ros-kinetic-opencv3 and apriltags regression?

asked 2017-12-20 05:40:48 -0500

Sietse
168 ●31 ●36 ●40

Hello list,

Using apriltags (link text) worked fine until the last update of kinetic (around 12 december). Now there is a crash in opencv when doing "roslaunch apriltags usb_cam_apriltags.launch" as soon as a tag is being recognized. It seems that removing the assertion solves the problem. See the output below.

What can I do? Is there e.g. an easy way to replace the opencv3 code from ros-kinetic-opencv3 by using a (patched) version in /usr/local/bin so that ROS will use that?

Thanks in advance, Sietse

 OpenCV Error: Assertion failed (mtype == type0 || (((((mtype) & ((512 - 1) << 3)) >> 3) + 1) == 1 && ((1 << type0) & fixedDepthMask) != 0)) in create, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/matrix.cpp, line 2542

terminate called after throwing an instance of 'cv::Exception'
  what():  /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/matrix.cpp:2542: error: (-215) mtype == type0 || (((((mtype) & ((512 - 1) << 3)) >> 3) + 1) == 1 && ((1 << type0) & fixedDepthMask) != 0) in function create

[apriltags-1] process has died [pid 11062, exit code -6, cmd /home/p100213/ROS/ws2/devel/lib/apriltags/apriltags ~image:=/usb_cam/image_raw ~camera_info:=/usb_cam/camera_info ~marker_array:=/apriltags/marker_array ~detections:=/apriltags/detections __name:=apriltags __log:=/home/p100213/.ros/log/09d71dee-e56c-11e7-852c-002481150e15/apriltags-1.log].

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Comments

I have the same problem . Any idea?

pinxian ( 2017-12-24 23:55:13 -0500 )edit

I'm having a similar issue. Has anyone found a solution?

dpoiesz ( 2018-01-16 11:05:58 -0500 )edit

I am facing the same issue.

ashwinvk94 ( 2018-01-19 05:47:33 -0500 )edit

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2 Answers

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answered 2018-01-22 10:18:15 -0500

Orhan

856 ●20 ●45 ●46 https://www.google.com...

In apriltags_ros/apriltags/src/TagDetection.cc change line 95, cv::Matx33f ... to :

cv::Matx33d cameraMatrix( fx, 0, px,
                          0, fy, py,
                          0,  0,  1);

(Just `f` to `d`)

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Comments

First: the version of apriltags_ros I used was a different one. I now switched to the "regular" and patched it as above.

The error does not occur anymore, and tags are detected, with correct id-number. But position/orientation is not given. Always all zero's apart from w. Still anything wrong?

Sietse ( 2018-01-25 07:03:17 -0500 )edit

I pushed changes from my other private repository, everything works fine there. github.com/cosmicog/apriltags_ros (branch: kinetic-devel)