Query regarding GPS/INS data for extrinsic_calib about camodocal

[stanathong]

Is extrinsic_calib.cc under examples a comple source file? or do I need to edit it before being able to use it? Thanks very much.

[stanathong]

I have figured this out myself and found that I have to add IMU and GPS data without images for four sets, according to the source code. The input data should look like:

74 IMU 0 0 0.945518575599317 -0.325568154457157
74 GPS 53.958210493654 -2.02280608249833 0
141 IMU 0 0 0.945518575599317 -0.325568154457157
141 GPS 53.9582094642619 -2.02280829792919 0
207 IMU 0 0 0.945518575599317 -0.325568154457157
207 GPS 53.9582084502338 -2.02281048029392 0
275 IMU 0 0 0.945518575599317 -0.325568154457157
275 GPS 53.9582074054776 -2.02281272879092 0
336 CAM 0 Carriageway_5.jpg
336 CAM 1 Front_5.jpg
336 CAM 2 LeftSide_5.jpg
336 CAM 3 Rear_5.jpg
336 CAM 4 RightSide_5.jpg
336 IMU 0 0 0.945518575599317 -0.325568154457157
336 GPS 53.9582064682699 -2.02281474582498 0
...

Up to now, I could start running monocular odometry but somewhat failed to refine estimation at ceres::solver. It shows the error message:

*** Check failure stack trace: ***
Aborted (core dumped)

I wonder if anyone has experienced this and how they solve this case.

Thank you very much.

[stanathong]

I found the root cause. This happened on some data set of mine where there are only few matches points and thus the input passed to ceres::solver is 0. This crashed the program.

This problem does not happen on dataset with densed matched point. So, I close the issue. Thanks very much.