Python fisheye.stereoCalibrate: Assertion failed objectPoints.type() #11085
Description
System information
- opencv-python '3.4.0.12' (installed via pip)
- opencv-contrib-python '3.4.0.12' (installed via pip)
- Windows 64 Bit
- Python 3.6.4 :: Anaconda, Inc.
Detailed description
While cv2.fisheye.calibrate() works with both versions of objp as intented, cv2.fisheye.stereoCalibrate() throws errors. Curiously different ones, in function cv::internal::projectPoints and in function cv::fisheye::stereoCalibrate.
This could be related to #5534
Steps to reproduce
Case 1
objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2)
...
K_left = np.zeros((3, 3))
D_left = np.zeros((4, 1))
K_right = np.zeros((3, 3))
D_right = np.zeros((4, 1))
R = np.zeros((1, 1, 3), dtype=np.float64)
T = np.zeros((1, 1, 3), dtype=np.float64)
rms, _, _, _, _, _, _ = \
cv2.fisheye.stereoCalibrate(
[objp]*len(imgpoints_left),
imgpoints_left,
imgpoints_right,
K_left,
D_left,
K_right,
D_right,
(1280,800),
R,
T,
flags,
(cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
)OpenCV Error: Assertion failed (!objectPoints.empty() && objectPoints.type() == (((6) & ((1 << 3) - 1)) + (((3)-1) << 3))) in cv::internal::projectPoints, file C:\projects\opencv-python\opencv\modules\calib3d\src\fisheye.cpp, line 1168
Traceback (most recent call last):
File "C:/Users/treph/pycamdriver/stereo_calibration.py", line 239, in <module>
calibrate(reader, cam_ids, CHECKERBOARD, SQUARE_SIZE)
File "C:/Users/treph/pycamdriver/stereo_calibration.py", line 206, in calibrate
(cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
cv2.error: C:\projects\opencv-python\opencv\modules\calib3d\src\fisheye.cpp:1168: error: (-215) !objectPoints.empty() && objectPoints.type() == (((6) & ((1 << 3) - 1)) + (((3)-1) << 3)) in function cv::internal::projectPoints
Case 2
objp = np.zeros((CHECKERBOARD[0]*CHECKERBOARD[1],3), np.float32)
objp[:,:2] = np.mgrid[0:CHECKERBOARD[0],0:CHECKERBOARD[1]].T.reshape(-1,2)OpenCV Error: Assertion failed (objectPoints.type() == (((5) & ((1 << 3) - 1)) + (((3)-1) << 3)) || objectPoints.type() == (((6) & ((1 << 3) - 1)) + (((3)-1) << 3))) in cv::fisheye::stereoCalibrate, file C:\projects\opencv-python\opencv\modules\calib3d\src\fisheye.cpp, line 844
Traceback (most recent call last):
File "C:/Users/treph/pycamdriver/stereo_calibration.py", line 239, in <module>
calibrate(reader, cam_ids, CHECKERBOARD, SQUARE_SIZE)
File "C:/Users/treph/pycamdriver/stereo_calibration.py", line 206, in calibrate
(cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
cv2.error: C:\projects\opencv-python\opencv\modules\calib3d\src\fisheye.cpp:844: error: (-215) objectPoints.type() == (((5) & ((1 << 3) - 1)) + (((3)-1) << 3)) || objectPoints.type() == (((6) & ((1 << 3) - 1)) + (((3)-1) << 3)) in function cv::fisheye::stereoCalibrate