RMSE of each port pair looks good, but the overall error is large

[wanghlsara]

I mentioned in #659 that I performed extrinsic calibration in a narrow and long rectangular area. I copied some lines related to rmse from calibration.log. Please forgive me that these lines may not be continuous because I ignored the information unrelated to rmse. What confuses me is that the rmse of each port pair looks good, but the overall error is large. What could be the reason? Is it because there are few cameras with overlapping views in the rectangular area? Or is the ratio of FILTERED_FRACTION=0.025 too small? Or is the number of bundle adjustment stages too small? What aspects should I investigate next? I hope to get your advice.

     INFO|         caliscope.configurator| 205|  charuco param are: {'columns': 4, 'rows': 3, 'board_height': 35.43, 'board_width': 44.88, 'dictionary': 'DICT_4X4_100', 'units': 'inch', 'aruco_scale': 0.75, 'square_size_overide_cm': 26.6, 'inverted': False, 'legacy_pattern': False}:
     INFO|  caliscope.calibration.charuco| 106|  Creating charuco with square length of 0.266
     INFO|  caliscope.calibration.charuco| 116|  Setting legacy pattern of board to False
     INFO|                       __main__|  79|  Creating RecordedStreamPool
     INFO|         caliscope.configurator| 152|  Adding camera 1 to calibrated camera array...
     INFO|         caliscope.configurator| 166|  Camera successfully added at port 1
     INFO|         caliscope.configurator| 152|  Adding camera 10 to calibrated camera array...
     INFO|         caliscope.configurator| 178|  Camera array successfully created and being passed back to caller
     INFO| caliscope.calibration.stereocalibrator|  39|  666:[(1, 2), (1, 3), (1, 4), (1, 5), (1, 6), (1, 7), (1, 8), (1, 9), (1, 10), (1, 11), (1, 12), (1, 13), (1, 14), (1, 15), (1, 16), (1, 17), (1, 18), (1, 19), (1, 20), (1, 21), (1, 22), (1, 23), (1, 24), (1, 25), (1, 26), (1, 27), (1, 28), (1, 29), (1, 30), (1, 31), (1, 32), (1, 33), (1, 34), (1, 35), (1, 36), (1, 37), (2, 3), (2, 4), (2, 5), (2, 6), (2, 7), (2, 8), (2, 9), (2, 10), (2, 11), (2, 12), (2, 13), (2, 14), (2, 15), (2, 16), (2, 17), (2, 18), (2, 19), (2, 20), (2, 21), (2, 22), (2, 23), (2, 24), (2, 25), (2, 26), (2, 27), (2, 28), (2, 29), (2, 30), (2, 31), (2, 32), (2, 33), (2, 34), (2, 35), (2, 36), (2, 37), (3, 4), (3, 5), (3, 6), (3, 7), (3, 8), (3, 9), (3, 10), (3, 11), (3, 12), (3, 13), (3, 14), (3, 15), (3, 16), (3, 17), (3, 18), (3, 19), (3, 20), (3, 21), (3, 22), (3, 23), (3, 24), (3, 25), (3, 26), (3, 27), (3, 28), (3, 29), (3, 30), (3, 31), (3, 32), (3, 33), (3, 34), (3, 35), (3, 36), (3, 37), (4, 5), (4, 6), (4, 7), (4, 8), (4, 9), (4, 10), (4, 11), (4, 12), (4, 13), (4, 14), (4, 15), (4, 16), (4, 17), (4, 18), (4, 19), (4, 20), (4, 21), (4, 22), (4, 23), (4, 24), (4, 25), (4, 26), (4, 27), (4, 28), (4, 29), (4, 30), (4, 31), (4, 32), (4, 33), (4, 34), (4, 35), (4, 36), (4, 37), (5, 6), (5, 7), (5, 8), (5, 9), (5, 10), (5, 11), (5, 12), (5, 13), (5, 14), (5, 15), (5, 16), (5, 17), (5, 18), (5, 19), (5, 20), (5, 21), (5, 22), (5, 23), (5, 24), (5, 25), (5, 26), (5, 27), (5, 28), (5, 29), (5, 30), (5, 31), (5, 32), (5, 33), (5, 34), (5, 35), (5, 36), (5, 37), (6, 7), (6, 8), (6, 9), (6, 10), (6, 11), (6, 12), (6, 13), (6, 14), (6, 15), (6, 16), (6, 17), (6, 18), (6, 19), (6, 20), (6, 21), (6, 22), (6, 23), (6, 24), (6, 25), (6, 26), (6, 27), (6, 28), (6, 29), (6, 30), (6, 31), (6, 32), (6, 33), (6, 34), (6, 35), (6, 36), (6, 37), (7, 8), (7, 9), (7, 10), (7, 11), (7, 12), (7, 13), (7, 14), (7, 15), (7, 16), (7, 17), (7, 18), (7, 19), (7, 20), (7, 21), (7, 22), (7, 23), (7, 24), (7, 25), 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     INFO| caliscope.calibration.stereocalibrator|  40|  ===========
     INFO| caliscope.calibration.stereocalibrator| 175|  Deleting previous stereocalibrations from config
