stytim / k4a-calibration Goto Github PK
View Code? Open in Web Editor NEWAzure Kinect multi-camera extrinsic calibration
License: BSD 3-Clause "New" or "Revised" License
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mosu7 zmy1871 leoxs1 personalityengineer q-eldar thomasweng15 ssomda21 yaxun-yang vietld-itec goldonkey shanhedian2017k4a-calibration's Issues
compile error k4a-calibration undefined reference open3d & opencv
Step
git clone https://github.com/stytim/k4a-calibration.git
cd k4a-calibration
mkdir build && cd build
cmake ..
make
After make, it shows error that camera_extrinsics.cpp is undefined reference
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `ExtrinsicsCalibration::CalculateExtrinsics(std::vector<FrameInfo, std::allocator<FrameInfo> > const&, std::vector<AlignmentTransform, std::allocator<AlignmentTransform> >&)':
camera_extrinsics.cpp:(.text+0x2b30): undefined reference to `open3d::io::WritePointCloudToPLY(std::string const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
camera_extrinsics.cpp:(.text+0x33e3): undefined reference to `open3d::io::WritePointCloudToPLY(std::string const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::MatConstIterator::MatConstIterator(cv::Mat const*)':
camera_extrinsics.cpp:(.text._ZN2cv16MatConstIteratorC2EPKNS_3MatE[_ZN2cv16MatConstIteratorC5EPKNS_3MatE]+0xf3): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::Mat_<float>::operator=(cv::Mat const&)':
camera_extrinsics.cpp:(.text._ZN2cv4Mat_IfEaSERKNS_3MatE[_ZN2cv4Mat_IfEaSERKNS_3MatE]+0x189): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'
collect2: error: ld returned 1 exit status
CMakeFiles/calib_k4a.dir/build.make:191: recipe for target 'calib_k4a' failed
make[2]: *** [calib_k4a] Error 1
CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/calib_k4a.dir/all' failed
make[1]: *** [CMakeFiles/calib_k4a.dir/all] Error 2
Makefile:90: recipe for target 'all' failed
make: *** [all] Error 2
About cube pattern
Thank you for the work once again
Does your cube use same marker id all over the cube faces or different?
If multiple pattern is detected all over the cube, did you use anything that i am missing that tries to aggregate all these poses?
Apriltag image
Please can you provide the png or pdf file of apriltag used in your example? That correspond to the tag size used in your extrinsic calibration code. Thank you
Build Instructions
Since I ran into various problems during the build procedure of this project I will list the specific versions of the dependicies:
- Open3D 0.12.0
- OpenCV 3.4.14 with opencv_contrib
Cmake minimum version on Ubuntu 18.04
I'm in a machine with Ubuntu 18.04. The last version of cmake in the repos is 3.10.2 but the cmake file is configure for 3.15, as marked by the error I get:
CMake Error at CMakeLists.txt:1 (cmake_minimum_required):
CMake 3.15 or higher is required. You are running version 3.10.2
Can it the code be compiled with cmake 3.10.2 or I will have to manually update my cmake?
Note: you should add the version of cmake to the requirements list.
Missing header
Error:
During compilation I got the next error:
[ 33%] Building CXX object CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o
/home/francisco/Workspace/k4a-calibration/src/camera_extrinsics.cpp: In member function ‘bool ExtrinsicsCalibration::CalculateExtrinsics(const std::vector<FrameInfo>&, std::vector<AlignmentTransform>&)’:
/home/francisco/Workspace/k4a-calibration/src/camera_extrinsics.cpp:91:22: error: ‘SetVerbosityLevel’ is not a member of ‘open3d::utility’
open3d::utility::SetVerbosityLevel(open3d::utility::VerbosityLevel::Debug);
^~~~~~~~~~~~~~~~~
/home/francisco/Workspace/k4a-calibration/src/camera_extrinsics.cpp:91:57: error: ‘open3d::utility::VerbosityLevel’ has not been declared
open3d::utility::SetVerbosityLevel(open3d::utility::VerbosityLevel::Debug);
^~~~~~~~~~~~~~
CMakeFiles/calib_k4a.dir/build.make:75: recipe for target 'CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o' failed
make[2]: *** [CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o] Error 1
CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/calib_k4a.dir/all' failed
make[1]: *** [CMakeFiles/calib_k4a.dir/all] Error 2
Makefile:90: recipe for target 'all' failed
make: *** [all] Error 2
Solution:
Theg header open3d/utility/Logging.h, which contains VerbosityLevel and SetVerbosityLevel, is missing in camera_extrinsics.cpp
[compiler error] Aruco dictionary is protected
[ 33%] Building CXX object CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o
/home/ccnam/Downloads/k4a-calibration/src/camera_extrinsics.cpp: In member function ‘bool ExtrinsicsCalibration::CalculateExtrinsics(const std::vector<FrameInfo>&, std::vector<AlignmentTransform>&)’:
/home/ccnam/Downloads/k4a-calibration/src/camera_extrinsics.cpp:213:51: error: ‘cv::Ptr<cv::aruco::Dictionary> cv::aruco::Board::dictionary’ is protected within this context
cv::aruco::detectMarkers(gray, board->dictionary, markerCorners, markerIds, params);
^~~~~~~~~~
In file included from /usr/local/include/opencv4/opencv2/aruco_detector.hpp:6:0,
from /usr/local/include/opencv4/opencv2/aruco.hpp:7,
from /usr/local/include/opencv4/opencv2/aruco/charuco.hpp:9,
from /home/ccnam/Downloads/k4a-calibration/include/camera_extrinsics.hpp:11,
from /home/ccnam/Downloads/k4a-calibration/src/camera_extrinsics.cpp:1:
/usr/local/include/opencv4/opencv2/aruco/board.hpp:89:29: note: declared protected here
CV_PROP Ptr<Dictionary> dictionary;
^~~~~~~~~~
CMakeFiles/calib_k4a.dir/build.make:75: recipe for target 'CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o' failed
make[2]: *** [CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o] Error 1
CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/calib_k4a.dir/all' failed
make[1]: *** [CMakeFiles/calib_k4a.dir/all] Error 2
Makefile:90: recipe for target 'all' failed
make: *** [all] Error 2
Aruco is protected
Maximum number of sensors
Hi @stytim,
I was just wondering, How many numbers of Azure Kinect sensors could be calibrated with this method?
Is it also possible to calibrate 4 sensors (each placed at 90 degrees for full 360 reconstruction?)
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