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Hi, I'm using OpenCV 3.2. In Ubuntu 16 and ROS Kinetic, initUndistortRectifyMap method works well. However in Ubuntu 14 and ROS Indigo, initUndistortRectifyMap method throws segmentation fault. How can I solve this problem. Here my source code.

double left_K_array[9] = {597.1097521605675, 0.0, 347.63854815045744, 0.0, 596.4001364332671, 224.437236712643, 0.0, 0.0, 1.0};
double left_D_array[4] = {-0.4004496392598547, 0.19050457839257873, 0.00044124127310643773, -0.0028168245512799526};
double left_R_array[9] = {0.9999981271651781, -0.0012861392988823535, -0.0014462060157307741, 0.001273435625893902, 0.9999608983018283, -0.008751013033202502, 0.0014574044883866881, 0.008749154993737752, 0.9999606633558406};
double left_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, 0.0, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

double right_K_array[9] = {598.6108688018368, 0.0, 298.3515214908845, 0.0, 599.2241883823533, 262.80305450499503, 0.0, 0.0, 1.0};
double right_D_array[4] = {-0.40413263574076447, 0.1948797724228192, 0.0005653616334116255, -0.004673877723474734};
double right_R_array[9] = {0.9999632630389491, 0.0015264370954696002, 0.008434605046514125, -0.0016001828733401033, 0.999960495231354, 0.0087434198936667, -0.008420925558926182, -0.008756595597529438, 0.9999262023000859};
double right_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, -70.87906420629835, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

Mat left_K = Mat(3, 3, CV_64F, (void*)left_K_array);
Mat left_D = Mat(1, 4, CV_64F, (void*)left_D_array);
Mat left_R = Mat(3, 3, CV_64F, (void*)left_R_array);
Mat left_P = Mat(3, 4, CV_64F, (void*)left_P_array);

Mat right_K = Mat(3, 3, CV_64F, (void*)right_K_array);
Mat right_D = Mat(1, 4, CV_64F, (void*)right_D_array);
Mat right_R = Mat(3, 3, CV_64F, (void*)right_R_array);
Mat right_P = Mat(3, 4, CV_64F, (void*)right_P_array);

Mat cam1map1, cam1map2, cam2map1, cam2map2;
Size rectified_image_size = Size(640, 480);
initUndistortRectifyMap(left_K, left_D, left_R, left_P, rectified_image_size, CV_32FC1, cam1map1, cam1map2);
initUndistortRectifyMap(right_K, right_D, right_R, right_P, rectified_image_size, CV_32FC1, cam2map1, cam2map2);

Hi, I'm using OpenCV 3.2. In Ubuntu 16 and ROS Kinetic, initUndistortRectifyMap method works well. However in Ubuntu 14 and ROS Indigo, initUndistortRectifyMap method throws segmentation fault. How can I solve this problem. Here my source code.

double left_K_array[9] = {597.1097521605675, 0.0, 347.63854815045744, 0.0, 596.4001364332671, 224.437236712643, 0.0, 0.0, 1.0};
double left_D_array[4] = {-0.4004496392598547, 0.19050457839257873, 0.00044124127310643773, -0.0028168245512799526};
double left_R_array[9] = {0.9999981271651781, -0.0012861392988823535, -0.0014462060157307741, 0.001273435625893902, 0.9999608983018283, -0.008751013033202502, 0.0014574044883866881, 0.008749154993737752, 0.9999606633558406};
double left_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, 0.0, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

double right_K_array[9] = {598.6108688018368, 0.0, 298.3515214908845, 0.0, 599.2241883823533, 262.80305450499503, 0.0, 0.0, 1.0};
double right_D_array[4] = {-0.40413263574076447, 0.1948797724228192, 0.0005653616334116255, -0.004673877723474734};
double right_R_array[9] = {0.9999632630389491, 0.0015264370954696002, 0.008434605046514125, -0.0016001828733401033, 0.999960495231354, 0.0087434198936667, -0.008420925558926182, -0.008756595597529438, 0.9999262023000859};
double right_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, -70.87906420629835, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

