camera_calibrator.cc:307] Calibration failed.
gongping108 opened this issue · 0 comments
I0619 12:06:18.381163 20784 camera_calibrator.cc:132] Using 61 in bundle adjustment
I0619 12:06:18.381170 20784 camera_calibrator.cc:151] Bundle adjusting focal length and radial distortion.
W0619 12:06:18.388887 20784 residual_block.cc:129]
Error in evaluating the ResidualBlock.
There are two possible reasons. Either the CostFunction did not evaluate and fill all
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation.
Residual Block size: 3 parameter blocks x 2 residuals
For each parameter block, the value of the parameters are printed in the first column
and the value of the jacobian under the corresponding residual. If a ParameterBlock was
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry
of the Jacobian/residual array was requested but was not written to by user code, it is
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating
to Inf or NaN is also an error.
Residuals: -2.45432e+156 inf
Parameter Block 0, size: 6
0.18807 | 1.24771e+158 -inf
0.0127992 | -1.88731e+158 -inf
0.15303 | -9.35615e+156 -inf
1.19109 | 1.92433e+157 -inf
2.00557 | 2.59522e+157 -inf
0.228032 | -8.45544e+156 -inf
Parameter Block 1, size: 7
470.504 | -3.55744e+154 inf
1 | 0 inf
0 | 1.37804e+154 -nan
480 | 3.79231e+154 -nan
270 | 0 inf
0 | -1.6939e+157 inf
0 | -1.71425e+157 inf
Parameter Block 2, size: 4
0.189 | Not Computed Not Computed
0.021 | Not Computed Not Computed
0 | Not Computed Not Computed
1 | Not Computed Not Computed
E0619 12:06:18.388916 20784 trust_region_minimizer.cc:73] Terminating: Residual and Jacobian evaluation failed.
I0619 12:06:18.389778 20784 bundle_adjuster.cc:210]
Solver Summary (v 2.0.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)
Original Reduced
Parameter blocks 125 62
Parameters 625 373
Effective parameters 619 367
Residual blocks 3201 3201
Residuals 6402 6402
Minimizer TRUST_REGION
Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_QR DENSE_QR
Threads 1 1
Linear solver ordering 1,61 1,61
Cost:
Initial -1.000000e+00
Minimizer iterations 0
Successful steps 0
Unsuccessful steps 0
Line search steps 0
Time (in seconds):
Preprocessor 0.005364
Residual only evaluation 0.000000 (0)
Line search cost evaluation 0.000000
Jacobian & residual evaluation 0.000957 (1)
Line search gradient evaluation 0.000000
Linear solver 0.000000 (0)
Line search polynomial minimization 0.000000
Minimizer 0.001009
Postprocessor 0.000062
Total 0.006435
Termination: FAILURE (Residual and Jacobian evaluation failed.)
I0619 12:06:18.391957 20784 camera_calibrator.cc:71] Removed view: 0 with RMSE reproj error: 25.539
I0619 12:06:18.391988 20784 camera_calibrator.cc:71] Removed view: 1 with RMSE reproj error: 14.2904
I0619 12:06:18.392002 20784 camera_calibrator.cc:71] Removed view: 2 with RMSE reproj error: 42.0994
I0619 12:06:18.392014 20784 camera_calibrator.cc:71] Removed view: 3 with RMSE reproj error: 11.9774
I0619 12:06:18.392026 20784 camera_calibrator.cc:71] Removed view: 4 with RMSE reproj error: 12.1681
I0619 12:06:18.392038 20784 camera_calibrator.cc:71] Removed view: 5 with RMSE reproj error: 5.15406
I0619 12:06:18.392050 20784 camera_calibrator.cc:71] Removed view: 6 with RMSE reproj error: 19.5144
I0619 12:06:18.392062 20784 camera_calibrator.cc:71] Removed view: 8 with RMSE reproj error: 7.57894
I0619 12:06:18.392072 20784 camera_calibrator.cc:71] Removed view: 9 with RMSE reproj error: 30.3194
I0619 12:06:18.392083 20784 camera_calibrator.cc:71] Removed view: 10 with RMSE reproj error: 17.9262
I0619 12:06:18.392093 20784 camera_calibrator.cc:71] Removed view: 11 with RMSE reproj error: 38.9146
I0619 12:06:18.392103 20784 camera_calibrator.cc:71] Removed view: 13 with RMSE reproj error: 18.793
