Ошибка OpencCV во время калибровки

Это мой калибровочный код:

   void calibrate()
{
int numBoards = 21;
int board_w = 6;
int board_h = 9;
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;
for (int j=0; j<board_n; j++)
{
obj.push_back(Point3f(j/board_w, j%board_w, 0.0f));
}
Mat img1, img2, gray1, gray2;
VideoCapture cap1(0);// = VideoCapture(0);
VideoCapture cap2(1);// = VideoCapture(1);
int success = 0, k = 0;
bool found1 = false, found2 = false;
namedWindow("left 1");
namedWindow("right 1");
while (success < numBoards)
{
cap1 >> img1;
cap2 >> img2;
//resize(img1, img1, Size(320, 280));
//resize(img2, img2, Size(320, 280));
//waitKey(0);
cvtColor(img1, gray1, CV_BGR2GRAY);
cvtColor(img2, gray2, CV_BGR2GRAY);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);
}
imshow("left 1", img1);
imshow("right 1", img2);
k = waitKey(2);

if(found1 && found2) cout<<"succeeded: "<<success<<endl;

if ( found1  && found2)
{
imagePoints1.push_back(corners1);
imagePoints2.push_back(corners2);
object_points.push_back(obj);
printf ("Corners stored\n");
cout<<"Obj points size: "<<object_points.size()<<endl;
cout<<"Image1 points size: "<<imagePoints1.size()<<endl;
cout<<"Image2 points size: "<<imagePoints2.size()<<endl;
success++;
if (success >= numBoards)
{
break;
}
}
}
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;
double calibErr = stereoCalibrate(object_points, imagePoints1, imagePoints2,
CM1, D1, CM2, D2, img1.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.yml", 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;
fs1<<"Error"<<calibErr;
printf("Done Calibration\n");
printf("Calibration error: %f\n", calibErr);
printf("Starting Rectification\n");
Mat R1, R2, P1, P2, Q;
stereoRectify(CM1, D1, CM2, D2, img1.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, img1.size(), CV_32FC1, map1x, map1y);
initUndistortRectifyMap(CM2, D2, R2, P2, img2.size(), CV_32FC1, map2x, map2y);
printf("Undistort complete\n");

cap1.release();
cap2.release();
return;
}

Я получил эту ошибку:

Ошибка OpenCV: утверждение не выполнено (ni> = 0) в
cv :: collectCalibrationData, file .. \
…… \ opencv \ modules \ calib3d \ src \ calib.cpp, строка 3169

Я запустил этот код на другом компьютере, и он отлично работает. Что случилось?