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OpenCV Error: Assertion failed in function Mat

hi everyone, i'm making solution sercurity for raspberry and i use this code:

//

include <iostream>

include <fstream>

include "opencv2/opencv.hpp"

include "opencv2/highgui/highgui.hpp"

include <time.h>

include <dirent.h>

include <sstream>

include <dirent.h>

include <sys types.h="">

include <sys stat.h="">

using namespace std; using namespace cv;

// Check if the directory exists, if not create it // This function will create a new directory if the image is the first // image taken for a specific day inline void directoryExistsOrCreate(const char* pzPath) { DIR *pDir; // directory doesn't exists -> create it if ( pzPath == NULL || (pDir = opendir (pzPath)) == NULL) mkdir(pzPath, 0777); // if directory exists we opened it and we // have to close the directory again. else if(pDir != NULL) (void) closedir (pDir); }

// When motion is detected we write the image to disk // - Check if the directory exists where the image will be stored. // - Build the directory and image names. int incr = 0; inline bool saveImg(Mat image, const string DIRECTORY, const string EXTENSION, const char * DIR_FORMAT, const char * FILE_FORMAT) { stringstream ss; time_t seconds; struct tm * timeinfo; char TIME[80]; time (&seconds); // Get the current time timeinfo = localtime (&seconds);

// Create name for the date directory
strftime (TIME,80,DIR_FORMAT,timeinfo);
ss.str("");
ss << DIRECTORY << TIME;
directoryExistsOrCreate(ss.str().c_str());
ss << "/cropped";
directoryExistsOrCreate(ss.str().c_str());

// Create name for the image
strftime (TIME,80,FILE_FORMAT,timeinfo);
ss.str("");
if(incr < 100) incr++; // quick fix for when delay < 1s && > 10ms, (when delay <= 10ms, images are overwritten)
else incr = 0;
ss << DIRECTORY << TIME << static_cast<int>(incr) << EXTENSION;
return imwrite(ss.str().c_str(), image);

}

// Check if there is motion in the result matrix // count the number of changes and return. inline int detectMotion(const Mat & motion, Mat & result, Mat & result_cropped, int x_start, int x_stop, int y_start, int y_stop, int max_deviation, Scalar & color) { // calculate the standard deviation Scalar mean, stddev; meanStdDev(motion, mean, stddev); // if not to much changes then the motion is real (neglect agressive snow, temporary sunlight) if(stddev[0] < max_deviation) { int number_of_changes = 0; int min_x = motion.cols, max_x = 0; int min_y = motion.rows, max_y = 0; // loop over image and detect changes for(int j = y_start; j < y_stop; j+=2){ // height for(int i = x_start; i < x_stop; i+=2){ // width // check if at pixel (j,i) intensity is equal to 255 // this means that the pixel is different in the sequence // of images (prev_frame, current_frame, next_frame) if(static_cast<int>(motion.at<uchar>(j,i)) == 255) { number_of_changes++; if(min_x>i) min_x = i; if(max_x<i) max_x="i;" if(min_y="">j) min_y = j; if(max_y<j) max_y="j;" }="" }="" }="" if(number_of_changes){="" check="" if="" not="" out="" of="" bounds="" if(min_x-10="" >="" 0)="" min_x="" -="10;" if(min_y-10="" >="" 0)="" min_y="" -="10;" if(max_x+10="" <="" result.cols-1)="" max_x="" +="10;" if(max_y+10="" <="" result.rows-1)="" max_y="" +="10;" draw="" rectangle="" round="" the="" changed="" pixel="" point="" x(min_x,min_y);="" point="" y(max_x,max_y);="" rect="" rect(x,y);="" mat="" cropped="result(rect);" cropped.copyto(result_cropped);="" rectangle(result,rect,color,1);="" }="" return="" number_of_changes;="" }="" return="" 0;="" }<="" p="">

int main (int argc, char * const argv[]) { const string DIR = "/home/pi/motion_src/pics/"; // directory where the images will be stored const string EXT = ".jpg"; // extension of the images const int DELAY = 500; // in mseconds, take a picture every 1/2 second const string LOGFILE = "/home/pi/motion_src/log";

