Dear SivaRamaKrishna
Thank for your help. here is the log for calibration-graph-cli .
ProgramArguments: Missing argument ‘profiling’ requested
Sample profiling is disabled
Arguments:
–data=
–dir=./
–graph=
–offscreen=1
–showDebug=1
–targetDB=
[09-04-2019 16:50:45] Platform: Detected Generic x86 Platform
[09-04-2019 16:50:45] Initialize DriveWorks SDK v1.5.3584
[09-04-2019 16:50:45] Release build with GNU 4.9.4 from heads/buildbrain-branch-0-g38b3a75
[09-04-2019 16:50:45] TimeSource: monotonic epoch time offset is 1554794549104358
[09-04-2019 16:50:45] Platform: number of GPU devices detected 1
[09-04-2019 16:50:45] Platform: currently selected GPU device discrete ID 0
[09-04-2019 16:50:45] SDK: Resource failed to mount from ‘…/…/data/resources’: VirtualFileSystem: Failed to mount ‘…/…/data/resources[.pak]’
[09-04-2019 16:50:45] SDK: Resources mounted from /usr/local/driveworks-1.5/data/resources
[09-04-2019 16:50:45] Loading calibration data from directory structure, dir=./
[09-04-2019 16:50:45] Target database loaded
Cameras found: camera_front_center_60fov camera_front_center_30fov
[09-04-2019 16:50:45] Saving calibration data description to .//calib-data.json
Parsing intrinsics
Camera camera_front_center_60fov
Camera camera_front_center_30fov
Camera external
Image size=2816 2112
.//external/IMG_2009.JPG: targets 183(9 tags) 91(35 tags) 89(23 tags)
.//external/IMG_1998.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1968.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1990.JPG: targets 183(6 tags) 91(35 tags)
.//external/IMG_2014.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_2010.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_2011.JPG: targets 183(9 tags) 91(35 tags), 15 invalid tags
.//external/IMG_2007.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1997.JPG: targets 182(9 tags) 91(35 tags), 3 invalid tags
.//external/IMG_1963.JPG: targets 181(9 tags) 180(9 tags) 90(35 tags)
.//external/IMG_1975.JPG: targets 181(9 tags) 90(35 tags), 6 invalid tags
.//external/IMG_2017.JPG: targets 180(9 tags) 90(34 tags)
.//external/IMG_1981.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1988.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1969.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1977.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1989.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_2019.JPG: targets 180(9 tags) 90(35 tags), 3 invalid tags
.//external/IMG_1966.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1985.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_2002.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1992.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_2012.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1983.JPG: targets 183(7 tags) 91(35 tags)
.//external/IMG_1979.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_2001.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1980.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1999.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_2013.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_2015.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1995.JPG: targets 182(9 tags) 91(33 tags)
.//external/IMG_1991.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1994.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1987.JPG: targets 183(9 tags) 91(34 tags)
.//external/IMG_1974.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1976.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1962.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1967.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1961.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1993.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1996.JPG: targets 182(8 tags) 91(35 tags)
.//external/IMG_1965.JPG: targets 181(9 tags) 180(9 tags) 90(35 tags)
.//external/IMG_2016.JPG: targets 181(9 tags) 90(34 tags)
.//external/IMG_1982.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1960.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_2000.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1973.JPG: targets 180(9 tags) 90(35 tags), 2 invalid tags
.//external/IMG_2008.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_2006.JPG: targets 182(9 tags) 91(35 tags)
.//external/IMG_1984.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1986.JPG: targets 183(9 tags) 91(35 tags)
.//external/IMG_1972.JPG: targets 180(9 tags) 90(35 tags)
.//external/IMG_1978.JPG: targets 181(9 tags) 90(35 tags)
.//external/IMG_1971.JPG: targets 180(9 tags) 90(35 tags)
Parsing extrinsics’ constraints
New pose for camera camera_front_center_60fov
Found constraint between [camera_front_center_60fov, target-100]: 140 points
New pose for camera camera_front_center_30fov
Found constraint between [camera_front_center_30fov, target-100]: 140 points
New pose for camera external
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-89]: 92 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 24 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 136 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 28 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 132 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 136 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-182]: 32 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 136 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-182]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-183]: 36 points
