Can't overcome error "SVD did not converge"


#1

Hi, for past few days i’ve been trying to generate simple orthophotomap from images captured by my Xiaomi Mi5S attached to F450 quadcopter. I have gathered multiple series of images without success in generating orthophotomap. Images are taken from altitude 50[m] above ground, horizontal velocity is 2.5 [m/s], images are taken in 3s interval, separation between paths is 4[m]. In the link below I post my dataset: my dataset

I’ve tried multiple options:
Options: matcher-neighbors: 0, dsm: true, use-pmvs: true, rerun-from: resize
Default
and other combinations

Could anyone give me some idea what am I missing? I’ve tried to run some sample dataset succesfully, but cannot get it to working with mine.

here is the output:

2018-02-15 18:29:36,677 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143540.jpg has 20 candidate matches
2018-02-15 18:29:38,713 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143340.jpg has 24 candidate matches
2018-02-15 18:29:40,760 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143622.jpg has 30 candidate matches
2018-02-15 18:29:42,714 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143042.jpg has 58 candidate matches
2018-02-15 18:29:42,714 Robust matching time : 0.000342845916748s
2018-02-15 18:29:42,714 Full matching 43 / 58, time: 1.95383906364s
2018-02-15 18:29:44,747 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143400.jpg has 7 candidate matches

2018-02-15 18:29:48,864 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143512.jpg has 9 candidate matches

2018-02-15 18:29:50,872 Robust matching time : 0.00032901763916s
2018-02-15 18:29:50,872 Full matching 185 / 204, time: 2.00782895088s
2018-02-15 18:29:52,920 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143641.jpg has 8 candidate matches
2018-02-15 18:29:54,873 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143138.jpg has 1727 candidate matches
2018-02-15 18:29:54,874 Robust matching time : 0.00061297416687s
2018-02-15 18:29:54,874 Full matching 1692 / 1727, time: 1.95404601097s

2018-02-15 18:29:58,916 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143548.jpg has 22 candidate matches

2018-02-15 18:30:02,960 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143313.jpg has 381 candidate matches
2018-02-15 18:30:02,961 Robust matching time : 0.000294923782349s
2018-02-15 18:30:02,961 Full matching 365 / 381, time: 2.00349521637s
2018-02-15 18:30:05,023 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143354.jpg has 10 candidate matches

2018-02-15 18:30:09,176 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143647.jpg has 13 candidate matches
2018-02-15 18:30:11,219 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143442.jpg has 196 candidate matches
2018-02-15 18:30:11,220 Robust matching time : 0.000335931777954s
2018-02-15 18:30:11,220 Full matching 180 / 196, time: 2.04388189316s
2018-02-15 18:30:13,219 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143315.jpg has 557 candidate matches
2018-02-15 18:30:13,220 Robust matching time : 0.000479936599731s
2018-02-15 18:30:13,220 Full matching 509 / 557, time: 1.99968481064s
2018-02-15 18:30:15,264 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143225.jpg has 12 candidate matches

2018-02-15 18:30:17,269 Robust matching time : 0.000854015350342s
2018-02-15 18:30:17,269 Full matching 71 / 93, time: 2.00531506538s
2018-02-15 18:30:19,248 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143034.jpg has 457 candidate matches
2018-02-15 18:30:19,249 Robust matching time : 0.000338077545166s
2018-02-15 18:30:19,249 Full matching 433 / 457, time: 1.97970795631s

2018-02-15 18:30:23,326 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143343.jpg has 14 candidate matches
2018-02-15 18:30:25,303 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143045.jpg has 35 candidate matches
2018-02-15 18:30:25,305 Robust matching time : 0.0018470287323s
2018-02-15 18:30:25,305 Full matching 20 / 35, time: 1.97935819626s
2018-02-15 18:30:27,322 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143425.jpg has 67 candidate matches
2018-02-15 18:30:27,325 Robust matching time : 0.00271487236023s
2018-02-15 18:30:27,325 Full matching 39 / 67, time: 2.0197122097s
2018-02-15 18:30:29,306 AIRIMG_20180215_143023.jpg - AIRIMG_20180215_143116.jpg has 16 candidate matches
[DEBUG] running PYTHONPATH=/code/SuperBuild/install/lib/python2.7/dist-packages /code/SuperBuild/src/opensfm/bin/opensfm create_tracks /var/www/data/d4986dfe-cf0f-4834-8e92-2816c9ac783e/opensfm
2018-02-15 18:30:30,166 reading features

