Hi!
I’ve updated driveworks-1.2
And I tried to calibrate the camera by referring to the following document doc/nvdwx_html/dwx_camera_calibration.html
But I got an error like the following and I could not go any further
I did the following:
Look at that.
- I used ID 98 AprilTag
- I wrote Bar Length
- I created an h264 movie using sample_camera_gmsl
- I used calibration-intrinsics-constraints and got the camera-0.json file
- I created a folder structure for use with calibration-graph-cli and copied the files to each folder
- And the following error occurred.
I hope to have a quick solution
nvidia@tegra-ubuntu:/usr/local/driveworks-1.2/tools/calibration$ sudo ./calibration-graph-cli --dir=/media/nvidia/Record/driveworks_data/calibration_ws/calib-data3
Arguments:
–data=
–dir=/media/nvidia/Record/driveworks_data/calibration_ws/calib-data3
–graph=
–offscreen=1
–showDebug=1
–targetDB=
WindowEGL: find EGL devices
WindowEGL: found 2 EGL devices
WindowEGL: init EGL with GLES3 context
WindowEGL: bind OpenGLES3 API
WindowEGL: offscreen mode → use EGL PBuffer surface 1280x800
WindowEGL: create EGL context
WindowEGL: assign EGL context to current thread
[13-11-2018 15:22:9] Initialize DriveWorks SDK v1.2.400
[13-11-2018 15:22:9] Release build with GNU 4.9.4 from v1.2.0-rc11-0-ga7f5475 against Vibrante PDK v5.0.10.3
[13-11-2018 15:22:9] Platform: Detected Drive PX2 - Tegra B
[13-11-2018 15:22:9] TimeSource: monotonic epoch time offset is 1542083523481645
[13-11-2018 15:22:9] TimeSource: PTP ioctl returned error. Synchronized time will not be available.
[13-11-2018 15:22:9] TimeSource: Could not detect valid PTP time source at ‘eth0’. Fallback to CLOCK_MONOTONIC.
[13-11-2018 15:22:9] Platform: number of GPU devices detected 2
[13-11-2018 15:22:9] Platform: currently selected GPU device discrete ID 0
[13-11-2018 15:22:9] SDK: Resources mounted from …/…/data/resources
[13-11-2018 15:22:9] SDK: Create NvMediaDevice
[13-11-2018 15:22:9] SDK: Create NvMediaIPPManager
[13-11-2018 15:22:9] SDK: use EGL display as provided
[13-11-2018 15:22:9] Loading calibration data from directory structure, dir=/media/nvidia/Record/driveworks_data/calibration_ws/calib-data3
[13-11-2018 15:22:9] Target database loaded
No files in external directory. Skipping external camera.
Cameras found: camera-0
[13-11-2018 15:22:9] Saving calibration data description to /media/nvidia/Record/driveworks_data/calibration_ws/calib-data3/calib-data.json
Parsing intrinsics
Camera camera-0
Parsing extrinsics’ constraints
New pose for camera camera-0
Found constraint between [camera-0, target-98]: 140 points
No car wheel targets declared, using camera camera-0 as world reference
[13-11-2018 15:22:10] Saved graph to /media/nvidia/Record/driveworks_data/calibration_ws/calib-data3/graph.json
Initializing camera intrinsics
Initializing intrinsics for camera camera-0
OcamCalib: initial calib
Closed form result: 960,604,964.321,0,0.00042929,-6.85958e-08,5.95977e-11, error: 5.67368e+08
OcamCalib: refine center
OcamCalib: new calib
OcamCalib: non-linear
OcamCalib: find inv poly
Final result: 819.874,874.086,1.01114,-0.0182765,0.00184451
: ,1443.1,0,-0.000203086,-8.42915e-08,-5.4629e-11
: ,-2489.41,27848.9,-84309.2,140311,-144026,92635.4,-36444.8,8038.65,-763.659
Closed-form camera initialization:
center=819.874,874.086
affine=1.01114,-0.0182765,0.00184451
poly=[1443.1,0,-0.000203086,-8.42915e-08,-5.4629e-11,]
inv poly=-2489.41,27848.9,-84309.2,140311,-144026,92635.4,-36444.8,8038.65,-763.659,]
reprojection error (libintrcalib)=6.2137
FOV: 111.192
Initializing poses for intrinsic constraints for camera camera-0
Stats: Median=nan, mean=4.18323, var=12.6872, std dev=3.56191, sample count=37812, min=0.0112821, max=43.4986
Refining camera intrinsics
Refining intriniscs for camera camera-0
Error before: Median=nan, mean=4.18323, var=12.6872, std dev=3.56191, sample count=37812, min=0.0112821, max=43.4986
Note: fixing principal point, D, and E for ocam camera
[13-11-2018 15:24:46] SDK: Release NvMediaDevice
[13-11-2018 15:24:46] Driveworks SDK released
[13-11-2018 15:24:46] SDK: Release NvMedia2D
[13-11-2018 15:24:46] Terminating app due to unexpected exception:
std::bad_alloc