sudo ./calibration-graph-cli --dir=calibration_data [sudo] password for vcxr09: Arguments: --cpu-apriltags=1 --data= --dir=calibration_data --graph= --offscreen=0 --precise-validation-images=0 --profiling=1 --showDebug=1 --targetDB= [04-05-2022 08:01:47] Platform: Detected Generic x86 Platform [04-05-2022 08:01:47] TimeSource: monotonic epoch time offset is 1651479363009101 [04-05-2022 08:01:47] Platform: number of GPU devices detected 1 [04-05-2022 08:01:47] Platform: currently selected GPU device discrete ID 0 [04-05-2022 08:01:47] SDK: Resource failed to mount from '/usr/local/driveworks-3.5/data/': VirtualFileSystem: Failed to mount '/usr/local/driveworks-3.5/data/[.pak]' [04-05-2022 08:01:47] Context::getDataPathFromSelfLocation DATA_ROOT found at: /usr/local/driveworks-3.5/data [04-05-2022 08:01:47] SDK: No resources(.pak) mounted from '/usr/local/driveworks-3.5/data'. Please adjust path or some modules won't function properly. [04-05-2022 08:01:47] TimeSource: monotonic epoch time offset is 1651479363009101 [04-05-2022 08:01:47] Initialize DriveWorks SDK v3.5.75 [04-05-2022 08:01:47] Release build with GNU 7.4.0 from heads/buildbrain-branch-0-gc61a9a35bd0 [04-05-2022 08:01:47] Initialize DriveWorks VisualizationSDK v3.5.75 [04-05-2022 08:01:47] Initialize DriveWorksGL SDK v3.5.75 [04-05-2022 08:01:47] GL-SDK: initialize OpenGL [04-05-2022 08:01:48] Loading calibration data from directory structure, dir=calibration_data [04-05-2022 08:01:48] Target database loaded Cameras found: camera-8 camera-6 camera-3 camera-1 camera-4 camera-2 camera-7 camera-5 Debug: intrinsics json of external camera not found (intrinsics/external.json). Falling back to calibrate these from images in external/ subfolder [04-05-2022 08:01:48] Saving calibration data description to calibration_data/calib-data.json Parsing intrinsics Camera camera-5 Camera camera-1 Camera camera-7 Camera camera-3 Camera camera-2 Camera camera-4 Camera camera-8 Camera camera-6 Camera external calibration_data/external/DSC00875.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) Image size=[ 3936, 2624 ] calibration_data/external/DSC00921.JPG: targets 180(9 tags) 97(35 tags) calibration_data/external/DSC00905.JPG: targets 182(9 tags) 181(9 tags) 91(35 tags), 1 invalid tags calibration_data/external/DSC00911.JPG: targets 96(35 tags) 91(35 tags) calibration_data/external/DSC00866.JPG: targets 183(9 tags) 93(20 tags) 92(35 tags), 4 invalid tags calibration_data/external/DSC00886.JPG: targets 180(9 tags) 95(35 tags) calibration_data/external/DSC00887.JPG: targets 180(9 tags) 95(35 tags) calibration_data/external/DSC00916.JPG: targets 97(21 tags) 94(26 tags), 27 invalid tags calibration_data/external/DSC00922.JPG: targets 180(9 tags) 97(35 tags) calibration_data/external/DSC00920.JPG: targets 180(9 tags) 97(35 tags), 3 invalid tags calibration_data/external/DSC00917.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) 94(14 tags), 2 invalid tags calibration_data/external/DSC00885.JPG: targets 180(9 tags) 95(35 tags) calibration_data/external/DSC00907.JPG: targets 181(9 tags) 92(35 tags) calibration_data/external/DSC00915.JPG: targets 180(9 tags) 97(32 tags) 93(35 tags) 92(16 tags), 9 invalid tags calibration_data/external/DSC00903.JPG: targets 182(9 tags) 181(6 tags) 91(35 tags) calibration_data/external/DSC00892.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) calibration_data/external/DSC00923.JPG: targets 183(9 tags) 97(35 tags) calibration_data/external/DSC00906.JPG: targets 181(9 tags) 92(35 tags) calibration_data/external/DSC00912.JPG: targets 96(35 tags) 91(35 tags) calibration_data/external/DSC00909.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) calibration_data/external/DSC00918.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) calibration_data/external/DSC00897.JPG: targets calibration_data/external/DSC00889.JPG: targets 183(9 tags) 94(17 tags) 92(35 tags) calibration_data/external/DSC00884.JPG: targets 180(9 tags) 97(35 tags), 10 invalid tags calibration_data/external/DSC00867.JPG: targets 183(9 tags) 93(18 tags) 92(35 tags), 1 invalid tags calibration_data/external/DSC00914.JPG: targets 97(35 tags) 90(35 tags) calibration_data/external/DSC00878.JPG: targets 183(9 tags) 97(34 tags), 2 invalid tags calibration_data/external/DSC00874.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) calibration_data/external/DSC00898.JPG: targets 182(9 tags) 95(35 tags) calibration_data/external/DSC00919.JPG: targets 183(9 tags) 97(34 tags) calibration_data/external/DSC00876.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) calibration_data/external/DSC00908.JPG: targets 181(9 tags) 94(35 tags) 92(19 tags) calibration_data/external/DSC00868.JPG: targets 183(9 tags) 97(35 tags) calibration_data/external/DSC00888.JPG: targets 183(9 tags) 94(16 tags) 92(35 tags) calibration_data/external/DSC00882.JPG: targets 180(9 tags) 97(35 tags), 5 invalid tags calibration_data/external/DSC00901.JPG: targets 182(9 tags) 181(9 tags) 91(35 tags), 2 invalid tags calibration_data/external/DSC00877.JPG: targets 180(9 tags) 97(35 tags) 95(26 tags) calibration_data/external/DSC00890.JPG: targets 183(9 tags) 92(35 tags), 6 invalid tags calibration_data/external/DSC00891.JPG: targets 183(9 tags) 92(35 tags), 7 invalid tags calibration_data/external/DSC00893.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) calibration_data/external/DSC00895.JPG: targets 182(9 tags) 91(34 tags) calibration_data/external/DSC00926.JPG: targets 182(9 tags) 91(35 tags) calibration_data/external/DSC00902.JPG: targets 182(9 tags) 94(35 tags) 92(28 tags) 91(35 tags) calibration_data/external/DSC00870.JPG: targets 180(9 tags) 97(34 tags), 8 invalid tags calibration_data/external/DSC00904.JPG: targets 182(9 tags) 181(6 tags) 91(35 tags) calibration_data/external/DSC00872.JPG: targets 183(9 tags) 92(35 tags) calibration_data/external/DSC00910.JPG: targets 182(9 tags) 91(35 tags) calibration_data/external/DSC00873.JPG: targets 180(9 tags) 95(35 tags) calibration_data/external/DSC00881.JPG: targets 180(9 tags) 97(34 tags) 95(25 tags) calibration_data/external/DSC00879.JPG: targets 183(9 tags) 97(35 tags), 10 invalid tags calibration_data/external/DSC00869.JPG: targets 183(9 tags) 97(34 tags), 10 invalid tags calibration_data/external/DSC00894.JPG: targets 181(9 tags) 94(32 tags) 92(30 tags) calibration_data/external/DSC00899.JPG: targets 182(9 tags) 95(35 tags) calibration_data/external/DSC00883.JPG: targets 180(9 tags) 97(35 tags) 95(26 tags) calibration_data/external/DSC00900.JPG: targets 182(9 tags) 95(35 tags) calibration_data/external/DSC00924.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) 94(27 tags), 1 invalid tags calibration_data/external/DSC00880.JPG: targets 183(9 tags) 97(35 tags) calibration_data/external/DSC00871.JPG: targets 183(9 tags) 92(35 tags) calibration_data/external/DSC00913.JPG: targets 97(35 tags) 90(35 tags) calibration_data/external/DSC00896.JPG: targets 182(9 tags) 91(34 tags), 1 invalid tags Parsing extrinsics' constraints New pose for camera camera-8 calibration_data/extrinsics/camera-8.png: targets 94(35 tags) Found constraint between [camera-8, target-94]: 140 points New pose for camera camera-6 calibration_data/extrinsics/camera-6.png: targets 90(35 tags) Found constraint between [camera-6, target-90]: 140 points New pose for camera camera-3 calibration_data/extrinsics/camera-3.png: targets 92(35 tags), 18 invalid tags Found constraint between [camera-3, target-92]: 140 points New pose for camera camera-1 calibration_data/extrinsics/camera-1.png: targets 92(35 tags) Found constraint between [camera-1, target-92]: 140 points New pose for camera camera-4 calibration_data/extrinsics/camera-4.png: targets 95(35 tags) Found constraint between [camera-4, target-95]: 140 points New pose for camera camera-2 calibration_data/extrinsics/camera-2.png: targets 92(35 tags) Found constraint between [camera-2, target-92]: 140 points New pose for camera camera-7 calibration_data/extrinsics/camera-7.png: targets 93(35 tags), 15 invalid tags Found constraint between [camera-7, target-93]: 140 points New pose for camera camera-5 calibration_data/extrinsics/camera-5.png: targets 96(35 tags) Found constraint between [camera-5, target-96]: 140 points New pose for camera external calibration_data/external/DSC00875.