Terminating: Number of consecutive invalid steps more than Solver::Options::max_num_consecutive_invalid_steps: 5

[abrahamezzeddine]

Hello,

I am having issues with the GLOMAP reconstruction. Using around 3400 images to generate the feature extraction / matching with COLMAP using version 3.11. But I am however getting this error below. When I open the sparse model with COLMAP, I see a cuboid set of cameras and no points at all. Using the pre-compiled binary provided in the repo since I am on Windows.

-------------------------------------
I20250220 23:16:11.008631  4768 image_undistorter.cc:17] Undistorting images..
I20250220 23:16:11.008932  4768 image_undistorter.cc:37] Image undistortion done
I20250220 23:16:11.009490  4768 global_positioning.cc:43] Setting up the global positioner problem
I20250220 23:16:15.888592  4768 global_positioning.cc:68] Solving the global positioner problem
W20250220 23:16:36.067329  4768 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
W20250220 23:16:37.420785  4768 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
W20250220 23:16:38.782246  4768 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
W20250220 23:16:40.153092  4768 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
W20250220 23:16:41.522473  4768 levenberg_marquardt_strategy.cc:115] Linear solver failure. Failed to compute a step: CHOLMOD warning: Matrix not positive definite.
E20250220 23:16:41.522863  4768 trust_region_minimizer.cc:95] Terminating: Number of consecutive invalid steps more than Solver::Options::max_num_consecutive_invalid_steps: 5
I20250220 23:16:42.595995  4768 global_positioning.cc:77] Ceres Solver Report: Iterations: 5, Initial cost: 1.004838e+07, Final cost: 1.004838e+07, Termination: FAILURE
I20250220 23:16:44.870268  4768 global_mapper.cc:86] Reconstruction done in 350.609 seconds
I20250220 23:16:45.366642  4768 colmap_io.cc:27] Extracting colors ...
I20250220 23:17:25.553694  4768 global_mapper.cc:91] Export to COLMAP reconstruction done

I am using a script to add the parameters as follow based on standard values (used parameter, original parameter).

            "constraint_type": ("ONLY_POINTS", "ONLY_POINTS"),
            "output_format": ("bin", "bin"),
            "ba_iteration_num": (3, 3),
            "retriangulation_iteration_num": (1, 1),
            "skip_preprocessing": (0, 0), 
            "skip_view_graph_calibration": (0, 0),
            "skip_relative_pose_estimation": (0, 0),
            "skip_rotation_averaging": (0, 0), 
            "skip_global_positioning": (0, 0), 
            "skip_bundle_adjustment": (0, 0), 
            "skip_retriangulation": (0, 0),
            "skip_pruning": (1, 1), 
            "ViewGraphCalib.thres_lower_ratio": (0.1, 0.1), 
            "ViewGraphCalib.thres_higher_ratio": (10, 10),  
            "ViewGraphCalib.thres_two_view_error": (2, 2),  
            "RelPoseEstimation.max_epipolar_error": (1, 1),  
            "TrackEstablishment.min_num_tracks_per_view": (-1, -1),  
            "TrackEstablishment.min_num_view_per_track": (3, 3),
            "TrackEstablishment.max_num_view_per_track": (100, 100),
            "TrackEstablishment.max_num_tracks": (10000000, 10000000),
            "GlobalPositioning.optimize_positions": (1, 1),  
            "GlobalPositioning.optimize_points": (1, 1),  
            "GlobalPositioning.optimize_scales": (1, 1),  
            "GlobalPositioning.thres_loss_function": (0.1, 0.1),  
            "GlobalPositioning.max_num_iterations": (100, 100), 
            "BundleAdjustment.optimize_rotations": (1, 1), 
            "BundleAdjustment.optimize_translation": (1, 1), 
            "BundleAdjustment.optimize_intrinsics": (1, 1),  
            "BundleAdjustment.optimize_points": (1, 1),  
            "BundleAdjustment.thres_loss_function": (1, 1),  t
            "BundleAdjustment.max_num_iterations": (200, 200),  
            "Triangulation.complete_max_reproj_error": (15, 15),  
            "Triangulation.merge_max_reproj_error": (15, 15), 
            "Triangulation.min_angle": (1, 1),  
            "Triangulation.min_num_matches": (15, 15),  
            "Thresholds.max_epipolar_error_E": (1, 1), 
            "Thresholds.max_epipolar_error_F": (4, 4), 
            "Thresholds.max_epipolar_error_H": (4, 4), 
            "Thresholds.min_inlier_num": (30, 30),  
            "Thresholds.min_inlier_ratio": (0.25, 0.25),  
            "Thresholds.max_rotation_error": (10, 10),