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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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IMU and GPS data required for running CamOdoCal? #88

Open stillbreeze opened 5 years ago

stillbreeze commented 5 years ago

Hi,

I'm trying to run the project and have executed the intrinsic and extrinsic binaries and gotten their outputs.

For running the extrinsic_calib binary, do I necessarily need IMU and/or GPS data? Currently, I run with only stereo data (only 3 pairs for testing) and get this output:

Get images and pose files out from result directory
image name : ../data/extrinsic_data/camera_0_2.png time : 2image name : ../data/extrinsic_data/camera_1_0.png time : 0image name : ../data/extrinsic_data/camera_0_1.png time : 1image name : ../data/extrinsic_data/camera_1_2.png time : 2image name : ../data/extrinsic_data/camera_1_1.png time : 1image name : ../data/extrinsic_data/camera_0_0.png time : 0# INFO: Initialization finished!
init done
opengl support available
# INFO: Running camera-odometry calibration for each of the 2 cameras.
# ERROR: No segments, calibration fails!!# ERROR: No segments, calibration fails!!
# INFO: Calibrating odometry - camera 1...
Rotation: 

6.94267e-310 6.94258e-310 6.94267e-310
6.94267e-310 6.94258e-310 7.90505e-323
6.94258e-310 6.94258e-310 6.94258e-310
Translation: 
2.52962e-321            0 6.94267e-310
# INFO: Calibrating odometry - camera 0...
Rotation: 
6.94267e-310 6.94258e-310 6.94267e-310
6.94267e-310 6.94258e-310 7.90505e-323
6.94258e-310 6.94258e-310 6.94258e-310
Translation: 
2.52962e-321            0 6.94267e-310

Any help would be highly appreciated. Thanks in advance!

MohrMa2 commented 5 years ago

Actually it needs either 1.) GPS & IMU data, where the IMU data must be in the local geographic frame. (I think it is east north up, and the angle around the up-axis is counterclockwise, and NOT the compass directions.) or 2.) x, y and yaw.

Using case 1.) you need an event file, using case 2.) you need for each set of images a txt file containing x, y, and yaw.

TengFeiHan0 commented 5 years ago

@stillbreeze Did you solve the problem? I got the same problem. if possible, could you explain your solutions to me?

sandeepnmenon commented 2 years ago

@MohrMa2 One clarification. When we do not use an event file, in the code the text file is having rotation and translation matrices as per the example code https://github.com/hengli/camodocal/blob/b399fa9ee81b5182e59f717e67a8ddd6503cdcb4/src/examples/extrinsic_calib.cc#L244-L266

Do you have a working example of a pose file and the event file? I just need it to convert my data to this format.

MohrMa2 commented 2 years ago

I only used an event file (if I remember correctly). It looks like this:

1264963 CAM 0 GH010038_Frame_37912.JPG 1264963 CAM 1 GH010131_Frame_37912.JPG 1264963 CAM 2 GH013552_Frame_37912.JPG 1264963 CAM 3 GH016853_Frame_37912.JPG 1264963 CAM 4 GH010034_Frame_37912.JPG 1264963 CAM 5 GH010064_Frame_37912.JPG 1264966 IMU 0.9409967488097613 -0.10078563645397824 -0.02480492844525846 0.32210571205560934 1264971 IMU 0.9413148371662313 -0.09738375442102762 -0.026632561837073316 0.3220768361052543 1264976 IMU 0.9409471120865325 -0.10063867874615712 -0.028543709292637786 0.3219870265337713 1264981 IMU 0.9412895987522149 -0.09688725665202104 -0.028104712424889235 0.3221752254889473 1264986 IMU 0.9410579278259364 -0.09850801366547605 -0.024639628854419813 0.3226438228287553 1264991 IMU 0.9406350182876361 -0.1022503275025428 -0.025236301427799274 0.32266664219730956 1264996 IMU 0.9406930038866845 -0.10159924296458428 -0.029065036324521665 0.3223809701752317 1264997 CAM 0 GH010038_Frame_37913.JPG 1264997 CAM 1 GH010131_Frame_37913.JPG 1264997 CAM 2 GH013552_Frame_37913.JPG 1264997 CAM 3 GH016853_Frame_37913.JPG 1264997 CAM 4 GH010034_Frame_37913.JPG 1264997 CAM 5 GH010064_Frame_37913.JPG 1265001 GPS 52.4528301 13.4211386 0 <<<

However, I never got converged results with it.

sandeepnmenon commented 2 years ago

@MohrMa2 Thanks Did you undertand the format of x,y and yaw required. Is it relative to the first frame or is it relative to the previous frame or any other format?