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Kinect v2 Callibration for ROS

asked 2016-10-17 08:44:57 -0600

patrchri gravatar image

Hello,

I am using ROS Kinetic and I am trying to calibrate a Kinect v2 according to the instructions presented here

I have managed to calibrate the intrinsics of the rgb camera and the ir sensor. I have also implemented steps 7 and 8, even though I get a reprojection error close to 120.0 (which is probably wrong).

But when I am trying to implement step 9 I am getting the following error:

[ INFO] [main] Start settings:
       Mode: calibrate
     Source: depth
      Board: chess
 Dimensions: 5 x 7
 Field size: 0.03
Dist. model: 5 coefficients
Topic color: /kinect2/hd/image_mono
   Topic ir: /kinect2/sd/image_ir
Topic depth: /kinect2/sd/image_depth
       Path: ./

[ INFO] [main] restoring files...
[ INFO] [DepthCalibration::readFiles] restoring file: 0000_sync
[ERROR] [DepthCalibration::loadCalibration] couldn't read calibration './calib_ir.yaml'!
[ INFO] [main] starting calibration...
[ INFO] [DepthCalibration::calibrate] frame: ./0000_sync_depth.png
OpenCV Error: Assertion failed (_map1.size().area() > 0) in remap, file /tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/imgproc/src/imgwarp.cpp, line 4833
terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/binarydeb/ros-kinetic-opencv3-3.1.0/modules/imgproc/src/imgwarp.cpp:4833: error: (-215) _map1.size().area() > 0 in function remap

I don't know why I am getting this error.

If someone has experience with Kinect v2's calibration I would appreciate his/her help.

Thank you for answering in advance,

Chris

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no idea about either ros or kinect, but error says: mapX is empty here and mapX only gets properly initialized if the calibration files were loaded properly

so please check again, why couldn't read calibration './calib_ir.yaml'! happened !

berak gravatar imageberak ( 2016-10-17 09:07:29 -0600 )edit

Thank you for your reply.... I will try to run again all the calibration steps...

patrchri gravatar imagepatrchri ( 2016-10-17 11:44:35 -0600 )edit

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answered 2016-10-19 09:08:18 -0600

patrchri gravatar image

The problem arose because I didn't save the files in a separate directory as instructed by the author. This led to not finding the intrinsics of the rgb and ir sensor so the calibration program for the rotation and translation and depth calibration was given empty matrices.

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Asked: 2016-10-17 08:44:57 -0600

Seen: 1,313 times

Last updated: Oct 19 '16