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NVIDIA-ISAAC-ROS / isaac_ros_image_pipeline

NVIDIA-accelerated ROS2 packages for camera image processing.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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"invalid distortion type" error for rectify with plumb_bob distortion model #27

Closed mnottale closed 1 year ago

mnottale commented 1 year ago

Hi there. Followed the camera calibration step here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/docs/camera-calibration.md It produces a yaml with "distortion_model: plumb_bob'.

When starting the april detection with usb cam launch file, I get this error:

2023-04-07 14:54:43.711 ERROR /workspaces/isaac_ros-dev/isaac_ros_image_pipeline/isaac_ros_image_proc/gxf/tensorops/ImageUtils.cpp@113: invalid distortion type.

2023-04-07 14:54:43.711 ERROR /workspaces/isaac_ros-dev/isaac_ros_image_pipeline/isaac_ros_image_proc/gxf/tensorops/TensorOperator.cpp@193: operation failed.

Is there anything I can do to fix that?

jaiveersinghNV commented 1 year ago

We are looking into this error as a possible regression.

As a workaround, could you try manually editing the distortion_model field in your camera_info.yaml file to specify rational_polynomial instead of plumb_bob?

mnottale commented 1 year ago

That did the trick, thank you for the workaround.

jaiveersinghNV commented 1 year ago

As of this commit, we've now made a fix to support the plumb_bob model in camera_info.yaml. You should now be able to undo the workaround and still successfully launch the launch file.