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) Found constraint between [external, target-97]: 140 points Found constraint between [external, target-93]: 140 points Found constraint between [external, target-90]: 140 points calibration_data/external/DSC00921.JPG: targets 180(9 tags) 97(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00905.JPG: targets 182(9 tags) 181(9 tags) 91(35 tags), 1 invalid tags Found constraint between [external, target-182]: 36 points Found constraint between [external, target-181]: 36 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00911.JPG: targets 96(35 tags) 91(35 tags) Found constraint between [external, target-96]: 140 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00866.JPG: targets 183(9 tags) 93(20 tags) 92(35 tags), 4 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-93]: 80 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00886.JPG: targets 180(9 tags) 95(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00887.JPG: targets 180(9 tags) 95(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00916.JPG: targets 97(21 tags) 94(26 tags), 27 invalid tags Found constraint between [external, target-97]: 84 points Found constraint between [external, target-94]: 104 points calibration_data/external/DSC00922.JPG: targets 180(9 tags) 97(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00920.JPG: targets 180(9 tags) 97(35 tags), 3 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00917.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) 94(14 tags), 2 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points Found constraint between [external, target-94]: 56 points calibration_data/external/DSC00885.JPG: targets 180(9 tags) 95(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00907.JPG: targets 181(9 tags) 92(35 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00915.JPG: targets 180(9 tags) 97(32 tags) 93(35 tags) 92(16 tags), 9 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 128 points Found constraint between [external, target-93]: 140 points Found constraint between [external, target-92]: 64 points calibration_data/external/DSC00903.JPG: targets 182(9 tags) 181(6 tags) 91(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-181]: 24 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00892.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 140 points Found constraint between [external, target-92]: 72 points calibration_data/external/DSC00923.JPG: targets 183(9 tags) 97(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00906.JPG: targets 181(9 tags) 92(35 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00912.JPG: targets 96(35 tags) 91(35 tags) Found constraint between [external, target-96]: 140 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00909.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 140 points Found constraint between [external, target-92]: 72 points calibration_data/external/DSC00918.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00897.JPG: targets calibration_data/external/DSC00889.JPG: targets 183(9 tags) 94(17 tags) 92(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-94]: 68 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00884.JPG: targets 180(9 tags) 97(35 tags), 10 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00867.JPG: targets 183(9 tags) 93(18 tags) 92(35 tags), 1 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-93]: 72 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00914.JPG: targets 97(35 tags) 90(35 tags) Found constraint between [external, target-97]: 140 points Found constraint between [external, target-90]: 140 points calibration_data/external/DSC00878.JPG: targets 183(9 tags) 97(34 tags), 2 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 136 points calibration_data/external/DSC00874.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) Found constraint between [external, target-97]: 140 points Found constraint between [external, target-93]: 140 points Found constraint between [external, target-90]: 140 points calibration_data/external/DSC00898.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00919.JPG: targets 183(9 tags) 97(34 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 136 points calibration_data/external/DSC00876.JPG: targets 97(35 tags) 93(35 tags) 90(35 tags) Found constraint between [external, target-97]: 140 points Found constraint between [external, target-93]: 140 points Found constraint between [external, target-90]: 140 points calibration_data/external/DSC00908.JPG: targets 181(9 tags) 94(35 tags) 92(19 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 140 points Found constraint between [external, target-92]: 76 points calibration_data/external/DSC00868.JPG: targets 183(9 tags) 97(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00888.JPG: targets 183(9 tags) 94(16 tags) 92(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-94]: 64 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00882.JPG: targets 180(9 tags) 97(35 tags), 5 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00901.JPG: targets 182(9 tags) 181(9 tags) 91(35 tags), 2 invalid tags Found constraint between [external, target-182]: 36 points Found constraint between [external, target-181]: 36 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00877.JPG: targets 180(9 tags) 97(35 tags) 95(26 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points Found constraint between [external, target-95]: 104 points calibration_data/external/DSC00890.JPG: targets 183(9 tags) 92(35 tags), 6 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00891.JPG: targets 183(9 tags) 92(35 tags), 7 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00893.JPG: targets 181(9 tags) 94(35 tags) 92(18 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 140 points Found constraint between [external, target-92]: 72 points calibration_data/external/DSC00895.JPG: targets 182(9 tags) 91(34 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-91]: 136 points calibration_data/external/DSC00926.JPG: targets 182(9 tags) 91(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00902.JPG: targets 182(9 tags) 94(35 tags) 92(28 tags) 91(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-94]: 140 points Found constraint between [external, target-92]: 112 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00870.JPG: targets 180(9 tags) 97(34 tags), 8 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 136 points calibration_data/external/DSC00904.JPG: targets 182(9 tags) 181(6 tags) 91(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-181]: 24 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00872.JPG: targets 183(9 tags) 92(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00910.JPG: targets 182(9 tags) 91(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-91]: 140 points calibration_data/external/DSC00873.JPG: targets 180(9 tags) 95(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00881.JPG: targets 180(9 tags) 97(34 tags) 95(25 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 136 points Found constraint between [external, target-95]: 100 points calibration_data/external/DSC00879.JPG: targets 183(9 tags) 97(35 tags), 10 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00869.JPG: targets 183(9 tags) 97(34 tags), 10 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 136 points calibration_data/external/DSC00894.JPG: targets 181(9 tags) 94(32 tags) 92(30 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 128 points Found constraint between [external, target-92]: 120 points calibration_data/external/DSC00899.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00883.JPG: targets 180(9 tags) 97(35 tags) 95(26 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points Found constraint between [external, target-95]: 104 points calibration_data/external/DSC00900.