     INFO| caliscope.calibration.stereocalibrator| 181|  Beginning stereocalibration of pairs [(1, 2), (1, 3), (1, 4), (1, 5), (1, 6), (1, 7), (1, 8), (1, 9), (1, 10), (1, 11), (1, 12), (1, 13), (1, 14), (1, 15), (1, 16), (1, 17), (1, 18), (1, 19), (1, 20), (1, 21), (1, 22), (1, 23), (1, 24), (1, 25), (1, 26), (1, 27), (1, 28), (1, 29), (1, 30), (1, 31), (1, 32), (1, 33), (1, 34), (1, 35), (1, 36), (1, 37), (2, 3), (2, 4), (2, 5), (2, 6), (2, 7), (2, 8), (2, 9), (2, 10), (2, 11), (2, 12), (2, 13), (2, 14), (2, 15), (2, 16), (2, 17), (2, 18), (2, 19), (2, 20), (2, 21), (2, 22), (2, 23), (2, 24), (2, 25), (2, 26), (2, 27), (2, 28), (2, 29), (2, 30), (2, 31), (2, 32), (2, 33), (2, 34), (2, 35), (2, 36), (2, 37), (3, 4), (3, 5), (3, 6), (3, 7), (3, 8), (3, 9), (3, 10), (3, 11), (3, 12), (3, 13), (3, 14), (3, 15), (3, 16), (3, 17), (3, 18), (3, 19), (3, 20), (3, 21), (3, 22), (3, 23), (3, 24), (3, 25), (3, 26), (3, 27), (3, 28), (3, 29), (3, 30), (3, 31), (3, 32), (3, 33), (3, 34), (3, 35), (3, 36), (3, 37), (4, 5), (4, 6), (4, 7), (4, 8), (4, 9), (4, 10), (4, 11), (4, 12), (4, 13), (4, 14), (4, 15), (4, 16), (4, 17), (4, 18), (4, 19), (4, 20), (4, 21), (4, 22), (4, 23), (4, 24), (4, 25), (4, 26), (4, 27), (4, 28), (4, 29), (4, 30), (4, 31), (4, 32), (4, 33), (4, 34), (4, 35), (4, 36), (4, 37), (5, 6), (5, 7), (5, 8), (5, 9), (5, 10), (5, 11), (5, 12), (5, 13), (5, 14), (5, 15), (5, 16), (5, 17), (5, 18), (5, 19), (5, 20), (5, 21), (5, 22), (5, 23), (5, 24), (5, 25), (5, 26), (5, 27), (5, 28), (5, 29), (5, 30), (5, 31), (5, 32), (5, 33), (5, 34), (5, 35), (5, 36), (5, 37), (6, 7), (6, 8), (6, 9), (6, 10), (6, 11), (6, 12), (6, 13), (6, 14), (6, 15), (6, 16), (6, 17), (6, 18), (6, 19), (6, 20), (6, 21), (6, 22), (6, 23), (6, 24), (6, 25), (6, 26), (6, 27), (6, 28), (6, 29), (6, 30), (6, 31), (6, 32), (6, 33), (6, 34), (6, 35), (6, 36), (6, 37), (7, 8), (7, 9), (7, 10), (7, 11), (7, 12), (7, 13), (7, 14), (7, 15), (7, 16), (7, 17), (7, 18), (7, 19), (7, 20), (7, 21), (7, 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30), (20, 31), (20, 32), (20, 33), (20, 34), (20, 35), (20, 36), (20, 37), (21, 22), (21, 23), (21, 24), (21, 25), (21, 26), (21, 27), (21, 28), (21, 29), (21, 30), (21, 31), (21, 32), (21, 33), (21, 34), (21, 35), (21, 36), (21, 37), (22, 23), (22, 24), (22, 25), (22, 26), (22, 27), (22, 28), (22, 29), (22, 30), (22, 31), (22, 32), (22, 33), (22, 34), (22, 35), (22, 36), (22, 37), (23, 24), (23, 25), (23, 26), (23, 27), (23, 28), (23, 29), (23, 30), (23, 31), (23, 32), (23, 33), (23, 34), (23, 35), (23, 36), (23, 37), (24, 25), (24, 26), (24, 27), (24, 28), (24, 29), (24, 30), (24, 31), (24, 32), (24, 33), (24, 34), (24, 35), (24, 36), (24, 37), (25, 26), (25, 27), (25, 28), (25, 29), (25, 30), (25, 31), (25, 32), (25, 33), (25, 34), (25, 35), (25, 36), (25, 37), (26, 27), (26, 28), (26, 29), (26, 30), (26, 31), (26, 32), (26, 33), (26, 34), (26, 35), (26, 36), (26, 37), (27, 28), (27, 29), (27, 30), (27, 31), (27, 32), (27, 33), (27, 34), (27, 35), (27, 36), (27, 37), (28, 29), (28, 30), (28, 31), (28, 32), (28, 33), (28, 34), (28, 35), (28, 36), (28, 37), (29, 30), (29, 31), (29, 32), (29, 33), (29, 34), (29, 35), (29, 36), (29, 37), (30, 31), (30, 32), (30, 33), (30, 34), (30, 35), (30, 36), (30, 37), (31, 32), (31, 33), (31, 34), (31, 35), (31, 36), (31, 37), (32, 33), (32, 34), (32, 35), (32, 36), (32, 37), (33, 34), (33, 35), (33, 36), (33, 37), (34, 35), (34, 36), (34, 37), (35, 36), (35, 37), (36, 37)]
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (1, 2) is 0.3834731163978869
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (1, 3) is 0.468575391907684
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (1, 4) is 0.4539241066193704
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (2, 3) is 0.480373480835887
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (2, 4) is 0.40950683160627926
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (2, 5) is 0.5712893808172145
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (2, 6) is 0.6115534087626558
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (3, 4) is 0.3202574315543886
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (3, 5) is 0.5198355576954804
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (3, 6) is 0.4790802165341642
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (3, 7) is 0.5844812816964506
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (3, 8) is 0.5927836431956309
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (4, 6) is 0.49705838477317027
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (4, 8) is 0.5407904319844318
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (5, 6) is 0.297349505260409
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (5, 7) is 0.44612069128660714
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (5, 8) is 0.3156979673668958
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (5, 9) is 0.5724974777043075
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (5, 10) is 0.5841917952682477
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (6, 8) is 0.5111523486950424
