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TypeError: R is not a numpy array, neither a scalar

asked 2018-08-23 03:00:06 -0500

Kush gravatar image

updated 2018-08-23 05:13:45 -0500

I am trying to do stereo fish eye camera calibration using OpenCV and Python Here is my code:

Main part of the code for stereo calibration

N_OK = len(leftImagePoints)

objecPoints = np.array([objectPoints]*len(leftImagePoints), dtype=np.float64)
leftImagePoints=np.asarray(leftImagePoints, dtype=np.float64)
rightImagePoints=np.asarray(rightImagePoints, dtype=np.float64)

objectPoints = np.reshape(objectPoints,(N_OK, 1, CHESSBOARD_SIZE[0]*CHESSBOARD_SIZE[1],3))
leftImagePoints = np.reshape(leftImagePoints, (N_OK, 1, CHESSBOARD_SIZE[0]*CHESSBOARD_SIZE[1], 2))
rightImagePoints = np.reshape(rightImagePoints,(N_OK, 1, CHESSBOARD_SIZE[0]*CHESSBOARD_SIZE[1], 2)) 

K_left = np.zeros((3, 3))
D_left = np.zeros((4, 1))

K_right = np.zeros((3, 3))
D_right = np.zeros((4, 1))


R = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(MAX_IMAGES)]
T = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(MAX_IMAGES)]

print("Calibrating left fisheye camera...")

rms, _, _, _, _ = cv2.fisheye.calibrate(objectPoints,leftImagePoints,imageSize, K_left,D_left,R,T,calibration_flags,      (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6))

print("calibrating right fisheye camera...")

rms, _, _, _, _ = cv2.fisheye.calibrate(objectPoints,rightImagePoints, imageSize,K_right,D_right,R,T,calibration_flags, (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6))

print("calibrating both fisheye cameras together...")

(rms, _, _, _, _) = \
  cv2.fisheye.stereoCalibrate(
     objectPoints,
     leftImagePoints,
     rightImagePoints,
     K_left,
     D_left,
     K_right,
     D_right,
     imageSize,
     R,
     T,
     (cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv2.fisheye.CALIB_CHECK_COND + cv2.fisheye.CALIB_FIX_SKEW)
    );

*error: -Traceback (most recent call last): File "fisheye_calib1.py", line 176, in <module> (cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC + cv2.fisheye.CALIB_CHECK_COND + cv2.fisheye.CALIB_FIX_SKEW) TypeError: R is not a numpy array, neither a scalar *

I am able to do calibration of individual camera but it is throwing errors when it comes to stereo fisheye camera calibration. ' Have I declared R & T in right manner' It is giving error (SystemError: new style getrags format but argument is not a tuple) If anyone could guide me with this would be great help.

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Comments

please tell us WHERE the error happens.

(i'm afraid, noone will actually try your 200 line monster)

we also need the exact error msg.

berak gravatar imageberak ( 2018-08-23 03:08:12 -0500 )edit
1

I have edited my code with error.

Kush gravatar imageKush ( 2018-08-23 03:24:45 -0500 )edit

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answered 2018-08-23 03:42:32 -0500

berak gravatar image

i think, you wanted to OR the flags, not make a tuple out of it:

cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC | cv2.fisheye.CALIB_CHECK_COND | cv2.fisheye.CALIB_FIX_SKEW

(no () around it)

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Comments

I have tried that it but its not working. It is giving another error.

SystemError: new style getrags format but argument is not a tuple

Kush gravatar imageKush ( 2018-08-23 04:01:41 -0500 )edit

again, we can only help, if you're concise about it.

berak gravatar imageberak ( 2018-08-23 04:46:08 -0500 )edit

(rms, _, _, _, _) = cv2.fisheye.stereoCalibrate( objectPoints, leftImagePoints, rightImagePoints, K_left, D_left, K_right, D_right, imageSize, R, T, flags = calibration_flags, criteria = TERMINATION_CRITERIA) error: TypeError: R is not a numpy array, neither a scalar I have declared R and T R = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(MAX_IMAGES)] T = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(MAX_IMAGES)]

It is giving error with cv2.fisheye.stereocalibrate

Kush gravatar imageKush ( 2018-08-23 06:45:40 -0500 )edit

try like:

flags = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC | cv2.fisheye.CALIB_CHECK_COND | cv2.fisheye.CALIB_FIX_SKEW
rms, K1, D1, K2, D2, R, T =  cv2.fisheye.stereoCalibrate(objectPoints, leftImagePoints, rightImagePoints, K_left, D_left, K_right, D_right, imageSize, flags=flags)
berak gravatar imageberak ( 2018-08-23 06:53:03 -0500 )edit

rms, K1, D1, K2, D2, R, T all are "return values". you don't need (and you shouldn't try) to preallocate those. just drop them from the argument list, and use an explicit flags=flags at the end.

berak gravatar imageberak ( 2018-08-23 06:57:49 -0500 )edit

Now; I am facing a different when I added ImageSizeerror: (-5:Bad argument) When the input arrays in add/subtract/multiply/divide functions have different types, the output array type must be explicitly specified in function 'arithm_op' code for imageSize

for imagePath in sorted(imagePaths):

    image = cv2.imread(imagePath)
    grayImage = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)

    newSize = grayImage.shape[::-1]
    if imageSize != None and newSize != imageSize:
        raise ValueError(
                "Calibration image at {0} is not the same size as the others"
                .format(imagePath))
    imageSize = newSize
    ret, corners = cv2.findChessboardCorners(grayImage,
            CHESSBOARD_SIZE, cv2.CALIB_CB_FAST_CHECK)
Kush gravatar imageKush ( 2018-08-23 07:11:33 -0500 )edit

maybe you need to start a new question ...

berak gravatar imageberak ( 2018-08-23 07:47:07 -0500 )edit
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Asked: 2018-08-23 03:00:06 -0500

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Last updated: Aug 23 '18