Unknow exception when using fisheye::calibrate function

asked 2015-12-22 03:37:23 -0500

hei, guys. I am now working for a fisheye camera calibration and i have stuck for a long time. When my code run to fisheye::calibrate function, there aways has a "unhandled excption". here is my code:

#include <string>                                                                                   
#include <opencv2/opencv.hpp>                                                                       

using namespace cv;
using namespace std;

int main(int argc, char** argv) {
VideoCapture camera(1);
if (!camera.isOpened()) {
    cout << "Failed to open camera." << std::endl;
    return -1;
}

const char* window_name = "output";
namedWindow(window_name);

Mat frame;
Size boardSize;
boardSize.width = 9;
boardSize.height = 6;

int remaining_frames = 5;
Matx33d K;
Vec4d D;
Mat identity = Mat::eye(3, 3, CV_64F);

vector<vector<Point2d> > img_points;
vector<vector<Point3d> > obj_points;
vector<Point3d> obj_temp;

int width = 9;
int height = 6;
int sq_sz = 30;

for (int i = 0; i < width; i++) {
    for (int j = 0; j < height; j++) {
        obj_temp.push_back(Point3d(double(j * sq_sz), double(i * sq_sz), 0));
    }
}
for (int i = 0; i < remaining_frames; i++)
    obj_points.push_back(obj_temp);


while (1) {
    if (!camera.read(frame)) {
        cout << "Failed to read frame" << std::endl;
        break;
    }

    if (remaining_frames > 0) {
        vector<Point2f> corners;
        bool found = findChessboardCorners(frame, boardSize, corners,
            CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE | CALIB_CB_FAST_CHECK);
        drawChessboardCorners(frame, boardSize, corners, found);
        if (found && waitKey(30)==32)  {
            vector<Point2d> img_temp;
            for (int i = 0; i < width*height; i++)
            {
                Point2d temp = corners[i];
                img_temp.push_back(temp);
            }
            img_points.push_back(img_temp);
            remaining_frames--;
            cout << remaining_frames << " frames to calibration." << endl;

            if (remaining_frames == 0) {
                cout << "Computing distortion" << endl;

                int flags = 0;
                flags |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
                flags |= cv::fisheye::CALIB_CHECK_COND;
                flags |= cv::fisheye::CALIB_FIX_SKEW;
                // here is someting wrong
                fisheye::calibrate(obj_points, img_points, Size(640, 480), K, D,
                    noArray(), noArray(), flags, TermCriteria(3, 20, 1e-6));
                cout << "Finished computing distortion" << endl;
            }
        }

        imshow(window_name, frame);
        waitKey(1);
    }
    else {
        Mat output;
        fisheye::undistortImage(frame, output, K, D, identity);
        imshow(window_name, output);
        waitKey(1);
    }

    //if (waitKey(30) > 0) {
    //  break;
    //}
}

return 0;
}

i have tried many ways to solve this problem, include change the different version of opencv, install different version of Visual Studio, tried many data types and flags used in fisheye::calibration function. all these ways are failed. is there any one can help me? Thank you for advance!

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