Error in continuous_time_imu_to_camera_calibration.cc

[SKioresku]

[urbste]

Looks like an eigen alignment issue. I never had that Problem. What versions are you using? Could you run à RelWithDebug build to find out where it is crashing?

[SKioresku]

Which compiler did you use? What are the versions of the Eigen and Sophus libraries? I have Sophus 1.1.0 and Eigen 3.3.9. Compiled with GNU 9.3

[urbste]

Eigen is version 3.3.7 in my case. Sophus is in the third_party library folder. So there is no need to install it in the system. My gcc version is 8.4.0.

I should probably dockerize the calibration pipeline in the future.

[urbste]

I just updated my Eigen to 3.3.9. No alignment issues.

[SKioresku]

What Ubuntu version are you using? Can it be VirtualBox problem?

[urbste]

I am on Ubuntu 18.04.5. I never tried it in a VirtualBox.

What you could try is to turn off Eigen alignment by passing EIGEN_MAX_ALIGN_BYTES=0 to the compiler (https://eigen.tuxfamily.org/dox/TopicPreprocessorDirectives.html). Have a look at line 12 in CMakeLists.txt.

[SKioresku]

Camera calibration not working with "Double_Sphere" camera model and new Theia library

[urbste]

Can you maybe send me one of your datasets so I can check? I just tried it and it works with the Double Sphere camera model.

[SKioresku]

Dataset downloaded from your link. Thats my code with hardcoded pathes and corners of camera calibration v ideo in binary format calibrate_camera.zip

[SKioresku]

This is source libraries for OpenImuCameraCalibrator building. https://filetransfer.io/data-package/QzB9NRwV#link

[urbste]

Sorry for my late reply. I ran the calibrate_camera.cc with the corners.uson that you supplied. I get a valid camera calibration without any problems or crashes: Final camera calibration reprojection error: 0.295454 from 40 view. Focal Length:434.714px Principal Point: 479.042/273.613px. DOUBLE_SPHERE model: XI: -0.00281319 ALPHA: 0.535422

The only thing you can try is doing a debug build and trying to find out where it is crashing.

[urbste]

The library versions I am using: Newest TheiaSfM master from my fork Eigen 3.3.9 Ceres-solver 2.0.0 OpenCV 4.5.1

[SKioresku]

Ok, thank you very much

[laldev]

As you mentioned "Sophus is in the third_party library folder. So there is no need to install it in the system." https://github.com/urbste/OpenImuCameraCalibrator/issues/2#issuecomment-824088319 , but I cant find any files inside Sophus after the git cloning OpenImuCameraCalibrator . What is the corect way to install Sophus?

I have tried to install it manually, but make step of OpenImuCameraCalibrator fails with the following error:

imu_camera_calibrator.cc:(.text._ZN3fmt2v55printIZZN6Sophus7SO3BaseINS2_3SO3IN5ceres3JetIdLi4EEELi0EEEE9normalizeEvENKUlvE_clEvE3strJN5Eigen9TransposeINSC_6MatrixIS7_Li4ELi1ELi0ELi4ELi1EEEEEEEENSt9enable_ifIXsrNS0_8internal9is_stringIT_EE5valueEvE4typeERKSKDpRKT0[_ZN3fmt2v55printIZZN6Sophus7SO3BaseINS2_3SO3IN5ceres3JetIdLi4EEELi0EEEE9normalizeEvENKUlvE_clEvE3strJN5Eigen9TransposeINSC_6MatrixIS7_Li4ELi1ELi0ELi4ELi1EEEEEEEENSt9enable_ifIXsrNS0_8internal9is_stringIT_EE5valueEvE4typeERKSKDpRKT0]+0x74): undefined reference to `fmt::v5::vprint(fmt::v5::basic_string_view, fmt::v5::format_args)' collect2: error: ld returned 1 exit status applications/CMakeFiles/continuous_time_imu_to_camera_calibration.dir/build.make:177: recipe for target 'applications/continuous_time_imu_to_camera_calibration' failed make[2]: [applications/continuous_time_imu_to_camera_calibration] Error 1 CMakeFiles/Makefile2:243: recipe for target 'applications/CMakeFiles/continuous_time_imu_to_camera_calibration.dir/all' failed make[1]: [applications/CMakeFiles/continuous_time_imu_to_camera_calibration.dir/all] Error 2 Makefile:90: recipe for target 'all' failed

[urbste]

You are absolutely right. Thanks for pointing it out. I fixed it and put Sophus in the third_party folder. Could you please try and out and see if it works now?

[laldev]

Hi, Thanks for your response. I am getting build error due to the new commit. ceres_calib_split_residuals.h:497:68: error: ‘const class theia::Track’ has no member named ‘RefBearing’ const Eigen::Vector3d bearing_d = image_data->Track(track_id)->RefBearing();

I did not dig into the repo as I was just interested to quickly test it if things are already working. It would be great if you could provide a tag with no build errors. Thank you for the great work. I really appreciate the hard work you put in.

[urbste]

Should be fixed now. I renamed a function in TheiaSfM. I also added a commit tag for TheiaSfM.

[laldev]

Hi, It still gives the same error as before. I found const Eigen::Vector3d &ReferenceBearingVector() const; in line 82 or track.h is this what you mena to call here --> const Eigen::Vector3d bearing_d = image_data->Track(track_id)->RefBearing();

[urbste]

Yes exactly. But I updated the file yesterday. So make sure to pull the newest changes: https://github.com/urbste/OpenImuCameraCalibrator/blob/master/include/OpenCameraCalibrator/basalt_spline/ceres_calib_split_residuals.h#L498