Open TouchDeeper opened 4 years ago
875353581
commented
3 years ago in this case you use Calibration validator, you should modify kalibr_camera_validator.py instead of mageDatasetReader.py : line 127 np_image = np.array(cv_image) -> np_image = np.array(cv_image) np_image = cv2.cvtColor(np_image, cv2.COLOR_BGR2GRAY) what i've done is just add "np_image = cv2.cvtColor(np_image, cv2.COLOR_BGR2GRAY)", conver rgb image into gray image
goktugyildirim
commented
3 years ago Hello,
I calibrate the simulation kinect in gazebo with Kalibr, and the result is approximate to the true value. Then I want to try the Calibration validator, but an error occurred, all the output is below:
Initializing calibration target: Type: aprilgrid Tags: Rows: 6 Cols: 6 Size: 0.088 [m] Spacing 0.0264 [m] initializing camera geometry Camera /camera/rgb/image_raw: Camera model: pinhole Focal length: [555.8460397102378, 556.7250965913527] Principal point: [318.05807762813083, 238.7783975622265] Distortion model: radtan Distortion coefficients: [0.006253042842637349, -0.006556783605854435, -0.0017719856280921736, -0.0003725808415176169] rosout: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7f0d5755c350>> Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 75, in callback self.signalMessage(msg) File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 57, in signalMessage cb(*(msg + args)) File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 224, in add self.signalMessage(*msgs) File "/opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py", line 57, in signalMessage cb(*(msg + args)) File "/home/wang/imta_project/kalibr_workspace/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_validator", line 136, in synchronizedCallback success, observation = validator.target.detector.findTarget(timestamp, np_image) TypeError: Conversion is only valid for arrays with 1 or 2 dimensions. Argument has 3 dimensionsI try to modify the ImageDatasetReader.py according to this issue, the raw version code is here, and the modified version is below:
elif data.encoding == "16UC1" or data.encoding == "mono16": image_16u = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"mono16"))) img_data = (image_16u / 256).astype("uint8") elif data.encoding == "8UC1" or data.encoding == "mono8": img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"mono8"))) elif data.encoding == "8UC3" or data.encoding == "bgr8": img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"bgr8"))) img_data = cv2.cvtColor(img_data, cv2.COLOR_BGR2GRAY) elif data.encoding == "rgb8": img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"rgb8"))) img_data = cv2.cvtColor(img_data, cv2.COLOR_RGB2GRAY) elif data.encoding == "8UC4" or data.encoding == "bgra8": img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"bgra8"))) img_data = cv2.cvtColor(img_data, cv2.COLOR_BGRA2GRAY) elif data.encoding == "bayer_rggb8": img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data,"bayer_rggb8"))) img_data = cv2.cvtColor(img_data, cv2.COLOR_BAYER_BG2GRAY)However, the error still exists, Could you please provide some advice to fix this issue, thanks a lot.
you can try to use a grayscale image
goldbattle
commented
2 years ago Can you provide a bag where this fails?
goldbattle
commented
2 years ago See PR #15
brawner
commented
2 years ago Ran into a similar issue with the validator. It appears the only color encodings the validator special cases in this 'if' are "rgb8" and "bgra8" (https://github.com/ethz-asl/kalibr/blob/master/aslam_offline_calibration/kalibr/python/kalibr_camera_validator#L137). However ROS supports many more color encodings (https://docs.ros.org/en/noetic/api/sensor_msgs/html/image__encodings_8h_source.html).
In my case my images are "bgr8" as well. Perhaps, in this section it might be better to use cv_bridge's "passthrough" encoding and then use opencv to convert to 8-bit grayscale? Or just use mono8 on all images (I haven't verified that solution).
My workaround was to add the "bgr8" encoding to the special cases.
elif msg.encoding in ("rgb8", "bgra8", "bgr8"):
brawner
commented
2 years ago Actually after reading the CvBridge docs, it might be simpler to just convert all uncompressed message types to mono8:
if msg._type == 'sensor_msgs/CompressedImage':
np_image = np.array(self.bridge.compressed_imgmsg_to_cv2(msg))
if len(np_image.shape) > 2 and np_image.shape[2] == 3:
np_image = cv2.cvtColor(np_image, cv2.COLOR_BGR2GRAY)
else:
np_image = np.array(self.bridge.imgmsg_to_cv2(msg, desired_encoding="mono8"))
Hello,
I calibrate the simulation kinect in gazebo with Kalibr, and the result is approximate to the true value. Then I want to try the Calibration validator, but an error occurred, all the output is below:
I try to modify the ImageDatasetReader.py according to this issue, the raw version code is here, and the modified version is below:
However, the error still exists, Could you please provide some advice to fix this issue, thanks a lot.