Re: [ros-users] camera calibration 320x240 ?

>     Hi-

>     I've successfully used cameracalibrator.py on a 640x480 image
>     stream, but now I'm trying to use it on a 320x240 image feed. I do

>     $rosrun camera_calibration cameracalibrator.py --size 7x6 --square
>     0.0127 image:=/my_camera/image camera:=/my_camera

>     like the tutorial says, but it gives the following error:

>     Exception in thread Thread-4:
>     Traceback (most recent call last):
>       File "/usr/lib/python2.6/threading.py", line 525, in __bootstrap_inner
>         self.run()
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 59, in run
>         self.function(m)
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 147, in handle_monocular
>         scrib = cv.CreateMat(self.height / scale, self.width / scale,
>     cv.GetElemType(rgb))
>     ZeroDivisionError: integer division or modulo by zero

>     I think the issue is line 144 in cameracalibrator.py,
>     scale = int(math.ceil(self.width / 640))

>     but if I try doing either 640.0, or changing it to 320, I get this error

>     Traceback (most recent call last):
>       File "/usr/lib/python2.6/threading.py", line 525, in __bootstrap_inner
>         self.run()
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 59, in run
>         self.function(m)
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 187, in handle_monocular
>         self.redraw_monocular(scrib, rgb)
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 410, in redraw_monocular
>         self.buttons(display)
>       File
>     "/opt/ros/boxturtle/stacks/image_pipeline/camera_calibration/nodes/cameracalibrator.py",
>     line 389, in buttons
>         self.button(cv.GetSubRect(display, (x,180,100,100)),
>     "CALIBRATE", self.goodenough)
>     error

>     Any ideas?

>     Thanks!
>     --Adam

>     Adam Leeper
>     Stanford University
>     aleeper@stanford.edu <mailto:aleeper@stanford.edu>
>     719.358.3804

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