opencvのstereocalibrateについて

[rantam]

ステレオ画像から3次元点群を描画するために,2枚の画像をキャリブレーションするプログラムを組んでいます.
stereocalibrate関数のところで,どうしてもアサーションエラーがでてきてしまいます.
ちなみに1か月ほど前までVisual Studio 2010を利用していたときは実行できていました.

objectPointやimagePointの中身は正しく入っていることと,
長さが同じであることは確認しております.
動作は別で求めていたカメラ行列と歪み行列の値をそのまま代入し,歪み補正を行ってから
ステレオキャリブレーション・平行化処理を行います.

エラー内容:
OpenCV Error: Assertion failed (ni >= 0) in cv::collectCalibrationData, file ..\..\..\..\opencv\modules\calibration.cpp, line 3169

環境:
Visual Studio 2013
OpenCV 2.4.9

どなたかご教授お願いいたします.

コード:

#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <stdio.h>
#include <opencv2/opencv.hpp>
using namespace cv;
using namespace std;
int main(int argc, char* argv[])
{
	//numBoardsは左・右片方だけの数
	//チェッカーボードはdata2, 3の計25枚
	int numBoards = 17;
	int board_w = 10;
	int board_h = 7;
	Size board_sz = Size(board_w, board_h);
	int board_n = board_w*board_h;
	vector<vector<Point3f> > object_points;
	vector<vector<Point2f> > imagePoints1, imagePoints2;
	vector<Point2f> corners1, corners2;
	vector<Point3f> obj;
	Mat gray1, gray2;
	vector<cv::Mat> imgL, imgR;

	for (int j = 0; j < board_n; j++)
	{
		obj.push_back(Point3f(j / board_w, j%board_w, 0.0f));
	}

	//画像読み込み,vecter<Mat>imgLにL画像, vector<Mat>imgRにR画像
	for (int i = 0; i < numBoards; i++) {
		std::stringstream stream;
		std::stringstream stream2;
		stream << "non_undistort/1280_960/l" << i + 1 << ".JPG";
		stream2 << "non_undistort/1280_960/r" << i + 1 << ".JPG";
		std::string	fileName = stream.str();
		std::string	fileName2 = stream2.str();
		imgL.push_back(cv::imread(fileName));
		imgR.push_back(cv::imread(fileName2));
		cout << "Load checker image: " << fileName << endl;
		cout << "Load checker image: " << fileName2 << endl;
	}

	Mat cameraMatrix(3, 3, CV_64F);
	Mat distCoeffs(1, 5, CV_64F);

	// 1280*960
	cameraMatrix.at<double>(0, 0) = 763.551851863385;
	cameraMatrix.at<double>(0, 2) = 651.0497287068629;
	cameraMatrix.at<double>(1, 1) = 760.6083431310567;
	cameraMatrix.at<double>(1, 2) = 475.4119088803083;

	cameraMatrix.at<double>(0, 1) = 0;
	cameraMatrix.at<double>(1, 0) = 0;
	cameraMatrix.at<double>(2, 0) = 0;
	cameraMatrix.at<double>(2, 1) = 0;
	cameraMatrix.at<double>(2, 2) = 1;
	distCoeffs.at<double>(0, 0) = -0.2783040792372516;
	distCoeffs.at<double>(0, 1) = 0.1490571653850003;
	distCoeffs.at<double>(0, 2) = 0.002587035974869547;
	distCoeffs.at<double>(0, 3) = 0.0006115474139258526;
	distCoeffs.at<double>(0, 4) = -0.06305566979276371;

	vector<Mat> undistImgL, undistImgR;
	cv::Mat tmp(imgL[0].rows, imgL[0].cols, CV_8UC1);

	// 歪み補正(L, R)
	for (int i = 0; i < numBoards; i++){
		undistImgL.push_back(tmp);
		undistImgR.push_back(tmp);
		undistort(imgL[i], undistImgL[i], cameraMatrix, distCoeffs);
		undistort(imgR[i], undistImgR[i], cameraMatrix, distCoeffs);
	}

	//imshow("non_undistort", imgL[0]);
	//imshow("undistort", undistImgL[0]);
	waitKey(0);

	int success = 0, k = 0, num = 0;
	bool found1 = false, found2 = false;

	while (success < numBoards)
	{
		cv::Mat img1 = undistImgL[num];
		cv::Mat img2 = undistImgR[num];

		cvtColor(img1, gray1, CV_BGR2GRAY);
		cvtColor(img2, gray2, CV_BGR2GRAY);

