Hi everyone! I have a problem with OpenCV3.0.
I used KalmanFilter in OpenCV3.0, when i run my program, error:
OpenCV Error: Assertion failed (type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2)) in cv::gemm, file ........\opencv\modules\core\src\matmul.cpp, line 882
Exception in thread "main" CvException [org.opencv.core.CvException: cv::Exception: ........\opencv\modules\core\src\matmul.cpp:882: error: (-215) type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2) in function cv::gemm ]
My class:
public class Kalman extends KalmanFilter { private KalmanFilter kalman; private Mat measurement; private Point LastResult; private double deltatime;
public void init() {
}
public Kalman(Point pt, double dt, double Accel_noise_mag) {
kalman = new KalmanFilter(4, 2, 0, CvType.CV_32F);
deltatime = dt;
Mat transitionMatrix = new Mat(4, 4, CvType.CV_8UC1, new Scalar(0));
float[][] tM = { new float[] { 1, 0, 1, 0 },
new float[] { 0, 1, 0, 1 }, new float[] { 0, 0, 1, 0 },
new float[] { 0, 0, 0, 1 } };
for (int j = 0; j < 4; j++) {
for (int k = 0; k < 4; k++) {
transitionMatrix.put(j, k, tM[j][k]);
}
}
kalman.set_transitionMatrix(transitionMatrix);
measurement = new MatOfFloat(2, 1, CvType.CV_32F);
LastResult = pt;
Mat statePre = new MatOfFloat(4, 1); // Toa do (x,y), van toc (0,0)
statePre.put(0, 0, pt.x);
statePre.put(1, 0, pt.y);
statePre.put(2, 0, 0);
statePre.put(3, 0, 0);
kalman.set_statePre(statePre);
Mat statePost = new MatOfFloat(2, 1);
statePost.put(0, 0, pt.x);
statePost.put(1, 0, pt.y);
kalman.set_statePost(statePost);
Mat processNoiseCov = new Mat(4, 1, CvType.CV_32F);
float[][] dTime = {
new float[] { (float) (Math.pow(deltatime, 4.0) / 4.0), 0,
(float) (Math.pow(deltatime, 3.0) / 2.0), 0 },
new float[] { 0, (float) (Math.pow(deltatime, 4.0) / 4.0), 0,
(float) (Math.pow(deltatime, 3.0) / 2.0) },
new float[] { (float) (Math.pow(deltatime, 3.0) / 2.0), 0,
(float) Math.pow(deltatime, 2.0), 0 },
new float[] { 0, (float) (Math.pow(deltatime, 3.0) / 2.0), 0,
(float) Math.pow(deltatime, 2.0) } };
for (int j = 0; j < 4; j++) {
for (int k = 0; k < 4; k++) {
processNoiseCov.put(j, k, dTime[j][k]);
}
}
processNoiseCov.mul(processNoiseCov, Accel_noise_mag);
kalman.set_processNoiseCov(processNoiseCov);
kalman.set_measurementNoiseCov(new Mat(2, 1, CvType.CV_32F, new Scalar(
0.1)));
kalman.set_errorCovPost(new Mat(2, 1, CvType.CV_32F, new Scalar(0.1)));
}
public Point getPrediction() {
Mat prediction = kalman.predict();
LastResult = new Point(prediction.get(0, 0)[0], prediction.get(1, 0)[0]);
return LastResult;
}
public Point update(Point p, boolean dataCorrect) {
measurement = new MatOfFloat(2, 1, CvType.CV_32F);
if (!dataCorrect) {
measurement.put(0, 0, LastResult.x);
measurement.put(1, 0, LastResult.y);
} else {
measurement.put(0, 0, p.x);
measurement.put(1, 0, p.y);
}
// Correction
Mat estimated = kalman.correct(measurement);
LastResult.x = estimated.get(0, 0)[0];
LastResult.y = estimated.get(1, 0)[0];
return LastResult;
}
public Point correction(){
Mat estimated = kalman.correct(measurement);
LastResult.x = estimated.get(0, 0)[0];
LastResult.y = estimated.get(1, 0)[0];
return LastResult;
}
}
And main class:
if (array.size() > 0) {
Iterator<rect> it2 = array.iterator();
while (it2.hasNext()) {
Rect obj = it2.next();
Imgproc.rectangle(imag, obj.br(), obj.tl(), new Scalar(
0, 255, 0), 2);
int ObjectCenterX = (int) ((obj.tl().x + obj.br().x) / 2);
int ObjectCenterY = (int) ((obj.tl().y + obj.br().y) / 2);
Point pt = new Point(ObjectCenterX, ObjectCenterY);
Imgproc.circle(imag, pt, 1, new Scalar(0, 0, 255), 2);
// kalman
// initial KalmanFilter
KF = new Kalman(pt, 0.2, 0.5);
pt = KF.getPrediction();
pt = KF.correction();
// KF.update(pt, true);
// Imgproc.rectangle(imag, obj.br(), obj.tl(), new
// Scalar(
// 255, 255, 0), 2);
Imgproc.circle(frame, pt, 2, new Scalar(0, 255, 255), 2);
}
Help me fix this, thank you so much!
