search

urbste / OpenImuCameraCalibrator

Camera calibration tool
GNU Affero General Public License v3.0
197 stars 43 forks source link

Endless state during GoPro calibration #34

Closed Styazoua closed 7 months ago

Styazoua commented 7 months ago

Hi, I'm running OpenICC in the built docker container and the calibration script seems to be in an endless state (waited more than 20 minutes). I have tested with the example GoPro dataset and with my own GoPro dataset and in both cases its acting the same. Does this step take so long or is that a known problem? It does not end with an error.

Command to execute (own dataset):

python3 python/run_gopro_calibration.py --path_calib_dataset /dataset/dataset/ --path_to_build ../OpenImuCameraCalibrator/build/applications/

Command to execute (sample dataset):

python3 python/run_gopro_calibration.py --path_calib_dataset /dataset/dataset3/ --path_to_build ../OpenImuCameraCalibrator/build/applications/

Here the console output:

root@0de212363e6f:/home# python3 python/run_gopro_calibration.py --path_calib_dataset /dataset/dataset/ --path_to_build ../OpenImuCameraCalibrator/build/applications/
['/dataset/dataset/cam/GH016906.MP4']
==================================================================
Running corner extraction.
==================================================================
Extracing corners for camera calibration.
I1115 14:43:33.048960   785 extract_board_to_json.cc:92] Starting board extraction. This might take a while...
Total number of frames: 2539
I1115 14:43:34.021831   785 board_extractor.cc:443] Extracting corners from frame 60 / 2539
I1115 14:43:34.924288   785 board_extractor.cc:443] Extracting corners from frame 120 / 2539
I1115 14:43:35.943917   785 board_extractor.cc:443] Extracting corners from frame 180 / 2539
I1115 14:43:36.992697   785 board_extractor.cc:443] Extracting corners from frame 240 / 2539
I1115 14:43:37.956604   785 board_extractor.cc:443] Extracting corners from frame 300 / 2539
I1115 14:43:38.761646   785 board_extractor.cc:443] Extracting corners from frame 360 / 2539
I1115 14:43:39.692451   785 board_extractor.cc:443] Extracting corners from frame 420 / 2539
I1115 14:43:40.487787   785 board_extractor.cc:443] Extracting corners from frame 480 / 2539
I1115 14:43:41.260596   785 board_extractor.cc:443] Extracting corners from frame 540 / 2539
I1115 14:43:42.189363   785 board_extractor.cc:443] Extracting corners from frame 600 / 2539
I1115 14:43:43.157529   785 board_extractor.cc:443] Extracting corners from frame 660 / 2539
I1115 14:43:44.065414   785 board_extractor.cc:443] Extracting corners from frame 720 / 2539
I1115 14:43:44.917310   785 board_extractor.cc:443] Extracting corners from frame 780 / 2539
I1115 14:43:45.797626   785 board_extractor.cc:443] Extracting corners from frame 840 / 2539
I1115 14:43:46.697059   785 board_extractor.cc:443] Extracting corners from frame 900 / 2539
I1115 14:43:47.701277   785 board_extractor.cc:443] Extracting corners from frame 960 / 2539
I1115 14:43:48.727213   785 board_extractor.cc:443] Extracting corners from frame 1020 / 2539
I1115 14:43:49.715231   785 board_extractor.cc:443] Extracting corners from frame 1080 / 2539
I1115 14:43:50.589349   785 board_extractor.cc:443] Extracting corners from frame 1140 / 2539
I1115 14:43:51.423588   785 board_extractor.cc:443] Extracting corners from frame 1200 / 2539
I1115 14:43:52.253571   785 board_extractor.cc:443] Extracting corners from frame 1260 / 2539
I1115 14:43:52.975440   785 board_extractor.cc:443] Extracting corners from frame 1320 / 2539
I1115 14:43:53.597079   785 board_extractor.cc:443] Extracting corners from frame 1380 / 2539
I1115 14:43:54.238117   785 board_extractor.cc:443] Extracting corners from frame 1440 / 2539
I1115 14:43:54.945288   785 board_extractor.cc:443] Extracting corners from frame 1500 / 2539
I1115 14:43:55.674548   785 board_extractor.cc:443] Extracting corners from frame 1560 / 2539
I1115 14:43:56.470479   785 board_extractor.cc:443] Extracting corners from frame 1620 / 2539
I1115 14:43:57.278043   785 board_extractor.cc:443] Extracting corners from frame 1680 / 2539
I1115 14:43:58.086393   785 board_extractor.cc:443] Extracting corners from frame 1740 / 2539
I1115 14:43:58.903590   785 board_extractor.cc:443] Extracting corners from frame 1800 / 2539
I1115 14:43:59.738869   785 board_extractor.cc:443] Extracting corners from frame 1860 / 2539