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points calibration_data/external/DSC00924.JPG: targets 183(9 tags) 180(9 tags) 97(35 tags) 94(27 tags), 1 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-180]: 36 points Found constraint between [external, target-97]: 140 points Found constraint between [external, target-94]: 108 points calibration_data/external/DSC00880.JPG: targets 183(9 tags) 97(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-97]: 140 points calibration_data/external/DSC00871.JPG: targets 183(9 tags) 92(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-92]: 140 points calibration_data/external/DSC00913.JPG: targets 97(35 tags) 90(35 tags) Found constraint between [external, target-97]: 140 points Found constraint between [external, target-90]: 140 points calibration_data/external/DSC00896.JPG: targets 182(9 tags) 91(34 tags), 1 invalid tags Found constraint between [external, target-182]: 36 points Found constraint between [external, target-91]: 136 points [04-05-2022 08:03:29] Saved graph to calibration_data/graph.json Initializing camera intrinsics Initializing intrinsics for camera external max ray angle: 34.0607 Stats: Median=0.867462, mean=1.22297, var=1.50976, std dev=1.22872, sample count=13344, min=0.00379794, max=12.2349 Initializing intrinsics for camera camera-6 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 120 degrees. max ray angle: 70.8877 Stats: Median=nan, mean=1.82987, var=1.73267, std dev=1.31631, sample count=77140, min=0.0107242, max=14.6557 Initializing intrinsics for camera camera-8 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 120 degrees. max ray angle: 70.8877 Stats: Median=1.5499, mean=1.78437, var=1.41552, std dev=1.18975, sample count=66800, min=0.00832968, max=15.9527 Initializing intrinsics for camera camera-1 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 50 degrees. max ray angle: 29.5365 Stats: Median=nan, mean=1.35097, var=0.782291, std dev=0.884472, sample count=56700, min=0.0042729, max=10.6035 Initializing intrinsics for camera camera-3 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 110 degrees. max ray angle: 64.9804 Stats: Median=1.20058, mean=1.25329, var=0.374576, std dev=0.612026, sample count=35184, min=0.00715336, max=5.69948 Initializing intrinsics for camera camera-5 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 120 degrees. max ray angle: 70.8877 Stats: Median=nan, mean=1.59099, var=1.00354, std dev=1.00177, sample count=63280, min=0.00666514, max=11.3696 Initializing intrinsics for camera camera-7 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 120 degrees. max ray angle: 70.8877 Stats: Median=1.56624, mean=1.80974, var=1.51981, std dev=1.23281, sample count=76492, min=0.00479971, max=14.5851 Initializing intrinsics for camera camera-2 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 60 degrees. max ray angle: 35.4438 Stats: Median=1.24743, mean=1.41761, var=0.811271, std dev=0.900706, sample count=56384, min=0.00112543, max=7.67781 Initializing intrinsics for camera camera-4 FTheta model Initialization. Evaluating different camera field of views: 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Initialized with equi-angluar camera with horizontal FoV of 110 degrees. max ray angle: 64.9804 Stats: Median=nan, mean=1.61377, var=0.749381, std dev=0.865668, sample count=67480, min=0.00325037, max=9.00702 Refining camera intrinsics Refining intriniscs for camera external Error before: Median=0.867462, mean=1.22297, var=1.50976, std dev=1.22872, sample count=13344, min=0.00379794, max=12.2349 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.813819e+03 0.00e+00 3.50e+18 0.00e+00 0.00e+00 1.00e+04 0 1.94e-02 2.47e-02 1 8.089043e+03 1.72e+03 2.59e+17 2.20e+02 1.22e+00 3.00e+04 1 2.81e-02 5.28e-02 2 7.804592e+03 2.84e+02 3.70e+17 2.38e+02 1.19e+00 9.00e+04 1 2.78e-02 8.06e-02 3 7.735940e+03 6.87e+01 2.17e+17 2.19e+02 1.29e+00 2.70e+05 1 2.78e-02 1.08e-01 4 7.704504e+03 3.14e+01 4.56e+16 2.65e+02 1.32e+00 8.10e+05 1 2.81e-02 1.37e-01 5 7.688422e+03 1.61e+01 1.17e+16 2.41e+02 1.39e+00 2.43e+06 1 2.78e-02 1.64e-01 6 7.681740e+03 6.68e+00 2.72e+15 1.19e+02 1.61e+00 7.29e+06 1 2.79e-02 1.92e-01 7 7.678039e+03 3.70e+00 6.68e+14 3.60e+01 1.81e+00 2.19e+07 1 2.78e-02 2.20e-01 8 7.675312e+03 2.73e+00 3.04e+14 9.00e+00 1.88e+00 6.56e+07 1 2.78e-02 2.48e-01 9 7.673072e+03 2.24e+00 2.00e+14 2.38e+00 1.91e+00 1.97e+08 1 2.77e-02 2.76e-01 10 7.671178e+03 1.89e+00 1.47e+14 7.36e-01 1.91e+00 5.90e+08 1 2.77e-02 3.03e-01 11 7.669592e+03 1.59e+00 1.11e+14 2.81e-01 1.90e+00 1.77e+09 1 2.83e-02 3.32e-01 12 7.668303e+03 1.29e+00 8.40e+13 1.47e-01 1.89e+00 5.31e+09 1 2.80e-02 3.60e-01 13 7.667290e+03 1.01e+00 6.24e+13 1.07e-01 1.87e+00 1.59e+10 1 2.81e-02 3.88e-01 14 7.666518e+03 7.72e-01 4.59e+13 9.43e-02 1.86e+00 4.78e+10 1 2.82e-02 4.16e-01 15 7.665947e+03 5.71e-01 3.37e+13 8.61e-02 1.85e+00 1.43e+11 1 2.81e-02 4.44e-01 16 7.665534e+03 4.13e-01 2.47e+13 7.70e-02 1.84e+00 4.30e+11 1 2.79e-02 4.72e-01 17 7.665241e+03 2.93e-01 1.82e+13 6.73e-02 1.84e+00 1.29e+12 1 2.80e-02 5.00e-01 18 7.665035e+03 2.05e-01 1.35e+13 5.84e-02 1.83e+00 3.87e+12 1 2.92e-02 5.29e-01 19 7.664893e+03 1.42e-01 1.01e+13 5.11e-02 1.83e+00 1.16e+13 1 2.78e-02 5.57e-01 20 7.664796e+03 9.73e-02 7.55e+12 4.54e-02 1.83e+00 3.49e+13 1 2.78e-02 5.85e-01 21 7.664730e+03 6.62e-02 5.68e+12 4.07e-02 1.82e+00 1.05e+14 1 2.78e-02 6.13e-01 22 7.664685e+03 4.49e-02 4.30e+12 3.66e-02 1.82e+00 3.14e+14 1 2.79e-02 6.41e-01 23 7.664655e+03 3.03e-02 3.26e+12 3.29e-02 1.82e+00 9.41e+14 1 2.78e-02 6.69e-01 24 7.664634e+03 2.04e-02 2.49e+12 2.93e-02 1.82e+00 2.82e+15 1 2.87e-02 6.97e-01 25 7.664621e+03 1.37e-02 1.91e+12 2.59e-02 1.82e+00 8.47e+15 1 2.78e-02 7.25e-01 26 7.664612e+03 9.16e-03 1.47e+12 2.28e-02 1.82e+00 1.00e+16 1 2.78e-02 7.53e-01 Intrinsics refinement for camera external: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 147 147 Parameters 888 888 Effective parameters 887 887 Residual blocks 26688 26688 Residual 53376 53376 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 146,1 Schur structure 2,6,11 2,d,d Cost: Initial 9.813819e+03 Final 7.664612e+03 Change 2.149207e+03 Minimizer iterations 27 Successful steps 27 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0052 Residual evaluation 0.0243 Jacobian evaluation 0.4310 Linear solver 0.2410 Minimizer 0.7586 Postprocessor 0.0003 Total 0.7642 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.000475e-07 <= 1.000000e-06) Before camera: intrinsics=[ 1968, 1312, 0, 0.000285671, 8.14892e-10, -9.26297e-12, 1.17583e-15, 0, 3490.77, 116.061, 631.763, 929.12 ] After camera: intrinsics=[ 1962.41, 1301.92, 0, 0.000282653, 2.32475e-09, -8.00652e-12, 4.95752e-16, 1.03299, 3500.6, 267.77, -209.544, 1950.26 ] Error after: Median=0.73581, mean=1.08325, var=1.54242, std dev=1.24194, sample count=13344, min=0.00694085, max=14.6073 Max ray angle: 33.9627 Refining intriniscs for camera camera-6 Error before: Median=nan, mean=1.82987, var=1.73267, std dev=1.31631, sample count=77140, min=0.0107242, max=14.6557 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.420250e+04 0.00e+00 3.19e+13 0.00e+00 0.00e+00 1.00e+04 0 9.61e-02 1.49e-01 1 6.889878e+04 2.53e+04 6.55e+17 5.05e+01 1.05e+00 3.00e+04 1 1.53e-01 3.02e-01 2 5.636747e+04 1.25e+04 1.78e+17 3.52e+01 1.08e+00 9.00e+04 1 1.52e-01 4.54e-01 3 5.507119e+04 1.30e+03 1.75e+16 1.27e+01 1.14e+00 2.70e+05 1 1.52e-01 6.06e-01 4 5.497751e+04 9.37e+01 1.59e+15 5.12e+00 1.33e+00 8.10e+05 1 1.52e-01 7.58e-01 5 5.496052e+04 1.70e+01 1.45e+14 2.08e+00 1.53e+00 2.43e+06 1 1.52e-01 9.10e-01 6 5.495470e+04 5.82e+00 1.51e+13 7.38e-01 1.64e+00 7.29e+06 1 1.52e-01 1.06e+00 7 5.495208e+04 2.61e+00 2.00e+12 2.70e-01 1.69e+00 2.19e+07 1 1.52e-01 1.21e+00 8 5.495077e+04 1.31e+00 3.65e+11 1.18e-01 1.72e+00 6.56e+07 1 1.52e-01 1.37e+00 9 5.495008e+04 6.93e-01 9.07e+10 6.25e-02 1.73e+00 1.97e+08 1 1.52e-01 1.52e+00 10 