camera calibration run into to a problem

Hi NV expert ,

I follow the steps of doc and try to use the /usr/local/driveworks/tools/calibration/calibration-graph-cli --dir=./ to get the calibrated-graph.json. However, it shows the following error. At then end,the app shutdowns with unexpected result. Does anyone have clues what is wrong?

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=.05984, max=403.207

Terminating app due to unexpected exception:
could not make progress initializing the relative poses of the graph

Dear lin1247,
Can you paste the complete output here?

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

Hi,

Please noticed that 3D environment reconstruction is one of the calibration steps.
It looks like your targets are quite limited and are not enough for the reconstruction.

Please follow the recommended target placement in our document.

Placement of targets in the scene is limited by only a few constraints, however, there are no strict rules how targets need to be oriented or where they are need to be placed:

each (to-be) calibrated camera must observe at least 1 target
each camera should have the target covering the field of view as large as possible
there must be 4 smaller targets placed on the wheels such that their center coincides with the wheel center
For the camera setup as shown in the picture above we propose to have a set of 8 large and 4 small targets

A simple way to check if 3D reconstruction can work is that:
Start from a target A, it’s possible to go around the car and back to the target A with the relation described in the external image.

By the way, you also need two targets place on the ground.
Thanks.