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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Bagcreator No IMU Information #375

Closed sooroosh closed 4 years ago

sooroosh commented 4 years ago

Hi, I am trying to Calibrate a Ricoh Theta V camera with two 190 degree back to back camera sensors. I have recorded the calibration images with the apriltags and put the images coming from each one of the cameras in the correct folder structure mentioned in the tutorial. However, I have no IMU information.

In the tutorial it says that having a csv file for the IMU is optional. However, when I run the bagcreator script from the CDE package I get the following error: File "", line 73, in loadImageToRosMsg ValueError: invalid literal for int() with base 10: ''"

Looking at the other issues I believe it has something to do with the missing CSV file. I wonder if there is a way to get this to work without any IMU information ?

sooroosh commented 4 years ago

Turns out the problem is with images names ! Images names should represent the timestep and should at least be 10**9 long (1 second in nanoseconds) !

Therefore if your image numbering starts from 0 , add an offset of 10**9 (or greater) to all image names.

DepinYang commented 4 years ago

@sooroosh Hi, I am also calibrating RICOH Theta V. Could you tell me which camera model did you choose? omni-radtan or ds-none or something else?