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When I run bin/intrinsic_calib with the suggesting parameters, I got the following error: [1] 13750 segmentation fault (core dumped) bin/intrinsic_calib -i ../data/images -p img --camera-model mei -v. Firstly I searched the issues for help and found that only #65 has the similar problem as me. After some exploring, I finally get it work properly. For someone who may get similar problems, I log my tuning process down here. Just like @dkoguciuk does, for sake of completeness, I enable the -v option and run the program and get the following log(BTW, my eigen versoin is 3.3.3 and ceres version is 1.13.0, and I use ubuntu 14.04):
Then I run the program under gdb environment with command gdb --args bin/intrinsic_calib -i ../data/images -p img --camera-model mei, and the log is as following:
(gdb) run
Starting program: /home/wyh/WkDir/Calib/camodocal-master/build/bin/intrinsic_calib -i ../data/images -p img --camera-model mei
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffaae7c700 (LWP 13951)]
[New Thread 0x7fffaa67b700 (LWP 13952)]
[New Thread 0x7fffa7e7a700 (LWP 13953)]
# INFO: Camera model: Mei
[New Thread 0x7fffa18fb700 (LWP 13955)]
[New Thread 0x7fffa10fa700 (LWP 13956)]
[New Thread 0x7fffa08f9700 (LWP 13957)]
[New Thread 0x7fff9bfff700 (LWP 13958)]
[New Thread 0x7fff9b7fe700 (LWP 13959)]
[New Thread 0x7fff9affd700 (LWP 13960)]
[New Thread 0x7fff9a7fc700 (LWP 13961)]
[New Thread 0x7fff99ffb700 (LWP 13962)]
[New Thread 0x7fff997fa700 (LWP 13963)]
[New Thread 0x7fff98ff9700 (LWP 13964)]
[New Thread 0x7fff8ffff700 (LWP 13965)]
[New Thread 0x7fff8e137700 (LWP 13966)]
[New Thread 0x7fff8d936700 (LWP 13967)]
[New Thread 0x7fff8d135700 (LWP 13970)]
[New Thread 0x7fff8c934700 (LWP 13971)]
[New Thread 0x7fff79fff700 (LWP 13972)]
[New Thread 0x7fff797fe700 (LWP 13973)]
[New Thread 0x7fff78ffd700 (LWP 13974)]
[New Thread 0x7fff73fff700 (LWP 13975)]
[New Thread 0x7fff737fe700 (LWP 13976)]
Program received signal SIGSEGV, Segmentation fault.
__GI___libc_free (mem=0x81) at malloc.c:2931
2931 malloc.c: No such file or directory.
(gdb) backtrace
#0 __GI___libc_free (mem=0x81) at malloc.c:2931
#1 0x00007ffff0d64247 in ceres::AutoDiffCostFunction<camodocal::ReprojectionError1<camodocal::CataCamera>, 2, 9, 4, 3, 0, 0, 0, 0, 0, 0, 0>::~AutoDiffCostFunction() ()
from /home/wyh/WkDir/Calib/camodocal-master/build/lib/libcamodocal_camera_models.so
#2 0x00000000004774bf in void ceres::STLDeleteUniqueContainerPointers<__gnu_cxx::__normal_iterator<ceres::CostFunction**, std::vector<ceres::CostFunction*, std::allocator<ceres::CostFunction*> > > >(__gnu_cxx::__normal_iterator<ceres::CostFunction**, std::vector<ceres::CostFunction*, std::allocator<ceres::CostFunction*> > >, __gnu_cxx::__normal_iterator<ceres::CostFunction**, std::vector<ceres::CostFunction*, std::allocator<ceres::CostFunction*> > >) ()
#3 0x000000000046dbf8 in ceres::internal::ProblemImpl::~ProblemImpl() ()
#4 0x0000000000467691 in ceres::Problem::~Problem() ()
#5 0x00007ffff74bff65 in camodocal::CameraCalibration::optimize(boost::shared_ptr<camodocal::Camera>&, std::vector<cv::Mat, std::allocator<cv::Mat> >&, std::vector<cv::Mat, std::allocator<cv::Mat> >&) const () from /home/wyh/WkDir/Calib/camodocal-master/build/lib/libcamodocal_calib.so
#6 0x00007ffff74c07ab in camodocal::CameraCalibration::calibrateHelper(boost::shared_ptr<camodocal::Camera>&, std::vector<cv::Mat, std::allocator<cv::Mat> >&, std::vector<cv::Mat, std::allocator<cv::Mat> >&) const () from /home/wyh/WkDir/Calib/camodocal-master/build/lib/libcamodocal_calib.so
#7 0x00007ffff74c0c71 in camodocal::CameraCalibration::calibrate() ()
from /home/wyh/WkDir/Calib/camodocal-master/build/lib/libcamodocal_calib.so
#8 0x000000000045c0cf in main ()
Seems something is wrong with the ceres destrction functions. So what I do is to change different ceres versions. Then I get the source code of ceres from github, and try 1.12.0 but the same result. And when I change to 1.11.0 (via git checkout 1.11.0, and the commit number is 41455566a), there is eigen version uncompatible:
Not any problem in cmake process, but when I try to make ceres, the following error messages come out:
In file included from /usr/local/include/eigen3/Eigen/Core:348:0,
from /home/wyh/Downloads/ceres-solver/include/ceres/jet.h:165,
from /home/wyh/Downloads/ceres-solver/internal/ceres/jet_test.cc:31:
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, Eigen::Matrix<ceres::Jet<double, 2>, 2, 2>, false>’:
/usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: required by substitution of ‘template<class T> typename Eigen::internal::enable_if<true, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type, ceres::Jet<double, 2> >, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1>, typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type>::type, const Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1> > >::type Eigen::operator*(const T&, const StorageBaseType&) [with T = Eigen::Matrix<ceres::Jet<double, 2>, 2, 2>]’
/home/wyh/Downloads/ceres-solver/internal/ceres/jet_test.cc:459:12: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:64:8: error: no type named ‘Literal’ in ‘struct Eigen::NumTraits<ceres::Jet<double, 2> >’
