OpenCV 错误 : Assertion failed (ni > 0 && ni == ni1)

Question

我有以下问题:一切正常，但当我到达 calibrateCamera 部分时，出现以下错误:

OpenCV Error: Assertion failed (ni > 0 && ni == ni1) in unknown function, file . .....\src\opencv\modules\calib3d\src\calibration.cpp, line 3197

我是新来的，也许我的代码不够清晰，但请友好。非常感谢您。

我的代码是:(我删除了 include 和 pragma 部分，因为这里的字母真的很大)

int _tmain()
{


printf("Everything loaded. Press Enter to continue.\n\a");


getch();

system("cls");                              //bildschirm clearen


int numBoards = 0;
int numCornersHor;
int numCornersVer;
char stCurPath[200];
int numFiles = 0;
char stRemFileNum[200];

int curNum;

vector<string> file_names;
string s;
bool pathok = false;

#pragma region ask user for path to load images and list them

//                                                  ask user for path to load images and list them                      




while(pathok == false)
{
fflush(stdin);
printf("Enter path to the folder where the pictures are:\n");
scanf("%199[^\n]s", stCurPath);  //achtung wegen bufferoverflow - nicht mehr als 199 zeichen + EOF (0) einlesen.
                                 //[^\n] wegen Leerzeichen. scanf liest bis Enter.
system("cls");

DIR *dir;
struct dirent *ent;
dir = opendir (stCurPath);




if (dir != NULL) {
/* print all the files and directories within directory */
    printf("Your chosen path:\n%s\n\nFiletree of this path:\n", stCurPath);
    while ((ent = readdir (dir)) != NULL)
    {
        numFiles++; //Anzahl der Files
        printf ("%d)\t%s\n",numFiles, ent->d_name);
        s = ent->d_name;
        file_names.push_back(s);
    }
    closedir (dir);

    fflush( stdout );
    printf ("\nNumber of found files: %d\n", numFiles);

    pathok = true;
} 
else
{
    /* could not open directory */

    printf ("Could not open directory. Make sure path is ok!\n\n");
    pathok = false;

    /*perror ("");
    return EXIT_FAILURE*/;
}
}//while(pathok == false)
/*****************************end ask user for path to load images and list them****************************************/

#pragma endregion

#pragma region ask user to exclude some files

/*****************************************ask user to exclude some files*************************/
printf ("\nEnter the number of the files you dont want to load (number only!).\nSeperate single files with comma.\nEnter 0 if you don't want to exclude files.\nEnter x to exclude all non bmp files.\n\nNumbers:\n");
scanf("%199s", stRemFileNum);       //achtung wegen bufferoverflow - nicht mehr als 199 zeichen + EOF (0) einlesen
vector<string>::iterator it; 
if(strcmp(stRemFileNum,"x") == 0)
{
    curNum=1;
    numFiles = 0;
    string extstr;
    const char * extc;

    file_names.erase(remove_if(file_names.begin(),
                               file_names.end(),
                               isBmpExtension), file_names.end());

    system("cls");                      //bildschirm clearen
    printf("New Filetree of this path:\n\n");
    it = file_names.begin();
    for(it; it != file_names.end(); ++it)
    {
        numFiles++;
        printf ("%d)\t%s\n",numFiles, (*it).c_str());           
    }

    printf ("\nNumber of found files: %d\n", numFiles);
}//if(strcmp(stRemFileNum,"x") == 0)


//end user entered x

//start user entered 0

if(strcmp(stRemFileNum,"0") != 0 && strcmp(stRemFileNum,"x") != 0)
{

    //fehler
    numFiles = 0;
    vector<string> numbersVector;
    string strNumbers = stRemFileNum;
    Tokenize(strNumbers, numbersVector, ",");
    sort(numbersVector.begin(), numbersVector.end(), strCompDesc);

    for(it = numbersVector.begin(); it != numbersVector.end(); ++it)
    {
        curNum = atoi((*it).c_str());
        file_names.erase(file_names.begin() + (curNum - 1));
    }


    system("cls");                      //bildschirm clearen
    printf("New Filetree of this path:\n\n");

    //fehler ende

    for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)
    {
        numFiles++;
        printf ("%d)\t%s\n",numFiles, (*it).c_str());           
    }

    printf ("\nNumber of found files: %d\n", numFiles);

}
//user entered 0
else if(strcmp(stRemFileNum,"0") == 0)
{
    printf ("\nNo files excluded.\n");
}


/*****************end ask user to exclude some files *******************************************/

#pragma endregion

fflush(stdin);
printf("\nEnter number of corners along width: ");
scanf("%d", &numCornersHor);
fflush(stdin);
printf("Enter number of corners along height: ");
scanf("%d", &numCornersVer);





int numSquares = numCornersHor * numCornersVer;
Size board_sz = Size(numCornersHor, numCornersVer);

vector<vector<Point3f>> object_points;
vector<vector<Point2f>> image_points;

vector<Point2f> corners;
vector<Point3f> obj;

int pictures_done=0;

