nvidia@tegra-ubuntu:/usr/local/driveworks-3.5/tools/calibration$ ./calibration-graph-cli --dir='/home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022' Arguments: --cpu-apriltags=1 --data= --dir=/home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022 --graph= --offscreen=0 --precise-validation-images=0 --profiling=1 --showDebug=1 --targetDB= [13-02-2022 06:54:42] Platform: Detected DDPX - Tegra A [13-02-2022 06:54:42] TimeSource: monotonic epoch time offset is 1644613738612616 [13-02-2022 06:54:42] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to eth0 [13-02-2022 06:54:42] PTP Time is available from Eth Driver [13-02-2022 06:54:42] Platform: number of GPU devices detected 1 [13-02-2022 06:54:42] Platform: currently selected GPU device integrated ID 0 [13-02-2022 06:54:42] SDK: Resource failed to mount from '/usr/local/driveworks-3.5/data/': VirtualFileSystem: Failed to mount '/usr/local/driveworks-3.5/data/[.pak]' [13-02-2022 06:54:42] Context::getDataPathFromSelfLocation DATA_ROOT found at: /usr/local/driveworks-3.5/data [13-02-2022 06:54:42] SDK: No resources(.pak) mounted from '/usr/local/driveworks-3.5/data'. Please adjust path or some modules won't function properly. [13-02-2022 06:54:42] SDK: Create NvMediaDevice [13-02-2022 06:54:42] SDK: Create NvMedia2D [13-02-2022 06:54:42] SDK: use EGL display as provided [13-02-2022 06:54:42] TimeSource: monotonic epoch time offset is 1644613738612616 [13-02-2022 06:54:42] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to eth0 [13-02-2022 06:54:42] PTP Time is available from Eth Driver [13-02-2022 06:54:42] Initialize DriveWorks SDK v3.5.75 [13-02-2022 06:54:42] Release build with GNU 7.3.1 from heads/buildbrain-branch-0-gc61a9a35bd0 against Drive PDK v5.2.0.0 [13-02-2022 06:54:42] Initialize DriveWorks VisualizationSDK v3.5.75 [13-02-2022 06:54:42] Initialize DriveWorksGL SDK v3.5.75 [13-02-2022 06:54:43] Loading calibration data from directory structure, dir=/home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022 [13-02-2022 06:54:43] Target database loaded Cameras found: camera_front_right_60fov camera_front_middle_right_60fov camera_front_middle_60fov camera_front_left_60fov Debug: intrinsics json of external camera not found (intrinsics/external.json). Falling back to calibrate these from images in external/ subfolder [13-02-2022 06:54:43] Saving calibration data description to /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/calib-data.json Parsing intrinsics Camera camera_front_right_60fov Camera camera_front_middle_right_60fov Camera camera_front_middle_60fov Camera camera_front_left_60fov Camera external /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9972.JPG: targets 182(9 tags) 95(35 tags) Image size=[ 6000, 4000 ] /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9960.JPG: targets 89(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9931.JPG: targets 96(35 tags) 91(35 tags) 90(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9975.JPG: targets 92(20 tags), 11 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9974.JPG: targets 92(35 tags), 5 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9932.JPG: targets 182(9 tags) 95(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9939.JPG: targets 182(9 tags), 25 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9964.JPG: targets 89(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9940.JPG: targets 94(34 tags) 93(35 tags), 4 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9986.JPG: targets 96(35 tags) 92(28 tags) 91(24 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9936.JPG: targets 94(21 tags) 93(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9947.JPG: targets 96(35 tags) 91(35 tags) 90(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9943.JPG: targets 94(27 tags) 93(35 tags), 5 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9982.JPG: targets 180(9 tags) 93(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9966.JPG: targets 182(9 tags) 94(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9953.JPG: targets 183(8 tags) 92(35 tags), 11 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9924.JPG: targets 180(9 tags) 93(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9977.JPG: targets 95(35 tags), 6 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9971.JPG: targets 182(9 tags), 29 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9922.JPG: targets 181(9 tags) 94(13 tags) 91(32 tags), 18 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9983.JPG: targets 181(9 tags) 94(31 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9979.JPG: targets 89(35 tags), 1 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9957.JPG: targets, 26 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9962.JPG: targets 180(6 tags) 89(35 tags), 1 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9941.JPG: targets 182(9 tags) 95(35 tags) 90(32 tags), 4 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9946.JPG: targets 183(9 tags) 91(35 tags) 90(6 tags), 30 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9923.JPG: targets 181(9 tags) 93(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9973.JPG: targets 182(9 tags) 94(33 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9944.JPG: targets 183(8 tags), 7 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9984.JPG: targets 96(35 tags) 92(32 tags) 91(23 tags), 1 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9987.JPG: targets 183(9 tags) 96(35 tags) 91(35 tags) 90(16 tags) 89(28 tags), 9 invalid tags Detections don't agree. /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9930.JPG: targets 95(14 tags), 31 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9942.JPG: targets 182(9 tags) 96(35 tags) 94(22 tags) 91(30 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9929.JPG: targets 183(9 tags), 14 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9959.JPG: targets 182(9 tags) 96(35 tags) 94(23 tags) 91(30 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9969.JPG: targets 95(35 tags) 