struct promote_scalar_arg<S,T,false> : promote_scalar_arg_unsupported<S,T,typename NumTraits<S>::Literal> {};
^
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1>, false>’:
/usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: required by substitution of ‘template<class T> typename Eigen::internal::enable_if<true, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, T> > >::value>::type>, const Derived, const typename Eigen::internal::plain_constant_type<Derived, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, T> > >::value>::type>::type> >::type Eigen::MatrixBase<Derived>::operator*(const T&) const [with T = T; Derived = Eigen::Matrix<ceres::Jet<double, 2>, 2, 2>] [with T = Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1>]’
/home/wyh/Downloads/ceres-solver/internal/ceres/jet_test.cc:459:12: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:64:8: error: no type named ‘Literal’ in ‘struct Eigen::NumTraits<ceres::Jet<double, 2> >’
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1> >, false>’:
/usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: required by substitution of ‘template<class T> typename Eigen::internal::enable_if<true, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type, ceres::Jet<double, 2> >, const typename Eigen::internal::plain_constant_type<Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 2> >, typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type>::type, const Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 2> > > >::type Eigen::operator*(const T&, const StorageBaseType&) [with T = Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1> >]’
/home/wyh/Downloads/ceres-solver/internal/ceres/jet_test.cc:460:37: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:64:8: error: no type named ‘Literal’ in ‘struct Eigen::NumTraits<ceres::Jet<double, 2> >’
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 2> >, false>’:
/usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: required by substitution of ‘template<class T> typename Eigen::internal::enable_if<true, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, T> > >::value>::type>, const Derived, const typename Eigen::internal::plain_constant_type<Derived, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, T> > >::value>::type>::type> >::type Eigen::MatrixBase<Derived>::operator*(const T&) const [with T = T; Derived = Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1> >] [with T = Eigen::Transpose<Eigen::Matrix<ceres::Jet<double, 2>, 2, 2> >]’
/home/wyh/Downloads/ceres-solver/internal/ceres/jet_test.cc:460:37: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:64:8: error: no type named ‘Literal’ in ‘struct Eigen::NumTraits<ceres::Jet<double, 2> >’
make[2]: *** [internal/ceres/CMakeFiles/jet_test.dir/jet_test.cc.o] Error 1
make[1]: *** [internal/ceres/CMakeFiles/jet_test.dir/all] Error 2
make: *** [all] Error 2
So I change the eigen version to 3.2.10 and the error disappear and finally the segmentation fault also disappears and the program runs normally. Finally the libraries and tools I use are Eigen 3.2.10, ceres 1.11.0 and cmake 3.6.3. And the following is the output intrinsic parameters:
[camera] # INFO: Final reprojection error: 0.312 pixels
[camera] # INFO: Camera Parameters:
model_type MEI
camera_name camera
image_width 1280
image_height 960
Mirror Parameters
xi 0.8508641084
Distortion Parameters
k1 -0.3162948324
k2 0.0803981985
p1 -0.0002393541
p2 0.0006171507
Projection Parameters
gamma1 714.7558811236
gamma2 716.7897975933
u0 637.5525880360
v0 476.9495313017
# INFO: Calibration took a total time of 4.245 sec.
# INFO: Wrote calibration file to camera_camera_calib.yaml
The text was updated successfully, but these errors were encountered:
Hello,
When I run bin/intrinsic_calib with the suggesting parameters, I got the following error:
[1] 13750 segmentation fault (core dumped) bin/intrinsic_calib -i ../data/images -p img --camera-model mei -v. Firstly I searched the issues for help and found that only #65 has the similar problem as me. After some exploring, I finally get it work properly. For someone who may get similar problems, I log my tuning process down here. Just like @dkoguciuk does, for sake of completeness, I enable the-voption and run the program and get the following log(BTW, my eigen versoin is 3.3.3 and ceres version is 1.13.0, and I use ubuntu 14.04):Then I run the program under gdb environment with command
gdb --args bin/intrinsic_calib -i ../data/images -p img --camera-model mei, and the log is as following:Seems something is wrong with the ceres destrction functions. So what I do is to change different ceres versions. Then I get the source code of ceres from github, and try 1.12.0 but the same result. And when I change to 1.11.0 (via
git checkout 1.11.0, and the commit number is41455566a), there is eigen version uncompatible:Not any problem in cmake process, but when I try to make ceres, the following error messages come out:
So I change the eigen version to 3.2.10 and the error disappear and finally the segmentation fault also disappears and the program runs normally. Finally the libraries and tools I use are Eigen 3.2.10, ceres 1.11.0 and cmake 3.6.3. And the following is the output intrinsic parameters:
The text was updated successfully, but these errors were encountered: