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Assertion Failed ( fabs(sc) > DBL_EPSILON ) using aruco::calibrateCameraCharuco

asked 2020-08-27 11:07:54 -0600

ConnorM gravatar image

When I try to calibrate my cameras intrinsic parameters I get the following error when using aruco::calibrateCameraCharuco:

modules/calib3d/src/calibration.cpp:1211: error: (-215:Assertion failed) fabs(sc) > DBL_EPSILON in function 'cvFindExtrinsicCameraParams2'

What I have noticed is that it seems only certain frames cause this issue. I have taken a couple different calibration videos, however, I only get this error when trying to calibrate with one video in particular. Also, it seems that only certain frames cause this issue. When I set my VideoCapture object to a specific frame past the one that causes this error the function proceeds without any issue.

I have calibrated a couple other cameras with different videos and I've had success. Does anyone know what is causing this issue and what a solution may be? If needed I can post some snippets of my code and possibly try to find one of the exact frames that is causing this error.

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answered 2020-09-22 10:41:39 -0600

ConnorM gravatar image

This problem was solved after ensuring that at least 8 points (corners) were found in each calibration image. I added a check after charucoPoint interpolation to only accept the result if 8 or more corners were found.

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Asked: 2020-08-27 11:07:54 -0600

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Last updated: Sep 22 '20