Found constraint between [external, target-91]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-181]: 36 points
Found constraint between [external, target-90]: 140 points
Found constraint between [external, target-180]: 36 points
Found constraint between [external, target-90]: 140 points
[09-04-2019 16:51:13] Saved graph to .//graph.json
Initializing camera intrinsics
Initializing intrinsics for camera external
FOV: 188.671
Initializing poses for intrinsic constraints for camera external
ERROR: reprojection error for intrinsic constraint is too large.
Stats: Median=nan, mean=38.1789, var=1744.92, std dev=41.7722, sample count=9624, min=0.05984, max=403.207
Initializing intrinsics for camera camera_front_center_30fov
FOV: 131.034
Initializing poses for intrinsic constraints for camera camera_front_center_30fov
Stats: Median=nan, mean=2.08981, var=2.07567, std dev=1.44072, sample count=29848, min=0.0105067, max=11.7743
Initializing intrinsics for camera camera_front_center_60fov
FOV: 93.7566
Initializing poses for intrinsic constraints for camera camera_front_center_60fov
Stats: Median=0.827255, mean=0.964745, var=0.414769, std dev=0.644025, sample count=4340, min=0.0112771, max=5.17196
Refining camera intrinsics
Refining intriniscs for camera external
Error before: Median=nan, mean=38.1789, var=1744.92, std dev=41.7722, sample count=9624, min=0.05984, max=403.207
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.210211e+04 0.00e+00 7.57e+14 0.00e+00 0.00e+00 1.00e+04 0 5.87e-03 9.14e-03
1 2.752774e+05 -1.83e+05 0.00e+00 3.46e+01 -2.97e+01 5.00e+03 1 7.29e-03 1.64e-02
2 1.176124e+05 -2.55e+04 0.00e+00 2.06e+01 -4.90e+00 1.25e+03 1 6.62e-03 2.31e-02
3 8.559772e+04 6.50e+03 3.16e+18 6.51e+00 1.65e+00 3.75e+03 1 1.16e-02 3.46e-02
4 9.024097e+04 -4.64e+03 0.00e+00 1.59e+01 -1.42e+00 1.88e+03 1 6.95e-03 4.16e-02
5 8.287853e+04 2.72e+03 5.46e+18 8.95e+00 1.02e+00 5.62e+03 1 1.15e-02 5.31e-02
6 8.963713e+04 -6.76e+03 0.00e+00 2.09e+01 -1.87e+00 2.81e+03 1 6.95e-03 6.01e-02
7 8.069318e+04 2.19e+03 6.78e+18 1.17e+01 7.30e-01 3.12e+03 1 1.15e-02 7.16e-02
8 7.814319e+04 2.55e+03 5.47e+18 1.24e+01 8.38e-01 4.51e+03 1 1.19e-02 8.35e-02
9 7.731774e+04 8.25e+02 7.78e+18 1.72e+01 3.40e-01 4.37e+03 1 1.19e-02 9.54e-02
10 7.506844e+04 2.25e+03 6.36e+18 1.69e+01 6.95e-01 4.65e+03 1 1.19e-02 1.07e-01
11 7.358769e+04 1.48e+03 6.39e+18 1.81e+01 5.95e-01 4.68e+03 1 1.19e-02 1.19e-01
12 7.203348e+04 1.55e+03 5.91e+18 1.83e+01 6.51e-01 4.81e+03 1 1.19e-02 1.31e-01
13 7.063435e+04 1.40e+03 5.77e+18 1.89e+01 6.54e-01 4.96e+03 1 1.19e-02 1.43e-01
14 6.925562e+04 1.38e+03 5.66e+18 1.96e+01 6.73e-01 5.17e+03 1 1.19e-02 1.55e-01
15 6.792057e+04 1.34e+03 5.41e+18 2.03e+01 6.86e-01 5.45e+03 1 1.19e-02 1.67e-01
16 6.674906e+04 1.17e+03 5.62e+18 2.15e+01 6.38e-01 5.57e+03 1 1.19e-02 1.79e-01
17 6.554004e+04 1.21e+03 5.62e+18 2.20e+01 6.55e-01 5.74e+03 1 1.21e-02 1.91e-01
18 6.434285e+04 1.20e+03 5.63e+18 2.29e+01 6.61e-01 5.94e+03 1 1.21e-02 2.03e-01
19 6.317390e+04 1.17e+03 5.93e+18 2.41e+01 6.45e-01 6.08e+03 1 1.21e-02 2.15e-01
20 6.196623e+04 1.21e+03 6.34e+18 2.51e+01 6.40e-01 6.22e+03 1 1.21e-02 2.27e-01
21 6.068016e+04 1.29e+03 6.76e+18 2.64e+01 6.45e-01 6.38e+03 1 1.21e-02 2.39e-01
22 5.931813e+04 1.36e+03 7.20e+18 2.76e+01 6.49e-01 6.55e+03 1 1.21e-02 2.51e-01
23 5.787492e+04 1.44e+03 7.68e+18 2.88e+01 6.55e-01 6.75e+03 1 1.21e-02 2.63e-01
24 5.634693e+04 1.53e+03 8.25e+18 3.04e+01 6.58e-01 6.97e+03 1 1.21e-02 2.75e-01
25 5.471704e+04 1.63e+03 8.91e+18 3.21e+01 6.61e-01 7.21e+03 1 1.21e-02 2.88e-01
26 5.287375e+04 1.84e+03 9.04e+18 3.35e+01 7.07e-01 7.76e+03 1 1.21e-02 3.00e-01
27 5.104236e+04 1.83e+03 9.82e+18 3.62e+01 6.86e-01 8.18e+03 1 1.21e-02 3.12e-01
28 4.910164e+04 1.94e+03 1.07e+19 3.85e+01 6.82e-01 8.60e+03 1 1.21e-02 3.24e-01
29 4.704533e+04 2.06e+03 1.19e+19 4.12e+01 6.75e-01 8.98e+03 1 1.21e-02 3.36e-01
30 4.493176e+04 2.11e+03 1.36e+19 4.13e+01 6.59e-01 9.27e+03 1 1.21e-02 3.48e-01
31 4.250047e+04 2.43e+03 1.53e+19 4.53e+01 6.72e-01 9.67e+03 1 1.21e-02 3.60e-01
32 3.986074e+04 2.64e+03 1.72e+19 4.69e+01 6.77e-01 1.01e+04 1 1.21e-02 3.72e-01
33 3.693571e+04 2.93e+03 1.79e+19 4.80e+01 7.14e-01 1.10e+04 1 1.19e-02 3.84e-01
34 3.403701e+04 2.90e+03 1.92e+19 4.97e+01 7.13e-01 1.19e+04 1 1.19e-02 3.96e-01
35 3.103579e+04 3.00e+03 2.02e+19 5.10e+01 7.34e-01 1.33e+04 1 1.19e-02 4.08e-01
36 2.800190e+04 3.03e+03 2.07e+19 5.24e+01 7.55e-01 1.53e+04 1 1.19e-02 4.20e-01
37 2.495227e+04 3.05e+03 2.05e+19 5.41e+01 7.91e-01 1.90e+04 1 1.19e-02 4.32e-01
38 2.201184e+04 2.94e+03 1.99e+19 5.76e+01 8.23e-01 2.60e+04 1 1.19e-02 4.44e-01
39 1.934087e+04 2.67e+03 1.91e+19 6.36e+01 8.46e-01 3.89e+04 1 1.19e-02 4.56e-01
40 1.720318e+04 2.14e+03 1.89e+19 7.41e+01 8.24e-01 5.34e+04 1 1.19e-02 4.68e-01
41 1.564480e+04 1.56e+03 1.93e+19 8.11e+01 7.38e-01 5.98e+04 1 1.19e-02 4.80e-01
42 1.436132e+04 1.28e+03 1.67e+19 7.73e+01 7.16e-01 6.51e+04 1 1.19e-02 4.91e-01
43 1.334943e+04 1.01e+03 1.45e+19 7.41e+01 6.71e-01 6.78e+04 1 1.19e-02 5.03e-01
44 1.237806e+04 9.71e+02 1.12e+19 6.92e+01 7.32e-01 7.54e+04 1 1.19e-02 5.15e-01
45 1.159591e+04 7.82e+02 8.97e+18 6.74e+01 7.23e-01 8.27e+04 1 1.19e-02 5.27e-01
46 1.087721e+04 7.19e+02 6.27e+18 6.35e+01 8.08e-01 1.08e+05 1 1.19e-02 5.39e-01
47 1.034640e+04 5.31e+02 5.14e+18 6.69e+01 7.70e-01 1.28e+05 1 1.19e-02 5.51e-01
48 9.867169e+03 4.79e+02 4.19e+18 6.50e+01 7.58e-01 1.49e+05 1 1.19e-02 5.63e-01
49 9.399962e+03 4.67e+02 3.16e+18 5.86e+01 8.37e-01 2.14e+05 1 1.19e-02 5.75e-01
50 9.035364e+03 3.65e+02 3.10e+18 6.73e+01 7.54e-01 2.46e+05 1 1.19e-02 5.87e-01
51 8.620395e+03 4.15e+02 2.33e+18 7.81e+01 9.25e-01 6.39e+05 1 1.19e-02 5.99e-01
52 8.389340e+03 2.31e+02 3.20e+17 8.45e+01 1.24e+00 1.92e+06 1 1.19e-02 6.11e-01
53 8.380116e+03 9.22e+00 3.41e+18 8.85e+01 4.01e-02 1.08e+06 1 1.19e-02 6.23e-01
54 7.886055e+03 4.94e+02 1.50e+18 6.46e+01 1.06e+00 3.23e+06 1 1.19e-02 6.34e-01
55 7.722088e+03 1.64e+02 7.95e+17 3.25e+01 1.24e+00 9.70e+06 1 1.19e-02 6.46e-01
56 7.657061e+03 6.50e+01 3.27e+17 2.22e+01 1.37e+00 2.91e+07 1 1.19e-02 6.58e-01
57 7.634962e+03 2.21e+01 1.08e+17 1.44e+01 1.57e+00 8.73e+07 1 1.19e-02 6.70e-01
58 7.627516e+03 7.45e+00 3.64e+16 7.24e+00 1.59e+00 2.62e+08 1 1.19e-02 6.82e-01
59 7.624714e+03 2.80e+00 1.22e+16 6.74e+00 1.63e+00 7.86e+08 1 1.19e-02 6.94e-01
60 7.623600e+03 1.11e+00 4.28e+15 4.28e+00 1.64e+00 2.36e+09 1 1.19e-02 7.06e-01
61 7.623147e+03 4.53e-01 1.54e+15 2.59e+00 1.65e+00 7.07e+09 1 1.19e-02 7.18e-01
62 7.622962e+03 1.86e-01 5.54e+14 1.59e+00 1.65e+00 2.12e+10 1 1.19e-02 7.30e-01
63 7.622885e+03 7.66e-02 1.97e+14 9.87e-01 1.65e+00 6.37e+10 1 1.19e-02 7.42e-01
64 7.622853e+03 3.18e-02 6.78e+13 6.18e-01 1.65e+00 1.91e+11 1 1.19e-02 7.54e-01
65 7.622840e+03 1.33e-02 2.15e+13 3.89e-01 1.65e+00 5.73e+11 1 1.19e-02 7.65e-01
Intrinsics refinement for camera external:
Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp)
Original Reduced
Parameter blocks 112 112
Parameters 678 678
Effective parameters 677 677
Residual blocks 19248 19248
Residual 38496 38496
Minimizer TRUST_REGION
Sparse linear algebra library EIGEN_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 8 8
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 111,1
Schur structure 2,6,11 2,d,d
Cost:
Initial 9.210211e+04
Final 7.622840e+03
Change 8.447927e+04
Minimizer iterations 66
Successful steps 62
Unsuccessful steps 4
Time (in seconds):
Preprocessor 0.0033
Residual evaluation 0.0307
Jacobian evaluation 0.2736
Linear solver 0.3858
Minimizer 0.7691
Postprocessor 0.0001
Total 0.7725
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.292047e-07 <= 1.000000e-06)
Before camera: intrinsics= 1408 1056 0 0.001 0 0 0 0 1000 -0.00113955 0.000991351 -0.000261921
After camera: intrinsics= 1451.47 1085.32 0 0.000430926 7.53558e-10 -1.69174e-11 9.19876e-16 0.545423 2305.11 124.744 15.0038 622.882
Error after: Median=nan, mean=1.35175, var=2.55345, std dev=1.59795, sample count=9624, min=0.00453142, max=54.1913
Max fov: 64.6816
Refining intriniscs for camera camera_front_center_30fov
Error before: Median=nan, mean=2.08981, var=2.07567, std dev=1.44072, sample count=29848, min=0.0105067, max=11.7743
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.331416e+04 0.00e+00 4.17e+13 0.00e+00 0.00e+00 1.00e+04 0 1.77e-02 2.90e-02
1 7.653193e+04 -3.32e+04 0.00e+00 3.60e+01 -5.92e+00 5.00e+03 1 2.15e-02 5.05e-02
2 4.572352e+04 -2.41e+03 0.00e+00 2.15e+01 -5.70e-01 1.25e+03 1 2.00e-02 7.05e-02
3 4.060986e+04 2.70e+03 6.61e+17 6.61e+00 1.16e+00 3.75e+03 1 3.58e-02 1.06e-01
4 3.996850e+04 6.41e+02 2.75e+18 1.59e+01 2.79e-01 3.45e+03 1 3.68e-02 1.43e-01
5 3.738768e+04 2.58e+03 1.64e+18 1.38e+01 8.22e-01 4.70e+03 1 3.67e-02 1.80e-01
6 3.630594e+04 1.08e+03 2.03e+18 1.70e+01 5.52e-01 4.71e+03 1 3.67e-02 2.17e-01
7 3.479407e+04 1.51e+03 1.51e+18 1.61e+01 7.67e-01 5.56e+03 1 3.67e-02 2.53e-01
8 3.377858e+04 1.02e+03 1.56e+18 1.78e+01 6.77e-01 5.82e+03 1 3.67e-02 2.90e-01
9 3.272237e+04 1.06e+03 1.36e+18 1.78e+01 7.49e-01 6.63e+03 1 3.67e-02 3.27e-01
10 3.186677e+04 8.56e+02 1.40e+18 1.93e+01 6.91e-01 7.02e+03 1 3.68e-02 3.63e-01
11 3.099309e+04 8.74e+02 1.30e+18 1.96e+01 7.29e-01 7.76e+03 1 3.67e-02 4.00e-01
12 3.020966e+04 7.83e+02 1.33e+18 2.09e+01 6.98e-01 8.27e+03 1 3.67e-02 4.37e-01
13 2.940306e+04 8.07e+02 1.27e+18 2.19e+01 7.28e-01 9.14e+03 1 3.67e-02 4.74e-01
14 2.866230e+04 7.41e+02 1.26e+18 2.38e+01 6.95e-01 9.72e+03 1 3.67e-02 5.10e-01
15 2.790667e+04 7.56e+02 1.15e+18 2.48e+01 7.27e-01 1.07e+04 1 3.67e-02 5.47e-01
16 2.720717e+04 6.99e+02 1.15e+18 2.65e+01 7.03e-01 1.15e+04 1 3.68e-02 5.84e-01
17 2.649845e+04 7.09e+02 1.12e+18 2.74e+01 7.13e-01 1.25e+04 1 3.68e-02 6.21e-01
18 2.581535e+04 6.83e+02 1.15e+18 2.84e+01 6.96e-01 1.33e+04 1 3.67e-02 6.57e-01
19 2.513059e+04 6.85e+02 1.17e+18 2.88e+01 6.98e-01 1.41e+04 1 3.67e-02 6.94e-01
20 2.446417e+04 6.66e+02 1.21e+18 2.91e+01 6.88e-01 1.49e+04 1 3.67e-02 7.31e-01
21 2.380652e+04 6.58e+02 1.24e+18 2.90e+01 6.86e-01 1.57e+04 1 3.67e-02 7.68e-01
22 2.316665e+04 6.40e+02 1.29e+18 2.88e+01 6.81e-01 1.65e+04 1 3.67e-02 8.04e-01
23 2.254184e+04 6.25e+02 1.33e+18 2.84e+01 6.79e-01 1.73e+04 1 3.67e-02 8.41e-01
24 2.193528e+04 6.07e+02 1.37e+18 2.80e+01 6.77e-01 1.81e+04 1 3.67e-02 8.78e-01
25 2.134619e+04 5.89e+02 1.41e+18 2.76e+01 6.76e-01 1.89e+04 1 3.67e-02 9.14e-01
26 2.077528e+04 5.71e+02 1.45e+18 2.74e+01 6.75e-01 1.98e+04 1 3.67e-02 9.51e-01
27 2.022207e+04 5.53e+02 1.49e+18 2.74e+01 6.74e-01 2.06e+04 1 3.67e-02 9.88e-01
28 1.968640e+04 5.36e+02 1.52e+18 2.75e+01 6.73e-01 2.15e+04 1 3.67e-02 1.02e+00
29 1.916784e+04 5.19e+02 1.56e+18 2.79e+01 6.72e-01 2.24e+04 1 3.67e-02 1.06e+00
30 1.866607e+04 5.02e+02 1.59e+18 2.85e+01 6.72e-01 2.34e+04 1 3.67e-02 1.10e+00
31 1.818074e+04 4.85e+02 1.62e+18 2.93e+01 6.71e-01 2.44e+04 1 3.67e-02 1.13e+00
32 1.771159e+04 4.69e+02 1.66e+18 3.03e+01 6.70e-01 2.54e+04 1 3.67e-02 1.17e+00
33 1.725834e+04 4.53e+02 1.69e+18 3.14e+01 6.69e-01 2.64e+04 1 3.68e-02 1.21e+00
