mortonjt's profile - activity

Hello. I'm trying to calibrate the bumblebee2. I'm currently using camera1394 stereo and the following topics are being published.

/camera1394stereo_node/parameter_descriptions
/camera1394stereo_node/parameter_updates
/image
/rosout
/rosout_agg
/stereo_camera/left/camera_info
/stereo_camera/left/image_raw
/stereo_camera/right/camera_info
/stereo_camera/right/image_raw

I run the following command

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/stereo_camera/right/image_raw left:=/stereo_camera/left/image_raw right_camera:=/stereo_camera/right left_camera:=/stereo_camera/left -k 6

Then I either get a Segmentation Fault or I get the following error message

Waiting for service /stereo_camera/left/set_camera_info ...
OK
Waiting for service /stereo_camera/right/set_camera_info ...
OK
*** Added sample 1, p_x = 0.465, p_y = 0.760, p_size = 0.138, skew = 0.003
OpenCV Error: Assertion failed (blockSize % 2 == 1 && blockSize > 1) in adaptiveThreshold, file /tmp/buildd/ros-groovy-opencv2-2.4.4-1oneiric-20130301-2020/modules/imgproc/src/thresh.cpp, line 797
Exception in thread Thread-4:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 552, in __bootstrap_inner
    self.run()
  File "/opt/ros/groovy/lib/camera_calibration/cameracalibrator.py", line 68, in run
    self.function(m)
  File "/opt/ros/groovy/lib/camera_calibration/cameracalibrator.py", line 142, in handle_stereo
    drawable = self.c.handle_msg(msg)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1028, in handle_msg
    rscrib_mono, rcorners, rdownsampled_corners, rboard, _ = self.downsample_and_detect(rgray)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 402, in downsample_and_detect
    (ok, downsampled_corners, board) = self.get_corners(scrib, refine = True)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 370, in get_corners
    (ok, corners) = _get_corners(img, b, refine)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 156, in _get_corners
    (ok, corners) = cv.FindChessboardCorners(mono, (board.n_cols, board.n_rows), cv.CV_CALIB_CB_ADAPTIVE_THRESH | cv.CV_CALIB_CB_NORMALIZE_IMAGE | cv2.CALIB_CB_FAST_CHECK)
error: blockSize % 2 == 1 && blockSize > 1

I found a post with a similar problem at the following link

http://answers.ros.org/question/51072/why-there-is-no-window-show-after-i-run-the-camera_calibration-node/#52269

The errors are rather inconsistent -- the problem sometimes crashes immediately or crashes after a dozen readings.

I have tried different lighting environments and tinkered with rqt_configure and I'm currently at a loss about what could be causing this problem. Any help would be greatly appreciated.

UPDATE:

I found another program in camera_calibration folder called tarfile_calibration.py I have written my own image capture node that can two pictures simultaneously with each camera and have obtained around 70 images. When I ran tarfile_calibration.py, I get a more informative error message

Traceback (most recent call last):
  File "/opt/ros/groovy/lib/camera_calibration/tarfile_calibration.py", line 112, in <module>
    cal_from_tarfile(boards, tarname, options.mono, upload=options.upload)
  File "/opt/ros/groovy/lib/camera_calibration/tarfile_calibration.py", line 51, in cal_from_tarfile
    calibrator.do_tarfile_calibration(tarname)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1134, in do_tarfile_calibration
    self.cal(limages, rimages)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 847, in cal
    goodcorners = self.collect_corners(limages, rimages)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 864, in collect_corners
    raise ...

I'm trying to convert a laser scan into a Point cloud, but I'm getting a segfault when I make this conversion. I'm attaching snipbits of my code below.

laser_geometry::LaserProjection projector_;
sensor_msgs::LaserScan currentScan;
bool hasPoints;

void scan_callback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
  currentScan = *scan_in;
  hasPoints = true;
}

void publish_loop(){
  sensor_msgs::PointCloud2 cloud;
  boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > 
    pcl_cloud(new pcl::PointCloud<pcl::PointXYZ>());
  projector_.projectLaser(currentScan, cloud); 
....

I'm attaching the gdb output below

Starting program: /home/jamie/Documents/Redblade/devel/lib/redblade_laser/redblade_laser_node __name:=redblade_laser_node __log:=/home/jamie/.ros/log/70a46eac-78e5-11e3-a4cf-080027827e5d/redblade_laser_node-1.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffeee6c700 (LWP 25633)]
[New Thread 0x7fffee66b700 (LWP 25634)]
[New Thread 0x7fffede6a700 (LWP 25635)]
[New Thread 0x7fffed669700 (LWP 25640)]
[New Thread 0x7fffece68700 (LWP 25649)]
[New Thread 0x7fffdffff700 (LWP 25650)]
redblade_laser_node: /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:144: Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_product_op<double, double>, Lhs = const Eigen::Array<double, -0x00000000000000001, -0x00000000000000001>, Rhs = const Eigen::Array<double, -0x00000000000000001, -0x00000000000000001>]: Assertion `lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols()' failed.

