OpenCV Surf Descriptor Java не работает

У меня проблемы с моим Surf Descriptor.

Этот код переведен с C ++ на Java, и я не знаю, почему он не работает для меня.

public class SURF2 {

public void run(String pathObject, String pathScene, String pathResult) {

System.out.println("\nRunning FindObject");

Mat img_object = Highgui.imread("src/OpenCV/".concat(pathObject), 0); //0 = CV_LOAD_IMAGE_GRAYSCALE
Mat img_scene = Highgui.imread("src/OpenCV/".concat(pathScene), 0);

FeatureDetector detector = FeatureDetector.create(FeatureDetector.SURF); //4 = SURF

MatOfKeyPoint keypoints_object = new MatOfKeyPoint();
MatOfKeyPoint keypoints_scene  = new MatOfKeyPoint();

detector.detect(img_object, keypoints_object);
detector.detect(img_scene, keypoints_scene);

DescriptorExtractor extractor = DescriptorExtractor.create(2); //2 = SURF;

Mat descriptor_object = new Mat();
Mat descriptor_scene = new Mat() ;

extractor.compute(img_object, keypoints_object, descriptor_object);
extractor.compute(img_scene, keypoints_scene, descriptor_scene);

DescriptorMatcher matcher = DescriptorMatcher.create(DescriptorMatcher.FLANNBASED); // 1 = FLANNBASED
MatOfDMatch matches = new MatOfDMatch();

matcher.match(descriptor_object, descriptor_scene, matches);
List<DMatch> matchesList = matches.toList();

Double max_dist = 0.0;
Double min_dist = 100.0;

for(int i = 0; i < descriptor_object.rows(); i++){
Double dist = (double) matchesList.get(i).distance;
if(dist < min_dist) min_dist = dist;
if(dist > max_dist) max_dist = dist;
}

System.out.println("-- Max dist : " + max_dist);
System.out.println("-- Min dist : " + min_dist);

LinkedList<DMatch> good_matches = new LinkedList<DMatch>();
MatOfDMatch gm = new MatOfDMatch();

for(int i = 0; i < descriptor_object.rows(); i++){
if(matchesList.get(i).distance < 3*min_dist){
good_matches.addLast(matchesList.get(i));
}
}

gm.fromList(good_matches);

Mat img_matches = new Mat();
Features2d.drawMatches(
img_object,
keypoints_object,
img_scene,
keypoints_scene,
gm,
img_matches,
new Scalar(255,0,0),
new Scalar(0,0,255),
new MatOfByte(),
2);

LinkedList<Point> objList = new LinkedList<Point>();
LinkedList<Point> sceneList = new LinkedList<Point>();

List<KeyPoint> keypoints_objectList = keypoints_object.toList();
List<KeyPoint> keypoints_sceneList = keypoints_scene.toList();

for(int i = 0; i<good_matches.size(); i++){
objList.addLast(keypoints_objectList.get(good_matches.get(i).queryIdx).pt);
sceneList.addLast(keypoints_sceneList.get(good_matches.get(i).trainIdx).pt);
}

MatOfPoint2f obj = new MatOfPoint2f();
obj.fromList(objList);

MatOfPoint2f scene = new MatOfPoint2f();
scene.fromList(sceneList);

//Aquí

Mat hg = Calib3d.findHomography(obj, scene);

Mat obj_corners = new Mat(4,1,CvType.CV_32FC2);
Mat scene_corners = new Mat(4,1,CvType.CV_32FC2);

obj_corners.put(0, 0, new double[] {0,0});
obj_corners.put(1, 0, new double[] {img_object.cols(),0});
obj_corners.put(2, 0, new double[] {img_object.cols(),img_object.rows()});
obj_corners.put(3, 0, new double[] {0,img_object.rows()});

Core.perspectiveTransform(obj_corners,scene_corners, hg);

Core.line(img_matches, new Point(scene_corners.get(0,0)), new Point(scene_corners.get(1,0)), new Scalar(0, 255, 0),4);
Core.line(img_matches, new Point(scene_corners.get(1,0)), new Point(scene_corners.get(2,0)), new Scalar(0, 255, 0),4);
Core.line(img_matches, new Point(scene_corners.get(2,0)), new Point(scene_corners.get(3,0)), new Scalar(0, 255, 0),4);
Core.line(img_matches, new Point(scene_corners.get(3,0)), new Point(scene_corners.get(0,0)), new Scalar(0, 255, 0),4);

/*

Mat H = Calib3d.findHomography(obj, scene);

LinkedList<Point> cornerList = new LinkedList<Point>();
cornerList.add(new Point(0,0));
cornerList.add(new Point(img_object.cols(),0));
cornerList.add(new Point(img_object.cols(),img_object.rows()));
cornerList.add(new Point(0,img_object.rows()));

MatOfPoint obj_corners = new MatOfPoint();
obj_corners.fromList(cornerList);

MatOfPoint scene_corners = new MatOfPoint();

//ERROR HERE :
//OpenCV Error: Assertion failed (scn + 1 == m.cols && (depth == CV_32F || depth == CV_64F)) in unknown function, file ..\..\..\src\opencv\modules\core\src\matmul.cpp, line 1926
Core.perspectiveTransform(obj_corners, scene_corners, H);

//Draw the lines... later, when the homography will work
/*
Core.line(img_matches, new Point(), new Point(), new Scalar(0,255,0), 4);
Core.line(img_matches, new Point(), new Point(), new Scalar(0,255,0), 4);
Core.line(img_matches, new Point(), new Point(), new Scalar(0,255,0), 4);
Core.line(img_matches, new Point(), new Point(), new Scalar(0,255,0), 4);
*/

//Sauvegarde du résultat
System.out.println(String.format("Writing %s", pathResult));
Highgui.imwrite("src/OpenCV/" + pathResult, img_matches);
}

public static void main(String[] args) {

System.loadLibrary(Core.NATIVE_LIBRARY_NAME);

new SURF2().run("taxiTemplate.png", "escenario.jpg", "resultadoFlann.jpg");

}

}

Например:

http://i.stack.imgur.com/2Mh0G.jpg

Я пытался использовать SIFT, изменяя значения DescriptorMatcher, но это не работает.

Кто-нибудь почему?

Заранее спасибо.