c++ - OpenCV 错误：cv::calibrateCamera 中的断言失败（nimages > 0）

Question

我在使用 openCV 的“calibrationCamera”方法时遇到了一些问题。我在 Windows 64、Visual Studio 2013 中运行 OpenCV。

当我从 OpenCV 调用以下函数时出现问题：“cv::calibrateCamera”，它抛出异常“Assertion failed (nimages > 0)”。

这是开发的代码示例：

vector< vector< Vec3f > > _object_points;
vector< vector< Vec2f > > _image_points;

_hor_corners = 9;
_ver_corners = 6;
_squareSize = 20; // Let's say 20 mm

_patternsize = Size(_hor_corners, _ver_corners);

Mat corners; 
vector<Vec2f> imgP;
vector< Vec3f > obj;

for (int i = 0; i < _ver_corners; i++) //Create the 3d vector
    for (int j = 0; j < _hor_corners; j++)
        obj.push_back(Point3f((float)j * _squareSize, (float)i * _squareSize, 0));

for (int i = 0; i < numImages; i++)
{
    image = calibImages[i];

    // ... code for detecting corners


    if (corners.rows == _hor_corners*_ver_corners)
    {
        _image_points.push_back(imgP); //fill arrays
        _object_points.push_back(obj);
        cout << imgP.size() << "___" << _image_points.size() << "___" << obj.size() << "___" << _object_points.size() << endl; //here's everything is okay

        imgP.clear();


    }
}
cv::calibrateCamera(_object_points, _image_points, image.size(), intrinsic, distCoeffs, rvecs, tvecs, 0); //Throw the exception here

这里是断言被抛出的地方：

double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
                        InputArrayOfArrays _imagePoints,
                        Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
                        OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags, TermCriteria criteria ){
    int rtype = CV_64F;
    Mat cameraMatrix = _cameraMatrix.getMat();
    cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype);
    Mat distCoeffs = _distCoeffs.getMat();
    distCoeffs = prepareDistCoeffs(distCoeffs, rtype);
    if( !(flags & CALIB_RATIONAL_MODEL) &&
    (!(flags & CALIB_THIN_PRISM_MODEL)) &&
    (!(flags & CALIB_TILTED_MODEL)))
        distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);

    int nimages = int(_objectPoints.total());
    CV_Assert( nimages > 0 );
    Mat objPt, imgPt, npoints, rvecM, tvecM;

我在互联网上进行了一些搜索，但找不到任何可能的逻辑答案。向量被正确填充并且具有相同的长度。知道这里可能会发生什么吗？

非常感谢，

标签： c++opencvvisual-studio-2013