Crush when calling stereoRectify. bug ? #1802
Description
Hello,
I get an error when calling stereoRectify:
I study works on dynamic projection.
In particular procamalib and procamtracker.
I received a calibration file through procamcalib and copied it into the procamtracker.
When I start tracking I get that error.
I also tried using the camera-projector.yaml from the PapART project, same bad result.
I found that the reason is in the stereoRectify call:
-MainFrame trackingWorker.execute()
----TrackingWorker.doInBackground
--------new ReflectanceInitializer
------------projectorDevice.getRectifyingHomography
-----------------stereoRectify < exception
java.lang.RuntimeException: OpenCV(4.5.5) D:\a\javacpp-presets\javacpp-presets\opencv\cppbuild\windows-x86_64\opencv-4.5.5\modules\calib3d\src\undistort.dispatch.cpp:416: error: (-215:Assertion failed) CV_IS_MAT(_distCoeffs) && (_distCoeffs->rows == 1 || _distCoeffs->cols == 1) && (_distCoeffs->rows*_distCoeffs->cols == 4 || _distCoeffs->rows*_distCoeffs->cols == 5 || _distCoeffs->rows*_distCoeffs->cols == 8 || _distCoeffs->rows*_distCoeffs->cols == 12 || _distCoeffs->rows*_distCoeffs->cols == 14) in function 'cvUndistortPointsInternal'
at org.bytedeco.opencv.global.opencv_calib3d.stereoRectify(Native Method)
Herethe code to reproduce the error:
//left
Mat camera_matrixL = new Mat(3, 3, CvType.CV_64FC1);
DoubleIndexer srcIdx = camera_matrixL.createIndexer();
srcIdx.put(0, 0, new double[]{
725.3432277010294, 0.0, 331.91235060120476,
0.0, 728.0987748056441, 202.35866017353592,
0.0, 0.0, 1.0
});
CvMat distL = CvMat.create(1, 4, CvType.CV_64FC1);
distL.put( 0.013108245708010578, -0.09888522377388584, -0.010077014999011482, 7.506298741617942E-4);
//right
Mat camera_matrixR = new Mat(3, 3, CvType.CV_64FC1);
DoubleIndexer srcIdx2 = camera_matrixR.createIndexer();
srcIdx2.put(0, 0, new double[]{
1940.4781847943073, 0.0, 705.2767131913546,
0.0, 1746.0863675456435, 761.9744425794147,
0.0, 0.0, 1.0
});
CvMat distR = CvMat.create(1, 4, CvType.CV_64FC1);
distR.put(0.0610552152371495, -0.16205979414801663, -0.0028666292947557306, 0.001669682933892569);
Mat T = new Mat(3, 1, CvType.CV_64FC1);
DoubleIndexer tValues = T.createIndexer();
tValues.put(0, 0, new double[]{
-72.9761951228808,
-2.1459919519516935,
-47.133400408948305
});
Mat R = new Mat(3, 3, CvType.CV_64FC1);
DoubleIndexer rValues = R.createIndexer();
rValues.put(0, 0, new double[]{
0.998994700701929, 0.04283205403325078, 0.01322887435710044,
-0.03679788980716183, 0.9520563182488666, -0.303701633496023,
-0.02560279819088608, 0.30290952779618113, 0.952675345904937
});
Mat R1 = new Mat(3, 3, CvType.CV_64FC1);
Mat R2 = new Mat(3, 3, CvType.CV_64FC1);
Mat P1 = new Mat(3, 4, CvType.CV_64FC1);
Mat P2 = new Mat(3, 4, CvType.CV_64FC1);
stereoRectify(
camera_matrixL, cvarrToMat(distL),
camera_matrixR, cvarrToMat(distR),
new Size(320, 240),
R, T,
R1, R2, P1, P2,
new Mat(), 0, -1, new Size(), null, null);
I am expecting the result:
R1:
[0.824128291367248, 0.2237730892907117, 0.5203250559769267;
-0.1439411194838274, 0.9712321753526361, -0.1897077111809877;
-0.5478079166001923, 0.08144732082197473, 0.8326300621771228]
R2:
[0.8397677716164732, 0.0246948320114914, 0.542383863169091;
-0.1047061660396974, 0.9875790002570115, 0.1171509156798576;
-0.5327538911613602, -0.1551704982375387, 0.8319227175219726]
P1:
[0, 0, 0, 0;
0, 0, 0, 0;
0, 0, 0, 0]
P2:
[0, 0, 0, 0;
0, 0, 0, 0;
0, 0, 0, 0]