// Format of directory
string DIR_FORMAT = "%d%h%Y"; // 1Jan1970
string FILE_FORMAT = DIR_FORMAT + "/" + "%d%h%Y_%H%M%S"; // 1Jan1970/1Jan1970_12153
string CROPPED_FILE_FORMAT = DIR_FORMAT + "/cropped/" + "%d%h%Y_%H%M%S"; // 1Jan1970/cropped/1Jan1970_121539

// Set up camera
CvCapture * camera = cvCaptureFromCAM(CV_CAP_ANY);
cvSetCaptureProperty(camera, CV_CAP_PROP_FRAME_WIDTH, 1280); // width of viewport of camera
cvSetCaptureProperty(camera, CV_CAP_PROP_FRAME_HEIGHT, 720); // height of ...

// Take images and convert them to gray
Mat result, result_cropped;
Mat prev_frame = result = cvQueryFrame(camera);
Mat current_frame = cvQueryFrame(camera);
Mat next_frame = cvQueryFrame(camera);
cvtColor(current_frame, current_frame, CV_RGB2GRAY);
cvtColor(prev_frame, prev_frame, CV_RGB2GRAY);
cvtColor(next_frame, next_frame, CV_RGB2GRAY);

// d1 and d2 for calculating the differences
// result, the result of and operation, calculated on d1 and d2
// number_of_changes, the amount of changes in the result matrix.
// color, the color for drawing the rectangle when something has changed.
Mat d1, d2, motion;
int number_of_changes, number_of_sequence = 0;
Scalar mean_, color(0,255,255); // yellow

// Detect motion in window
int x_start = 10, x_stop = current_frame.cols-11;
int y_start = 350, y_stop = 530;

// If more than 'there_is_motion' pixels are changed, we say there is motion
// and store an image on disk
int there_is_motion = 5;

// Maximum deviation of the image, the higher the value, the more motion is allowed
int max_deviation = 20;

// Erode kernel
Mat kernel_ero = getStructuringElement(MORPH_RECT, Size(2,2));

// All settings have been set, now go in endless loop and
// take as many pictures you want..
while (true){
    // Take a new image
    prev_frame = current_frame;
    current_frame = next_frame;
    next_frame = cvQueryFrame(camera);
    result = next_frame;
    cvtColor(next_frame, next_frame, CV_RGB2GRAY);

    // Calc differences between the images and do AND-operation
    // threshold image, low differences are ignored (ex. contrast change due to sunlight)
    absdiff(prev_frame, next_frame, d1);
    absdiff(next_frame, current_frame, d2);
    bitwise_and(d1, d2, motion);
    threshold(motion, motion, 35, 255, CV_THRESH_BINARY);
    erode(motion, motion, kernel_ero);

    number_of_changes = detectMotion(motion, result, result_cropped,  x_start, x_stop, y_start, y_stop, max_deviation, color);

    // If a lot of changes happened, we assume something changed.
    if(number_of_changes>=there_is_motion)
    {
        if(number_of_sequence>0){ 
            saveImg(result,DIR,EXT,DIR_FORMAT.c_str(),FILE_FORMAT.c_str());
            saveImg(result_cropped,DIR,EXT,DIR_FORMAT.c_str(),CROPPED_FILE_FORMAT.c_str());
        }
        number_of_sequence++;
    }
    else
    {
        number_of_sequence = 0;
        // Delay, wait a 1/2 second.
        cvWaitKey (DELAY);
    }
}
return 0;

}

I run it and get this error, pls help me, thanks you : OpenCV Error: Assertion failed (0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows) in Mat, file /build/opencv/src/opencv-2.4.6.1/modules/core/src/matrix.cpp, line 323 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv/src/opencv-2.4.6.1/modules/core/src/matrix.cpp:323: error: (-215) 0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows in function Mat