Получаю ошибку при использовании findFundamentalMat в android opencv и не могу ее устранить ⇐ Android

[Anonymous]

Я захватываю непрерывные изображения, извлекаю быстрые функции и далее сопоставляю эти функции, чтобы получить матрицу вращения и
перевода. это поможет мне в реконструкции 3D-сцены, но я получаю
ошибку, когда я использую команду Calib3d.findFundamentalMat и не могу ее устранить.

MatOfDMatch matches = new MatOfDMatch();
descriptorM.match(firstImgDescriptors, secondImgDescriptors, matches);

Calib3d calib = new Calib3d();
MatOfPoint2f imgpts1 = getMatOfPoint2fFromDMatches(matches, keyPoints1, 0);
MatOfPoint2f imgpts2 = getMatOfPoint2fFromDMatches(matches, keyPoints2, 1);
Mat F = Calib3d.findFundamentalMat(imgpts1, imgpts2, Calib3d.FM_RANSAC,3, 0.99);

private static MatOfPoint2f getMatOfPoint2fFromDMatches(MatOfDMatch matches,
MatOfKeyPoint keyP, int tipo) {
/* 0 para query, 1 para train*/
DMatch dm[] = matches.toArray();
List lp = new ArrayList(dm.length);
KeyPoint tkp[] = keyP.toArray();
if(tipo == 0){
for (int i = 0; i < dm.length; i++) {
DMatch dmm = dm;
//if (dmm.queryIdx < tkp.length)
lp.add(tkp[dmm.queryIdx].pt);
}
}
if (tipo == 1) {
for (int i = 0; i < dm.length; i++) {
DMatch dmm = dm;
// if (dmm.trainIdx < tkp.length)
lp.add(tkp[dmm.trainIdx].pt);
}
}

return new MatOfPoint2f(lp.toArray(new Point[0]));
}

the Logcat window show the following error

E/cv::error(): OpenCV Error: Bad argument (The input arrays should be 2D or 3D point sets) in cv::Mat cv::findFundamentalMat(cv::InputArray, cv::InputArray, int, double, double, cv::OutputArray), file /Volumes/Linux/builds/master_pack-android/opencv/modules/calib3d/src/fundam.cpp, line 724
09-11 15:29:04.578 13625-13625/io.rpng.calibration E/org.opencv.calib3d: calib3d::findFundamentalMat_11() caught cv::Exception: /Volumes/Linux/builds/master_pack-android/opencv/modules/calib3d/src/fundam.cpp:724: error: (-5) The input arrays should be 2D or 3D point sets in function cv::Mat cv::findFundamentalMat(cv::InputArray, cv::InputArray, int, double, double, cv::OutputArray)
09-11 15:29:04.579 13625-13625/io.rpng.calibration D/AndroidRuntime: Shutting down VM
09-11 15:29:04.588 13625-13625/io.rpng.calibration E/AndroidRuntime: FATAL EXCEPTION: main
Process: io.rpng.calibration, PID: 13625
CvException [org.opencv.core.CvException: cv::Exception: /Volumes/Linux/builds/master_pack-android/opencv/modules/calib3d/src/fundam.cpp:724: error: (-5) The input arrays should be 2D or 3D point sets in function cv::Mat cv::findFundamentalMat(cv::InputArray, cv::InputArray, int, double, double, cv::OutputArray)
]
at org.opencv.calib3d.Calib3d.findFundamentalMat_1(Native Method)
at org.opencv.calib3d.Calib3d.findFundamentalMat(Calib3d.java:153)
at com.pradeep.calibration.activities.MainActivity$5.onImageAvailable(MainActivity.java:529)
at android.media.ImageReader$ListenerHandler.handleMessage(ImageReader.java:648)
at android.os.Handler.dispatchMessage(Handler.java:111)
at android.os.Looper.loop(Looper.java:207)
at android.app.ActivityThread.main(ActivityThread.java:5769)
at java.lang.reflect.Method.invoke(Native Method)
at com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:789)
at com.android.internal.os.ZygoteInit.main(ZygoteInit.java:679)


Подробнее здесь: https://stackoverflow.com/questions/461 ... -able-to-r