我将 OpenCV 2.4.10 与 Visual Studio 2013 一起用于我的代码。但是我收到以下链接错误:
1>Pathfinding.obj : error LNK2019: unresolved external symbol "public: class cv::Vec & __cdecl cv::Mat::at >(int,int)" (??$at@V?$Vec@E$02@cv@@@Mat@cv@@QEAAAEAV?$Vec@E$02@1@HH@Z) referenced in function "private: struct Pathfinding::Point2A * __cdecl Pathfinding::GetNeighbors(struct Pathfinding::Point2A,int &)" (?GetNeighbors@Pathfinding@@AEAAPEAUPoint2A@1@U21@AEAH@Z)
1>C:\Users\ysingh\Documents\DstarLite\OpenCV\Astar\x64\Debug\Astar.exe : fatal error LNK1120: 1 unresolved externals ========== Build: 0 succeeded, 1 failed, 0 up-to-date, 0 skipped ==========
这里是头文件(请参见类定义中的struct Point2A)，上面的错误是指:
#include<opencv2\core\core.hpp>
#include<opencv2\imgproc\imgproc.hpp>
#include<cmath>
#include<vector>
#include<queue>
#include<map>
#include<string>
class Pathfinding
{
private :
//Two dimensional , integer -based point structure , contains additional variables for pathfinding calculation
**struct Point2A**
{
// x, y the coordinates of the point
//dir is the direction from the previous point . see directions coding below
int x, y, dir;
//level: the cost of route from start to this point
//fscore: the essence of the A* algorithm, value is : [level] + [in air distance from destination] * astar_weight
float fScore, level;
//Constructors
Point2A() : x(0), y(0), fScore(0), dir(0){};
Point2A(int _x, int _y, float _level = 0.f, int _dir = 0) :x(_x), y(_y), level(_level), fScore(0), dir(_dir) {};
//== operator overload
bool operator == (const Point2A other);
};
//CompByPos : struct used in the stl map<Point2A, Point2A> during the pathfinding
//it only contains a comparator function
//we need this, because every point is unique by position, but not by fscore
struct CompByPos
{
bool operator()(const Point2A a, const Point2A b) const;
};
//CompByFScore : contains a comparating function, which works by fscore
//it gives priority for the smaller fScore
//used in stl priority_queue<Point2A>
struct CompByFScore
{
bool operator()(const Point2A a, const Point2A b);
};
//mapimg is the map got, pathmap is the same, but the pixels of the path are colored
//pathmap is only valid after calculate path
//blurmap is matimg blurred with opencv function, its used in keeping away from walls
cv::Mat mapimg, pathmap, blurmap;
//astar_weight is the multiplier of A* coefficient
//wall_weight is used in keeping away from walls features
float astar_weight, wall_weight;
//no comment
Point2A start, dest;
//daigonal decides if a pixel (which is a node) has 4 or 8 neighbours
//see direction coding below
//calculated decides if the Pathfinding object has valid path for current map and settings
bool diagonal, calculated;
//mrows and mcols refers to the size of mapimg
//blursize is used in avaoiding wall avoidance feature
int mrows, mcols, blur_size;
//stores the list of directions for the path
std::string dir;
//calculated Eucledian Distance between two points a and b
float Distance(Point2A a, Point2A b);
//returns an array of the points surrounding point p
//the length of the array is not constant, because the function performs
//OnMap checks too. use arraySize ref variable to get the size of the array returned
Point2A* GetNeighbors(Point2A p, int& arraySize);
// Function sets default values
void InitValues();
//Checks if point p is wall
//Class support black and white maps, where black pixels are wall
bool IsWall(Point2A p);
//Function decides if coordinates of this point are on map or not
bool OnMap(int x, int y);
public:
enum ErrorCodes
{
NoError = 0,
NoMap,
StartIsWall,
DestIsWall,
NoPath,
AlreadyCalculated
};
static const int diagonalDirX[];
static const int diagonalDirY[];
static const int nonDiagonalDirX[];
static const int nonDiagonalDirY[];
//constructor :sets default values diagonal = true, astar coefficient 0.3
Pathfinding();
//constructor, argument map is the map on which algorithm is implemented
Pathfinding(cv::Mat map, bool _diagonal = true);
//Set OpenCV Mat image as the map
void SetMap(cv::Mat map);
////sets the A* pathfinding coefficient. 0.f means Dijkstra's algorithm, anything else is A* (positive values recommended).
//The bigger the value, the more the algorithm steers towards the destination
//but setting it too high can result in suboptimal path
//after changing that, have to call CalculatePath again
void SetAWeight(float weight);
//if set to true, each pixel has 8 connected neighbor, else only 4 - see GetDirections() comment
//after changing that, have to call CalculatePath again
void SetDiagonal(bool _diagonal);
//sets the value of how much the algorithm tries to avoid going near walls.
//weight: the amount the walls push away the route. default 10.f
//0.f disables the feature
//avoidZoneLevel: the size of the zone surrounding the walls, in which the upper effect works. default: 5
void SetWallWeight(float weight, int avoidZoneLevel);
//sets the start point. the coordinate system is the OpenCV/image default, the origin is the upper left corner of the image.
