Error During Camera Intrinsics Initialization with init_cam_intr in UZH Dataset
Description:
Encountered an error while initializing camera intrinsics using init_cam_intr command following the UZH dataset calibration.
Steps to Reproduce:
- Followed the steps outlined in the UZH dataset calibration tutorial.
- Executed the init_cam_intr.
Error Message:
basalt_calibrate --dataset-path /home/Videos/indoor_forward_calib_snapdragon_cam.bag --dataset-type bag --aprilgrid /usr/etc/basalt/aprilgrid_5x4_uzh.json --result-path /home/Videos/ --cam-types ds ds
imu_topic:
mocap_topic:
cam_topics: /snappy_cam/stereo_l /snappy_cam/stereo_r
Total number of messages: 3759
Image size: 1880
Min time: 1053539774036 max time: 1115871915551 mocap to imu offset: 4251398049289207808
Number of mocap poses: 0
No pre-processed detected corners found
No pre-processed initial poses found
No calibration found
Started detecting corners
Done detecting corners. Saved them here: /home/Videos/calib-cam_detected_corners.cereal
Started camera intrinsics initialization
***** Assertion (cam_types.size() == num_cams) failed in void basalt::PosesOptimization::resetCalib(size_t, const std::vector<std::__cxx11::basic_string<char> >&):
../include/basalt/optimization/poses_optimize.h:70:
Aborted (core dumped)