kinect2_calibration cannot save the image

[doublexxking]

Hi everyone, I am trying to use kinect2_calibration to calibrate my camera. I following the steps rosrun kinect2_bridge kinect2_bridge _fps_limit:=2 rosrun kinect2_calibration kinect2_calibration chess10x7x0.10 record color

The window shows as following

and the terminal shows as following:

[ INFO] [main] Start settings: Mode: record Source: color Board: chess Dimensions: 10 x 7 Field size: 0.1 Dist. model: 5 coefficients Topic color: /kinect2/hd/image_mono Topic ir: /kinect2/sd/image_ir Topic depth: /kinect2/sd/image_depth Path: ./

[ INFO] [main] starting recorder... [ INFO] [Recorder::startRecord] Controls: [ESC, q] - Exit [SPACE, s] - Save current frame [l] - decrease min and max value for IR value range [h] - increase min and max value for IR value range [1] - decrease min value for IR value range [2] - increase min value for IR value range [3] - decrease max value for IR value range [4] - increase max value for IR value range [ERROR] Tried to advertise a service that is already advertised in this node [/kinect2_calib_1499375412961435695/compressed/set_parameters] [ERROR] Tried to advertise a service that is already advertised in this node [/kinect2_calib_1499375412961435695/compressed/set_parameters]

However, whatever I press s or space, the image cannot be saved. If I press q, it can be exit. So, is there someone know what the problem is and any ideas are appreciate.

Thanks in advance.

[suijingfeng]

This chessboard is 6x9, not 10x7, you provided wrong parameters which cause cv::findChessboardCorners can not find the chessboard.

---

  case COLOR:
    foundColor = cv::findChessboardCorners(color, boardDims, pointsColor, cv::CALIB_CB_FAST_CHECK);

---

  if(save && ((mode == COLOR && foundColor) || (mode == IR && foundIr) || (mode == SYNC && foundColor && foundIr)))
  {
    store(color, ir, irGrey, depth, pointsColor, pointsIr);
    save = false;
  }

---

findChessboardCorners will return false -> foundColor will be false -> there is no chance that function "store" will be executed.

[SriGanesh130]

change 10x7 to 9x6 it will work