//start and destination points have to be set after the map image!
void SetStart(int x, int y);
void SetDestination(int x, int y);
//returns the map, on which the calculated path is marked red
//call this after CalculatePath(), otherwise returns empty map
cv::Mat GetPathMap();
// returns a std::string of numbers, which represent the directions along the path.Direction coding(relative to p) :
//call after CalculatePath()
//if diagonal is set to true if diagonal == false
// [0] [1] [2] [3]
// [3] [p] [4] [2] [p] [0]
// [5] [6] [7] [1]
std::string GetDirections();
//evaluates the algorithm. It's a separate function because it takes some time
//check out the ErrorCodes enum to decode the returned values
ErrorCodes CalculatePath();
};
我还附加了这个类的.cpp
#include "Pathfinding.h"
bool Pathfinding::Point2A::operator==(const Point2A other) {
return x == other.x && y == other.y;
}
bool Pathfinding::CompByPos::operator()(const Point2A a, const Point2A b) const
{
if (a.x == b.x)
return a.y > b.y;
else
return a.x > b.x;
}
bool Pathfinding::CompByFScore::operator()(const Point2A a, const Point2A b)
{
return a.fScore > b.fScore;
}
float Pathfinding::Distance(Point2A a, Point2A b)
{
float x = static_cast<float>(a.x - b.x);
float y = static_cast<float>(a.y - b.y);
return sqrtf(x*x + y*y);
}
Pathfinding:: Point2A* Pathfinding::GetNeighbors(Point2A p, int& arraySize)
{
arraySize = 0;
uchar size;
if (diagonal)
size = 8;
else
size = 4;
Point2A* ret = new Point2A[size];
for (int i = 0; i < size; i++) {
int x, y;
if (diagonal)
{
x = p.x + diagonalDirX[i];
y = p.y + diagonalDirY[i];
}
else
{
x = p.x + nonDiagonalDirX[i];
y = p.y + nonDiagonalDirY[i];
}
if (!OnMap(x, y))
continue;
float level = p.level + 1.f + (255 - blurmap.at<cv::Vec3b>(y, x)[2]) / 255.f * wall_weight;
Point2A n = Point2A(x, y, level, i);
if (diagonal && (i == 0 || i == 2 || i == 5 || i == 7))
n.level += 0.414213f;
ret[arraySize] = n;
arraySize++;
}
return ret;
}
void Pathfinding::InitValues()
{
astar_weight = 0.3f;
wall_weight = 10.f;
blur_size = 11;
diagonal = true;
calculated = false;
}
bool Pathfinding::IsWall(Point2A p)
{
if (mapimg.at<cv::Vec3b>(p.y, p.x) == cv::Vec3b(0, 0, 0))
return true;
return false;
}
bool Pathfinding::OnMap(int x, int y)
{
if (x >= 0 && y >= 0 && x < mcols && y < mrows)
return true;
return false;
}
const int Pathfinding::diagonalDirX[] = { -1, 0, 1, -1, 1, -1, 0, 1 };
const int Pathfinding::diagonalDirY[] = { -1, -1, -1, 0, 0, 1, 1, 1 };
const int Pathfinding::nonDiagonalDirX[] = { 1, 0, -1, 0 };
const int Pathfinding::nonDiagonalDirY[] = { 0, 1, 0, -1 };
Pathfinding::Pathfinding()
{
InitValues();
}
Pathfinding::Pathfinding(cv::Mat map, bool _diagonal)
{
InitValues();
SetMap(map);
diagonal = _diagonal;
}
void Pathfinding::SetMap(cv::Mat map)
{
if (!map.empty())
{
mapimg = map;
calculated = false;
mrows = map.rows;
mcols = map.cols;
GaussianBlur(mapimg, blurmap, cv::Size(blur_size, blur_size), 0);
}
}
void Pathfinding::SetAWeight(float weight)
{
if (astar_weight != weight)
{
astar_weight = weight;
calculated = false;
}
}
void Pathfinding::SetDiagonal(bool _diagonal)
{
if (diagonal != _diagonal)
{
diagonal = _diagonal;
calculated = false;
}
}
void Pathfinding::SetWallWeight(float weight, int avoidZoneLevel)
{
if (wall_weight == weight && blur_size == 2 * avoidZoneLevel + 1)
return;
wall_weight = weight;
if (avoidZoneLevel >= 0)
blur_size = 2 * avoidZoneLevel + 1;
calculated = false;
}
void Pathfinding::SetStart(int x, int y)
{
if (!mapimg.empty())
{
if (OnMap(x, y))
{
start = Point2A(x, y);
calculated = false;
}
}
}
void Pathfinding::SetDestination(int x, int y)
{
if (!mapimg.empty())
{
if (OnMap(x, y))
{
dest = Point2A(x, y);
calculated = false;
}
}
