realizator / stereopi-fisheye-robot Goto Github PK

I'm getting errors during step 4 (calibration of the fisheye) :
`$ python 4_calibration_fisheye.py
Main cycle start
Import pair No 1
Scale ratio: 0.5
Import pair No 2
Scale ratio: 0.5
Import pair No 3
Scale ratio: 0.5
Import pair No 4
Scale ratio: 0.5
Import pair No 5
Pair No 5 ignored, as no chessboard found
Import pair No 6
Scale ratio: 0.5
Import pair No 7
Pair No 7 ignored, as no chessboard found
Import pair No 8
Scale ratio: 0.5
Import pair No 9
Scale ratio: 0.5
Import pair No 10
Pair No 10 ignored, as no chessboard found
Import pair No 11
Scale ratio: 0.5
Import pair No 12
Pair No 12 ignored, as no chessboard found
Import pair No 13
Scale ratio: 0.5
Import pair No 14
Pair No 14 ignored, as no chessboard found
Import pair No 15
Pair No 15 ignored, as no chessboard found
Import pair No 16
Scale ratio: 0.5
Import pair No 17
Scale ratio: 0.5
Import pair No 18
Scale ratio: 0.5
Import pair No 19
Pair No 19 ignored, as no chessboard found
Import pair No 20
Scale ratio: 0.5
Import pair No 21
Scale ratio: 0.5
Import pair No 22
Pair No 22 ignored, as no chessboard found
Import pair No 23
Pair No 23 ignored, as no chessboard found
Import pair No 24
Pair No 24 ignored, as no chessboard found
Import pair No 25
Scale ratio: 0.5
Import pair No 26
Scale ratio: 0.5
Import pair No 27
Scale ratio: 0.5
Import pair No 28
Scale ratio: 0.5
Import pair No 29
Pair No 29 ignored, as no chessboard found
Import pair No 30
Pair No 30 ignored, as no chessboard found
End cycle
Left camera calibration...
Right camera calibration...
Stereoscopic calibration...
./calibration_data/240p/camera_calibration_left.npz
['camera_matrix', 'distortion_coeff', 'imgpoints', 'map1', 'map2', 'objpoints']
Camera calibration data has been found in cache.
./calibration_data/240p/camera_calibration_right.npz
['camera_matrix', 'distortion_coeff', 'imgpoints', 'map1', 'map2', 'objpoints']
Camera calibration data has been found in cache.
Calibrating cameras together...
Traceback (most recent call last):
File "4_calibration_fisheye.py", line 296, in
result = calibrate_stereo_cameras()
File "4_calibration_fisheye.py", line 254, in calibrate_stereo_cameras
cv2.CALIB_FIX_INTRINSIC, TERMINATION_CRITERIA)
cv2.error: OpenCV(3.4.4) /home/pi/packaging/opencv-python/opencv/modules/calib3d/src/fisheye.cpp:1420: error: (-3:Internal error) CALIB_CHECK_COND - Ill-conditioned matrix for input array 0 in function 'CalibrateExtrinsics'

$
`

Any idea what might be wrong ?

Hello,

there is a line in the calibration routine that is not that clearly explained in the article.

In the article suggested in the readme it is stated:

– after finding the corners’ coordinates, we reduce all X and Y coordinates by half.

However, in the function calibrate_one_camera the cv2.fisheye.calibrate call receives the image size from grayL, which is (640,480) whereas the corners are scaled down.
Is that correct? Shouldn't the image size be scaled down as well?

Regards.
Marco.