2018-02-15 18:30:59,684 Good tracks: 107432

2018-02-15 18:31:21,575 Starting incremental reconstruction

2018-02-15 18:31:56,732 Two-view reconstruction inliers: 2744 / 2744
2018-02-15 18:31:57,153 Triangulated: 2449
2018-02-15 18:31:58,477 Ceres Solver Report: Iterations: 50, Initial cost: 5.776342e+01, Final cost: 5.259588e+01, Termination: NO_CONVERGENCE
2018-02-15 18:31:58,531 -------------------------------------------------------
2018-02-15 18:31:58,558 AIRIMG_20180215_143335.jpg resection inliers: 598 / 960
2018-02-15 18:31:58,572 Adding AIRIMG_20180215_143335.jpg to the reconstruction
2018-02-15 18:31:59,423 Ceres Solver Report: Iterations: 50, Initial cost: 4.278701e+02, Final cost: 1.528977e+02, Termination: NO_CONVERGENCE
2018-02-15 18:31:59,425 Removed outliers: 0
/code/SuperBuild/src/opensfm/opensfm/align.py:84: RuntimeWarning: invalid value encountered in divide
A /= s
2018-02-15 18:31:59,505 -------------------------------------------------------
/code/SuperBuild/src/opensfm/opensfm/reconstruction.py:696: RuntimeWarning: invalid value encountered in less
inliers = np.linalg.norm(reprojected_bs - bs, axis=1) < threshold
2018-02-15 18:31:59,561 AIRIMG_20180215_142911.jpg resection inliers: 0 / 1319
2018-02-15 18:31:59,613 AIRIMG_20180215_143332.jpg resection inliers: 0 / 1207
2018-02-15 18:31:59,665 AIRIMG_20180215_143417.jpg resection inliers: 0 / 1098
2018-02-15 18:31:59,711 AIRIMG_20180215_143248.jpg resection inliers: 0 / 925
2018-02-15 18:31:59,756 AIRIMG_20180215_143251.jpg resection inliers: 0 / 908
2018-02-15 18:31:59,800 AIRIMG_20180215_142913.jpg resection inliers: 0 / 895
2018-02-15 18:31:59,844 AIRIMG_20180215_143501.jpg resection inliers: 0 / 878
2018-02-15 18:31:59,889 AIRIMG_20180215_143414.jpg resection inliers: 0 / 853
2018-02-15 18:31:59,935 AIRIMG_20180215_143458.jpg resection inliers: 0 / 824
2018-02-15 18:31:59,975 AIRIMG_20180215_143419.jpg resection inliers: 0 / 717
2018-02-15 18:32:00,014 AIRIMG_20180215_143209.jpg resection inliers: 0 / 708
2018-02-15 18:32:00,053 AIRIMG_20180215_143338.jpg resection inliers: 0 / 692
2018-02-15 18:32:00,093 AIRIMG_20180215_143253.jpg resection inliers: 0 / 681
2018-02-15 18:32:00,135 AIRIMG_20180215_143329.jpg resection inliers: 0 / 653
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2018-02-15 18:32:00,214 AIRIMG_20180215_143456.jpg resection inliers: 0 / 595

2018-02-15 18:32:00,365 AIRIMG_20180215_143124.jpg resection inliers: 0 / 541
2018-02-15 18:32:00,402 AIRIMG_20180215_143504.jpg resection inliers: 0 / 539
2018-02-15 18:32:00,439 AIRIMG_20180215_143543.jpg resection inliers: 0 / 534
2018-02-15 18:32:00,475 AIRIMG_20180215_143422.jpg resection inliers: 0 / 519
2018-02-15 18:32:00,510 AIRIMG_20180215_143245.jpg resection inliers: 0 / 512
2018-02-15 18:32:00,545 AIRIMG_20180215_143540.jpg resection inliers: 0 / 488
2018-02-15 18:32:00,579 AIRIMG_20180215_143625.jpg resection inliers: 0 / 485
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2018-02-15 18:32:00,647 AIRIMG_20180215_143628.jpg resection inliers: 0 / 466
2018-02-15 18:32:00,680 AIRIMG_20180215_143203.jpg resection inliers: 0 / 454
2018-02-15 18:32:00,713 AIRIMG_20180215_143411.jpg resection inliers: 0 / 449
2018-02-15 18:32:00,747 AIRIMG_20180215_143212.jpg resection inliers: 0 / 448
2018-02-15 18:32:00,781 AIRIMG_20180215_143127.jpg resection inliers: 0 / 443
2018-02-15 18:32:00,814 AIRIMG_20180215_143622.jpg resection inliers: 0 / 437
2018-02-15 18:32:00,847 AIRIMG_20180215_143548.jpg resection inliers: 0 / 437
2018-02-15 18:32:00,880 AIRIMG_20180215_143340.jpg resection inliers: 0 / 408
2018-02-15 18:32:00,913 AIRIMG_20180215_142919.jpg resection inliers: 0 / 399
2018-02-15 18:32:00,947 AIRIMG_20180215_143040.jpg resection inliers: 0 / 397
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2018-02-15 18:32:01,042 AIRIMG_20180215_143453.jpg resection inliers: 0 / 371
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2018-02-15 18:32:01,136 AIRIMG_20180215_143630.jpg resection inliers: 0 / 354
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2018-02-15 18:32:01,258 AIRIMG_20180215_143425.jpg resection inliers: 0 / 318
2018-02-15 18:32:01,288 AIRIMG_20180215_142958.jpg resection inliers: 0 / 310
2018-02-15 18:32:01,318 AIRIMG_20180215_143037.jpg resection inliers: 0 / 305
2018-02-15 18:32:01,348 AIRIMG_20180215_143130.jpg resection inliers: 0 / 287
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2018-02-15 18:32:01,407 AIRIMG_20180215_143619.jpg resection inliers: 0 / 282
2018-02-15 18:32:01,437 AIRIMG_20180215_143242.jpg resection inliers: 0 / 279
2018-02-15 18:32:01,468 AIRIMG_20180215_143324.jpg resection inliers: 0 / 275
2018-02-15 18:32:01,497 AIRIMG_20180215_142955.jpg resection inliers: 0 / 274
2018-02-15 18:32:01,527 AIRIMG_20180215_143045.jpg resection inliers: 0 / 272
2018-02-15 18:32:01,557 AIRIMG_20180215_143200.jpg resection inliers: 0 / 272
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2018-02-15 18:32:01,673 AIRIMG_20180215_143343.jpg resection inliers: 0 / 246
2018-02-15 18:32:01,702 AIRIMG_20180215_143428.jpg resection inliers: 0 / 245
2018-02-15 18:32:01,730 AIRIMG_20180215_142922.jpg resection inliers: 0 / 234
2018-02-15 18:32:01,759 AIRIMG_20180215_143116.jpg resection inliers: 0 / 231
2018-02-15 18:32:01,787 AIRIMG_20180215_143633.jpg resection inliers: 0 / 230
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2018-02-15 18:32:02,150 AIRIMG_20180215_143447.jpg resection inliers: 0 / 198
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2018-02-15 18:32:02,204 AIRIMG_20180215_143217.jpg resection inliers: 0 / 187
2018-02-15 18:32:02,231 AIRIMG_20180215_143431.jpg resection inliers: 0 / 186
