Exception in camera_calibration with Bumblebee

bumblebee

asked 2014-09-29 10:03:59 -0500

Ronald
103 ●4 ●5 ●10

updated 2014-09-29 10:19:58 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I want to use the camera_calibration package to calibrate (both cameras of) the bumblebee 2 camera.

The images are being published correctly with topic names /camera/0/intensity and /camera/1/intensity. I can view the images in the viewer and I can see the values with rostopic echo.

When I run this command, nothing seems to happen:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/0/intensity camera:=/camera/0 --no-service-check

I also tried to calibrate just one camera:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/0/intensity camera:=/camera/0 --no-service-check

But in the case of one camera I get the following error:

Exception in thread Thread-5:
  Traceback (most recent call last):
    File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner self.run()
    File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 93, in run self.function(m)
    File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 175, in handle_monocular drawable = self.c.handle_msg(msg)
    File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 691, in handle_msg gray = self.mkgray(msg)
    File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 255, in mkgray return self.br.imgmsg_to_cv2(msg, "mono8")
    File "/opt/ros/indigo/lib/python2.7/dist-packages/cv_bridge/core.py", line 121, in imgmsg_to_cv2 dtype=dtype, buffer=img_msg.data)
    TypeError: buffer is too small for requested array

I am using Ubuntu 14.04 with ROS Indigo and the calibration does work with other cameras. Does anyone have a clue how to solve this?

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Did you install all of the dependencies for camera calibration? Try rosdep install camera_calibration

l0g1x ( 2014-09-29 13:42:36 -0500 )edit

All dependencies were installed with rosdep install camera_calibration, but unfortunately that did not solve it. I got exactly the same error.

Ronald ( 2014-09-30 02:48:01 -0500 )edit

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answered 2014-09-30 03:37:44 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2014-09-30 03:41:37 -0500

Not really a direct answer, but:

[..] TypeError: buffer is too small for requested array

These kind of errors are typically caused by the input byte array (in this case: img_msg.data) not having the expected layout, and thus not the required number of bytes to successfully convert into the desired dtype. That or the input array is really too small, for instance because of an incorrect assumption on image size / depth. See the Converting between ROS images and OpenCV images tutorial for some info on image encodings.

I'm not too familiar with imgmsg_to_cv2(..), but could it be that the images coming from your camera are not actually in the format that cv_bridge expects?

The Bumblebee Reverse engineering Calibration question (and in particular the answer by William) also could be interesting.

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There are no problems with camera_calibration if I use the package pointgrey_camera_driver to publish the Bumblebee2 images. I think that you are right that the published topic I was using did not have the layout that was expected by camera_calibration.

Ronald ( 2014-09-30 04:05:59 -0500 )edit

Which package were you using originally? Might be an idea to contact the maintainer and try to figure out what went wrong. Also, rostopic echo should show you the actual encoding of the /camera/0/intensity topic.

gvdhoorn ( 2014-09-30 04:26:34 -0500 )edit

The encoding is indeed different. The pointgrey_camera_package is publishing /camera/left/image_raw with bayer_grbg8 encoding. I was publishing and using /camera/0/intensity with bgr8 encoding before.

Ronald ( 2014-09-30 06:47:04 -0500 )edit

This was custom code that interfaced with the camera(s)? No package maintainer to contact then.

gvdhoorn ( 2014-09-30 07:05:43 -0500 )edit

I was indeed using custom code.

Ronald ( 2014-09-30 07:20:17 -0500 )edit

Shame on you then :). Perhaps add your solution as an answer and use it to mark the question as answered.

gvdhoorn ( 2014-09-30 07:46:19 -0500 )edit

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answered 2014-09-30 09:09:20 -0500

Ronald
103 ●4 ●5 ●10

It is solved by using the package pointgrey_camera_driver to publish the Bumblebee2 images. The images will be published in the layout that camera_calibration expects.

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