5.494970e+04 3.82e-01 2.90e+10 3.87e-02 1.75e+00 5.90e+08 1 1.52e-01 1.67e+00 11 5.494948e+04 2.16e-01 1.11e+10 2.63e-02 1.76e+00 1.77e+09 1 1.52e-01 1.82e+00 12 5.494936e+04 1.25e-01 4.87e+09 1.89e-02 1.76e+00 5.31e+09 1 1.52e-01 1.97e+00 13 5.494928e+04 7.32e-02 2.36e+09 1.40e-02 1.77e+00 1.59e+10 1 1.52e-01 2.13e+00 Intrinsics refinement for camera camera-6: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 552 552 Parameters 3318 3318 Effective parameters 3317 3317 Residual blocks 154280 154280 Residual 308560 308560 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 551,1 Schur structure 2,6,11 2,d,d Cost: Initial 9.420250e+04 Final 5.494928e+04 Change 3.925322e+04 Minimizer iterations 14 Successful steps 14 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0533 Residual evaluation 0.0712 Jacobian evaluation 1.1851 Linear solver 0.6755 Minimizer 2.1344 Postprocessor 0.0037 Total 2.1914 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.919156e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.00109083, 0, 0, 0, 0, 916.732, 0.000797802, -0.000952536, 0.000366956 ] After camera: intrinsics=[ 972.398, 643.34, 0, 0.00101554, -1.46166e-08, 5.87718e-11, -1.79345e-15, 0.0130553, 984.357, 16.6603, -64.1989, 12.5871 ] Error after: Median=nan, mean=1.24535, var=0.838133, std dev=0.915496, sample count=77140, min=0.00571519, max=12.3754 Max ray angle: 71.8515 Refining intriniscs for camera camera-8 Error before: Median=1.5499, mean=1.78437, var=1.41552, std dev=1.18975, sample count=66800, min=0.00832968, max=15.9527 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.937667e+04 0.00e+00 2.92e+13 0.00e+00 0.00e+00 1.00e+04 0 8.33e-02 1.29e-01 1 5.541332e+04 2.40e+04 3.54e+17 4.34e+01 1.20e+00 3.00e+04 1 1.34e-01 2.64e-01 2 4.652362e+04 8.89e+03 2.00e+17 3.37e+01 1.14e+00 9.00e+04 1 1.31e-01 3.95e-01 3 4.490917e+04 1.61e+03 3.27e+16 1.35e+01 1.14e+00 2.70e+05 1 1.31e-01 5.26e-01 4 4.477837e+04 1.31e+02 2.89e+15 9.14e+00 1.26e+00 8.10e+05 1 1.32e-01 6.59e-01 5 4.476266e+04 1.57e+01 2.15e+14 3.96e+00 1.41e+00 2.43e+06 1 1.34e-01 7.93e-01 6 4.475910e+04 3.56e+00 1.67e+13 1.22e+00 1.55e+00 7.29e+06 1 1.32e-01 9.25e-01 7 4.475787e+04 1.23e+00 1.65e+12 3.59e-01 1.63e+00 2.19e+07 1 1.32e-01 1.06e+00 8 4.475734e+04 5.34e-01 2.66e+11 1.12e-01 1.68e+00 6.56e+07 1 1.32e-01 1.19e+00 9 4.475708e+04 2.62e-01 7.69e+10 3.77e-02 1.72e+00 1.97e+08 1 1.32e-01 1.32e+00 10 4.475694e+04 1.39e-01 3.31e+10 1.40e-02 1.74e+00 5.90e+08 1 1.32e-01 1.45e+00 11 4.475686e+04 7.79e-02 1.74e+10 5.91e-03 1.75e+00 1.77e+09 1 1.31e-01 1.58e+00 12 4.475681e+04 4.50e-02 1.00e+10 2.97e-03 1.76e+00 5.31e+09 1 1.32e-01 1.72e+00 Intrinsics refinement for camera camera-8: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 481 481 Parameters 2892 2892 Effective parameters 2891 2891 Residual blocks 133600 133600 Residual 267200 267200 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 480,1 Schur structure 2,6,11 2,d,d Cost: Initial 7.937667e+04 Final 4.475681e+04 Change 3.461986e+04 Minimizer iterations 13 Successful steps 13 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0457 Residual evaluation 0.0571 Jacobian evaluation 0.9564 Linear solver 0.5485 Minimizer 1.7241 Postprocessor 0.0032 Total 1.7730 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.919460e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.00109083, 0, 0, 0, 0, 916.732, 0.000797802, -0.000952536, 0.000366956 ] After camera: intrinsics=[ 953.111, 653.424, 0, 0.00101736, 1.73607e-09, 1.77842e-11, 2.54162e-14, 0.012802, 982.431, 2.47735, -28.8882, -9.92984 ] Error after: Median=1.05688, mean=1.19486, var=0.68083, std dev=0.825124, sample count=66800, min=0.00847158, max=13.6307 Max ray angle: 72.4199 Refining intriniscs for camera camera-1 Error before: Median=nan, mean=1.35097, var=0.782291, std dev=0.884472, sample count=56700, min=0.0042729, max=10.6035 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.590900e+04 0.00e+00 9.38e+13 0.00e+00 0.00e+00 1.00e+04 0 7.10e-02 1.08e-01 1 4.422985e+04 1.68e+03 3.38e+17 2.03e+02 8.62e-01 1.61e+04 1 1.14e-01 2.22e-01 2 4.325072e+04 9.79e+02 6.25e+17 2.44e+02 5.50e-01 1.62e+04 1 1.13e-01 3.35e-01 3 4.169110e+04 1.56e+03 3.61e+17 1.22e+02 8.70e-01 2.72e+04 1 1.12e-01 4.46e-01 4 4.081584e+04 8.75e+02 3.04e+17 3.93e+01 8.27e-01 3.77e+04 1 1.12e-01 5.59e-01 5 4.009773e+04 7.18e+02 1.46e+17 1.01e+02 9.74e-01 1.13e+05 1 1.13e-01 6.71e-01 6 3.956447e+04 5.33e+02 7.00e+16 2.64e+02 1.07e+00 3.40e+05 1 1.12e-01 7.83e-01 7 3.928043e+04 2.84e+02 1.37e+16 3.23e+02 1.23e+00 1.02e+06 1 1.12e-01 8.96e-01 8 3.922710e+04 5.33e+01 1.48e+15 2.70e+02 1.54e+00 3.06e+06 1 1.13e-01 1.01e+00 9 3.918916e+04 3.79e+01 1.07e+14 1.01e+02 1.50e+00 9.17e+06 1 1.12e-01 1.12e+00 10 3.917133e+04 1.78e+01 1.08e+13 6.82e+01 1.60e+00 2.75e+07 1 1.13e-01 1.23e+00 11 3.916743e+04 3.90e+00 6.09e+12 3.63e+01 1.29e+00 8.25e+07 1 1.13e-01 1.35e+00 12 3.916554e+04 1.89e+00 1.16e+12 1.24e+01 4.37e+00 2.48e+08 1 1.13e-01 1.46e+00 13 3.916319e+04 2.35e+00 1.08e+12 4.89e+00 3.27e+00 7.43e+08 1 1.12e-01 1.57e+00 14 3.915852e+04 4.66e+00 2.52e+11 2.30e+00 1.19e+00 2.23e+09 1 1.12e-01 1.68e+00 15 3.915430e+04 4.23e+00 2.53e+12 5.78e+00 1.20e+00 6.69e+09 1 1.12e-01 1.80e+00 16 3.915255e+04 1.75e+00 1.17e+12 6.58e+00 3.83e+00 2.01e+10 1 1.13e-01 1.91e+00 17 3.915027e+04 2.28e+00 4.04e+12 5.41e+00 1.13e+00 6.02e+10 1 1.12e-01 2.02e+00 18 3.914904e+04 1.23e+00 2.82e+12 7.60e+00 1.80e+00 1.80e+11 1 1.12e-01 2.13e+00 19 3.914894e+04 9.63e-02 7.63e+09 5.07e+00 1.29e+00 5.41e+11 1 1.13e-01 2.25e+00 Intrinsics refinement for camera camera-1: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 406 406 Parameters 2442 2442 Effective parameters 2441 2441 Residual blocks 113400 113400 Residual 226800 226800 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 405,1 Schur structure 2,6,11 2,d,d Cost: Initial 4.590900e+04 Final 3.914894e+04 Change 6.760050e+03 Minimizer iterations 20 Successful steps 20 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0369 Residual evaluation 0.0754 Jacobian evaluation 1.2561 Linear solver 0.7130 Minimizer 2.2535 Postprocessor 0.0026 Total 2.2931 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.830719e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.000454513, 0, 0, 0, 0, 2200.15, 0.0626615, -0.188725, 0.178981 ] After camera: intrinsics=[ 993.333, 692.237, 0, 0.000507766, -9.27597e-09, 1.55689e-11, -1.90454e-14, 0.0688331, 1967.21, 94.0386, -331.032, 713.933 ] Error after: Median=nan, mean=1.21729, var=0.517896, std dev=0.71965, sample count=56700, min=0.0031832, max=7.59435 Max ray angle: 33.6832 Refining intriniscs for camera camera-3 Error before: Median=1.20058, mean=1.25329, var=0.374576, std dev=0.612026, sample count=35184, min=0.00715336, max=5.69948 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.518345e+04 0.00e+00 4.21e+12 0.00e+00 0.00e+00 1.00e+04 0 4.52e-02 6.75e-02 1 2.220211e+04 2.98e+03 1.42e+15 5.59e+01 1.31e+00 3.00e+04 1 7.13e-02 1.39e-01 2 2.034279e+04 1.86e+03 5.81e+15 2.85e+01 1.11e+00 9.00e+04 1 7.10e-02 2.10e-01 3 1.960672e+04 7.36e+02 3.80e+15 8.65e+01 1.09e+00 2.70e+05 1 7.06e-02 2.80e-01 4 1.948335e+04 1.23e+02 5.20e+14 5.88e+01 1.23e+00 8.10e+05 1 7.05e-02 3.51e-01 5 1.945437e+04 2.90e+01 4.35e+14 1.98e+01 1.17e+00 2.43e+06 1 7.11e-02 4.22e-01 6 1.945159e+04 2.77e+00 1.73e+13 6.38e+00 1.31e+00 7.29e+06 1 7.07e-02 4.93e-01 7 1.945156e+04 3.24e-02 1.32e+12 2.65e+00 2.89e-01 6.78e+06 1 7.09e-02 5.64e-01 8 1.945152e+04 4.37e-02 6.36e+11 8.85e-01 1.07e+00 2.04e+07 1 7.06e-02 6.34e-01 Intrinsics refinement for camera camera-3: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 253 253 Parameters 1524 1524 Effective parameters 1523 1523 Residual blocks 70368 70368 Residual 140736 140736 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 252,1 Schur structure 2,6,11 2,d,d Cost: Initial 2.518345e+04 Final 1.945152e+04 Change 5.731932e+03 Minimizer iterations 9 Successful steps 9 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0222 Residual evaluation 0.0211 Jacobian evaluation 0.3590 