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2018-02-15 18:32:02,312 AIRIMG_20180215_143048.jpg resection inliers: 0 / 173
2018-02-15 18:32:02,339 AIRIMG_20180215_143346.jpg resection inliers: 0 / 172
2018-02-15 18:32:02,366 AIRIMG_20180215_143113.jpg resection inliers: 0 / 165
2018-02-15 18:32:02,392 AIRIMG_20180215_143614.jpg resection inliers: 0 / 165
2018-02-15 18:32:02,419 AIRIMG_20180215_143031.jpg resection inliers: 0 / 161
2018-02-15 18:32:02,446 AIRIMG_20180215_143557.jpg resection inliers: 0 / 159
2018-02-15 18:32:02,473 AIRIMG_20180215_143135.jpg resection inliers: 0 / 158
2018-02-15 18:32:02,499 AIRIMG_20180215_143532.jpg resection inliers: 0 / 157
2018-02-15 18:32:02,526 AIRIMG_20180215_143636.jpg resection inliers: 0 / 154
2018-02-15 18:32:02,552 AIRIMG_20180215_143512.jpg resection inliers: 0 / 154
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2018-02-15 18:32:02,605 AIRIMG_20180215_143006.jpg resection inliers: 0 / 144
2018-02-15 18:32:02,631 AIRIMG_20180215_142950.jpg resection inliers: 0 / 138
2018-02-15 18:32:02,657 AIRIMG_20180215_142925.jpg resection inliers: 0 / 138
2018-02-15 18:32:02,684 AIRIMG_20180215_143445.jpg resection inliers: 0 / 134
2018-02-15 18:32:02,709 AIRIMG_20180215_143237.jpg resection inliers: 0 / 130
2018-02-15 18:32:02,735 AIRIMG_20180215_143220.jpg resection inliers: 0 / 128
2018-02-15 18:32:02,761 AIRIMG_20180215_143138.jpg resection inliers: 0 / 126
2018-02-15 18:32:02,786 AIRIMG_20180215_143110.jpg resection inliers: 0 / 125
2018-02-15 18:32:02,812 AIRIMG_20180215_143433.jpg resection inliers: 0 / 123
2018-02-15 18:32:02,838 AIRIMG_20180215_143349.jpg resection inliers: 0 / 123
2018-02-15 18:32:02,863 AIRIMG_20180215_143515.jpg resection inliers: 0 / 122
2018-02-15 18:32:02,889 AIRIMG_20180215_143051.jpg resection inliers: 0 / 121
2018-02-15 18:32:02,914 AIRIMG_20180215_143600.jpg resection inliers: 0 / 119
2018-02-15 18:32:02,941 AIRIMG_20180215_143009.jpg resection inliers: 0 / 117
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2018-02-15 18:32:03,018 AIRIMG_20180215_143611.jpg resection inliers: 0 / 113
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2018-02-15 18:32:03,069 AIRIMG_20180215_143639.jpg resection inliers: 0 / 111
2018-02-15 18:32:03,094 AIRIMG_20180215_143223.jpg resection inliers: 0 / 109
2018-02-15 18:32:03,120 AIRIMG_20180215_143028.jpg resection inliers: 0 / 108
2018-02-15 18:32:03,145 AIRIMG_20180215_143054.jpg resection inliers: 0 / 101
2018-02-15 18:32:03,170 AIRIMG_20180215_142947.jpg resection inliers: 0 / 99
2018-02-15 18:32:03,195 AIRIMG_20180215_143529.jpg resection inliers: 0 / 91
2018-02-15 18:32:03,220 AIRIMG_20180215_143012.jpg resection inliers: 0 / 84
2018-02-15 18:32:03,244 AIRIMG_20180215_143641.jpg resection inliers: 0 / 83
2018-02-15 18:32:03,269 AIRIMG_20180215_142944.jpg resection inliers: 0 / 81
2018-02-15 18:32:03,294 AIRIMG_20180215_142927.jpg resection inliers: 0 / 80
2018-02-15 18:32:03,319 AIRIMG_20180215_143026.jpg resection inliers: 0 / 78
2018-02-15 18:32:03,344 AIRIMG_20180215_143141.jpg resection inliers: 0 / 76
2018-02-15 18:32:03,368 AIRIMG_20180215_143107.jpg resection inliers: 0 / 60
2018-02-15 18:32:03,392 AIRIMG_20180215_143015.jpg resection inliers: 0 / 56
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2018-02-15 18:32:03,465 AIRIMG_20180215_143225.jpg resection inliers: 0 / 50
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2018-02-15 18:32:03,635 AIRIMG_20180215_143056.jpg resection inliers: 0 / 28
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2018-02-15 18:32:04,007 AIRIMG_20180215_143020.jpg resection inliers: 0 / 10
2018-02-15 18:32:04,031 AIRIMG_20180215_143231.jpg resection inliers: 0 / 9
2018-02-15 18:32:04,054 AIRIMG_20180215_142936.jpg resection inliers: 0 / 8
2018-02-15 18:32:04,077 AIRIMG_20180215_143647.jpg resection inliers: 0 / 8
2018-02-15 18:32:04,101 AIRIMG_20180215_143102.jpg resection inliers: 0 / 8
2018-02-15 18:32:04,124 AIRIMG_20180215_143228.jpg resection inliers: 0 / 7
2018-02-15 18:32:04,147 AIRIMG_20180215_143354.jpg resection inliers: 0 / 6
2018-02-15 18:32:04,170 AIRIMG_20180215_143521.jpg resection inliers: 0 / 5
2018-02-15 18:32:04,193 AIRIMG_20180215_143144.jpg resection inliers: 0 / 5
2018-02-15 18:32:04,195 Some images can not be added
2018-02-15 18:32:04,195 -------------------------------------------------------
2018-02-15 18:32:04,235 Ceres Solver Report: Iterations: -2, Initial cost: -1.000000e+00, Final cost: -1.000000e+00, Termination: FAILURE
Traceback (most recent call last):
File “/code/SuperBuild/src/opensfm/bin/opensfm”, line 34, in
command.run(args)
File “/code/SuperBuild/src/opensfm/opensfm/commands/reconstruct.py”, line 21, in run
report = reconstruction.incremental_reconstruction(data)
File “/code/SuperBuild/src/opensfm/opensfm/reconstruction.py”, line 1069, in incremental_reconstruction
data, graph, reconstruction, remaining_images, gcp)
File “/code/SuperBuild/src/opensfm/opensfm/reconstruction.py”, line 1031, in grow_reconstruction
align.align_reconstruction(reconstruction, gcp, data.config)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 14, in align_reconstruction
res = align_reconstruction_similarity(reconstruction, gcp, config)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 56, in align_reconstruction_similarity
return align_reconstruction_naive_similarity(reconstruction, gcp)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 80, in align_reconstruction_naive_similarity
T = tf.superimposition_matrix(X.T, Xp.T, scale=True)
File “/code/SuperBuild/src/opensfm/opensfm/transformations.py”, line 1041, in superimposition_matrix
scale=scale, usesvd=usesvd)
File “/code/SuperBuild/src/opensfm/opensfm/transformations.py”, line 954, in affine_matrix_from_points
u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))
File “/usr/lib/python2.7/dist-packages/numpy/linalg/linalg.py”, line 1359, in svd
u, s, vt = gufunc(a, signature=signature, extobj=extobj)
File “/usr/lib/python2.7/dist-packages/numpy/linalg/linalg.py”, line 99, in _raise_linalgerror_svd_nonconvergence
raise LinAlgError(“SVD did not converge”)
numpy.linalg.linalg.LinAlgError: SVD did not converge
Traceback (most recent call last):
File “/code/run.py”, line 47, in
plasm.execute(niter=1)
File “/code/scripts/opensfm.py”, line 124, in process
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
File “/code/opendm/system.py”, line 34, in run
raise Exception(“Child returned {}”.format(retcode))
Exception: Child returned 1


