OpenCV Python 立体标定错误

Question

我现在还在用旧版的Python CV接口，因为有些代码我不想迁移到新的Python CV2接口。当我使用立体标定函数时，我已经准备好了所有相机的内参，因为我之前用cameraCalibrate函数对两个相机进行了单独的标定。我只想找到R、T、E和F这几个矩阵。

我遇到了一个错误：

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

这里贴出了相关的代码：

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)

在StereoCalibrate函数中，只有一个参数是元组类型，那就是imageSize，但我已经把它创建成了元组。其他的参数都是CV数组。

到底是哪个参数导致了这个问题呢？错误信息没有给我任何提示。

错误调试 opencv E矩阵立体标定相机内参 R矩阵 T矩阵 F矩阵

OpenCV Python 立体标定错误

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