cvCalibrateCamera2 - problem

[littledragon_ike]

i've got a severe problem with cvcalibrate2...

maybe one of you can help me...

i've got a correspondence list where coordinates of my 3D calibration
rig are assigned to 2d image coordinates...

when i call cvcalibrate2 i receive an Bas argument exception...
it says that for non-planar calibration rigs i had to specify an
initial intrinsic matrix... that's funny because I specified it (as
you can see in the code...)

Can anybody imagine what I'm doing wrong ?

#include 

#include 

#include 

#include 

#include "cv.h"

#include "cxcore.h"

#include "highgui.h"

using namespace std;

void main (void) {

ifstream infile;

infile.open ("correspondence_list1_mikeda.txt", ifstream::in);

int x,y,z,n1,n2,n3,u,v;

vector modelPointArrX;

vector modelPointArrY;

vector modelPointArrZ;

vector imagePointArrX;

vector imagePointArrY;

while (!infile.eof()) {

infile >> x;

infile >> y;

infile >> z;

infile >> u;

infile >> v;

infile >> n1;

infile >> n2;

infile >> n3;

modelPointArrX.push_back(x);

modelPointArrY.push_back(y);

modelPointArrZ.push_back(z);

imagePointArrX.push_back(u);

imagePointArrY.push_back(v);

}

infile.close();

CvMat* pModelPoints = cvCreateMat(modelPointArrX.size(), 3, CV_64FC1);

CvMat* pImagePoints = cvCreateMat(imagePointArrX.size(), 2, CV_64FC1);

CvMat* pPointCounts = cvCreateMat(1, 1, CV_32SC1);

CvMat* pIntrinsicMat = cvCreateMat(3, 3, CV_64FC1);

CvMat* pDistortionCoeffs = cvCreateMat(4, 1, CV_64FC1);

CvMat* rotation_vectors = cvCreateMat(1, 3, CV_64FC1);

CvMat* translation_vectors = cvCreateMat(1, 3, CV_64FC1);

CvSize size = cvSize(1536,512);

pPointCounts->data.i[0] = modelPointArrX.size();

cvmSet(pIntrinsicMat, 0, 0, 8.0); cvmSet(pIntrinsicMat, 0, 1,

0.0); cvmSet(pIntrinsicMat, 0, 2, 768.0);

cvmSet(pIntrinsicMat, 1, 0, 0.0); cvmSet(pIntrinsicMat, 1, 1,

8.0); cvmSet(pIntrinsicMat, 1, 2, 256.0);

cvmSet(pIntrinsicMat, 2, 0, 0.0); cvmSet(pIntrinsicMat, 2, 1,

0.0); cvmSet(pIntrinsicMat, 2, 2, 1.0);

for(int i = 0; i < modelPointArrX.size(); i++) {

cvmSet(pModelPoint
s, i, 0, modelPointArrX);

cvmSet(pModelPoints, i, 1, modelPointArrY);

cvmSet(pModelPoints, i, 2, modelPointArrZ);

}

for(int i = 0; i < modelPointArrX.size(); i++) {

cvmSet(pImagePoints, i, 0, imagePointArrX);

cvmSet(pImagePoints, i, 1, imagePointArrY);

}

cvCalibrateCamera2(pModelPoints, pImagePoints, pPointCounts, size,

pIntrinsicMat, pDistortionCoeffs, rotation_vectors,

translation_vectors, 0);

//cvCalibrateCamera2(pModelPoints, pImagePoints, pPointCounts, size,

pIntrinsicMat, pDistortionCoeffs, rotation_vectors,

translation_vectors, CV_CALIB_USE_INTRINSIC_GUESS);

cout << "FocalLength_X : " << cvmGet(pIntrinsicMat, 0, 0) << endl;

cout << "FocalLength_Y : " << cvmGet(pIntrinsicMat, 1, 1) << endl;

cout << "PrincipalPoint_X : " << cvmGet(pIntrinsicMat, 0, 2) << endl;

cout << "PrincipalPoint_Y : " << cvmGet(pIntrinsicMat, 1, 2) << endl;

cout << "Radial Distortion 1 : " << cvmGet(pDistortionCoeffs, 0, 0)

<< endl;

cout << "Radial Distortion 2 : " << cvmGet(pDistortionCoeffs, 1, 0)

<< endl;

cout << "Tangential Distortion 1 : " << cvmGet(pDistortionCoeffs, 2,

0) << endl;

cout << "Tangential Distortion 2 : " << cvmGet(pDistortionCoeffs, 3,

0) << endl;

string inputFileName = "testimage.bmp" ;

string resultFileName = "testimage_undistorted.bmp" ;

// Open the source image

IplImage* pSourceImage = cvLoadImage(inputFileName.c_str(), -1);

if(pSourceImage == 0)

return ;

// Create destination image

IplImage* pDestinationImage = cvCloneImage(pSourceImage);

// Undistort image

cvUndistort2(pSourceImage, pDestinationImage, pIntrinsicMat,

pDistortionCoeffs);

cvSaveImage(resultFileName.c_str(), pDestinationImage);

cvReleaseImage(&pDestinationImage);

cvReleaseImage(&pSourceImage);

cvReleaseMat(&pDistortionCoeffs);

cvReleaseMat(&pIntrinsicMat);

cvReleaseMat(&pPointCounts);

cvReleaseMat(&pImagePoints);

cvReleaseMat(&pModelPoints);

_getch();

}