相机标定opencv

你好，我正在做一个项目来进行图像 3D 重建。我正在校准相机的阶段，这需要很长时间才能完成。但是当我编译代码并在相机前显示棋盘时，它会直接进入未处理的异常错误。

当图片不在框架中时，一旦进入框架就没有错误，出现未处理的错误我不知道为什么。

我问了很多人，似乎没有人可以提供帮助。

这是我的代码

#include <cv.h>
#include <highgui.h>
#include <vector>
#include <stdlib.h>
#include <stdio.h>

using namespace cv;
using namespace std;

int main()
{
    int numBoards = 0;
    int numCornersHor;
    int numCornersVer;

    printf("Enter number of corners along width: ");
    scanf("%d", &numCornersHor);

    printf("Enter number of corners along height: ");
    scanf("%d", &numCornersVer);

    printf("Enter number of boards: ");
    scanf("%d", &numBoards);

    int numSquares = numCornersHor * numCornersVer;
    Size board_sz = Size(numCornersHor, numCornersVer);
    VideoCapture capture = VideoCapture(0);

    vector<vector<Point3d>> object_points;
    vector<vector<Point2d>> image_points;

    vector<Point2d> corners;
    int successes=0;

    Mat image;
    Mat gray_image;
    capture >> image;

    vector<Point3d> obj;
    for(int j=0;j<numSquares;j++)
        obj.push_back(Point3d(j/numCornersHor, j%numCornersHor, 0.0f));

    while(successes<numBoards)
    {
        cvtColor(image, gray_image, CV_BGR2GRAY);

        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);
        }

        imshow("win1", image);
        imshow("win2", gray_image);

        capture >> image;

        int key = waitKey(1);

        if(key==27)
            return 0;

        if(key==' ' && found!=0)
        {
            image_points.push_back(corners);
            object_points.push_back(obj);
            printf("Snap stored!\n");

            successes++;

            if(successes>=numBoards)
                break;
        }
    }

    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;
    while(1)
    {
        capture >> image;
        undistort(image, imageUndistorted, intrinsic, distCoeffs);

        imshow("win1", image);
        imshow("win2", imageUndistorted);

        waitKey(1);
    }

    capture.release();

    return 0;
}

我在控制台上得到的错误是

OpenCV 错误：未知函数文件中断言失败（ncorners >=0 &&corners.depth() == CV_32F），文件 .....\src\opencv\modules\imgproc\src\cornersubpix.cpp，第 257 行。

错误对话框显示

basiccalibration.exe 中 0x769afc16 处出现未处理的异常：Microsoft C++ 异常：内存位置 0x0021f51c 处的 cv::Exception。

如有帮助，将不胜感激。 谢谢

使用 Point2f 和 Point3f 而不是 Point2d 和 Point3d。请阅读断言文本。它需要 CV_32F 深度结构。