		//チェッカーボード探し・キャリブレーション描画
		found1 = findChessboardCorners(img1, board_sz, corners1, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
		found2 = findChessboardCorners(img2, board_sz, corners2, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS);
		if (found1){
			cornerSubPix(gray1, corners1, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
			drawChessboardCorners(gray1, board_sz, corners1, found1);
		}
		if (found2){
			cornerSubPix(gray2, corners2, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1));
			drawChessboardCorners(gray2, board_sz, corners2, found2);
		}
		//キャリブレーション結果表示
		//imshow("image1", gray1);
		//imshow("image2", gray2);
		k = waitKey(10);

		if (found1 && found2){
			k = waitKey(0);
		}
		if (k == 27){ //ESCキーでブレイク
			break;
		}
		if (found1 != 0 && found2 != 0){
			imagePoints1.push_back(corners1);
			imagePoints2.push_back(corners2);
			object_points.push_back(obj);
			printf("Corners stored\n");
			success++;
			if (success >= numBoards){
				break;
			}
		}
		num++;
	}

	destroyAllWindows();
	printf("Starting Calibration\n");
	Mat CM1 = Mat(3, 3, CV_64FC1);
	Mat CM2 = Mat(3, 3, CV_64FC1);
	Mat D1, D2;
	Mat R, T, E, F;

	object_points.resize(numBoards, object_points[0]);
	stereoCalibrate(object_points, imagePoints1, imagePoints2,
		CM1, D1, CM2, D2, undistImgL[0].size(), R, T, E, F,
		cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
		CV_CALIB_SAME_FOCAL_LENGTH | CV_CALIB_ZERO_TANGENT_DIST);

	FileStorage fs1("mystereocalib.txt", FileStorage::WRITE);
	fs1 << "CM1" << CM1;
	fs1 << "CM2" << CM2;
	fs1 << "D1" << D1;
	fs1 << "D2" << D2;
	fs1 << "R" << R;
	fs1 << "T" << T;
	fs1 << "E" << E;
	fs1 << "F" << F;
	printf("Done Calibration\n");
	printf("Starting Rectification\n");
	Mat R1, R2, P1, P2, Q;
	stereoRectify(CM1, D1, CM2, D2, imgL[0].size(), R, T, R1, R2, P1, P2, Q);
	fs1 << "R1" << R1;
	fs1 << "R2" << R2;
	fs1 << "P1" << P1;
	fs1 << "P2" << P2;
	fs1 << "Q" << Q;
	printf("Done Rectification\n");
	printf("Applying Undistort\n");
	Mat map1x, map1y, map2x, map2y;
	Mat imgU1, imgU2;
	initUndistortRectifyMap(CM1, D1, R1, P1, imgL[0].size(), CV_32FC1, map1x, map1y);
	initUndistortRectifyMap(CM2, D2, R2, P2, imgR[0].size(), CV_32FC1, map2x, map2y);
	printf("Undistort complete\n");

	num = 0;
	while(1)
	{
		cv::Mat img1 = undistImgL[num];
		cv::Mat img2 = undistImgR[num];
		remap(img1, imgU1, map1x, map1y, INTER_LINEAR, BORDER_CONSTANT, Scalar());
		remap(img2, imgU2, map2x, map2y, INTER_LINEAR, BORDER_CONSTANT, Scalar());
		imshow("image1", imgU1);
		//imshow("image2", imgU2);
		if(num == 0){
			imwrite("unsdist_rectifyL.jpg", imgU1);
			imwrite("unsdist_rectifyR.jpg", imgU2);
		}
		k = waitKey(0);
		if(k==27)
		{
			break;
		}
		num++;
		
	}
	//最後動作止まるけどなんでだろう
	return 0;
}

[rantam]

質問者ですが, 解決いたしました.

前までVisual Studio 2010を利用しており, そちらで実行するとうまく動作いたしました.
多分マシン側が原因で, VS2010とVS2013が競合してしまっていたからだと思われます.
(マシン内部の仕組みについてはド素人ですのであくまで想定ですが)
古いバージョンのVSはアンインストールしなければならないことを再認識いたしました.

もし同じようなエラーが出た方がいらっしゃった時のために参考までに.