OpenCV calibrateCamera(）断言失败

我已经尝试使用Opencv calibrateCamera（）函数校准我的相机很长一段时间了。我遵循了opencv示例程序中描述的相同程序。我正在尝试首先加载10个9 x 6的棋盘图像。然后找到棋盘角。如果发现角，则角的像素位置被存储在向量<向量<Point2f>>图像点。对所有图像执行此操作后，将执行runCalibrationAndSave part。在runCalibrationAndSave中，执行第一个runCalibration部分，其中填充ObjectPoints（类型为vector<vector<Point3f>>）具有角的实际坐标值。到目前为止，代码运行良好，不会出现任何问题。棋盘角被精确地找到，并且ImagePoints矢量也被矢量填充。但当它进入calibrateCamera（）部分时，OpenCV:：断言失败，出现以下错误：

OpenCV错误：

断言失败（nimages>0&&nimages==（int）imagePoints1.total（）&amp；（！imgPtMat2||nimages==（int）imagePoints2.total（）））collectCalibrationData，文件//modules/calib3d/src/calibration.cpp，第3164行

我对同一个问题做了一些研究，发现这个问题通常发生在ObjectPoints向量和ImagePoints向量长度不相等或填充不正确的情况下。但在我的例子中，我已经在调试模式中检查了两个向量是否正确地填充了相等的长度。作为参考，我附上了在calibrateCamera（）部分之前正确运行的代码部分，然后断言失败。

#include <iostream>
#include <sstream>
#include <time.h>
#include <stdio.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>

using namespace cv;
using namespace std;
class Settings
{public:
Size boardSize;            
float squareSize;          

};
bool runCalibrationAndSave(Settings& s, Size imageSize, Mat&  cameraMatrix, Mat& distCoeffs,
                       vector<vector<Point2f> > imagePoints );
int main()
{
Settings s;
s.boardSize.width =9;
s.boardSize.height=6;
s.squareSize=50;
  Mat cameraMatrix, distCoeffs;
Size imageSize;
char filename[512];
vector<vector<Point2f> > imagePoints;
for(int counter=0; counter<10; counter++)        
{sprintf( filename, "chessboard%d.jpg", counter );
IplImage* img = cvLoadImage(filename);

 cv::Mat& m = cv::cvarrToMat(img);
Mat pointBuf = Mat::zeros(54,2,CV_32FC1);
vector<Point2f> pointBuf_vec;
bool found=false;

found = findChessboardCorners( m,s.boardSize, pointBuf,CV_CALIB_CB_ADAPTIVE_THRESH |    CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
if(found)
{
cout<<"check"<<endl;
Mat viewGray;
                cvtColor(m, viewGray, CV_BGR2GRAY);
                cornerSubPix( viewGray, pointBuf, Size(11    ,11),Size(-1,-1),         TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
 drawChessboardCorners( m, s.boardSize, Mat(pointBuf), found );

pointBuf_vec.clear();
 for(int i=0;i<54;i++)
 {
 Point2f temp;
 temp.x=pointBuf.at<float>(i,0);
 temp.y=pointBuf.at<float>(i,1);
 pointBuf_vec.push_back(temp);
 }
 imagePoints.push_back(pointBuf_vec);


}

imshow("Example1",m);
cvWaitKey(); 
imageSize = m.size();
}
runCalibrationAndSave(s, imageSize,  cameraMatrix, distCoeffs, imagePoints);
return 0;

}

static void calcBoardCornerPositions(Size boardSize, float squareSize,     vector<Point3f>& corners)
{
corners.clear();
    for( int i = 0; i < boardSize.height; i++ )
        for( int j = 0; j < boardSize.width; j++ )
           { corners.push_back(Point3f(float( j*squareSize ), float( i*squareSize ), 0));
        }
}
 static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat&   distCoeffs,
                        vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs,   vector<Mat>& tvecs,
                        vector<float>& reprojErrs,  double& totalAvgErr)
 {
cameraMatrix = Mat::eye(3, 3, CV_64F);
 //   if( s.flag & CV_CALIB_FIX_ASPECT_RATIO )
 //      cameraMatrix.at<double>(0,0) = 1.0;
  distCoeffs = Mat::zeros(8, 1, CV_64F);
  vector<vector<Point3f> > objectPoints;
  Mat object_pointBuf = Mat::zeros(s.boardSize.width*s.boardSize.height,3,CV_32FC1);
    vector<Point3f> object_pointBuf_vec;
  calcBoardCornerPositions(s.boardSize, s.squareSize, object_pointBuf_vec);
  for(int k=0;k<imagePoints.size();k++)
  {
    objectPoints.push_back(object_pointBuf_vec);
  }


 // objectPoints.resize(imagePoints.size(),objectPoints[0]);
  //Find intrinsic and extrinsic camera parameters
  double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
                             distCoeffs, rvecs, tvecs, /*s.flag|*  /CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
  cout << "Re-projection error reported by calibrateCamera: "<< rms << endl;
  bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
 //   totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
                                  //       rvecs, tvecs, cameraMatrix, distCoeffs,   reprojErrs);
  return ok;
}

bool runCalibrationAndSave(Settings& s, Size imageSize, Mat&  cameraMatrix, Mat&     distCoeffs,vector<vector<Point2f> > imagePoints )
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
 bool ok = runCalibration(s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs,   tvecs,
                         reprojErrs, totalAvgErr);
  cout << (ok ? "Calibration succeeded" : "Calibration failed")
    << ". avg re projection error = "  << totalAvgErr ;

 return ok;
} 

我使用的是Visual C++和Opencv 2.4.9。请帮我解决这个问题。这是我第一次在SO中提问，如果我在提问中犯了任何错误，请告诉我。感谢您提前提供帮助。