90(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9978.JPG: targets 183(9 tags) 89(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9934.JPG: targets 92(35 tags), 16 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9976.JPG: targets 181(6 tags) 94(25 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9970.JPG: targets 182(9 tags) 95(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9963.JPG: targets 96(33 tags) 91(34 tags) 90(5 tags), 49 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9921.JPG: targets 181(9 tags) 91(35 tags), 22 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9954.JPG: targets 93(35 tags), 5 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9980.JPG: targets 183(9 tags) 89(35 tags) /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9985.JPG: targets 96(35 tags) 92(35 tags), 10 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9926.JPG: targets 180(9 tags) 96(22 tags) 91(33 tags), 30 invalid tags Parsing extrinsics' constraints New pose for camera camera_front_right_60fov /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/extrinsics/camera_front_right_60fov.png: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [camera_front_right_60fov, target-96]: 140 points Found constraint between [camera_front_right_60fov, target-91]: 140 points Found constraint between [camera_front_right_60fov, target-90]: 140 points New pose for camera camera_front_middle_right_60fov /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/extrinsics/camera_front_middle_right_60fov.png: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [camera_front_middle_right_60fov, target-96]: 140 points Found constraint between [camera_front_middle_right_60fov, target-91]: 140 points Found constraint between [camera_front_middle_right_60fov, target-90]: 140 points New pose for camera camera_front_middle_60fov /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/extrinsics/camera_front_middle_60fov.png: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [camera_front_middle_60fov, target-96]: 140 points Found constraint between [camera_front_middle_60fov, target-91]: 140 points Found constraint between [camera_front_middle_60fov, target-90]: 140 points New pose for camera camera_front_left_60fov /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/extrinsics/camera_front_left_60fov.png: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [camera_front_left_60fov, target-96]: 140 points Found constraint between [camera_front_left_60fov, target-91]: 140 points Found constraint between [camera_front_left_60fov, target-90]: 140 points New pose for camera external /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9972.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9960.JPG: targets 89(35 tags) Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9931.JPG: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [external, target-96]: 140 points Found constraint between [external, target-91]: 140 points Found constraint between [external, target-90]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9975.JPG: targets 92(20 tags), 11 invalid tags Found constraint between [external, target-92]: 80 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9974.JPG: targets 92(35 tags), 5 invalid tags Found constraint between [external, target-92]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9932.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9939.JPG: targets 182(9 tags), 25 invalid tags Found constraint between [external, target-182]: 36 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9964.JPG: targets 89(35 tags) Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9940.JPG: targets 94(34 tags) 93(35 tags), 4 invalid tags Found constraint between [external, target-94]: 136 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9986.JPG: targets 96(35 tags) 92(28 tags) 91(24 tags) Found constraint between [external, target-96]: 140 points Found constraint between [external, target-92]: 112 points Found constraint between [external, target-91]: 96 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9936.JPG: targets 94(21 tags) 93(35 tags) Found constraint between [external, target-94]: 84 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9947.JPG: targets 96(35 tags) 91(35 tags) 90(35 tags) Found constraint between [external, target-96]: 140 points Found constraint between [external, target-91]: 140 points Found constraint between [external, target-90]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9943.JPG: targets 94(27 tags) 93(35 tags), 5 invalid tags Found constraint between [external, target-94]: 108 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9982.JPG: targets 180(9 tags) 93(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9966.JPG: targets 182(9 tags) 94(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-94]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9953.JPG: targets 183(8 tags) 92(35 tags), 11 invalid tags Found constraint between [external, target-183]: 32 points Found constraint between [external, target-92]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9924.JPG: targets 180(9 tags) 93(35 tags) Found constraint between [external, target-180]: 36 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9977.JPG: targets 95(35 tags), 6 invalid tags Found constraint between [external, target-95]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9971.JPG: targets 182(9 tags), 29 invalid tags Found constraint between [external, target-182]: 36 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9922.JPG: targets 181(9 tags) 94(13 tags) 91(32 tags), 18 invalid tags Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 52 points Found constraint between [external, target-91]: 128 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9983.JPG: targets 181(9 tags) 94(31 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-94]: 124 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9979.JPG: targets 89(35 tags), 1 invalid tags Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9957.JPG: targets, 