I use the following code to test cv::calibrateCamera, but there is an fatal error, cv::calibrateCamera calling _rvecs.create(nimages, 1, CV_64FC3) is failed. Curiously, the same code can run correct on Qt+MinGW platform, but can cause an error on VS2015 platform. Why? My openCV version is 3.1.0. Thank you!
void testCalibrate(void)
{ std::vector<std::vector<cv::point3f>> object_points_xyz_; std::vector<std::vector<cv::point2f>> image_points_xy_;
int rows = 1024;
int cols = 1280;
dlp::Image temp_calibration_image;
char buf[512];
cv::Mat calibration_image_cv;
cv::Mat pointBuf;
std::vector<cv::Point2f> board_feature_locations_xy;
cv::Size board_feature_size(8, 6);
// Values are added during Setup() method. Assumes board is planar and that z = 0.
std::vector<cv::Point3f> calibration_board_feature_points_xyz_;
// Clear pattern points in case it has already been setup
calibration_board_feature_points_xyz_.clear();
// Assume that the first feature is located a 0,0 because the chessboard
// is in real space and has no direct relationship to the camera sensor
for (unsigned int iRow = 0; iRow < 6; iRow++) {
for (unsigned int iCol = 0; iCol < 8; iCol++) {
float x_pos = iCol * 5.555556; //this->board_column_distance_
float y_pos = iRow * 6.071429; //this->board_row_distance_.Get();
cv::Point3f feature_point = cv::Point3f(x_pos, y_pos, 0.0f);
calibration_board_feature_points_xyz_.push_back(feature_point);
}
}
for (int i = 0; i < 10; i++)
{
sprintf(buf, "F:\\calibration_camera\\camera_only_calibration_capture_%d.bmp", i + 1);
temp_calibration_image.Load(buf);
if (temp_calibration_image.ConvertToMonochrome().hasErrors())
return;
// Convert dlp::Image to cv::Mat
temp_calibration_image.GetOpenCVData(&calibration_image_cv);
// Look for the chessboard (checkerboard corners
if (cv::findChessboardCorners(calibration_image_cv,
board_feature_size,
pointBuf,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS)) {
// Board was found. Refine the corner positions
// NOTE : Many of these arguments would be good parameter settings for calibration
cv::cornerSubPix(calibration_image_cv,
pointBuf,
cv::Size(11, 11),
cv::Size(-1, -1),
cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
board_feature_locations_xy.assign((cv::Point2f*)pointBuf.datastart, (cv::Point2f*)pointBuf.dataend);
// Add this calibration image's corners to the list
image_points_xy_.push_back(board_feature_locations_xy);
object_points_xyz_.push_back(calibration_board_feature_points_xyz_);
//clear
temp_calibration_image.Clear();
calibration_image_cv.release();
pointBuf.release();
board_feature_locations_xy.clear();
}
}
// Create calibration flags
int cv_calibration_flags = 0;
// Determine which calibration data should be updated
cv::Mat intrinsic;
cv::Mat distortion;
cv::Mat extrinsic;
cv::Mat homography;
// std::vector<std::vector<cv::point3f>> object_points_xyz_; // std::vector<std::vector<cv::point2f>> image_points_xy_;
intrinsic.create(3, 3, CV_64FC1); //CV_INTRINSIC_SETUP
intrinsic.setTo(cv::Scalar(0));
distortion.create(5, 1, CV_64FC1);
distortion.setTo(cv::Scalar(0));
extrinsic.create(2, 3, CV_64FC1);
extrinsic.setTo(cv::Scalar(0));
homography.create(3, 3, CV_64FC1);
homography.setTo(cv::Scalar(0));
// Calibrate the camera
double reproj_error;
std::vector<cv::Mat> rotation_vector;
std::vector<cv::Mat> translation_vector;
/// cv::Mat rotation;
/// cv::Mat translation;
cv::Size calibration_model_size = cv::Size(8, 6);
// Perform calibration
reproj_error = cv::calibrateCamera(object_points_xyz_, // chessboard corners coordinate x, y, z = 0 in mm
image_points_xy_, // chessboard corners coordinate x, y in camera pixels
calibration_model_size,
intrinsic, // in pixels
distortion, // in pixels
rotation_vector, // unitless direction angle of camera to calibration board
translation_vector, // translation vector x,y,z for each calibration board in mm
cv_calibration_flags);
// Copy the rotation and translation vector to the extrinsic calibration data object.
// Only copy the vectors from the first pattern board.
cv::transpose(rotation_vector.at(0), extrinsic.row(dlp::Calibration::Data::EXTRINSIC_ROW_ROTATION));
cv::transpose(translation_vector.at(0), extrinsic.row(dlp::Calibration::Data::EXTRINSIC_ROW_TRANSLATION));
}