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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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RuntimeError: ERROR: Could not write parameters to file: camchain-imucam-/home/slam/record_rosbag_ws/data20220804/cam_imu_RGB4.yaml #553

Closed fengyikawhi closed 2 years ago

fengyikawhi commented 2 years ago 
Traceback (most recent call last):
  File "/home/slam/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/icc_calibrator.py", line 231, in saveCamChainParametersYaml
    chain.writeYaml(resultFile)
  File "/home/slam/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ConfigReader.py", line 221, in writeYaml
    os.mkdir(filename)
FileNotFoundError: [Errno 2] No such file or directory: 'camchain-imucam-/home/slam/record_rosbag_ws/data20220804/cam_imu_RGB4.yaml'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/slam/kalibr_ws/devel/lib/kalibr/kalibr_calibrate_imu_camera", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/slam/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 245, in <module>
    main()
  File "/home/slam/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera", line 219, in main
    iCal.saveCamChainParametersYaml(yamlFilename)
  File "/home/slam/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/icc_calibrator.py", line 233, in saveCamChainParametersYaml
    raise RuntimeError("ERROR: Could not write parameters to file: {0}\n".format(resultFile))
RuntimeError: ERROR: Could not write parameters to file: camchain-imucam-/home/slam/record_rosbag_ws/data20220804/cam_imu_RGB4.yaml

Your help is much appreciated.

Best.

goldbattle commented 2 years ago

What is the exact command you are using to run the program with? Can you try to use a relative path? Seems this could be an issue with how to parse the bag file path.

fengyikawhi commented 2 years ago

What is the exact command you are using to run the program with? Can you try to use a relative path? Seems this could be an issue with how to parse the bag file path.

I tried command: "rosrun kalibr kalibr_calibrate_imu_camera --bag ./data/20220802/cam_imu_RGB4.bag --target ./data/20220802/checkerboard.yaml --cam ./data/20220802/camchain.yaml --imu ./data/20220802/imu.yaml" But all most the same problems: FileNotFoundError: [Errno 2] No such file or directory: 'camchain-imucam-./data/20220802/cam_imu_RGB4.yaml' RuntimeError: ERROR: Could not write parameters to file: camchain-imucam-./data/20220802/cam_imu_RGB4.yaml

Any ideas to solve this?

goldbattle commented 2 years ago

The export order is bagname + -camchain-imucam.yaml. Can you please make sure the code you compiled is up to date with the current master? https://github.com/ethz-asl/kalibr/blob/master/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera#L220

fengyikawhi commented 2 years ago

The export order is bagname + -camchain-imucam.yaml. Can you please make sure the code you compiled is up to date with the current master? https://github.com/ethz-asl/kalibr/blob/master/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera#L220

Appreciate for your patient reply！