[SOLVED] Frustration with OpenCV integration

ApteryxOz

Am stuck - after hours of trial and error - here is my request for assistance:

OS: Windows 7 64bit
QT: 4.8.3
QT Creator: 2.4.1

Hava a small app created to test kalman filter in OpenCV (2.4.3). Downloaded OpenCV-2.4.3.exe and expanded into c:\opencv
To make doagnostics easier, I copied:

C:\opencv\build\x86\mingw into <MyProject>\mingw
C:\opencv\modules into <MyProject>\modules

at the top of my code file:

@#include <stdio.h>
#include <iostream>
#include <vector>

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/core/core.hpp>@

My PRO FIle:

@QT += network core gui opengl

TARGET = KALMAN
TEMPLATE = app

Input

SOURCES += canvas.cpp
kfilter.cpp
main.cpp
mainwindow.cpp

HEADERS += canvas.h
kfilter.h
mainwindow.h
ui_mainwindow.h

INCLUDEPATH += modules/core/include
modules/highgui/include
modules/imgproc/include
modules/features2d/include
modules/calib3d/include
modules/flann/include
modules/gpu/include
modules/legacy/include
mmodules/ml/include
modules/nonfree/include
modules/objdetect/include
modules/photo/include
modules/stitching/include
modules/ts/include
modules/videostab/include
modules/video/include

LIBS += mingw/lib/libopencv_core243.dll.a
mingw/lib/libopencv_highgui243.dll.a
mingw/lib/libopencv_imgproc243.dll.a
mingw/lib/libopencv_features2d243.dll.a
mingw/lib/libopencv_calib3d243.dll.a
mingw/lib/libopencv_calib3d243.dll.a
mingw/lib/libopencv_flann243.dll.a
mingw/lib/libopencv_gpu243.dll.a
mingw/lib/libopencv_legacy243.dll.a
mingw/lib/libopencv_ml243.dll.a
mingw/lib/libopencv_nonfree243.dll.a
mingw/lib/libopencv_objdetect243.dll.a
mingw/lib/libopencv_photo243.dll.a
mingw/lib/libopencv_stitching243.dll.a
mingw/lib/libopencv_ts243.a
mingw/lib/libopencv_videostab243.dll.a
mingw/lib/libopencv_video243.dll.a@

It all compiles well, but when run (Debug or Release):

During startup program exited with code 0xc0000139

I hope someone can assist?

Kind Regards

sierdzio

Are openCV, Qt and your project built with the same compiler?

ApteryxOz

[SOLVED]
I update my minGW to the lates version from GNU 3.8.1 to 3.8.2 all go :-)

sierdzio

wow, that was quick ;-) I thought we would have to battle with this topic, as AFAIK oCV can be nasty at times.

Anyway, good to hear you're good now.

PS. I think the most recent minGW is close to GCC 4.7, isn't it?

Tinrik

Hi,

I have the exact same problem using the kalman filter. I'd like to solve this, but I'm a beginner and I can't really figure out the solution. Could you provide more specific instructions to do this?
I mean, you update minGW and then what? You compile again the OpenCV libraries? What about Qt, isn't it supposed to work with MinGW 4.4?

Thank you for your help

ApteryxOz

The header should look something like this:

@#ifndef Kalman_h
#define Kalman_h

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/core/core.hpp>

using namespace cv;
using namespace std;

class Kalman
{

public:
Kalman();
QPointF calculatePrediction(QPointF);

public slots:

signals:

protected:

private:
KalmanFilter KF;
Mat_<float> state;
Mat processNoise;
Mat_<float> measurement;
Mat prediction;
Mat estimated;

};
#endif // Kalman_h@

And the cpp something like this:

@#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/core/core.hpp>
#include <QDebug>
#include <QString>

#include "Kalman.h"

using namespace cv;
using namespace std;

Kalman::Kalman()
: KF(4, 2, 0, CV_32F), state(4, 1), processNoise(4, 1, CV_32F), measurement(2,1)
{
try
{
// Setup TRANSITION matrix for x,y,dx and dy
KF.transitionMatrix = *(Mat_<float>(4, 4) << 1,0,1,0, 0,0.5,0,0.5, 0,0,1,0, 0,0,0,1);
// set Measurement matrix to 0
measurement.setTo(Scalar(0));

    // Setup Kalman Filter
    KF.statePre.at<float>(0) = -1;
    KF.statePre.at<float>(1) = -1;
    KF.statePre.at<float>(2) = 0;
    KF.statePre.at<float>(3) = 0;

    setIdentity(KF.measurementMatrix);
    setIdentity(KF.processNoiseCov, Scalar::all(4e-4));
    setIdentity(KF.measurementNoiseCov, Scalar::all(1e-1));
    setIdentity(KF.errorCovPost, Scalar::all(.1));
}
catch (std::exception &e)
{
    qFatal("Error exception in Kalman constructor:\n %s", e.what());

}
catch (...)
{
   qFatal("Error unknown exception in Kalman constructor");

}

}

QPointF RCMKalman::calculatePrediction(QPointF newPosition)
{

try
{
    prediction = KF.predict();
    QPointF predictPt(prediction.at<float>(0),prediction.at<float>(1));

    measurement(0) = newPosition.x();
    measurement(1) = newPosition.y();

    QPointF measPt(measurement(0),measurement(1));

    estimated = KF.correct(measurement);
    QPointF statePt(estimated.at<float>(0),estimated.at<float>(1));

    qDebug() << "Got Mouse (Act) : "  << measPt.x()  << " " << measPt.y();
    qDebug() << "Got Predict     : "  << predictPt.x() << " " << predictPt.y();
    qDebug() << "Got Estimated   : "  << statePt.x() << " " << statePt.y();

    return statePt;
}
catch (std::exception &e)
{
    qFatal("Error exception in Kalman calculatePrediction:\n %s", e.what());
    return QPointF(0,0);

}
catch (...)
{
   qFatal("Error unknown exception in Kalman calculatePrediction");
   return QPointF(0,0);
}

}@

sierdzio

You need to use the same MinGW version to build every part of your program. This is because MinGW is very fragmented and prone to binary incompatibilities.