opencv错误集锦

错误1: calibrateCamera标定时出错

OpenCV(3.4.1) Error: Assertion failed (ni == ni1) in collectCalibrationData, file /usr/local/opencv-3.4.1/modules/calib3d/src/calibration.cpp, line 3143
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(3.4.1) /usr/local/opencv-3.4.1/modules/calib3d/src/calibration.cpp:3143: error: (-215) ni == ni1 in function collectCalibrationData

错误原因分析:

根据错误日志定位到源码calibration.cpp:3143行;

该错误是由calibrateCamera，然后调用了collectCalibrationData引起的;

验证:

//保存标定板上角点的三维坐标;
std::vector<std::vector<cv::Point3f>> object_points;
//保存检测到的所有角点;
std::vector<std::vector<cv::Point2f>> imagePoints;
//摄像机内参数矩阵
cv::Mat cameraMatrix = cv::Mat(3,3,CV_32FC1,cv::Scalar::all(0));
//摄像机的5个畸变系数:K1,K2,p1,p2,k3
cv::Mat distCoeffs = cv::Mat(1,5,CV_32FC1,cv::Scalar::all(0));
//每幅图像的旋转向量
std::vector<cv::Mat> tvecsMat;
//每幅图像的平移向量
std::vector<cv::Mat> rvecsMat;


坐标填充....

验证代码
int nimages = (int)cv::InputArrayOfArrays(object_points).total();
printf("--> total = %d\n",nimages);
for(int i = 0; i < nimages; i++ )
{
    int ni = cv::InputArrayOfArrays(object_points).getMat(i).checkVector(3, CV_32F);
    int ni1 = cv::InputArrayOfArrays(imagePoints).getMat(i).checkVector(2, CV_32F);

    printf("--> ni = %d  ni1=%d \n",ni, ni1);
}


/* 作用: 相机标定
       参数1 objectPoints: 世界坐标系中的点; 三维的vector;
       参数2 imagePoints: 对应图像坐标系中的点;
       参数3 imageSize: 图像的大小,在计算相机的内参数和畸变矩阵需要用到;
       参数4 cameraMatrix:内参数矩阵 输入一个cv::Mat cameraMatrix即可
       参数5 distCoeffs: 畸变矩阵;输入一个cv::Mat distCoeffs即可
       参数6 rvecs:旋转向量; 应该输入一个cv::Mat的vector
       参数7 tvecs:位移向量;
       参数8 flag:标定时所采用的参数;
    */
cv::calibrateCamera( object_points, imagePoints, image_size,cameraMatrix,distCoeffs,rvecsMat,tvecsMat,0);

结论:

传入calibrateCamera的 object_points和imagePoints参数各个vector的数值需要相等; 否则报错;