Omni-radtan one camera calibration Error: "No corners could be extracted for camera"

whois...@gmail.com

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Feb 28, 2016, 8:41:10 PM2/28/16

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Hello,

I try to run an offline calibration with the kalibr, but I get the Error, that no corners could be extracted. What can be the issue ?
- to few images ?
- the timestamps are generated artificially, i.e. I used the example timstamp and incremented it, and named each image with a unique timestamp.

This is the kalibr output:
./cde-exec kalibr_calibrate_cameras --bag my.bag --topics /cam0/image_raw --models omni-radtan --target checkboard.yaml
importing libraries
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
Initializing cam0:
Camera model: omni-radtan
Dataset: my.bag
Topic: /cam0/image_raw
Number of images: 500
Extracting calibration target corners
Progress 500 / 500 Time remaining:
[FATAL] [1456709857.917938]: No corners could be extracted for camera /cam0/image_raw! Check the calibration target configuration and dataset.
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 182, in main
File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 56, in initGeometryFromObservations
success = self.geometry.initializeIntrinsics(observations)
RuntimeError: [Exception] /var/kalibr-build/src/kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/OmniProjection.hpp:730: initializeIntrinsics() assert(observations.size() != 0) failed: Need min. one observation
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 182, in main
File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/CameraCalibrator.py", line 56, in initGeometryFromObservations
success = self.geometry.initializeIntrinsics(observations)
RuntimeError: [Exception] /var/kalibr-build/src/kalibr/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/OmniProjection.hpp:730: initializeIntrinsics() assert(observations.size() != 0) failed: Need min. one observation

best,
Cristian

whois...@gmail.com

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Mar 5, 2016, 8:38:49 PM3/5/16

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solved it, the target calibration file was not filled out correctly, I considered the number of x and y squares, the exterior rows and cols, but you need the second row and col to get the right number of x and y squares.

msh...@umich.edu

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Feb 19, 2019, 2:08:38 PM2/19/19

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Hi Cristian,

I hope you are doing well. I have met the same problem that I get an error:
importing libraries
Initializing cam0:
Camera model: pinhole-equi
Dataset: /home/msy/frontend/data/2019-02-19-13-39-14.bag
Topic: /camera/color/image_raw
Number of images: 85
Extracting calibration target corners
Process Process-3: