OpenCV バンドル調整を使用しようとしています: LevMarqSparse::bundleAdjust 残念ながら、出力は完全に間違っているようです:
Iteration: 0, normError: 4.30244e+46 (3.64614e+44)
decreasing lambda to 0.024556
Iteration: 1, normError: 2.72985e+31 (2.31343e+29)
decreasing lambda to 0.0024556
Iteration: 2, normError: 8.00302e+25 (6.78222e+23)
move failed: lambda = 0.024556, e2 = 2.62043e+40 (2.2207e+38) > 8.00302e+25(6.78222e+23)
move failed: lambda = 0.24556, e2 = 7.31034e+40 (6.1952e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556, e2 = 1.59706e+40 (1.35344e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 24.556, e2 = 1.33882e+40 (1.13459e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 245.56, e2 = 1.31518e+40 (1.11456e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2455.6, e2 = 1.31283e+40 (1.11257e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 24556, e2 = 1.3126e+40 (1.11237e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 245560, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+06, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+07, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+08, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+09, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+10, e2 = 1.3125e+40 (1.11229e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+11, e2 = 1.31102e+40 (1.11103e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+12, e2 = 1.3103e+40 (1.11042e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+13, e2 = 1.31471e+40 (1.11416e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+14, e2 = 1.29156e+40 (1.09454e+38) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+15, e2 = 1.15709e+40 (9.80585e+37) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+16, e2 = 3.81423e+39 (3.2324e+37) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+17, e2 = 6.59182e+36 (5.58629e+34) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+18, e2 = 8.07694e+34 (6.84487e+32) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+19, e2 = 7.73149e+52 (6.55211e+50) > 8.00302e+25 (6.78222e+23)
move failed: lambda = 2.4556e+20, e2 = 2.061e+40 (1.74661e+38) > 8.00302e+25 (6.78222e+23)
decreasing lambda to 2.4556e+19
キーポイントの最初の推測を手動で再投影すると、各キーポイントとその三角点の再投影との間の合計 (合計) ユークリッド距離がピクセル (エラー) で 169.541 になります。LevMarqSparse::bundleAdjust を呼び出した後の同じエラー チェックでは、5.50025e+12 のエラーが返されます。
誰かが私を正しい方向に向けてもらえますか? ありがとう。