34 1.682080e+04 4.38e+02 1.72e+18 3.27e+01 6.69e-01 2.75e+04 1 3.67e-02 1.24e+00
35 1.639873e+04 4.22e+02 1.75e+18 3.42e+01 6.68e-01 2.85e+04 1 3.67e-02 1.28e+00
36 1.599194e+04 4.07e+02 1.77e+18 3.57e+01 6.66e-01 2.96e+04 1 3.67e-02 1.32e+00
37 1.559999e+04 3.92e+02 1.80e+18 3.73e+01 6.66e-01 3.07e+04 1 3.67e-02 1.35e+00
38 1.522108e+04 3.79e+02 1.82e+18 3.90e+01 6.67e-01 3.19e+04 1 3.67e-02 1.39e+00
39 1.485265e+04 3.68e+02 1.80e+18 4.07e+01 6.74e-01 3.33e+04 1 3.67e-02 1.43e+00
40 1.450734e+04 3.45e+02 1.85e+18 4.26e+01 6.60e-01 3.45e+04 1 3.68e-02 1.47e+00
41 1.417302e+04 3.34e+02 1.89e+18 4.43e+01 6.59e-01 3.56e+04 1 3.66e-02 1.50e+00
42 1.385184e+04 3.21e+02 1.91e+18 4.60e+01 6.58e-01 3.68e+04 1 3.72e-02 1.54e+00
43 1.354438e+04 3.07e+02 1.93e+18 4.75e+01 6.57e-01 3.80e+04 1 3.67e-02 1.58e+00
44 1.325046e+04 2.94e+02 1.95e+18 4.90e+01 6.56e-01 3.91e+04 1 3.67e-02 1.61e+00
45 1.296976e+04 2.81e+02 1.96e+18 5.05e+01 6.55e-01 4.04e+04 1 3.67e-02 1.65e+00
46 1.270183e+04 2.68e+02 1.97e+18 5.20e+01 6.55e-01 4.16e+04 1 3.67e-02 1.69e+00
47 1.244621e+04 2.56e+02 1.98e+18 5.34e+01 6.54e-01 4.28e+04 1 3.67e-02 1.72e+00
48 1.220243e+04 2.44e+02 1.98e+18 5.49e+01 6.54e-01 4.41e+04 1 3.67e-02 1.76e+00
49 1.197001e+04 2.32e+02 1.99e+18 5.64e+01 6.54e-01 4.55e+04 1 3.66e-02 1.80e+00
50 1.174849e+04 2.22e+02 1.99e+18 5.79e+01 6.53e-01 4.68e+04 1 3.66e-02 1.83e+00
51 1.153737e+04 2.11e+02 1.99e+18 5.94e+01 6.53e-01 4.82e+04 1 3.66e-02 1.87e+00
52 1.133620e+04 2.01e+02 1.99e+18 6.10e+01 6.53e-01 4.96e+04 1 3.67e-02 1.91e+00
53 1.114452e+04 1.92e+02 1.99e+18 6.26e+01 6.52e-01 5.11e+04 1 3.66e-02 1.94e+00
54 1.096189e+04 1.83e+02 1.99e+18 6.41e+01 6.52e-01 5.25e+04 1 3.66e-02 1.98e+00
55 1.078791e+04 1.74e+02 1.98e+18 6.57e+01 6.52e-01 5.41e+04 1 3.66e-02 2.02e+00
56 1.062216e+04 1.66e+02 1.98e+18 6.73e+01 6.52e-01 5.56e+04 1 3.67e-02 2.05e+00
57 1.046429e+04 1.58e+02 1.98e+18 6.88e+01 6.51e-01 5.72e+04 1 3.67e-02 2.09e+00
58 1.031394e+04 1.50e+02 1.97e+18 7.04e+01 6.51e-01 5.88e+04 1 3.68e-02 2.13e+00
59 1.017081e+04 1.43e+02 1.96e+18 7.19e+01 6.51e-01 6.05e+04 1 3.67e-02 2.16e+00
60 1.003463e+04 1.36e+02 1.96e+18 7.34e+01 6.50e-01 6.21e+04 1 3.67e-02 2.20e+00
61 9.905134e+03 1.29e+02 1.95e+18 7.48e+01 6.49e-01 6.38e+04 1 3.68e-02 2.24e+00
62 9.782074e+03 1.23e+02 1.94e+18 7.61e+01 6.48e-01 6.55e+04 1 3.67e-02 2.27e+00
63 9.665180e+03 1.17e+02 1.93e+18 7.72e+01 6.47e-01 6.72e+04 1 3.67e-02 2.31e+00
64 9.554186e+03 1.11e+02 1.92e+18 7.83e+01 6.47e-01 6.90e+04 1 3.67e-02 2.35e+00
65 9.448840e+03 1.05e+02 1.91e+18 7.92e+01 6.47e-01 7.08e+04 1 3.67e-02 2.38e+00
66 9.348898e+03 9.99e+01 1.89e+18 8.02e+01 6.47e-01 7.26e+04 1 3.67e-02 2.42e+00
67 9.254116e+03 9.48e+01 1.87e+18 8.12e+01 6.47e-01 7.45e+04 1 3.67e-02 2.46e+00
68 9.164247e+03 8.99e+01 1.85e+18 8.22e+01 6.47e-01 7.64e+04 1 3.68e-02 2.49e+00
69 9.079045e+03 8.52e+01 1.83e+18 8.32e+01 6.48e-01 7.85e+04 1 3.67e-02 2.53e+00
70 8.998267e+03 8.08e+01 1.81e+18 8.43e+01 6.48e-01 8.06e+04 1 3.67e-02 2.57e+00
71 8.921673e+03 7.66e+01 1.78e+18 8.54e+01 6.49e-01 8.28e+04 1 3.67e-02 2.60e+00
72 8.849036e+03 7.26e+01 1.76e+18 8.66e+01 6.50e-01 8.51e+04 1 3.67e-02 2.64e+00
73 8.780137e+03 6.89e+01 1.74e+18 8.78e+01 6.50e-01 8.74e+04 1 3.67e-02 2.68e+00
74 8.714775e+03 6.54e+01 1.71e+18 8.90e+01 6.51e-01 8.99e+04 1 3.68e-02 2.71e+00
75 8.652777e+03 6.20e+01 1.69e+18 9.03e+01 6.51e-01 9.25e+04 1 3.68e-02 2.75e+00
76 8.594005e+03 5.88e+01 1.67e+18 9.15e+01 6.51e-01 9.51e+04 1 3.67e-02 2.79e+00
77 8.538358e+03 5.56e+01 1.65e+18 9.25e+01 6.50e-01 9.78e+04 1 3.67e-02 2.82e+00
78 8.485732e+03 5.26e+01 1.63e+18 9.33e+01 6.49e-01 1.00e+05 1 3.67e-02 2.86e+00
79 8.435991e+03 4.97e+01 1.61e+18 9.38e+01 6.48e-01 1.03e+05 1 3.67e-02 2.90e+00
80 8.388990e+03 4.70e+01 1.59e+18 9.40e+01 6.48e-01 1.06e+05 1 3.67e-02 2.93e+00
81 8.344604e+03 4.44e+01 1.56e+18 9.43e+01 6.49e-01 1.09e+05 1 3.67e-02 2.97e+00
82 8.302700e+03 4.19e+01 1.53e+18 9.46e+01 6.50e-01 1.12e+05 1 3.68e-02 3.01e+00
83 8.263120e+03 3.96e+01 1.50e+18 9.51e+01 6.52e-01 1.15e+05 1 3.67e-02 3.04e+00
84 8.225634e+03 3.75e+01 1.46e+18 9.59e+01 6.56e-01 1.19e+05 1 3.67e-02 3.08e+00
85 8.189692e+03 3.59e+01 1.43e+18 9.71e+01 6.66e-01 1.23e+05 1 3.67e-02 3.12e+00
86 8.151812e+03 3.79e+01 1.39e+18 1.00e+02 7.26e-01 1.36e+05 1 3.67e-02 3.15e+00
87 8.116808e+03 3.50e+01 1.38e+18 1.18e+02 5.90e-01 1.36e+05 1 3.67e-02 3.19e+00
88 8.069940e+03 4.69e+01 1.38e+18 1.17e+02 7.62e-01 1.59e+05 1 3.67e-02 3.23e+00
89 8.048092e+03 2.18e+01 1.82e+18 1.27e+02 4.42e-01 1.59e+05 1 3.68e-02 3.27e+00
90 8.014654e+03 3.34e+01 1.70e+18 1.19e+02 5.87e-01 1.60e+05 1 3.67e-02 3.30e+00
91 7.984672e+03 3.00e+01 1.59e+18 1.13e+02 5.99e-01 1.61e+05 1 3.67e-02 3.34e+00
92 7.957596e+03 2.71e+01 1.47e+18 1.09e+02 6.14e-01 1.63e+05 1 3.67e-02 3.38e+00
93 7.933229e+03 2.44e+01 1.37e+18 1.06e+02 6.25e-01 1.66e+05 1 3.67e-02 3.41e+00
94 7.911210e+03 2.20e+01 1.29e+18 1.04e+02 6.35e-01 1.69e+05 1 3.68e-02 3.45e+00
95 7.891211e+03 2.00e+01 1.22e+18 1.02e+02 6.43e-01 1.73e+05 1 3.67e-02 3.49e+00
96 7.872949e+03 1.83e+01 1.16e+18 1.00e+02 6.49e-01 1.78e+05 1 3.68e-02 3.52e+00
97 7.856197e+03 1.68e+01 1.10e+18 9.86e+01 6.54e-01 1.83e+05 1 3.67e-02 3.56e+00
98 7.840775e+03 1.54e+01 1.06e+18 9.75e+01 6.58e-01 1.89e+05 1 3.67e-02 3.60e+00
99 7.826539e+03 1.42e+01 1.01e+18 9.63e+01 6.61e-01 1.96e+05 1 3.68e-02 3.63e+00
100 7.813377e+03 1.32e+01 9.73e+17 9.53e+01 6.64e-01 2.03e+05 1 3.68e-02 3.67e+00
