getting error: (-215) npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) in function solvePnP , while running the loop. [closed]

asked 2016-08-12 13:34:36 -0500

ak1 gravatar image

This is the part of my code.When I run it runs perfectly for sometime and throws the above error. I tried to manage this by using flag to remove this but it gives error after sometime rather than giving instantaneously. Please help me to find the solution for this problem.

Thank you.

Pose.h

    #ifndef POSE_H
    #define POSE_H
    #include "opencv2/objdetect/objdetect.hpp"
    #include "opencv2/highgui/highgui.hpp" 
    #include "opencv2/imgproc/imgproc.hpp"         
    #include "opencv2/calib3d/calib3d.hpp"
    #include "opencv2/core/core.hpp"
    #include <cv.h>
    #include <iostream>
    #include <math.h>
    #include <stdlib.h>

    using namespace std;
    using namespace cv;

     class Pose
     {
      public:
      Pose();

      double* contour_detection(Mat threshold,Mat src);
      double* pose_estimation(const std::vector<cv::Point3f> &objectPoints,const std::vector<cv::Point2f> &imagePoints);
      private:
      vector<Point3f> objectPoints ;
      Mat  cameraIntrinsicParams ;
      Mat distCoeffs;
      };
      #endif // POSE_H

Pose.cpp

       #include "Pose.h"
       Pose::Pose()
        {
         objectPoints.push_back(cv::Point3f(240.f,680.f,715.f));
         objectPoints.push_back(cv::Point3f(240.f,680.f,215.f));
         objectPoints.push_back(cv::Point3f(615.f,680.f,215.f));
         objectPoints.push_back(cv::Point3f(615.f,680.f,715.f));

         cameraIntrinsicParams=Mat(Size(3,3),CV_32FC1);       
         cameraIntrinsicParams.at<float>(0,0)=  727.957294f;
         cameraIntrinsicParams.at<float>(0,1)= 0 ;
         cameraIntrinsicParams.at<float>(0,2)= 320.f;//304.729528f;
         cameraIntrinsicParams.at<float>(1,0)= 0 ;
         cameraIntrinsicParams.at<float>(1,1)=  726.232798f;
         cameraIntrinsicParams.at<float>(1,2)= 240.f;//235.217420f;
         cameraIntrinsicParams.at<float>(2,0)= 0 ;
         cameraIntrinsicParams.at<float>(2,1)= 0 ;
         cameraIntrinsicParams.at<float>(2,2)= 1 ;

         distCoeffs=Mat::zeros(Size(4,1),CV_64FC1); 
         }

         double* Pose::contour_detection(Mat threshold, Mat src)
         {
         int flag =0;
         int largest_area=0;
         int largest_contour_index;
         int lowThreshold;
         int ratio=3;
         int kernel_size=3;
         int const max_lowThreshold = 100;

         vector<Point>Points ;
         vector< vector<Point> > contours; // Vector for storing contour
         vector<Vec4i> hierarchy;
         Mat detected_edges;
         blur(threshold, detected_edges, Size(3,3) );

         /// Canny detector
         Canny( detected_edges, detected_edges, lowThreshold,lowThreshold*ratio,  kernel_size );
         vector< vector<Point> > contours0;
         findContours( detected_edges, contours0, hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );        
         // Find the contours in the image

         contours.resize(contours0.size());
         std::vector<Point2f> imagePoints;
         std::vector<Point2f> preciseCorners(4);
         for( size_t k = 0; k < contours0.size(); k++ )
         {
         double a=contourArea( contours0[k],false); // Find the area of contour
         if(a>largest_area)
         {
          largest_area=a;
          largest_contour_index=k ;
          approxPolyDP(Mat(contours0[largest_contour_index]), contours[largest_contour_index],9, true);
          if(contours[k].size()==4)
          {

          for (int c=0;c<4;c++)
          {       
          preciseCorners[c] = contours[largest_contour_index][c];
          }

         cv::cornerSubPix(threshold, preciseCorners, cvSize(5,5),cvSize(-1,-1),  TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 40, 0.001 ));
        //  cv::cornerSubPix(threshold, preciseCorners, cvSize(5,5),cvSize(-1,-1), cvTermCriteria(CV_TERMCRIT_ITER,30,0.1));

         for (int c=0;c<4;c++)
         {
         contours[largest_contour_index][c] = preciseCorners[c];
        }

        imagePoints.push_back(Point2f(contours[largest_contour_index][0].x,contours[largest_contour_index][0].y));
        imagePoints.push_back(Point2f(contours[largest_contour_index][1].x,contours[largest_contour_index][1].y));
        imagePoints.push_back(Point2f(contours[largest_contour_index][2].x,contours[largest_contour_index][2].y));
        imagePoints.push_back(Point2f(contours[largest_contour_index][3].x,contours[largest_contour_index][3].y));

        Point P1=contours[largest_contour_index][0];
        Point P2=contours[largest_contour_index][1];
        Point P3=contours[largest_contour_index][2];
        Point P4=contours ...
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Closed for the following reason the question is answered, right answer was accepted by ak1
close date 2018-01-16 04:53:59.488714

Comments

can you try to use Point2d and Point3d ? (double instead of float)

berak gravatar imageberak ( 2016-08-13 00:37:18 -0500 )edit

Thank you for your suggestion . I will try it and let you know soon.

ak1 gravatar imageak1 ( 2016-08-13 02:27:38 -0500 )edit

I tried this but it is also giving me same error.

ak1 gravatar imageak1 ( 2016-08-13 03:35:57 -0500 )edit

Sorry for late reply ..Thank you berak this solves my error.

ak1 gravatar imageak1 ( 2016-08-13 12:36:27 -0500 )edit

How did you solve the problem? I converted Point2f & Point3f to Point2d and Point3d respectively and still same error.

UniverseGOD2525 gravatar imageUniverseGOD2525 ( 2019-03-22 00:47:28 -0500 )edit