Linear solver 0.2004 Minimizer 0.6402 Postprocessor 0.0014 Total 0.6639 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.979471e-08 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.000999928, 0, 0, 0, 0, 1000.07, 0.00257956, -0.00348616, 0.00149507 ] After camera: intrinsics=[ 920.995, 656.889, 0, 0.000957014, 4.39776e-08, -6.89292e-11, 1.26407e-13, 0.000175016, 1044.71, -46.5265, 66.1679, -126.943 ] Error after: Median=1.10664, mean=1.1442, var=0.282279, std dev=0.531299, sample count=35184, min=0.00379008, max=5.54452 Max ray angle: 77.1336 Refining intriniscs for camera camera-5 Error before: Median=nan, mean=1.59099, var=1.00354, std dev=1.00177, sample count=63280, min=0.00666514, max=11.3696 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 6.464129e+04 0.00e+00 3.75e+13 0.00e+00 0.00e+00 1.00e+04 0 7.91e-02 1.22e-01 1 4.778636e+04 1.69e+04 5.59e+17 3.84e+01 1.14e+00 3.00e+04 1 1.27e-01 2.49e-01 2 4.093867e+04 6.85e+03 4.23e+17 3.86e+01 1.00e+00 9.00e+04 1 1.25e-01 3.74e-01 3 3.864858e+04 2.29e+03 1.15e+17 2.20e+01 1.06e+00 2.70e+05 1 1.25e-01 4.99e-01 4 3.838746e+04 2.61e+02 1.28e+16 1.66e+01 1.15e+00 8.10e+05 1 1.25e-01 6.24e-01 5 3.836463e+04 2.28e+01 1.12e+15 8.83e+00 1.32e+00 2.43e+06 1 1.25e-01 7.50e-01 6 3.836098e+04 3.65e+00 1.07e+14 3.10e+00 1.44e+00 7.29e+06 1 1.25e-01 8.75e-01 7 3.836014e+04 8.39e-01 1.26e+13 9.75e-01 1.52e+00 2.19e+07 1 1.26e-01 1.00e+00 8 3.835990e+04 2.44e-01 1.86e+12 3.30e-01 1.57e+00 6.56e+07 1 1.27e-01 1.13e+00 9 3.835981e+04 8.42e-02 3.22e+11 1.25e-01 1.61e+00 1.97e+08 1 1.25e-01 1.25e+00 Intrinsics refinement for camera camera-5: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 453 453 Parameters 2724 2724 Effective parameters 2723 2723 Residual blocks 126560 126560 Residual 253120 253120 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 452,1 Schur structure 2,6,11 2,d,d Cost: Initial 6.464129e+04 Final 3.835981e+04 Change 2.628148e+04 Minimizer iterations 10 Successful steps 10 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0432 Residual evaluation 0.0412 Jacobian evaluation 0.6991 Linear solver 0.4013 Minimizer 1.2611 Postprocessor 0.0030 Total 1.3074 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.835760e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.00109083, 0, 0, 0, 0, 916.732, 0.000797802, -0.000952536, 0.000366956 ] After camera: intrinsics=[ 959.041, 649.628, 0, 0.000998846, 2.5794e-08, 1.11275e-11, 7.96955e-15, -0.0268302, 1001.46, -26.7857, -9.68265, -4.57949 ] Error after: Median=nan, mean=1.11905, var=0.498486, std dev=0.706035, sample count=63280, min=0.00679391, max=8.69736 Max ray angle: 70.1382 Refining intriniscs for camera camera-7 Error before: Median=1.56624, mean=1.80974, var=1.51981, std dev=1.23281, sample count=76492, min=0.00479971, max=14.5851 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.242284e+04 0.00e+00 4.98e+13 0.00e+00 0.00e+00 1.00e+04 0 9.50e-02 1.47e-01 1 6.288715e+04 2.95e+04 7.64e+17 4.33e+01 1.18e+00 3.00e+04 1 1.52e-01 2.99e-01 2 5.251664e+04 1.04e+04 3.38e+17 3.06e+01 1.12e+00 9.00e+04 1 1.51e-01 4.50e-01 3 5.087754e+04 1.64e+03 4.19e+16 1.39e+01 1.14e+00 2.70e+05 1 1.51e-01 6.01e-01 4 5.075203e+04 1.26e+02 3.85e+15 8.05e+00 1.28e+00 8.10e+05 1 1.50e-01 7.51e-01 5 5.073600e+04 1.60e+01 3.51e+14 2.87e+00 1.40e+00 2.43e+06 1 1.50e-01 9.02e-01 6 5.073286e+04 3.14e+00 3.66e+13 7.20e-01 1.49e+00 7.29e+06 1 1.52e-01 1.05e+00 7 5.073203e+04 8.32e-01 4.53e+12 1.76e-01 1.55e+00 2.19e+07 1 1.51e-01 1.20e+00 8 5.073176e+04 2.68e-01 6.65e+11 5.50e-02 1.59e+00 6.56e+07 1 1.51e-01 1.36e+00 9 5.073166e+04 9.90e-02 1.09e+11 2.17e-02 1.63e+00 1.97e+08 1 1.51e-01 1.51e+00 Intrinsics refinement for camera camera-7: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 550 550 Parameters 3306 3306 Effective parameters 3305 3305 Residual blocks 152984 152984 Residual 305968 305968 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 549,1 Schur structure 2,6,11 2,d,d Cost: Initial 9.242284e+04 Final 5.073166e+04 Change 4.169119e+04 Minimizer iterations 10 Successful steps 10 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0520 Residual evaluation 0.0500 Jacobian evaluation 0.8386 Linear solver 0.4836 Minimizer 1.5168 Postprocessor 0.0037 Total 1.5725 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.033120e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.00109083, 0, 0, 0, 0, 916.732, 0.000797802, -0.000952536, 0.000366956 ] After camera: intrinsics=[ 956.545, 648.326, 0, 0.00101373, 1.44982e-08, 1.65608e-11, 9.57431e-15, -0.0228485, 986.622, -13.8363, -17.5867, -3.67014 ] Error after: Median=1.05398, mean=1.18693, var=0.647486, std dev=0.804665, sample count=76492, min=0.00208951, max=10.2178 Max ray angle: 70.9983 Refining intriniscs for camera camera-2 Error before: Median=1.24743, mean=1.41761, var=0.811271, std dev=0.900706, sample count=56384, min=0.00112543, max=7.67781 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.914201e+04 0.00e+00 1.81e+14 0.00e+00 0.00e+00 1.00e+04 0 7.09e-02 1.08e-01 1 4.269644e+04 6.45e+03 1.41e+18 1.89e+02 1.12e+00 3.00e+04 1 1.13e-01 2.21e-01 2 4.217808e+04 5.18e+02 4.05e+18 6.36e+01 1.63e-01 2.30e+04 1 1.13e-01 3.33e-01 3 3.822124e+04 3.96e+03 1.08e+18 5.07e+01 9.78e-01 6.89e+04 1 1.12e-01 4.45e-01 4 3.736435e+04 8.57e+02 1.40e+18 1.20e+02 8.25e-01 9.48e+04 1 1.12e-01 5.57e-01 5 3.682461e+04 5.40e+02 3.48e+17 1.07e+02 1.11e+00 2.85e+05 1 1.12e-01 6.69e-01 6 3.652024e+04 3.04e+02 3.65e+17 7.60e+01 1.09e+00 8.54e+05 1 1.12e-01 7.81e-01 7 3.643049e+04 8.98e+01 8.50e+16 5.17e+01 1.22e+00 2.56e+06 1 1.12e-01 8.94e-01 8 3.641570e+04 1.48e+01 7.49e+15 3.14e+01 1.34e+00 7.68e+06 1 1.12e-01 1.01e+00 9 3.641134e+04 4.36e+00 4.48e+15 8.00e+00 1.34e+00 2.30e+07 1 1.12e-01 1.12e+00 10 3.641065e+04 6.96e-01 2.91e+14 5.92e+00 1.42e+00 6.91e+07 1 1.12e-01 1.23e+00 11 3.641051e+04 1.36e-01 3.90e+13 2.25e+00 1.47e+00 2.07e+08 1 1.12e-01 1.34e+00 Intrinsics refinement for camera camera-2: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 406 406 Parameters 2442 2442 Effective parameters 2441 2441 Residual blocks 112768 112768 Residual 225536 225536 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 405,1 Schur structure 2,6,11 2,d,d Cost: Initial 4.914201e+04 Final 3.641051e+04 Change 1.273149e+04 Minimizer iterations 12 Successful steps 12 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0368 Residual evaluation 0.0446 Jacobian evaluation 0.7514 Linear solver 0.4279 Minimizer 1.3495 Postprocessor 0.0026 Total 1.3890 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.638919e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.000545415, 0, 0, 0, 0, 1833.46, 0.0149896, -0.0374716, 0.0297331 ] After camera: intrinsics=[ 877.654, 627.4, 0, 0.000493919, 1.36356e-08, -1.09309e-11, 1.6379e-15, -0.176297, 2028.27, -136.133, 246.654, -116.723 ] Error after: Median=1.00723, mean=1.15889, var=0.629245, std dev=0.79325, sample count=56384, min=0.00430027, max=11.2914 Max ray angle: 34.6393 Refining intriniscs for camera camera-4 Error before: Median=nan, mean=1.61377, var=0.749381, std dev=0.865668, sample count=67480, min=0.00325037, max=9.00702 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.036796e+04 0.00e+00 1.75e+13 0.00e+00 0.00e+00 1.00e+04 0 8.42e-02 1.29e-01 1 5.639953e+04 1.40e+04 2.58e+17 3.61e+01 1.26e+00 3.00e+04 1 1.34e-01 2.63e-01 2 5.216931e+04 4.23e+03 5.75e+16 2.26e+01 1.20e+00 9.00e+04 1 1.33e-01 3.96e-01 3 5.158414e+04 5.85e+02 7.40e+15 3.17e+01 1.24e+00 2.70e+05 1 1.34e-01 5.30e-01 4 5.151882e+04 6.53e+01 8.14e+14 2.95e+01 1.30e+00 8.10e+05 1 1.33e-01 6.63e-01 5 5.151026e+04 8.56e+00 8.98e+13 1.46e+01 1.30e+00 2.43e+06 1 1.34e-01 7.97e-01 6 5.150904e+04 1.22e+00 7.90e+12 5.28e+00 1.33e+00 7.29e+06 1 1.33e-01 9.30e-01 7 5.150888e+04 1.62e-01 6.04e+11 1.66e+00 1.40e+00 2.19e+07 1 1.35e-01 1.06e+00 Intrinsics refinement for camera camera-4: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 483 483 Parameters 2904 2904 Effective parameters 2903 2903 Residual blocks 134960 134960 Residual 269920 269920 