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camera_calibration/calibrator.py: StereoCalibrator fails for stereo fisheye cameras #503

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SJamieson opened this issue Mar 14, 2020 · 0 comments · Fixed by #542
Closed

camera_calibration/calibrator.py: StereoCalibrator fails for stereo fisheye cameras #503

SJamieson opened this issue Mar 14, 2020 · 0 comments · Fixed by #542

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@SJamieson
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OS: Ubuntu 18.04
Behaviour: Calibrating a stereo camera results in the following error when using fisheye cameras

OpenCV Error: Assertion failed (D1.empty() || (D1.total() == 4)) in stereoCalibrate, file /home/nvidia/build_opencv/opencv/modules/calib3d/src/fisheye.cpp, line 857
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/camera_calibrator.py", line 269, in on_mouse
    self.c.do_calibration()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1231, in do_calibration
    self.cal_fromcorners(self.good_corners)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1004, in cal_fromcorners
    flags = flags)
cv2.error: /home/nvidia/build_opencv/opencv/modules/calib3d/src/fisheye.cpp:857: error: (-215) D1.empty() || (D1.total() == 4) in function stereoCalibrate

Desired Behaviour: stereoCalibrate succeeds and finds good distortion parameters
Diagnosis: StereoCalibrator fails to appropriately set camera model for left and right mono calibrators by overriding set_cammodel(model)
soeroesg added a commit to soeroesg/image_pipeline that referenced this issue Jun 10, 2020
@soeroesg
fix ros-perception#503:
8df478d 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085

unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate
@soeroesg soeroesg mentioned this issue Jun 10, 2020
Merged
soeroesg added a commit to soeroesg/image_pipeline that referenced this issue Jun 12, 2020
@soeroesg
fix ros-perception#503:
14c2073 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
@soeroesg soeroesg mentioned this issue Jun 12, 2020
Merged
SteveMacenski pushed a commit that referenced this issue Jun 12, 2020
@soeroesg
fix #503: (#545)
9836401 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
JWhitleyWork pushed a commit that referenced this issue Jun 12, 2020
@soeroesg
fixes for fisheye calibration (#542)
9ce872a 
* fix #503:

set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085

unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

* removed commented line;
trimmed whitespace at line endings
DavidTorresOcana pushed a commit to DavidTorresOcana/image_pipeline that referenced this issue Aug 23, 2020
@soeroesg @DavidTorresOcana
fixes for fisheye calibration (ros-perception#542)
dc722b5 
* fix ros-perception#503:

set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085

unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

* removed commented line;
trimmed whitespace at line endings
@rahuldeo2047 rahuldeo2047 mentioned this issue Nov 21, 2020
Closed
JWhitleyWork pushed a commit that referenced this issue Dec 11, 2020
@soeroesg
fix #503: (#545)
5883b6d 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
wep21 pushed a commit to wep21/image_pipeline that referenced this issue Oct 17, 2021
@soeroesg
fix ros-perception#503: (ros-perception#545)
7996184 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
JWhitleyWork pushed a commit that referenced this issue Nov 11, 2021
@soeroesg
fix #503: (#545)
e88a9a0 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
JWhitleyWork pushed a commit that referenced this issue Apr 14, 2022
@soeroesg @JWhitleyWork
fix #503: (#545)
34f0684 
set_cammodel of StereoCalibrator need to override the method of parent class

fix related to opencv/opencv#11085:
unlike cv2.calibrate, the cv2.fisheye.calibrate method expects float64 points and in an array with an extra dimension. The same for cv2.stereoCalibrate vs cv2.fisheye.stereoCalibrate

Trimmed whitespace at line endings
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fixes for fisheye calibration soeroesg/image_pipeline
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@SJamieson