Python OpenCV立體相機校準陣列錯誤：類型錯誤：imagePoints1數據類型= 17不支持

我正在進行一個凝視校正項目，立體相機設置。對於我設計的算法，我需要校準相機並校正圖像。我也想要實時做到這一點。嘗試使用cv2.stereoCalibrate方法時出現錯誤，我搜索了很多內容，並閱讀了官方文檔，但沒有一個能夠幫助我，甚至在重新編寫代碼幾次之後。Python OpenCV立體相機校準陣列錯誤：類型錯誤：imagePoints1數據類型= 17不支持

這就是：

import cv2 
import numpy as np 
import Camera 

def calibrate(camera1, camera2): 
    if(isinstance(camera1, Camera.Camera) & isinstance(camera2, Camera.Camera)): 
     pass 
    else: 
     raise ValueError("Wrong input types. Expecting: <Camera>, <Camera> \n Got: <" + 
         str(camera1.__class__) +'>, <' + str(camera2.__class__) +'>.\n') 
    #instantiate Real-world object point matrix 
    objPoints = np.zeros(((9*6), 3), np.int32) 
    objPoints[:,:2] = np.mgrid[0:9,0:6].T.reshape(-1,2) 

    #Chessboard pattern dimesntions 
    dims = (9, 6) 

    #2 arrays to store 3D and 2D object points 
    objPArray = [] 
    imgPArrayr = [] 
    imgPArrayl = [] 

    #some useful matrices 
    R = [] # rotation matrix 
    T = [] # translation vector beterwwn coordinate systems 
    E = [] # essential matrix 
    F = [] #fundamental matrix 
    Q = [] #disparity to depth mapping matrix 

    criteria = (cv2.TERM_CRITERIA_MAX_ITER + cv2.TERM_CRITERIA_EPS, 
       100, 1e-5) 
    flags = (cv2.CALIB_FIX_ASPECT_RATIO + cv2.CALIB_ZERO_TANGENT_DIST + 
      cv2.CALIB_SAME_FOCAL_LENGTH + cv2.CALIB_FIX_INTRINSIC) 

    ret,imgr = camera1.read() 
    ret,imgl = camera2.read() 

    #Converting to greyscale, as OpenCV requires it for calibration 
    grey_imgr = cv2.cvtColor(imgr, cv2.COLOR_BGRA2GRAY) 
    grey_imgl = cv2.cvtColor(imgl, cv2.COLOR_BGRA2GRAY) 


    ret, cornersr =cv2.findChessboardCorners(grey_imgr,dims) 
    cv2.drawChessboardCorners(grey_imgr, dims,cornersr,0) 

    ret, cornersl =cv2.findChessboardCorners(grey_imgl,dims) 
    cv2.drawChessboardCorners(grey_imgl, dims, cornersl,0) 

    cv2.imshow("chessboard", grey_imgr) 
    cv2.imshow("chessboard1", grey_imgl) 

    imgPArrayl.append(cornersl) 
    imgPArrayr.append(cornersr) 
    objPArray.append(objPoints) 
    ''' 
    cv2.imwrite("./test_images/img_r"+str(i)+".jpg",imgr) 
    cv2.imwrite("./test_images/img_l"+str(i)+".jpg",imgl) 
    i+=1 
    ''' 

    objPArray = [np.asarray(x) for x in objPArray] 
    imgPArrayl = [np.asarray(x) for x in imgPArrayl] 
    imgPArrayr = [np.asarray(x) for x in imgPArrayr] 

    print imgPArrayl 
    print imgPArrayr 

    retvalCalib, cameraMatrixl, distCoeffsl, cameraMatrixr, distCoeffsr, R, T, E, F =\ 
     cv2.stereoCalibrate(objPArray, 
          imgPArrayl, 
          imgPArrayr, 
          (9*6), 
          None, 
          None, 
          None, 
          None, 
          (640,480), 
          criteria, 
          flags) 

    return retvalCalib, cameraMatrixl, distCoeffsl, cameraMatrixr, distCoeffsr, R, T, E, F

我得到的錯誤是：類型錯誤：imagePoints1數據類型= 17不支持

我該怎麼辦？

來源

2015-12-03 Vladislav Boshnakov

可能你提供了一些額外的信息：** OpenCV **版本，python版本和你做了什麼努力？顯然在你的情況'cv2.stereoCalibrate'不接受你的點數組（'imgPArrayl'），但是我不能用** OpenCV 3.0.0 **重現這個錯誤。 – avtomaton

OpenCV3與Python 2.7。我查看了文檔，並嘗試了各種不同的參數傳遞給函數。我也改變了數組單元格的變量定義（在np.int/float/double/32/64之間） –

從源重新編譯OpenCV3並重新安裝它可消除此問題。

來源

2016-02-10 15:12:17

Python OpenCV立體相機校準陣列錯誤：類型錯誤：imagePoints1數據類型= 17不支持

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