Program received signal SIGABRT, Aborted.
0x00007ffff5290425 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
64  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) backtrace
#0  0x00007ffff5290425 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff5293b8b in __GI_abort () at abort.c:91
#2  0x00007ffff52890ee in __assert_fail_base (fmt=<optimized out>, assertion=0x7ffff5b414d8 "lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols()", 
    file=0x7ffff5b414a0 "/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h", line=<optimized out>, function=<optimized out>) at assert.c:94
#3  0x00007ffff5289192 in __GI___assert_fail (assertion=0x7ffff5b414d8 "lhs.rows() == rhs.rows() && lhs.cols() == rhs.cols()", file=0x7ffff5b414a0 "/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h", line=144, 
    function=0x7ffff5b41b20 "Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_product_op<double, double>, Lhs = const Eigen::Array<double, -"...) at assert.c:103
#4  0x00007ffff5b37ece in laser_geometry::LaserProjection::projectLaser_(sensor_msgs::LaserScan_<std::allocator<void> > const&, sensor_msgs::PointCloud2_<std::allocator<void> >&, double, int) ()
   from /opt/ros/hydro/lib/liblaser_geometry.so
#5  0x000000000043c324 in laser_geometry::LaserProjection::projectLaser (this=0x665820, scan_in=..., cloud_out=..., range_cutoff=-1, channel_options=3)
    at /opt/ros/hydro/include/laser_geometry/laser_geometry.h:152
#6  0x00000000004397eb in publish_loop () at /home/jamie/Documents/Redblade/src/redblade_laser/src/redblade_laser_node.cpp:30
#7  0x000000000043a07c in main (argc=1, argv=0x7fffffffdcf8) at /home/jamie/Documents/Redblade/src/redblade_laser/src/redblade_laser_node.cpp:70

As you can see, it crashes when it converts the laser scan into a point cloud. Has anyone gotten this function to ... (more)

Hello,

I'm trying to create a subscriber that grabs closely coupled scan and pointcloud messages and combines them into another pointcloud. I tried following this wiki and wrote the following code

void callback(const sensor_msgs::PointCloud2ConstPtr& c, const sensor_msgs::LaserScan::ConstPtr& s){
//Do stuff ...
}

int main(int argc, char** argv){
  ros::init(argc, argv, "combine_scan");
  ros::NodeHandle n;
  message_filters::Subscriber<sensor_msgs::LaserScan> laser_sub(n,"scan",1);
  message_filters::Subscriber<sensor_msgs::PointCloud2> cloud_sub(n,"points",1);
  typedef ApproximateTime<sensor_msgs::LaserScan,sensor_msgs::PointCloud2> ApproximatePolicy;
  message_filters::Synchronizer<ApproximatePolicy> sync(ApproximatePolicy(10),cloud_sub,laser_sub);
  sync.registerCallback(boost::bind(&callback,_1,_2));
  ros::spin();
  return 0;
}

But I'm getting a ton of boost errors when I try to compile this code.

  In file included from /opt/ros/groovy/include/message_filters/simple_filter.h:41:0,
                   from /opt/ros/groovy/include/message_filters/subscriber.h:44,
                   from /opt/ros/groovy/stacks/redblade_tf/src/combine_scan.cpp:15:
  /opt/ros/groovy/include/message_filters/signal1.h: In instantiation of ‘void message_filters::CallbackHelper1T<P, M>::call(const ros::MessageEvent<const M>&, bool) [with P = const ros::MessageEvent<const sensor_msgs::LaserScan_<std::allocator<void> > >&; M = sensor_msgs::PointCloud2_<std::allocator<void> >]’:
  /opt/ros/groovy/stacks/redblade_tf/src/combine_scan.cpp:94:1:   required from here
  /opt/ros/groovy/include/message_filters/signal1.h:75:74: error: no matching function for call to ‘ros::MessageEvent<const sensor_msgs::LaserScan_<std::allocator<void> > >::MessageEvent(const ros::MessageEvent<const sensor_msgs::PointCloud2_<std::allocator<void> > >&, bool)’
  /opt/ros/groovy/include/message_filters/signal1.h:75:74: note: candidates are:
  In file included from /opt/ros/groovy/include/ros/parameter_adapter.h:32:0,
                   from /opt/ros/groovy/include/ros/subscription_callback_helper.h:35,
                   from /opt/ros/groovy/include/ros/subscriber.h:33,
                   from /opt/ros/groovy/include/ros/node_handle.h:33,
                   from /opt/ros/groovy/include/ros/ros.h:45,
                   from /opt/ros/groovy/stacks/redblade_tf/src/combine_scan.cpp:1:
  /opt/ros/groovy/include/ros/message_event.h:128:3: note: ros::MessageEvent<M>::MessageEvent(const ConstMessagePtr&, const boost::shared_ptr<std::map<std::basic_string<char>, std::basic_string<char> > >&, ros::Time, bool, const CreateFunction&) [with M = const sensor_msgs::LaserScan_<std::allocator<void> >; ros::MessageEvent<M>::ConstMessagePtr = boost::shared_ptr<const sensor_msgs::LaserScan_<std::allocator<void> > >; typename boost::add_const<M>::type = const sensor_msgs::LaserScan_<std::allocator<void> >; ros::MessageEvent<M>::CreateFunction = boost::function<boost::shared_ptr<sensor_msgs::LaserScan_<std::allocator<void> > >()>; typename boost::remove_const<M>::type = sensor_msgs::LaserScan_<std::allocator<void> >]
  /opt/ros/groovy/include/ros/message_event.h:128:3: note:   candidate expects 5 arguments, 2 provided
  /opt/ros/groovy/include/ros/message_event.h:123:3: note: ros::MessageEvent<M>::MessageEvent(const ConstMessagePtr&, ros::Time) [with M = const sensor_msgs::LaserScan_<std::allocator<void> >; ros::MessageEvent<M>::ConstMessagePtr = boost::shared_ptr<const sensor_msgs::LaserScan_<std::allocator<void> > >; typename boost::add_const<M>::type = const sensor_msgs::LaserScan_<std::allocator<void> >]
  /opt/ros/groovy/include/ros/message_event.h:123:3: note:   no known conversion for argument 1 from ‘const ros::MessageEvent<const sensor_msgs::PointCloud2_<std::allocator<void> > >’ to ‘const ConstMessagePtr& {aka const boost::shared_ptr<const sensor_msgs::LaserScan_<std::allocator<void> > >&}’
  /opt/ros/groovy ...