26 invalid tags /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9962.JPG: targets 180(6 tags) 89(35 tags), 1 invalid tags Found constraint between [external, target-180]: 24 points Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9941.JPG: targets 182(9 tags) 95(35 tags) 90(32 tags), 4 invalid tags Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points Found constraint between [external, target-90]: 128 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9946.JPG: targets 183(9 tags) 91(35 tags) 90(6 tags), 30 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-91]: 140 points Found constraint between [external, target-90]: 24 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9923.JPG: targets 181(9 tags) 93(35 tags) Found constraint between [external, target-181]: 36 points Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9973.JPG: targets 182(9 tags) 94(33 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-94]: 132 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9944.JPG: targets 183(8 tags), 7 invalid tags Found constraint between [external, target-183]: 32 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9984.JPG: targets 96(35 tags) 92(32 tags) 91(23 tags), 1 invalid tags Found constraint between [external, target-96]: 140 points Found constraint between [external, target-92]: 128 points Found constraint between [external, target-91]: 92 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9987.JPG: targets 183(9 tags) 96(35 tags) 91(35 tags) 90(16 tags) 89(28 tags), 9 invalid tags Found constraint between [external, target-183]: 36 points Found constraint between [external, target-96]: 140 points Found constraint between [external, target-91]: 140 points Found constraint between [external, target-90]: 64 points Found constraint between [external, target-89]: 112 points Detections don't agree. /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9930.JPG: targets 95(14 tags), 31 invalid tags Found constraint between [external, target-95]: 56 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9942.JPG: targets 182(9 tags) 96(35 tags) 94(22 tags) 91(30 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-96]: 140 points Found constraint between [external, target-94]: 88 points Found constraint between [external, target-91]: 120 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9929.JPG: targets 183(9 tags), 14 invalid tags Found constraint between [external, target-183]: 36 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9959.JPG: targets 182(9 tags) 96(35 tags) 94(23 tags) 91(30 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-96]: 140 points Found constraint between [external, target-94]: 92 points Found constraint between [external, target-91]: 120 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9969.JPG: targets 95(35 tags) 90(35 tags) Found constraint between [external, target-95]: 140 points Found constraint between [external, target-90]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9978.JPG: targets 183(9 tags) 89(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9934.JPG: targets 92(35 tags), 16 invalid tags Found constraint between [external, target-92]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9976.JPG: targets 181(6 tags) 94(25 tags) Found constraint between [external, target-181]: 24 points Found constraint between [external, target-94]: 100 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9970.JPG: targets 182(9 tags) 95(35 tags) Found constraint between [external, target-182]: 36 points Found constraint between [external, target-95]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/aMG_9963.JPG: targets 96(33 tags) 91(34 tags) 90(5 tags), 49 invalid tags Found constraint between [external, target-96]: 132 points Found constraint between [external, target-91]: 136 points Found constraint between [external, target-90]: 20 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9921.JPG: targets 181(9 tags) 91(35 tags), 22 invalid tags Found constraint between [external, target-181]: 36 points Found constraint between [external, target-91]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9954.JPG: targets 93(35 tags), 5 invalid tags Found constraint between [external, target-93]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9980.JPG: targets 183(9 tags) 89(35 tags) Found constraint between [external, target-183]: 36 points Found constraint between [external, target-89]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9985.JPG: targets 96(35 tags) 92(35 tags), 10 invalid tags Found constraint between [external, target-96]: 140 points Found constraint between [external, target-92]: 140 points /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/external/IMG_9926.JPG: targets 180(9 tags) 96(22 tags) 91(33 tags), 30 invalid tags Found constraint between [external, target-180]: 36 points Found constraint between [external, target-96]: 88 points Found constraint between [external, target-91]: 132 points [13-02-2022 07:03:37] Saved graph to /home/nvidia/calibration_cameras/calib-carlos-pinhole-extrinsics-02-15-2022/graph.json Initializing camera intrinsics Initializing intrinsics for camera external max ray angle: 37.1174 Stats: Median=2.92521, mean=4.29347, var=23.5912, std dev=4.85708, sample count=9188, min=0.0236377, max=96.0913 Initializing intrinsics for camera camera_front_left_60fov Closed-form camera initialization: K=[1747.557564681615, 0, 951.1585076948285; 0, 1736.640432899001, 705.824668100241; 0, 0, 1] D=[-0.3109716570205592; 0.1205932510853195; 0; 0; 0] max ray angle: 39.0134 Stats: Median=0.846775, mean=1.03001, var=0.616264, std dev=0.785025, sample count=46916, min=0.00423304, max=11.1556 Initializing intrinsics for camera camera_front_middle_60fov Closed-form camera initialization: K=[1782.870665762704, 0, 985.8528751026041; 0, 1775.877672761225, 656.8083842196557; 0, 0, 1] D=[-0.2980131069096541; 0.1080074698525239; 0; 0; 0] max ray angle: 37.706 Stats: Median=0.895049, mean=1.10746, var=0.73175, std dev=0.855424, sample count=42604, min=0.00423744, max=9.20562 