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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
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Fail to estimate the intrinsic camera parameters of model mei #57

Open x-wang opened 8 years ago

x-wang commented 8 years ago

The program runs well to estimate all the intrinsic parameters of the pinhole model, however, it crashes when specified as mei, the unified projection model. Seems like it failed to estimate the Jacobian matrix. The detailed output:

./intrinsic_calib -i ./videoCam/ -p img -e jpg --camera-model mei
# INFO: Camera model: Mei
[camera] # INFO: CataCamera model fails with given data. 
WARNING: Logging before InitGoogleLogging() is written to STDERR
W0727 18:46:44.989917 1971659536 parameter_block.h:339] Local parameterization Jacobian computation returnedan invalid matrix for x: nan nan nan nan
 Jacobian matrix : nan nan nan
nan nan nan
nan nan nan
nan nan nan
F0727 18:46:44.989989 1971659536 parameter_block.h:177] Check failed: UpdateLocalParameterizationJacobian() Local parameterization Jacobian computation failed for x: nan nan nan nan
*** Check failure stack trace: ***
Abort trap: 6

Is there any obvious mistake here? I actually just want to calibrate a normal webcam.

mmp52 commented 4 years ago

Hey There! I am having a similar problem in another project (https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) but not in the camera parameters, in the initialization process of the VIO. Anyway, have you found the reason behind this since it has been 3 years?

Thanks! Metin