cv::fisheye::stereoCalibrate errors

edit

Log: OpenCV Error: Assertion failed (!objectPoints.empty() && objectPoints.type() == CV_64FC3) in projectPoints, file /home/ai/Downloads/opencv31/opencv/modules/calib3d/src/fisheye.cpp, line 1166 terminate called after throwing an instance of 'cv::Exception' what(): /home/ai/Downloads/opencv31/opencv/modules/calib3d/src/fisheye.cpp:1166: error: (-215) !objectPoints.empty() && objectPoints.type() == CV_64FC3 in function projectPoints

code:

cv::Matx33d K1,K2, theR;
cv::Vec3d theT;
cv::Vec4d D1, D2;

int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
double rms = cv::fisheye::stereoCalibrate(objectPoints,imagePoints[0], imagePoints[1], K1, D1,
        K2, D2, imageSize, theR, theT, flag, cv::TermCriteria(3, 12, 0));