Initializing intrinsics for camera camera_front_right_60fov Closed-form camera initialization: K=[1780.314263237292, 0, 1070.984842812438; 0, 1772.774625598869, 501.4021094274303; 0, 0, 1] D=[-0.2724303515530875; 0.08219230290815271; 0; 0; 0] max ray angle: 40.4741 Stats: Median=0.898261, mean=1.1709, var=0.912303, std dev=0.955146, sample count=47168, min=0.00611815, max=10.7096 Initializing intrinsics for camera camera_front_middle_right_60fov Closed-form camera initialization: K=[1769.635612190347, 0, 983.752526011918; 0, 1762.471493110851, 679.0617353086113; 0, 0, 1] D=[-0.3079282167885702; 0.1232009945674215; 0; 0; 0] max ray angle: 38.3215 Stats: Median=0.854209, mean=1.06487, var=0.717462, std dev=0.847031, sample count=48960, min=0.00263514, max=10.9847 Refining camera intrinsics Refining intriniscs for camera external Error before: Median=2.92521, mean=4.29347, var=23.5912, std dev=4.85708, sample count=9188, min=0.0236377, max=96.0913 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.623036e+04 0.00e+00 4.91e+19 0.00e+00 0.00e+00 1.00e+04 0 2.89e-02 4.77e-02 1 2.456984e+04 1.66e+03 6.62e+20 5.33e+02 7.26e-01 1.10e+04 1 5.26e-02 1.00e-01 2 2.174753e+04 2.82e+03 2.55e+20 3.06e+02 1.08e+00 3.31e+04 1 5.05e-02 1.51e-01 3 2.048050e+04 1.27e+03 9.63e+19 2.46e+02 1.27e+00 9.92e+04 1 4.99e-02 2.01e-01 4 1.993654e+04 5.44e+02 4.50e+18 2.15e+02 1.38e+00 2.97e+05 1 4.93e-02 2.50e-01 5 1.972621e+04 2.10e+02 1.71e+18 2.10e+02 1.51e+00 8.92e+05 1 5.36e-02 3.04e-01 6 1.964017e+04 8.60e+01 1.02e+18 1.78e+02 1.57e+00 2.68e+06 1 4.57e-02 3.50e-01 7 1.960513e+04 3.50e+01 2.09e+17 1.32e+02 1.63e+00 8.03e+06 1 5.55e-02 4.06e-01 8 1.958978e+04 1.54e+01 4.11e+16 7.74e+01 1.68e+00 2.41e+07 1 4.80e-02 4.54e-01 9 1.958268e+04 7.10e+00 1.87e+16 3.79e+01 1.70e+00 7.23e+07 1 5.04e-02 5.04e-01 10 1.957902e+04 3.66e+00 1.22e+16 1.78e+01 1.76e+00 2.17e+08 1 5.21e-02 5.57e-01 11 1.957672e+04 2.30e+00 6.83e+15 8.64e+00 1.85e+00 6.51e+08 1 4.83e-02 6.05e-01 12 1.957495e+04 1.77e+00 3.18e+15 4.73e+00 1.94e+00 1.95e+09 1 5.12e-02 6.56e-01 13 1.957335e+04 1.60e+00 1.12e+15 3.24e+00 2.02e+00 5.86e+09 1 5.08e-02 7.07e-01 14 1.957182e+04 1.53e+00 9.43e+13 2.67e+00 2.02e+00 1.76e+10 1 5.01e-02 7.58e-01 15 1.957055e+04 1.28e+00 2.97e+14 2.35e+00 1.91e+00 5.27e+10 1 4.85e-02 8.06e-01 16 1.956962e+04 9.30e-01 3.15e+14 2.10e+00 1.88e+00 1.58e+11 1 4.76e-02 8.54e-01 17 1.956887e+04 7.48e-01 2.05e+14 1.89e+00 1.94e+00 4.74e+11 1 4.27e-02 8.97e-01 18 1.956822e+04 6.51e-01 1.02e+14 1.71e+00 1.95e+00 1.42e+12 1 5.04e-02 9.47e-01 19 1.956766e+04 5.56e-01 1.90e+13 1.55e+00 1.92e+00 4.27e+12 1 4.80e-02 9.96e-01 20 1.956721e+04 4.49e-01 4.76e+13 1.38e+00 1.89e+00 1.28e+13 1 4.74e-02 1.04e+00 21 1.956688e+04 3.38e-01 9.34e+13 1.21e+00 1.86e+00 3.84e+13 1 5.07e-02 1.09e+00 22 1.956664e+04 2.39e-01 1.15e+14 1.04e+00 1.84e+00 1.15e+14 1 4.97e-02 1.14e+00 23 1.956648e+04 1.61e-01 1.15e+14 8.78e-01 1.82e+00 3.46e+14 1 5.05e-02 1.19e+00 24 1.956637e+04 1.04e-01 1.00e+14 7.27e-01 1.80e+00 1.04e+15 1 5.23e-02 1.25e+00 25 1.956631e+04 6.49e-02 7.68e+13 5.97e-01 1.79e+00 3.11e+15 1 5.06e-02 1.30e+00 26 1.956627e+04 3.98e-02 5.16e+13 4.88e-01 1.78e+00 9.33e+15 1 5.07e-02 1.35e+00 27 1.956624e+04 2.42e-02 2.84e+13 4.00e-01 1.78e+00 1.00e+16 1 5.55e-02 1.40e+00 Intrinsics refinement for camera external: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 94 94 Parameters 570 570 Effective parameters 569 569 Residual blocks 18376 18376 Residual 36752 36752 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 93,1 Schur structure 2,6,11 2,d,d Cost: Initial 2.623036e+04 Final 1.956624e+04 Change 6.664113e+03 Minimizer iterations 28 Successful steps 28 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0188 Residual evaluation 0.0710 Jacobian evaluation 0.7699 Linear solver 0.4187 Minimizer 1.4062 Postprocessor 0.0007 Total 1.4257 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.451478e-07 <= 1.000000e-06) Before camera: intrinsics=[ 3000, 2000, 0, 0.000209799, 3.67145e-10, -3.62538e-12, 3.34524e-16, 0, 4747.45, 229.543, 635.301, 1478.8 ] After camera: intrinsics=[ 3069.24, 2056.31, 0, 0.000204392, 2.03043e-09, -2.23079e-12, 6.03534e-17, 1.71234, 4844.3, 166.32, -83.6571, 1525.77 ] Error after: Median=2.34822, mean=3.14439, var=14.3094, std dev=3.78277, sample count=9188, min=0.0376048, max=95.9907 Max ray angle: 39.0514 Refining intriniscs for camera camera_front_left_60fov Error before: Median=0.846775, mean=1.03001, var=0.616264, std dev=0.785025, sample count=46916, min=0.00423304, max=11.1556 Note: fixing principal point, and tangential distortion for pinhole camera iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.382678e+05 0.00e+00 1.03e+04 0.00e+00 0.00e+00 1.00e+04 0 3.02e-01 3.47e-01 1 3.111482e+04 7.07e+05 1.58e+06 4.74e+03 7.54e+00 3.00e+04 1 3.56e-01 7.04e-01 2 2.571111e+04 5.40e+03 2.11e+05 3.11e+02 1.19e+00 9.00e+04 1 3.51e-01 1.05e+00 3 2.553555e+04 1.76e+02 3.67e+04 2.25e+02 1.27e+00 2.70e+05 1 3.50e-01 1.40e+00 4 2.551659e+04 1.90e+01 8.28e+03 1.06e+02 1.40e+00 8.10e+05 1 3.50e-01 1.76e+00 5 2.551277e+04 3.83e+00 2.33e+03 4.12e+01 1.50e+00 2.43e+06 1 3.51e-01 2.11e+00 6 2.551172e+04 1.04e+00 7.88e+02 1.61e+01 1.55e+00 7.29e+06 1 3.51e-01 2.46e+00 7 2.551139e+04 3.33e-01 3.08e+02 6.89e+00 1.58e+00 2.19e+07 1 3.56e-01 2.81e+00 8 2.551127e+04 1.18e-01 1.32e+02 3.23e+00 1.61e+00 6.56e+07 1 3.53e-01 3.17e+00 9 2.551123e+04 4.51e-02 6.52e+01 1.62e+00 1.63e+00 1.97e+08 1 3.54e-01 3.52e+00 Intrinsics refinement for camera camera_front_left_60fov: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 343 343 Parameters 2061 2061 Effective parameters 2057 2057 Residual blocks 46917 46917 Residual 93841 93841 Minimizer TRUST_REGION Sparse linear algebra library EIGEN_SPARSE Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver SPARSE_SCHUR SPARSE_SCHUR Threads 1 1 Linear solver threads 1 1 Linear solver ordering AUTOMATIC 342,1 Schur structure 2,6,5 2,d,d Cost: Initial 7.382678e+05 Final 2.551123e+04 Change 7.127566e+05 Minimizer iterations 10 Successful steps 10 