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stereo_image_proc : Assertion `left_.fx() == right_.fx()'

asked 2011-08-24 20:52:52 -0600

Daniel Eberli gravatar image

updated 2011-08-24 22:45:27 -0600

I am trying to get stereo_image_proc running.

I have two externally triggered Prosilica GC655C cameras. The camera drivers are working, so I can retrieve single image views without any problem. However trying to view the disparity image with disparity viewer or stereo view with stereo viewer fails.

rosrun image_view disparity_view image:=prosilica/disparity

fails with the error:

stereo_image_proc: /tmp/buildd/ros-diamondback-vision-opencv-1.4.3/debian/ros-diamondback-vision-opencv/opt/ros/diamondback/stacks/vision_opencv/image_geometry/src/stereo_camera_model.cpp:29: bool image_geometry::StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo&, const sensor_msgs::CameraInfo&): Assertion `left_.fx() == right_.fx()' failed.

for me it's very strange why the camera parameters left_.fx() and right_.fx() must be equal?! Since I use two cameras, (each camera calibrated as mono camera was working) the two parameters differ slightly.

Does someone has an idea why the parameters have to be equal?

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3 Answers

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answered 2011-08-25 18:41:31 -0600

Daniel Eberli gravatar image

found the solution by myself.

i did not read properly the comments about camera calibration. in

rosrun camera_calibration cameracalibrator.py [..]

i used _approximate_sync:=True instead of --approximate 0.01. Doing calibration properly will also make the stereo_image_proc work properly.

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answered 2015-01-10 13:51:36 -0600

SHV gravatar image

I hope following helps in case of usb_cam driver: in the launch file for each node publishing left and right images respectively, set camera_frame_id same for each node (say "usb_cam"), e.g. create a launch file named usb_cam_stereo.launch :

<launch>
  <group ns="stereo">
    <node name="left" pkg="usb_cam" type="usb_cam_node" output="screen" >
        <param name="video_device" value="/dev/video1" />
        <param name="image_width" value="320" />
        <param name="image_height" value="240" />
        <param name="pixel_format" value="mjpeg" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="userptr"/>      
    </node>
    <node name="right" pkg="usb_cam" type="usb_cam_node" output="screen" >
        <param name="video_device" value="/dev/video2" />
        <param name="image_width" value="320" />
        <param name="image_height" value="240" />
        <param name="pixel_format" value="mjpeg" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="userptr"/>      
    </node>  
  </group>  
</launch>

and run following on terminal:

$roslaunch usb_cam_stereo.launch

ROS_NAMESPACE=stereo rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=4

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answered 2012-05-10 08:16:55 -0600

Talhada gravatar image

Hello! I have the same error:

stereo_image_proc: /tmp/buildd/ros-electric-vision-opencv-1.6.13/debian/ros-electric-vision-opencv/opt/ros/electric/stacks/vision_opencv/image_geometry/src/stereo_camera_model.cpp:30: bool image_geometry::StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo&, const sensor_msgs::CameraInfo&): Assertion `left_.fy() == right_.fy()' failed. Aborted

Here is my node launch file:

<group ns="xb3_short"> <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" args="_approximate_sync:=True _prefilter_size:=255 _prefilter_cap:=63 _correlation_window_size:=31 _min_disparity:=0 _disparity_range:=32 _uniqueness_ratio:=10 _texture_threshold:=100a _speckle_size:=400 _speckle_range:=15 __name:=xb3_short_stereo_proc"/> </group>

I checked the timestamps for left and right camera info topics and they match. Any idea? Thanks.

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Asked: 2011-08-24 20:52:52 -0600

Seen: 564 times

Last updated: May 10 '12