Requested gtsam calibration was gtsam::Cal3_S2 which is unsupported by this camera model: None

[cywhitebear]

Description

When I tried to run the program with this command:

ros2 run dynosam_utils eval_launch.py
   --output_path=/root/results/vkitti_2
   --name test_1
   --run_pipeline
   --data_provider_type=1
   --dataset_path=/root/data/vkitti_2

But it ended with an error:

[dynosam_node-1] terminate called after throwing an instance of 'dyno::InvalidCameraCalibration' 
[dynosam_node-1] what(): Requested gtsam calibration was gtsam::Cal3_S2 which is unsupported by this camera model: None

The full output of the program is below.

Log

root@yun-lab-computer:/home/user/dev_ws# ros2 run dynosam_utils eval_launch.py \ 
  --output_path=/root/results/vkitti_2 \
  --name test_1 \
  --run_pipeline \
  --data_provider_type=1 \
  --dataset_path=/root/data/vkitti_2
/usr/lib/python3/dist-packages/scipy/__init__.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 1.26.3
  warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"
WARNING: LaTeX backend not configured properly. Not using.
INFO:root:Running launch using dynosam_ros launch file dyno_sam_launch.py
INFO:root:Setting output folder path: /root/results/vkitti_2/test_1
INFO:root:Running pipeline...
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-09-16-09-47-39-680115-yun-lab-computer-461857
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dynosam_launch_utils.user]: Loading default dynosam params folder path which is expected to be in the share directory of the dynosam package
[INFO] [dynosam_launch_utils.user]: Adding additional sys.argv arguements: ['--data_provider_type=1']
[INFO] [dynosam_launch_utils.user]: Adding arguments ['--flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/pipeline.flags', '--flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/frontend.flags', '--flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/backend.flags', '--v=30', '--data_provider_type=1', '--output_path=/root/results/vkitti_2/test_1']
[INFO] [dynosam_launch_utils.user]: Setting executable to: dynosam_node
[INFO] [dynosam_launch_utils.user]: Outputting to screen
[INFO] [dynosam_launch_utils.user]: Setting up world to robot transform
[INFO] [dynosam_node-1]: process started with pid [461890]
[INFO] [static_transform_publisher-2]: process started with pid [461892]
[static_transform_publisher-2] [WARN] [1758016059.761423623] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1758016059.768522909] [static_transform_publisher_CqT6CtQBKb0YyZ0l]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.499602', '-0.500000', '0.500000', '0.500398')
[static_transform_publisher-2] from 'world' to 'robot'
[dynosam_node-1] [INFO] [1758016059.861281456] [dynosam.dynosam]: Starting DynoNode
[dynosam_node-1] [INFO] [1758016059.861600156] [dynosam.dynosam]: Loading Dyno VO params from: /home/user/dev_ws/install/dynosam/share/dynosam/params/
[dynosam_node-1] [INFO] [1758016059.865813988] [dynosam.dynosam]: Starting DynoPipelineManagerRos
[dynosam_node-1] I0916 09:47:39.870041 461890 DSDCommonRos.cc:21] Constructed DSDTransport with effective namespace /dynosam/frontend
[dynosam_node-1] I0916 09:47:39.882480 461890 DSDCommonRos.cc:21] Constructed DSDTransport with effective namespace /dynosam/frontend/ground_truth
[dynosam_node-1] I0916 09:47:39.883275 461890 DSDCommonRos.cc:21] Constructed DSDTransport with effective namespace /dynosam/backend
[dynosam_node-1] [INFO] [1758016059.884140594] [dynosam.dynosam]: Loading dataset from: /root/data/vkitti_2
[dynosam_node-1] I0916 09:47:39.884181 461890 DataProviderFactory.cc:53] Using Virtual KITTI dataset at path: /root/data/vkitti_2
[dynosam_node-1] I0916 09:47:39.884435 461890 VirtualKittidataProvider.cc:844] Starting VirtualKittiDataLoader with path /root/data/vkitti_2 requested scene Scene20 and scene type clone
[dynosam_node-1] I0916 09:47:39.884528 461890 VirtualKittidataProvider.cc:315] Loading BBox metadta for virtual kitti datasetat path: /root/data/vkitti_2/vkitti_2.0.3_textgt/Scene20/clone/bbox.txt
[dynosam_node-1] I0916 09:47:40.364977 461890 VirtualKittidataProvider.cc:394] Loading Object pose metadta for virtual kitti datasetat path: /root/data/vkitti_2/vkitti_2.0.3_textgt/Scene20/clone/pose.txt
[dynosam_node-1] I0916 09:47:41.381389 461890 VirtualKittidataProvider.cc:530] Camera pose data for virtual kitti datasetat path: /root/data/vkitti_2/vkitti_2.0.3_textgt/Scene20/clone/extrinsic.txt
[dynosam_node-1] I0916 09:47:41.524425 461890 VirtualKittidataProvider.cc:871] Using MaskType::MOTION for loading mask
[dynosam_node-1] I0916 09:47:41.524621 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524664 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524677 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524679 461890 DatasetLoader.hpp:418] Done folder validate
[dynosam_node-1] I0916 09:47:41.524710 461890 DatasetProvider.hpp:141] Made default dataset
[dynosam_node-1] I0916 09:47:41.524739 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524751 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524760 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524773 461890 DatasetLoader.hpp:481] Validated dataset folder: "/root/data/vkitti_2/"
[dynosam_node-1] I0916 09:47:41.524777 461890 DatasetLoader.hpp:418] Done folder validate
[dynosam_node-1] I0916 09:47:41.524811 461890 DatasetProvider.hpp:144] Made generic dataset
[dynosam_node-1] E0916 09:47:41.524814 461890 DatasetProvider.hpp:146] DynoDataset prepared with an expected size of 836 - loaded from timestamps file found at "/root/data/vkitti_2/"
[dynosam_node-1] W0916 09:47:41.524866 461890 DatasetProvider.hpp:286] Updating ending frame-1
[dynosam_node-1] [INFO] [1758016061.524881072] [dynosam.dynosam]: Constructed data loader
[dynosam_node-1] I0916 09:47:41.525079 461890 PipelineManager.cc:55] Starting DynoPipelineManager
[dynosam_node-1] I0916 09:47:41.525246 461890 PipelineManager.cc:82] Using camera params from DataProvider, not the config in the CameraParams.yaml!
[dynosam_node-1] I0916 09:47:41.525271 461890 PipelineManager.cc:220] Making RGBDInstance frontend
[dynosam_node-1] terminate called after throwing an instance of 'dyno::InvalidCameraCalibration'
[dynosam_node-1]   what():  Requested gtsam calibration was gtsam::Cal3_S2 which is unsupported by this camera model: None
[ERROR] [dynosam_node-1]: process has died [pid 461890, exit code -6, cmd '/home/user/dev_ws/install/dynosam_ros/lib/dynosam_ros/dynosam_node --flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/pipeline.flags --flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/frontend.flags --flagfile=/home/user/dev_ws/install/dynosam/share/dynosam/params/backend.flags --v=30 --data_provider_type=1 --output_path=/root/results/vkitti_2/test_1 --ros-args --params-file /tmp/launch_params_zraeihlu --params-file /tmp/launch_params_8_mtrnb2 --params-file /tmp/launch_params_6zi0h3a4 --params-file /tmp/launch_params_b8p_5djg --params-file /tmp/launch_params_a3lkylbp -r dataprovider/image/camera_info:=/dyno/camera/camera_info -r dataprovider/image/rgb:=/dyno/camera/rgb -r dataprovider/image/depth:=/dyno/camera/depth -r dataprovider/image/mask:=/dyno/camera/motion_mask -r dataprovider/image/flow:=/dyno/camera/optical_flow'].
[INFO] [dynosam_launch_utils.user]: Program node dynosam_node-1 has exited - shutting down!
[INFO] [launch]: process[dynosam_node-1] was required: shutting down launched system
[INFO] [static_transform_publisher-2]: sending signal 'SIGINT' to process[static_transform_publisher-2]
[static_transform_publisher-2] [INFO] [1758016061.652426530] [rclcpp]: signal_handler(signum=2)
[INFO] [static_transform_publisher-2]: process has finished cleanly [pid 461892]
[ros2run]: Process exited with failure 1

