Assertion error in opencv aruco estimatePoseSingleMarkers() -PYTHON-

Python
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1

I’m having assertion error in opencv using python.

I will post first the code then the error from the terminal.

    #Aruco properties
    self.aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_50)
    self.aruco_size = 0.05
    self.aruco_params = aruco.DetectorParameters_create()
    self.aruco_params.cornerRefinementMethod = aruco.CORNER_REFINE_SUBPIX
    self.aruco_params.cornerRefinementWinSize = 5
    self.aruco_params.cornerRefinementMinAccuracy = 0.001
    self.aruco_params.cornerRefinementMaxIterations = 5
    self.mtx = []
    self.dist = []
    self.load_camera_info()
    self.getArucoPose()
   
    


def load_camera_info(self):
    #load camera calibration
    d435_camera_info = rospy.wait_for_message(self.d435_camera_info_topic, CameraInfo)
    print("Camera Info Loaded")
    self.mtx = d435_camera_info.K
    self.dist = d435_camera_info.P
    return 0
   
def getD435Image(self):      
    d435_image = rospy.wait_for_message(self.d435_image_topic, Image)
    print("d435 image Loaded")
    image = self.cv_bridge.imgmsg_to_cv2(d435_image, desired_encoding='bgr8')
    gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
           
    return image, gray

def getArucoPose(self):
    color_img, input_image = self.getD435Image()
    corners, ids, rejectedImgPoints = aruco.detectMarkers(color_img, self.aruco_dict, parameters=self.aruco_params)      
    rvecs, tvecs, trash = aruco.estimatePoseSingleMarkers(corners, self.aruco_size, self.mtx, self.dist)
    print(rvecs)

The error is

Camera Info Loaded
d435 image Loaded
OpenCV Error: Assertion failed (src.size == dst.size && src.channels() == dst.channels()) in cvConvertScale, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp, line 5903
Traceback (most recent call last):
File “aruco_detect.py”, line 247, in
ur10_camera_calibration()
File “aruco_detect.py”, line 82, in init
self.getArucoPose()
File “aruco_detect.py”, line 146, in getArucoPose
rvecs, tvecs, trash = aruco.estimatePoseSingleMarkers(corners, self.aruco_size, self.mtx, self.dist)
cv2.error: /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp:5903: error: (-215) src.size == dst.size && src.channels() == dst.channels() in function cvConvertScale

I believe its something related to lists in python ?

I appreciate any help, thanks.

2

okay i got the Similar Error while estimating pose of the marker seems like it was due to loading of Calibration data inaccurately
Calibration Mat Should be well checked

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