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castacks / tartancalib

TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
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input stream error #8

Closed JzHuai0108 closed 1 year ago

JzHuai0108 commented 1 year ago 
Traceback (most recent call last):
  File "/media/jhuai/Seagate2TB/jhuai/tools/continuous-time/tartancalib_ws/devel/lib/kalibr/tartan_calibrate", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/media/jhuai/Seagate2TB/jhuai/tools/continuous-time/tartancalib_ws/src/tartancalib/aslam_offline_calibration/kalibr/python/tartan_calibrate", line 654, in <module>
    main()
  File "/media/jhuai/Seagate2TB/jhuai/tools/continuous-time/tartancalib_ws/src/tartancalib/aslam_offline_calibration/kalibr/python/tartan_calibrate", line 514, in main
    tartanlogs.append(TartanLogging.TartanLogger(obsdb_init,[copy.deepcopy(cam_.geometry) for cam_ in calibrator.cameras],kcc.getAllPointStatistics(calibrator,0)))
  File "/media/jhuai/Seagate2TB/jhuai/tools/continuous-time/tartancalib_ws/src/tartancalib/aslam_offline_calibration/kalibr/python/tartan_calibrate", line 514, in <listcomp>
    tartanlogs.append(TartanLogging.TartanLogger(obsdb_init,[copy.deepcopy(cam_.geometry) for cam_ in calibrator.cameras],kcc.getAllPointStatistics(calibrator,0)))
  File "/usr/lib/python3.8/copy.py", line 172, in deepcopy
    y = _reconstruct(x, memo, *rv)
  File "/usr/lib/python3.8/copy.py", line 272, in _reconstruct
    y.__setstate__(state)
RuntimeError: input stream error

Some log prior to the error message is given below.

  Progress 515 / 525     Time remaining: 0s                  
  Progress 521 / 525     Time remaining: 0s                  
  Progress 525 / 525     Time remaining:                   Initialization of focal length failed. You can enable manual input by setting 'KALIBR_MANUAL_FOCAL_LENGTH_INIT'.
[ERROR] [1670477639.529250]: initialization of focal length for cam with topic /cam0/image_raw failed  

  Extracted corners for 457 images (of 525 images)                              
    Projection initialized to: [nan nan nan nan]
    Distortion initialized to: [nan nan nan nan]
initializing initial guesses
initialized cam0 to:
     projection cam0: [nan nan nan nan]
     distortion cam0: [nan nan nan nan]
initializing calibrator
STARTING MODE
PolarOptions.NONE
starting calibration...

Dear authors,

Thanks for your great work. This error appears to me caused by the failure to initialize focal length. I think it is better to terminate the program earlier in that case.

sihengt commented 1 year ago

Hi JzHuai0108, thank you for trying out TartanCalib.

TartanCalib is built upon Kalibr, and this issue is closed in Kalibr's issue #346. The fix would be to set the KALIBR_MANUAL_FOCAL_LENGTH_INIT manual variable to 1 (automatically done in our DockerFiles!), and to manually input the focal length when prompted.