Aruco功能estimatePoseSingleMarkers（）錯誤

我已經運行下面的代碼中的問題：Aruco功能estimatePoseSingleMarkers（）錯誤

Mat cameraMatrix, distCoeffs; 
cameraMatrix = (Mat1f(3, 3) << 462.71, 0, 338.630, 0, 465.97, 177.780, 0, 0, 1); 
distCoeffs = (Mat1f(4, 1) << 0.133013, -0.322199, -0.001524, 0.004866); 
//skip 
Mat color(Size(color_information.width, color_information.height), CV_8UC3, (void*)color_data.planes[0], color_data.pitches[0]/sizeof(uchar)); 
Mat imageCopy; 
double tick = (double)getTickCount(); 
vector<int>ids; 
vector<vector<Point2f>>corners, rejected; 
vector<Mat>rvecs, tvecs; 
aruco::detectMarkers(color, dictionary, corners, ids, detectorParams, rejected); 
double currentTime = ((double)getTickCount() - tick)/getTickFrequency(); 

// draw results 
color.copyTo(imageCopy); 
if (ids.size() > 0) 
{ 
    aruco::drawDetectedMarkers(imageCopy, corners, ids); 
    vector<Mat>rvecs, tvecs; 
    estimatePoseSingleMarkers(corners, 20, cameraMatrix, distCoeffs, rvecs, tvecs); 
    for (int i = 0; i<ids.size(); i++) 
     drawAxis(imageCopy, cameraMatrix, distCoeffs, rvecs[i], tvecs[i],0.1); 
}

的問題是，當程序運行到estimatePoseSingleMarkers(corners, 20, cameraMatrix, distCoeffs, rvecs, tvecs);

我得到了一個錯誤信息很喜歡這樣的： OpenCV Error: Assertion failed (0 <= i && i < (int)v.size()) in cv::_InputArray::getMat_, file C:\opencv-3.0\source\opencv\modules\core\src\matrix.cpp, line 1253

它是由錯誤的變量格式引起的？（cameraMartix & distCoeffs）

我需要一些幫助來找出問題所在。謝謝。

來源

2017-02-23 Woody1084

請嘗試 distCoeffs =（Mat1f（5,1）< < 0.133013，-0.322199，-0.001524,0.004866,0.0）;

來源

2017-02-28 01:48:32

這是很久以前發佈的，所以我希望你找到了解決方法。

我相信，如果你想按照教程那麼你的問題是這樣的：

vector<Mat>rvecs, tvecs;

相反，它必須是：

vector<Vec3d>rvecs, tvecs;

這就是爲我做。我希望這有幫助。

來源

2017-07-18 21:42:08 greinfelter

Aruco功能estimatePoseSingleMarkers（）錯誤

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