I'm trying to calibrate my video camera feed with the chessboard functions. calibratecamera and undistort functions but it always crashes on calibrate camera with a windows memory exception after viewing, displaying and saving the chesboard corners. Here is the code below:
using namespace cv;
using namespace std;
int main()
{
Mat img = imread("TestChessboard.png", CV_LOAD_IMAGE_UNCHANGED);
int numBoards = 1;
float numCornersHor = 6;
float numCornersVer = 5;
int numSquares = (int)numCornersHor * (int)numCornersVer;
Size board_sz = Size((int)numCornersHor, (int)numCornersVer);
VideoCapture capture = VideoCapture(0);
vector> object_points;
vector> image_points;
vector corners;
int successes = 0;
Mat image;
Mat gray_image;
vector obj;
for (int j = 0;j < numSquares;j++)
obj.push_back(Point3f((float)floor(j / numCornersHor), (float)(j % (int)numCornersHor), 0.0f));
while (successes < numBoards)
{
capture >> image;
//cvtColor(image, gray_image, CV_BGR2GRAY);
//cvtColor(img, gray_image, CV_BGR2GRAY);
int kernel_size = 3;
bool found = findChessboardCorners(image, board_sz, corners, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
if (found)
{
cornerSubPix(image, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(image, board_sz, corners, found);
}
imshow("win", gray_image);
int key = waitKey(1);
if (key == 27)
return 0;
if (key == ' ' && found != 0)
{
image_points.push_back(corners);
object_points.push_back(obj);
printf("Snap stored!");
successes++;
if (successes >= numBoards)
break;
}
}
Mat intrinsic = Mat(3, 3, CV_32FC1);
Mat distCoeffs;
vector rvecs;
vector tvecs;
intrinsic.ptr(0)[0] = 1;
intrinsic.ptr(1)[1] = 1;
calibrateCamera(object_points, image_points, Size(image.rows, image.cols), intrinsic, distCoeffs, rvecs, tvecs);
Mat imageUndistorted;
while (1)
{
capture >> image;
undistort(image, imageUndistorted, intrinsic, distCoeffs);
imshow("win1", image);
imshow("win", image);
waitKey(1);
}
capture.release();
return 0;
}
Which returns the error (at different memory locations every time, don't know if that's relevant):
Exception thrown at 0x000007FEFD47A06D in OpenCVC++.exe: Microsoft C++ exception: cv::Exception at memory location 0x00000000002A8190.
Help would be very much appreciated!
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