OpenCV与项目点错误

我想量化我的相机使用OpenCV校准的准确性。在我的程序中，我正在阅读棋盘图案的图像，并调用calibrateCamera函数来初步猜测我的相机instrinsics和extrinsics。我知道只使用一个图像不会产生完美的校准，并且calibrateCamera会返回重投影误差。不过，我想使用projectPoints函数来获取校准板上检测到的角点的图像点，以便进一步处理。我正在使用下面的代码进行校准，但是当它试图运行projectPoints函数时，程序在运行时崩溃。如果我删除函数调用的代码工作得很好。OpenCV与项目点错误

Mat image_; 
Mat gray_image_; 
Size chessboard_size_; 
vector<Point2f> corners_; 
vector< vector< Point2f> > imagePoints_; 
vector< Point2f> imagePointsProjected_; 
vector< vector< Point3f> > objectPoints_; 
bool corners_found; 
float measure_ = 35; 

chessboard_size_ = Size(CHESSBOARD_INTERSECTIONS_HORIZONTAL, CHESSBOARD_INTERSECTIONS_VERTICAL); 

// image of type CV_8UC3 is read, with 8 bit & 3 channels 
image_ = imread("/home/fes1rng/left.png"); 

if(!image_.data) 
{ 
    printf("No image data \n"); 
    return; 
} 

// image is converted to grayscale, afterwards it is of type CV_8UC1 
cvtColor(image_, gray_image_, CV_RGB2GRAY); 

// detect corners and draw them 
corners_found = findChessboardCorners(gray_image_, Size(CHESSBOARD_INTERSECTIONS_HORIZONTAL, CHESSBOARD_INTERSECTIONS_VERTICAL), corners_); 
if (corners_found) 
{ 
    cornerSubPix(gray_image_, corners_, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); 

    drawChessboardCorners(image_, Size(CHESSBOARD_INTERSECTIONS_HORIZONTAL, CHESSBOARD_INTERSECTIONS_VERTICAL), corners_, corners_found); 
} 

vector< Point2f> v_tImgPT; 
vector< Point3f> v_tObjPT; 
//save 2d coordinate and world coordinate 
for(int j=0; j< corners_.size(); ++j) 
{ 
Point2d tImgPT; 
Point3d tObjPT; 

tImgPT.x = corners_[j].x; 
tImgPT.y = corners_[j].y; 

tObjPT.x = j%CHESSBOARD_INTERSECTIONS_HORIZONTAL*measure_; 
tObjPT.y = j/CHESSBOARD_INTERSECTIONS_HORIZONTAL*measure_; 
tObjPT.z = 0; 

v_tImgPT.push_back(tImgPT); 
v_tObjPT.push_back(tObjPT); 
} 
imagePoints_.push_back(v_tImgPT); 
objectPoints_.push_back(v_tObjPT); 

Mat rvec(3,1, CV_64FC1); 
Mat tvec(3,1, CV_64FC1); 
vector<Mat> rvecs; 
vector<Mat> tvecs; 
rvecs.push_back(rvec); 
tvecs.push_back(tvec); 
Mat intrinsic_Matrix(3,3, CV_64FC1); 
Mat distortion_coeffs(8,1, CV_64FC1); 

calibrateCamera(objectPoints_, imagePoints_, image_.size(), intrinsic_Matrix, distortion_coeffs, rvecs, tvecs); 

projectPoints(objectPoints_, rvecs, tvecs, intrinsic_Matrix, distortion_coeffs, imagePointsProjected_); 

cv::namedWindow("Display Image", CV_WINDOW_AUTOSIZE); 
cv::imshow("Display Image", image_); 

waitKey(0);

的错误信息是：

OpenCV Error: Assertion failed (0 <= i && i < (int)vv.size()) in getMat, file /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix.cpp, line 977 
terminate called after throwing an instance of 'cv::Exception' 
what(): /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix.cpp:977: error: (-215) 0 <= i && i < (int)vv.size() in function getMat

在运行时和在一子功能呼叫发生错误，我假定它由矩阵的错误数据类型引起的。但是由于函数projectPoints在calibrateCamera中内部使用，我很困惑为什么具有相同参数的单个函数调用会导致错误。

来源

2015-04-27 Sebastian

你找到任何解决方案 – iMHitesh

作为第一个参数，projectPoints等待std::vector<cv::Point3f>而不是std::vector<std::vector<cv::Point3f>>。

来源

2015-04-27 13:43:14 Kornel

感谢您的评论，但改变函数调用'projectPoints后（objectPoints_.front（），rvecs，tvecs，intrinsic_Matrix，distortion_coeffs，imagePointsProjected _）;' 我得到的错误 getMat中的OpenCV错误：声明失败（0 <= i && i <（int）v.size（）），file /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix .cpp，第992行在抛出'cv :: Exception'实例后终止调用 what（）：/build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix.cpp:992：error ：（-215）0 <= i && i <（int）v.size（）in function getMat' – Sebastian

使用下面的表达式解决了问题！

projectPoints(objectPoints_.front(), rvecs.front(), tvecs.front(), intrinsic_Matrix, distortion_coeffs, imagePointsProjected_);

来源

2015-04-28 11:58:09 Sebastian

OpenCV与项目点错误

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