cv::Exception OpenCV(4.2.0) 9004:Unknown status code 9004) !isValid(): invalid marker
Closed this issue · 15 comments
Hi,
I am using the noetic-devel branch on ubuntu 20.04 and ros noetic, but an opencv error occurred when I launch the single.launch with edited params for intel realsense d435, like this:
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.2.0) /home/wyx/catkin_ws/src/aruco_ros/aruco/src/aruco/marker.cpp:321: error: (9004:Unknown status code 9004) !isValid(): invalid marker. It is not possible to calculate extrinsics in function 'calculateExtrinsics'
any one konws how to solve this?
the launch file is:
<arg name="markerId" default="582"/>
<arg name="markerSize" default="0.05"/> <!-- in m -->
<arg name="eye" default="left"/>
<arg name="marker_frame" default="aruco_marker_frame"/>
<arg name="ref_frame" default=""/> <!-- leave empty and the pose will be published wrt param parent_name -->
<arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->
<node pkg="aruco_ros" type="single" name="aruco_single">
<remap from="/camera_info" to="/camera/color/camera_info" />
<remap from="/image" to="/camera/color/image_raw" />
<param name="image_is_rectified" value="True"/>
<param name="marker_size" value="$(arg markerSize)"/>
<param name="marker_id" value="$(arg markerId)"/>
<param name="reference_frame" value="$(arg ref_frame)"/> <!-- frame in which the marker pose will be refered -->
<param name="camera_frame" value="camera_link"/>
<param name="marker_frame" value="$(arg marker_frame)" />
<param name="corner_refinement" value="$(arg corner_refinement)" />
</node>
and I tried on another PC with ubuntu 16.04 and ros kinetic, it works fine.
Hello @Assets01,
Could you please try the same by checking out the tag 3.0.3 and get back to us?.
git checkout 3.0.3
Thank you,
Best Regards,
PAL Robotics Team.
Thanks, problem solved! @saikishor
Hello @Assets01,
Awesome, so if we understand correctly the issue doesn't happen with tag 3.0.3, but with the main branch you could reproduce it. Please let us know.
Thank you,
Best Regards,
PAL Robotics Team.
After I checking out the noetic-devel, the same error happens again. So I guess this error is related to the main branch. @saikishor
Hello @Assets01,
Thank you so much for confirming it. Could you make a small rosbag with the topics used by the aruco_ros + /tf and share with us, so we could reproduce the error and fix it at our end . In our initial tests, the node performed similar to earlier. This data that you might provide could help us in fixing the bug in newer version of aruco_ros.
Thank you,
Best Regards,
PAL Robotics Team.
Hello, @saikishor ,
I am experiencing the same issue as @Assets01 and I have tried git checkout 3.0.3 and it didn't change anything. I am also on the noetic-devel branc, but on ubuntu 20.04.
Hello @joaopsousa99,
Thank you for the information. You mean that the issue persists even with 3.0.3?. Could you please send us a small rosbag with all the topics subscribed + /tf, so we can debug from our end?. We have tried to reproduce this morning but unfortunately we couldn't. We need a rosbag with proper information.
Thank you,
Best Regards,
PAL Robotics Team.
Yes, that's right.
Can I attach a file as big as a rosbag in here? If not, how do you want me to send it to you?
Hello @joaopsousa99,
Could you add it to your Google Drive and share a temporary link here?
Thank you,
Best Regards,
PAL Robotics Team.
I didn't change anything but the error seems to have fixed itself. Maybe switching to 3.0.3 took a while, I don't know.
Thank you so much for your help.
Do you still want me to send you a bag?
Hello @joaopsousa99,
It would be great if you can share the rosbag with us.
Thank you,
Best Regards,
PAL Robotics Team.
Hello @670768312,
We have fixed the bug you are facing. You can get the fixed by doing git pull noetic-devel and compile.
Thank you,
Best Regards,
PAL Robotics Team.