DEV NEEDED: Looking for someone with a OpenNI supported camera, trying to debug the new C++ code sample version.

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Hi SIegfried, indeed the samples do work, but they contained a lot of C-style commands. Based on a feature request, I am updating all code samples to contain only C++ code :) It is a hard task but will see if I can fix this problem.

However after reading your remarks again, does my code work or not? :D

I will have a look at it later today!

So okay, after reading through the code, the way to fix this, is adding a remark that right click opens the context menu and you then need to select learn or something?

I think a right click to select something is uncommon. Most applications use left mouse button to select something. But this is not the main problem in the moment. We should focus on what causes the error after selecting the object. For that I will take a more detailed look on the source code and debug the code again.

Btw Siegfried, thanks for helping out! It will not only help me but also all future users of the samples!

And indeed, it might seem weird to use right mouse click to select something, but thats the actual implementation. Changing the pure code to C++ was the first focus. This linemod examples was the last one that actually gave problems. I will submit it in a seperate pull request different from the others.

Hi Steven, I have found the cause of the failed Assertion. The reason is that for the computation of SVD in line 455 the matrix for left singular vectors (parameter 3) has the type CV_8U all the other matrices has the type CV_32F. I have then instantiated a cv::Mat in the same way as for the other matrices cv::Mat lp_u = cv::Mat(4, 1, CV_32F); and changed the SVD computation to cv::SVD::compute(lp_pts, lp_w, lp_u, lp_v); This solves the problem with the assert. Now i can select an object and start the online learing by pressing button "l".

But now I always get the message "No matches found..." in command line. Learning the same object with the cpp-example-linemod from the OpenCV C++ samples works. However, the masks shown by both programs are different. In your code the mask has the same ROI as the training ROI. The mask in cpp-example-linemod has the same contour as the object.

Ok based on this info I will have a look at it this week! Will keep you up to date!

I have added the Mat fix for the first error to my code. I will try to look deeper into the mask thing later. Have it quite busy for the moment, prepping for conferences. Will do it afterwards.