Environment

I only made some minor adjustment to the dockerfile when building my container.
There are two adjustment I made after I built the container.

1. Change numpy version as you mentioned in INSTALL.md

sudo apt remove python3-matplotlib
python3 -m pip install numpy==1.26.3

2. Install gtsam with pip install gtsam==4.2
   Because when I first installed with the Dockerfile's method, I will get ModuleNotFoundError: No module named 'gtsam' when I run DynOSAM.
   Even if I add -DGTSAM_BUILD_PYTHON=ON and -DGTSAM_PYTHON_VERSION=3.10.12 to cmake command, building it will give error like this:

/root/gtsam/build/python/navigation.cpp: In lambda function:
/root/gtsam/build/python/navigation.cpp:176:89: error: ‘class gtsam::PreintegratedImuMeasurements’ has no member named ‘preintegrated’
  176 |         .def("preintegrated",[](gtsam::PreintegratedImuMeasurements* self){return self->preintegrated();})
      |                                                                                         ^~~~~~~~~~~~~
make[2]: *** [python/CMakeFiles/gtsam_py.dir/build.make:349: python/CMakeFiles/gtsam_py.dir/navigation.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:6939: python/CMakeFiles/gtsam_py.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

So eventually I use pip install gtsam==4.2 to resolve the ModuleNotFoundError: No module named 'gtsam' problem.

[jessemorris]

Hi,

I havent use the virtual-kitti stuff for a while so this error may be a result of other bits of the code changing without testing.

I think this comes from the line:
camera_params_= CameraParams(intrinsics, distortion, image_size, "radial-tangential");
in the setCameraParams function.The argument value "radial-tangential" does not match the expected models in the CameraParams. Changing this to 'radial_tangential' should work.

Jesse

[cywhitebear]

Thanks for helping. But after fixing that, I still got the same error message.
Is there other reason that could result in this?