Difference between revisions of "OpenCV/WishList/ProjectPoints"
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Daviddoria (Talk | contribs) (Created page with 'OpenCV Error: Formats of input arguments do not match (All the matrices must have the same data type) in cvRodrigues2, file /home/ddoria/src/OpenCV-2.3.0/modules/calib3d/src/cali…') |
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Revision as of 09:38, 2 August 2011
OpenCV Error: Formats of input arguments do not match (All the matrices must have the same data type) in cvRodrigues2, file /home/ddoria/src/OpenCV-2.3.0/modules/calib3d/src/calibration.cpp, line 507 terminate called after throwing an instance of 'cv::Exception'
what(): /home/ddoria/src/OpenCV-2.3.0/modules/calib3d/src/calibration.cpp:507: error: (-205) All the matrices must have the same data type in function cvRodrigues2
ProjectPoints.cxx
#include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/highgui/highgui.hpp" #include <iostream> #include <string> std::vector<cv::Point2f> Generate2DPoints(); std::vector<cv::Point3f> Generate3DPoints(); int main( int argc, char* argv[]) { // Read points std::vector<cv::Point2f> imagePoints = Generate2DPoints(); std::vector<cv::Point3f> objectPoints = Generate3DPoints(); // Create the known projection matrix cv::Mat P(3,4,cv::DataType<float>::type); P.at<float>(0,0) = -2.8058e-01; P.at<float>(1,0) = -6.8326e-02; P.at<float>(2,0) = 5.1458e-07; P.at<float>(0,1) = 2.0045e-02; P.at<float>(1,1) = -3.1718e-01; P.at<float>(2,1) = 4.5840e-06; P.at<float>(0,2) = 1.8102e-01; P.at<float>(1,2) = -7.2974e-02; P.at<float>(2,2) = 2.6699e-06; P.at<float>(0,3) = 6.6062e-01; P.at<float>(1,3) = 5.8402e-01; P.at<float>(2,3) = 1.5590e-03; // Decompose the projection matrix into: cv::Mat K(3,3,cv::DataType<float>::type); // intrinsic parameter matrix cv::Mat rvec(3,3,cv::DataType<float>::type); // rotation matrix cv::Mat T(4,1,cv::DataType<float>::type); // translation vector cv::decomposeProjectionMatrix(P, K, rvec, T); // Create zero distortion cv::Mat distCoeffs(4,1,cv::DataType<float>::type); distCoeffs.at<float>(0) = 0; distCoeffs.at<float>(1) = 0; distCoeffs.at<float>(2) = 0; distCoeffs.at<float>(3) = 0; std::vector<cv::Point2f> projectedPoints; cv::projectPoints(objectPoints, rvec, T, K, distCoeffs, projectedPoints); for(unsigned int i = 0; i < projectedPoints.size(); ++i) { std::cout << "Image point: " << imagePoints[i] << " Projected to " << projectedPoints[i] << std::endl; } return 0; } std::vector<cv::Point2f> Generate2DPoints() { std::vector<cv::Point2f> points; float x,y; x=282;y=274; points.push_back(cv::Point2f(x,y)); x=397;y=227; points.push_back(cv::Point2f(x,y)); x=577;y=271; points.push_back(cv::Point2f(x,y)); x=462;y=318; points.push_back(cv::Point2f(x,y)); x=270;y=479; points.push_back(cv::Point2f(x,y)); x=450;y=523; points.push_back(cv::Point2f(x,y)); x=566;y=475; points.push_back(cv::Point2f(x,y)); /* for(unsigned int i = 0; i < points.size(); ++i) { std::cout << points[i] << std::endl; } */ return points; } std::vector<cv::Point3f> Generate3DPoints() { std::vector<cv::Point3f> points; float x,y,z; x=.5;y=.5;z=-.5; points.push_back(cv::Point3f(x,y,z)); x=.5;y=.5;z=.5; points.push_back(cv::Point3f(x,y,z)); x=-.5;y=.5;z=.5; points.push_back(cv::Point3f(x,y,z)); x=-.5;y=.5;z=-.5; points.push_back(cv::Point3f(x,y,z)); x=.5;y=-.5;z=-.5; points.push_back(cv::Point3f(x,y,z)); x=-.5;y=-.5;z=-.5; points.push_back(cv::Point3f(x,y,z)); x=-.5;y=-.5;z=.5; points.push_back(cv::Point3f(x,y,z)); /* for(unsigned int i = 0; i < points.size(); ++i) { std::cout << points[i] << std::endl; } */ return points; }
CMakeLists.txt
cmake_minimum_required(VERSION 2.6) PROJECT(ProjectPoints) FIND_PACKAGE(OpenCV REQUIRED ) INCLUDE_DIRECTORIES( ${OPENCV_INCLUDE_DIR} ) ADD_EXECUTABLE(ProjectPoints ProjectPoints.cxx) TARGET_LINK_LIBRARIES(ProjectPoints opencv_core opencv_highgui opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect opencv_features2d opencv_calib3d opencv_legacy opencv_contrib )