Not getting 30 FPS Video Output

[sajjad-hm]

First of all, Thanks for the awesome project.

• Device: POCO F1
• OS: Android 10
• App Version 0.12
• Ubuntu 18.04

In my device, I'm getting 15 FPS video output

I'm getting this data2statistics.py script output

python data2statistics.py /host_home/2023_08_01_23_08_39/video_meta.pb3

But whenever I tried this script for the calibration

python data2kalibr.py /host_home/2023_08_01_23_08_39 --tag-size 0.088 --subsample 30

I also tried changing the --subsample to 15, as my device is recording at 15 FPS but it showing this error: (I'm sharing the whole terminal, just because if I made any error in between)

Using default tag: latest
latest: Pulling from davidgillsjo/videoimucapture-calibration
Digest: sha256:2c531c91c19d49df7145dcc8dc1887eb336dddea180ded87bfdd10fa6f520fcc
Status: Image is up to date for davidgillsjo/videoimucapture-calibration:latest
docker.io/davidgillsjo/videoimucapture-calibration:latest
groups: cannot find name for group ID 1000

sajjad@ab625d2976ad:/calibration$ python data2statistics.py /host_home/2023_08_01_23_08_39/video_meta.pb3

/usr/lib/python2.7/dist-packages/matplotlib/font_manager.py:273: UserWarning: Matplotlib is building the font cache using fc-list. This may take a moment.
  warnings.warn('Matplotlib is building the font cache using fc-list. This may take a moment.')
focus_calibration: APPROXIMATE
timestamp_source: REALTIME
resolution {
  width: 960
  height: 1280
}
pre_correction_active_array_size {
  width: 4032
  height: 3024
}
sensor_orientation: 90

gyro_info: "{Sensor name=\"BMI160 Gyroscope-Uncalibrated Non-wakeup\", vendor=\"BOSCH\", version=34744596, type=16, maxRange=17.452778, resolution=5.326165E-4, power=0.9, minDelay=5000}"
gyro_resolution: 0.000532616511919
accel_info: "{Sensor name=\"BMI160 Accelerometer-Uncalibrated Non-wakeup\", vendor=\"BOSCH\", version=34744596, type=35, maxRange=78.4532, resolution=0.0023928226, power=0.18, minDelay=2500}"
accel_resolution: 0.00239282264374
sample_frequency: 100.762886047

sajjad@ab625d2976ad:/calibration$ python data2kalibr.py /host_home/2023_08_01_23_08_39 --tag-size 0.088 --subsample 30

skipping frame 0, missing data
Traceback (most recent call last):
  File "data2kalibr.py", line 120, in <module>
    create_camera_yaml(proto, camera_yaml_path, args.matlab_calibration)
  File "data2kalibr.py", line 19, in create_camera_yaml
    q = Quaternion(c.lens_pose_rotation[3], *c.lens_pose_rotation[:3])
IndexError: list index (3) out of range

Can you guys please help me with what am I doing wrong?

[sajjad-hm]

I have figured out the problem. The bag file had been created on the /kalibr path but I missed adding the appropriate /target.yaml on the generated /kalibr path when running this

cd <path-to-recording>/kalibr
kalibr_calibrate_cameras --bag kalibr.bag --target target.yaml --models pinhole-equi --topics /cam0/image_raw

on the docker environment. Finally, I was able to generate the /kalibr/camchain-kalibr.yaml file.

The frame rate issue didn't make the problem. Thanks!

[DavidGillsjo]

I'm glad you figured it out, thanks for sharing your solution!