My issue is as follows：
When I run the following code：
rosrun kalibr kalibr_calibrate_cameras --target ./cam0/april_6x6.yaml --models pinhole-radtan pinhole-radtan --topics /cam0/image_raw /cam1/image_raw --bag ./cam0/cam_april.bag
Output the following content：
OpenCV Error: Assertion failed (isIdentity(expr)) in _InputArray, file /home/kong/opencv/modules/core/src/matrix_expressions.cpp, line 1843
Traceback (most recent call last):
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 465, in
main()
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 188, in main
if not cam.initGeometryFromObservations(observations):
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 69, in initGeometryFromObservations
success = kcc.calibrateIntrinsics(self, observations)
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraIntializers.py", line 220, in calibrateIntrinsics
success, T_t_c = cam_geometry.geometry.estimateTransformation(obs)
RuntimeError: /home/kong/opencv/modules/core/src/matrix_expressions.cpp:1843: error: (-215) isIdentity(expr) in function _InputArray
OpenCV Error: Assertion failed (tlsSlots.size() > slotIdx) in releaseSlot, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp, line 1092
terminate called after throwing an instance of 'cv::Exception'
what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp:1092: error: (-215) tlsSlots.size() > slotIdx in function releaseSlot
According to the information I found online, the issue might be caused by incompatible versions of OpenCV (I'm using 3.4.20 while ROS is installed with 3.2). However, even after modifying the corresponding parameters in the files to match version 3.4.20, the problem persists.
My issue is as follows： When I run the following code： rosrun kalibr kalibr_calibrate_cameras --target ./cam0/april_6x6.yaml --models pinhole-radtan pinhole-radtan --topics /cam0/image_raw /cam1/image_raw --bag ./cam0/cam_april.bag Output the following content： OpenCV Error: Assertion failed (isIdentity(expr)) in _InputArray, file /home/kong/opencv/modules/core/src/matrix_expressions.cpp, line 1843 Traceback (most recent call last): File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 465, in
main()
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 188, in main
if not cam.initGeometryFromObservations(observations):
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 69, in initGeometryFromObservations
success = kcc.calibrateIntrinsics(self, observations)
File "/home/kong/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraIntializers.py", line 220, in calibrateIntrinsics
success, T_t_c = cam_geometry.geometry.estimateTransformation(obs)
RuntimeError: /home/kong/opencv/modules/core/src/matrix_expressions.cpp:1843: error: (-215) isIdentity(expr) in function _InputArray
OpenCV Error: Assertion failed (tlsSlots.size() > slotIdx) in releaseSlot, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp, line 1092 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp:1092: error: (-215) tlsSlots.size() > slotIdx in function releaseSlot
According to the information I found online, the issue might be caused by incompatible versions of OpenCV (I'm using 3.4.20 while ROS is installed with 3.2). However, even after modifying the corresponding parameters in the files to match version 3.4.20, the problem persists.
thankyou！