OpenCV/WishList/ProjectPoints

OpenCV Error: Formats of input arguments do not match (All the matrices must have the same data type) in cvRodrigues2, file /home/ddoria/src/OpenCV-2.3.0/modules/calib3d/src/calibration.cpp, line 507 terminate called after throwing an instance of 'cv::Exception'

 what():  /home/ddoria/src/OpenCV-2.3.0/modules/calib3d/src/calibration.cpp:507: error: (-205) All the matrices must have the same data type in function cvRodrigues2

ProjectPoints.cxx

#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::Point2f> Generate2DPoints();
std::vector<cv::Point3f> Generate3DPoints();
 
int main( int argc, char* argv[])
{
  // Read points
  std::vector<cv::Point2f> imagePoints = Generate2DPoints();
  std::vector<cv::Point3f> objectPoints = Generate3DPoints();
 
  // Create the known projection matrix
  cv::Mat P(3,4,cv::DataType<float>::type);
  P.at<float>(0,0) = -2.8058e-01;
  P.at<float>(1,0) = -6.8326e-02;
  P.at<float>(2,0) = 5.1458e-07;
 
  P.at<float>(0,1) = 2.0045e-02;
  P.at<float>(1,1) = -3.1718e-01;
  P.at<float>(2,1) = 4.5840e-06;
 
  P.at<float>(0,2) = 1.8102e-01;
  P.at<float>(1,2) = -7.2974e-02;
  P.at<float>(2,2) = 2.6699e-06;
 
  P.at<float>(0,3) = 6.6062e-01;
  P.at<float>(1,3) = 5.8402e-01;
  P.at<float>(2,3) = 1.5590e-03;
 
    // Decompose the projection matrix into:
  cv::Mat K(3,3,cv::DataType<float>::type); // intrinsic parameter matrix
  cv::Mat rvec(3,3,cv::DataType<float>::type); // rotation matrix
  cv::Mat T(4,1,cv::DataType<float>::type); // translation vector
 
  cv::decomposeProjectionMatrix(P, K, rvec, T);
 
  // Create zero distortion
  cv::Mat distCoeffs(4,1,cv::DataType<float>::type);
  distCoeffs.at<float>(0) = 0;
  distCoeffs.at<float>(1) = 0;
  distCoeffs.at<float>(2) = 0;
  distCoeffs.at<float>(3) = 0;
 
  std::vector<cv::Point2f> projectedPoints;
  cv::projectPoints(objectPoints, rvec, T, K, distCoeffs, projectedPoints);
 
  for(unsigned int i = 0; i < projectedPoints.size(); ++i)
    {
    std::cout << "Image point: " << imagePoints[i] << " Projected to " << projectedPoints[i] << std::endl;
    }
 
  return 0;
}
 
 
std::vector<cv::Point2f> Generate2DPoints()
{
  std::vector<cv::Point2f> points;
 
  float x,y;
 
  x=282;y=274;
  points.push_back(cv::Point2f(x,y));
 
  x=397;y=227;
  points.push_back(cv::Point2f(x,y));
 
  x=577;y=271;
  points.push_back(cv::Point2f(x,y));
 
  x=462;y=318;
  points.push_back(cv::Point2f(x,y));
 
  x=270;y=479;
  points.push_back(cv::Point2f(x,y));
 
  x=450;y=523;
  points.push_back(cv::Point2f(x,y));
 
  x=566;y=475;
  points.push_back(cv::Point2f(x,y));
  /*
  for(unsigned int i = 0; i < points.size(); ++i)
    {
    std::cout << points[i] << std::endl;
    }
  */
  return points;
}
 
 
std::vector<cv::Point3f> Generate3DPoints()
{
  std::vector<cv::Point3f> points;
 
  float x,y,z;
 
  x=.5;y=.5;z=-.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=.5;y=.5;z=.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=-.5;y=.5;z=.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=-.5;y=.5;z=-.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=.5;y=-.5;z=-.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=-.5;y=-.5;z=-.5;
  points.push_back(cv::Point3f(x,y,z));
 
  x=-.5;y=-.5;z=.5;
  points.push_back(cv::Point3f(x,y,z));
 
  /*
  for(unsigned int i = 0; i < points.size(); ++i)
    {
    std::cout << points[i] << std::endl;
    }
  */
  return points;
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.6)
 
PROJECT(ProjectPoints)
 
FIND_PACKAGE(OpenCV REQUIRED )
INCLUDE_DIRECTORIES( ${OPENCV_INCLUDE_DIR} )
 
ADD_EXECUTABLE(ProjectPoints ProjectPoints.cxx)
TARGET_LINK_LIBRARIES(ProjectPoints opencv_core opencv_highgui
opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
          opencv_features2d opencv_calib3d opencv_legacy opencv_contrib
)