The input of the infrastructure calibration

[ptzu]

Hi,
I try to run infra_calib, but it lacks the input map.
I read Readme and it says that the map is generated by extrinsic calibration.
However, I didn't see anything related to that when I read the code.
Did I miss anything?

[yuyadanyadan]

Hi @abcd40404
If you haven't solved it, you should need to run extrinsic_calib of the bin folder to get the map frames_5.sg, which is in CameraRigBA.cc. Then you can load it in infra_calib.
However, when I use the infra_calib, I can't fins the same Frame* in the first code line
boost::unordered_map<const Frame*, FrameTag>::const_iterator it = m_frameMap.find(frame.get()) in
LocationRecognition::knnMatch.
I use the same data to build the map and run infra_calib.

[ptzu]

Hi @yuyadanyadan Thanks for your reply.
I have tried to run extrinsic_calib many times, but it didn't work.
I typed "bin/extrinsic_calib -c . --input ../data/images/" to run it and moved the data generated from bin/intrinsic_calib to the build directory.
Are these input data enough to run extrinsic_calib?

[yuyadanyadan]

Hi @abcd40404
./extrinsic_calib --calib /home/yuyadan/catkin_ws_rgbd_image_save/data1/ --camera-count 2 --f 421 --output /home/yuyadan/catkin_ws_rgbd_image_save/data1/ --data /home/yuyadan/catkin_ws_rgbd_image_save/data1/ --input /home/yuyadan/catkin_ws_rgbd_image_save/data1/rec/Odo.rec
the code of reading odometry and image has been changed according to myself data. And you need to put the camera_0_calib.yaml, camera_1_calib.yaml to the folder of input parameter calibDir. you can track error from the code.

[ptzu]

Hi @yuyadanyadan
Sorry, I'm new to this, I would like to ask some stupid question.
If I have only one camera, can I do this?
What is odometry data actually?
After I read the code, are estimate and event data necessary?
Thank you.

[yuyadanyadan]

Hi,
If you have one cam, the --camera-count 1. It can process one cam;
the odometry data is x,y, yaw;
the event data may be the GPS; the estimate ,event and mask which you can ignore

[ptzu]

Thanks for your help!!

[ptzu]

Hi, @yuyadanyadan
After I tried it, I still can't run extrinsic_calib successfully.
I got core dumped.
I have camera_0_calib.yaml and images as input.
Instruction: bin/extrinsic_calib -c . --input ../image/
Here is the error message:
# INFO: Initializing...
Get images and pose files out from result directory
image name : ../image/camera_0_00298.png time : 298image name : ../image/camera_0_00150.png time : 150image name : ../image/camera_0_00088.png time : 88image name : ../image/camera_0_00308.png time : 308image name : ../image/camera_0_00016.png time : 16image name : ../image/camera_0_00438.png time : 438image name : ../image/camera_0_00042.png time : 42image name : ../image/camera_0_00138.png time : 138image name : ../image/camera_0_00236.png time : 236image name : ../image/camera_0_00440.png time : 440image name : ../image/camera_0_00134.png time : 134image name : ../image/camera_0_00102.png time : 102image name : ../image/camera_0_00344.png time : 344image name : ../image/camera_0_00450.png time : 450image name : ../image/camera_0_00004.png time : 4image name : ../image/camera_0_00106.png time : 106image name : ../image/camera_0_00008.png time : 8image name : ../image/camera_0_00048.png time : 48
# INFO: Initialization finished!
# INFO: Running camera-odometry calibration for each of the 1 cameras.
# ERROR: No segments, calibration fails!!
# INFO: Calibrating odometry - camera 0...
Rotation:
6.94725e-310 6.94717e-310 6.94725e-310
6.94725e-310 6.94717e-310 7.90505e-323
6.94717e-310 6.94717e-310 6.94717e-310
Translation:
2.52962e-321 0 6.94725e-310
# INFO: Completed camera-odometry calibration for all cameras.
# INFO: Saving intermediate data... Done. Took 0.00s.
# INFO: Running camera rig calibration.
Segmentation Fault(Core dumped)

Could you give any advise?

[poaongithub]

same as mine, have you solved it? I would appreciate it if you would give some hints. @abcd40404

[ynma-hanvo]

hi, i just wonder where did you guys find the infra_calib tool, i only got intrinsic_calib, exterinsic_calib and stereo_calib