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0454 Residual evaluation 0.1690 Jacobian evaluation 2.9277 Linear solver 0.3154 Minimizer 3.5310 Postprocessor 0.0018 Total 3.5782 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.208623e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 1747.56, 1736.64, -0.310972, 0.120593, 0, 0, 0 ] After camera: intrinsics=[ 960, 604, 1766.68, 1756.03, -0.298269, 0.114117, 0, 0, -0.00349895 ] Error after: Median=0.845717, mean=1.02479, var=0.588905, std dev=0.767402, sample count=46916, min=0.00554211, max=10.0296 Max ray angle: 39.0134 Refining intriniscs for camera camera_front_middle_60fov Error before: Median=0.895049, mean=1.10746, var=0.73175, std dev=0.855424, sample count=42604, min=0.00423744, max=9.20562 Note: fixing principal point, and tangential distortion for pinhole camera iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.762522e+05 0.00e+00 4.50e+04 0.00e+00 0.00e+00 1.00e+04 0 2.73e-01 3.14e-01 1 2.715217e+04 5.49e+05 4.96e+05 2.38e+03 6.46e+00 3.00e+04 1 3.24e-01 6.38e-01 2 2.630397e+04 8.48e+02 8.10e+04 1.20e+02 1.23e+00 9.00e+04 1 3.19e-01 9.58e-01 3 2.622668e+04 7.73e+01 1.64e+04 8.65e+01 1.44e+00 2.70e+05 1 3.21e-01 1.28e+00 4 2.620719e+04 1.95e+01 4.07e+03 4.09e+01 1.56e+00 8.10e+05 1 3.22e-01 1.60e+00 5 2.620057e+04 6.62e+00 1.22e+03 1.67e+01 1.61e+00 2.43e+06 1 3.21e-01 1.92e+00 6 2.619801e+04 2.57e+00 4.18e+02 7.52e+00 1.64e+00 7.29e+06 1 3.32e-01 2.25e+00 7 2.619692e+04 1.09e+00 1.54e+02 4.07e+00 1.66e+00 2.19e+07 1 3.20e-01 2.57e+00 8 2.619643e+04 4.94e-01 8.76e+01 2.53e+00 1.68e+00 6.56e+07 1 3.21e-01 2.90e+00 9 2.619619e+04 2.36e-01 6.96e+01 1.68e+00 1.70e+00 1.97e+08 1 3.36e-01 3.23e+00 10 2.619607e+04 1.18e-01 5.50e+01 1.15e+00 1.71e+00 5.90e+08 1 3.20e-01 3.55e+00 11 2.619601e+04 6.06e-02 4.52e+01 7.93e-01 1.72e+00 1.77e+09 1 3.21e-01 3.87e+00 12 2.619598e+04 3.21e-02 3.78e+01 5.52e-01 1.73e+00 5.31e+09 1 3.18e-01 4.19e+00 Intrinsics refinement for camera camera_front_middle_60fov: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 311 311 Parameters 1869 1869 Effective parameters 1865 1865 Residual blocks 42605 42605 Residual 85217 85217 Minimizer TRUST_REGION Sparse linear algebra library EIGEN_SPARSE Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver SPARSE_SCHUR SPARSE_SCHUR Threads 1 1 Linear solver threads 1 1 Linear solver ordering AUTOMATIC 310,1 Schur structure 2,6,5 2,d,d Cost: Initial 5.762522e+05 Final 2.619598e+04 Change 5.500562e+05 Minimizer iterations 13 Successful steps 13 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0407 Residual evaluation 0.2008 Jacobian evaluation 3.4763 Linear solver 0.3778 Minimizer 4.1988 Postprocessor 0.0016 Total 4.2411 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.667960e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 1782.87, 1775.88, -0.298013, 0.108007, 0, 0, 0 ] After camera: intrinsics=[ 960, 604, 1783.96, 1776.52, -0.303251, 0.135723, 0, 0, -0.0265238 ] Error after: Median=0.894018, mean=1.10972, var=0.77052, std dev=0.877793, sample count=42604, min=0.00479631, max=11.3913 Max ray angle: 37.706 Refining intriniscs for camera camera_front_right_60fov Error before: Median=0.898261, mean=1.1709, var=0.912303, std dev=0.955146, sample count=47168, min=0.00611815, max=10.7096 Note: fixing principal point, and tangential distortion for pinhole camera iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.160334e+05 0.00e+00 8.69e+04 0.00e+00 0.00e+00 1.00e+04 0 3.01e-01 3.45e-01 1 4.377146e+04 7.72e+05 2.22e+06 6.81e+03 8.19e+00 3.00e+04 1 3.55e-01 7.00e-01 2 3.100552e+04 1.28e+04 3.66e+05 2.72e+02 1.26e+00 9.00e+04 1 3.51e-01 1.05e+00 3 3.055750e+04 4.48e+02 7.01e+04 2.48e+02 1.31e+00 2.70e+05 1 3.51e-01 1.40e+00 4 3.049125e+04 6.62e+01 1.77e+04 1.24e+02 1.48e+00 8.10e+05 1 3.54e-01 1.76e+00 5 3.047246e+04 1.88e+01 5.92e+03 5.53e+01 1.58e+00 2.43e+06 1 3.53e-01 2.11e+00 6 3.046559e+04 6.87e+00 2.44e+03 2.61e+01 1.63e+00 7.29e+06 1 3.52e-01 2.46e+00 7 3.046272e+04 2.87e+00 1.15e+03 1.37e+01 1.67e+00 2.19e+07 1 3.50e-01 2.81e+00 8 3.046139e+04 1.33e+00 5.87e+02 7.74e+00 1.70e+00 6.56e+07 1 3.52e-01 3.16e+00 9 3.046073e+04 6.67e-01 3.17e+02 4.60e+00 1.72e+00 1.97e+08 1 3.52e-01 3.52e+00 10 3.046037e+04 3.60e-01 1.80e+02 2.80e+00 1.75e+00 5.90e+08 1 3.54e-01 3.87e+00 11 3.046016e+04 2.05e-01 1.18e+02 1.73e+00 1.76e+00 1.77e+09 1 3.53e-01 4.22e+00 12 3.046004e+04 1.21e-01 9.58e+01 1.07e+00 1.78e+00 5.31e+09 1 3.56e-01 4.58e+00 13 3.045997e+04 7.43e-02 7.88e+01 6.63e-01 1.79e+00 1.59e+10 1 3.55e-01 4.94e+00 14 3.045992e+04 4.70e-02 6.49e+01 4.09e-01 1.80e+00 4.78e+10 1 3.56e-01 5.29e+00 15 3.045989e+04 3.06e-02 5.36e+01 2.50e-01 1.81e+00 1.43e+11 1 3.55e-01 5.65e+00 Intrinsics refinement for camera camera_front_right_60fov: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 352 352 Parameters 2115 2115 Effective parameters 2111 2111 Residual blocks 47169 47169 Residual 94345 94345 Minimizer TRUST_REGION Sparse linear algebra library EIGEN_SPARSE Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver SPARSE_SCHUR SPARSE_SCHUR Threads 1 1 Linear solver threads 1 1 Linear solver ordering AUTOMATIC 351,1 Schur structure 2,6,5 2,d,d Cost: Initial 8.160334e+05 Final 3.045989e+04 Change 7.855735e+05 Minimizer iterations 16 Successful steps 16 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0444 Residual evaluation 0.2716 Jacobian evaluation 4.6879 Linear solver 0.5080 Minimizer 5.6577 Postprocessor 0.0019 Total 5.7040 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.723371e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 1780.31, 1772.77, -0.27243, 0.0821923, 0, 0, 0 ] After camera: intrinsics=[ 960, 604, 1801.04, 1796.44, -0.304526, 0.15609, 0, 0, -0.0580178 ] Error after: Median=0.863074, mean=1.14434, var=1.09506, std dev=1.04645, sample count=47168, min=0.00201786, max=14.5493 Max ray angle: 40.4741 Refining intriniscs for camera camera_front_middle_right_60fov Error before: Median=0.854209, mean=1.06487, var=0.717462, std dev=0.847031, sample count=48960, min=0.00263514, max=10.9847 Note: fixing principal point, and