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (6, 10) is 0.5618267155520632
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (7, 8) is 0.29116279709526693
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (7, 9) is 0.6122964919447298
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (7, 10) is 0.3724838466716225
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (7, 11) is 1.4321489839332497
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (7, 12) is 0.6109183915914854
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (8, 10) is 0.501120400280756
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (9, 10) is 0.6208160379375287
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (9, 11) is 0.6438502142169936
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (9, 12) is 0.6196310123689908
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (9, 13) is 0.6510452527798588
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (10, 12) is 0.34593244375988536
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (10, 14) is 0.4793141687587849
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (11, 12) is 0.3346215520946444
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (11, 13) is 0.6581111085578051
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (11, 14) is 0.44302876499507066
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (11, 15) is 0.4362688847542012
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (11, 16) is 0.5756251298324359
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (12, 14) is 0.5044683246018108
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (13, 14) is 0.756085189239323
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (13, 15) is 0.6392830817212657
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (13, 16) is 0.7353196537011254
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (13, 18) is 0.6559649883195265
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (14, 16) is 0.3503183918848359
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (14, 18) is 0.48722954268588736
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (15, 16) is 0.35350079316741223
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (15, 17) is 0.45198733777618166
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (15, 18) is 0.465872337611753
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (15, 19) is 0.3646772018034109
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (15, 20) is 0.587088879325884
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (16, 18) is 1.1050766860206942
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (16, 20) is 0.5175962525812774
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (17, 18) is 0.3130927070072073
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (17, 19) is 0.519139736547308
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (17, 20) is 0.44304180730642617
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (17, 21) is 0.4992671045205035
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (17, 22) is 0.6236945792869126
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (18, 20) is 0.6065266371471659
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (18, 22) is 0.4691594492284345
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (19, 20) is 0.3391485747378436
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (19, 21) is 0.5409750286372613
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (19, 22) is 0.5899432271044057
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (19, 24) is 0.6704696914950629
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (20, 22) is 0.5577277787872686
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (20, 24) is 0.4976825572450096
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (21, 22) is 0.35017539636737727
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (21, 23) is 0.5408127028972346
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (21, 24) is 0.6114214925191904
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (21, 26) is 0.5496280687345478
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (22, 24) is 0.5813454345862674
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (22, 26) is 0.5367141870467868
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (23, 24) is 0.3533324569798708
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (23, 25) is 0.5607053414171255
