The assertion fails because the size is hardcoded to 640x480 in the calibrator.py script.  Look at line 313.  We encountered this issue with higher res cameras.  Change 313-317 to match your camera resolution and it should be fine.

Mike

From: Adam Stambler [mailto:adasta@gmail.com]
Sent: Sunday, April 25, 2010 7:39 PM
To: ros-users@code.ros.org
Subject: Re: [ros-users] Camera_calibration Error: Stereo calibration

Hi,

I am working with the stereo calibrator.  I am trying to calibrate a stereo rig with two logitech webcams whose images are  320 by 240.  The camera drivers are based off of modified v4l2stereo code.  Is it possible that we introduced this kind of error with an incorrectly written image publisher?

Thank you again for the help,
Adam

On Sun, Apr 25, 2010 at 6:57 PM, James Bowman <jamesb@willowgarage.com> wrote:

Hi Adam,

Is this the monocular or stereo calibrator?
And what size image /camera is this working with?

On Sun, Apr 25, 2010 at 2:50 PM, Adam Stambler <adasta@gmail.com> wrote:

Hello Folks,

I am using boxturtle to do stereo calibration.  I have been running the cameracalibrator.py node with no trouble up until the point where it needs to calibrate.  When I hit the green calibrate button, and it outputs this error message:

epipolar error: 0.740361764685
OpenCV Error: Assertion failed (src.type() == dst.type() && dst.size() == mapx.size()) in cvRemap, file /home/asher/ros/stacks/vision_opencv/opencv2/build/opencv-svn/src/cv/cvimgwarp.cpp, line 3083
Exception in thread Thread-9:
Traceback (most recent call last):
  File "/usr/lib/python2.6/threading.py", line 525, in __bootstrap_inner
    self.run()
  File "./cameracalibrator.py", line 59, in run
    self.function(m)
  File "./cameracalibrator.py", line 233, in handle_stereo
    lscrib = self.c.lremap(lrgb)
  File "/home/asher/ros/stacks/image_pipeline/camera_calibration/src/camera_calibration/calibrator.py", line 407, in lremap
    cv.Remap(src, r, self.lmapx, self.lmapy)
error: src.type() == dst.type() && dst.size() == mapx.size()

I am a bit flummoxed by the error as the arguments to lremap all seem to be OK.  Is there some way I could be making a mistake in setting up the calibrator?

Have other people had this problem with the current revision of boxturtle? 

Thank you for the help and guidance,
Adam Stambler

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--
J.


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