Mat left_K = Mat(3, 3, CV_64F, (void*)left_K_array);
Mat left_D = Mat(1, 4, CV_64F, (void*)left_D_array);
Mat left_R = Mat(3, 3, CV_64F, (void*)left_R_array);
Mat left_P = Mat(3, 4, CV_64F, (void*)left_P_array);

Mat right_K = Mat(3, 3, CV_64F, (void*)right_K_array);
Mat right_D = Mat(1, 4, CV_64F, (void*)right_D_array);
Mat right_R = Mat(3, 3, CV_64F, (void*)right_R_array);
Mat right_P = Mat(3, 4, CV_64F, (void*)right_P_array);

Mat cam1map1, cam1map2, cam2map1, cam2map2;
Size rectified_image_size = Size(640, 480);
    cout << "1" << endl;
initUndistortRectifyMap(left_K, left_D, left_R, left_P, rectified_image_size, CV_32FC1, cam1map1, cam1map2);
    cout << "2" << endl;
initUndistortRectifyMap(right_K, right_D, right_R, right_P, rectified_image_size, CV_32FC1, cam2map1, cam2map2);
    cout << "3" << endl;

Hi, I'm using OpenCV 3.2. In Ubuntu 16 and ROS Kinetic, initUndistortRectifyMap method works well. However in Ubuntu 14 and ROS Indigo, initUndistortRectifyMap method throws segmentation fault. How can I solve this problem. Here my source code.

double left_K_array[9] = {597.1097521605675, 0.0, 347.63854815045744, 0.0, 596.4001364332671, 224.437236712643, 0.0, 0.0, 1.0};
double left_D_array[4] = {-0.4004496392598547, 0.19050457839257873, 0.00044124127310643773, -0.0028168245512799526};
double left_R_array[9] = {0.9999981271651781, -0.0012861392988823535, -0.0014462060157307741, 0.001273435625893902, 0.9999608983018283, -0.008751013033202502, 0.0014574044883866881, 0.008749154993737752, 0.9999606633558406};
double left_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, 0.0, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

double right_K_array[9] = {598.6108688018368, 0.0, 298.3515214908845, 0.0, 599.2241883823533, 262.80305450499503, 0.0, 0.0, 1.0};
double right_D_array[4] = {-0.40413263574076447, 0.1948797724228192, 0.0005653616334116255, -0.004673877723474734};
double right_R_array[9] = {0.9999632630389491, 0.0015264370954696002, 0.008434605046514125, -0.0016001828733401033, 0.999960495231354, 0.0087434198936667, -0.008420925558926182, -0.008756595597529438, 0.9999262023000859};
double right_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, -70.87906420629835, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

Mat left_K = Mat(3, 3, CV_64F, (void*)left_K_array);
Mat left_D = Mat(1, 4, CV_64F, (void*)left_D_array);
Mat left_R = Mat(3, 3, CV_64F, (void*)left_R_array);
Mat left_P = Mat(3, 4, CV_64F, (void*)left_P_array);

Mat right_K = Mat(3, 3, CV_64F, (void*)right_K_array);
Mat right_D = Mat(1, 4, CV_64F, (void*)right_D_array);
Mat right_R = Mat(3, 3, CV_64F, (void*)right_R_array);
Mat right_P = Mat(3, 4, CV_64F, (void*)right_P_array);

Mat cam1map1, cam1map2, cam2map1, cam2map2;
Size rectified_image_size = Size(640, 480);
    cout << "1" << endl;
initUndistortRectifyMap(left_K, left_D, left_R, left_P, rectified_image_size, CV_32FC1, cam1map1, cam1map2);
    cout << "2" << endl;
initUndistortRectifyMap(right_K, right_D, right_R, right_P, rectified_image_size, CV_32FC1, cam2map1, cam2map2);
    cout << "3" << endl;

