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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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calibrate depth error #581

Open yaozipeng opened 2 years ago

yaozipeng commented 2 years ago

When I run: rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate sync, it displays [INFO] [CameraCalibration::calibrateExtrinsics] re-projection error: 6.92399e-310 [INFO] [CameraCalibration::calibrateExtrinsics] Rotation: [] [INFO] [CameraCalibration::calibrateExtrinsics] Translation: [] [INFO] [CameraCalibration::calibrateExtrinsics] Essential: [] [INFO] [CameraCalibration::calibrateExtrinsics] Fundamental: []

When I run: rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate depth Error: [INFO] [DepthCalibration::calibrate] frame: ./0000_depth.png terminate called after throwing an instance of'cv::Exception' what(): OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:259: error: (-5:Bad argument) Input argument is not a valid matrix in function'cvRodrigues2' Abandoned (core dumped)

mrudorfer commented 2 years ago

I have the same issue. The sync calibration fails silently, the calib_pose.yaml is being created but extrinsics matrices are empty (i.e. rows: 0; cols: 0, data: []).

@yaozipeng could you make some progress on this issue? Also I am using the OpenCV4 version of this repo (see here) - not sure if it might be related to that? Which version are you using?