标定失败，输出nan值

我用测试包数据 https://drive.google.com/file/d/1HHwLWwtUrqIOWTG7QFNbwzq9Wq_Ezk7l/view 进行offline标定，识别april grid看起来挺正常，标定时识别激光线看起来也正常，但是结果输出nan值，是什么原因呢?求助😂

Load apriltag pose from: /media/airs/E/DOWNLOADS/hyj_cali_laser-cam/apriltag_pose.txt
Load apriltag pose size: 1527
obs size: 112
------- Closed-form solution Tlc: -------
  1   0   0 nan
  0   1   0 nan
  0   0   1 nan
  0   0   0   1

Solver Summary (v 1.14.0-eigen-(3.3.7)-lapack-suitesparse-(5.7.1)-eigensparse-openmp-no_tbb)

                                     Original                  Reduced
Parameter blocks                            1                       -1
Parameters                                  7                       -1
Residual blocks                         19998                       -1
Residuals                               19998                       -1

Minimizer                        TRUST_REGION

Sparse linear algebra library    SUITE_SPARSE
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                        DENSE_QR   SPARSE_NORMAL_CHOLESKY
Threads                                     1                        1
Linear solver ordering              AUTOMATIC                AUTOMATIC

Cost:
Initial                         -1.000000e+00

Minimizer iterations                       -2
Successful steps                           -1
Unsuccessful steps                         -1

Time (in seconds):
Preprocessor                         0.000240

  Residual only evaluation          -1.000000 (-1)
  Jacobian & residual evaluation    -1.000000 (-1)
  Linear solver                     -1.000000 (-1)
Minimizer                           -1.000000

Postprocessor                        0.000261
Total                                0.000502

Termination:                          FAILURE (ParameterBlock: 0x556421f15080 with size 7 has at least one invalid value.
First invalid value is at index: 0.
Parameter block values:          nan          nan          nan          nan          nan          nan          nan )

----- H singular values--------:
nan
nan
nan
nan
nan
nan

recover chi2: nan

----- Transform from Camera to Laser Tlc is: -----

 nan  nan  nan  nan
 nan  nan -nan  nan
 nan  nan  nan  nan
 nan  nan -nan  nan

----- Transform from Camera to Laser, euler angles and translations are: -----

   roll(rad): nan pitch(rad): nan yaw(rad): nan
or roll(deg): nan pitch(deg): nan yaw(deg): nan
       tx(m): nan  ty(m): nan   tz(m): nan

 Result file : /media/airs/E/DOWNLOADS/hyj_cali_laser-cam/result.yaml

-------------- Calibration Code End --------------
------- Closed-form solution Tlc: -------
  1   0   0 nan
  0   1   0 nan
  0   0   1 nan
  0   0   0   1

MegviiRobot / CamLaserCalibraTool

标定失败，输出nan值 #34