The module errors of Kalibr are gone, but Kalibr can’t recognize the chessboard on RGB video. Maybe images should be grayscale?
The issues with Kalibr as described in the previous post were due to forgetting to source the devel/setup.bash file of Kalibr. My bash ros function now not only sources the required ROS .sh file and adds each module in ~/ros/repos/ to $ROS_PACKAGE_PATH, it also sources their setup files.
Now the program runs, but I get an IndexError with a red-highlighted [FATAL] [1410190209.710162]: No corners could be extracted for camera /logitech_camera/image_raw! Check the calibration target configuration and dataset. error.
Full output:
importing libraries
Initializing IMUs:
Update rate: 100
Accelerometer:
Noise density: 0.004
Noise density (discrete): 0.04
Random walk: 0.02
Gyroscope:
Noise density: 0.1
Noise density (discrete): 1.0
Random walk: 1.0
Initializing imu rosbag dataset reader:
Dataset: bags/2014-09-03_calibration_MTi_Logitech.bag
Topic: /MTi/imu/data
Number of messages: 31462
Reading IMU data (/MTi/imu/data)
Read 31462 imu readings over 314.6 seconds
Initializing calibration target:
Type: checkerboard
Rows
Count: 9
Distance: 0.0255 [m]
Cols
Count: 6
Distance: 0.0255 [m]
Initializing camera chain:
Camera chain - cam0:
Camera model: pinhole
Focal length: [552.357544, 319.346027]
Principal point: [553.012817, 242.821647]
Distortion model: radtan
Distortion coefficients: [-0.010014, -0.046626, 0.001439, -0.010307]
baseline: no data available
Initializing camera rosbag dataset reader:
Dataset: bags/2014-09-03_calibration_MTi_Logitech.bag
Topic: /logitech_camera/image_raw
Number of images: 1264
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/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_common/TargetExtractor.py", line 24, in multicoreExtractionWrapper
success, obs = detector.findTarget(stamp, np.array(image))
TypeError: Conversion is only valid for arrays with 1 or 2 dimensions. Argument has 3 dimensions
[FATAL] [1410190209.710162]: No corners could be extracted for camera /logitech_camera/image_raw! Check the calibration target configuration and dataset.
Building the problem
Spline order: 6
Pose knots per second: 70
Do pose motion regularization: False
xddot translation variance: 1000000.000000
xddot rotation variance: 100000.000000
Bias knots per second: 50
Do bias motion regularization: True
Blake-Zisserman on reprojection errors -1
Acceleration Huber width (m/s^2): -1.000000
Gyroscope Huber width (rad/s): -1.000000
Do time calibration: True
Max iterations: 30
Time offset padding: 0.020000
Estimating time shift camera to imu:
Traceback (most recent call last):
File "/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 206, in <module>
main()
File "/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 172, in main
verbose = parsed.verbose)
File "/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccCalibrator.py", line 110, in buildProblem
cam.findTimeshiftCameraImuPrior(self.ImuList[0], verbose)
File "/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 187, in findTimeshiftCameraImuPrior
poseSpline = self.initPoseSplineFromCamera( timeOffsetPadding=0.0 )
File "/home/pkok/ros/repos/kalibr/src/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 251, in initPoseSplineFromCamera
times = np.hstack((times[0] - (timeOffsetPadding * 2.0), times, times[-1] + (timeOffsetPadding * 2.0)))
IndexError: index out of bounds
This apparently happens because the chessboard is not found, but why? I should check out the user forum.
I just saw that the (utility might not work with RGB images, they should be in grayscale](https://groups.google.com/d/msg/kalibr-users/dRoLkps0jWw/EgYxJ5_HnUsJ). I am looking up how to convert a sensor_msgs/Image topic to grayscale.