#2

Interesting. I don’t know why this one would fail. I’ll try to test tomorrow.


#3

I know this is an old post but it is exactly what I’m experiencing for my first time using WebODM and therefore opendronemap.

I have processed the same set of images using Dronedeploy and it was processed successfully so I think my images should be ok.

I’m using the Default profile:
Options: dsm: true

Any advice on what I’m doing wrong would be appreciated.

Some of the output where it looks to me like it starts to go wrong:


2018-06-22 01:29:39,696 DEBUG: Full matching 122 / 124, time: 2.08104419708s
2018-06-22 01:29:41,833 DEBUG: aerial-mapping-106.jpg - aerial-mapping-278.jpg has 3 candidate matches
2018-06-22 01:29:44,085 DEBUG: aerial-mapping-106.jpg - aerial-mapping-121.jpg has 0 candidate matches
2018-06-22 01:29:46,224 DEBUG: aerial-mapping-106.jpg - aerial-mapping-60.jpg has 2 candidate matches
2018-06-22 01:29:48,270 DEBUG: aerial-mapping-106.jpg - aerial-mapping-294.jpg has 1 candidate matches
2018-06-22 01:29:50,496 DEBUG: aerial-mapping-106.jpg - aerial-mapping-119.jpg has 2 candidate matches
2018-06-22 01:29:52,639 DEBUG: aerial-mapping-106.jpg - aerial-mapping-251.jpg has 2 candidate matches
2018-06-22 01:29:54,759 DEBUG: aerial-mapping-106.jpg - aerial-mapping-58.jpg has 19 candidate matches
2018-06-22 01:29:56,969 DEBUG: aerial-mapping-106.jpg - aerial-mapping-128.jpg has 2 candidate matches
2018-06-22 01:29:59,154 DEBUG: aerial-mapping-106.jpg - aerial-mapping-22.jpg has 3 candidate matches
2018-06-22 01:30:01,277 DEBUG: aerial-mapping-106.jpg - aerial-mapping-9.jpg has 1 candidate matches
2018-06-22 01:30:03,430 DEBUG: aerial-mapping-106.jpg - aerial-mapping-84.jpg has 1 candidate matches
2018-06-22 01:30:05,633 DEBUG: aerial-mapping-106.jpg - aerial-mapping-189.jpg has 5 candidate matches
[DEBUG] running PYTHONPATH=/code/SuperBuild/install/lib/python2.7/dist-packages /code/SuperBuild/src/opensfm/bin/opensfm create_tracks /var/www/data/890c4f00-aadb-4f99-9d09-9c2238ef74b6/opensfm
2018-06-22 01:30:06,555 INFO: reading features
2018-06-22 01:30:18,688 DEBUG: Merging features onto tracks
2018-06-22 01:30:19,045 DEBUG: Good tracks: 18631
[DEBUG] running PYTHONPATH=/code/SuperBuild/install/lib/python2.7/dist-packages /code/SuperBuild/src/opensfm/bin/opensfm reconstruct /var/www/data/890c4f00-aadb-4f99-9d09-9c2238ef74b6/opensfm
2018-06-22 01:30:20,626 INFO: Starting incremental reconstruction
2018-06-22 01:30:23,962 INFO: Starting reconstruction with aerial-mapping-10.jpg and aerial-mapping-11.jpg
2018-06-22 01:30:24,189 INFO: Two-view reconstruction inliers: 3371 / 3371
2018-06-22 01:30:24,546 INFO: Triangulated: 3371
2018-06-22 01:30:24,649 DEBUG: Ceres Solver Report: Iterations: 1, Initial cost: 1.954633e+03, Final cost: 1.951448e+03, Termination: CONVERGENCE
2018-06-22 01:30:25,107 DEBUG: Ceres Solver Report: Iterations: 1, Initial cost: 1.952185e+03, Final cost: 1.951128e+03, Termination: CONVERGENCE
2018-06-22 01:30:26,047 DEBUG: Ceres Solver Report: Iterations: 50, Initial cost: 3.903370e+03, Final cost: 3.884015e+03, Termination: NO_CONVERGENCE
2018-06-22 01:30:26,048 INFO: Removed outliers: 0
2018-06-22 01:30:26,054 INFO: -------------------------------------------------------
2018-06-22 01:30:26,096 INFO: aerial-mapping-9.jpg resection inliers: 1090 / 1090
2018-06-22 01:30:26,272 DEBUG: Ceres Solver Report: Iterations: 8, Initial cost: 1.948522e+03, Final cost: 1.945106e+03, Termination: CONVERGENCE
2018-06-22 01:30:26,272 INFO: Adding aerial-mapping-9.jpg to the reconstruction
2018-06-22 01:30:26,417 INFO: Re-triangulating
2018-06-22 01:30:26,579 DEBUG: Ceres Solver Report: Iterations: 1, Initial cost: 5.831733e+03, Final cost: 5.828547e+03, Termination: CONVERGENCE
2018-06-22 01:30:27,219 DEBUG: Ceres Solver Report: Iterations: 1, Initial cost: 5.828619e+03, Final cost: 5.828545e+03, Termination: CONVERGENCE
2018-06-22 01:30:27,221 INFO: Removed outliers: 0
/code/SuperBuild/src/opensfm/opensfm/align.py:87: RuntimeWarning: invalid value encountered in divide
A /= s
2018-06-22 01:30:27,282 INFO: -------------------------------------------------------
/code/SuperBuild/src/opensfm/opensfm/reconstruction.py:753: RuntimeWarning: invalid value encountered in less
inliers = np.linalg.norm(reprojected_bs - bs, axis=1) < threshold
