'_sensor_msgs__CompressedImage' object has no attribute 'encoding'

[laibazahid26]

When I write the calibration command given below: /kalibr_calibrate_cameras --target ~/Downloads/april_6x6_80x80cm.yaml --bag ~/Downloads/CalibrationBag.bag --models pinhole-equi --topics camera/image_raw I get the following errors:

importing libraries
Initializing cam0:
    Camera model:     pinhole-equi
    Dataset:          /root/Downloads/CalibrationBag.bag
    Topic:            camera/image_raw
    Number of images: 2086
Extracting calibration target corners
Traceback (most recent call last):
  File "/var/kalibr-build/devel/bin/kalibr_calibrate_cameras", line 5, in <module>
    exec(fh.read())
  File "<string>", line 444, in <module>
  File "<string>", line 175, in main
  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/TargetExtractor.py", line 73, in extractCornersFromDataset
    raise RuntimeError("Exception during multithreaded extraction: {0}".format(e))
RuntimeError: Exception during multithreaded extraction: '_sensor_msgs__CompressedImage' object has no attribute 'encoding'
Error in sys.excepthook:
Traceback (most recent call last):
  File "/usr/lib/python2.7/dist-packages/apport_python_hook.py", line 64, in apport_excepthook
    from apport.fileutils import likely_packaged, get_recent_crashes
ImportError: No module named apport.fileutils

Original exception was:
Traceback (most recent call last):
  File "/var/kalibr-build/devel/bin/kalibr_calibrate_cameras", line 5, in <module>
    exec(fh.read())
  File "<string>", line 444, in <module>
  File "<string>", line 175, in main
  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/TargetExtractor.py", line 73, in extractCornersFromDataset
    raise RuntimeError("Exception during multithreaded extraction: {0}".format(e))
RuntimeError: Exception during multithreaded extraction: '_sensor_msgs__CompressedImage' object has no attribute 'encoding'

How can I solve these bugs? Any help would be highly appreciated.

[ConnaLu]

I get the same error,do you get any idea?

[laibazahid26]

I get the same error,do you get any idea?

Sorry, not yet.

[thejerrycheng]

hi, is it possible to share the april_6x6_80x80cm.yaml to me. the original folder needs permission to access now

[seajayshore]

Did you manage to solve this? I have a similar error...

I think in your case it might be due to using compressed images in the bagfile instea of raw image. I had to convert images to raw to get it to work even partially. Note that your screenshot of your terminal doesn't even state any progress extracting target corners after the "Extracting calibration target corners" statement.

My setup progresses through many images but eventually crashes due to the same RuntimeError("Exception during multithreaded extraction: {0}".format(e))

[goldbattle]

This is due to using a compressed image topic. Currently the repo does not have support for such topic. You can see PR https://github.com/ethz-asl/kalibr/pull/493

[goldbattle]

Addressed via #523