colmap_gv does not work.

[JSP-ywu]

Hi ! I have an issue about kapture_run_colmap_gv.py Here is the entire error log.

INFO    ::root: mapping and localization for 20220825-123634.769-9c~9d-Tr/stage_1/images/0089_0089_frame_005406.png
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/colmap.db
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/reconstruction
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/priors_for_reconstruction
INFO    ::colmap_build_map: Using precomputed keypoints and matches
INFO    ::colmap_build_map: Step 1: Export kapture format to colmap
INFO    ::colmap: registering 1 sensors (cameras) in database...
INFO    ::colmap: registering 30 images in database...
INFO    ::colmap: registering 30 keypoints in database...
INFO    ::colmap: registering 435 matches in database...
INFO    ::colmap_build_map: Step 2: Run geometric verification - skipped
INFO    ::colmap_build_map: Step 3: Exporting priors for reconstruction.
INFO    ::colmap: creating colmap cameras.txt
INFO    ::colmap: creating colmap images.txt
DEBUG   ::root: timestamp:4859 not in trajectories
DEBUG   ::root: timestamp:4721 not in trajectories
INFO    ::root: creating colmap points3D.txt
INFO    ::colmap_build_map: Step 4: Triangulation
INFO    ::colmap: ['colmap', 'point_triangulator', '--database_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/colmap.db', '--image_path', '/home/pjs4073/h4tech_result_8000_30/kapture_inputs/proxy_map_plus_query_gv/sensors/records_data', '--input_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/priors_for_reconstruction', '--output_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/reconstruction']

==============================================================================
Loading model
==============================================================================


==============================================================================
Loading database
==============================================================================

Loading cameras... 1 in 0.000s
Loading matches... 435 in 0.007s
Loading images... 30 in 0.014s (connected 30)
Building correspondence graph... in 0.079s (ignored 0)

Elapsed time: 0.002 [minutes]


==============================================================================
Triangulating image #2 (0)
==============================================================================

  => Image sees 0 / 7484 points
  => Triangulated 0 points

==============================================================================
Triangulating image #3 (1)
==============================================================================

  => Image sees 0 / 7323 points
  => Triangulated 0 points

==============================================================================
Triangulating image #4 (2)
==============================================================================

  => Image sees 0 / 7860 points
  => Triangulated 0 points

==============================================================================
Triangulating image #5 (3)
==============================================================================

  => Image sees 0 / 7593 points
  => Triangulated 0 points

==============================================================================
Triangulating image #6 (4)
==============================================================================

  => Image sees 0 / 7453 points
  => Triangulated 0 points

==============================================================================
Triangulating image #7 (5)
==============================================================================

  => Image sees 0 / 7352 points
  => Triangulated 0 points

==============================================================================
Triangulating image #8 (6)
==============================================================================

  => Image sees 0 / 7513 points
  => Triangulated 0 points

==============================================================================
Triangulating image #9 (7)
==============================================================================

  => Image sees 0 / 6988 points
  => Triangulated 0 points

==============================================================================
Triangulating image #10 (8)
==============================================================================

  => Image sees 0 / 7724 points
  => Triangulated 0 points

==============================================================================
Triangulating image #11 (9)
==============================================================================

  => Image sees 0 / 7210 points
  => Triangulated 0 points

==============================================================================
Triangulating image #12 (10)
==============================================================================

  => Image sees 0 / 7501 points
  => Triangulated 0 points

==============================================================================
Triangulating image #13 (11)
==============================================================================

  => Image sees 0 / 6804 points
  => Triangulated 0 points

==============================================================================
Triangulating image #14 (12)
==============================================================================

  => Image sees 0 / 8133 points
  => Triangulated 0 points

==============================================================================
Triangulating image #15 (13)
==============================================================================

  => Image sees 0 / 6666 points
  => Triangulated 0 points

==============================================================================
Triangulating image #17 (14)
==============================================================================

  => Image sees 0 / 6714 points
  => Triangulated 0 points

==============================================================================
Triangulating image #18 (15)
==============================================================================

  => Image sees 0 / 7715 points
  => Triangulated 0 points

==============================================================================
Triangulating image #19 (16)
==============================================================================

  => Image sees 0 / 3140 points
  => Triangulated 0 points

==============================================================================
Triangulating image #20 (17)
==============================================================================

  => Image sees 0 / 7571 points
  => Triangulated 0 points

==============================================================================
Triangulating image #21 (18)
==============================================================================

  => Image sees 0 / 7784 points
  => Triangulated 0 points

==============================================================================
Triangulating image #22 (19)
==============================================================================

  => Image sees 0 / 7340 points
  => Triangulated 0 points

==============================================================================
Triangulating image #23 (20)
==============================================================================

  => Image sees 0 / 6405 points
  => Triangulated 0 points

==============================================================================
Triangulating image #24 (21)
==============================================================================

  => Image sees 0 / 3621 points
  => Triangulated 0 points

==============================================================================
Triangulating image #25 (22)
==============================================================================

  => Image sees 0 / 7095 points
  => Triangulated 0 points

==============================================================================
Triangulating image #26 (23)
==============================================================================

  => Image sees 0 / 7108 points
  => Triangulated 0 points

==============================================================================
Triangulating image #27 (24)
==============================================================================

  => Image sees 0 / 7642 points
  => Triangulated 0 points

==============================================================================
Triangulating image #28 (25)
==============================================================================

  => Image sees 0 / 6712 points
  => Triangulated 0 points

==============================================================================
Triangulating image #29 (26)
==============================================================================

  => Image sees 0 / 7474 points
  => Triangulated 0 points

==============================================================================
Triangulating image #30 (27)
==============================================================================

  => Image sees 0 / 3821 points
  => Triangulated 0 points

==============================================================================
Retriangulation
==============================================================================

  => Merged observations: 0
  => Completed observations: 0

==============================================================================
Bundle adjustment
==============================================================================

F0923 12:08:26.304461 307235 colmap.cc:1573] Check failed: bundle_adjuster.Solve(&reconstruction) 
*** Check failure stack trace: ***
    @     0x7fc2c569c1c3  google::LogMessage::Fail()
    @     0x7fc2c56a125b  google::LogMessage::SendToLog()
    @     0x7fc2c569bebf  google::LogMessage::Flush()
    @     0x7fc2c569c6ef  google::LogMessageFatal::~LogMessageFatal()
    @     0x558c922aa280  RunPointTriangulator()
    @     0x558c922a1eaf  main
    @     0x7fc2c3a9c083  __libc_start_main
    @     0x558c922a5f6e  _start
INFO    ::root: 20220825-123634.769-9c~9d-Tr/stage_1/images/0089_0089_frame_005406.png was not localized

I ran local sfm, so the number of matched images is 31. The feature matching process is going well, but the triangulation is problem. How can I resolve this problem?