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 482,1 Schur structure 2,6,11 2,d,d Cost: Initial 7.036796e+04 Final 5.150888e+04 Change 1.885908e+04 Minimizer iterations 8 Successful steps 8 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0451 Residual evaluation 0.0355 Jacobian evaluation 0.5947 Linear solver 0.3418 Minimizer 1.0755 Postprocessor 0.0032 Total 1.1238 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.945650e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 0, 0.000999928, 0, 0, 0, 0, 1000.07, 0.00257956, -0.00348616, 0.00149507 ] After camera: intrinsics=[ 962.123, 647.742, 0, 0.00100833, 4.96066e-08, -9.05821e-11, 1.19194e-13, 0.0297089, 990.849, -40.6706, 64.6348, -87.5608 ] Error after: Median=nan, mean=1.33863, var=0.442024, std dev=0.664849, sample count=67480, min=0.0115552, max=7.6108 Max ray angle: 75.0928 Initializing camera extrinsics Initialized pose between Target 94 to camera-8 0.01318 0.9519 0.3061 -0.5166 0.9998 -0.007411 -0.02001 0.05521 -0.01678 0.3063 -0.9518 1.292 0 0 0 1 Initialized pose between Target 90 to camera-6 0.005278 0.8351 -0.55 0.2717 0.9987 -0.03224 -0.03937 0.1368 -0.05062 -0.5491 -0.8342 1.529 0 0 0 1 Initialized pose between Target 92 to camera-3 -0.005997 0.9927 -0.1205 0.3612 0.9988 0.0118 0.04749 -0.2056 0.04856 -0.1201 -0.9916 2.67 0 0 0 1 Initialized pose between Target 92 to camera-1 0.0375 0.9993 -0.003137 0.5574 0.9993 -0.03752 -0.005344 -0.08137 -0.005458 -0.002935 -1 2.79 0 0 0 1 Initialized pose between Target 95 to camera-4 0.007734 0.9942 -0.1074 0.2691 0.999 -0.002943 0.04469 0.3065 0.04412 -0.1076 -0.9932 1.445 0 0 0 1 Initialized pose between Target 92 to camera-2 -0.01496 0.9907 -0.1352 0.4555 0.9989 0.02089 0.04254 -0.1718 0.04497 -0.1344 -0.9899 2.723 0 0 0 1 Initialized pose between Target 93 to camera-7 -0.02341 0.9956 -0.09036 0.1562 0.9995 0.02156 -0.02145 0.04303 -0.0194 -0.09082 -0.9957 1.632 0 0 0 1 Initialized pose between Target 96 to camera-5 0.05439 0.8097 0.5843 -0.01933 0.9985 -0.03723 -0.04134 -0.09563 -0.01172 0.5857 -0.8105 2.272 0 0 0 1 Initialized pose between Target 97 to external -0.2069 0.3414 0.9168 -0.5087 0.9037 0.4257 0.04543 0.1135 -0.3748 0.838 -0.3967 2.724 0 0 0 1 Initialized pose between Target 93 to external -0.9417 0.06491 -0.3303 1.197 -0.04345 0.9496 0.3105 0.6633 0.3338 0.3068 -0.8913 4.055 0 0 0 1 Initialized pose between Target 90 to external -0.9129 0.3399 -0.2259 0.6898 -0.02883 0.4983 0.8665 -0.3968 0.4071 0.7976 -0.4451 2.729 0 0 0 1 Initialized pose between Target 180 to external -0.04471 0.9325 0.3584 0.6498 0.9363 -0.08599 0.3406 -0.5109 0.3484 0.3508 -0.8692 2.64 0 0 0 1 Initialized pose between Target 97 to external -0.3488 -0.9367 0.03015 -0.2592 -0.3391 0.09614 -0.9358 0.1945 0.8737 -0.3366 -0.3512 1.774 0 0 0 1 Initialized pose between Target 182 to external -0.03051 0.4321 0.9013 -0.4155 0.9004 -0.3797 0.2125 0.1041 0.4341 0.818 -0.3775 1.794 0 0 0 1 Initialized pose between Target 181 to external -0.07197 0.4214 0.904 0.6662 0.9213 -0.3192 0.2221 -0.9836 0.3822 0.8489 -0.3652 3.823 0 0 0 1 Initialized pose between Target 91 to external -0.9191 -0.3935 0.0201 0.7902 -0.2021 0.4271 -0.8813 -0.001017 0.3383 -0.8141 -0.4721 2.899 0 0 0 1 Initialized pose between Target 96 to external 0.9627 -0.2536 0.09415 -0.7311 -0.03589 -0.4647 -0.8847 0.3983 0.2681 0.8484 -0.4565 3.63 0 0 0 1 Initialized pose between Target 91 to external 0.07581 -0.2627 -0.9619 0.7789 -0.9311 -0.3638 0.02598 -0.1994 -0.3567 0.8937 -0.2722 2.823 0 0 0 1 Initialized pose between Target 183 to external -0.09254 0.5837 -0.8066 -0.2296 0.9489 0.2971 0.1062 0.5352 0.3016 -0.7556 -0.5814 2.915 0 0 0 1 Initialized pose between Target 93 to external -0.007289 0.2048 0.9788 -1.429 0.9861 -0.1612 0.04107 -0.1301 0.1662 0.9654 -0.2007 2.709 0 0 0 1 Initialized pose between Target 92 to external -0.02635 0.8543 0.5191 -0.1163 0.981 -0.07786 0.1779 -0.8537 0.1924 0.5139 -0.836 5.055 0 0 0 1 Initialized pose between Target 180 to external 0.9553 -0.1639 0.2461 0.5272 -0.0289 -0.8801 -0.474 0.5536 0.2943 0.4457 -0.8454 2.155 0 0 0 1 Initialized pose between Target 95 to external 0.9485 0.2876 0.1326 -0.6275 -0.01807 -0.369 0.9292 -0.6982 0.3162 -0.8838 -0.3449 3.404 0 0 0 1 Initialized pose between Target 180 to external 0.9665 -0.08552 0.2419 0.5004 -0.01198 -0.9568 -0.2904 0.6276 0.2563 0.2778 -0.9258 2.515 0 0 0 1 Initialized pose between Target 95 to external 0.9594 0.2761 0.05822 -0.5239 -0.00847 -0.178 0.984 -0.8891 0.2821 -0.9445 -0.1685 3.551 0 0 0 1 Initialized pose between Target 97 to external -0.472 -0.8805 0.04409 0.9587 -0.1083 0.008254 -0.9941 1.399 0.8749 -0.474 -0.09922 4.521 0 0 0 1 Initialized pose between Target 94 to external -0.01672 0.2253 0.9741 -2.213 0.9948 -0.09391 0.0388 -0.06599 0.1002 0.9697 -0.2226 6.566 0 0 0 1 Initialized pose between Target 180 to external -0.03264 0.9383 0.3443 0.6858 0.9331 -0.09482 0.3469 -0.543 0.3581 0.3325 -0.8724 2.592 0 0 0 1 Initialized pose between Target 97 to external -0.3342 -0.9423 0.01853 -0.2354 -0.3469 0.1047 -0.932 0.1764 0.8763 -0.3179 -0.3619 1.752 0 0 0 1 Initialized pose between Target 180 to external -0.04458 0.9251 0.377 0.7213 0.938 -0.09112 0.3345 -0.5125 0.3438 0.3685 -0.8637 2.843 0 0 0 1 Initialized pose between Target 97 to external -0.3684 -0.9291 0.0312 -0.1577 -0.3346 0.1012 -0.9369 0.1961 0.8674 -0.3556 -0.3481 1.968 0 0 0 1 Initialized pose between Target 183 to external -0.155 0.9845 0.08233 -1.228 0.9026 0.1073 0.4168 -0.1371 0.4015 0.1389 -0.9053 3.043 0 0 0 1 Initialized pose between Target 180 to external -0.04672 0.9965 0.06963 1.318 0.9237 0.01657 0.3827 -0.118 0.3802 0.0822 -0.9212 3.245 0 0 0 1 Initialized pose between Target 97 to external -0.06302 -0.9974 0.03383 0.1405 -0.3763 -0.007649 -0.9265 0.5036 0.9244 -0.07112 -0.3748 2.746 0 0 0 1 Initialized pose between Target 94 to external 0.001112 0.6149 0.7886 -1.854 0.9339 -0.2826 0.2191 -1.84 0.3576 0.7362 -0.5746 5.376 0 0 0 1 Initialized pose between Target 180 to external 0.9587 -0.2067 0.1952 0.5109 -0.05287 -0.8042 -0.592 0.4001 0.2793 0.5573 -0.782 2.355 0 0 0 1 Initialized pose between Target 95 to external 0.9525 0.2435 0.1828 -0.6965 -0.04026 -0.4944 0.8683 -0.6343 0.3018 -0.8344 -0.4611 3.791 0 0 0 1 Initialized pose between Target 181 to external -0.991 -0.05623 -0.1213 -0.1675 -0.1333 0.4866 0.8634 -0.1344 0.01047 0.8718 -0.4898 1.214 0 0 0 1 Initialized pose between Target 92 to external -0.9929 -0.1084 -0.04953 0.9898 -0.06199 0.8245 -0.5625 0.3815 0.1018 -0.5554 -0.8253 2.884 0 0 0 1 Initialized pose between Target 180 to external -0.04733 0.8425 -0.5365 0.9443 0.993 0.09765 0.06573 0.8423 0.1078 -0.5297 -0.8413 4.154 0 0 0 1 Initialized pose between Target 97 to external 0.5451 -0.8377 0.0344 -0.5457 -0.06448 -0.08279 -0.9945 1.193 0.8359 0.5398 -0.09914 4.461 0 0 0 1 Initialized pose between Target 93 to external 0.02811 -0.1763 0.9839 -2.314 0.9953 -0.08597 -0.04384 -0.005457 0.09232 0.9806 0.173 5.096 0 0 0 1 Initialized pose between Target 92 to external -0.01445 0.6076 0.7941 -1.994 0.9936 -0.08026 0.07949 -0.5979 0.112 0.7902 -0.6026 7.808 0 0 0 1 Initialized pose between Target 182 to external -0.09212 0.5881 0.8035 -0.4828 0.9024 -0.2918 0.317 -0.3557 0.421 0.7543 -0.5038 1.55 0 0 0 1 Initialized pose between Target 181 to external -0.1415 0.5733 0.8071 1.002 0.9157 -0.2339 0.3267 -1.226 0.376 0.7853 -0.4918 3.422 0 0 0 1 Initialized pose between Target 91 to external -0.8288 -0.5547 0.07411 0.8446 -0.3099 0.3446 -0.8861 -0.2941 0.466 -0.7574 -0.4575 2.451 0 0 0 1 Initialized pose between Target 181 to external -0.09823 0.5469 0.8314 -0.5072 0.9656 -0.1499 0.2127 0.4031 0.2409 0.8237 -0.5133 2.016 0 0 0 1 Initialized pose between Target 94 to external -0.05972 0.2562 -0.9648 0.3914 0.9427 0.3322 0.02984 -0.1619 0.3281 -0.9078 -0.2613 1.751 0 0 0 1 Initialized pose between Target 92 to external -0.02045 0.7885 -0.6147 0.04867 0.9465 0.2133 0.242 -1.071 0.3219 -0.5769 -0.7507 3.398 0 0 0 1 Initialized pose between Target 183 to external -0.08691 0.9599 -0.2664 -0.8914 0.9147 0.1829 0.3605 -0.4578 0.3947 -0.2123 -0.8939 2.35 0 0 0 1 Initialized pose between Target 97 to external 0.2892 -0.9571 -0.01703 0.1815 -0.3179 -0.07925 -0.9448 0.2248 0.9029 0.2787 -0.3272 1.516 0 0 0 1 Initialized pose between Target 181 to external -0.993 0.0478 -0.1085 -0.3203 -0.07263 0.4778 0.8754 -0.1483 0.09367 0.8772 -0.471 1.28 0 0 0 1 Initialized pose between Target 92 to external -0.9823 -0.1057 -0.1546 0.9852 -0.003276 0.835 -0.5503 0.2739 0.1872 -0.5401 -0.8205 2.841 0 0 0 1 Initialized pose between Target 96 to external 0.9588 -0.2623 0.1092 -0.7913 -0.02898 -0.4725 -0.8808 0.3906 0.2826 0.8414 -0.4607 3.602 0 0 0 1 Initialized pose between Target 91 to external 0.08972 -0.2732 -0.9578 0.7362 -0.9278 -0.3725 0.01936 -0.1869 -0.3621 0.8869 -0.2869 2.823 0 0 0 1 Initialized pose between Target 181 to external -0.05623 0.5758 0.8157 -0.3996 0.9635 -0.1828 0.1955 0.3936 0.2617 0.7969 -0.5445 1.994 0 0 0 1 Initialized pose between Target 94 to external -0.01568 0.2283 -0.9735 0.4687 0.9368 0.3437 0.06551 -0.194 0.3495 -0.9109 -0.2192 1.669 0 0 0 1 Initialized pose between Target 92 to external 0.02477 0.7694 -0.6382 0.1646 0.9393 0.2007 0.2784 -1.126 0.3423 -0.6064 -0.7178 3.301 0 0 0 1 Initialized pose between Target 183 to external -0.1336 0.9873 0.08542 -1.188 0.9439 0.1005 0.3146 -0.4179 0.302 0.1227 -0.9454 2.826 0 0 0 1 Initialized pose between Target 180 to external -0.02318 0.9975 0.06714 1.358 0.9605 0.003577 0.2784 -0.4319 0.2775 0.07094 -0.9581 3.012 0 0 0 1 Initialized pose between Target 97 to external -0.06494 -0.9978 0.01124 0.1923 -0.2674 0.006548 -0.9636 0.1133 0.9614 -0.06557 -0.2672 2.438 0 0 0 1 Initialized pose between Target 183 to external 0.8899 0.3163 0.3286 0.4719 0.1191 -0.8566 0.502 -0.2607 0.4403 -0.4076 -0.8 1.847 0 0 0 1 Initialized pose between Target 94 to external 0.9406 -0.08605 0.3286 -1.043 0.02287 -0.9491 -0.314 -1.331 0.3389 0.3029 -0.8907 4.005 0 0 0 1 Initialized pose between Target 92 to external 0.9295 -0.2927 0.2242 -1.21 0.01579 -0.576 -0.8173 0.4822 0.3684 0.7633 -0.5307 3.463 0 0 0 1 Initialized pose between Target 180 to external 0.9286 -0.2768 0.2472 -0.9106 0.01979 -0.6282 -0.7778 -0.2226 0.3706 0.7271 -0.5779 2.651 0 0 0 1 Initialized pose between Target 97 to external -0.2476 0.2876 -0.9252 -0.05969 0.7705 0.6374 -0.008082 -0.02815 0.5874 -0.7149 -0.3794 1.544 0 0 0 1 Initialized pose between Target 183 to external -0.0925 0.5846 -0.806 -0.311 0.94 0.3183 0.123 0.4122 0.3285 -0.7462 -0.579 3 0 0 0 1 Initialized pose between Target 93 to external -0.005507 0.2029 0.9792 -1.516 0.981 -0.1887 0.04462 -0.2488 0.1939 0.9608 -0.198 2.777 0 0 0 1 Initialized pose between Target 92 to external -0.02584 0.8538 0.5199 -0.2053 0.9751 -0.09316 0.2014 -1.039 0.2204 0.5122 -0.8301 5.097 0 0 0 1 Initialized pose between Target 97 to external 0.1655 0.1745 -0.9707 0.9233 0.8173 -0.5751 0.03596 0.384 -0.5519 -0.7993 -0.2378 2.838 0 0 0 1 Initialized pose between Target 90 to external 0.9754 0.1666 0.1442 -0.2035 -0.04085 -0.5064 0.8613 -0.2676 0.2165 -0.8461 -0.4871 2.814 0 0 0 1 Initialized pose between Target 183 to external 0.91 0.4058 0.08551 -0.5755 0.2871 -0.7652 0.5762 0.612 0.2992 -0.4997 -0.8129 2.755 0 0 0 1 Initialized pose between Target 97 to external -0.04654 -0.2981 -0.9534 0.1988 -0.5826 0.7834 -0.2165 0.08269 0.8115 0.5453 -0.2101 1.581 0 0 0 1 Initialized pose between Target 97 to external -0.1963 0.3323 0.9225 -0.5478 0.8933 0.4486 0.02856 0.1819 -0.4043 0.8297 -0.3849 2.717 0 0 0 1 Initialized pose between Target 93 to external -0.9454 0.06858 -0.3186 1.143 -0.02637 0.9583 0.2845 0.7598 0.3248 0.2774 -0.9042 4.054 0 0 0 1 Initialized pose between Target 90 to external -0.9184 0.3329 -0.2136 0.6473 -0.01051 0.5194 0.8545 -0.3365 0.3954 0.787 -0.4735 2.761 0 0 0 1 Initialized pose between Target 182 to external -0.8804 -0.2462 -0.4054 -0.3643 0.06302 0.7864 -0.6145 0.3859 0.4701 -0.5666 -0.6768 1.664 0 0 0 1 Initialized pose between Target 95 to external -0.8992 0.3744 -0.2265 1.087 0.114 0.7002 0.7048 -0.4342 0.4225 0.6079 -0.6722 3.348 0 0 0 1 Initialized pose between Target 183 to external -0.1334 0.9888 0.06681 -0.8726 0.9009 0.09285 0.424 -0.4494 0.4131 0.1167 -0.9032 2.296 0 0 0 1 Initialized pose between Target 97 to external -0.04688 -0.9988 0.01205 0.5152 -0.3828 0.006825 -0.9238 0.1561 0.9226 -0.04792 -0.3827 1.915 0 0 0 1 Initialized pose between Target 97 to external -0.1611 0.3769 0.9122 -0.5329 0.9581 0.2815 0.05288 0.2869 -0.2368 0.8825 -0.4064 2.625 0 0 0 1 Initialized pose between Target 93 to external -0.9383 0.1219 -0.3236 1.22 -0.04097 0.89 0.454 0.5484 0.3434 0.4393 -0.8301 3.984 0 0 0 1 Initialized pose between Target 90 to external -0.9075 0.378 -0.1831 0.6357 -0.03884 0.3586 0.9327 -0.282 0.4182 0.8536 -0.3107 2.529 0 0 0 1 Initialized pose between Target 181 to external -0.3111 0.5718 0.7591 -0.5471 0.9142 -0.03831 0.4035 0.2779 0.2598 0.8195 -0.5108 1.962 0 0 0 1 Initialized pose between Target 94 to external -0.2672 0.1683 -0.9488 0.4549 0.8982 0.4003 -0.182 -0.06378 0.3491 -0.9008 -0.2581 1.674 0 0 0 1 Initialized pose between Target 92 to external -0.2293 0.7162 -0.6592 0.3361 0.911 0.3964 0.1138 -1.06 0.3428 -0.5744 -0.7433 3.296 0 0 0 1 Initialized pose between Target 183 to external -0.8472 -0.4785 -0.2309 0.8632 -0.1074 0.5799 -0.8076 -0.1545 0.5203 -0.6594 -0.5426 2.68 0 0 0 1 Initialized pose between Target 97 to external 0.1905 0.3821 0.9043 -0.1069 0.8167 -0.5727 0.06995 -0.02441 0.5446 0.7252 -0.4212 1.544 0 0 0 1 Initialized pose between Target 183 to external 0.9044 0.3132 0.2899 0.5581 0.1299 -0.8491 0.5121 -0.259 0.4065 -0.4254 -0.8086 1.827 0 0 0 1 Initialized pose between Target 94 to external 0.9525 -0.06062 0.2985 -0.8561 0.03458 -0.9521 -0.3037 -1.364 0.3026 0.2996 -0.9048 4.053 0 0 0 1 Initialized pose between Target 92 to external 0.9422 -0.2543 0.2181 -1.072 0.02947 -0.5854 -0.8102 0.4529 0.3337 0.7698 -0.5441 3.536 0 0 0 1 Initialized pose between Target 180 to external 0.7999 -0.5139 0.3099 -0.6741 -0.05345 -0.5754 -0.8161 -0.2818 0.5977 0.6362 -0.4878 2.949 0 0 0 1 Initialized pose between Target 97 to external -0.313 0.5238 -0.7923 0.5053 0.811 0.5816 0.06416 -0.2196 0.4944 -0.6224 -0.6068 2.128 0 0 0 1 Initialized pose between Target 182 to external -0.116 0.4437 0.8886 -0.6399 0.8759 -0.3762 0.3021 -0.05053 0.4683 0.8134 -0.345 1.941 0 0 0 1 Initialized pose between Target 181 to external -0.1577 0.4269 0.8904 0.482 0.8958 -0.3176 0.3109 -1.129 0.4155 0.8467 -0.3324 3.958 0 0 0 1 Initialized pose between Target 91 to external -0.9066 -0.4089 0.1047 0.5332 -0.2912 0.4263 -0.8564 -0.1041 0.3055 -0.8069 -0.5056 3.083 0 0 0 1 Initialized pose between Target 180 to external -0.9493 0.206 -0.2375 0.6377 -0.06033 0.622 0.7807 0.2885 0.3085 0.7554 -0.578 2.784 0 0 0 1 Initialized pose between Target 97 to external 0.2401 -0.2194 0.9456 -0.1436 -0.7754 -0.6294 0.05084 0.0959 0.584 -0.7455 -0.3212 1.609 0 0 0 1 Initialized pose between Target 95 to external -0.9415 -0.2883 -0.1747 1.931 -0.08018 0.6949 -0.7146 1.003 0.3274 -0.6588 -0.6773 4.449 0 0 0 1 Initialized pose between Target 183 to external 0.9788 0.1717 0.1113 0.3537 0.09044 -0.8509 0.5174 -0.2909 0.1836 -0.4964 -0.8485 1.545 0 0 0 1 Initialized pose between Target 92 to external 0.9946 -0.08937 0.05235 -0.8436 -0.011 -0.5937 -0.8046 0.4392 0.103 0.7997 -0.5915 3.58 0 0 0 1 Initialized pose between Target 183 to external 0.9747 0.1803 0.132 0.3071 0.0966 -0.8726 0.4787 -0.2175 0.2015 -0.4539 -0.868 1.557 0 0 0 1 Initialized pose between Target 92 to external 0.9921 -0.1078 0.06368 -0.931 -0.006866 -0.5545 -0.8321 0.6109 0.125 0.8251 -0.5509 3.543 0 0 0 1 Initialized pose between Target 181 to external -0.1002 0.5425 0.8341 -0.5229 0.9614 -0.1631 0.2215 0.3657 0.2562 0.8241 -0.5052 2.024 0 0 0 1 Initialized pose between Target 94 to external -0.06454 0.2613 -0.9631 0.3791 0.9369 0.3481 0.03167 -0.1938 0.3435 -0.9003 -0.2673 1.745 0 0 0 1 Initialized pose between Target 92 to external -0.02397 0.7912 -0.611 