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