"Did not converge" Error for multiple camera calibration

[kopfundstei...@gmail.com]

I use a notebook with ubuntu 14.04 and ros indigo installed. I used two different cameras. While the multiple camera calibration I got an error (see below) and I do not know exactly why. I used this cameras receiving with 4 Hz to create a bag file. One possibility could be that they are not synchronized and if this is a bigger problem do someone know an easy to use tool for synchronizing two different cameras in ros, so that I do not have to create a bag out of pictures? It should also be better for future work. And can someone explain me, what the exact meaning of this error is? I would be pleased if someone can help.

'''
guru@guru-Aspire-5750G:~/catkin_ws$ rosrun kalibr kalibr_calibrate_cameras --target /home/guru/calibration_files/checkerboard_8x6.yaml --bag /home/guru/calibration_files/bagfiles/2015-12-16-18-23-38.bag --models pinhole-radtan pinhole-radtan --topics /mob_cam/image_raw /uni_cam/image_raw
importing libraries
Initializing cam0:
Camera model: pinhole-radtan
Dataset: /home/guru/calibration_files/bagfiles/2015-12-16-18-23-38.bag
Topic: /mob_cam/image_raw
Number of images: 5612
Extracting calibration target corners
Extracted corners for 4180 images (of 5612 images)
Projection initialized to: [ 429.85661715 483.07740708 322.30139641 243.31481189]
Distortion initialized to: [-0.3380449 0.09333787 -0.00002282 -0.00169358]
Initializing cam1:
Camera model: pinhole-radtan
Dataset: /home/guru/calibration_files/bagfiles/2015-12-16-18-23-38.bag
Topic: /uni_cam/image_raw
Number of images: 5262
Extracting calibration target corners
Extracted corners for 3279 images (of 5262 images)
Projection initialized to: [ 418.83122008 418.47346171 317.44012268 217.35128877]
Distortion initialized to: [-0.27018043 0.07379072 0.00012283 0.00002567]
initializing initial guesses
initializing camera pair (0,1)...
initialized baseline between cam0 and cam1 to:
[[ 0.99950141 0.00340381 0.03139024 -0.06255387]
[-0.00349971 0.99998937 0.0030004 0.01819874]
[-0.03137969 -0.00310876 0.9995027 0.00603452]
[ 0. 0. 0. 1. ]]
initialized cam0 to:
projection cam0: [ 423.11516235 479.38200789 330.10002471 242.37775741]
distortion cam0: [-0.31866044 0.08311957 0.00311482 -0.00526258]
initialized cam1 to:
projection cam1: [ 423.83910158 420.61050046 310.87513397 215.58056536]
distortion cam1: [-0.28364484 0.08107037 -0.00109986 0.00294586]
initializing calibrator
starting calibration...
Progress 25 / 7045 Time remaining: 3m 22s
------------------------------------------------------------------

Processed 26 of 7045 views with 17 views used

Camera-system parameters:
cam0 (/mob_cam/image_raw):
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
distortion: [-0.28997066 0.02729469 -0.00265046 0.00050173] +- [ 0.00968548 0.00570533 0.00186719 0.0019059 ]
projection: [ 417.45368257 468.67187856 310.25494127 247.99658785] +- [ 5.80467931 6.65250528 3.93630236 4.12766876]
reprojection error: [-0.000001, 0.000000] +- [1.612110, 0.695811]

cam1 (/uni_cam/image_raw):
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
distortion: [-0.27116618 0.07438677 -0.00002021 -0.00087839] +- [ 0.01093871 0.00708464 0.00095917 0.00176149]
projection: [ 417.79403668 417.71681028 319.51772677 217.72082833] +- [ 7.95697039 7.94710038 4.27613218 3.07174585]
reprojection error: [0.000002, 0.000021] +- [0.288054, 0.269886]

baseline T_1_0:
q: [ 0.00152748 -0.01569446 0.0017261 0.99987418] +- [ 0.00000001 0.00000001 0. ]
t: [-0.06255387 0.01819874 0.00603452] +- [ 0.00000003 0.00000001 0.00000001]

