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.
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
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
0.0127992 | -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
Parameter Block 2, size: 4
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)
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
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
-0.259704 | Not Computed Not Computed
2.54699 | Not Computed Not Computed
-0.446241 | Not Computed Not Computed
Parameter Block 1, size: 7
Parameter Block 2, size: 4
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)
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
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.