OpenCV的姿态估计

我运行OpenCV的姿态估计的代码，但在imshow此错误或错误登陆上去OpenCV的姿态估计

error          Traceback (most recent call last) 
<ipython-input-29-3a690a81ff40> in <module>() 
    25   corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria) 
    26   # Find the rotation and translation vectors. 
---> 27   rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners2, mtx, dist) 
    28   # project 3D points to image plane 
    29   imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist) 

error: ..\..\..\..\opencv\modules\calib3d\src\solvepnp.cpp:315: error: (-215) ipoints.isContinuous() in function cv::solvePnPRansac

代码：

import cv2 
import numpy as np 
import glob 

# Load previously saved data 
with np.load('path') as X: 
    mtx, dist, _, _ = [X[i] for i in ('mtx','dist','rvecs','tvecs')] 

def draw(img, corners, imgpts):  
    corner = tuple(corners[0].ravel()) 
    img = cv2.line(img, corner, tuple(imgpts[0].ravel()), (255,0,0), 5) 
    img = cv2.line(img, corner, tuple(imgpts[1].ravel()), (0,255,0), 5) 
    img = cv2.line(img, corner, tuple(imgpts[2].ravel()), (0,0,255), 5) 
    return img 

criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) 

objp = np.zeros((6*7,3), np.float32) 
objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2) 

axis = np.float32([[3,0,0], [0,3,0], [0,0,-3]]).reshape(-1,3) 

for fname in glob.glob('imagepath'): 
    img = cv2.imread(fname) 
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) 
    ret, corners = cv2.findChessboardCorners(gray, (7,6),None) 
    if ret == True: 
     corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria) 

     # Find the rotation and translation vectors. 
     rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners2, mtx, dist) 

     # project 3D points to image plane 
     imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist) 
     img = draw(img,corners2,imgpts) 
     cv2.imshow('img',img) 

     k = cv2.waitKey(0) & 0xff 

     if k == 's': 
      cv2.imwrite(fname[:6]+'.png', img) 
cv2.destroyAllWindows()

好心，帮我出

来源

2017-02-18 shruthi

在这里检查：http://stackoverflow.com/questions/23921090/solvepnpransac-returns-zero-value-for-rvecs-and-tvecs和在这里：http：// opencv-python-tutroals .readthedocs.io/en/latest/py_tutorials/py_calib3d/py_pose/py_pose.html –

代码格式 – Marat

可能是因为'for glob中的fname（'imagepath'）'。 –

-1

你在使用OpenCv 3.0+吗？也许你可以使用_,rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners2, mtx, dist)

来源

2017-04-12 18:56:11 Erdem

OP不正是那样做的吗？这是如何回答的？ –

OpenCV的姿态估计

回答

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