tangential distortion for pinhole camera iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.193448e+05 0.00e+00 3.58e+04 0.00e+00 0.00e+00 1.00e+04 0 3.13e-01 3.60e-01 1 3.076657e+04 6.89e+05 1.03e+06 3.68e+03 7.04e+00 3.00e+04 1 3.71e-01 7.32e-01 2 2.833858e+04 2.43e+03 1.58e+05 2.43e+02 1.19e+00 9.00e+04 1 3.68e-01 1.10e+00 3 2.820590e+04 1.33e+02 3.16e+04 2.04e+02 1.36e+00 2.70e+05 1 3.68e-01 1.47e+00 4 2.818054e+04 2.54e+01 8.04e+03 1.06e+02 1.51e+00 8.10e+05 1 3.68e-01 1.84e+00 5 2.817297e+04 7.57e+00 2.50e+03 4.48e+01 1.58e+00 2.43e+06 1 3.67e-01 2.20e+00 6 2.817028e+04 2.69e+00 8.95e+02 1.94e+01 1.61e+00 7.29e+06 1 3.80e-01 2.58e+00 7 2.816922e+04 1.06e+00 3.47e+02 9.56e+00 1.64e+00 2.19e+07 1 3.67e-01 2.95e+00 8 2.816877e+04 4.55e-01 1.35e+02 5.32e+00 1.67e+00 6.56e+07 1 3.67e-01 3.32e+00 9 2.816856e+04 2.10e-01 8.22e+01 3.24e+00 1.69e+00 1.97e+08 1 3.64e-01 3.68e+00 10 2.816845e+04 1.04e-01 6.99e+01 2.09e+00 1.72e+00 5.90e+08 1 3.65e-01 4.05e+00 11 2.816840e+04 5.55e-02 5.95e+01 1.40e+00 1.74e+00 1.77e+09 1 3.66e-01 4.41e+00 12 2.816837e+04 3.14e-02 5.06e+01 9.68e-01 1.76e+00 5.31e+09 1 3.64e-01 4.78e+00 Intrinsics refinement for camera camera_front_middle_right_60fov: Solver Summary (v 1.13.0-eigen-(3.2.92)-no_lapack-eigensparse-openmp) Original Reduced Parameter blocks 357 357 Parameters 2145 2145 Effective parameters 2141 2141 Residual blocks 48961 48961 Residual 97929 97929 Minimizer TRUST_REGION Sparse linear algebra library EIGEN_SPARSE Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver SPARSE_SCHUR SPARSE_SCHUR Threads 1 1 Linear solver threads 1 1 Linear solver ordering AUTOMATIC 356,1 Schur structure 2,6,5 2,d,d Cost: Initial 7.193448e+05 Final 2.816837e+04 Change 6.911765e+05 Minimizer iterations 13 Successful steps 13 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.0474 Residual evaluation 0.2287 Jacobian evaluation 3.9621 Linear solver 0.4346 Minimizer 4.7861 Postprocessor 0.0019 Total 4.8353 Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.669090e-07 <= 1.000000e-06) Before camera: intrinsics=[ 960, 604, 1769.64, 1762.47, -0.307928, 0.123201, 0, 0, 0 ] After camera: intrinsics=[ 960, 604, 1786.82, 1778.61, -0.307436, 0.152845, 0, 0, -0.0544721 ] Error after: Median=0.853546, mean=1.06161, var=0.726672, std dev=0.852451, sample count=48960, min=0.00494535, max=11.6441 Max ray angle: 38.3215 Initializing camera extrinsics Initialized pose between Target 96 to camera_front_right_60fov -0.02409 0.7687 0.6392 -1529 0.9989 0.04358 -0.01476 546 -0.03921 0.6381 -0.7689 3625 0 0 0 1 Initialized pose between Target 91 to camera_front_right_60fov -0.008139 0.9976 0.06912 -473.4 0.9999 0.008969 -0.01171 563.1 -0.0123 0.06901 -0.9975 3951 0 0 0 1 Initialized pose between Target 90 to camera_front_right_60fov 0.1159 0.8452 -0.5217 494.5 0.9918 -0.07042 0.1063 547.1 0.05313 -0.5297 -0.8465 3741 0 0 0 1 Initialized pose between Target 96 to camera_front_middle_right_60fov -0.02587 0.7653 0.6431 -1112 0.9994 0.03588 -0.002511 448.3 -0.025 0.6426 -0.7658 3604 0 0 0 1 Initialized pose between Target 91 to camera_front_middle_right_60fov -0.0134 0.9975 0.06977 -58.7 0.9999 0.01375 -0.004483 465.8 -0.005431 0.0697 -0.9976 3935 0 0 0 1 Initialized pose between Target 90 to camera_front_middle_right_60fov 0.1104 0.8456 -0.5222 909.3 0.991 -0.05365 0.1227 459.9 0.07573 -0.5311 -0.8439 3720 0 0 0 1 Initialized pose between Target 96 to camera_front_middle_60fov -0.02063 0.7654 0.6433 -1073 0.9995 0.0302 -0.003883 435.3 -0.0224 0.6429 -0.7656 3612 0 0 0 1 Initialized pose between Target 91 to camera_front_middle_60fov -0.009264 0.9977 0.06664 -17.96 0.9999 0.008973 0.004676 445.9 0.004067 0.06668 -0.9978 3930 0 0 0 1 Initialized pose between Target 90 to camera_front_middle_60fov 0.1165 0.8443 -0.523 949 0.9896 -0.05417 0.1329 436.1 0.08388 -0.5331 -0.8419 3704 0 0 0 1 Initialized pose between Target 96 to camera_front_left_60fov -0.01419 0.761 0.6486 -647.2 0.9992 0.03527 -0.01952 471 -0.03773 0.6478 -0.7609 3583 0 0 0 1 Initialized pose between Target 91 to camera_front_left_60fov -0.005129 0.9967 0.08083 403.9 0.9999 0.005935 -0.009732 481.5 -0.01018 0.08077 -0.9967 3913 0 0 0 1 Initialized pose between Target 90 to camera_front_left_60fov 0.1189 0.8459 -0.5199 1371 0.9905 -0.06482 0.121 465.5 0.06868 -0.5294 -0.8456 3699 0 0 0 1 Initialized pose between Target 182 to external 0.1056 0.964 0.2439 668 0.9492 -0.1708 0.2643 448.4 0.2965 0.2036 -0.9331 1611 0 0 0 1 Initialized pose between Target 95 to external 0.1869 0.9748 0.1218 -1055 0.9677 -0.1614 -0.1935 -1375 -0.1689 0.154 -0.9735 4434 0 0 0 1 Initialized pose between Target 89 to external 0.09032 0.9901 0.1074 -260.4 0.8216 -0.01311 -0.57 219.2 -0.5629 0.1397 -0.8146 1465 0 0 0 1 Initialized pose between Target 96 to external -0.1236 0.9756 0.1814 -1192 0.9813 0.09306 0.1684 -454.8 0.1474 0.1988 -0.9689 2627 0 0 0 1 Initialized pose between Target 91 to external -0.09977 0.8994 -0.4257 -115.2 0.9783 0.1667 0.123 -300.2 0.1816 -0.4042 -0.8965 2416 0 0 0 1 Initialized pose between Target 90 to external 0.04791 0.4799 -0.876 620.8 0.9823 0.1363 0.1284 -129.2 0.181 -0.8666 -0.4649 1773 0 0 0 1 Initialized pose between Target 92 to external -0.009927 0.5486 -0.836 455.3 0.9921 0.1098 0.06029 -444.2 0.1249 -0.8288 -0.5454 1316 0 0 0 1 Initialized pose between Target 92 to external -0.08416 0.6625 -0.7443 434.5 0.9934 0.1146 -0.01031 -449.9 0.07848 -0.7402 -0.6678 1998 0 0 0 1 Initialized pose between Target 182 to external 0.06048 0.8576 0.5107 702.6 0.9553 -0.1981 0.2195 498 0.2894 0.4746 -0.8313 1622 0 0 0 1 Initialized pose between Target 95 to external 0.2741 0.8796 0.3888 -1845 0.9529 -0.1938 -0.2334 -1149 -0.1299 0.4345 -0.8913 3865 0 0 0 1 Initialized pose between Target 182 to external 0.06054 0.9979 -0.02494 241.5 0.941 -0.04873 0.3348 507.3 0.3329 -0.04374 -0.9419 1425 0 0 0 1 Initialized pose between Target 89 to external -0.02932 0.9996 0.001382 16.66 0.9819 0.02906 -0.1869 -63.69 -0.1869 -0.004124 -0.9824 1237 0 0 0 1 Initialized pose between Target 94 to external -0.985 -0.1215 -0.1228 55.93 0.05022 0.4787 -0.8765 395.6 0.1653 -0.8695 -0.4654 3946 0 0 0 1 Initialized pose between Target 93 to external 0.1555 0.9863 0.05424 -1101 0.9259 -0.1647 0.34 -2762 0.3443 -0.002662 -0.9389 8150 0 0 0 1 Initialized pose between Target 96 to external -0.02804 0.9497 -0.312 843.6 0.9841 0.08106 0.1583 -532 0.1756 -0.3026 -0.9368 3674 0 0 0 1 Initialized pose between Target 92 to external 0.1176 0.8663 0.4855 -2057 0.9873 -0.1544 0.03624 -659.7 0.1063 0.4751 -0.8735 3619 0 0 0 1 Initialized pose between Target 91 to external 0.0116 0.5868 -0.8097 1683 0.9817 0.1471 0.1206 -397.5 0.1899 -0.7963 -0.5744 2966 0 0 0 1 Initialized pose between Target 94 to external -0.9773 -0.1996 -0.07121 89.3 -0.01455 0.3984 -0.9171 637.4 0.2114 -0.8952 -0.3922 1816 0 0 0 1 Initialized pose between Target 93 to external 0.09873 0.9942 -0.04303 -613.5 0.9633 -0.08464 0.2548 -2254 0.2496 -0.0666 -0.966 6283 0 0 0 1 Initialized pose between Target 96 to external -0.02748 0.3691 0.929 -587.7 0.9943 -0.08605 0.0636 -35.36 0.1034 0.9254 -0.3646 1740 0 0 0 1 Initialized pose between Target 91 to external -0.0289 0.8417 0.5391 179.5 0.9905 -0.04858 0.1289 -115.1 0.1347 0.5377 -0.8323 2533 0 0 0 1 Initialized pose between Target 90 to external 0.04859 0.9969 -0.06166 1133 0.9647 -0.03085 0.2615 -145 0.2588 -0.0722 -0.9632 2796 0 0 0 1 Initialized pose between Target 94 to external -0.9354 -0.3147 -0.1609 112.1 0.07408 0.2706 -0.9598 209.9 0.3456 -0.9098 -0.2298 1264 0 0 0 1 Initialized pose between Target 93 to external 0.1684 0.9675 -0.1886 -29.37 0.981 -0.1457 0.1285 -1943 0.09682 -0.2067 -0.9736 6142 0 0 0 1 Initialized pose between Target 180 to external 0.05101 0.7753 -0.6296 562.5 0.921 0.2073 0.3298 410.1 0.3862 -0.5967 -0.7035 1476 0 0 0 1 Initialized pose between Target 93 to external 0.1825 0.5029 0.8449 -1553 0.9116 -0.4084 0.04621 -1239 0.3683 0.7618 -0.533 4177 0 0 0 1 Initialized pose between Target 182 to external 0.3783 0.9096 -0.1718 -960.9 0.4987 -0.04393 0.8657 -684 0.7799 -0.4131 -0.4702 2279 0 0 0 1 Initialized pose between Target 94 to external 0.1732 -0.9114 -0.3733 130.2 -0.8692 0.03678 -0.493 267.9 0.4631 0.4099 -0.7859 1566 0 0 0 1 Initialized pose between Target 183 to external -0.07709 0.7213 -0.6883 -379.1 0.9648 0.2279 0.1308 315.2 0.2513 -0.654 -0.7135 2822 0 0 0 1 Initialized pose between Target 92 to external -0.06466 0.7094 -0.7018 2270 0.983 0.1665 0.07769 -1267 0.1719 -0.6848 -0.7081 4777 0 0 0 1 Initialized pose between Target 180 to external -0.02961 0.8862 -0.4623 873.2 0.9348 0.1884 0.3012 300.1 0.354 -0.4233 -0.834 1952 0 0 0 1 Initialized pose between Target 93 to external 0.1002 0.3131 0.9444 -1799 0.9244 -0.3804 0.02802 -1258 0.368 0.8702 -0.3275 4153 0 0 0 1 Initialized pose between Target 95 to external 0.4217 0.5778 0.6988 -737.6 0.9062 -0.2412 -0.3474 -471.1 -0.03225 0.7797 -0.6253 2018 0 0 0 1 Initialized pose between Target 182 to external 0.04431 0.9007 0.4322 305.9 0.939 -0.1853 0.2898 397.9 0.3411 0.393 -0.8539 1733 0 0 0 1 Initialized pose between Target 181 to external -0.1206 0.5456 -0.8293 828.5 0.9282 0.3582 0.1006 556.8 0.3519 -0.7577 -0.5496 1650 0 0 0 1 Initialized pose between Target 94 to external 0.8266 -0.5538 0.09989 -836.9 -0.09454 -0.3117 -0.9455 519.3 0.5547 0.7721 -0.31 2390 0 0 0 1 Initialized pose between Target 91 to external -0.122 0.7938 0.5958 -1511 0.9429 -0.09475 0.3193 -2200 0.3099 0.6007 -0.737 6312 0 0 0 1 Initialized pose between Target 181 to external -0.05924 0.5029 -0.8623 668.4 0.8176 0.5201 0.2471 142.6 0.5728 -0.6904 -0.4419 1551 0 0 0 1 Initialized pose between Target 94 to external 0.8649 -0.5012 0.02778 -931.3 -0.2521 -0.4817 -0.8393 -36.77 0.434 0.7189 -0.543 2394 0 0 0 1 Initialized pose between Target 89 to external -0.7519 0.635 -0.177 -546 0.5658 0.4839 -0.6676 -29.1 -0.3382 -0.6021 -0.7232 1948 0 0 0 1 Initialized pose between Target 180 to external -0.01523 0.7895 0.6136 -897.9 0.7311 -0.4098 0.5455 -233.5 0.6821 0.4569 -0.571 1743 0 0 0 1 Initialized pose between Target 89 to external 0.6137 0.7896 0.002551 852.8 0.5503 -0.4254 -0.7185 -359.6 -0.5662 0.4423 -0.6955 2371 0 0 0 1 Initialized pose between Target 182 to external -0.05625 0.9938 0.09562 1102 0.9632 0.02882 0.2671 875 0.2627 0.1071 -0.9589 2468 0 0 0 1 Initialized pose between Target 95 to external -0.02526 0.9972 0.06981 35.85 0.9784 0.03899 -0.2029 -1127 -0.205 0.06318 -0.9767 5479 0 0 0 1 Initialized pose between Target 90 to external -0.1559 0.4378 0.8855 -1825 0.9171 -0.2688 0.2944 -639.8 0.3669 0.858 -0.3595 3675 0 0 0 1 Initialized pose between Target 183 to external 0.03189 0.526 0.8499 -317.1 0.9982 -0.05947 -0.0006487 72.04 0.0502 0.8484 -0.527 2757 0 0 0 1 Initialized pose between Target 91 to external -0.004373 0.8837 -0.468 475.3 0.9969 0.04043 0.06703 -1040 0.07816 -0.4663 -0.8812 5702 0 0 0 1 Initialized pose between Target 90 to external 0.1378 0.4469 -0.8839 1198 0.9874 0.008055 0.158 -1013 0.07774 -0.8946 -0.4401 5068 0 0 0 1 Initialized pose between Target 181 to external -0.2922 0.9456 0.1427 -1519 0.9308 0.2469 0.2695 -228.9 0.2196 0.2116 -0.9524 3222 0 0 0 1 Initialized pose between Target 93 to external -0.3389 0.2679 -0.9019 1985 0.9226 0.2825 -0.2627 -258.1 0.1844 -0.9211 -0.3429 4357 0 0 0 1 Initialized pose between Target 182 to external 0.04953 0.4613 0.8859 -687.7 0.8451 -0.4921 0.209 146.7 0.5324 0.7383 -0.4142 1649 0 0 0 1 Initialized pose between Target 94 to external -0.8822 -0.4689 -0.04389 759.7 -0.217 0.4873 -0.8458 23.57 0.418 -0.7366 -0.5316 2325 0 0 0 1 Initialized pose between Target 183 to external -0.06359 0.3887 -0.9192 616.3 0.9797 0.1997 0.01667 -119.2 0.19 -0.8995 -0.3935 1967 0 0 0 1 Initialized pose between Target 96 to external 0.1377 0.8767 0.461 968.1 0.9893 -0.1441 -0.02159 -384.2 0.04747 0.459 -0.8872 4334 0 0 0 1 Initialized pose between Target 92 to external 0.2638 0.1897 0.9457 -953.8 0.9582 -0.1642 -0.2344 -74.59 0.1108 0.968 -0.2251 2196 0 0 0 1 Initialized pose between Target 91 to external 0.1528 0.9772 -0.1476 2063 0.9868 -0.1427 0.07719 -560.5 0.05438 -0.1574 -0.986 4445 0 0 0 1 Initialized pose between Target 183 to external 0.09982 0.5179 0.8496 -368.9 0.9489 -0.3064 0.0753 29.09 0.2993 0.7987 -0.522 3254 0 0 0 1 Initialized pose between Target 96 to external 0.02914 0.9913 0.1282 -732.6 0.9233 -0.07584 0.3765 -1870 0.3829 0.1074 -0.9175 6096 0 0 0 1 Initialized pose between Target 91 to external 0.06626 0.8877 -0.4556 338.5 0.9413 0.09584 0.3236 -1849 0.3309 -0.4503 -0.8293 5840 0 0 0 1 Initialized pose between Target 90 to external 0.2193 0.4437 -0.8689 1049 0.9213 0.1989 0.3341 -1686 0.3211 -0.8738 -0.3652 5168 0 0 0 1 Initialized pose between Target 89 to external 0.8506 0.5168 -0.09688 -329.6 0.07974 -0.3089 -0.9477 722.3 -0.5197 0.7984 -0.304 2206 0 0 0 1 Initialized pose between Target 95 to external 0.4725 0.1349 0.8709 -481.8 0.8647 -0.2621 -0.4285 -316 0.1705 0.9556 -0.2405 1618 0 0 0 1 Initialized pose between Target 182 to external -0.09845 0.3707 -0.9235 307.1 0.9862 0.1602 -0.04082 -132.4 0.1328 -0.9148 -0.3814 2616 0 0 0 1 Initialized pose between Target 96 to external -0.1179 0.4837 0.8673 -734 0.9872 -0.03724 0.1549 -1531 0.1072 0.8745 -0.4731 4873 0 0 0 1 Initialized pose between Target 94 to external 0.9234 -0.3722 0.09436 -156 0.03418 -0.1651 -0.9857 364.4 0.3824 0.9134 -0.1397 1173 0 0 0 1 Initialized pose between Target 91 to external -0.115 0.8986 0.4235 125.9 0.9841 0.04481 0.1721 -1519 0.1356 0.4365 -0.8894 5558 0 0 0 1 Initialized pose between Target 183 to external 0.1086 0.8559 0.5056 203.6 0.9693 -0.204 0.1372 381 0.2206 0.4752 -0.8518 2531 0 0 0 1 Initialized pose between Target 182 to external 0.02409 0.3815 -0.924 301.1 0.9846 0.1512 0.08809 -264.1 0.1733 -0.9119 -0.372 2646 0 0 0 1 Initialized pose between Target 96 to external 0.005569 0.4813 0.8765 -893.7 0.989 -0.1323 0.06638 -1617 0.148 0.8665 -0.4767 4863 0 0 0 1 Initialized pose between Target 94 to external 0.9228 -0.3839 -0.03168 -105.8 -0.09848 -0.1556 -0.9829 345.7 0.3724 0.9102 -0.1814 1227 0 0 0 1 Initialized pose between Target 91 to external 0.008085 0.9013 0.4332 -33.53 0.9843 -0.08344 0.1552 -1741 0.1761 0.4252 -0.8878 5543 0 0 0 1 Initialized pose between Target 95 to external -0.1643 0.9536 -0.2521 1318 0.9331 0.06732 -0.3534 -516.4 -0.32 -0.2933 -0.9009 3683 0 0 0 1 Initialized pose between Target 90 to external -0.0861 0.7233 0.6851 -1084 0.9579 -0.129 0.2566 -343.4 0.2739 0.6784 -0.6817 2584 0 0 0 1 Initialized pose between Target 183 to external 0.1358 0.6089 -0.7815 520.6 0.7606 0.4413 0.4761 77.93 0.6348 -0.6591 -0.4033 1303 0 0 0 1 Initialized pose between Target 89 to external -0.7781 0.611 -0.1453 -542.2 0.4836 0.4352 -0.7594 195.3 -0.4008 -0.6612 -0.6341 1946 0 0 0 1 Initialized pose between Target 92 to external -0.02486 0.6598 -0.751 419.1 0.9971 0.07075 0.02916 -457.6 0.07237 -0.7481 -0.6597 1986 0 0 0 1 Initialized pose between Target 181 to external 0.2962 0.0956 0.9503 -527.4 0.7884 -0.5861 -0.1868 -601.1 0.5391 0.8046 -0.249 2694 0 0 0 1 Initialized pose between Target 94 to external -0.954 -0.08938 -0.2861 371.2 0.1695 0.6265 -0.7607 428.4 0.2472 -0.7743 -0.5826 1492 0 0 0 1 Initialized pose between Target 182 to external -0.03788 0.9564 0.2898 465.7 0.963 -0.0425 0.2662 574.6 0.2669 0.2891 -0.9193 1645 0 0 0 1 Initialized pose between Target 95 to external 0.08164 0.9707 0.2262 -1258 0.9781 -0.03444 -0.2052 -1364 -0.1914 0.238 -0.9522 4390 0 0 0 1 Initialized pose between Target 96 to external -0.03777 0.9878 0.1512 -532.4 0.9301 -0.02056 0.3667 -2071 0.3653 0.1545 -0.918 6342 0 0 0 1 Initialized pose between Target 91 to external -0.007233 0.9181 -0.3962 559.5 0.9335 0.1483 0.3266 -1985 0.3586 -0.3675 -0.8581 6156 0 0 0 1 Initialized pose between Target 90 to external 0.08639 0.8212 0.564 1377 0.9811 -0.1686 0.09523 -1846 0.1733 0.5451 -0.8202 5795 0 0 0 1 Initialized pose between Target 181 to external -0.09968 0.6568 -0.7475 755.2 0.9296 0.3294 0.1654 334.2 0.3549 -0.6784 -0.6434 2107 0 0 0 1 Initialized pose between Target 91 to external -0.08508 0.7043 0.7048 -2342 0.9436 -0.1702 0.284 -2325 0.32 0.6892 -0.6501 6355 0 0 0 1 Initialized pose between Target 93 to external 0.1037 0.6405 0.7609 -888.4 0.9381 -0.3172 0.1392 -1420 0.3305 0.6993 -0.6338 4879 0 0 0 1 Initialized pose between Target 183 to external 0.1691 0.6344 -0.7543 513.7 0.6701 0.4872 0.56 -112.8 0.7227 -0.6002 -0.3427 1295 0 0 0 1 Initialized pose between Target 89 to external -0.7516 0.6352 -0.1779 -545.6 0.5654 0.4815 -0.6697 -22.26 -0.3397 -0.6039 -0.721 1949 0 0 0 1 Initialized pose between Target 96 to external 0.06 0.8757 -0.4791 1249 0.9856 0.02412 0.1675 -500.3 0.1583 -0.4823 -0.8616 3635 0 0 0 1 Initialized pose between Target 92 to external 0.1893 0.9306 0.3134 -1612 0.9809 -0.1941 -0.01614 -468.7 0.0458 0.3104 -0.9495 4125 0 0 0 1 Initialized pose between Target 180 to external -0.1546 0.6863 0.7107 -1256 0.9387 -0.1223 0.3223 108.1 0.3081 0.717 -0.6253 2166 0 0 0 1 Initialized pose between Target 96 to external -0.1934 0.9713 -0.1385 1220 0.9104 0.2303 0.3437 -2198 0.3657 -0.05965 -0.9288 6928 0 0 0 1 Initialized pose between Target 91 to external -0.1663 0.7573 -0.6315 2194 0.9206 0.3487 0.1758 -1856 0.3533 -0.5522 -0.7552 6511 0 0 0 1 Initialized pose between Target 181 to car 0.05737 -0.9984 0.0007507 7.702e-06 -0.01225 4.782e-05 0.9999 839.1 -0.9983 -0.05738 -0.01223 -6.866e-05 0 0 0 1 Initialized pose between Target 180 to car -0.006587 0.9997 -0.02425 0.0001437 -0.02838 -0.02442 -0.9993 -839.1 -0.9996 -0.005894 0.02853 0.0001603 0 0 0 1 Initialized pose between Target 182 to car 0.001316 -1 -0.007245 2757 0.002189 -0.007242 1 840.8 -1 -0.001331 0.002179 -21.72 0 0 0 1 Initialized pose between Target 183 to car 0.01586 0.9998 -0.01083 2774 -0.03205 -0.01032 -0.9994 -929.8 -0.9994 0.0162 0.03188 21.72 0 0 0 1 [13-02-2022 07:05:00] Driveworks VisualizationSDK released [13-02-2022 07:05:00] Releasing Driveworks SDK Context [13-02-2022 07:05:00] SDK: Release NvMediaDevice [13-02-2022 07:05:02] DriveworksGL SDK released [13-02-2022 07:05:02] SDK: Release NvMedia2D 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,