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (23, 26) is 0.5010560513709325
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (23, 27) is 0.5338724595761879
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (24, 26) is 0.4627276113444766
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (24, 28) is 0.4651694845512091
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (25, 26) is 0.33473048202956857
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (25, 27) is 0.42090642074496576
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (25, 28) is 0.47352996800608066
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (25, 29) is 0.45620247570305
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (26, 28) is 0.3491085219220638
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (26, 29) is 0.4333851660601871
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (27, 28) is 0.3504327195831563
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (27, 29) is 0.48918862342407726
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (27, 30) is 0.3098408730191383
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (27, 32) is 0.5087910158657376
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (28, 29) is 0.5023652482203627
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (28, 30) is 0.20647119570646488
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (28, 31) is 0.5250411428921653
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (28, 32) is 0.42741079180714703
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (28, 33) is 0.587594626845388
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 30) is 0.2949118141075557
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 31) is 0.45243559573367353
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 32) is 0.4792362703815572
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 33) is 0.5635110045786764
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 34) is 0.6177000171979259
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 35) is 0.7629986145978056
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (29, 37) is 0.5581054734510169
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (30, 31) is 0.4158322888725523
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (30, 32) is 0.44761881460725456
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (30, 33) is 0.5556663292747397
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (30, 34) is 0.5979531621041149
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (30, 35) is 0.7007808782631756
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (31, 32) is 0.4875847451727319
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (31, 33) is 0.489061722237619
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (31, 34) is 0.6030144617985943
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (31, 35) is 0.7418783041387548
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (31, 37) is 0.574684407370006
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (32, 33) is 0.5609784105285308
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (32, 34) is 0.5965179528892567
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (32, 35) is 0.7002231744110742
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (32, 36) is 0.6083670135423717
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (32, 37) is 0.7573587975111771
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (33, 34) is 0.6265164638084046
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (33, 35) is 0.6821001310130346
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (33, 36) is 0.5971330732573255
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (33, 37) is 0.6877906339853005
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (34, 35) is 0.6704303213326577
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (34, 36) is 0.8064957439915409
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (34, 37) is 0.6272341926166753
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (35, 36) is 0.5253553004520529
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (35, 37) is 0.5131014791629119
     INFO| caliscope.calibration.stereocalibrator| 249|  RMSE of reprojection for pair (36, 37) is 0.5789292836847937
     INFO| caliscope.calibration.stereocalibrator| 199|  Direct stereocalibration complete for all pairs for which data is available
     INFO| caliscope.cameras.camera_array_initializer|  99|  Creating initial estimate of camera array based on stereopairs...
