Linear solver failure. Failed to compute a step: Eigen failure.

[jongho choi]

Hi! Chris

I really appreciated with your help that you gave me before.

But I have another problem again while doing ‘build_reconstruction’. The performance is getting poor with the errors attached below.

-----log-----

...

I0802 17:34:30.507004 15309 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (19).JPG

I0802 17:34:30.757791 15311 feature_extractor_and_matcher.cc:92] Successfully extracted 14941 features from image /home/sangha/pegasus/pegasus (41).JPG

I0802 17:34:30.813499 15301 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (40).JPG

I0802 17:34:30.866868 15307 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (23).JPG

I0802 17:34:30.976119 15313 feature_extractor_and_matcher.cc:92] Successfully extracted 15343 features from image /home/sangha/pegasus/pegasus (16).JPG

I0802 17:34:30.986560 15306 feature_extractor_and_matcher.cc:92] Successfully extracted 16325 features from image /home/sangha/pegasus/pegasus (27).JPG

I0802 17:34:31.083098 15311 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (41).JPG

I0802 17:34:31.289997 15310 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (18).JPG

I0802 17:34:31.312082 15307 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (23).JPG

I0802 17:34:31.432211 15313 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (16).JPG

I0802 17:34:31.550838 15306 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (27).JPG

I0802 17:34:31.590149 15302 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (11).JPG

I0802 17:34:31.669684 15310 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (18).JPG

I0802 17:34:31.669771 15312 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (1).JPG

I0802 17:34:31.703238 15299 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (6).JPG

I0802 17:34:31.710891 15308 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (9).JPG

I0802 17:34:31.758745 15304 feature_extractor_and_matcher.cc:92] Successfully extracted 16384 features from image /home/sangha/pegasus/pegasus (34).JPG

I0802 17:34:31.791316 15302 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (11).JPG

I0802 17:34:31.903769 15312 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (1).JPG

I0802 17:34:32.016197 15299 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (6).JPG

I0802 17:34:32.130739 15308 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (9).JPG

I0802 17:34:32.243618 15304 cascade_hashing_feature_matcher.cc:116] Created the hashed descriptors for image: pegasus (34).JPG

I0802 17:34:32.244511 15297 feature_extractor_and_matcher.cc:157] Matching images...

I0802 17:34:33.036988 15388 detect_structure.cc:113] Schur complement static structure <2,4,-1>.

I0802 17:34:33.100544 15387 detect_structure.cc:113] Schur complement static structure <2,4,-1>.

I0802 17:34:33.377056 15393 detect_structure.cc:113] Schur complement static structure <2,4,-1>.

W0802 17:34:33.397200 15393 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:33.411679 15393 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:33.412051 15393 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:33.412644 15393 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:33.415686 15393 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

I0802 17:34:34.326375 15388 feature_matcher.cc:301] Images pegasus (17).JPG and pegasus (16).JPG were matched with 339 verified matches and 3190 homography matches out of 4483 putative matches.

I0802 17:34:35.262188 15387 detect_structure.cc:113] Schur complement static structure <2,4,-1>.

W0802 17:34:35.290366 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.301082 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.301177 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.301759 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.311612 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.315358 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.315685 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.315965 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.316236 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

W0802 17:34:35.316504 15387 levenberg_marquardt_strategy.cc:114] Linear solver failure. Failed to compute a step: Eigen failure. Unable to perform dense Cholesky factorization.

...

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My opinion is too many features were extracted from one image.

Even if I change the setting into ‘feature_density=SPARSE’, I still get more than 10 thousands of feature points and it makes ‘linear solver’ failed.

I attached flagfile which i used. Thank you for your time and effort.

All the best 

Choi

[Chris Sweeney]

Hi,

There are two things I would try. First, upgrade to the latest stable version of Eigen (and rebuild Ceres with this new Eigen too). Second, change the intrinsics you optimize to instead be --intrinsics_to_optimize=FOCAL_LENGTH|RADIAL_DISTORTION

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