BAG file creation error

[Md Dawud Ansari]

Hi, 

can anybody help me out here with the problem I am facing regarding the .bag file creation using static images from a single camera and one imu0.csv file.

The problem is , when I use the sample dynamic.bag file given on the website along with the other files the calibration works perfectly. But when I use the "kalibr_bagcreater" to create a new bag file which is either from my personal images and imu data or from the extracted(using kalibr_bagextractor) images and imu from the dynamic.bag to create a new .bag file it throws the following error:

root@dawudmaxx-Lapi:/home/dawud/kalibr/kalibr-cde# ./kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag awesome.bag

importing libraries

Initializing IMUs:

  Update rate: 200.0

  Accelerometer:

    Noise density: 0.01 

    Noise density (discrete): 0.141421356237 

    Random walk: 0.0002

  Gyroscope:

    Noise density: 0.005

    Noise density (discrete): 0.0707106781187 

    Random walk: 4e-06

Initializing imu rosbag dataset reader:

Dataset:          /home/dawud/kalibr/kalibr-cde/awesome.bag

Topic:            /imu0

Number of messages: 10221

Reading IMU data (/imu0)

  Read 10221 imu readings over 1439576770.2 seconds                   

Initializing calibration target:

  Type: checkerboard

  Rows

    Count: 6

    Distance: 0.05 [m]

  Cols

    Count: 9

    Distance: 0.05 [m]

Initializing camera chain:

Camera chain - cam0:

  Camera model: pinhole

  Focal length: [488.065, 511.458]

  Principal point: [812.939, 1092.15]

  Distortion model: equidistant

  Distortion coefficients: [0.0776046, 0.121905, -0.000447727, -0.0036572]

  baseline: no data available

Initializing camera rosbag dataset reader:

Dataset:          /home/dawud/kalibr/kalibr-cde/awesome.bag

Topic:            /cam0/image_raw

Traceback (most recent call last):

  File "/var/kalibr-build/devel/bin/kalibr_calibrate_imu_camera", line 5, in <module>

    exec(fh.read())

  File "<string>", line 206, in <module>

  File "<string>", line 149, in main

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 383, in __init__

    dataset = initCameraBagDataset(parsed.bagfile[0], camConfig.getRosTopic(), parsed.bag_from_to)               

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 22, in initCameraBagDataset

    reader = kc.BagImageDatasetReader(bagfile, topic, bag_from_to=from_to)

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py", line 42, in __init__

    raise RuntimeError("Could not find topic {0} in {1}.".format(imagetopic, self.bagfile))

RuntimeError: Could not find topic /cam0/image_raw in /home/dawud/kalibr/kalibr-cde/awesome.bag.

Error in sys.excepthook:

Traceback (most recent call last):

  File "/usr/lib/python2.7/dist-packages/apport_python_hook.py", line 64, in apport_excepthook

    from apport.fileutils import likely_packaged, get_recent_crashes

ImportError: No module named apport.fileutils

Original exception was:

Traceback (most recent call last):

  File "/var/kalibr-build/devel/bin/kalibr_calibrate_imu_camera", line 5, in <module>

    exec(fh.read())

  File "<string>", line 206, in <module>

  File "<string>", line 149, in main

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 383, in __init__

    dataset = initCameraBagDataset(parsed.bagfile[0], camConfig.getRosTopic(), parsed.bag_from_to)               

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 22, in initCameraBagDataset

    reader = kc.BagImageDatasetReader(bagfile, topic, bag_from_to=from_to)

  File "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py", line 42, in __init__

    raise RuntimeError("Could not find topic {0} in {1}.".format(imagetopic, self.bagfile))

RuntimeError: Could not find topic /cam0/image_raw in /home/dawud/kalibr/kalibr-cde/awesome.bag.