0.02713 0.941 0.2242 0.2534 -1.131 0.3374 -0.5689 -0.75 3.37 0 0 0 1 Initialized pose between Target 182 to external 0.9051 0.3293 0.2689 -0.6759 -0.01647 -0.605 0.7961 0.3454 0.4248 -0.725 -0.5421 2.581 0 0 0 1 Initialized pose between Target 91 to external -0.2913 -0.2779 -0.9154 0.1922 -0.7694 0.6367 0.05154 0.09562 0.5685 0.7193 -0.3992 1.479 0 0 0 1 Initialized pose between Target 182 to external -0.7544 -0.5395 -0.3741 0.8251 -0.06646 0.6297 -0.774 -0.2444 0.6531 -0.559 -0.5109 2.529 0 0 0 1 Initialized pose between Target 91 to external 0.4014 0.4916 0.7728 -0.3531 0.7484 -0.6625 0.03273 0.03463 0.5281 0.5652 -0.6338 1.739 0 0 0 1 Initialized pose between Target 182 to external -0.06327 0.3837 0.9213 -0.7181 0.9424 -0.2809 0.1817 0.5651 0.3285 0.8797 -0.3438 2.021 0 0 0 1 Initialized pose between Target 94 to external -0.08286 0.4371 -0.8956 1.216 0.9277 0.3622 0.09093 -0.9092 0.3641 -0.8233 -0.4355 4.234 0 0 0 1 Initialized pose between Target 92 to external -0.04157 0.8903 -0.4535 0.5301 0.9292 0.2012 0.3099 -1.877 0.3671 -0.4085 -0.8357 5.72 0 0 0 1 Initialized pose between Target 91 to external -0.9372 -0.3449 0.05276 0.4054 -0.1731 0.3285 -0.9285 0.6159 0.3029 -0.8793 -0.3675 3.221 0 0 0 1 Initialized pose between Target 180 to external -0.9118 0.3171 -0.261 0.7674 -0.06583 0.5145 0.8549 0.07401 0.4054 0.7967 -0.4483 2.445 0 0 0 1 Initialized pose between Target 97 to external 0.2634 -0.3299 0.9065 -0.1542 -0.8509 -0.5222 0.05726 0.06737 0.4545 -0.7865 -0.4183 1.341 0 0 0 1 Initialized pose between Target 182 to external -0.07376 0.4079 0.91 -0.501 0.8585 -0.4384 0.2661 -0.08731 0.5075 0.8009 -0.3178 1.785 0 0 0 1 Initialized pose between Target 181 to external -0.1094 0.3954 0.912 0.5252 0.8839 -0.381 0.2712 -1.322 0.4547 0.8357 -0.3079 3.767 0 0 0 1 Initialized pose between Target 91 to external -0.9266 -0.3707 0.06375 0.6592 -0.252 0.4861 -0.8368 -0.2599 0.2792 -0.7914 -0.5438 2.924 0 0 0 1 Initialized pose between Target 183 to external 0.9872 0.1287 0.09456 0.253 0.07406 -0.8936 0.4427 -0.1251 0.1415 -0.43 -0.8917 1.295 0 0 0 1 Initialized pose between Target 92 to external 0.9972 -0.07486 0.006887 -0.8561 -0.03332 -0.5222 -0.8521 0.8144 0.06739 0.8495 -0.5233 3.298 0 0 0 1 Initialized pose between Target 182 to external -0.8212 -0.4648 -0.3312 0.8803 -0.04078 0.6266 -0.7783 -0.348 0.5692 -0.6256 -0.5335 2.788 0 0 0 1 Initialized pose between Target 91 to external 0.3562 0.416 0.8367 -0.1832 0.7529 -0.6581 0.006643 -0.07474 0.5534 0.6276 -0.5476 1.876 0 0 0 1 Initialized pose between Target 180 to external 0.9721 -0.2346 0.003084 0.2509 -0.1351 -0.5703 -0.8103 0.247 0.1918 0.7872 -0.586 1.536 0 0 0 1 Initialized pose between Target 95 to external 0.971 0.05828 0.2317 -0.9115 -0.1137 -0.7402 0.6627 -0.1685 0.2102 -0.6699 -0.7121 3.288 0 0 0 1 Initialized pose between Target 180 to external 0.8429 -0.4653 0.2701 -0.4869 -0.05459 -0.5734 -0.8175 -0.2741 0.5352 0.6743 -0.5087 3.001 0 0 0 1 Initialized pose between Target 97 to external -0.271 0.4761 -0.8366 0.6242 0.812 0.5798 0.06696 -0.2147 0.517 -0.6611 -0.5438 2.083 0 0 0 1 Initialized pose between Target 95 to external 0.8354 0.3471 0.4262 -2.185 -0.0336 -0.7417 0.6699 -0.7919 0.5487 -0.5739 -0.6079 4.315 0 0 0 1 Initialized pose between Target 183 to external 0.8228 0.4905 0.2869 -0.6909 0.1575 -0.682 0.7142 0.3759 0.546 -0.5424 -0.6385 2.734 0 0 0 1 Initialized pose between Target 97 to external -0.2489 -0.3966 -0.8836 0.3481 -0.7226 0.6835 -0.1032 0.04241 0.6448 0.6129 -0.4567 1.69 0 0 0 1 Initialized pose between Target 183 to external -0.8579 -0.4729 -0.2011 0.7476 -0.07944 0.5088 -0.8572 0.04908 0.5077 -0.7194 -0.474 2.761 0 0 0 1 Initialized pose between Target 97 to external 0.1607 0.3746 0.9132 -0.1978 0.8654 -0.4984 0.05209 0.05478 0.4746 0.7819 -0.4042 1.603 0 0 0 1 Initialized pose between Target 181 to external -0.06931 0.5066 0.8594 -0.5631 0.9976 0.03166 0.06179 0.3544 0.004092 0.8616 -0.5076 1.879 0 0 0 1 Initialized pose between Target 94 to external -0.03891 0.3073 -0.9508 0.3259 0.9945 0.1044 -0.006964 -0.3145 0.09711 -0.9459 -0.3096 1.787 0 0 0 1 Initialized pose between Target 92 to external 0.002252 0.8183 -0.5748 -0.1203 0.9956 0.05208 0.07804 -0.8065 0.0938 -0.5724 -0.8146 3.573 0 0 0 1 Initialized pose between Target 182 to external 0.1959 0.874 -0.4448 0.3877 0.9562 -0.06954 0.2844 0.1378 0.2176 -0.481 -0.8493 1.443 0 0 0 1 Initialized pose between Target 95 to external 0.2533 0.5454 0.799 -0.8675 0.9518 -0.2883 -0.1049 -0.6274 0.1731 0.787 -0.5921 3.311 0 0 0 1 Initialized pose between Target 180 to external 0.9342 -0.2837 0.2162 -0.6131 0.01618 -0.5717 -0.8203 -0.154 0.3563 0.7698 -0.5295 2.788 0 0 0 1 Initialized pose between Target 97 to external -0.2174 0.2968 -0.9299 0.2447 0.8145 0.5802 -0.005231 -0.06519 0.5379 -0.7585 -0.3678 1.664 0 0 0 1 Initialized pose between Target 95 to external 0.9268 0.2793 0.2508 -2.015 0.03743 -0.7335 0.6786 -0.7111 0.3736 -0.6196 -0.6903 4.394 0 0 0 1 Initialized pose between Target 182 to external 0.1395 0.8641 -0.4835 0.4003 0.9784 -0.04498 0.2019 0.2314 0.1527 -0.5012 -0.8517 1.465 0 0 0 1 Initialized pose between Target 95 to external 0.1942 0.5827 0.7892 -0.7604 0.9751 -0.2024 -0.09055 -0.4926 0.1069 0.7871 -0.6075 3.426 0 0 0 1 Initialized pose between Target 183 to external -0.1725 0.9802 0.09722 -1.199 0.9399 0.1342 0.314 0.02033 0.2947 0.1455 -0.9444 3.587 0 0 0 1 Initialized pose between Target 180 to external -0.06308 0.9945 0.08397 1.346 0.9617 0.03808 0.2715 0.09411 0.2668 0.09788 -0.9588 3.849 0 0 0 1 Initialized pose between Target 97 to external -0.07559 -0.9959 0.04896 0.1726 -0.2696 -0.02686 -0.9626 0.6288 0.96 -0.08596 -0.2665 3.281 0 0 0 1 Initialized pose between Target 94 to external -0.02229 0.6057 0.7954 -1.844 0.9668 -0.1897 0.1715 -1.427 0.2547 0.7728 -0.5813 6.138 0 0 0 1 Initialized pose between Target 183 to external 0.7379 0.5502 0.391 -0.6277 0.1015 -0.6631 0.7416 0.3894 0.6673 -0.5075 -0.5452 2.901 0 0 0 1 Initialized pose between Target 97 to external -0.3534 -0.4665 -0.8109 0.5693 -0.7512 0.658 -0.0512 0.09698 0.5575 0.5911 -0.583 2.026 0 0 0 1 Initialized pose between Target 183 to external 0.9841 0.1678 0.05827 0.3017 0.1274 -0.8953 0.4269 -0.1145 0.1238 -0.4126 -0.9024 1.281 0 0 0 1 Initialized pose between Target 92 to external 0.9984 -0.03577 0.04268 -0.822 0.01869 -0.5067 -0.8619 0.8077 0.05246 0.8614 -0.5053 3.274 0 0 0 1 Initialized pose between Target 97 to external 0.1686 0.1742 -0.9702 0.9228 0.8229 -0.5668 0.04121 0.3582 -0.5427 -0.8053 -0.2389 2.834 0 0 0 1 Initialized pose between Target 90 to external 0.9749 0.167 0.1469 -0.205 -0.04528 -0.4978 0.8661 -0.2911 0.2178 -0.8511 -0.4777 2.807 0 0 0 1 Initialized pose between Target 182 to external 0.9019 0.3771 0.2108 -0.6958 0.0324 -0.5457 0.8373 0.1216 0.4308 -0.7483 -0.5044 2.582 0 0 0 1 Initialized pose between Target 91 to external -0.2343 -0.3294 -0.9146 0.195 -0.8134 0.5817 -0.001065 -0.01704 0.5324 0.7438 -0.4042 1.475 0 0 0 1 Initialized pose between Target 180 to car 0.02457 -0.9992 0.03037 1.082e-07 0.02056 0.03088 0.9993 0.9942 -0.9995 -0.02393 0.0213 5.402e-08 0 0 0 1 Initialized pose between Target 182 to car -0.04891 0.9982 -0.03343 2.995e-08 0.006163 -0.03317 -0.9994 -0.9942 -0.9988 -0.04909 -0.00453 5.588e-08 0 0 0 1 Initialized pose between Target 183 to car 0.1298 -0.9914 0.01674 2.552 -0.01804 0.01451 0.9997 0.9167 -0.9914 -0.1301 -0.016 0.03644 0 0 0 1 Initialized pose between Target 181 to car -0.1152 0.9925 -0.04103 2.689 0.02174 -0.03877 -0.999 -1.179 -0.9931 -0.116 -0.01711 -0.03644 0 0 0 1 [04-05-2022 08:04:16] Driveworks VisualizationSDK released [04-05-2022 08:04:16] Releasing Driveworks SDK Context [04-05-2022 08:04:18] DriveworksGL SDK released Terminating app due to unexpected exception: Could not make progress initializing the world positions. This probably indicates a disconnected graph. Check that all targets are detected in the images and that there are enough targets and images to link all cameras. Nodes with missing poses: external,