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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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kalibr_bagextractor extract with empty timestamps #592

Closed zoldaten closed 1 year ago

zoldaten commented 1 year ago

hi ! i use docker image built with ubuntu 20.04 and kalibr_bagextractor: rosrun kalibr kalibr_bagextractor --image-topic /camera --imu-topic /imu --output-folder /data --bag /data/dynamic.bag i seems everything i s OK:

importing libraries
Extracting 3491 images from topic /camera
      done.                                                          

Extracting 1379 IMU messages from topic /imu
      done.

but when i see dir i see imu0.csv and cam0 dir with only 1 image inside - 0000000000.png that is very strange as when i start calibration and use --show-exctaction i see all video in bag i recorded.

what is wrong ?

goldbattle commented 1 year ago

Can you post the bag that has the issue?

On Thu, Dec 29, 2022 at 7:16 AM Albert @.***> wrote:

hi ! i use docker image built with ubuntu 20.04 and kalibr_bagextractor: rosrun kalibr kalibr_bagextractor --image-topic /camera --imu-topic /imu --output-folder /data --bag /data/dynamic.bag i seems everything i s OK:

importing libraries Extracting 3491 images from topic /camera done.

Extracting 1379 IMU messages from topic /imu done.

but when i see dir i see imu0.csv and cam0 dir with only 1 image inside - 0000000000.png that is very strange as when i start calibration and use --show-exctaction i see all video in bag i recorded.

what is wrong ?

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zoldaten commented 1 year ago

sure - https://drive.google.com/file/d/17ZqjSXOwMTgy8eJJLLj7DN3_LUNfr_YO/view?usp=sharing

goldbattle commented 1 year ago

It looks like the header doesn't have any timestamps, thus it is just overwriting the same image each time. image

I think there should be a way to fall back onto the bag time, but not sure. If you correct your timestamps, things should perform as expected.

rosrun kalibr kalibr_bagextractor --image-topics /camera --output-folder data/. --bag dynamic.bag