I found this code online .. and I wanted to try it>
int main( int argc, char **argv ) { VideoCapture cam1, cam2; //Middle and left cameras //VideoCapture cam3; //Right camera cam1.open(0); cam2.open(1); //cam3.open(2); cam1.set(CV_CAP_PROP_FRAME_WIDTH, 320); cam1.set(CV_CAP_PROP_FRAME_HEIGHT, 240); cam2.set(CV_CAP_PROP_FRAME_WIDTH, 320); cam2.set(CV_CAP_PROP_FRAME_HEIGHT, 240); //cam3.set(CV_CAP_PROP_FRAME_WIDTH, 320); //cam3.set(CV_CAP_PROP_FRAME_HEIGHT, 240); Mat frm1, frm2; while(1) { //Step 1: Get frames from a few cameras cam1 >> frm1; //Reference plane cam2 >> frm2; //Right-side target plane // cam3 >> frm3; if( frm1.empty()||frm2.empty() ) break; //Step2: SURF detection int minHessian = 800; SurfFeatureDetector detector( minHessian ); vector<KeyPoint> keypoints_1, keypoints_2; detector.detect( frm1, keypoints_1 ); detector.detect( frm2, keypoints_2 ); SurfDescriptorExtractor extractor; /// Mat descriptors_1, descriptors_2; extractor.compute( frm1, keypoints_1, descriptors_1 ); extractor.compute( frm2, keypoints_2, descriptors_2 ); //Step 3: Feature matching //-- Matching descriptor vectors with a matcher FlannBasedMatcher matcher; vector< DMatch > matches; matcher.match( descriptors_1, descriptors_2, matches); //vector< vector<DMatch> > matches; //matcher.knnMatch( descriptors_1, descriptors_2, matches,2); double max_dist = 0; double min_dist = 50; //-- Quick calculation of max and min distances between keypoints for( int i = 0; i < descriptors_1.rows; i++ ) { double dist = matches[i].distance; if( dist < min_dist ) min_dist = dist; if( dist > max_dist ) max_dist = dist; } //printf("-- Max dist : %f \n", max_dist ); //printf("-- Min dist : %f \n", min_dist ); //-- Draw only "good" matches (ie whose distance is less than 3*min_dist ) vector< DMatch > good_matches; for( int i = 0; i < descriptors_1.rows; i++ ) { if( matches[i].distance < 2*min_dist ) { good_matches.push_back( matches[i]); } } Mat img_matches; drawMatches( frm1, keypoints_1, frm2, keypoints_2, good_matches, img_matches, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS ); //-- Localize the object from frame1 in frame2 vector<Point2f> frame1; vector<Point2f> frame2; for( int i = 0; i < good_matches.size(); i++ ) { //-- Get the keypoints from the good matches frame1.push_back( keypoints_1[ good_matches[i].queryIdx ].pt ); frame2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt ); } //Step 4: RANSAC and Homography Mat H = findHomography( Mat(frame2), Mat(frame1), CV_RANSAC, 5.0 ); cout << "Homography for mapping the r-side plane to the ref. plane: " << endl << H << endl; //-- Show detected matches imshow("Matches", img_matches ); //Step 5:Warping Mat result; warpPerspective(frm2,result,H,Size(3*frm1.cols,1.5*frm1.rows)); imshow("Warping result",result); Mat half(result,Rect(0,0,frm2.cols,frm2.rows)); frm1.copyTo(half);//Reference image //Step 6:Blending //Step 7:Showing the panoramic video imshow("Blended view",result); char c=waitKey(20); if (c==27) break; } return 0; }
However, when I try to run the code, I found this error. I also checked the code in the OpenCV tutorial and they almost exactly match up to the findhomography part.
OpenCV Error: Unsupported format or combination of formats (type=0) in buildIndex_, file OpenCV-2.3.1/modules/flann/src/miniflann.cpp, line 297 terminate called after throwing an instance of 'cv::Exception' what() OpenCV-2.3.1/modules/flann/src/miniflann.cpp:297: error: (-210) type=0 in function buildIndex_
Any ideas could go wrong?
Thank you