I0619 12:06:18.392110 20784 camera_calibrator.cc:71] Removed view: 14 with RMSE reproj error: 38.3689
I0619 12:06:18.392118 20784 camera_calibrator.cc:71] Removed view: 15 with RMSE reproj error: 42.9921
I0619 12:06:18.392125 20784 camera_calibrator.cc:71] Removed view: 16 with RMSE reproj error: 28.1177
I0619 12:06:18.392135 20784 camera_calibrator.cc:71] Removed view: 17 with RMSE reproj error: 19.4586
I0619 12:06:18.392143 20784 camera_calibrator.cc:71] Removed view: 18 with RMSE reproj error: 158.078
I0619 12:06:18.392153 20784 camera_calibrator.cc:71] Removed view: 19 with RMSE reproj error: 45.5234
I0619 12:06:18.392161 20784 camera_calibrator.cc:71] Removed view: 20 with RMSE reproj error: 475.489
I0619 12:06:18.392169 20784 camera_calibrator.cc:71] Removed view: 21 with RMSE reproj error: 10.9856
I0619 12:06:18.392177 20784 camera_calibrator.cc:71] Removed view: 22 with RMSE reproj error: 106.876
I0619 12:06:18.392185 20784 camera_calibrator.cc:71] Removed view: 23 with RMSE reproj error: 46.0012
I0619 12:06:18.392194 20784 camera_calibrator.cc:71] Removed view: 24 with RMSE reproj error: 42.8112
I0619 12:06:18.392202 20784 camera_calibrator.cc:71] Removed view: 25 with RMSE reproj error: 26947.6
I0619 12:06:18.392208 20784 camera_calibrator.cc:71] Removed view: 26 with RMSE reproj error: 64.9799
I0619 12:06:18.392215 20784 camera_calibrator.cc:71] Removed view: 27 with RMSE reproj error: 87.0539
I0619 12:06:18.392223 20784 camera_calibrator.cc:71] Removed view: 28 with RMSE reproj error: 87.4256
I0619 12:06:18.392231 20784 camera_calibrator.cc:71] Removed view: 29 with RMSE reproj error: 97.3909
I0619 12:06:18.392238 20784 camera_calibrator.cc:71] Removed view: 30 with RMSE reproj error: 141.518
I0619 12:06:18.392246 20784 camera_calibrator.cc:71] Removed view: 31 with RMSE reproj error: 165.175
I0619 12:06:18.392254 20784 camera_calibrator.cc:71] Removed view: 32 with RMSE reproj error: 146.289
I0619 12:06:18.392262 20784 camera_calibrator.cc:71] Removed view: 33 with RMSE reproj error: 185.255
I0619 12:06:18.392271 20784 camera_calibrator.cc:71] Removed view: 34 with RMSE reproj error: 165.962
I0619 12:06:18.392278 20784 camera_calibrator.cc:71] Removed view: 35 with RMSE reproj error: 74.9524
I0619 12:06:18.392287 20784 camera_calibrator.cc:71] Removed view: 36 with RMSE reproj error: 65.7859
I0619 12:06:18.392297 20784 camera_calibrator.cc:71] Removed view: 37 with RMSE reproj error: 5.12021
I0619 12:06:18.392305 20784 camera_calibrator.cc:71] Removed view: 38 with RMSE reproj error: 73.3327
I0619 12:06:18.392314 20784 camera_calibrator.cc:71] Removed view: 39 with RMSE reproj error: 493.203
I0619 12:06:18.392323 20784 camera_calibrator.cc:71] Removed view: 40 with RMSE reproj error: 130.537
I0619 12:06:18.392331 20784 camera_calibrator.cc:71] Removed view: 41 with RMSE reproj error: 22.767
I0619 12:06:18.392340 20784 camera_calibrator.cc:71] Removed view: 42 with RMSE reproj error: 80.1456
I0619 12:06:18.392349 20784 camera_calibrator.cc:71] Removed view: 43 with RMSE reproj error: 10.3255
I0619 12:06:18.392359 20784 camera_calibrator.cc:71] Removed view: 44 with RMSE reproj error: 52.5553
I0619 12:06:18.392369 20784 camera_calibrator.cc:71] Removed view: 45 with RMSE reproj error: 29.6967
I0619 12:06:18.392377 20784 camera_calibrator.cc:71] Removed view: 46 with RMSE reproj error: 57.7268
I0619 12:06:18.392385 20784 camera_calibrator.cc:71] Removed view: 47 with RMSE reproj error: 22.0158
I0619 12:06:18.392392 20784 camera_calibrator.cc:71] Removed view: 48 with RMSE reproj error: 30.8915
I0619 12:06:18.392400 20784 camera_calibrator.cc:71] Removed view: 49 with RMSE reproj error: 8.7679
