cv2.findEssentialMat() Error with 2 cameraMatrix

[MikeBrownse]

Hello, there shows an error when I use function 'cv2.findEssentialMat()'.

I want to calculate the essential matrix between images taken by two cameras with different camera matrix , so I wrote my code as follows:

e, mask = cv2.findEssentialMat(points1=pts1, points2=pts2, cameraMatrix1=k1, distCoeffs1=dist1, cameraMatrix2=k2, distCoeffs2=dist2, method=cv2.RANSAC, prob=0.999, threshold=1.0)

but I got an '-215:Assertion failed' error:

cv2.error: OpenCV(4.9.0) D:\a\opencv-python\opencv-python\opencv\modules\calib3d\src\undistort.dispatch.cpp:592: error: (-215:Assertion failed) npoints >= 0 && src.isContinuous() && (depth == CV_32F || depth == CV_64F) in function 'cv::undistortPoints'

Oddly enough, the D drive does not exist in my computer.

Other information (versions):

• conda 23.7.4 (Anaconda)
• python 3.9.7
• opencv-python 4.9.0.80

Did I pass in the wrong parameters or is this due to something else?

It's been bothering me for a long time. Looking forward to a reply... TAT

[coolashishpt]

may be this error you are getting because of incorrect use of arguments in the cv2.findEssentialMat() function

try this :

e, mask = cv2.findEssentialMat(pts1, pts2, k1, method=cv2.RANSAC, prob=0.999, threshold=1.0)

else : refer this https://stackoverflow.com/questions/54734538/opencv-assertion-failed-215assertion-failed-npoints-0-depth-cv-32

[MikeBrownse]

Thank you for your reply. I checked the documentation about this function and the two Points passed in need to be first normalized according to the CameraMatrix in order to use this function.
OpenCV: Camera Calibration and 3D Reconstruction

But what still puzzles me is that if this is the case, why provide the usage of including two CameraMatrix, which I misinterpreted to mean that it is possible to pass in two different CameraMatrix.

may be this error you are getting because of incorrect use of arguments in the cv2.findEssentialMat() function

try this :

e, mask = cv2.findEssentialMat(pts1, pts2, k1, method=cv2.RANSAC, prob=0.999, threshold=1.0)

else : refer this https://stackoverflow.com/questions/54734538/opencv-assertion-failed-215assertion-failed-npoints-0-depth-cv-32