C ++ OpenCV 4.4.0solvePnP错误：-215：断言失败

问题描述

我正在尝试编写一个简单的增强现实程序，该程序在给定并输出视频和摄像机固有参数的情况下，将3行投影到每个视频帧中。这些线是x，y和z轴。

我不是在寻求程序本身而是在SolvePnP函数方面寻求帮助，因为我只是不明白自己在做什么以得到此错误：

抛出'cv :: Exception'实例后调用

terminate what（）：OpenCV（4.4.0）/home/nel/opencv-4.4.0/modules/calib3d/src/solvepnp.cpp:753：错误：（-215：断言失败）（（npoints> = 4）| |（npoints == 3 &&标志== SOLVEPNP_IteraTIVE && useExtrinsicGuess））&& npoints == std :: max（ipoints.checkVector（2，CV_32F），ipoints.checkVector（2，CV_64F））在函数'solvePnPGeneric'

这是我的代码：

#include <vector>
#include <opencv2/highgui/highgui_c.h>


using namespace cv;
using namespace std;

int main(int,char**)
{
    VideoCapture cap("./video.mp4"); // open the default camera
    if(!cap.isOpened())  // check if we succeeded
        return -1;

    Mat image;
    Size patternsize(9,6); //interior number of corners
    vector<Point2f> corners;
   vector<Point3f> axis={Point3f(0.0,0.0,0.0),Point3f(0.0,0.1,0.1),Point3f(0.1,0.0)};
 
FileStorage fs("intrinsics.yml",FileStorage::READ);
    if (!fs.isOpened())
    {
      cerr << "Failed to open " << "intrinsic.yml" << endl;
      return 0;
    }

     Mat camera_matrix,distortion_coefficients;
    cout << "reading R and T" << endl;
    fs["camera_matrix"] >> camera_matrix;
    fs["distortion_coefficients"] >> distortion_coefficients;

  fs.release();

   
    for(;;)
    {
        Mat frame;
        Mat rvec,tvec,points2d;
        cap >> frame; // get a new frame from camera
        cvtColor(frame,image,COLOR_BGR2GRAY);


        bool patternfound = findChessboardCorners(image,patternsize,corners,CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_norMALIZE_IMAGE
        + CALIB_CB_FAST_CHECK);

        if(patternfound) cornerSubPix(image,Size(11,11),Size(-1,-1),TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER,30,0.1));
        else{cerr<<"Error: pattern not found"<<endl;return 0;}

   cv::solvePnP(axis,camera_matrix,distortion_coefficients,rvec,tvec); 
       
  cout<<"Extrinsic params calculated"<<endl;


  cv::projectPoints(axis,points2d);

  MatIterator_<double> it,end;
for( it = points2d.begin<double>(),end = points2d.end<double>(); it != end; ++it)
{
    cv::line(image,(Point)points2d.at<double>(0,0),(Point)*it,(255,3,8);
}
        imshow("image",image);
        if(waitKey(30) >= 0) break;
    }
    // the camera will be deinitialized automatically in VideoCapture destructor
    return 0;
}

解决方法

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