使用cv2.fisheye.calibrate标定时出现的错误:(-215:Assertion failed)

用python+opencv对大广角镜头(实时)标定时出现如下错误,
错误如下:

Traceback (most recent call last):
  File "E:/workspace-python/StereoSystem/calibrate/SingleCalibrate.py", line 134, in <module>
    mtx, dist = calibrate_single(1, 27, 9, 6, fileName)
  File "E:/workspace-python/StereoSystem/calibrate/SingleCalibrate.py", line 81, in calibrate_single
    (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6)
cv2.error: OpenCV(3.4.2) C:\projects\opencv-python\opencv\modules\calib3d\src\fisheye.cpp:712: error: (-215:Assertion failed) objectPoints.type() == (((5) & ((1 << 3) - 1)) + (((3)-1) << 3)) || objectPoints.type() == (((6) & ((1 << 3) - 1)) + (((3)-1) << 3)) in function 'cv::fisheye::calibrate'

错误之处:

 # 世界坐标系中的棋盘格点
 objp = np.zeros(( Nx_cor * Ny_cor, 3), np.float32)
 objp[ :, :2] = np.mgrid[0:Nx_cor, 0:Ny_cor].T.reshape(-1, 2)

处理方案:

 objp = np.zeros((1, Nx_cor * Ny_cor, 3), np.float32)
 objp[0, :, :2] = np.mgrid[0:Nx_cor, 0:Ny_cor].T.reshape(-1, 2)

处理后可成功获取广角/鱼眼镜头的内参: