我想在我的项目中使用在opencv中实现的POSIT算法。我在运行代码时出现编译错误：
错误：
src/calib/POSIT.h:26:36: error: ‘CvMatr32f’ does not name a type
void createOpenGLMatrixFrom(const CvMatr32f &rotationMatrix,
^
src/calib/POSIT.h:26:47: error: ISO C++ forbids declaration of ‘rotationMatrix’ with no type [-fpermissive]
void createOpenGLMatrixFrom(const CvMatr32f &rotationMatrix,
^
src/calib/POSIT.h:27:12: error: ‘CvVect32f’ in namespace ‘cv’ does not name a type
const cv::CvVect32f &translationVector);
^
src/calib/POSIT.h:27:27: error: ISO C++ forbids declaration of ‘translationVector’ with no type [-fpermissive]
const cv::CvVect32f &translationVector);
^
src/calib/POSIT.h:41:2: error: ‘CvPOSITObject’ does not name a type
CvPOSITObject* positObject;
我试图找出如何删除它但无法在线找到有效的解决方案。我在opencv 3.1上。
我正在使用的POSIT代码是：
POSIT.h：
#pragma once
#include <opencv/cxcore.h>
#include <opencv/cv.h>
//#include <GL/glut.h>
#include <vector>
#define FOCAL_LENGTH 760.0
class POSIT {
public:
POSIT();
virtual ~POSIT();
void initialize(double cameraMatrix[3 * 3], const double &aWidth, const double &aHeight,
const double &nearPlane, const double &farPlane);
void poseEstimation();
void createOpenGLMatrixFrom(const CvMatr32f &rotationMatrix,
const cv::CvVect32f &translationVector);
void projectModelPoints(float *pose, std::vector<CvPoint2D32f> &projectedPoints);
double width, height; //Image size
double cameraMatrix[3 * 3];
float posePOSIT[16];
float poseReal[16];
float projectionMatrix[16];
float shift[3];
std::vector<CvPoint3D32f> modelPoints;
std::vector<CvPoint2D32f> srcImagePoints;
std::vector<CvPoint2D32f> estimatedImagePoints;
CvPOSITObject* positObject;
//mine
float rotation_matrix[9];
float translation_vector[3];
};
POSIT.cpp：
#include "POSIT.h"
#include <iostream>
using namespace std;
POSIT::POSIT() {
}
POSIT::~POSIT() {
cvReleasePOSITObject(&positObject);
// cvReleaseMat(&intrinsics);
}
void POSIT::initialize(double cameraMatrix[3 * 3], const double &aWidth, const double &aHeight,
const double &nearPlane, const double &farPlane) {
width = aWidth;
height = aHeight;
//Generate four model points
//The first one must be (0,0,0) so we shift all
shift[0] = modelPoints[0].x;
shift[1] = modelPoints[0].y;
shift[2] = modelPoints[0].z;
for (unsigned int i = 0; i < modelPoints.size(); i++) {
modelPoints[i].x -= shift[0];
modelPoints[i].y -= shift[1];
modelPoints[i].z -= shift[2];
}
//Create the POSIT object with the model points
positObject = cvCreatePOSITObject(&modelPoints[0], (int) modelPoints.size());
// intrinsics = cvCreateMat( 3, 3, CV_32F );
// cvSetZero( intrinsics );
// initializeIntrinsics( width, height );
// createOpenGLProjectionMatrix( width, height, nearPlane, farPlane );
for (int i = 0; i < 9; i++) {
this->cameraMatrix[i] = cameraMatrix[i];
}
//POSIT receives a single focal length
// this->cameraMatrix[0]= FOCAL_LENGTH;
// this->cameraMatrix[1*3+1]= FOCAL_LENGTH;
this->cameraMatrix[1 * 3 + 1] = this->cameraMatrix[0];
}
void transpose(float *in, int m, int n, float *out) {
for (int i = 0; i < n; i++) {
for (int j = 0; j < m; j++) {
out[i * m + j] = in[j * n + i];
}
}
}
void POSIT::poseEstimation() {
// CvMatr32f rotation_matrix = new float[9];
// CvVect32f translation_vector = new float[3];
//set posit termination criteria: 100 max iterations, convergence epsilon 1.0e-5
CvTermCriteria criteria = cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 100, 1.0e-4f);
// cvPOSIT( positObject, &srcImagePoints[0], FOCAL_LENGTH, criteria, rotation_matrix, translation_vector );
cvPOSIT(positObject, &srcImagePoints[0], cameraMatrix[0], criteria, rotation_matrix,
translation_vector);
createOpenGLMatrixFrom(rotation_matrix, translation_vector);
float rotation_matrix_trans[9];
transpose(rotation_matrix, 3, 3, rotation_matrix_trans);
// RT= [R' T'];
float RT[4][4];
