C++ OpenCV CVCalibrateCamera2导致多个错误

Question

我正在使用OpenCV在C++中制作一个简单的校准程序。一切都很好，直到我真的尝试打电话给CVCalibrateCamera2。在这一点上，我得到几个错误之一：

如果我现在用图像的数量等于4（其被从每个图像绘制的点数：

OpenCV Error: Sizes of input arguments do not match (Both matrices must have the same number of points) in unknown function, file ......\src\cv\cvfundam.cpp, line 870

如果图像的数目低于20：

OpenCV Error: Bad argument (The total number of matrix elements is not divisible by the new number of rows) in unknown function, file ......\src\cxcore\cxarray.cpp, line 2749

否则，如果图像的数量是20或以上：

OpenCV Error: Unsupported format or combination of formats (Invalid matrix type) in unknown function, file ......\src\cxcore\cxarray.cpp, line 117

我已经多次检查了CVCalibrateCamera2的参数，并且我确定它们相对于另一个是正确的尺寸。这似乎是程序试图根据图像数量重塑矩阵的某个地方，但我无法弄清楚在哪里或为什么。有任何想法吗？我正在使用Eclipse Galileo，MINGW 5.1.6和OpenCV 2.1。

Answer 1

更新：

这是调用CVCalibrateCamera2（）的代码：

void calibrate(CvMat * object_points, CvMat * image_points, CvMat * intrinsicsMatrix, CvMat * distortionVector){ 
    const int point_count = object_points->rows; 
    const int image_count = image_points->rows/point_count; 
    CvMat * const full_object_points = cvCreateMat(image_count * point_count, 3, CV_32FC1); 
    CvMat * const point_counts = cvCreateMat(image_count, 1, CV_32SC1); 
    for (int i = 0; i < image_count; i++){ 
     CV_MAT_ELEM(*point_counts, float, i, 0) = point_count; 
     for (int j = 0; j < point_count; j++){ 
      for (int k = 0; k < 3; k++){ 
       CV_MAT_ELEM(*full_object_points, float, i * point_count + j, k) = CV_MAT_ELEM(*object_points, float, j, k); 
      } 
     } 
} 
cvCalibrateCamera2(full_object_points, image_points, point_counts, cvSize(1, 1), intrinsicsMatrix, distortionVector, NULL, NULL, 0); 
} 

这是它收集点值，并将它们传递到上述功能的片：

int main(){ 
    const float points [] [2] = {{0, 0}, {1, 0}, {2, 0}, {3, 0}}; 

    const int image_count = 5; 
    const int point_count = sizeof (points)/sizeof(points[1]); 

    CvMat * const object_points = cvCreateMat(point_count, 3, CV_32FC1); 
    for (int i = 0; i < point_count; i++){ 
     CV_MAT_ELEM(*object_points, float, i, 0) = points[i][0]; 
     CV_MAT_ELEM(*object_points, float, i, 1) = points[i][1]; 
     CV_MAT_ELEM(*object_points, float, i, 2) = 0; 
    } 

    CvMat * const image_points = cvCreateMat(image_count * point_count, 2, CV_32FC1); 
    collectPoints(setup, image_count, point_count, image_points); // See below about this 

    CvMat * const intrinsicsMatrix = cvCreateMat(3, 3, CV_32FC1); 

    CvMat * const distortionVector = cvCreateMat(5, 1, CV_32FC1); 

    calibrate(object_points, image_points, intrinsicsMatrix, distortionVector); 
} 

在上面的代码中，collectPoints（）是一个函数，利用第三方库（gl.tter's WiiYourself wiimote图书馆，如果它很重要）。代码如下，但重要的是返回的点的值范围从-.5到.5。

void collectPoints(wiimote_setup & setup, const int image_count, const int point_count, CvMat * const image_points){ 
    image_points->rows = image_count * point_count; 
    image_points->cols = 2; 

    bool A_pressed = false; 
    for (int i = 0; i < image_count; i++){ 
     while (true){ 
      setup.remote.RefreshState(); 
      if (setup.remote.Button.A()){ 
       if (!A_pressed){ 
        for (int j = 0; j < point_count; j++){ 
         wiimote_state::ir::dot & dot = setup.remote.IR.Dot[j]; 
         CV_MAT_ELEM(*image_points, float, i * point_count + j, 0) = .5 - dot.X; 
         CV_MAT_ELEM(*image_points, float, i * point_count + j, 1) = .5 - dot.Y; 
         cout << dot.X <<", " << dot.Y << "\n"; 
        } 
        cout << "\n"; 
        cout.flush(); 
        A_pressed = true; 
        break; 
       } 
      } else{ 
       A_pressed = false; 
      } 
     } 
    } 
} 

Answer 2

我不是100％确定这一点，但我不认为你的对象点可以共线。在你的代码中，你有

const float points [] [2] = {{0, 0}, {1, 0}, {2, 0}, {3, 0}}; 

这些点都在同一行（x轴）。我认为对象点必须为cvCalibrateCamera2定义一个平面才能工作。这可能会解释你所看到的错误。

据我所知，OpenCV校准例程主要用于棋盘图案（或其他平面对象点集合），我不知道相同的算法是否适用于您的情况。