I was trying using Ceres as the backend optimizer at DSO. However when I run the code, it reports the following errors:
loading data from /home/hzq/dso_run/30/images!
loading calibration from /home/hzq/dso_run/30/camera.txt!
loading masks from /home/hzq/dso_run/30/dense_mask!
=============== PRESET Settings: ===============
DEFAULT settings:
- 1x real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
PHOTOMETRIC MODE WITH PERFECT IMAGES!
QUIET MODE, I'll shut up!
RUN ON STEP BY STEP MODE 0!
USE DENSE FRONT-END TRACKING MODE 0!
Reading Calibration from file /home/hzq/dso_run/30/camera.txt ... found!
found PINHOLE camera model, building rectifier.
Input resolution: 1226 370
In: 707.091200 707.091200 601.887300 183.110400 0.000000
Out: Rectify Crop
Output resolution: 1216 368
finding CROP optimal new model!
initial range: x: -0.8597 - 0.8900; y: -0.2615 - 0.2654!
iteration 00001: range: x: -0.8554 - 0.8856; y: -0.2615 - 0.2654!
iteration 00002: range: x: -0.8511 - 0.8811; y: -0.2615 - 0.2654!
iteration 00003: range: x: -0.8511 - 0.8811; y: -0.2602 - 0.2641!
iteration 00004: range: x: -0.8511 - 0.8811; y: -0.2589 - 0.2628!
iteration 00005: range: x: -0.8511 - 0.8811; y: -0.2589 - 0.2628!
Rectified Kamera Matrix:
701.392 0 596.98
0 703.522 182.128
0 0 1
NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file
PhotometricUndistorter: Could not open file!
set EXPOSURES to zero!
got 1101 images and 1101 timestamps and 0 exposures.!
ImageFolderReader: got 1101 files in /home/hzq/dso_run/30/images!
using pyramid levels 0 to 4. coarsest resolution: 76 x 23!
START PANGOLIN!
INITIALIZE FROM INITIALIZER (2036 pts)!
add gray constraint!!!
host:[0.009810,-0.210030,-0.010726,-0.016647,-0.002019,0.143753], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[0.007054,-0.581172,-0.017291,-0.037119,-0.004847,0.322388], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[0.001728,-0.797383,-0.021313,-0.044579,-0.007807,0.410429], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[-0.009038,-1.032166,-0.014044,-0.055573,-0.010019,0.513324], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[-0.014508,-1.152322,-0.015451,-0.065509,-0.011696,0.570920], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[-0.016646,-1.211672,-0.016722,-0.072280,-0.012550,0.601791], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
add gray constraint!!!
host:[-0.021260,-1.269372,-0.017575,-0.080483,-0.014273,0.634349], target:[0.026517,1.324619,0.016096,0.090194,0.015917,-0.668484]
Solving ceres BA ...
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.203252e+05 0.00e+00 8.31e+05 0.00e+00 0.00e+00 1.00e+04 0 5.80e-03 1.17e-02
double free or corruption (out)
Aborted (core dumped)
I'm sure that I compiled Ceres and DSO with the same version eigen. And it seems both DSO and Ceres runs well in the begining. How could I fix this problem?