101 7.801195e+03 1.22e+01 9.36e+17 9.42e+01 6.67e-01 2.11e+05 1 3.67e-02 3.71e+00
102 7.789917e+03 1.13e+01 9.01e+17 9.30e+01 6.69e-01 2.19e+05 1 3.67e-02 3.74e+00
103 7.779476e+03 1.04e+01 8.66e+17 9.18e+01 6.72e-01 2.29e+05 1 3.68e-02 3.78e+00
104 7.769815e+03 9.66e+00 8.33e+17 9.05e+01 6.74e-01 2.39e+05 1 3.67e-02 3.82e+00
105 7.760880e+03 8.93e+00 8.00e+17 8.92e+01 6.77e-01 2.50e+05 1 3.67e-02 3.85e+00
106 7.752623e+03 8.26e+00 7.68e+17 8.77e+01 6.79e-01 2.62e+05 1 3.67e-02 3.89e+00
107 7.744998e+03 7.62e+00 7.37e+17 8.61e+01 6.82e-01 2.75e+05 1 3.67e-02 3.93e+00
108 7.737962e+03 7.04e+00 7.05e+17 8.44e+01 6.85e-01 2.90e+05 1 3.67e-02 3.96e+00
109 7.731469e+03 6.49e+00 6.75e+17 8.26e+01 6.89e-01 3.07e+05 1 3.68e-02 4.00e+00
110 7.725470e+03 6.00e+00 6.45e+17 8.07e+01 6.94e-01 3.25e+05 1 3.68e-02 4.04e+00
111 7.719898e+03 5.57e+00 6.16e+17 7.89e+01 7.01e-01 3.48e+05 1 3.67e-02 4.07e+00
112 7.714608e+03 5.29e+00 5.90e+17 7.75e+01 7.19e-01 3.80e+05 1 3.67e-02 4.11e+00
113 7.708995e+03 5.61e+00 5.75e+17 7.86e+01 7.91e-01 4.73e+05 1 3.68e-02 4.15e+00
114 7.701475e+03 7.52e+00 6.89e+17 9.42e+01 8.75e-01 8.19e+05 1 3.68e-02 4.18e+00
115 7.703194e+03 -1.72e+00 0.00e+00 1.36e+02 -1.45e-01 4.10e+05 1 2.09e-02 4.21e+00
116 7.693436e+03 8.04e+00 4.16e+17 8.19e+01 9.07e-01 8.88e+05 1 3.58e-02 4.24e+00
117 7.699969e+03 -6.53e+00 0.00e+00 1.18e+02 -8.63e-01 4.44e+05 1 2.09e-02 4.26e+00
118 7.689884e+03 3.55e+00 4.54e+17 6.89e+01 7.38e-01 4.98e+05 1 3.59e-02 4.30e+00
119 7.686580e+03 3.30e+00 4.66e+17 6.24e+01 7.11e-01 5.39e+05 1 3.67e-02 4.33e+00
120 7.683299e+03 3.28e+00 4.28e+17 5.52e+01 7.44e-01 6.10e+05 1 3.67e-02 4.37e+00
121 7.680315e+03 2.98e+00 4.14e+17 5.04e+01 7.39e-01 6.85e+05 1 3.67e-02 4.41e+00
122 7.677428e+03 2.89e+00 3.81e+17 4.39e+01 7.64e-01 8.04e+05 1 3.67e-02 4.44e+00
123 7.674707e+03 2.72e+00 3.64e+17 3.72e+01 7.70e-01 9.54e+05 1 3.68e-02 4.48e+00
124 7.672010e+03 2.70e+00 3.35e+17 2.80e+01 7.96e-01 1.20e+06 1 3.67e-02 4.52e+00
125 7.669319e+03 2.69e+00 3.16e+17 1.80e+01 8.12e-01 1.59e+06 1 3.68e-02 4.56e+00
126 7.666485e+03 2.83e+00 2.85e+17 2.03e+01 8.45e-01 2.37e+06 1 3.67e-02 4.59e+00
127 7.663376e+03 3.11e+00 2.53e+17 5.81e+01 8.74e-01 4.08e+06 1 3.68e-02 4.63e+00
128 7.659773e+03 3.60e+00 1.87e+17 1.52e+02 9.06e-01 8.78e+06 1 3.68e-02 4.67e+00
129 7.655704e+03 4.07e+00 9.09e+16 4.16e+02 8.52e-01 1.35e+07 1 3.68e-02 4.70e+00
130 7.651273e+03 4.43e+00 2.49e+16 7.27e+02 7.75e-01 1.62e+07 1 3.68e-02 4.74e+00
131 7.646887e+03 4.39e+00 4.11e+16 8.58e+02 6.17e-01 1.64e+07 1 3.68e-02 4.78e+00
132 7.641333e+03 5.55e+00 4.24e+16 7.89e+02 6.75e-01 1.71e+07 1 3.68e-02 4.81e+00
133 7.636111e+03 5.22e+00 4.05e+16 6.80e+02 6.77e-01 1.79e+07 1 3.68e-02 4.85e+00
134 7.631147e+03 4.96e+00 3.14e+16 5.30e+02 7.35e-01 2.00e+07 1 3.67e-02 4.89e+00
135 7.625978e+03 5.17e+00 2.90e+16 3.86e+02 9.11e-01 4.49e+07 1 3.67e-02 4.92e+00
136 7.624260e+03 1.72e+00 1.09e+17 3.74e+02 3.24e-01 4.30e+07 1 3.68e-02 4.96e+00
137 7.619256e+03 5.00e+00 3.91e+16 1.39e+02 9.63e-01 1.29e+08 1 3.67e-02 5.00e+00
138 7.618349e+03 9.06e-01 2.27e+16 7.75e+01 8.72e-01 2.20e+08 1 3.69e-02 5.03e+00
139 7.618006e+03 3.43e-01 4.12e+15 1.78e+01 1.12e+00 6.59e+08 1 3.68e-02 5.07e+00
140 7.617980e+03 2.59e-02 9.09e+14 6.96e+00 1.24e+00 1.98e+09 1 3.67e-02 5.11e+00
Intrinsics refinement for camera camera_front_center_30fov:
Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp)
Original Reduced
Parameter blocks 222 222
Parameters 1338 1338
Effective parameters 1337 1337
Residual blocks 59696 59696
Residual 119392 119392
Minimizer TRUST_REGION
Sparse linear algebra library EIGEN_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 8 8
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 221,1
Schur structure 2,6,11 2,d,d
Cost:
Initial 4.331416e+04
Final 7.617980e+03
Change 3.569618e+04
Minimizer iterations 141
Successful steps 137
Unsuccessful steps 4
Time (in seconds):
Preprocessor 0.0113
Residual evaluation 0.2332
Jacobian evaluation 1.9224
Linear solver 2.4168
Minimizer 5.1167
Postprocessor 0.0008
Total 5.1288
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.683323e-07 <= 1.000000e-06)
Before camera: intrinsics= 960 604 0 0.001 0 0 0 0 1000 -0.00037263 0.000381912 -9.26346e-05
After camera: intrinsics= 681.322 267.325 0 0.00030799 -1.13155e-08 8.28022e-12 -2.67401e-15 -1.12349 3262.65 316.255 -772.754 877.849
Error after: Median=nan, mean=0.68225, var=0.166225, std dev=0.407707, sample count=29848, min=0.00254671, max=4.06002
Max fov: 35.3416
Refining intriniscs for camera camera_front_center_60fov
Error before: Median=0.827255, mean=0.964745, var=0.414769, std dev=0.644025, sample count=4340, min=0.0112771, max=5.17196
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.129326e+03 0.00e+00 3.46e+11 0.00e+00 0.00e+00 1.00e+04 0 2.59e-03 3.98e-03
1 2.133067e+03 -3.74e+00 0.00e+00 2.44e+01 -2.36e-02 5.00e+03 1 3.23e-03 7.21e-03
2 2.039566e+03 8.98e+01 3.16e+16 1.42e+01 8.67e-01 8.28e+03 1 5.23e-03 1.25e-02
3 1.972412e+03 6.72e+01 4.66e+16 1.96e+01 5.79e-01 8.32e+03 1 5.43e-03 1.79e-02
4 1.871619e+03 1.01e+02 3.63e+16 1.92e+01 7.65e-01 9.77e+03 1 5.38e-03 2.33e-02
5 1.796296e+03 7.53e+01 4.16e+16 2.18e+01 6.45e-01 1.00e+04 1 5.49e-03 2.88e-02
6 1.710535e+03 8.58e+01 3.81e+16 2.18e+01 7.13e-01 1.09e+04 1 5.52e-03 3.43e-02
7 1.636446e+03 7.41e+01 3.97e+16 2.28e+01 6.67e-01 1.13e+04 1 5.49e-03 3.98e-02
8 1.562301e+03 7.41e+01 3.84e+16 2.28e+01 6.86e-01 1.19e+04 1 5.49e-03 4.53e-02
9 1.494995e+03 6.73e+01 3.84e+16 2.31e+01 6.70e-01 1.24e+04 1 5.48e-03 5.08e-02