2018-06-22 01:30:27,330 INFO: aerial-mapping-40.jpg resection inliers: 0 / 979
2018-06-22 01:30:27,375 INFO: aerial-mapping-41.jpg resection inliers: 0 / 965
2018-06-22 01:30:27,418 INFO: aerial-mapping-12.jpg resection inliers: 0 / 891
2018-06-22 01:30:27,454 INFO: aerial-mapping-8.jpg resection inliers: 0 / 603
2018-06-22 01:30:27,485 INFO: aerial-mapping-42.jpg resection inliers: 0 / 465
2018-06-22 01:30:27,516 INFO: aerial-mapping-283.jpg resection inliers: 0 / 410
2018-06-22 01:30:27,546 INFO: aerial-mapping-282.jpg resection inliers: 0 / 386
2018-06-22 01:30:27,575 INFO: aerial-mapping-39.jpg resection inliers: 0 / 364
2018-06-22 01:30:27,602 INFO: aerial-mapping-284.jpg resection inliers: 0 / 308
2018-06-22 01:30:27,629 INFO: aerial-mapping-281.jpg resection inliers: 0 / 274
2018-06-22 01:30:27,653 INFO: aerial-mapping-285.jpg resection inliers: 0 / 169
2018-06-22 01:30:27,677 INFO: aerial-mapping-60.jpg resection inliers: 0 / 145
2018-06-22 01:30:27,701 INFO: aerial-mapping-280.jpg resection inliers: 0 / 142
2018-06-22 01:30:27,724 INFO: aerial-mapping-61.jpg resection inliers: 0 / 110
2018-06-22 01:30:27,747 INFO: aerial-mapping-59.jpg resection inliers: 0 / 86
2018-06-22 01:30:27,770 INFO: aerial-mapping-286.jpg resection inliers: 0 / 78
2018-06-22 01:30:27,792 INFO: aerial-mapping-38.jpg resection inliers: 0 / 75
2018-06-22 01:30:27,814 INFO: aerial-mapping-43.jpg resection inliers: 0 / 65
2018-06-22 01:30:27,835 INFO: aerial-mapping-279.jpg resection inliers: 0 / 61
2018-06-22 01:30:27,857 INFO: aerial-mapping-62.jpg resection inliers: 0 / 57
2018-06-22 01:30:27,878 INFO: aerial-mapping-58.jpg resection inliers: 0 / 39
2018-06-22 01:30:27,900 INFO: aerial-mapping-13.jpg resection inliers: 0 / 35
2018-06-22 01:30:27,921 INFO: aerial-mapping-63.jpg resection inliers: 0 / 10
2018-06-22 01:30:27,933 INFO: Some images can not be added
2018-06-22 01:30:27,933 INFO: -------------------------------------------------------
2018-06-22 01:30:27,989 DEBUG: Ceres Solver Report: Iterations: -2, Initial cost: -1.000000e+00, Final cost: -1.000000e+00, Termination: FAILURE
2018-06-22 01:30:27,992 INFO: Removed outliers: 0
Traceback (most recent call last):
File “/code/SuperBuild/src/opensfm/bin/opensfm”, line 34, in
command.run(args)
File “/code/SuperBuild/src/opensfm/opensfm/commands/reconstruct.py”, line 21, in run
report = reconstruction.incremental_reconstruction(data)
File “/code/SuperBuild/src/opensfm/opensfm/reconstruction.py”, line 1134, in incremental_reconstruction
data, graph, reconstruction, remaining_images, gcp)
File “/code/SuperBuild/src/opensfm/opensfm/reconstruction.py”, line 1096, in grow_reconstruction
align_reconstruction(reconstruction, gcp, config)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 17, in align_reconstruction
res = align_reconstruction_similarity(reconstruction, gcp, config)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 59, in align_reconstruction_similarity
return align_reconstruction_naive_similarity(reconstruction, gcp)
File “/code/SuperBuild/src/opensfm/opensfm/align.py”, line 83, in align_reconstruction_naive_similarity
T = tf.superimposition_matrix(X.T, Xp.T, scale=True)
File “/code/SuperBuild/src/opensfm/opensfm/transformations.py”, line 1041, in superimposition_matrix
scale=scale, usesvd=usesvd)
File “/code/SuperBuild/src/opensfm/opensfm/transformations.py”, line 954, in affine_matrix_from_points
u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T))
File “/usr/local/lib/python2.7/dist-packages/numpy/linalg/linalg.py”, line 1444, in svd
u, s, vh = gufunc(a, signature=signature, extobj=extobj)
File “/usr/local/lib/python2.7/dist-packages/numpy/linalg/linalg.py”, line 98, in _raise_linalgerror_svd_nonconvergence
raise LinAlgError(“SVD did not converge”)
numpy.linalg.linalg.LinAlgError: SVD did not converge
Traceback (most recent call last):
File “/code/run.py”, line 47, in
plasm.execute(niter=1)
File “/code/scripts/run_opensfm.py”, line 134, in process
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
File “/code/opendm/system.py”, line 34, in run
raise Exception(“Child returned {}”.format(retcode))
Exception: Child returned 1


#4

We solved problem by cleaning up all exif data from images. It appears that our exif data has been corrupted somehow and algorithm failed.