[ros-users] Camera_calibration Error: Stereo calibration

[Adam Stambler]

Thank you .  That did the trick. It is calibrating now with no trouble.

Regards,
Adam

On Mon, Apr 26, 2010 at 8:53 AM, Brown, Michael A. <mabrown at swri.org> wrote:

>  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 at gmail.com]
> *Sent:* Sunday, April 25, 2010 7:39 PM
> *To:* ros-users at 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 at 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 at 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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