FYI this is the error with the default CM4 JSON and main branch (using -drgb flag because I don't care abour the relative RGB position for the moment)
Starting image processing
~~~~~~~~~~~ POSE ESTIMATION LEFT CAMERA ~~~~~~~~~~~~~
=> Processing image /home/pi/depthai/dataset/left/left_p0_0.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p10_10.png
41 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p11_11.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p12_12.png
43 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p1_1.png
43 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p2_2.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p3_3.png
43 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p4_4.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p5_5.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p6_6.png
42 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p7_7.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p8_8.png
38 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/left/left_p9_9.png
39 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p0_0.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p10_10.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p11_11.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p12_12.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p1_1.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p2_2.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p3_3.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p4_4.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p5_5.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p6_6.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p7_7.png
43 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p8_8.png
44 number of Markers corners detected in the above image
=> Processing image /home/pi/depthai/dataset/right/right_p9_9.png
43 number of Markers corners detected in the above image
CAMERA CALIBRATION
(1280, 800)
Camera Matrix initialization.............
[[857.1668 0. 643.9126 ]
[ 0. 856.0823 387.56018]
[ 0. 0. 1. ]]
CAMERA CALIBRATION
(1280, 800)
Camera Matrix initialization.............
[[857.1668 0. 643.9126 ]
[ 0. 856.0823 387.56018]
[ 0. 0. 1. ]]
~~~~~~~~~~~~~RMS error of left~~~~~~~~~~~~~~
52.97476788491616
53.252261804773795
[[3.38222696e+03 0.00000000e+00 1.01255487e+03]
[0.00000000e+00 3.37794772e+03 5.31176027e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
[[1.06343040e+03 0.00000000e+00 6.44911877e+02]
[0.00000000e+00 1.06208494e+03 3.23631527e+02]
[0.00000000e+00 0.00000000e+00 1.00000000e+00]]
[[ 2.27090183]
[-1.00709123]
[ 0.01134425]
[ 0.88259389]
[-4.09407228]
[-0.32728291]
[-0.32721684]
[-0.95413647]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]]
[[ 0.0706821 ]
[ 0.5518226 ]
[-0.00255203]
[ 0.3173163 ]
[-0.77125856]
[ 0.13831589]
[-0.62454185]
[ 0.08547696]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]
[ 0. ]]
allIds_l
13
13
allIds_l
allIds_r
~~~~~~~~~~~~~RMS error of L-R~~~~~~~~~~~~~~
55.128191055272524
~~~~~ Starting Stereo Calibration ~~~~~
R1 (left)
[[ 0.087886 0.04421 0.995149]
[-0.105144 0.993846 -0.034866]
[-0.990566 -0.10157 0.091993]]
R2 (right)
[[ 0.364598 0.119135 0.923513]
[-0.068392 0.992529 -0.101037]
[-0.92865 -0.026323 0.370022]]
M1 (left)
[[2224.6582 0. 994.02356]
[ 0. 1697.0712 299.0442 ]
[ 0. 0. 1. ]]
M2 (right)
[[805.6539 0. 614.82684]
[ 0. 836.7781 262.49905]
[ 0. 0. 1. ]]
R
[[ 0.959123 0.042471 0.279784]
[-0.067814 0.994361 0.081529]
[-0.274744 -0.09717 0.956595]]
T
[[-12.226009]
[ -3.994925]
[-30.968037]]
M3 (rgb)
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
\R (rgb)
[[0. 0. 0.]
[0. 0. 0.]
[0. 0. 0.]]
T (rgb)
[0. 0. 0.]
Took 7 seconds to run image processing.
Mesh path
/home/pi/depthai/depthai_helpers
shape of maps
(800, 1280)
(800, 1280)
(800, 1280)
(800, 1280)
<-----------------Epipolar error of LEFT-right camera---------------->
HU IHER
Printing p1 and p2
[[ 1266.924599 0. -43430.029258 0. ]
[ 0. 1266.924599 10045.296232 0. ]
[ 0. 0. 1. 0. ]]
[[ 1266.924599 0. -43430.029258 -42483.629139]
[ 0. 1266.924599 10045.296232 0. ]
[ 0. 0. 1. 0. ]]
Traceback (most recent call last):
File "/home/pi/depthai/calibrate.py", line 672, in <module>
Main().run()
File "/home/pi/depthai/calibrate.py", line 667, in run
self.calibrate()
File "/home/pi/depthai/calibrate.py", line 529, in calibrate
epiploar_error, epiploar_error_rRgb, calibData = cal_data.calibrate(self.dataset_path, self.args.squareSizeCm,
File "/home/pi/depthai/depthai_helpers/calibration_utils.py", line 187, in calibrate
return self.test_epipolar_charuco_lr(filepath), None, self.calib_data
File "/home/pi/depthai/depthai_helpers/calibration_utils.py", line 719, in test_epipolar_charuco_lr
res2_l = cv2.aruco.interpolateCornersCharuco(
cv2.error: OpenCV(4.6.0) /io/opencv_contrib/modules/aruco/src/charuco.cpp:446: error: (-215:Assertion failed) _markerCorners.total() == _markerIds.getMat().total() && _markerIds.getMat().total() > 0 in function '_interpolateCornersCharucoLocalHom'