     INFO| caliscope.cameras.camera_array_initializer| 160|  Missing stereopairs: [(1, 5), (1, 6), (1, 7), (1, 8), (1, 9), (1, 10), (1, 11), (1, 12), (1, 13), (1, 14), (1, 15), (1, 16), (1, 17), (1, 18), (1, 19), (1, 20), (1, 21), (1, 22), (1, 23), (1, 24), (1, 25), (1, 26), (1, 27), (1, 28), (1, 29), (1, 30), (1, 31), (1, 32), (1, 33), (1, 34), (1, 35), (1, 36), (1, 37), (2, 7), (2, 8), (2, 9), (2, 10), (2, 11), (2, 12), (2, 13), (2, 14), (2, 15), (2, 16), (2, 17), (2, 18), (2, 19), (2, 20), (2, 21), (2, 22), (2, 23), (2, 24), (2, 25), (2, 26), (2, 27), (2, 28), (2, 29), (2, 30), (2, 31), (2, 32), (2, 33), (2, 34), (2, 35), (2, 36), (2, 37), (3, 9), (3, 10), (3, 11), (3, 12), (3, 13), (3, 14), (3, 15), (3, 16), (3, 17), (3, 18), (3, 19), (3, 20), (3, 21), (3, 22), (3, 23), (3, 24), (3, 25), (3, 26), (3, 27), (3, 28), (3, 29), (3, 30), (3, 31), (3, 32), (3, 33), (3, 34), (3, 35), (3, 36), (3, 37), (4, 5), (4, 7), (4, 9), (4, 10), (4, 11), (4, 12), (4, 13), (4, 14), (4, 15), (4, 16), (4, 17), (4, 18), (4, 19), (4, 20), (4, 21), (4, 22), (4, 23), (4, 24), (4, 25), (4, 26), (4, 27), (4, 28), (4, 29), (4, 30), (4, 31), (4, 32), (4, 33), (4, 34), (4, 35), (4, 36), (4, 37), (5, 1), (5, 4), (5, 11), (5, 12), (5, 13), (5, 14), (5, 15), (5, 16), (5, 17), (5, 18), (5, 19), (5, 20), (5, 21), (5, 22), (5, 23), (5, 24), (5, 25), (5, 26), (5, 27), (5, 28), (5, 29), (5, 30), (5, 31), (5, 32), (5, 33), (5, 34), (5, 35), (5, 36), (5, 37), (6, 1), (6, 7), (6, 9), (6, 11), (6, 12), (6, 13), (6, 14), (6, 15), (6, 16), (6, 17), (6, 18), (6, 19), (6, 20), (6, 21), (6, 22), (6, 23), (6, 24), (6, 25), (6, 26), (6, 27), (6, 28), (6, 29), (6, 30), (6, 31), (6, 32), (6, 33), (6, 34), (6, 35), (6, 36), (6, 37), (7, 1), (7, 2), (7, 4), (7, 6), (7, 13), (7, 14), (7, 15), (7, 16), (7, 17), (7, 18), (7, 19), (7, 20), (7, 21), (7, 22), (7, 23), (7, 24), (7, 25), (7, 26), (7, 27), (7, 28), (7, 29), (7, 30), (7, 31), (7, 32), (7, 33), (7, 34), (7, 35), (7, 36), (7, 37), (8, 1), (8, 2), (8, 9), (8, 11), (8, 12), (8, 13), (8, 14), (8, 15), (8, 16), (8, 17), (8, 18), (8, 19), (8, 20), (8, 21), (8, 22), (8, 23), (8, 24), (8, 25), (8, 26), (8, 27), (8, 28), (8, 29), (8, 30), (8, 31), (8, 32), (8, 33), (8, 34), (8, 35), (8, 36), (8, 37), (9, 1), (9, 2), (9, 3), (9, 4), (9, 6), (9, 8), (9, 14), (9, 15), (9, 16), (9, 17), (9, 18), (9, 19), (9, 20), (9, 21), (9, 22), (9, 23), (9, 24), (9, 25), (9, 26), (9, 27), (9, 28), (9, 29), (9, 30), (9, 31), (9, 32), (9, 33), (9, 34), (9, 35), (9, 36), (9, 37), (10, 1), (10, 2), (10, 3), (10, 4), (10, 11), (10, 13), (10, 15), (10, 16), (10, 17), (10, 18), (10, 19), (10, 20), (10, 21), (10, 22), (10, 23), (10, 24), (10, 25), (10, 26), (10, 27), (10, 28), (10, 29), (10, 30), (10, 31), (10, 32), (10, 33), (10, 34), (10, 35), (10, 36), (10, 37), (11, 1), (11, 2), (11, 3), (11, 4), (11, 5), (11, 6), (11, 8), (11, 10), (11, 17), (11, 18), (11, 19), (11, 20), (11, 21), (11, 22), (11, 23), (11, 24), (11, 25), (11, 26), (11, 27), (11, 28), (11, 29), (11, 30), (11, 31), (11, 32), (11, 33), (11, 34), (11, 35), (11, 36), (11, 37), (12, 1), (12, 2), (12, 3), (12, 4), (12, 5), (12, 6), (12, 8), (12, 13), (12, 15), (12, 16), (12, 17), (12, 18), (12, 19), (12, 20), (12, 21), (12, 22), (12, 23), (12, 24), (12, 25), (12, 26), (12, 27), (12, 28), (12, 29), (12, 30), (12, 31), (12, 32), (12, 33), (12, 34), (12, 35), (12, 36), (12, 37), (13, 1), (13, 2), (13, 3), (13, 4), (13, 5), (13, 6), (13, 7), (13, 8), (13, 10), (13, 12), (13, 17), (13, 19), (13, 20), (13, 21), (13, 22), (13, 23), (13, 24), (13, 25), (13, 26), (13, 27), (13, 28), (13, 29), (13, 30), (13, 31), (13, 32), (13, 33), (13, 34), (13, 35), (13, 36), (13, 37), (14, 1), (14, 2), (14, 3), (14, 4), (14, 5), (14, 6), (14, 7), (14, 8), (14, 9), (14, 15), (14, 17), (14, 19), (14, 20), (14, 21), (14, 22), (14, 23), (14, 24), (14, 25), (14, 26), (14, 27), (14, 28), (14, 29), (14, 30), (14, 31), (14, 32), (14, 33), (14, 34), (14, 35), (14, 36), (14, 37), (15, 1), (15, 2), (15, 3), (15, 4), (15, 5), (15, 6), (15, 7), (15, 8), (15, 9), (15, 10), (15, 12), (15, 14), (15, 21), (15, 22), (15, 23), (15, 24), (15, 25), (15, 26), (15, 27), (15, 28), (15, 29), (15, 30), (15, 31), (15, 32), (15, 33), (15, 34), (15, 35), (15, 36), (15, 37), (16, 1), (16, 2), (16, 3), (16, 4), (16, 5), (16, 6), (16, 7), (16, 8), (16, 9), (16, 10), (16, 12), (16, 17), (16, 19), (16, 21), (16, 22), (16, 23), (16, 24), (16, 25), (16, 26), (16, 27), (16, 28), (16, 29), (16, 