OpenCV Error: Assertion failed (CV_IS_MAT(_src) && CV_IS_MAT(_dst) && (_src->rows == 1 || _src->cols == 1) && (_dst->rows == 1 || _dst->cols == 1) && _src->cols + _src->rows - 1 == _dst->rows + _dst->cols - 1 && (CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) && (CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2)) in cvUndistortPoints, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/imgproc/src/undistort.cpp, line 293 *** RuntimeError: /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/imgproc/src/undistort.cpp:293: error: (-215) CV_IS_MAT(_src) && CV_IS_MAT(_dst) && (_src->rows == 1 || _src->cols == 1) && (_dst->rows == 1 || _dst->cols == 1) && _src->cols + _src->rows - 1 == _dst->rows + _dst->cols - 1 && (CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) && (CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2) in function cvUndistortPoints

[sunshineywz123]

ipdb> boxx.tree(corrs)
└── /: (100, 5)float64
ipdb> corrs = np.concatenate((pts_2d, pts_3d), axis=1).astype(np.float32)
ipdb> pose, mask = pygcransac.find6DPose(
                    np.ascontiguousarray(corrs),
                    min_iters = 50,
                    max_iters = 1000,
                    probabilities = [], # Inlier probabilities. This is not used if the sampler is not 3 (NG-RANSAC) or 4 (AR-Sampler)
                    sampler = 0, # Sampler index (0 - Uniform, 1 - PROSAC, 2 - P-NAPSAC, 3 - NG-RANSAC, 4 - AR-Sampler)
                    threshold = normalized_threshold,  # Inlier-outlier threshold
                    conf = 0.99) # RANSAC confidence

OpenCV Error: Assertion failed (CV_IS_MAT(_src) && CV_IS_MAT(_dst) && (_src->rows == 1 || _src->cols == 1) && (_dst->rows == 1 || _dst->cols == 1) && _src->cols + _src->rows - 1 == _dst->rows + _dst->cols - 1 && (CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) && (CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2)) in cvUndistortPoints, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/imgproc/src/undistort.cpp, line 293
*** RuntimeError: /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/imgproc/src/undistort.cpp:293: error: (-215) CV_IS_MAT(_src) && CV_IS_MAT(_dst) && (_src->rows == 1 || _src->cols == 1) && (_dst->rows == 1 || _dst->cols == 1) && _src->cols + _src->rows - 1 == _dst->rows + _dst->cols - 1 && (CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) && (CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2) in function cvUndistortPoints
ipdb>
ipdb> corrs
array([[ 2.8046786e+02,  2.6514389e+02,  6.4528513e+00,  2.0646122e+00,
         3.2528259e+01],
       [ 2.5675580e+02,  3.9382581e+02,  2.2737791e-01, -3.4455616e+01,
         2.8135864e+01],
       [ 2.2671194e+02,  2.7953876e+02, -7.1082244e+00, -2.8510253e+00,
         3.2859482e+01],
       ...,
       [ 2.5006602e+02,  2.7232767e+02, -5.4564703e-01,  4.4538838e-01,
         3.5162178e+01],
       [ 2.2997107e+02,  1.9335945e+02, -5.9092240e+00,  2.0273302e+01,
         3.2443798e+01],
       [ 2.1833121e+02,  3.8317825e+02, -1.0116789e+01, -3.2359917e+01,
         2.5990814e+01]], dtype=float32)

[GavinYang5]

I also have the same problem. Have you resolved it?