OpenCV Python立体校准错误

Question

我仍然使用旧的python CV接口，因为有其他代码我不想迁移到新的python CV2接口。当使用立体校准功能时，当我使用相机校准功能对两台相机进行单独校准时，我已经准备好了所有内置相机参数。我只想找到R T E F矩阵

我得到错误:

SystemError: new style getargs format but argument is not a tuple

以下代码张贴在这里:

import cv
import numpy as np
import os
import shutil
from sys import getsizeof
import time
imagePoints = []
objectPoints = []
pointCounts = []
positions = 10
K1 = np.asarray([(  2303.88696,   0.00000000,   315.330859),
            (  0.00000000,   2303.75915,   234.229586),
            (  0.00000000,   0.00000000,   1.00000000)])
K2 = np.asarray([(  2294.70130,   0.00000000,   320.751796),
            (  0.00000000,   2293.85357,   240.760682),
            (  0.00000000,   0.00000000,   1.00000000)])
distcoeffs1 = np.asarray([( -7.42497976e-03,   3.74099082e+00,  -1.81154814e-03,  3.65969196e-04)])
distcoeffs2 = np.asarray([(  4.05620881e-03,   3.27334706e+00,  -5.00835868e-04,  1.56068477e-03)])
imageSize = (640,480)
R = np.asarray([(0., 0., 0.), (0., 0., 0.), (0., 0., 0.)])
T = np.asarray([(0., 0., 0.), (0., 0., 0.), (0., 0., 0.)])
E = np.asarray([(0., 0., 0.), (0., 0., 0.), (0., 0., 0.)])
F = np.asarray([(0., 0., 0.), (0., 0., 0.), (0., 0., 0.)])
images = range(0,positions)
for numberofimages in images:
    print numberofimages
    temp_output = []
    temp_coord = []
    f_output = file('/home/Desktop/output_stereo/output_cam1_%d.txt' %numberofimages, 'r')
    f_coord = file('/home/Desktop/output_stereo/coord.txt', 'r')    
    for line_output in f_output:
        row_output = line_output.split()
        temp_output = temp_output + [row_output]
    for line_coord in f_coord:
        row_coord = line_coord.split()
        temp_coord = temp_coord + [row_coord]
    count_output = range(0,len(temp_output))
    count_coord = range(0,len(temp_coord))
    for index_output in count_output:
        row_output = temp_output[index_output]      
        imagePoints = imagePoints + [(float(row_output[0]),float(row_output[1]))]
    for index_coord in count_coord:
        row_coord = temp_coord[index_coord] 
        objectPoints = objectPoints + [(float(row_coord[0]),float(row_coord[1]),0)]
    #pointCounts = pointCounts + [len(temp_output)]
imagePoints1 = cv.fromarray(np.asarray(imagePoints))
objectPoints = cv.fromarray(np.asarray(objectPoints))
imagePoints = []
for numberofimages in images:
    print numberofimages
    temp_output = []
    temp_coord = []
    f_output = file('/home/Desktop/output_stereo/output_cam2_%d.txt' %numberofimages, 'r')
    f_coord = file('/home/Desktop/output_stereo/coord.txt', 'r')    
    for line_output in f_output:
        row_output = line_output.split()
        temp_output = temp_output + [row_output]
    for line_coord in f_coord:
        row_coord = line_coord.split()
        temp_coord = temp_coord + [row_coord]
    count_output = range(0,len(temp_output))
    count_coord = range(0,len(temp_coord))
    for index_output in count_output:
        row_output = temp_output[index_output]      
        imagePoints = imagePoints + [(float(row_output[0]),float(row_output[1]))]
    pointCounts = pointCounts + [len(temp_output)]
imagePoints2 = cv.fromarray(np.asarray(imagePoints))
pointCounts = cv.fromarray(np.asarray(np.int32([pointCounts])))
cv.StereoCalibrate(objectPoints, imagePoints1, imagePoints2, pointCounts, cv.fromarray(K1), cv.fromarray(distcoeffs1), cv.fromarray(K2), cv.fromarray(distcoeffs2), imageSize, cv.fromarray(R), cv.fromarray(T), cv.fromarray(E), cv.fromarray(F), cv.CV_CALIB_FIX_INTRINSIC)

stereoccalibrate唯一的参数是一个元组imageSize，但是我已经将它创建为一个元组。其他参数都是CV数组。

哪个参数引起了我的问题?这个错误没有给我任何提示，

Answer 1

如果有人遇到这种情况，您必须在最后一个参数中设置标志。错误并不能很好地说明问题。

应该是:

cv.StereoCalibrate(objectPoints, imagePoints1, imagePoints2, pointCounts, cv.fromarray(K1), cv.fromarray(distcoeffs1), cv.fromarray(K2), cv.fromarray(distcoeffs2), imageSize, cv.fromarray(R), cv.fromarray(T), cv.fromarray(E), cv.fromarray(F), flags = cv.CV_CALIB_FIX_INTRINSIC)

:

cv.StereoCalibrate(objectPoints, imagePoints1, imagePoints2, pointCounts, cv.fromarray(K1), cv.fromarray(distcoeffs1), cv.fromarray(K2), cv.fromarray(distcoeffs2), imageSize, cv.fromarray(R), cv.fromarray(T), cv.fromarray(E), cv.fromarray(F), cv.CV_CALIB_FIX_INTRINSIC)