}
cv::Mat Pathfinding::GetPathMap()
{
if (calculated) return pathmap;
else return cv::Mat();
}
std::string Pathfinding::GetDirections()
{
if (calculated) return dir;
else return std::string();
}
Pathfinding::ErrorCodes Pathfinding::CalculatePath()
{
if (calculated)
return AlreadyCalculated;
if (mapimg.empty())
return NoMap;
if (IsWall(start))
return StartIsWall;
if (IsWall(dest))
return DestIsWall;
dir = std::string();
mapimg.copyTo(pathmap);
int **closedSet = new int*[mrows];
float **openSet = new float*[mrows];
for (int i = 0; i < mrows; i++) {
closedSet[i] = new int[mcols];
openSet[i] = new float[mcols];
for (int j = 0; j < mcols; j++) {
closedSet[i][j] = 0;
openSet[i][j] = -1.0f;
}
}
std::priority_queue<Pathfinding::Point2A, std::vector<Point2A>, CompByFScore> openSetQue[2];
int osq = 0;
std::map <Pathfinding::Point2A, Pathfinding::Point2A, CompByPos> cameFrom;
start.fScore = Distance(start, dest);
openSetQue[osq].push(start);
openSet[start.y][start.x] = 0.0f;
while (openSetQue[osq].size() != 0) {
Point2A current = openSetQue[osq].top();
if (current == dest) {
while (cameFrom.size() != 0) {
pathmap.at<cv::Vec3b>(current.y, current.x) = cv::Vec3b(0, 0, 255);
dir = std::to_string(current.dir) + dir;
auto it = cameFrom.find(current);
Point2A keytmp = current;
if (it == cameFrom.end()) {
for (int i = 0; i < mrows; i++) {
delete openSet[i];
delete closedSet[i];
}
delete openSet;
delete closedSet;
calculated = true;
dir = dir.substr(1, dir.length() - 1);
return NoError;
}
current = cameFrom[current];
cameFrom.erase(keytmp);
}
}
openSetQue[osq].pop();
closedSet[current.y][current.x] = 1;
int arraySize;
Point2A *neighbors = GetNeighbors(current, arraySize);
for (int i = 0; i < arraySize; i++) {
Point2A neighbor = neighbors[i];
if (closedSet[neighbor.y][neighbor.x] == 1)
continue;
if (IsWall(neighbor)) {
closedSet[neighbor.y][neighbor.x] = 1;
continue;
}
float ngScore = neighbor.level;
if (openSet[neighbor.y][neighbor.x] == -1.0f || ngScore < openSet[neighbor.y][neighbor.x]) {
cameFrom[neighbor] = current;
neighbor.fScore = ngScore + Distance(neighbor, dest) * astar_weight;
if (openSet[neighbor.y][neighbor.x] == -1.0f) {
openSet[neighbor.y][neighbor.x] = ngScore;
openSetQue[osq].push(neighbor);
}
else {
openSet[neighbor.y][neighbor.x] = ngScore;
while (!(neighbor == openSetQue[osq].top())) {
openSetQue[1 - osq].push(openSetQue[osq].top());
openSetQue[osq].pop();
}
openSetQue[osq].pop();
if (openSetQue[osq].size() >= openSetQue[1 - osq].size()) {
osq = 1 - osq;
}
while (!openSetQue[osq].empty()) {
openSetQue[1 - osq].push(openSetQue[osq].top());
openSetQue[osq].pop();
}
osq = 1 - osq;
openSetQue[osq].push(neighbor);
}
}
}
delete neighbors;
}
return NoPath;
}
这也是我的主文件 .cpp :
#include"Pathfinding.h"
#include<opencv2\highgui\highgui.hpp>
#include<iostream>
Pathfinding pathfinding;
cv::Mat mapimg;
void DisplayMap()
{
cv::Mat tmp;
cv::imshow("Path", tmp);
}
int main()
{
//Open and load the map
mapimg = cv::imread("test.png");
pathfinding.SetMap(mapimg);
pathfinding.SetWallWeight(0.f, 0);
pathfinding.SetStart(1, 1);
pathfinding.SetDestination(39, 53);
pathfinding.SetDiagonal(false);
DisplayMap();
}
我想我在 .cpp 中的函数定义中使用了 Pathfinding 类两次(即 .cpp 文件中的第 29 行 > Pathfinding::Point2A* Pathfinding::GetNeighbors(Point2A p, int& arraySize)
我的目的不是向人们扔一堆代码，而是给他们一个完整的问题图，以便人们可以给我一些有用的建议。对此我深表歉意。
我的截止日期临近，我的时间很紧张。有人可以建议我一些解决方案。
最佳答案
我认为您的项目设置是问题所在(您写的是一个有效的简约示例，因此您确实使用了正确的库和包含)。
请检查 include 和 lib 路径的计算结果(在配置站点中检查)。也许您看到它们是相对路径或宏设置错误。
通常，“UNRESOLVED EXTERNAL”错误意味着您没有链接正确的库(32/64 调试/发布这些是 4 种不同的组合!)或者库的路径错误。
关于c++ - 错误 LNK2019 : unresolved external symbol Visual Studio 2013 with openCV，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/44117087/