBFeatureMatcher.cc:(.text._ZN6google17MakeCheckOpStringIfdEEPSsRKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIfdEEPSsRKT_RKT0_PKc]+0x58)：undefined reference to ‘google::base::CheckOpMessageBuilder::NewString()’
CMakeFiles/FeatureTracker.dir/src/SuperPointFeatureDetector.cc.o：In function ‘_GLOBAL__sub_I_SuperPointFeatureDetector.cc’：
SuperPointFeatureDetector.cc:(.text.startup+0x10e)：undefined reference to ‘google::FlagRegisterer::FlagRegisterer<std::string>(char const*, char const*, char const*, std::string*, std::string*)’
CMakeFiles/FeatureTracker.dir/src/SuperPointFeatureTracker.cc.o：In function ‘std::string* google::MakeCheckOpString<FeatureDescriptor<float>*, FeatureDescriptor<float>*>(FeatureDescriptor<float>* const&, FeatureDescriptor<float>* const&, char const*)’：
SuperPointFeatureTracker.cc:(.text._ZN6google17MakeCheckOpStringIP17FeatureDescriptorIfES3_EEPSsRKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIP17FeatureDescriptorIfES3_EEPSsRKT_RKT0_PKc]+0x51)：undefined reference to ‘google::base::CheckOpMessageBuilder::NewString()’
collect2: error: ld returned 1 exit status
CMakeFiles/FeatureTracker.dir/build.make:312: recipe for target 'FeatureTracker' failed
make[2]: *** [FeatureTracker] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/FeatureTracker.dir/all' failed
make[1]: *** [CMakeFiles/FeatureTracker.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
I thought if I missed the libgflags and libglog libraries? But cmake .. didn't shown any error.
And afther I use sudo apt-get install libgoogle-glog-dev & sudo apt-get install libgflags-dev with add target_link_libraries(... libgflags.a libglog.a) to CMakeLists.txt. It still occurred errors.
Then I try to build and install gflags and glog from the Github official source code repository, I add FindGflags.cmake & FindGlog.cmake to project and add these codes to CMakeLists.txt:
find_package(gflags REQUIRED)
find_package(glog REQUIRED)
or
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
find_package(Gflags)
find_package(Glog)
include_directories(${GFLAGS_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS})
LIST(APPEND ALL_TARGET_LIBRARIES ${GLOG_LIBRARIES} ${GFLAGS_INCLUDE_DIRS})
...It still occurred these errors. I am very confused and could you please help me to know what's wrong with this problem?
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