10 1.431289e+03 6.37e+01 3.74e+16 2.31e+01 6.74e-01 1.29e+04 1 5.50e-03 5.63e-02
11 1.372929e+03 5.84e+01 3.67e+16 2.31e+01 6.70e-01 1.34e+04 1 5.49e-03 6.18e-02
12 1.319035e+03 5.39e+01 3.55e+16 2.30e+01 6.72e-01 1.40e+04 1 5.49e-03 6.73e-02
13 1.269955e+03 4.91e+01 3.44e+16 2.29e+01 6.71e-01 1.46e+04 1 5.48e-03 7.28e-02
14 1.225210e+03 4.47e+01 3.31e+16 2.27e+01 6.72e-01 1.52e+04 1 5.48e-03 7.82e-02
15 1.184684e+03 4.05e+01 3.18e+16 2.25e+01 6.73e-01 1.59e+04 1 5.48e-03 8.37e-02
16 1.148055e+03 3.66e+01 3.04e+16 2.23e+01 6.75e-01 1.66e+04 1 5.48e-03 8.92e-02
17 1.115076e+03 3.30e+01 2.90e+16 2.21e+01 6.76e-01 1.73e+04 1 5.47e-03 9.47e-02
18 1.085439e+03 2.96e+01 2.77e+16 2.19e+01 6.79e-01 1.82e+04 1 5.37e-03 1.00e-01
19 1.058896e+03 2.65e+01 2.63e+16 2.16e+01 6.81e-01 1.91e+04 1 5.37e-03 1.05e-01
20 1.035180e+03 2.37e+01 2.50e+16 2.14e+01 6.83e-01 2.01e+04 1 5.38e-03 1.11e-01
21 1.014048e+03 2.11e+01 2.36e+16 2.11e+01 6.85e-01 2.11e+04 1 5.37e-03 1.16e-01
22 9.952692e+02 1.88e+01 2.23e+16 2.08e+01 6.87e-01 2.23e+04 1 5.37e-03 1.22e-01
23 9.786326e+02 1.66e+01 2.11e+16 2.04e+01 6.90e-01 2.36e+04 1 5.38e-03 1.27e-01
24 9.639413e+02 1.47e+01 1.98e+16 2.00e+01 6.92e-01 2.50e+04 1 5.37e-03 1.32e-01
25 9.509795e+02 1.30e+01 1.86e+16 1.95e+01 6.97e-01 2.66e+04 1 5.37e-03 1.38e-01
26 9.398964e+02 1.11e+01 1.77e+16 1.89e+01 6.73e-01 2.78e+04 1 5.38e-03 1.43e-01
27 9.299774e+02 9.92e+00 1.60e+16 1.81e+01 7.13e-01 3.01e+04 1 5.37e-03 1.48e-01
28 9.218130e+02 8.16e+00 1.55e+16 1.75e+01 6.91e-01 3.19e+04 1 5.37e-03 1.54e-01
29 9.144784e+02 7.33e+00 1.41e+16 1.65e+01 7.11e-01 3.45e+04 1 5.38e-03 1.59e-01
30 9.083262e+02 6.15e+00 1.33e+16 1.58e+01 7.04e-01 3.70e+04 1 5.37e-03 1.65e-01
31 9.029899e+02 5.34e+00 1.22e+16 1.50e+01 7.14e-01 4.01e+04 1 5.37e-03 1.70e-01
32 8.985146e+02 4.48e+00 1.13e+16 1.46e+01 7.14e-01 4.35e+04 1 5.38e-03 1.75e-01
33 8.947241e+02 3.79e+00 1.03e+16 1.43e+01 7.21e-01 4.77e+04 1 5.39e-03 1.81e-01
34 8.915838e+02 3.14e+00 9.41e+15 1.43e+01 7.24e-01 5.24e+04 1 5.37e-03 1.86e-01
35 8.889876e+02 2.60e+00 8.48e+15 1.47e+01 7.31e-01 5.81e+04 1 5.40e-03 1.92e-01
36 8.868832e+02 2.10e+00 7.60e+15 1.55e+01 7.36e-01 6.49e+04 1 5.37e-03 1.97e-01
37 8.851954e+02 1.69e+00 6.73e+15 1.65e+01 7.44e-01 7.33e+04 1 5.37e-03 2.02e-01
38 8.835499e+02 1.65e+00 5.89e+15 1.78e+01 9.33e-01 2.11e+05 1 5.37e-03 2.08e-01
39 8.860438e+02 -2.49e+00 0.00e+00 4.43e+01 -1.25e+00 1.05e+05 1 3.11e-03 2.11e-01
40 8.827130e+02 8.37e-01 7.29e+15 2.54e+01 5.58e-01 1.05e+05 1 5.23e-03 2.16e-01
41 8.816453e+02 1.07e+00 4.40e+15 2.29e+01 8.18e-01 1.42e+05 1 5.37e-03 2.21e-01
42 8.811472e+02 4.98e-01 4.18e+15 2.60e+01 7.02e-01 1.52e+05 1 5.37e-03 2.27e-01
43 8.807402e+02 4.07e-01 2.47e+15 2.30e+01 8.51e-01 2.32e+05 1 5.38e-03 2.32e-01
44 8.805524e+02 1.88e-01 2.24e+15 2.54e+01 7.64e-01 2.73e+05 1 5.37e-03 2.38e-01
45 8.804292e+02 1.23e-01 1.10e+15 2.04e+01 9.05e-01 5.82e+05 1 5.37e-03 2.43e-01
46 8.803862e+02 4.30e-02 8.27e+14 2.04e+01 8.60e-01 9.28e+05 1 5.38e-03 2.48e-01
47 8.803707e+02 1.55e-02 2.15e+14 1.18e+01 9.87e-01 2.78e+06 1 5.37e-03 2.54e-01
48 8.803691e+02 1.58e-03 3.88e+13 5.54e+00 1.03e+00 8.35e+06 1 5.37e-03 2.59e-01
Intrinsics refinement for camera camera_front_center_60fov:
Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp)
Original Reduced
Parameter blocks 32 32
Parameters 198 198
Effective parameters 197 197
Residual blocks 8680 8680
Residual 17360 17360
Minimizer TRUST_REGION
Sparse linear algebra library EIGEN_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 8 8
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 31,1
Schur structure 2,6,11 2,d,d
Cost:
Initial 2.129326e+03
Final 8.803691e+02
Change 1.248957e+03
Minimizer iterations 49
Successful steps 47
Unsuccessful steps 2
Time (in seconds):
Preprocessor 0.0014
Residual evaluation 0.0106
Jacobian evaluation 0.0935
Linear solver 0.1292
Minimizer 0.2608
Postprocessor 0.0001
Total 0.2622
Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.788602e-08 <= 1.000000e-06)
Before camera: intrinsics= 960 604 0 0.001 0 0 0 0 1000 -0.00037263 0.000381912 -9.26346e-05
After camera: intrinsics= 938.6 606.104 0 0.000578327 -2.34152e-09 -1.01952e-12 1.48498e-15 0.068609 1727.03 31.2891 -56.1143 51.2349
Error after: Median=0.538515, mean=0.586857, var=0.107328, std dev=0.32761, sample count=4340, min=0.0128493, max=2.45869
Max fov: 63.3818
Initializing camera extrinsics
Initialized pose between Target 100 to camera_front_center_60fov
-0.02386 0.9981 0.05639 -0.3771
0.9943 0.0178 0.1055 0.3047
0.1043 0.05859 -0.9928 4.274
0 0 0 1
Initialized pose between Target 100 to camera_front_center_30fov
-0.03689 0.996 -0.08115 0.696
0.9924 0.02701 -0.1197 2.075
-0.117 -0.08495 -0.9895 10.31
0 0 0 1
Initialized pose between Target 183 to external
-0.1254 0.6205 0.7741 -0.6023
0.8836 -0.2849 0.3715 0.1302
0.4511 0.7306 -0.5125 1.179
0 0 0 1
Initialized pose between Target 91 to external
0.7586 0.6398 0.1228 0.6958
0.3743 -0.2737 -0.886 0.3143
-0.5333 0.7181 -0.4471 2.259
0 0 0 1
Initialized pose between Target 89 to external
-0.74 -0.6668 0.0883 -0.2033
-0.3952 0.3247 -0.8593 -0.7312
0.5443 -0.6707 -0.5038 1.809
0 0 0 1
Initialized pose between Target 182 to external
-0.2268 0.8593 0.4584 0.8367
0.8036 -0.1008 0.5865 -0.5624
0.5502 0.5014 -0.6677 2.646
0 0 0 1
Initialized pose between Target 91 to external
0.461 0.853 0.2445 -0.3897
0.5864 -0.08609 -0.8054 0.2301
-0.666 0.5147 -0.5399 1.753
0 0 0 1
