使用OpenCV 4.8/4.10检测Aruco标记时触发断言失败错误

我是一名C++/OpenCV初学者，近期在学习Aruco标记检测时遇到棘手问题。使用OpenCV 4.8.1和4.10.0-dev版本检测Aruco标记时，持续触发以下断言失败错误：

OpenCV(4.8.1) Error: Assertion failed (mtype == type0 || (CV_MAT_CN(mtype) == CV_MAT_CN(type0) && ((1 << type0) & fixedDepthMask) != 0)) in create, file /home/ci/opencv/modules/core/src/matrix_wrap.cpp, line 1393

编译命令 #

编译这两个OpenCV版本使用的命令如下：

$ gcc --version
gcc (Ubuntu 11.4.0-1ubuntu1~22.04) 11.4.0
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/home/raj/.local -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
$ make -j$(nproc) && make install

检测代码（OpenCV 4.5+版本使用） #

#include <opencv2/opencv.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <iostream>

#define DICT cv::aruco::DICT_6X6_100

cv::Mat generateMarker(int id) {
    cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(DICT);
    cv::Mat marker;
    cv::aruco::generateImageMarker(dictionary, 0, 200, marker, 1);
    return marker;
}

//for OpenCV version > 4.5
int main() {
    // read image
    cv::Mat imgCopy, img = generateMarker(10); // cv::imread("/tmp/sk2.png"); 

    std::cout << "Converting to Gray scale! " << std::endl;
    // convert to Gray scale before detection
    int incn = img.channels();
    if (incn == 3 || incn == 4)
        cvtColor(img, imgCopy, cv::COLOR_BGR2GRAY);
    else if (incn == 1)
        img.copyTo(imgCopy);
    else {
        std::cout << "Unsupported image format" << std::endl;
        img.release();
        return -1;
    }

    // detect aruco markers:
    cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(DICT);
    cv::aruco::ArucoDetector detector(dictionary);

    std::vector<int> markerIds;
    std::vector<std::vector<cv::Point2f>> markerCorners;

    try {
        detector.detectMarkers(imgCopy, markerIds, markerCorners);
    } catch (std::exception& e) {
        std::cout << "Exception: " << e.what() << std::endl;
        return -1;
    }

    std::cout << "Detected markers: " << markerIds.size() << std::endl;
    for (int i = 0; i < markerIds.size(); i++) {
        std::cout << "Marker ID: " << markerIds[i] << std::endl;
    }

    // draw detected markers
    if (markerIds.size() > 0) cv::aruco::drawDetectedMarkers(imgCopy, markerCorners, markerIds);

    cv::imshow("Image", imgCopy);

    // wait for a key press to exit
    cv::waitKey(0);
    cv::destroyAllWindows();
    img.release();
    imgCopy.release();

    return 0;
}

可正常运行的代码（OpenCV 4.5.1版本使用） #

相同编译命令下，适配的检测代码在OpenCV 4.5.1版本中可正常运行，对应代码如下：

int main() {
    std::cout << "OpenCV version: " << CV_VERSION << std::endl;

    // read image
    cv::Mat imgCopy, img = cv::imread("/tmp/sk2.png");

    cvtColor(img, imgCopy, cv::COLOR_BGR2GRAY);
    std::vector<int> ids;
    std::vector<std::vector<cv::Point2f>> corners;
    cv::Ptr<cv::aruco::Dictionary> dictionary =
        cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);

    cv::aruco::detectMarkers(imgCopy, dictionary, corners, ids);
    if (ids.size() > 0) {
        cv::aruco::drawDetectedMarkers(imgCopy, corners, ids);
    }

    cv::imshow("Image", imgCopy);

    cv::waitKey(0);
    cv::destroyAllWindows();
    img.release();
    imgCopy.release();
}

测试图片 #

内容的提问来源于stack exchange，提问作者raju mb