Python OpenCV立体摄影机校准阵列错误:TypeError:imagePoints1数据类型=17不受支持

Question

我正在进行一个带有立体相机设置的凝视校正项目。对于我设计的算法，我需要校准相机并校正图像。我也想实时地做这件事。我在尝试使用cv2.stereoCalibrate方法时遇到了一个错误，我已经进行了广泛的搜索并阅读了官方文档，但没有一个能帮助我，即使在修改了我的代码几次之后。

这是：

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

我得到的错误是：TypeError:imagePoints1数据类型=17不受支持

我该怎么办？

Answer 1

从源代码重新编译OpenCV3并重新安装它可以解决这个问题。