30), (16, 31), (16, 32), (16, 33), (16, 34), (16, 35), (16, 36), (16, 37), (17, 1), (17, 2), (17, 3), (17, 4), (17, 5), (17, 6), (17, 7), (17, 8), (17, 9), (17, 10), (17, 11), (17, 12), (17, 13), (17, 14), (17, 16), (17, 23), (17, 24), (17, 25), (17, 26), (17, 27), (17, 28), (17, 29), (17, 30), (17, 31), (17, 32), (17, 33), (17, 34), (17, 35), (17, 36), (17, 37), (18, 1), (18, 2), (18, 3), (18, 4), (18, 5), (18, 6), (18, 7), (18, 8), (18, 9), (18, 10), (18, 11), (18, 12), (18, 19), (18, 21), (18, 23), (18, 24), (18, 25), (18, 26), (18, 27), (18, 28), (18, 29), (18, 30), (18, 31), (18, 32), (18, 33), (18, 34), (18, 35), (18, 36), (18, 37), (19, 1), (19, 2), (19, 3), (19, 4), (19, 5), (19, 6), (19, 7), (19, 8), (19, 9), (19, 10), (19, 11), (19, 12), (19, 13), (19, 14), (19, 16), (19, 18), (19, 23), (19, 25), (19, 26), (19, 27), (19, 28), (19, 29), (19, 30), (19, 31), (19, 32), (19, 33), (19, 34), (19, 35), (19, 36), (19, 37), (20, 1), (20, 2), (20, 3), (20, 4), (20, 5), (20, 6), (20, 7), (20, 8), (20, 9), (20, 10), (20, 11), (20, 12), (20, 13), (20, 14), (20, 21), (20, 23), (20, 25), (20, 26), (20, 27), (20, 28), (20, 29), (20, 30), (20, 31), (20, 32), (20, 33), (20, 34), (20, 35), (20, 36), (20, 37), (21, 1), (21, 2), (21, 3), (21, 4), (21, 5), (21, 6), (21, 7), (21, 8), (21, 9), (21, 10), (21, 11), (21, 12), (21, 13), (21, 14), (21, 15), (21, 16), (21, 18), (21, 20), (21, 25), (21, 27), (21, 28), (21, 29), (21, 30), (21, 31), (21, 32), (21, 33), (21, 34), (21, 35), (21, 36), (21, 37), (22, 1), (22, 2), (22, 3), 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     INFO| caliscope.calibration.capture_volume.helper_functions.get_point_estimates|  83|  Creating point history object based on camera_array and stereotriangulated_table
     INFO| caliscope.calibration.capture_volume.helper_functions.get_stereotriangulated_table|  24|  Beginning to create stereotriangulated points from data stored at C:\Github\00.caliscope\tests\fm_copy_delete\20241029\calibration\extrinsic\CHARUCO\xy_CHARUCO.csv
     INFO| caliscope.calibration.capture_volume.helper_functions.get_stereotriangulated_table|  40|  Begin reconstructing SyncPackets and SynchedStereoPairs... 
     INFO| caliscope.calibration.capture_volume.helper_functions.get_stereotriangulated_table| 102|  Returning dataframe of stereotriangulated points to caller
     INFO|                       __main__| 105|  Prior to bundle adjustment, RMSE error is {'overall': 1.2872265016230841e+34, '1': 4.592596222057433, '2': 7.4059870352805595, '3': 18.176376563780593, '4': 12.331026975887422, '5': 8.045179663087476, '6': 6.783000635019229, '7': 14.31249776014564, '8': 7.488848710427303, '9': 40.52667552597185, '10': 21.129213430431967, '11': 27.238511307268496, '12': 32.92585298272786, '13': 34.9096906995757, '14': 47.39860859821119, '15': 19.273117603261916, '16': 17.62435999045657, '17': 6.5233491547947375, '18': 11.06519619229299, '19': 10.684585872356843, '20': 6.186063287233865, '21': 0.8712941282115222, '22': 1.2995007052551568, '23': 2.190765623129243, '24': 1.0050985115896176, '25': 2.7525560789473698, '26': 2.1816608683454666, '27': 117.882230154298, '28': 27.74448877118457, '29': 664081629009528.9, '30': 7.992462608730767e+18, '31': 126642843.10785814, '32': 3.664135262163153e+19, '33': 2.2658435760784084e+20, '34': 7.648928942889964e+19, '35': 6.611689625110194e+34, '36': 6.643108688369098e+23, '37': 762926939926040.0}
     INFO| caliscope.calibration.capture_volume.capture_volume|  92|  Beginning bundle adjustment to calculated stage 1
     INFO| caliscope.calibration.capture_volume.capture_volume| 110|  Following bundle adjustment (stage 1), RMSE is: 5.225132878012971e+25
     INFO|                       __main__| 110|  Filtering out worse fitting 2.5 % of points
     INFO|                       __main__| 112|  Re-optimizing with filtered data set
     INFO| caliscope.calibration.capture_volume.capture_volume|  92|  Beginning bundle adjustment to calculated stage 2
     INFO| caliscope.calibration.capture_volume.capture_volume| 110|  Following bundle adjustment (stage 2), RMSE is: 337.69850592993237
     INFO|         caliscope.configurator| 264|  Saving camera array....
     INFO|         caliscope.configurator| 317|  Saving point estimates to toml...
     INFO|                       __main__| 121|  Asserting that RMSE decreased with optimization at overall...
     INFO|                       __main__| 121|  Asserting that RMSE decreased with optimization at 1...

