OpenCV聲明失敗，SolvePnP

Question

我正在嘗試在檢測視頻流中的棋盤的C++程序中使用solvePnP。每次校準完成後，我嘗試運行solvePnP，但是我一直在收到我認爲與平移和旋轉矢量有關的錯誤。 這是錯誤： The error

這是我的代碼：

#include <cstdio> 
    #include <cstdlib> 
    #include <string> 
    #include <iostream> 
    #include <fstream> 

    #include <opencv2/core/core.hpp> 
    #include <opencv2/imgproc/imgproc.hpp> 
    #include <opencv2/calib3d/calib3d.hpp> 
    #include <opencv2/highgui/highgui.hpp> 

    using namespace cv; 
    using namespace std; 

    //Global variables 
    vector<vector<Point2f> > corner_list; 
    vector<vector<Point3f> > point_list; 
    vector<Mat> rotation_vecs, translation_vecs; 
    int i = 0; 
    bool calibMode = true, drawMode = false, drawMode2 = false, camMatrixInit = false, calibrated = false; 
    Mat originalCameraMatrix, cameraMatrix, distCoefficients, frame, gray, rvec, tvec; 

    //Function declarations 
    vector<Point3f> genWorldPoints(int cols, int rows); 
    void printCameraMatrix(); 
    void printDistCoeff(); 
    void printRotVecs(); 

    /*Generates the world points (0, 0, 0), (1, 0, 0), etc. for the camera calibration.*/ 
    vector<Point3f> genWorldPoints(int cols, int rows){ 
     vector<Point3f> ret; 

     for (int i=0; i<rows; i++) { 
      for (int j=0; j<cols; j++) { 
       int tempi = i*(-1); 
       ret.push_back(Point3f((float)j, (float)tempi, 0.0)); 
      } 
     } 

     return ret; 
    } 

    /*Print the camera matrix*/ 
    void printCameraMatrix(){ 
     cout << "Original Camera Matrix" << endl << originalCameraMatrix << endl; 
     cout << "Current Camera Matrix" << endl << cameraMatrix << endl; 
    } 

    /*Prints the distortion coefficients*/ 
    void printDistCoeff(){ 
     cout << "Distortion Coefficients:"<< endl << distCoefficients << endl; 
    } 


    int main(int argc, char *argv[]){ 
     VideoCapture *capdev; 

cameraMatrix = Mat::eye(3, 3, CV_64F); 
distCoefficients = Mat::zeros(8, 1, CV_64F); 

// open the video device 
capdev = new VideoCapture(0); 
if (!capdev->isOpened()) { 
    printf("Unable to open video device\n"); 
    return(-1); 
} 

namedWindow("Video", 1); 

bool found; 

*capdev >> frame; 

rvec = Mat::zeros(3, 1, CV_64F); 
tvec = Mat::zeros(3, 1, CV_64F); 

//Initialize camera matrix 
cameraMatrix.at<double>(0,2) = (frame.size().width)/2; 
cameraMatrix.at<double>(1,2) = (frame.size().height)/2; 

cameraMatrix.copyTo(originalCameraMatrix); 

printCameraMatrix(); 

for(;;){ 
    *capdev >> frame; 

    if (!found) { 
     imshow("Video", frame); 
    } 

    Size patternsize(9,6); 

    vector<Point2f> corner_set; 
    vector<Point3f> point_set; 

    int code = waitKey(10); 

    cvtColor(frame, gray, CV_BGR2GRAY); 

    found = findChessboardCorners(gray, patternsize, corner_set, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); 

    //Code to add a calibration frame 
    if (found && calibMode) { 
     cornerSubPix(gray, corner_set, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); 
     drawChessboardCorners(frame, patternsize, Mat(corner_set), found); 

     //s key press 
     if (code == 115){ 
      printf("Adding calibration frame\n"); 
      printf("Number of corners found: %lu\n", corner_set.size()); 
      printf("Point 0 x: %f\ty: %f\n", corner_set[0].x, corner_set[1].y); 

      //Add the corner set 
      corner_list.push_back(corner_set); 

      //Generate point set 
      vector<Point3f> point_set = genWorldPoints(9,6); 

      //Add point set to point set list 
      point_list.push_back(point_set); 

      //Save the image 
      string filename = "../data/images/p4_calib_image_"+to_string(i)+".jpeg"; 
      imwrite(filename, frame); 

      //if there are more than 5 saved calibration images, run calibration procedure 
      if (i>4) { 

       //Calculate the reprojection error by running calibrateCamera 
       double rpe = calibrateCamera(point_list, corner_list, frame.size(), cameraMatrix, 
              distCoefficients, rotation_vecs, translation_vecs, 
              CV_CALIB_FIX_ASPECT_RATIO | CV_CALIB_FIX_K4); 

       //Print the camera matrix 
       printCameraMatrix(); 
       printDistCoeff(); 

       //Print the reprojection error 
       cout << "Reprojection error: " << rpe << endl; 

       calibrated = true; 
      } 

      //Increment i 
      i++; 
     } 

     imshow("Video", frame); 
    } 


    else if (found && drawMode){ 
     cout << "Draw mode" << endl; 
     bool solved = solvePnP(point_list, corner_list, cameraMatrix, distCoefficients, 
           rvec, tvec); 
           //rotation_vecs.front(), translation_vecs.front()); 
    } 

    else if (found && drawMode2){ 
     cout << "Draw mode 2" << endl; 
     bool solved = solvePnP(point_list, corner_list, cameraMatrix, distCoefficients, 
           rvec, tvec); 
           //rotation_vecs.front(), translation_vecs.front()); 
    } 

    //Switching between drawing modes 
    if (calibrated && code == 49) { 
     calibMode = false; 
     drawMode2 = false; 
     drawMode = true; 
    } 
    else if (calibrated && code == 50){ 
     calibMode = false; 
     drawMode = false; 
     drawMode2 = true; 
    } 
    //Switch back to calibration mode 
    else if (calibrated && code == 51){ 
     drawMode = false; 
     drawMode2 = false; 
     calibMode = true; 
    } 

    if (code == 27) { 
     printf("Terminating\n"); 
     delete capdev; 
     return(0); 
    } 
} 

capdev = new VideoCapture(0); 

printf("Terminating\n"); 
delete capdev; 

return(0); 
    } 

請原諒壓痕...

Answer 1

的問題是，sovlePnP需要vector<Point2/3f>作爲輸入，而不是vector<vector<Point2/3f> >。在你的代碼中，「point_list」是vector<vector<Point3f> >，「corner_list」是vector<vector<Point2f> >。

solvePnP的文檔可以在這裏找到：http://docs.opencv.org/3.0-beta/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html