------------------------------------------------------------------
Progress 30 / 7045 Time remaining: 4m 8s [ERROR] [1450731063.805587]: Did not converge in maxIterations... restarting...
[ WARN] [1450731063.850691]: Optimization diverged possibly due to a bad initialization. (Do the models fit the lenses well?)
[ WARN] [1450731063.858940]: Restarting for a new attempt...
Reinitialize the intrinsics for camera 0
Projection initialized to: [ 429.85661715 483.07740708 322.30139641 243.31481189]
Distortion initialized to: [-0.3380449 0.09333787 -0.00002282 -0.00169358]
Reinitialize the intrinsics for camera 1
Projection initialized to: [ 418.83122008 418.47346171 317.44012268 217.35128877]
Distortion initialized to: [-0.27018043 0.07379072 0.00012283 0.00002567]
initializing initial guesses
initializing camera pair (0,1)...
initialized baseline between cam0 and cam1 to:
[[ 0.99950204 0.00339191 0.03137138 -0.06255504]
[-0.00348872 0.99998932 0.00303171 0.01820404]
[-0.03136076 -0.00313964 0.9995032 0.0059997 ]
[ 0. 0. 0. 1. ]]
initialized cam0 to:
projection cam0: [ 423.22872833 479.50047513 330.02062895 242.48553734]
distortion cam0: [-0.31880551 0.08321226 0.00307994 -0.00524012]
initialized cam1 to:
projection cam1: [ 423.92953501 420.69706839 310.8038427 215.65884987]
distortion cam1: [-0.283726 0.08108119 -0.00111869 0.00295482]
initializing calibrator
starting calibration...
Progress 25 / 7045 Time remaining: 5m 19s
------------------------------------------------------------------

Processed 26 of 7045 views with 17 views used

Camera-system parameters:
cam0 (/mob_cam/image_raw):
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
distortion: [-0.42402154 0.15445167 0.01672382 0.00807584] +- [ 0.00943811 0.01424997 0.00283486 0.00244046]
projection: [ 524.747608 592.45248514 305.61200493 202.39408153] +- [ 0.80022828 0.77792519 5.77003288 6.52102032]
reprojection error: [0.000491, 0.000009] +- [0.727037, 0.687460]

cam1 (/uni_cam/image_raw):
type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
distortion: [-0.12559492 0.01210096 -0.01617196 -0.01227873] +- [ 0.00256431 0.00071014 0.00168486 0.00063935]
projection: [ 294.17800635 279.12550823 336.93553846 316.95688177] +- [ 0.60786704 1.63074903 2.25335671 5.04481178]
reprojection error: [-0.000694, 0.000092] +- [0.889083, 1.280887]

baseline T_1_0:
q: [-0.01621072 -0.04960673 -0.008684 0.99859951] +- [ 0.00716744 0.00850746 0.0018578 ]
t: [-0.20642966 -0.17655362 -0.36082766] +- [ 0.00576301 0.00856043 0.00225077]

------------------------------------------------------------------
Progress 26 / 7045 Time remaining: 5m 34s [ERROR] [1450732334.537662]: Did not converge in maxIterations... restarting...
[ WARN] [1450732334.543953]: Optimization diverged possibly due to a bad initialization. (Do the models fit the lenses well?)
[ WARN] [1450732334.548261]: Restarting for a new attempt...
Reinitialize the intrinsics for camera 0
Projection initialized to: [ 429.85661715 483.07740708 322.30139641 243.31481189]
Distortion initialized to: [-0.3380449 0.09333787 -0.00002282 -0.00169358]
Reinitialize the intrinsics for camera 1
Projection initialized to: [ 418.83122008 418.47346171 317.44012268 217.35128877]
Distortion initialized to: [-0.27018043 0.07379072 0.00012283 0.00002567]
initializing initial guesses
initializing camera pair (0,1)...
initialized baseline between cam0 and cam1 to:
[[ 0.99950204 0.00339191 0.03137138 -0.06255504]
[-0.00348872 0.99998932 0.00303171 0.01820404]
[-0.03136076 -0.00313964 0.9995032 0.0059997 ]
[ 0. 0. 0. 1. ]]
initialized cam0 to:
projection cam0: [ 423.22872833 479.50047513 330.02062895 242.48553734]
distortion cam0: [-0.31880551 0.08321226 0.00307994 -0.00524012]
initialized cam1 to:
projection cam1: [ 423.92953501 420.69706839 310.8038427 215.65884987]
distortion cam1: [-0.283726 0.08108119 -0.00111869 0.00295482]
initializing calibrator
starting calibration...
Progress 5 / 7045 Time remaining: 5m 14s [ERROR] [1450733622.082937]: Did not converge in maxIterations... restarting...
[ WARN] [1450733622.089329]: Optimization diverged possibly due to a bad initialization. (Do the models fit the lenses well?)
[ERROR] [1450733622.093769]: Max. attemps reached... Giving up...

Segmentation fault (core dumped)
guru@guru-Aspire-5750G:~/catkin_ws$
'''