Cameras are not connected through mutual observations

[liubamboo]

when I ran command below to calibrate realsense D435i rgb cemera, the bug always appears

command: kalibr_calibrate_cameras --target ~/project/calibration/rgb/april_6x6_A4.yaml --bag ~/disk/datasets/realsense-dataset/calibration/rgb/rgb.bag --models pinhole-radtan --topics /camera/color/image_raw --bag-from-to 20 80 --show-extraction

Cameras are not connected through mutual observations, please check the dataset. Maybe adjust the approx. sync. tolerance.
Traceback (most recent call last):
File "/home/n609/software/kalibr_workspace/devel/bin/kalibr_calibrate_cameras", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/n609/software/kalibr_workspace/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 447, in
main()
File "/home/n609/software/kalibr_workspace/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 204, in main
graph.plotGraph()
File "/home/n609/software/kalibr_workspace/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py", line 311, in plotGraph
edge_label=self.G.es["weight"],
KeyError: 'Attribute does not exist'

I try to add --approx-sync like this:
kalibr_calibrate_cameras --target ~/project/calibration/rgb/april_6x6_A4.yaml --bag ~/disk/datasets/realsense-dataset/calibration/rgb/rgb.bag --models pinhole-radtan --topics /camera/color/image_raw --bag-from-to 20 80 --show-extraction --approx-sync 0.01

but it doesn't work.and I try to change the Hz of rgb cemera.but it doesn't work too. now I don't know how I can solve it. Anyone body know how to fix the problem? if you know , please tell me ,thanks very much!

[armanhamzehlou]

I just had this issue couple of hours ago and I tried increasing approx-sync to 5. it no longer complained.

[GGDali]

modify the file aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py at line 83
`#############################################################
#check if all cams are connected through observations
def isGraphConnected(self):
#check if all vertices are connected
return self.G.adhesion()

    if self.numCams == 1:
        # Since igaph 0.8, adhesion correctly returns 0 for the non-connected one cam case.
        #   which evaluates to false later on. So we skip the check and return true in the one camera case.
        return True
    else:
        #check if all vertices are connected
        return self.G.adhesion()

#returns the list of cam_ids that share common view with the specified cam_id
def getCamOverlaps(self, cam_id):`

[bednarhonza]

Thanks! Actually, this should be changed in the code for everybody. Could you please do it? You have saved me a lot of time..

[liaozihang]

modify the file aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py at line 83
`#############################################################
#check if all cams are connected through observations
def isGraphConnected(self):
#check if all vertices are connected
return self.G.adhesion()

    if self.numCams == 1:
        # Since igaph 0.8, adhesion correctly returns 0 for the non-connected one cam case.
        #   which evaluates to false later on. So we skip the check and return true in the one camera case.
        return True
    else:
        #check if all vertices are connected
        return self.G.adhesion()

#returns the list of cam_ids that share common view with the specified cam_id
def getCamOverlaps(self, cam_id):`

thx

[mzahana]

@stereolabs Can you please adapt these changes in your Docker image?

[alwynmathew]

@mzahana thank you for your docker image for the single image kalibr tool.

[mzahana]

@alwynmathew you are welcome !