I can't impose the poses of my cameras during SFM step

[Zat-Code]

Hi,
I created a python pipeline that allows me to calibrate 3 cameras using a chessboard target. So I have my 3x3 rotation matrix and my 3x1 translation matrix for each camera.

I have a python script that runs a first reconstruction ( CameraInit, Feature Extraction, Image Matching, Image Matching, StructureFromMotion) using 3 photos (one image corresponds to a previously calibrated camera).

I then have a python script that will create a new file new_cameras.sfm that corresponds to the cameras.sfm file of the first reconstruction but with the new camera poses (I replaced the "poses" field of each camera with my transformation matrix).

I restart the sfm step from the new new_cameras.sfm file.

I get the following logs:

C:/Users/Utilisateur/Documents/Meshroom-2019.2.0/aliceVision/bin\aliceVision_incrementalSfm.exe --minAngleForLandmark 2.0 --minNumberOfObservationsForTriangulation 2 --maxAngleInitialPair 80.0 --maxNumberOfMatches 0 --localizerEstimator acransac --describerTypes sift --lockScenePreviouslyReconstructed True --localBAGraphDistance 1 --interFileExtension .abc --useLocalBA False --minInputTrackLength 2 --lockAllIntrinsics True --useRigConstraint True --localizerEstimatorMaxIterations 4096 --localizerEstimatorError 0.0 --useOnlyMatchesFromInputFolder False --verboseLevel debug --minAngleForTriangulation 3.0 --maxReprojectionError 4.0 --minAngleInitialPair 5.0 --input "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/04_StructureFromMotion/new_cameras.sfm" --featuresFolders "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/01_FeatureExtraction/" --matchesFolders "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/03_FeatureMatching" --outputViewsAndPoses "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/cameras.sfm" --extraInfoFolder "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera" --output "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/bundle.sfm"
Program called with the following parameters:

• describerTypes = "sift"
• extraInfoFolder = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera"
• featuresFolders = = [C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/01_FeatureExtraction/]
• initialPairA = "" (default)
• initialPairB = "" (default)
• input = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/04_StructureFromMotion/new_cameras.sfm"
• interFileExtension = ".abc"
• localBAGraphDistance = 1
• localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
• localizerEstimatorError = 0
• localizerEstimatorMaxIterations = 4096
• lockAllIntrinsics = 1
• lockScenePreviouslyReconstructed = 1
• matchesFolders = = [C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/03_FeatureMatching]
• maxAngleInitialPair = 80
• maxNumberOfMatches = 0
• maxReprojectionError = 4
• minAngleForLandmark = 2
• minAngleForTriangulation = 3
• minAngleInitialPair = 5
• minInputTrackLength = 2
• minNumberOfObservationsForTriangulation = 2
• output = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/bundle.sfm"
• outputViewsAndPoses = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/cameras.sfm"
• useLocalBA = 0
• useOnlyMatchesFromInputFolder = 0
• useRigConstraint = 1
• useTrackFiltering = 1 (default)
• verboseLevel = "debug"

Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[14:47:38.879851][info] Supported CUDA-Enabled GPU detected.
*********************************[14:47:38.898840][debug] Loading matches
[14:47:38.899839][debug] Loading match file: C:/Users\Utilisateur\Pictures\calibration\test_chessboard\test\03_FeatureMatching\matches.txt
[14:47:38.900840][debug] Track building

---

[14:47:38.901839][debug] Track filtering
[14:47:38.902842][debug] Track export to internal structure
[14:47:38.902842][debug] Build tracks per view
[14:47:38.902842][debug] Build tracks pyramid per view
[14:47:38.903841][info] Fuse matches into tracks:
- # tracks: 461
- # images in tracks: 3
[14:47:38.904843][info] TrackLength, Occurrence
[14:47:38.904843][info] 2 396
[14:47:38.904843][info] 3 65
[14:47:38.904843][debug] Triangulating (mode: multi-view LO-RANSAC)...
[14:47:38.925827][debug] Triangulation of the 3 newly reconstructed views took 20 msec.
[14:47:38.925827][info] Bundle adjustment start.
[14:47:38.925827][debug] BundleAdjustment[Ceres]: DENSE_SCHUR
[14:47:38.925827][debug] BundleAdjustment[Ceres]: DENSE_SCHUR
[14:47:38.925827][info] Start bundle adjustment iteration: 0
[14:47:38.928823][warning] Bundle Adjustment failed, the solution is not usable.
[14:47:38.928823][info] Begin Incremental Reconstruction:
- mode: SfM augmentation
- # images in input: 3
- # images in resection: 0
- # landmarks in input: 396
- # cameras already calibrated: 3
[14:47:38.929823][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 3
- # number of landmarks: 396
- # remaining images: 0
[14:47:38.929823][debug] FindConnectedViews does not find connected new views
[14:47:38.929823][info] Incremental Reconstruction completed with 1 iterations:
- # number of resection groups: 0
- # number of poses: 3
- # number of landmarks: 396
- # remaining images: 0
[14:47:38.929823][info] Structure from Motion statistics:
- # input images: 3
- # cameras calibrated: 3
- # poses: 3
- # landmarks: 396
- elapsed time: 0
- residual RMSE: nan

what does the error Bundle Adjustment failed, the solution is not usable mean and how can I solve it ?

[Zat-Code]

I have resolve the Bundle Adjustement failed, but i have a new error.

