android - Failure on warpPerspective -
i comparing 2 images using findhomography(). have added modules opencv_contrib in opencv 3.1.0 use surf , sift algorithms , compile latest android architectures. can compile libraries using ndk-build.
problem:
while detecting object in scene , computing warpperspective, following exception thrown on images:
11-10 20:47:30.990 10503-11056/ e/cv::error(): opencv error: assertion failed ((m0.type() == cv_32f || m0.type() == cv_64f) && m0.rows == 3 && m0.cols == 3) in void cv::warpperspective(cv::inputarray, cv::outputarray, cv::inputarray, cv::size, int, int, const scalar&), file /volumes/linux/builds/master_pack-android/opencv/modules/imgproc/src/imgwarp.cpp, line 6120 --------- beginning of crash 11-10 20:47:31.020 10503-11056/ a/libc: fatal signal 6 (sigabrt), code -6 in tid 11056 (thread-31509) 11-10 20:47:31.122 200-200/? a/debug: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** 11-10 20:47:31.122 200-200/? a/debug: build fingerprint: 'google/hammerhead/hammerhead:6.0.1/m4b30x/3237893:user/release-keys' 11-10 20:47:31.122 200-200/? a/debug: revision: '11' 11-10 20:47:31.122 200-200/? a/debug: abi: 'arm' 11-10 20:47:31.122 200-200/? a/debug: pid: 10503, tid: 11056, name: thread-31509 >>> <<< 11-10 20:47:31.122 200-200/? a/debug: signal 6 (sigabrt), code -6 (si_tkill), fault addr -------- 11-10 20:47:31.149 200-200/? a/debug: r0 00000000 r1 00002b30 r2 00000006 r3 926e0978 11-10 20:47:31.149 200-200/? a/debug: r4 926e0980 r5 926e0930 r6 00000000 r7 0000010c 11-10 20:47:31.149 200-200/? a/debug: r8 00000047 r9 00000001 sl 00000050 fp 00000001 11-10 20:47:31.149 200-200/? a/debug: ip 00000006 sp 926cfc48 lr b6d4fb61 pc b6d51f50 cpsr 400f0010 11-10 20:47:31.174 200-200/? a/debug: backtrace: 11-10 20:47:31.174 200-200/? a/debug: #00 pc 00041f50 /system/lib/libc.so (tgkill+12) 11-10 20:47:31.174 200-200/? a/debug: #01 pc 0003fb5d /system/lib/libc.so (pthread_kill+32) 11-10 20:47:31.174 200-200/? a/debug: #02 pc 0001c30f /system/lib/libc.so (raise+10) 11-10 20:47:31.174 200-200/? a/debug: #03 pc 000194c1 /system/lib/libc.so (__libc_android_abort+34) 11-10 20:47:31.174 200-200/? a/debug: #04 pc 000174ac /system/lib/libc.so (abort+4) 11-10 20:47:31.174 200-200/? a/debug: #05 pc 00666958 /data/app/-2/lib/arm/libopencv_java3.so (_zn9__gnu_cxx27__verbose_terminate_handlerev+344) 11-10 20:47:31.175 200-200/? a/debug: #06 pc 0063d7b0 /data/app/-2/lib/arm/libopencv_java3.so (_zn10__cxxabiv111__terminateepfvve+4) 11-10 20:47:31.175 200-200/? a/debug: #07 pc 0063d7f0 /data/app/-2/lib/arm/libopencv_java3.so (_zst9terminatev+16) 11-10 20:47:31.175 200-200/? a/debug: #08 pc 0063d1cc /data/app/-2/lib/arm/libopencv_java3.so (__cxa_throw+168) 11-10 20:47:31.175 200-200/? a/debug: #09 pc 001e477d /data/app/-2/lib/arm/libopencv_java3.so (_zn2cv5errorerkns_9exceptione+244) 11-10 20:47:31.175 200-200/? a/debug: #10 pc 001e48bd /data/app/-2/lib/arm/libopencv_java3.so (_zn2cv5erroreirkns_6stringepkcs4_i+108) 11-10 20:47:31.175 200-200/? a/debug: #11 pc 002ca5fd /data/app/-2/lib/arm/libopencv_java3.so (_zn2cv15warpperspectiveerkns_11_inputarrayerkns_12_outputarrayes2_ns_5size_iieeiirkns_7scalar_idee+356) 11-10 20:47:31.175 200-200/? a/debug: #12 pc 00007375 /data/app/-2/lib/arm/libnonfree.so (_z15detect_featuresp7_jnienvp8_jstrings2_i+2844) 11-10 20:47:31.175 200-200/? a/debug: #13 pc 022bfd23 /data/app/-2/oat/arm/base.odex (offset 0x13ce000) (boolean .nonfreejnilib.detectfeatures(java.lang.string, java.lang.string, int)+126) 11-10 20:47:31.176 200-200/? a/debug: #14 pc 0258c149 /data/app/-2/oat/arm/base.odex (offset 0x13ce000) (void .tasks.addetectionasynctask$1.run()+292) 11-10 20:47:31.176 200-200/? a/debug: #15 pc 71c99c67 /data/dalvik-cache/arm/system@framework@boot.oat (offset 0x1ed6000) code:
#include <jni.h> #include <string.h> #include <stdio.h> #include <android/log.h> #include "opencv2/core/core.hpp" #include "opencv2/features2d/features2d.hpp" #include "opencv2/highgui/highgui.hpp" #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/xfeatures2d/nonfree.hpp" #include "opencv2/opencv.hpp" using namespace std; using namespace cv; #define log_tag "nonfree_jni" #define logi(...) __android_log_print(android_log_info,log_tag,__va_args__) jboolean detect_features(jnienv * env, jstring scenepath, jstring objectpath) { const char *nativescenepath = (env)->getstringutfchars(scenepath, null); const char *nativeobjectpath = (env)->getstringutfchars(objectpath, null); nativescenepath = env->getstringutfchars(scenepath, 0); nativeobjectpath = env->getstringutfchars(objectpath, 0); (env)->releasestringutfchars(scenepath, nativescenepath); (env)->releasestringutfchars(objectpath, nativeobjectpath); __android_log_print(android_log_verbose, log_tag, "object path: ----- %s \n", nativeobjectpath); __android_log_print(android_log_verbose, log_tag, "scene path: ----- %s \n", nativescenepath); mat img_object = imread( nativeobjectpath, cv_load_image_grayscale ); mat img_scene = imread( nativescenepath, cv_load_image_grayscale ); if( !img_object.data || !img_scene.data){ logi(" --(!) error reading images "); return false; } //-- step 1: detect keypoints using surf detector int minhessian = 400; __android_log_print(android_log_verbose, log_tag, "image comparison rows: ----- %d \n", img_object.rows); __android_log_print(android_log_verbose, log_tag, "image comparison colums: ----- %d \n", img_object.cols); // cv::xfeatures2d::surffeaturedetector detector( minhessian ); ptr<cv::xfeatures2d::surffeaturedetector> detector = cv::xfeatures2d::surffeaturedetector::create(minhessian); std::vector<keypoint> keypoints_object, keypoints_scene; detector->detect( img_object, keypoints_object ); detector->detect( img_scene, keypoints_scene ); //-- step 2: calculate descriptors (feature vectors) // cv::xfeatures2d::surfdescriptorextractor extractor; ptr<cv::xfeatures2d::surfdescriptorextractor> extractor = cv::xfeatures2d::surfdescriptorextractor::create(); mat descriptors_object, descriptors_scene; extractor->compute( img_object, keypoints_object, descriptors_object ); extractor->compute( img_scene, keypoints_scene, descriptors_scene ); //-- step 3: matching descriptor vectors using flann matcher flannbasedmatcher matcher; std::vector< dmatch > matches; matcher.match( descriptors_object, descriptors_scene, matches ); double max_dist = 0; double min_dist = 100; //-- quick calculation of max , min distances between keypoints for( int = 0; < descriptors_object.rows; i++ ) { double dist = matches[i].distance; if (dist == 0) continue; if( dist < min_dist ) min_dist = dist; if( dist > max_dist ) max_dist = dist; } __android_log_print(android_log_verbose, log_tag, "-- max dist : %f \n", max_dist); __android_log_print(android_log_verbose, log_tag, "-- min dist : %f \n", min_dist); //-- draw "good" matches (i.e. distance less 3*min_dist ) std::vector< dmatch > good_matches; for( int = 0; < descriptors_object.rows; i++ ) { if( matches[i].distance <= 0.1 ) //3*min_dist { good_matches.push_back( matches[i]); } } __android_log_print(android_log_verbose, log_tag, "flann total matches -----: %zu \n", matches.size()); __android_log_print(android_log_verbose, log_tag, "flann matches -----: %zu \n", good_matches.size()); mat img_matches; drawmatches( img_object, keypoints_object, img_scene, keypoints_scene, good_matches, img_matches, scalar::all(-1), scalar::all(-1), vector<char>(), drawmatchesflags::not_draw_single_points ); //-- localize object std::vector<point2f> obj; std::vector<point2f> scene; for( int = 0; < good_matches.size(); i++ ) { //-- keypoints matches obj.push_back( keypoints_object[ good_matches[i].queryidx ].pt ); scene.push_back( keypoints_scene[ good_matches[i].trainidx ].pt ); } if (good_matches.size() >= 5) { mat h = findhomography( obj, scene, cv_ransac ); //-- corners image_1 ( object "detected" ) std::vector<point2f> obj_corners(4); obj_corners[0] = cvpoint(0,0); obj_corners[1] = cvpoint( img_object.cols, 0 ); obj_corners[2] = cvpoint( img_object.cols, img_object.rows ); obj_corners[3] = cvpoint( 0, img_object.rows ); std::vector<point2f> scene_corners(4); mat output, matrix; warpperspective(img_object, output, h, { img_scene.cols, img_scene.rows }); //////////////////////////////////////////////////////////////////////////////// detector->detect( output, keypoints_object ); //-- step 2: calculate descriptors (feature vectors) //cv::xfeatures2d::surfdescriptorextractor extractor; ptr<cv::xfeatures2d::surfdescriptorextractor> extractor = cv::xfeatures2d::surfdescriptorextractor::create(); extractor->compute( output, keypoints_object, descriptors_object ); extractor->compute( img_scene, keypoints_scene, descriptors_scene ); std::vector<std::vector<cv::dmatch>> matches2; bfmatcher matcher; matcher.knnmatch(descriptors_object, descriptors_scene, matches2, 2); vector<cv::dmatch> good_matches2; (int = 0; < matches2.size(); ++i) { const float ratio = 0.8; // in lowe's paper; can tuned if (matches2[i][0].distance < ratio * matches2[i][1].distance) { good_matches2.push_back(matches2[i][0]); } } if (matches2.size() == 0 || good_matches2.size() == 0) { logi( "end run!\n"); return false; } double ratioofsimilarity = static_cast<double>(good_matches2.size()) / static_cast<double>(matches2.size()); __android_log_print(android_log_verbose, log_tag, "bruteforce total matches -----: %zu \n", matches2.size()); __android_log_print(android_log_verbose, log_tag, "bruteforce matches -----: %zu \n", good_matches2.size()); __android_log_print(android_log_verbose, log_tag, "bruteforce similarity ratio -----: %f \n", ratioofsimilarity); if(ratioofsimilarity >= 0.3) { logi( "end run!\n"); return true; } logi( "end run!\n"); return false; } logi( "end run!\n"); return false; } what can issue?
well, kept me in pain many days , don't want others go through it.
here problem:
cv::findhomography() function return empty homography matrix (0 cols x 0 rows) starting approximately 2.4.5 release. according opinion seems happen when cv::ransac flag passed.
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