[wanghlsara]

In order to increase the number of iterations of optimization, I used following code in test_calibration.py

 quality_controller = QualityController(capture_volume, charuco)
    for _ in range(5):
        logger.info("Filtering out worst fitting point estimates")
        quality_controller.filter_point_estimates(0.25)
        quality_controller.capture_volume.optimize()

and got python exception:

File "C:\WORK\caliscope-main\tests\test_calibration.py", line 140, in test_post_monocalibration
   quality_controller.capture_volume.optimize()
 File "C:\WORK\caliscope-main\caliscope\calibration\capture_volume\capture_volume.py", line 93, in optimize
   self.least_sq_result = least_squares(
 File "C:\Github\00.caliscope\.venv\lib\site-packages\scipy\optimize\_lsq\least_squares.py", line 832, in least_squares
   f0 = fun_wrapped(x0)
 File "C:\Github\00.caliscope\.venv\lib\site-packages\scipy\optimize\_lsq\least_squares.py", line 830, in fun_wrapped
   return np.atleast_1d(fun(x, *args, **kwargs))
 File "C:\WORK\caliscope-main\caliscope\calibration\capture_volume\capture_volume.py", line 162, in xy_reprojection_error
   points_3d = current_param_estimates[capture_volume.point_estimates.n_cameras * CAMERA_PARAM_COUNT:].reshape((capture_volume.point_estimates.n_obj_points, 3)
   )
ValueError: cannot reshape array of size 93213 into shape (31065,3)

