OpenCV Error: Assertion failed (a_size.width == len) in gemm, file
/tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/core/src/matmul.cpp,
line 900 terminate called after throwing an instance of
'cv::Exception' what():
/tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/core/src/matmul.cpp:900:
error: (-215) a_size.width == len in function gemm
代码
class Tracker {
cv::Mat prevGray;
vector<cv::Point2f> trackedFeatures;
void processImage(const sensor_msgs::ImageConstPtr& msg) {
// ROS declarations
cv_bridge::CvImagePtr cv_ptr;
// Function Initializations
if (freshStart == true) {
cv::Mat rightTransform = cv::Mat::eye(3,3,CV_32FC1);
cv::Mat gray;
cv::Mat copy_img;
vector<cv::Point2f> corners;
try {
cv_ptr = cv_bridge::toCvCopy(msg,
sensor_msgs::image_encodings::BGR8);
catch (cv_bridge::Exception& e) {
ROS_INFO("cv_bridge exception");
return;
copy_img = cv_ptr->image;
cv::cvtColor(cv_ptr->image, gray, cv::COLOR_BGR2GRAY);
if (trackedFeatures.size() < 200) {
cv::goodFeaturesToTrack(gray,corners,200,0.01,10);
for (int i = 0; i < corners.size(); ++i) {
trackedFeatures.push_back(corners[i]);
if (!prevGray.empty()) {
vector<uchar> status;
vector<float> errors;
calcOpticalFlowPyrLK(prevGray, gray, trackedFeatures, corners,
status, errors, Size(10,10));
if (countNonZero(status) < status.size() * 0.8) {
cout << "cataclysmic error\n";
rigidTransform = cv::Mat::eye(3,3,CV_32FC1);
trackedFeatures.clear();
prevGray.release();
freshStart = true;
return;
} else {
freshStart = false;
cv::Mat_<float> newRigidTransform = estimateRigidTransform(
trackedFeatures, corners, false);
cv::Mat_<float> nrt33 = cv::Mat_<float>::eye(3,3);
newRigidTransform.copyTo(nrt33.rowRange(0,2));
rigidTransform *= nrt33;
trackedFeatures.clear();
for (int i = 0; i < status.size(); ++i) {
if (status[i]) {
trackedFeatures.push_back(corners[i]);
// Debugging to see the tracked features as of now
for (int i = 0; i < trackedFeatures.size(); ++i) {
circle(cv_ptr->image, trackedFeatures[i], 3, Scalar(0,0,255),
CV_FILLED);
imshow(OPENCV_WINDOW, cv_ptr->image);
cv::waitKey(3);
gray.copyTo(prevGray);
};