The result if: is:

1
Segmentation fault (core dump)
dump)

Hi, I'm using OpenCV 3.2. In Ubuntu 16 and ROS Kinetic, initUndistortRectifyMap method works well. However in Ubuntu 14 and ROS Indigo, initUndistortRectifyMap method throws segmentation fault. How can I solve this problem. Here my source code.

double left_K_array[9] = {597.1097521605675, 0.0, 347.63854815045744, 0.0, 596.4001364332671, 224.437236712643, 0.0, 0.0, 1.0};
double left_D_array[4] = {-0.4004496392598547, 0.19050457839257873, 0.00044124127310643773, -0.0028168245512799526};
double left_R_array[9] = {0.9999981271651781, -0.0012861392988823535, -0.0014462060157307741, 0.001273435625893902, 0.9999608983018283, -0.008751013033202502, 0.0014574044883866881, 0.008749154993737752, 0.9999606633558406};
double left_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, 0.0, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

double right_K_array[9] = {598.6108688018368, 0.0, 298.3515214908845, 0.0, 599.2241883823533, 262.80305450499503, 0.0, 0.0, 1.0};
double right_D_array[4] = {-0.40413263574076447, 0.1948797724228192, 0.0005653616334116255, -0.004673877723474734};
double right_R_array[9] = {0.9999632630389491, 0.0015264370954696002, 0.008434605046514125, -0.0016001828733401033, 0.999960495231354, 0.0087434198936667, -0.008420925558926182, -0.008756595597529438, 0.9999262023000859};
double right_P_array[12] = {598.1045682828319, 0.0, 316.94952392578125, -70.87906420629835, 0.0, 598.1045682828319, 244.39208221435547, 0.0, 0.0, 0.0, 1.0, 0.0};

Mat left_K = Mat(3, 3, CV_64F, (void*)left_K_array);
Mat left_D = Mat(1, 4, CV_64F, (void*)left_D_array);
Mat left_R = Mat(3, 3, CV_64F, (void*)left_R_array);
Mat left_P = Mat(3, 4, CV_64F, (void*)left_P_array);

Mat right_K = Mat(3, 3, CV_64F, (void*)right_K_array);
Mat right_D = Mat(1, 4, CV_64F, (void*)right_D_array);
Mat right_R = Mat(3, 3, CV_64F, (void*)right_R_array);
Mat right_P = Mat(3, 4, CV_64F, (void*)right_P_array);

Mat cam1map1, cam1map2, cam2map1, cam2map2;
Size rectified_image_size = Size(640, 480);
    cout << "1" << endl;
initUndistortRectifyMap(left_K, left_D, left_R, left_P, rectified_image_size, CV_32FC1, cam1map1, cam1map2);
    cout << "2" << endl;
initUndistortRectifyMap(right_K, right_D, right_R, right_P, rectified_image_size, CV_32FC1, cam2map1, cam2map2);
    cout << "3" << endl;

The result is:

1
Segmentation fault (core dump)

cmake_minimum_required(VERSION 2.8.3)
project(depth_viewer)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    rospy
    sensor_msgs
    std_msgs
    image_transport
    cv_bridge
    message_generation
)

find_package(OpenCV 3 REQUIRED)

add_message_files(
    FILES
    stereo_image.msg
)

generate_messages(
    DEPENDENCIES
    std_msgs
    sensor_msgs
)

catkin_package(
#   INCLUDE_DIRS include
#   LIBRARIES stereocam
#   roscpp rospy sensor_msgs std_msgs
#   DEPENDS system_lib
)

include_directories(
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ~/vst_stereo_cam_driver/VSTSTCHW/
)

add_executable(stereocam_node src/stereocam_node.cpp)
target_link_libraries(stereocam_node
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
    ~/vst_stereo_cam_driver/VSTSTCHW/libVSTSTCHW.so
)

add_executable(depth_viewer src/depth_viewer.cpp)
target_link_libraries(depth_viewer
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
)