I0619 12:06:18.392407 20784 camera_calibrator.cc:71] Removed view: 50 with RMSE reproj error: 8.96917
I0619 12:06:18.392416 20784 camera_calibrator.cc:71] Removed view: 52 with RMSE reproj error: 5.8264
I0619 12:06:18.392423 20784 camera_calibrator.cc:71] Removed view: 53 with RMSE reproj error: 35.295
I0619 12:06:18.392432 20784 camera_calibrator.cc:71] Removed view: 54 with RMSE reproj error: 59.337
I0619 12:06:18.392441 20784 camera_calibrator.cc:71] Removed view: 55 with RMSE reproj error: 27.2382
I0619 12:06:18.392448 20784 camera_calibrator.cc:71] Removed view: 56 with RMSE reproj error: 45.9613
I0619 12:06:18.392457 20784 camera_calibrator.cc:71] Removed view: 57 with RMSE reproj error: 47.9316
I0619 12:06:18.392474 20784 camera_calibrator.cc:71] Removed view: 58 with RMSE reproj error: 14.216
I0619 12:06:18.392480 20784 camera_calibrator.cc:71] Removed view: 59 with RMSE reproj error: 9.56113
I0619 12:06:18.392488 20784 camera_calibrator.cc:71] Removed view: 60 with RMSE reproj error: 7.33861
I0619 12:06:18.392493 20784 camera_calibrator.cc:161] Optimizing principal point.
W0619 12:06:18.392649 20784 residual_block.cc:129]
Error in evaluating the ResidualBlock.
There are two possible reasons. Either the CostFunction did not evaluate and fill all
residual and jacobians that were requested or there was a non-finite value (nan/infinite)
generated during the or jacobian computation.
Residual Block size: 3 parameter blocks x 2 residuals
For each parameter block, the value of the parameters are printed in the first column
and the value of the jacobian under the corresponding residual. If a ParameterBlock was
held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry
of the Jacobian/residual array was requested but was not written to by user code, it is
indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating
to Inf or NaN is also an error.
Residuals: -1.64821e+155 -inf
Parameter Block 0, size: 6
0.255604 | Not Computed Not Computed
0.187156 | Not Computed Not Computed
0.196285 | Not Computed Not Computed
-0.259704 | Not Computed Not Computed
2.54699 | Not Computed Not Computed
-0.446241 | Not Computed Not Computed
Parameter Block 1, size: 7
470.504 | -5.22339e+153 -inf
1 | 0 -inf
0 | -1.28911e+154 -nan
480 | 3.79231e+154 -nan
270 | 0 inf
0 | -3.30605e+155 -inf
0 | -4.44737e+154 -inf
Parameter Block 2, size: 4
0.189 | Not Computed Not Computed
0.021 | Not Computed Not Computed
0 | Not Computed Not Computed
1 | Not Computed Not Computed
E0619 12:06:18.392655 20784 trust_region_minimizer.cc:73] Terminating: Residual and Jacobian evaluation failed.
I0619 12:06:18.392663 20784 bundle_adjuster.cc:210]
Solver Summary (v 2.0.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)
Original Reduced
Parameter blocks 67 1
Parameters 277 7
Effective parameters 272 2
Estimated focal length: 424.931
Number of Ransac inliers: 26
Not enough views left for proper calibration!
Residual blocks 145 145
Residuals 290 290
Minimizer TRUST_REGION
Dense linear algebra library EIGEN
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_QR DENSE_QR
Threads 1 1
Linear solver ordering 1,3 1
Cost:
Initial -1.000000e+00
Minimizer iterations 0
Successful steps 0
Unsuccessful steps 0
Line search steps 0
Time (in seconds):
Preprocessor 0.000019
Residual only evaluation 0.000000 (0)
Line search cost evaluation 0.000000
Jacobian & residual evaluation 0.000034 (1)
Line search gradient evaluation 0.000000
Linear solver 0.000000 (0)
Line search polynomial minimization 0.000000
Minimizer 0.000042
Postprocessor 0.000002
Total 0.000063
Termination: FAILURE (Residual and Jacobian evaluation failed.)
E0619 12:06:18.392709 20784 camera_calibrator.cc:307] Calibration failed.