Initialized pose between Target 180 to external
-0.07706 0.046 0.996 -0.3358
0.7149 -0.6938 0.08735 0.02805
0.695 0.7187 0.02058 0.7843
0 0 0 1
Initialized pose between Target 90 to external
0.9978 0.0246 0.06232 0.388
0.06081 -0.7232 -0.688 -0.6409
0.02814 0.6902 -0.723 2.178
0 0 0 1
Initialized pose between Target 183 to external
0.0377 0.3366 -0.9409 -0.09642
0.9374 0.3144 0.15 -0.8703
0.3463 -0.8876 -0.3036 2.712
0 0 0 1
Initialized pose between Target 91 to external
-0.9478 0.3165 -0.03738 -0.02342
0.1424 0.3156 -0.9381 0.1694
-0.2852 -0.8945 -0.3443 1.326
0 0 0 1
Initialized pose between Target 181 to external
-0.6142 0.7064 0.3518 0.9122
0.5725 0.09207 0.8147 -0.5177
0.5431 0.7018 -0.461 2.495
0 0 0 1
Initialized pose between Target 90 to external
0.3689 0.7146 0.5944 -0.3109
0.8203 0.05043 -0.5698 0.2227
-0.4371 0.6977 -0.5675 1.377
0 0 0 1
Initialized pose between Target 183 to external
-0.02502 0.5771 0.8163 -0.5275
0.8294 -0.4439 0.3393 0.1035
0.5581 0.6855 -0.4676 1.022
0 0 0 1
Initialized pose between Target 91 to external
0.8041 0.5943 0.01817 0.7734
0.3412 -0.4362 -0.8326 -0.006174
-0.4869 0.6757 -0.5535 2.121
0 0 0 1
Initialized pose between Target 183 to external
0.04764 -0.02348 0.9986 -0.429
0.8605 -0.5067 -0.05297 0.2001
0.5072 0.8618 -0.003933 1.066
0 0 0 1
Initialized pose between Target 91 to external
0.9988 0.001847 -0.04792 0.06831
-0.04046 -0.504 -0.8628 -0.183
-0.02575 0.8637 -0.5033 2.624
0 0 0 1
Initialized pose between Target 183 to external
-0.008221 0.7322 -0.681 -1.045
0.8579 0.3551 0.3714 -0.8956
0.5138 -0.5812 -0.6311 2.666
0 0 0 1
Initialized pose between Target 91 to external
-0.6972 0.7168 0.01043 -0.2419
0.3616 0.3643 -0.8582 0.2801
-0.619 -0.5946 -0.5132 1.682
0 0 0 1
Initialized pose between Target 182 to external
-0.08324 0.7055 -0.7038 0.6283
0.8162 0.4535 0.358 0.2175
0.5717 -0.5446 -0.6136 1.294
0 0 0 1
Initialized pose between Target 91 to external
-0.6965 0.7092 0.1097 -0.8597
0.3522 0.471 -0.8087 0.02621
-0.6252 -0.5246 -0.5778 2.062
0 0 0 1
Initialized pose between Target 181 to external
-0.01401 0.8997 0.4362 1.838
0.9064 -0.1727 0.3854 -0.7504
0.4221 0.4008 -0.8131 3.214
0 0 0 1
Initialized pose between Target 180 to external
-0.02392 0.8963 0.4428 -0.9503
0.9022 -0.1715 0.3958 -0.1179
0.4307 0.4089 -0.8045 2.003
0 0 0 1
Initialized pose between Target 90 to external
0.4638 0.8857 -0.01941 0.7151
0.3815 -0.2194 -0.898 0.3037
-0.7996 0.4091 -0.4396 2.258
0 0 0 1
Initialized pose between Target 181 to external
0.06465 0.6913 -0.7197 0.6087
0.8757 0.3065 0.3731 -0.04111
0.4785 -0.6543 -0.5855 1.257
0 0 0 1
Initialized pose between Target 90 to external
-0.6939 0.7145 -0.08933 -0.9364
0.3817 0.2597 -0.887 0.232
-0.6106 -0.6496 -0.4529 2.124
0 0 0 1
Initialized pose between Target 180 to external
0.7759 0.5779 0.253 -1.13
0.07106 -0.4786 0.8751 0.033
0.6268 -0.661 -0.4124 2.252
0 0 0 1
Initialized pose between Target 90 to external
0.2569 0.5317 -0.807 0.2767
0.8626 -0.5027 -0.05671 -0.06334
-0.4359 -0.6815 -0.5878 1.245
0 0 0 1
Initialized pose between Target 181 to external
-0.03519 0.9524 0.3027 1.079
0.8606 -0.1251 0.4937 -0.7699
0.5081 0.2779 -0.8152 2.305
0 0 0 1
Initialized pose between Target 90 to external
0.333 0.9429 0.004855 -0.2291
0.4921 -0.1694 -0.8539 0.2524
-0.8043 0.2867 -0.5204 1.596
0 0 0 1
Initialized pose between Target 183 to external
0.05592 0.5719 -0.8184 -0.5227
0.935 0.2574 0.2438 -0.8638
0.3501 -0.7789 -0.5204 2.53
0 0 0 1
Initialized pose between Target 91 to external
-0.8314 0.553 -0.05418 -0.01116
0.2361 0.2634 -0.9354 0.1316
-0.503 -0.7905 -0.3495 1.227
0 0 0 1
Initialized pose between Target 180 to external
-0.01441 0.1356 0.9907 -0.3388
0.7662 -0.6351 0.09808 0.126
0.6424 0.7605 -0.09476 0.7938
0 0 0 1
Initialized pose between Target 90 to external
0.9935 0.1137 -0.0008605 0.5467
0.07585 -0.6684 -0.7399 -0.4252
-0.08469 0.735 -0.6727 2.152
0 0 0 1
Initialized pose between Target 181 to external
0.03906 0.9383 -0.3435 0.9714
0.9016 0.1152 0.417 -0.2621
0.4309 -0.326 -0.8415 1.864
0 0 0 1
Initialized pose between Target 90 to external
-0.3067 0.9494 -0.06687 -0.7181
0.4117 0.069 -0.9087 0.3524
-0.8582 -0.3063 -0.412 2.025
0 0 0 1
Initialized pose between Target 183 to external
0.06697 0.5549 -0.8292 -0.5223
0.9349 0.2553 0.2464 -0.855
0.3484 -0.7918 -0.5017 2.532
0 0 0 1
Initialized pose between Target 91 to external
-0.8418 0.5356 -0.06664 -0.03659
0.2403 0.2613 -0.9349 0.1411
-0.4833 -0.803 -0.3487 1.206
0 0 0 1
Initialized pose between Target 180 to external
0.1552 0.8943 0.4197 -1.059
0.8762 -0.3208 0.3596 0.09572
0.4563 0.312 -0.8334 1.883
0 0 0 1
Initialized pose between Target 90 to external
0.4333 0.8777 -0.2046 0.6661
0.3347 -0.3675 -0.8677 0.2464
-0.8368 0.3075 -0.453 1.975
0 0 0 1
Initialized pose between Target 180 to external
-0.0197 0.3181 -0.9478 0.1205
0.8169 0.5517 0.1682 -1.176
0.5765 -0.771 -0.2707 2.77
0 0 0 1
Initialized pose between Target 90 to external
-0.9394 0.3425 0.01481 -0.05638
0.1727 0.5101 -0.8426 0.1614
-0.2961 -0.789 -0.5384 1.639
0 0 0 1
Initialized pose between Target 183 to external
-0.006131 0.6288 0.7776 -0.6159
0.9736 -0.1737 0.1482 0.01321
0.2282 0.7579 -0.6111 1.161
0 0 0 1
Initialized pose between Target 91 to external
0.7635 0.6457 0.006709 0.7534
0.1481 -0.165 -0.9751 0.3064
-0.6285 0.7455 -0.2216 2.126
0 0 0 1
Initialized pose between Target 182 to external
0.042 0.6036 -0.7962 0.4677
0.8142 0.4411 0.3774 0.1006
0.579 -0.6641 -0.4729 0.9823
0 0 0 1
