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No need to shift the origin to the center of the chessboard for object points.

The problem was just with the for loops. Milosz has changed the order for the for loops which made it correct as per opencv order. First go across the height and then across the width.

I tried subtracting the half of width and height (which actually was not done by Milosz in his code as can be seen clearly) but it did not work. Then I noticed the for loop and tried the for loop by Milosz without subtracting half of the width and heights and it worked without the assertion.