multical
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Published
20 hours ago •
oliver-batchelor
oliver-batchelor
KeyError: 'num_points'
Hi, when running my calibration, I getting the following output and error. Does this mean that my calibration images aren't good enough or is there something more?
INFO - Using boards:
INFO - charuco_8x10 CharucoBoard {type='charuco', aruco_dict='4X4_1000', aruco_offset=0, size=(8, 10), num_ids=40, marker_length=0.00325, square_length=0.004, aruco_params={}}
INFO - Found camera directories ['cam1', 'cam2', 'cam4'] with 55 matching images
INFO - Loading images..
100%|█████████████████████████████████████████████████████████████████████████████████| 165/165 [00:00<00:00, 1299.79it/s]
INFO - Loaded 165 images
INFO - {'cam1': (664, 510), 'cam2': (728, 544), 'cam4': (720, 540)}
INFO - Detecting boards..
100%|██████████████████████████████████████████████████████████████████████████████████| 165/165 [00:00<00:00, 707.23it/s]
INFO - Writing detection cache to ./calibration.detections.pkl
INFO - Detected point counts:
INFO - Total: 1455, cameras: {'cam1': 459, 'cam2': 560, 'cam4': 436}, Boards: {'charuco_8x10': 1455}
INFO - Calibrating single cameras..
INFO - Calibrated cam1, with RMS=0.38
INFO - Camera {'dist': array([[-0.1682, 1.0735, 0.0128, -0.007 , 0.0496]]),
'image_size': (664, 510),
'intrinsic': array([[1178.1721, 0. , 310.0039],
[ 0. , 1169.6104, 292.7193],
[ 0. , 0. , 1. ]])}
INFO -
INFO - Calibrated cam2, with RMS=0.34
INFO - Camera {'dist': array([[-0.5028, 5.7458, 0.0125, 0.0042, -1.0467]]),
'image_size': (728, 544),
'intrinsic': array([[1709.053 , 0. , 355.7551],
[ 0. , 1688.38 , 231.7347],
[ 0. , 0. , 1. ]])}
INFO -
INFO - Calibrated cam4, with RMS=0.35
INFO - Camera {'dist': array([[ 0.0941, -10.6645, 0.002 , 0.0032, 131.8718]]),
'image_size': (720, 540),
'intrinsic': array([[1154.8022, 0. , 360.2282],
[ 0. , 1150.0286, 249.2311],
[ 0. , 0. , 1. ]])}
INFO -
INFO - Pose counts:
INFO - Total: 35, cameras: {'cam1': 10, 'cam2': 14, 'cam4': 11}, Boards: {'charuco_8x10': 35}
INFO - Overlaps by camera:
INFO - [[ 0. 23. 49.]
[ 23. 0. 105.]
[ 49. 105. 0.]]
INFO - Selected master 2 and pairs [(2, 1), (2, 0)]
INFO - Estimate transform axis=0, pair (2, 1), inliers 4/4
INFO - RMS (frobius): 0.0212 (0.0212) (deg): 0.8584 (0.8584) (trans): 0.0039 (0.0039)
INFO - [[ 0.8263 0.2279 0.5151 -0.0936]
[-0.0982 0.9588 -0.2667 0.0498]
[-0.5546 0.1698 0.8146 0.1328]
[ 0. 0. 0. 1. ]]
INFO - Estimate transform axis=0, pair (2, 0), inliers 2/2
INFO - RMS (frobius): 0.0056 (0.0056) (deg): 0.2253 (0.2253) (trans): 0.0006 (0.0006)
INFO - [[ 0.688 0.3996 0.6058 -0.0898]
[-0.6566 0.6984 0.285 -0.0503]
[-0.3092 -0.5938 0.7429 0.063 ]
[ 0. 0. 0. 1. ]]
INFO - Overlaps by board:
INFO - [[0.]]
INFO - Selected master 0 and pairs []
/home/labuser/.local/lib/python3.8/site-packages/scipy/cluster/vq.py:136: RuntimeWarning: Some columns have standard deviation zero. The values of these columns will not change.
warnings.warn("Some columns have standard deviation zero. "
Traceback (most recent call last):
File "/home/labuser/.local/bin/multical", line 8, in <module>
sys.exit(cli())
File "/home/labuser/.local/lib/python3.8/site-packages/multical/app/multical.py", line 28, in cli
run_with(Multical)
File "/home/labuser/.local/lib/python3.8/site-packages/multical/config/arguments.py", line 73, in run_with
return program.app.execute()
File "/home/labuser/.local/lib/python3.8/site-packages/multical/app/multical.py", line 24, in execute
return self.command.execute()
File "/home/labuser/.local/lib/python3.8/site-packages/multical/app/calibrate.py", line 21, in execute
calibrate(self)
File "/home/labuser/.local/lib/python3.8/site-packages/multical/app/calibrate.py", line 37, in calibrate
initialise_with_images(ws, boards, camera_images, args.camera, args.runtime)
File "/home/labuser/.local/lib/python3.8/site-packages/multical/config/workspace.py", line 37, in initialise_with_images
ws.initialise_poses(
File "/home/labuser/.local/lib/python3.8/site-packages/multical/workspace.py", line 201, in initialise_poses
pose_init = tables.initialise_poses(self.pose_table,
File "/home/labuser/.local/lib/python3.8/site-packages/multical/tables.py", line 367, in initialise_poses
times = relative_between_n(expanded, board_relative, axis=1, inv=True)
File "/home/labuser/.local/lib/python3.8/site-packages/multical/tables.py", line 336, in relative_between_n
return Table.stack(relative_poses)
File "/home/labuser/.local/lib/python3.8/site-packages/structs/numpy.py", line 48, in stack
return Table.from_structs(structs)
File "/home/labuser/.local/lib/python3.8/site-packages/structs/numpy.py", line 31, in from_structs
struct_lists = transpose_structs(structs)
File "/home/labuser/.local/lib/python3.8/site-packages/structs/struct.py", line 398, in transpose_structs
d = {key: [d[key] for d in structs] for key in elem.keys()}
File "/home/labuser/.local/lib/python3.8/site-packages/structs/struct.py", line 398, in <dictcomp>
d = {key: [d[key] for d in structs] for key in elem.keys()}
File "/home/labuser/.local/lib/python3.8/site-packages/structs/struct.py", line 398, in <listcomp>
d = {key: [d[key] for d in structs] for key in elem.keys()}
File "/home/labuser/.local/lib/python3.8/site-packages/structs/struct.py", line 78, in __getitem__
return self._entries[index]
KeyError: 'num_points'
No that looks like a bug - can you tell me what version of 'structs' is installed as well as the version of multical? Is it off github or pip?
No that looks like a bug - can you tell me what version of 'structs' is installed as well as the version of multical? Is it off github or pip?
It was off pip using version 0.2.2. I don't have access to that computer at the moment, so I don't know what version of structs was installed. I was able to stop hitting the error. The first image I had in the calibration folders didn't include the calibration markers. Once I removed those images and only had images that had calibration markers in them, the calibration started working.