Initialized pose between Target 91 to external
-0.791 0.6116 -0.01783 -0.8533
0.3721 0.4576 -0.8075 -0.06168
-0.4857 -0.6454 -0.5895 2.004
0 0 0 1
Initialized pose between Target 183 to external
0.06076 0.9346 -0.3506 -1.132
0.972 0.02454 0.2339 -0.3217
0.2272 -0.3549 -0.9069 2.347
0 0 0 1
Initialized pose between Target 91 to external
-0.3764 0.9246 -0.05888 0.1836
0.2305 0.03189 -0.9726 0.3249
-0.8973 -0.3796 -0.2251 1.442
0 0 0 1
Initialized pose between Target 183 to external
0.02852 0.01744 0.9994 -0.4041
0.8369 -0.5472 -0.01433 0.1285
0.5466 0.8368 -0.0302 1.074
0 0 0 1
Initialized pose between Target 91 to external
0.9987 0.04065 -0.03198 0.1459
-0.00476 -0.5434 -0.8394 -0.3102
-0.05151 0.8385 -0.5425 2.604
0 0 0 1
Initialized pose between Target 183 to external
-0.05191 0.6688 0.7417 -0.6542
0.9212 -0.2547 0.2942 0.1157
0.3856 0.6985 -0.6028 1.154
0 0 0 1
Initialized pose between Target 91 to external
0.7228 0.6891 0.05241 0.7406
0.3013 -0.2459 -0.9213 0.3253
-0.6219 0.6817 -0.3854 2.102
0 0 0 1
Initialized pose between Target 181 to external
-0.03671 0.8693 0.493 0.8644
0.8642 -0.2201 0.4525 -0.8931
0.5019 0.4426 -0.7431 2.548
0 0 0 1
Initialized pose between Target 90 to external
0.5205 0.8538 0.01395 -0.186
0.453 -0.2622 -0.8521 0.2583
-0.7238 0.4498 -0.5233 1.618
0 0 0 1
Initialized pose between Target 182 to external
-0.4159 0.8745 0.2498 1.067
0.6531 0.09606 0.7511 -0.4619
0.6328 0.4755 -0.6111 2.386
0 0 0 1
Initialized pose between Target 91 to external
0.2516 0.8638 0.4364 -0.3637
0.7513 0.1099 -0.6507 0.03382
-0.6101 0.4916 -0.6214 1.6
0 0 0 1
Initialized pose between Target 181 to external
-0.04665 0.9523 0.3016 1.08
0.8538 -0.1187 0.5068 -0.8009
0.5185 0.2812 -0.8076 2.319
0 0 0 1
Initialized pose between Target 90 to external
0.3328 0.9428 0.01828 -0.2351
0.5061 -0.1622 -0.8471 0.2177
-0.7957 0.2912 -0.5311 1.608
0 0 0 1
Initialized pose between Target 182 to external
-0.5729 0.8084 0.1354 1.02
0.6442 0.3419 0.6841 0.1654
0.5068 0.4792 -0.7167 2.511
0 0 0 1
Initialized pose between Target 91 to external
0.1377 0.7961 0.5893 -0.4343
0.684 0.3539 -0.6379 0.2373
-0.7163 0.4909 -0.4959 1.615
0 0 0 1
Initialized pose between Target 181 to external
0.02664 0.4458 -0.8947 0.3995
0.8541 0.4549 0.2521 0.1637
0.5194 -0.7709 -0.3686 0.8757
0 0 0 1
Initialized pose between Target 90 to external
-0.8772 0.4781 -0.04366 -0.9001
0.269 0.4141 -0.8696 0.1061
-0.3976 -0.7746 -0.4919 2.088
0 0 0 1
Initialized pose between Target 181 to external
0.9413 -0.2785 0.1906 -0.9818
-0.03545 -0.6433 -0.7648 -0.5447
0.3357 0.7132 -0.6154 2.365
0 0 0 1
Initialized pose between Target 90 to external
0.1853 -0.3207 -0.9289 0.1291
-0.7837 -0.6185 0.05718 -0.07467
-0.5929 0.7174 -0.3659 1.016
0 0 0 1
Initialized pose between Target 182 to external
0.006771 0.8161 -0.5779 0.6369
0.8611 0.2891 0.4183 0.01187
0.5084 -0.5005 -0.7007 1.348
0 0 0 1
Initialized pose between Target 91 to external
-0.5699 0.8214 0.02097 -0.9259
0.4107 0.3069 -0.8586 0.1298
-0.7117 -0.4807 -0.5123 1.988
0 0 0 1
Initialized pose between Target 183 to external
0.03368 0.8964 -0.442 -0.9036
0.977 0.06368 0.2036 -0.3417
0.2107 -0.4387 -0.8736 2.792
0 0 0 1
Initialized pose between Target 91 to external
-0.4653 0.8846 -0.03184 0.294
0.2015 0.07082 -0.9769 0.3547
-0.8619 -0.4609 -0.2112 1.765
0 0 0 1
Initialized pose between Target 182 to external
0.05007 0.423 -0.9047 0.3906
0.9621 0.2225 0.1573 0.01628
0.2679 -0.8784 -0.3959 0.825
0 0 0 1
Initialized pose between Target 91 to external
-0.9002 0.4344 -0.03184 -0.6999
0.1491 0.2387 -0.9596 0.1565
-0.4092 -0.8685 -0.2797 2.086
0 0 0 1
Initialized pose between Target 183 to external
0.004907 0.5648 -0.8252 -0.4629
0.9367 0.2864 0.2016 -0.8108
0.3502 -0.7739 -0.5276 2.533
0 0 0 1
Initialized pose between Target 91 to external
-0.8382 0.5453 -0.00525 0.008729
0.1949 0.2907 -0.9368 0.2117
-0.5093 -0.7862 -0.3499 1.228
0 0 0 1
Initialized pose between Target 180 to external
0.0218 0.5991 -0.8004 -0.3372
0.8984 0.3395 0.2786 -1.01
0.4386 -0.7251 -0.5308 2.442
0 0 0 1
Initialized pose between Target 90 to external
-0.7866 0.6161 -0.04146 0.03765
0.2783 0.2938 -0.9145 0.1152
-0.5512 -0.7308 -0.4025 1.163
0 0 0 1
Initialized pose between Target 181 to external
0.04113 0.9481 -0.3153 0.9191
0.9131 0.09245 0.3971 -0.2401
0.4056 -0.3042 -0.8619 1.913
0 0 0 1
Initialized pose between Target 90 to external
-0.2795 0.9573 -0.07365 -0.7649
0.3961 0.04506 -0.9171 0.4076
-0.8747 -0.2855 -0.3918 2.025
0 0 0 1
Initialized pose between Target 180 to external
-0.02989 0.3781 -0.9253 0.1006
0.8274 0.5287 0.1893 -1.149
0.5608 -0.7599 -0.3287 3.051
0 0 0 1
Initialized pose between Target 90 to external
-0.9155 0.4017 0.02046 0.02661
0.194 0.4856 -0.8524 0.1707
-0.3523 -0.7764 -0.5225 1.896
0 0 0 1
Initialized pose between Target 180 to external
-0.05537 0.05693 0.9968 -0.3278
0.6954 -0.7143 0.07942 -0.005223
0.7165 0.6976 -4.161e-05 0.81
0 0 0 1
Initialized pose between Target 90 to external
0.9987 0.03224 0.03966 0.4207
0.05051 -0.7419 -0.6686 -0.7208
0.007866 0.6697 -0.7426 2.174
0 0 0 1
Initialized pose between Target 180 to external
-0.04657 0.4413 -0.8962 0.1097
0.8398 0.5031 0.2041 -1.06
0.5409 -0.7431 -0.394 3.05
0 0 0 1
Initialized pose between Target 90 to external
-0.8853 0.4638 0.03392 0.1438
0.2082 0.4606 -0.8628 0.2388
-0.4158 -0.7568 -0.5044 1.862
0 0 0 1
Initialized pose between Target 183 to external
0.05631 0.9297 -0.3641 -1.064
0.9652 0.04265 0.2582 -0.3929
0.2556
