我尝试调用Cv2.SolvePnP()
的opencvsharp像这样:
using System.Collections.Generic;
using OpenCvSharp;
namespace Test
{
public class SolvePnPTest
{
public static void Main(string[] args)
{
var objectPoints = new List<Point3f>();
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
var imagePoints = new List<Point2f>();
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
var rvec = new double[3];
var tvec = new double[3];
var cameraMatrix = new double[,] { { 1, 2, 3 }, { 4, 5, 6 }, { 7, 8, 9 } };
var distortionCoefficients = new double[] { 1, 2, 3, 4, 5 };
Cv2.SolvePnP(
objectPoints,
imagePoints,
cameraMatrix,
distortionCoefficients,
out rvec,
out tvec);
}
}
}
对 Cv2.SolvePnP
的调用失败,并出现未处理的 OpenCVException:
src.size == dst.size && src.channels() == dst.channels()
什么是src
?什么是dst
?
包括堆栈跟踪在内的错误详细信息如下所示:
HResult=-2146232832
Message=src.size == dst.size && src.channels() == dst.channels()
Source=OpenCvSharp
ErrMsg=src.size == dst.size && src.channels() == dst.channels()
FileName=..\..\..\modules\core\src\convert.cpp
FuncName=cvConvertScale
Line=5475
StackTrace:
at OpenCvSharp.NativeMethods.<>c.<.cctor>b__1332_0(ErrorCode status, String funcName, String errMsg, String fileName, Int32 line, IntPtr userdata)
at OpenCvSharp.NativeMethods.calib3d_solvePnP_vector(Point3f[] objectPoints, Int32 objectPointsLength, Point2f[] imagePoints, Int32 imagePointsLength, Double[,] cameraMatrix, Double[] distCoeffs, Int32 distCoeffsLength, Double[] rvec, Double[] tvec, Int32 useExtrinsicGuess, Int32 flags)
at OpenCvSharp.Cv2.SolvePnP(IEnumerable`1 objectPoints, IEnumerable`1 imagePoints, Double[,] cameraMatrix, IEnumerable`1 distCoeffs, Double[]& rvec, Double[]& tvec, Boolean useExtrinsicGuess, SolvePnPFlags flags)
at Test.SolvePnPTest.Main(String[] args) in <file path>.
InnerException:
我的代码有什么问题?
convert.cpp中的断言在这个opencv函数中:
CV_IMPL void
cvConvertScale( const void* srcarr, void* dstarr,
double scale, double shift )
{
cv::Mat src = cv::cvarrToMat(srcarr), dst = cv::cvarrToMat(dstarr);
CV_Assert( src.size == dst.size && src.channels() == dst.channels() );
src.convertTo(dst, dst.type(), scale, shift);
}
最佳答案
由于该方法的重载失败,
public static void SolvePnP(
IEnumerable<Point3f> objectPoints,
IEnumerable<Point2f> imagePoints,
double[,] cameraMatrix,
IEnumerable<double> distCoeffs,
out double[] rvec,
out double[] tvec,
bool useExtrinsicGuess = false,
SolvePnPFlags flags = SolvePnPFlags.Iterative
)
我试过the other
public static void SolvePnP(
InputArray objectPoints,
InputArray imagePoints,
InputArray cameraMatrix,
InputArray distCoeffs,
OutputArray rvec,
OutputArray tvec,
bool useExtrinsicGuess = false,
SolvePnPFlags flags = SolvePnPFlags.Iterative
)
执行。完整示例代码:
using System.Collections.Generic;
using OpenCvSharp;
namespace Test
{
public class SolvePnPTest
{
public static void Main(string[] args)
{
var objectPoints = new List<Point3f>();
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
objectPoints.Add(new Point3f(1, 2, 3));
var imagePoints = new List<Point2f>();
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
imagePoints.Add(new Point2f(1, 2));
var rvec = new double[3];
var tvec = new double[3];
var cameraMatrix = new double[,] { { 1, 2, 3 }, { 4, 5, 6 }, { 7, 8, 9 } };
var distortionCoefficients = new double[] { 1, 2, 3, 4, 5 };
/*
Cv2.SolvePnP(
objectPoints,
imagePoints,
cameraMatrix,
distortionCoefficients,
out rvec,
out tvec);
*
* */
Cv2.SolvePnP(
new Mat(objectPoints.Count, 3, MatType.CV_64F, objectPoints.ToArray()),
new Mat(imagePoints.Count, 2, MatType.CV_64F, imagePoints.ToArray()),
new Mat(3, 3, MatType.CV_64F, cameraMatrix),
new Mat(5, 1, MatType.CV_64F, distortionCoefficients),
new Mat(3, 1, MatType.CV_64F),
new Mat(3, 1, MatType.CV_64F));
}
}
}
关于c# - 如何修复调用 Cv2.SolvePnP() 时未处理的 OpenCVException?,我们在Stack Overflow上找到一个类似的问题: https://stackoverflow.com/questions/37279776/