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pal-robotics / aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
MIT License
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cv::Exception OpenCV(4.2.0) 9004:Unknown status code 9004) !isValid(): invalid marker #108

Closed Assets01 closed 1 year ago

Assets01 commented 1 year ago

Hi, I am using the noetic-devel branch on ubuntu 20.04 and ros noetic, but an opencv error occurred when I launch the single.launch with edited params for intel realsense d435, like this:

terminate called after throwing an instance of 'cv::Exception' what(): OpenCV(4.2.0) /home/wyx/catkin_ws/src/aruco_ros/aruco/src/aruco/marker.cpp:321: error: (9004:Unknown status code 9004) !isValid(): invalid marker. It is not possible to calculate extrinsics in function 'calculateExtrinsics'

Assets01 commented 1 year ago

any one konws how to solve this?

Assets01 commented 1 year ago

the launch file is:

Assets01 commented 1 year ago

and I tried on another PC with ubuntu 16.04 and ros kinetic, it works fine.

saikishor commented 1 year ago

Hello @Assets01,

Could you please try the same by checking out the tag 3.0.3 and get back to us?.

git checkout 3.0.3

Thank you,

Best Regards, PAL Robotics Team.

Assets01 commented 1 year ago

Thanks, problem solved! @saikishor

saikishor commented 1 year ago

Hello @Assets01,

Awesome, so if we understand correctly the issue doesn't happen with tag 3.0.3, but with the main branch you could reproduce it. Please let us know.

Thank you,

Best Regards, PAL Robotics Team.

Assets01 commented 1 year ago

After I checking out the noetic-devel, the same error happens again. So I guess this error is related to the main branch. @saikishor

saikishor commented 1 year ago

Hello @Assets01,

Thank you so much for confirming it. Could you make a small rosbag with the topics used by the aruco_ros + /tf and share with us, so we could reproduce the error and fix it at our end . In our initial tests, the node performed similar to earlier. This data that you might provide could help us in fixing the bug in newer version of aruco_ros.

Thank you,

Best Regards, PAL Robotics Team.

joaopsousa99 commented 1 year ago

Hello, @saikishor ,

I am experiencing the same issue as @Assets01 and I have tried git checkout 3.0.3 and it didn't change anything. I am also on the noetic-devel branc, but on ubuntu 20.04.

saikishor commented 1 year ago

Hello @joaopsousa99,

Thank you for the information. You mean that the issue persists even with 3.0.3?. Could you please send us a small rosbag with all the topics subscribed + /tf, so we can debug from our end?. We have tried to reproduce this morning but unfortunately we couldn't. We need a rosbag with proper information.

Thank you,

Best Regards, PAL Robotics Team.

joaopsousa99 commented 1 year ago

Yes, that's right. Can I attach a file as big as a rosbag in here? If not, how do you want me to send it to you?

saikishor commented 1 year ago

Hello @joaopsousa99,

Could you add it to your Google Drive and share a temporary link here?

Thank you,

Best Regards, PAL Robotics Team.

joaopsousa99 commented 1 year ago

I didn't change anything but the error seems to have fixed itself. Maybe switching to 3.0.3 took a while, I don't know. Thank you so much for your help. Do you still want me to send you a bag?

saikishor commented 1 year ago

Hello @joaopsousa99,

It would be great if you can share the rosbag with us.

Thank you,

Best Regards, PAL Robotics Team.

saikishor commented 1 year ago

Hello @670768312,

We have fixed the bug you are facing. You can get the fixed by doing git pull noetic-devel and compile.

Thank you,

Best Regards, PAL Robotics Team.