Mat image;
Mat gray_image;


//Bilder zum persönlichen auswerten anzeigen +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//

for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)
{



printf("\nLoading Picture..\n");

image = imread(string(stCurPath) + "\\" + (*it).c_str()); //als farbe lesen; doppelter backslash o. normaler

//resize(image, image, Size(0,0), 0.5, 0.5, INTER_AREA);

cvtColor(image,gray_image,CV_RGB2GRAY);





for(int j=0;j<numSquares;j++)
{
    obj.push_back(Point3f(j/numCornersHor, j%numCornersHor, 0.0f));
}//for(int j=0;j<numSquares;j++)



bool found = findChessboardCorners(image, board_sz, corners, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);

    if(found)
    {
        cornerSubPix(gray_image, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
        drawChessboardCorners(gray_image, board_sz, corners, found);
    }

    cvNamedWindow("win1", 1);
    imshow("win1", gray_image);
    waitKey(30);
    cvMoveWindow("win1",0,0);
    waitKey(30);
    printf("\nPicture loaded.\nPress a to load original, s to store snap and show next picture,");
    printf("\nd to drop snap and show next picture, and f to close the programm\n");

    char key; 
    bool bOriginalDisplayed = false;

    while(1)
    {
        if (cin.rdbuf()->in_avail())
        {
            key = _getch();
        }

        if('a' == key && found!=0)
        {
            if (!bOriginalDisplayed)
            {
                printf("\nLoading original..\n");
                cvNamedWindow("win2", 1);
                cvMoveWindow("win2",0,0);
                imshow("win2", image);                 //oder imshow cvMoveWindow("Smile", 100, 100); 

                bOriginalDisplayed = true;
                waitKey(50);
                printf("\nOriginal loaded.\nPess a again to close original before you continue.\n");
            }
            else
            {
                cvDestroyWindow("win2");
                printf("\nOriginal closed.\n");
                bOriginalDisplayed = false;
            }
        }

        if('s'==key)
        {
            image_points.push_back(corners);
            object_points.push_back(obj);
            printf("\nSnap stored!\n"); 
            pictures_done++;
            found = false;
            break;
        }

        if('d' == key)
        {
            pictures_done++;
            break;
            found = false;
        }

        if('f' == key)
        {
            return 0;
        }

        Sleep(50);
    } //while (1)



} //for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)


cvDestroyWindow("win1");
waitKey(50);

Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector<Mat> rvecs;
vector<Mat> tvecs;


intrinsic.ptr<float>(0)[0] = 1;
intrinsic.ptr<float>(1)[1] = 1;

calibrateCamera(object_points, image_points, image.size(), intrinsic, distCoeffs, rvecs, tvecs);


Mat imageUndistorted;

for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)
{
printf("\nLoading undistorted Picture..\n");
image = imread(string(stCurPath) + "\\" + (*it).c_str()); //als farbe lesen; doppelter backslash o. normaler    
//resize(image, image, Size(0,0), 0.5, 0.5, INTER_AREA);
cvtColor(image,gray_image,CV_RGB2GRAY);

    cvNamedWindow("win1", 1);
    cvNamedWindow("win2", 1);
    cvMoveWindow("win1",0,0);
    cvMoveWindow("win2",0,0);
    undistort(image, imageUndistorted, intrinsic, distCoeffs);
    imshow("win1", image);
    waitKey(0);
    imshow("win2", imageUndistorted);
    waitKey(30);
    printf("\nPicture loaded. Press s for the next picture or f to exit.");

    char key; 
    bool bOriginalDisplayed = false;

    while(1)
    {
        if (cin.rdbuf()->in_avail())
        {
            key = _getch();
        }

        if('s'==key)
        {
            break;
        }

        if('f' == key)
        {
            return 0;
        }

        Sleep(50);
    } //while (1)



} //for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)








return 0;

}

Answer 1

如果发现问题。我是一个好人，我来这里是为了为将来遇到同样问题的人发布答案。

解决方案:将 obj.clear() 添加到 for 函数中，这样当您向后推时 obj 始终保持相同大小。像这样:

    //Bilder zum persönlichen auswerten anzeigen +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//

for(vector<string>::iterator it = file_names.begin(); it != file_names.end(); ++it)
{
    printf("\nLoading Picture..\n");
    image = imread(string(stCurPath) + "\\" + (*it).c_str()); //als farbe lesen; doppelter backslash o. normaler
    //resize(image, image, Size(0,0), 0.5, 0.5, INTER_AREA);
    cvtColor(image,gray_image,CV_RGB2GRAY);

    obj.clear();
    for(int j=0;j<numSquares;j++)
    {
        obj.push_back(Point3f(j/numCornersHor, j%numCornersHor, 0.0f));
    }//for(int j=0;j<numSquares;j++)

    bool found = findChessboardCorners(image, board_sz, corners, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);

    if(found)

祝您编程愉快。问候，Escore。