Small typo breaking code in stereo calibration

[pieleric]

Hi,
It was probably introduced during the convertion to opencv2. When running stereo calibration with git head (indigo), I got this:

Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/home/xinwang/catkin_ws/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 68, in run
    self.function(m)
  File "/home/xinwang/catkin_ws/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 151, in handle_stereo
    self.redraw_stereo(drawable)
  File "/home/xinwang/catkin_ws/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 299, in redraw_stereo
    display[0:height, 0:width,:] = drawable.lscrib
ValueError: could not broadcast input array from shape (240,320,3) into shape (240,240,3)

The fix is pretty obvious:

--- a/camera_calibration/nodes/cameracalibrator.py
+++ b/camera_calibration/nodes/cameracalibrator.py
@@ -293,7 +293,7 @@ class OpenCVCalibrationNode(CalibrationNode):

     def redraw_stereo(self, drawable):
         height = drawable.lscrib.shape[0]
-        width = drawable.lscrib.shape[0]
+        width = drawable.lscrib.shape[1]

         display = numpy.zeros((max(480, height), 2 * width + 100, 3), dtype=numpy.uint8)
         display[0:height, 0:width,:] = drawable.lscrib

[vrabaud]

thx !, don't hesitate to make a PR for the following times.

[IN-Gamut]

Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/home/johnny/Desktop/MyWorkspace/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 93, in run
self.function(self.queue[0])
File "/home/johnny/Desktop/MyWorkspace/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 182, in handle_stereo
self.redraw_stereo(drawable)
File "/home/johnny/Desktop/MyWorkspace/src/image_pipeline/camera_calibration/nodes/cameracalibrator.py", line 325, in redraw_stereo
display[0:height, width:2*width,:] = drawable.rscrib
ValueError: could not broadcast input array from shape (480,640,3) into shape (415,739,3)

[vrabaud]

@LIN-Xiangru , it seems your two cameras do not have the same size. Do you have a small rosbag I could test with ?

[IN-Gamut]

yes I use two different cameras one is RGB and the other is IR, I want to calibrate them both. Is it possible for me to do that ? RGB resobution ( 1280 x 720) IR resolution ( 640 x 480 )

One way to do that is

    if scale > 1.0:
        # scrib = cv2.resize(img, (int(width / scale), int(height / scale)))
        scrib = cv2.resize(img, (640,480))

Is it better to change the int(width / scale) to another value, because for 1280 x 720, int(width / scale) will not be 640, it is 739 instead. There is a rounding issue.