Hi,
I'm trying to rewrite the stereo calibrate example in Java. I think I did things okayish but I got an error I don't understand how it can happen :
OpenCV Error: Assertion failed (K.size() == Size(3, 3) && (D.empty() || D.total() == 4)) in initUndistortRectifyMap, file /home/yolteotl/opencv/opencv-3.0.0/modules/calib3d/src/fisheye.cpp, line 410
Exception in thread "main" CvException [org.opencv.core.CvException: cv::Exception: /home/yolteotl/opencv/opencv-3.0.0/modules/calib3d/src/fisheye.cpp:410: error: (-215) K.size() == Size(3, 3) && (D.empty() || D.total() == 4) in function initUndistortRectifyMap
]
at org.opencv.calib3d.Calib3d.initUndistortRectifyMap_0(Native Method)
at org.opencv.calib3d.Calib3d.initUndistortRectifyMap(Calib3d.java:834)
at com.yolt.server.calibration.Calibration.calibrate(Calibration.java:267)
at com.yolt.server.GUI.(GUI.java:67)
at com.yolt.server.ServerApplication.main(ServerApplication.java:30)
The correspond code :
Mat cameraMatrix[] = new Mat[]{Mat.eye(3, 3, CvType.CV_64F),
Mat.eye(3, 3, CvType.CV_64F)};
Mat distCoef[] = new Mat[]{new Mat(), new Mat()};
Mat rMat = new Mat();
Mat tMat = new Mat();
Mat eMat = new Mat();
Mat fMat = new Mat();
double rms = Calib3d.stereoCalibrate(objectsPoint, cornersMatLeftList, cornersMatRightList,
cameraMatrix[0], distCoef[0], cameraMatrix[1], distCoef[1],
imgSize, rMat, tMat, eMat, fMat, CALIB_FLAGS, CALIB_CRITERIA);
System.out.println("Calibration done with RMS error=" + rms);
m1 = cameraMatrix[0];
m2 = cameraMatrix[1];
d1 = distCoef[0];
d2 = distCoef[1];
System.out.println("matrix saved");
r1 = new Mat();
r2 = new Mat();
p1 = new Mat();
p2 = new Mat();
qMat = new Mat();
Calib3d.stereoRectify(m1, d1, m2, d2, imgSize, rMat, tMat, r1, r2, p1, p2, qMat);
mx1 = new Mat();
mx2 = new Mat();
my1 = new Mat();
my2 = new Mat();
Calib3d.initUndistortRectifyMap(m1, d1, r1, p1, imgSize, CvType.CV_16SC2, mx1, my1);
Calib3d.initUndistortRectifyMap(m2, d2, r2, p2, imgSize, CvType.CV_16SC2, mx2, my2);
The error is coming from the initUndistortRectifyMap line, and from the d1 / d2 which are not empty and total() = 5 instead of 4. How this can happen whereas I didn't modify those Mat and I'm just using the returned Mat from stereoRectify() ?
Any help would be welcome!
Edit : If this can help, I'm using those flags to calibrate / findChessboard :
private static final int CORNERS_FLAGS = Calib3d.CALIB_CB_FAST_CHECK
| Calib3d.CALIB_CB_NORMALIZE_IMAGE;
private static final int CALIB_FLAGS = Calib3d.CALIB_FIX_ASPECT_RATIO
| Calib3d.CALIB_ZERO_TANGENT_DIST
| Calib3d.CALIB_SAME_FOCAL_LENGTH;
private static final TermCriteria CORNERS_CRITERIA = new TermCriteria(TermCriteria.EPS
+ TermCriteria.MAX_ITER, 40, 0.001);
private static final TermCriteria CALIB_CRITERIA = new TermCriteria(TermCriteria.COUNT
+ TermCriteria.EPS, 100, 0.00001);
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