I1115 14:44:00.531898   785 board_extractor.cc:443] Extracting corners from frame 1920 / 2539
I1115 14:44:01.362118   785 board_extractor.cc:443] Extracting corners from frame 1980 / 2539
I1115 14:44:02.158274   785 board_extractor.cc:443] Extracting corners from frame 2040 / 2539
I1115 14:44:02.951296   785 board_extractor.cc:443] Extracting corners from frame 2100 / 2539
I1115 14:44:03.819614   785 board_extractor.cc:443] Extracting corners from frame 2160 / 2539
I1115 14:44:04.764062   785 board_extractor.cc:443] Extracting corners from frame 2220 / 2539
I1115 14:44:05.641790   785 board_extractor.cc:443] Extracting corners from frame 2280 / 2539
I1115 14:44:06.472656   785 board_extractor.cc:443] Extracting corners from frame 2340 / 2539
I1115 14:44:07.325987   785 board_extractor.cc:443] Extracting corners from frame 2400 / 2539
I1115 14:44:08.152597   785 board_extractor.cc:443] Extracting corners from frame 2460 / 2539
I1115 14:44:08.963240   785 board_extractor.cc:443] Extracting corners from frame 2520 / 2539
Extracing corners for imu camera calibration.
I1115 14:44:09.637115   809 extract_board_to_json.cc:92] Starting board extraction. This might take a while...
Total number of frames: 3408
I1115 14:44:10.598726   809 board_extractor.cc:443] Extracting corners from frame 60 / 3408
I1115 14:44:11.385028   809 board_extractor.cc:443] Extracting corners from frame 120 / 3408
I1115 14:44:12.214113   809 board_extractor.cc:443] Extracting corners from frame 180 / 3408
I1115 14:44:13.084995   809 board_extractor.cc:443] Extracting corners from frame 240 / 3408
I1115 14:44:13.891249   809 board_extractor.cc:443] Extracting corners from frame 300 / 3408
I1115 14:44:14.750679   809 board_extractor.cc:443] Extracting corners from frame 360 / 3408
I1115 14:44:15.618247   809 board_extractor.cc:443] Extracting corners from frame 420 / 3408
I1115 14:44:16.486579   809 board_extractor.cc:443] Extracting corners from frame 480 / 3408
I1115 14:44:17.348230   809 board_extractor.cc:443] Extracting corners from frame 540 / 3408
I1115 14:44:18.159485   809 board_extractor.cc:443] Extracting corners from frame 600 / 3408
I1115 14:44:18.995193   809 board_extractor.cc:443] Extracting corners from frame 660 / 3408
I1115 14:44:19.828387   809 board_extractor.cc:443] Extracting corners from frame 720 / 3408
I1115 14:44:20.721172   809 board_extractor.cc:443] Extracting corners from frame 780 / 3408
I1115 14:44:21.598981   809 board_extractor.cc:443] Extracting corners from frame 840 / 3408
I1115 14:44:22.506908   809 board_extractor.cc:443] Extracting corners from frame 900 / 3408
I1115 14:44:23.389768   809 board_extractor.cc:443] Extracting corners from frame 960 / 3408
I1115 14:44:24.260164   809 board_extractor.cc:443] Extracting corners from frame 1020 / 3408
I1115 14:44:25.133056   809 board_extractor.cc:443] Extracting corners from frame 1080 / 3408
I1115 14:44:26.009479   809 board_extractor.cc:443] Extracting corners from frame 1140 / 3408
I1115 14:44:26.861279   809 board_extractor.cc:443] Extracting corners from frame 1200 / 3408
I1115 14:44:27.661465   809 board_extractor.cc:443] Extracting corners from frame 1260 / 3408
I1115 14:44:28.492956   809 board_extractor.cc:443] Extracting corners from frame 1320 / 3408
I1115 14:44:29.303337   809 board_extractor.cc:443] Extracting corners from frame 1380 / 3408
I1115 14:44:30.128628   809 board_extractor.cc:443] Extracting corners from frame 1440 / 3408
I1115 14:44:30.940163   809 board_extractor.cc:443] Extracting corners from frame 1500 / 3408
I1115 14:44:31.775705   809 board_extractor.cc:443] Extracting corners from frame 1560 / 3408
I1115 14:44:32.661419   809 board_extractor.cc:443] Extracting corners from frame 1620 / 3408
I1115 14:44:33.587129   809 board_extractor.cc:443] Extracting corners from frame 1680 / 3408
I1115 14:44:34.523890   809 board_extractor.cc:443] Extracting corners from frame 1740 / 3408
I1115 14:44:35.500397   809 board_extractor.cc:443] Extracting corners from frame 1800 / 3408
I1115 14:44:36.407727   809 board_extractor.cc:443] Extracting corners from frame 1860 / 3408
I1115 14:44:37.349107   809 board_extractor.cc:443] Extracting corners from frame 1920 / 3408
I1115 14:44:38.231518   809 board_extractor.cc:443] Extracting corners from frame 1980 / 3408
I1115 14:44:39.202426   809 board_extractor.cc:443] Extracting corners from frame 2040 / 3408
I1115 14:44:40.089824   809 board_extractor.cc:443] Extracting corners from frame 2100 / 3408