I've found that after each iteration of optimization, the capture_volume.point_estimates.n_cameras may become smaller. If I write it as a magic number (equal to the number of videos) in the code, Exception won't happen again.

But it doesn't seem to make sense to modify like this..... So,Looking forward to your suggestions.

[mprib]

Those RMSE are quite large. I will say that as I try to wrap my head around what you are doing I am quite curious about what the actual setup of this is. You have 37 cameras lining a hallway. How are they configured to record synchronized frames?

[mprib]

Just tacking on to this to record some thoughts.... my expectation is that the whole camera array is kinda weakly joined together in the sense that you have many stereopairs that just don't have common views. And you have many common views where they are only linked at the edge of the view where distortion has the greatest impact, and you have lots of disparity in distance to the camera such that you are combining near and far viewpoints which I think would create an interesting tension between trying to minimize the pixel distance error while guessing at the 3D location.

It would take me some time to really get back into the depths of the bundle adjustment and how points are filtered out. I think that what is happening is that you have so many high error 2D points in the bundle adjustment that when they get filtered out they are losing complete points in the 3D point estimates. This is something that is driven by the extremes mentioned in the paragraph above. A resolvable issue, but I'd at least need access to your intermediate data (config.toml and charuco_xy) and it would take some time.

1. What are the camera resolutions?
2. What is the size and configuration of the board?
3. I don't mean to pry, but just out of curiosity, what domain is this in?

As another shot in the dark, the lines of code I'd suggested you remove in #659 are there to allow use of a double sided board sandwiched between glass with a mirror image board printed on the back. I'd originally created that for the specific use case of cameras that are mounted far from each other on either end of a hallway. It would allow more links between cameras that otherwise couldn't be linked because they can't face the same surface of the board at the same time. So you could try creating one of these mirror boards, uncommenting that code, and running the frame rate at something much less (I feel like 5 fps would be a good starting point).

[wanghlsara]

Those RMSE are quite large. I will say that as I try to wrap my head around what you are doing I am quite curious about what the actual setup of this is. You have 37 cameras lining a hallway. How are they configured to record synchronized frames?

I recorded videos using some industrial cameras with hardware-level frame synchronization capabilities

[wanghlsara]

1.What are the camera resolutions?
1440x1080

2.What is the size and configuration of the board?
[charuco]
columns = 4
rows = 3
board_height = 35.43
board_width = 44.88
dictionary = "DICT_4X4_100"
units = "inch"
aruco_scale = 0.75
square_size_overide_cm = 26.6
inverted = false
legacy_pattern = false

3.I don't mean to pry, but just out of curiosity, what domain is this in?
sports analysis

A resolvable issue, but I'd at least need access to your intermediate data (config.toml and charuco_xy) and it would take some time.

Attachments are the data files, Thanks for your assistance!
testdata.zip

※ In addition, in order to get the port pair (8, 10) from xy_charuco.xy, I changed this line
self.pairs = [(i, j) for i, j in combinations(self.ports, 2) if i < j]
to

     self.ports.sort()
     self.pairs = list(combinations(self.ports, 2))