C:/Users/Utilisateur/Documents/Meshroom-2019.2.0/aliceVision/bin\aliceVision_incrementalSfm.exe --minAngleForLandmark 2.0 --minNumberOfObservationsForTriangulation 2 --maxAngleInitialPair 80.0 --maxNumberOfMatches 0 --localizerEstimator acransac --describerTypes sift --lockScenePreviouslyReconstructed False --localBAGraphDistance 1 --interFileExtension .abc --useLocalBA False --minInputTrackLength 2 --lockAllIntrinsics True --useRigConstraint True --localizerEstimatorMaxIterations 4096 --localizerEstimatorError 0.0 --useOnlyMatchesFromInputFolder False --verboseLevel debug --minAngleForTriangulation 3.0 --maxReprojectionError 4.0 --minAngleInitialPair 5.0 --input "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/04_StructureFromMotion/new_cameras.sfm" --featuresFolders "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/01_FeatureExtraction/" --matchesFolders "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/03_FeatureMatching" --outputViewsAndPoses "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/cameras.sfm" --extraInfoFolder "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera" --output "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/bundle.sfm"
Program called with the following parameters:

• describerTypes = "sift"
• extraInfoFolder = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera"
• featuresFolders = = [C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/01_FeatureExtraction/]
• initialPairA = "" (default)
• initialPairB = "" (default)
• input = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/04_StructureFromMotion/new_cameras.sfm"
• interFileExtension = ".abc"
• localBAGraphDistance = 1
• localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
• localizerEstimatorError = 0
• localizerEstimatorMaxIterations = 4096
• lockAllIntrinsics = 1
• lockScenePreviouslyReconstructed = 0
• matchesFolders = = [C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/03_FeatureMatching]
• maxAngleInitialPair = 80
• maxNumberOfMatches = 0
• maxReprojectionError = 4
• minAngleForLandmark = 2
• minAngleForTriangulation = 3
• minAngleInitialPair = 5
• minInputTrackLength = 2
• minNumberOfObservationsForTriangulation = 2
• output = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/bundle.sfm"
• outputViewsAndPoses = "C:/Users/Utilisateur/Pictures/calibration/test_chessboard/test/05_StructureFromMotion_pos_camera/cameras.sfm"
• useLocalBA = 0
• useOnlyMatchesFromInputFolder = 0
• useRigConstraint = 1
• useTrackFiltering = 1 (default)
• verboseLevel = "debug"

Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|
[15:13:38.823118][info] Supported CUDA-Enabled GPU detected.

---

[15:13:38.844093][debug] Loading matches
[15:13:38.845092][debug] Loading match file: C:/Users\Utilisateur\Pictures\calibration\test_chessboard\test\03_FeatureMatching\matches.txt
[15:13:38.846094][debug] Track building
[15:13:38.846094][debug] Track filtering
[15:13:38.848092][debug] Track export to internal structure
[15:13:38.848092][debug] Build tracks per view
[15:13:38.848092][debug] Build tracks pyramid per view
[15:13:38.849092][info] Fuse matches into tracks:
- # tracks: 461
- # images in tracks: 3
[15:13:38.849092][info] TrackLength, Occurrence
[15:13:38.849092][info] 2 396
[15:13:38.849092][info] 3 65
[15:13:38.849092][debug] Triangulating (mode: multi-view LO-RANSAC)...
[15:13:38.875075][debug] Triangulation of the 3 newly reconstructed views took 26 msec.
[15:13:38.876074][info] Bundle adjustment start.
[15:13:38.876074][debug] BundleAdjustment[Ceres]: DENSE_SCHUR
[15:13:38.876074][debug] BundleAdjustment[Ceres]: DENSE_SCHUR
[15:13:38.876074][info] Start bundle adjustment iteration: 0
[15:13:38.886068][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0009246 s
- poses:
- # refined: 3
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 6
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 0
- # residual blocks: 12
- # successful iterations: 3
- # unsuccessful iterations: 0
- initial RMSE: 1.8242
- final RMSE: 4.38452e-07
[15:13:38.886068][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[15:13:38.886068][debug] eraseUnstablePoses: 3
[15:13:38.886068][info] Bundle adjustment iteration: 0 took 10 msec.
[15:13:38.886068][info] Bundle adjustment with 1 iterations took 10 msec.
[15:13:38.886068][info] Begin Incremental Reconstruction:
- mode: SfM creation

[15:13:38.886068][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 0
- # number of landmarks: 0
- # remaining images: 3
[15:13:38.886068][debug] FindConnectedViews does not find connected new views
[15:13:38.886068][info] Incremental Reconstruction completed with 1 iterations:
- # number of resection groups: 0
- # number of poses: 0
- # number of landmarks: 0
- # remaining images: 3
[15:13:38.886068][info] Structure from Motion statistics:
- # input images: 3
- # cameras calibrated: 0
- # poses: 0
- # landmarks: 0
- elapsed time: 0
- residual RMSE: -nan(ind)
[15:13:38.886068][info] Histogram of residuals:

0 | 0
0.1 | 0
0.2 | 0
0.3 | 0
0.4 | 0
0.5 | 0
0.6 | 0
0.7 | 0
0.8 | 0
0.9 | 0
1

[15:13:38.886068][info] Histogram of observations length:

0 | 0
0.1 | 0
0.2 | 0
0.3 | 0
0.4 | 0
0.5 | 0
0.6 | 0
0.7 | 0
0.8 | 0
0.9 | 0
1

[15:13:38.886068][info] Histogram of nb landmarks per view:

0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
1

[natowi]

Take a look at the discussion here #788
and the wiki https://github.com/alicevision/meshroom/wiki/Using-known-camera-positions
You are welcome to update the wiki.

[stale]

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[stale]

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