Error regarding camera_meta.lens_pose_rotation

[seongminjung]

Hello,
I am currently trying to run visual-inertial SLAM using your app.
I successfully installed the app and recorded a video, but I cannot calibrate my camera.

When I try to run this code:

python data2kalibr.py /data --tag-size 0.11 --subsample 30

It gives me this error:

Traceback (most recent call last):
  File "data2kalibr.py", line 120, in <module>
    create_camera_yaml(proto, camera_yaml_path, args.matlab_calibration)
  File "data2kalibr.py", line 19, in create_camera_yaml
    q = Quaternion(c.lens_pose_rotation[3], *c.lens_pose_rotation[:3])
IndexError: list index (3) out of range

Apparently it is caused by this part of the file:

def create_camera_yaml(proto, camera_yaml_path, matlab_calibration=None):
    c = proto.camera_meta
    est_focal_length = proto.video_meta[0].est_focal_length_pix
    q = Quaternion(c.lens_pose_rotation[3], *c.lens_pose_rotation[:3])
    print('intrinsics: ', c.intrinsic_params)
    P = q.transformation_matrix
    print("Translation")
    print(c.lens_pose_translation)
...

I am struggling to find what caused this error. Is it because camera_meta variable has no attribute lens_pose_rotation?
I checked out issue #5 so I know that it is fine to not have intrinsic_param.

I would appreciate your suggestion or advice.

[DavidGillsjo]

Hi,
It seems that I've assumed that there is a lens_pose_rotation value, but it is not present in your setup.
We have to adjust the code so that if no transform is available we set P=np.eye(4).
As a quick fix you could replace row 18-26 with this assignment instead. Please let me know if it works.

[DavidGillsjo]

I'll leave this open to track this bug.