☎

I’ve tried to fix the previous problem (not fixed), but I don’t understand what is going wrong.

I recorded a second data set with a normal chess board. Then I attempted to create a ROS bag of it. kalibr_bagcreater raised some ValueErrors, because filenames were too short (recorded too shortly after clock start). When I finally got a new bag, it still gave the same error:

$ ./kalibr_calibrate_cameras --bag ../../camera_calibration.bag --topics /cam0/image_raw /cam1/image_raw --models pinhole-radtan pinhole-radtan --target ../../config/calibration_target/checkerboard.yaml 
importing libraries
Initializing cam0:
  Camera model:   pinhole-radtan
    Dataset:          ../../camera_calibration.bag
      Topic:            /cam0/image_raw
        Number of images: 146
        Extracting calibration target corners
        Process Process-3:
        Traceback (most recent call last):
            File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
                self.run()
              File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
                self._target(*self._args, **self._kwargs)
              File "/home/pkok/thesis/calibration_kits/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_common/TargetExtractor.py", line 22, in multicoreExtractionWrapper
                success, obs = detector.findTargetNoTransformation(stamp, np.array(image))
            TypeError: Conversion is only valid for arrays with 1 or 2 dimensions. Argument has 3 dimensions

                       [FATAL] [1409057113.069846]: No corners could be extracted for camera /cam0/image_raw! Check the calibration target configuration and dataset.
                       Traceback (most recent call last):
                           File "./kalibr_calibrate_cameras", line 5, in <module>
                               exec(fh.read())
                             File "<string>", line 444, in <module>
                             File "<string>", line 182, in main
                             File "/home/pkok/thesis/calibration_kits/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 56, in initGeometryFromObservations
                               success = self.geometry.initializeIntrinsics(observations)
                           RuntimeError: [Exception] /home/pkok/thesis/calibration_kits/kalibr/src/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp:713: initializeIntrinsics() assert(observations.size() != 0) failed: Need min. one observation

Which is strange, because the board is visible on the photos. Problem is still not fixed. Argh!