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
RT[i][j] = 0;
}
}
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
RT[i][j] = rotation_matrix_trans[i * 3 + j];
}
}
for (int j = 0; j < 3; j++) {
RT[3][j] = translation_vector[j];
}
RT[3][3] = 1;
CvMat RTMatrix = cvMat(4, 4, CV_32F, RT);
// shiftR is the translation matrix, inverting the shift we've done before calling POSIT
float shiftR[4][4];
for (int i = 0; i < 4; i++) {
for (int j = 0; j < 4; j++) {
shiftR[i][j] = 0;
}
}
shiftR[0][0] = shiftR[1][1] = shiftR[2][2] = shiftR[3][3] = 1;
for (int j = 0; j < 3; j++) {
shiftR[j][3] = -shift[j];
}
CvMat shiftRMatrix = cvMat(4, 4, CV_32F, shiftR);
// result = [R' T']*shiftR'
float result[16];
CvMat resultMatrix = cvMat(4, 4, CV_32F, result);
cvGEMM(&RTMatrix, &shiftRMatrix, 1.0, NULL, 0.0, &resultMatrix, CV_GEMM_A_T);
// return R and T from result
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
rotation_matrix[i * 3 + j] = result[i * 4 + j];
}
}
for (int j = 0; j < 3; j++) {
translation_vector[j] = result[j * 4 + 3];
}
// printMatrix(RT[0],4,4);
// printMatrix(shiftR[0],4,4);
// printMatrix(result,4,4);
//Show the results
#ifdef _DEBUG
cout << "\n\n-......- POSE ESTIMATED -......-\n";
cout << "\n-.- MODEL POINTS -.-\n";
for ( size_t p=0; p<modelPoints.size(); p++ )
cout << modelPoints[p].x << ", " << modelPoints[p].y << ", " << modelPoints[p].z << "\n";
cout << "\n-.- IMAGE POINTS -.-\n";
for ( size_t p=0; p<modelPoints.size(); p++ )
cout << srcImagePoints[p].x << ", " << srcImagePoints[p].y << " \n";
cout << "\n-.- REAL POSE\n";
for ( size_t p=0; p<4; p++ )
cout << poseReal[p] << " | " << poseReal[p+4] << " | " << poseReal[p+8] << " | " << poseReal[p+12] << "\n";
cout << "\n-.- ESTIMATED POSE\n";
for ( size_t p=0; p<4; p++ )
cout << posePOSIT[p] << " | " << posePOSIT[p+4] << " | " << posePOSIT[p+8] << " | " << posePOSIT[p+12] << "\n";
#endif
// delete rotation_matrix;
// delete translation_vector;
}
void POSIT::createOpenGLMatrixFrom(const CvMatr32f &rotationMatrix,
const CvVect32f &translationVector) {
for (int i = 0; i < 9; i++) {
rotation_matrix[i] = rotationMatrix[i];
}
for (int i = 0; i < 3; i++) {
translation_vector[i] = translationVector[i];
}
//coordinate system returned is relative to the first 3D input point
for (int f = 0; f < 3; f++) {
for (int c = 0; c < 3; c++) {
posePOSIT[c * 4 + f] = rotationMatrix[f * 3 + c]; //transposed
}
}
posePOSIT[3] = 0.0;
posePOSIT[7] = 0.0;
posePOSIT[11] = 0.0;
posePOSIT[12] = translationVector[0];
posePOSIT[13] = translationVector[1];
posePOSIT[14] = translationVector[2];
posePOSIT[15] = 1.0;
}
void POSIT::projectModelPoints(float *pose, vector<CvPoint2D32f> &projectedPoints) {
// The origin of the coordinates system is in the centre of the image
projectedPoints.clear();
CvMat poseMatrix = cvMat(4, 4, CV_32F, pose);
for (size_t p = 0; p < modelPoints.size(); p++) {
float modelPoint[] = { modelPoints[p].x, modelPoints[p].y, modelPoints[p].z, 1.0f };
CvMat modelPointMatrix = cvMat(4, 1, CV_32F, modelPoint);
float point3D[4];
CvMat point3DMatrix = cvMat(4, 1, CV_32F, point3D);
cvGEMM(&poseMatrix, &modelPointMatrix, 1.0, NULL, 0.0, &point3DMatrix, CV_GEMM_A_T);
//Project the transformed 3D points
CvPoint2D32f point2D = cvPoint2D32f(0.0, 0.0);
if (point3D[2] != 0) {
point2D.x = cameraMatrix[0 * 3 + 0] * point3D[0] / point3D[2];
point2D.y = cameraMatrix[1 * 3 + 1] * point3D[1] / point3D[2];
}
projectedPoints.push_back(point2D);
}
}
答案 0 :(得分：0)
一般答案： 转到您的opencv目录（例如，在Linux中使用Terminal或在Windows中使用Git Bash），并在包含文件中找到该符号：
Map<String, List<Object>> devicePojoMap = new HashMap<String, List<Object>>();
返回：
Map<String, List<String>> devicePojoMap = new HashMap<String, List<String>>();
解决方案的确包含physicalInterfaceList = (List<String>) devicePojoMap.get("physicalInterfaceList");