There is no defined intrinsic data in order to compute an essential matrix for the initial pair

[zjbaby]

I build openMVG and openMVS in ubuntu successfully, and then I use the images and MvgMvs_Pipeline.py script in openMVS_sample to test reconstruction. However, I can't get right results as the openMVS_sample provided. I encournter an error when execute the "openMVG_main_IncrementalSfM": There is no defined intrinsic data in order to compute an essential matrix for the initial pair.
Why? And what I should do to get the right results?

My operation and run log is as follows:
root@5fb8fe3efd24:/home/openMVS_sample/test# python ../MvgMvs_Pipeline.py ../images/ ./

Using input dir : /home/openMVS_sample/images

output_dir : /home/openMVS_sample/test

First step : 0

Last step : 11

#0. Intrinsics analysis
You called :
/home/openMVG/build/install/bin/openMVG_main_SfMInit_ImageListing
--imageDirectory /home/openMVS_sample/images
--sensorWidthDatabase /home/openMVS_sample/sensor_width_camera_database.txt
--outputDirectory /home/openMVS_sample/test/matches
--focal -1
--intrinsics
--camera_model 3
--group_camera_model 1

• Image listing -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

SfMInit_ImageListing report:
listed #File(s): 11
usable #File(s) listed in sfm_data: 11
usable #Intrinsic(s) listed in sfm_data: 0
#1. Compute features
You called :
/home/openMVG/build/install/bin/openMVG_main_ComputeFeatures
--input_file /home/openMVS_sample/test/matches/sfm_data.json
--outdir /home/openMVS_sample/test/matches
--describerMethod SIFT
--upright 0
--describerPreset NORMAL
--force 0
--numThreads 4

• EXTRACT FEATURES -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

Task done in (s): 5
#2. Compute matches
You called :
/home/openMVG/build/install/bin/openMVG_main_ComputeMatches
--input_file /home/openMVS_sample/test/matches/sfm_data.json
--out_dir /home/openMVS_sample/test/matches
Optional parameters:
--force 0
--ratio 0.8
--geometric_model f
--video_mode_matching -1
--pair_list
--nearest_matching_method AUTO
--guided_matching 0
--cache_size unlimited

• Regions Loading -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

• PUTATIVE MATCHES -
  Use: exhaustive pairwise matching
  Using FAST_CASCADE_HASHING_L2 matcher
  Using the OPENMP thread interface

• Matching -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

Task (Regions Matching) done in (s): 0

• Geometric filtering -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

Task done in (s): 0

Export Adjacency Matrix of the pairwise's geometric matches
#3. Incremental reconstruction
Sequential/Incremental reconstruction
Perform incremental SfM (Initial Pair Essential + Resection).

• Features Loading -
  0% 10 20 30 40 50 60 70 80 90 100%
  |----|----|----|----|----|----|----|----|----|----|

---

Track building

Track filtering

Track export to internal struct

Track stats

-- Tracks Stats --
Tracks number: 6256
Images Id:
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,

TrackLength, Occurrence
2 3019
3 1202
4 644
5 438
6 276
7 253
8 196
9 143
10 79
11 6

There is no defined intrinsic data in order to compute an essential matrix for the initial pair.
#4. Colorize Structure

The input SfM_Data file "/home/openMVS_sample/test/reconstruction_sequential/sfm_data.bin" cannot be read.
#5. Structure from Known Poses
Compute Structure from the provided poses

The input SfM_Data file "/home/openMVS_sample/test/reconstruction_sequential/sfm_data.bin" cannot be read.
#6. Colorized robust triangulation

The input SfM_Data file "/home/openMVS_sample/test/reconstruction_sequential/robust.bin" cannot be read.
#7. Export to openMVS

The input SfM_Data file "/home/openMVS_sample/test/reconstruction_sequential/sfm_data.bin" cannot be read.
#8. Densify point cloud
18:05:41 [App ] Build date: Jun 20 2019, 17:39:48
18:05:41 [App ] CPU: Intel(R) Core(TM) i5-8300H CPU @ 2.30GHz (8 cores)
18:05:41 [App ] RAM: 15.53GB Physical Memory 14.90GB Virtual Memory
18:05:41 [App ] OS: Linux 4.15.0-20-generic (x86_64)
18:05:41 [App ] SSE & AVX compatible CPU & OS detected
18:05:41 [App ] Command line: scene.mvs -w /home/openMVS_sample/test/mvs
terminate called after throwing an instance of 'std::length_error'
what(): basic_string::_M_create
#9. Reconstruct the mesh
18:05:41 [App ] Build date: Jun 20 2019, 17:39:48
18:05:41 [App ] CPU: Intel(R) Core(TM) i5-8300H CPU @ 2.30GHz (8 cores)
18:05:41 [App ] RAM: 15.53GB Physical Memory 14.90GB Virtual Memory
18:05:41 [App ] OS: Linux 4.15.0-20-generic (x86_64)
18:05:41 [App ] SSE & AVX compatible CPU & OS detected
18:05:41 [App ] Command line: scene_dense.mvs -w /home/openMVS_sample/test/mvs
18:05:41 [App ] MapSMtoCores for SM 6.1 is undefined; default to use 128 cores/SM
18:05:41 [App ] CUDA device 0 initialized: Quadro P600 (compute capability 6.1; memory 3.95GB)
#10. Refine the mesh
18:05:41 [App ] Build date: Jun 20 2019, 17:39:48
18:05:41 [App ] CPU: Intel(R) Core(TM) i5-8300H CPU @ 2.30GHz (8 cores)
18:05:41 [App ] RAM: 15.53GB Physical Memory 14.90GB Virtual Memory
18:05:41 [App ] OS: Linux 4.15.0-20-generic (x86_64)
18:05:41 [App ] SSE & AVX compatible CPU & OS detected
18:05:41 [App ] Command line: scene_dense_mesh.mvs -w /home/openMVS_sample/test/mvs
18:05:41 [App ] MapSMtoCores for SM 6.1 is undefined; default to use 128 cores/SM
18:05:41 [App ] CUDA device 0 initialized: Quadro P600 (compute capability 6.1; memory 3.95GB)
#11. Texture the mesh
18:05:41 [App ] Build date: Jun 20 2019, 17:39:48
18:05:41 [App ] CPU: Intel(R) Core(TM) i5-8300H CPU @ 2.30GHz (8 cores)
18:05:41 [App ] RAM: 15.53GB Physical Memory 14.90GB Virtual Memory
18:05:41 [App ] OS: Linux 4.15.0-20-generic (x86_64)
18:05:41 [App ] SSE & AVX compatible CPU & OS detected
18:05:41 [App ] Command line: scene_dense_mesh_refine.mvs -w /home/openMVS_sample/test/mvs
18:05:41 [App ] MapSMtoCores for SM 6.1 is undefined; default to use 128 cores/SM
18:05:41 [App ] CUDA device 0 initialized: Quadro P600 (compute capability 6.1; memory 3.95GB)

[cdcseacave]

The sample is to prove the OpenMVS pipeline, not to be used with OpenMVG, and so only the undistorted images and scene.mvs files are needed as input. You are free to obtain them in any way you like, for example using OpenMVG on the original images, prior to using OpenMVS.