OpenCV 3d point projection

我在纠正OpenCV程序以投影3d点时遇到问题。在使用OpenCV的projectPoints功能时，我似乎遇到了这个问题。

这是我得到的错误：

OpenCV 错误：断言失败（mtype == type0 ||（CV_MAT_CN（mtype） == CV_MAT_CN（type0） && （（1 <<type0） & fixedDepthMask） ！= 0））在创建中，文件/home/daniel/Comp4102/opencv/modules/core/src/matrix.cpp，第 2375 行 在抛出"cv：：异常"实例后终止调用 what（）：/home/daniel/Comp4102/opencv/modules/core/src/matrix.cpp：2375： 错误： （-215） mtype == type0 ||（CV_MAT_CN（mtype） == CV_MAT_CN（type0） && （（1 <<type0） & fixedDepthMask） ！= 0） in function create

这是我写的代码：

#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <iostream>
#include <string>
std::vector<cv::Point3d> set3DPoints();
int main( int argc, char* argv[]) {
  // Setting given variables.
  double f = 500;
  double sx = 1;
  double sy = 1;
  double ox = 320;
  double oy = 240;
  std::vector<cv::Point3d> objectPoints = set3DPoints();

  cv::Mat Xw(1,3,cv::DataType<double>::type);
  Xw.at<double>(0,0) = 150;
  Xw.at<double>(0,1) = 200;
  Xw.at<double>(0,2) = 350;
  // Create the K matrix.
  cv::Mat K(3,3,cv::DataType<double>::type);
  K.at<double>(0,0) = -f/sx;
  K.at<double>(1,0) = 0;
  K.at<double>(2,0) = ox;
  K.at<double>(0,1) = 0;
  K.at<double>(1,1) = -f/sy;
  K.at<double>(2,1) = oy;
  K.at<double>(0,2) = 0;
  K.at<double>(1,2) = 0;
  K.at<double>(2,2) = 1;
  // Creating the Rotation Matrix
  cv::Mat R(3,3,cv::DataType<double>::type);
  R.at<double>(0,0) = 1; 
  R.at<double>(1,0) = 0; 
  R.at<double>(2,0) = 0; 
  R.at<double>(0,1) = 0; 
  R.at<double>(1,1) = 1; 
  R.at<double>(2,1) = 0; 
  R.at<double>(0,2) = 0; 
  R.at<double>(1,2) = 0; 
  R.at<double>(2,2) = 1;
  // Creating the Translation vector
  cv::Mat T(3,1,cv::DataType<double>::type);
  T.at<double>(0) = -70;
  T.at<double>(1) = -95;
  T.at<double>(2) = -120;
  std::cout << "K: " << "n" << K << "n";
  std::cout << "R: " << "n" << R << "n";
  std::cout << "T: " << "n" << T << "n";
  // Create zero distortion
  cv::Mat distCoeffs(4,1,cv::DataType<double>::type);
  distCoeffs.at<double>(0) = 0;
  distCoeffs.at<double>(1) = 0;
  distCoeffs.at<double>(2) = 0;
  distCoeffs.at<double>(3) = 0;
  // Creating Rodrigues rotation matrix
  cv::Mat rvecR(3,1,cv::DataType<double>::type);
  cv::Rodrigues(R,rvecR);
  std::vector<cv::Point2f> projectedPoints;
  cv::projectPoints(objectPoints, rvecR, T, K, distCoeffs, projectedPoints);
  for(unsigned int i=0; i<projectedPoints.size(); i++){
    std::cout << "Image point: " << objectPoints[i] << " Projected to " << projectedPoints[i] << "n"; 
  }
  return 0;
}
std::vector<cv::Point3d> set3DPoints() {
  std::vector<cv::Point3d> points;
  double x,y,z;
  x=150;
  y=200;
  z=350;
  points.push_back(cv::Point3d(x,y,z));
  return points;
}