I1115 14:44:40.894716   809 board_extractor.cc:443] Extracting corners from frame 2160 / 3408
I1115 14:44:41.716318   809 board_extractor.cc:443] Extracting corners from frame 2220 / 3408
I1115 14:44:42.510680   809 board_extractor.cc:443] Extracting corners from frame 2280 / 3408
I1115 14:44:43.319604   809 board_extractor.cc:443] Extracting corners from frame 2340 / 3408
I1115 14:44:44.134963   809 board_extractor.cc:443] Extracting corners from frame 2400 / 3408
I1115 14:44:44.912284   809 board_extractor.cc:443] Extracting corners from frame 2460 / 3408
I1115 14:44:45.741256   809 board_extractor.cc:443] Extracting corners from frame 2520 / 3408
I1115 14:44:46.590600   809 board_extractor.cc:443] Extracting corners from frame 2580 / 3408
I1115 14:44:47.425009   809 board_extractor.cc:443] Extracting corners from frame 2640 / 3408
I1115 14:44:48.209347   809 board_extractor.cc:443] Extracting corners from frame 2700 / 3408
I1115 14:44:48.990257   809 board_extractor.cc:443] Extracting corners from frame 2760 / 3408
I1115 14:44:49.776077   809 board_extractor.cc:443] Extracting corners from frame 2820 / 3408
I1115 14:44:50.579536   809 board_extractor.cc:443] Extracting corners from frame 2880 / 3408
I1115 14:44:51.346032   809 board_extractor.cc:443] Extracting corners from frame 2940 / 3408
I1115 14:44:52.106858   809 board_extractor.cc:443] Extracting corners from frame 3000 / 3408
I1115 14:44:52.877943   809 board_extractor.cc:443] Extracting corners from frame 3060 / 3408
I1115 14:44:53.641984   809 board_extractor.cc:443] Extracting corners from frame 3120 / 3408
I1115 14:44:54.413209   809 board_extractor.cc:443] Extracting corners from frame 3180 / 3408
I1115 14:44:55.206188   809 board_extractor.cc:443] Extracting corners from frame 3240 / 3408
I1115 14:44:56.027237   809 board_extractor.cc:443] Extracting corners from frame 3300 / 3408
I1115 14:44:56.887868   809 board_extractor.cc:443] Extracting corners from frame 3360 / 3408
Finished corner extraction.
==================================================================
Corner extraction took 85.07s.
==================================================================
==================================================================
Running camera calibration.
==================================================================
Calibrating camera.
View: 0/2539 initialized for calibration.
View: 100/2539 initialized for calibration.
View: 200/2539 initialized for calibration.
View: 300/2539 initialized for calibration.
View: 400/2539 initialized for calibration.
View: 500/2539 initialized for calibration.
View: 600/2539 initialized for calibration.
View: 700/2539 initialized for calibration.
View: 800/2539 initialized for calibration.
View: 900/2539 initialized for calibration.
View: 1000/2539 initialized for calibration.
View: 1100/2539 initialized for calibration.
View: 1200/2539 initialized for calibration.
View: 1300/2539 initialized for calibration.
View: 1400/2539 initialized for calibration.
View: 1500/2539 initialized for calibration.
View: 1600/2539 initialized for calibration.
View: 1700/2539 initialized for calibration.
View: 1800/2539 initialized for calibration.
View: 1900/2539 initialized for calibration.
View: 2000/2539 initialized for calibration.
View: 2100/2539 initialized for calibration.
View: 2200/2539 initialized for calibration.
View: 2300/2539 initialized for calibration.
View: 2400/2539 initialized for calibration.
View: 2500/2539 initialized for calibration.
Using 150 views for camera calibration.

Current files in directories (in this state):

root@0de212363e6f:/dataset/dataset# ls cam
GH016906.MP4  cam_calib_GH016906_di_2_ransac_poses.ply  cam_corners_GH016906.uson

root@0de212363e6f:/dataset/dataset# ls cam_imu/
GH016904.MP4  cam_imu_corners_GH016904.uson

root@0de212363e6f:/dataset/dataset# ls imu_bias/
GH016905.MP4
Styazoua commented 7 months ago

UPDATE: Rebuilt the docker image and tried running gopro calibration with given sample dataset and it took 29 minutes to finish the camera calibration. To avoid running multiple times install missing packages from #35 

Using 91 views for camera calibration.
Final camera calibration reprojection error: 0.380633 from 87 view.
Focal Length:438.066px Principal Point: 480.831/273.642px.
DIVISION_UNDISTORTION model: Distortion: -1.42359e-06
Finished camera calibration.
==================================================================
Camera calibration took 1758.69s.