test the dataset"imu-camera-calibration"

[Liuwenqin-hub]

when i use the dataset "imu-camera-calibration"to test whether i install the kalibr successfully or not, the following error occurred:

Initializing IMUs:
Traceback (most recent call last):
  File "/home/liu/work/kalibr_ws/devel/bin/kalibr_calibrate_imu_camera", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 245, in <module>
    main()
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 149, in main
    imuConfig = kc.ImuParameters(imu_yaml)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 426, in __init__
    ParametersBase.__init__(self, yamlFile, "ImuConfig", createYaml)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 200, in __init__
    self.data = self.readYaml()
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 211, in readYaml
    self.raiseError( "Could not read configuration from {0}".format(self.yamlFile) )
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 234, in raiseError
    raise RuntimeError( "{0}{1}".format(header, message) )
RuntimeError: [ImuConfig Reader]: Could not read configuration from imu_adis16448.yaml
liu@liu-HP-ENVY-Laptop-13-aq1xxx:~/work/kalibr_ws$ kalibr_calibrate_imu_camera --target /home/liu/work/kalibr_ws/dataTest/dynamic/april_6x6.yaml --cam /home/liu/work/kalibr_ws/dataTest/dynamic/camchain.yaml --imu /home/work/kalibr_ws/dataTest/dynamic/imu_adis16448.yaml --bag /home/liu/work/kalibr_ws/dataTest/dynamic/dynamic.bag --bag-from-to 5 45
importing libraries
Initializing IMUs:
Traceback (most recent call last):
  File "/home/liu/work/kalibr_ws/devel/bin/kalibr_calibrate_imu_camera", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 245, in <module>
    main()
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 149, in main
    imuConfig = kc.ImuParameters(imu_yaml)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 426, in __init__
    ParametersBase.__init__(self, yamlFile, "ImuConfig", createYaml)
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 200, in __init__
    self.data = self.readYaml()
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 211, in readYaml
    self.raiseError( "Could not read configuration from {0}".format(self.yamlFile) )
  File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 234, in raiseError
    raise RuntimeError( "{0}{1}".format(header, message) )
RuntimeError: [ImuConfig Reader]: Could not read configuration from /home/work/kalibr_ws/dataTest/dynamic/imu_adis16448.yaml

then i guess the configuration file path is wrong, i changed it. However, the error still existed. can you give me some suggestions?

[chongjeelee]

when i use the dataset "imu-camera-calibration"to test whether i install the kalibr successfully or not, the following error occurred: Initializing IMUs: Traceback (most recent call last): File "/home/liu/work/kalibr_ws/devel/bin/kalibr_calibrate_imu_camera", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 245, in main() File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 149, in main imuConfig = kc.ImuParameters(imu_yaml) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 426, in init ParametersBase.init(self, yamlFile, "ImuConfig", createYaml) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 200, in init self.data = self.readYaml() File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 211, in readYaml self.raiseError( "Could not read configuration from {0}".format(self.yamlFile) ) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 234, in raiseError raise RuntimeError( "{0}{1}".format(header, message) ) RuntimeError: [ImuConfig Reader]: Could not read configuration from imu_adis16448.yaml liu@liu-HP-ENVY-Laptop-13-aq1xxx:~/work/kalibr_ws$ kalibr_calibrate_imu_camera --target /home/liu/work/kalibr_ws/dataTest/dynamic/april_6x6.yaml --cam /home/liu/work/kalibr_ws/dataTest/dynamic/camchain.yaml --imu /home/work/kalibr_ws/dataTest/dynamic/imu_adis16448.yaml --bag /home/liu/work/kalibr_ws/dataTest/dynamic/dynamic.bag --bag-from-to 5 45 importing libraries Initializing IMUs: Traceback (most recent call last): File "/home/liu/work/kalibr_ws/devel/bin/kalibr_calibrate_imu_camera", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 245, in main() File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 149, in main imuConfig = kc.ImuParameters(imu_yaml) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 426, in init ParametersBase.init(self, yamlFile, "ImuConfig", createYaml) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 200, in init self.data = self.readYaml() File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 211, in readYaml self.raiseError( "Could not read configuration from {0}".format(self.yamlFile) ) File "/home/liu/work/kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 234, in raiseError raise RuntimeError( "{0}{1}".format(header, message) ) RuntimeError: [ImuConfig Reader]: Could not read configuration from /home/work/kalibr_ws/dataTest/dynamic/imu_adis16448.yaml

then i guess the configuration file path is wrong, i changed it. However, the error still existed. can you give me some suggestions?

---

hello ,where can i download the dataset ?

[goldbattle]

It looks like the path to the config file is incorrect. Please make sure it is valid. Please post the config you used if you still have issues.

For example:

rostopic: /imu0
update_rate: 200.0 #Hz
accelerometer_noise_density: 0.01 #continous
accelerometer_random_walk: 0.0002 
gyroscope_noise_density: 0.005 #continous
gyroscope_random_walk: 4.0e-06

[cloudlakecho]

@chongjeelee Was you able to get the dataset? If yes, would you share with me? Thanks.

[Liuwenqin-hub]

@chongjeelee Was you able to get the dataset? If yes, would you share with me? Thanks.

The datasets can be downloaded from “wiki/downloads” menu on this page.

[cloudlakecho]

@Liuwenqin-hub Thanks for the link. It looks like that they supported most of inputs for the example command at Cameral IMU LRF calibration.

Two questions: First, the command line example listed four input files: kalibr_calibrate_imu_camera_laser --cam camchain-calibration_2015-10-09-10-48-02.yaml --imu imu_adis16448_ident.yaml --target april_6x6.yaml --imu-models calibrated --bag calibration_2015-11-05-13-39-04.bag --reprojection-sigma 0.1 --time-calibration --timeoffset-padding 0.1 --lrf-topic /scan --q_bl -0.5 0.5 -0.5 0.5 --t_bl 0. 0. 0.    camchain-calibration_2015-10-09-10-48-02.yaml    imu_adis16448_ident.yaml    april_6x6.yaml    calibration_2015-11-05-13-39-04.bag

The file in the Wiki page, is the "cam_april-camchain.yaml". Will this be exchangeable with the "camchain-calibration_2015-10-09-10-48-02.yaml" from above example?

Second question is that is there a place I could down load "calibration_2015-11-05-13-39-04.bag" file? Thanks.