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Structure From Motion Log

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Aug 20th, 2021
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  1. Program called with the following parameters:
  2. * describerTypes = "sift"
  3. * extraInfoFolder = "d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/StructureFromMotion/ad7b4227618430d0ed74c03e0e2505a8daed2950"
  4. * featuresFolders = = [d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/FeatureExtraction/5a319fb0dbc99b187466d3cc170a2eb24384e5a2]
  5. * filterTrackForks = 0
  6. * initialPairA = ""
  7. * initialPairB = ""
  8. * input = "d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/CameraInit/be47d0262b349dbb1493da8c6f4fe0f66d5aa3f8/cameraInit.sfm"
  9. * interFileExtension = ".abc"
  10. * localBAGraphDistance = 1
  11. * localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
  12. * localizerEstimatorError = 0
  13. * localizerEstimatorMaxIterations = 4096
  14. * lockAllIntrinsics = 0
  15. * lockScenePreviouslyReconstructed = 0
  16. * matchesFolders = = [d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/FeatureMatching/4a5c1ab9ee0cad1ec23660961965f833a286da29]
  17. * maxAngleInitialPair = 40
  18. * maxNumberOfMatches = 0
  19. * maxReprojectionError = 4
  20. * minAngleForLandmark = 2
  21. * minAngleForTriangulation = 3
  22. * minAngleInitialPair = 5
  23. * minInputTrackLength = 2
  24. * minNumberOfMatches = 0
  25. * minNumberOfObservationsForTriangulation = 2
  26. * observationConstraint = Unknown Type "enum aliceVision::sfm::EFeatureConstraint"
  27. * output = "d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/StructureFromMotion/ad7b4227618430d0ed74c03e0e2505a8daed2950/sfm.abc"
  28. * outputViewsAndPoses = "d:/Projects/Photogrammetry/REMOVED FOR PRIVACY/MeshroomCache/StructureFromMotion/ad7b4227618430d0ed74c03e0e2505a8daed2950/cameras.sfm"
  29. * randomSeed = 5489 (default)
  30. * useLocalBA = 1
  31. * useOnlyMatchesFromInputFolder = 0
  32. * useRigConstraint = 1
  33. * verboseLevel = "info"
  34.  
  35. Loading features
  36. 0% 10 20 30 40 50 60 70 80 90 100%
  37. |----|----|----|----|----|----|----|----|----|----|
  38. [18:07:47.074590][info] Supported CUDA-Enabled GPU detected.
  39. ***************************************************
  40. [18:11:07.921938][info] Fuse matches into tracks:
  41. - # tracks: 1128593
  42. - # images in tracks: 383
  43. [18:11:07.962409][info] TrackLength, Occurrence
  44. [18:11:07.962409][info] 2 685512
  45. [18:11:07.962409][info] 3 184079
  46. [18:11:07.962409][info] 4 79380
  47. [18:11:07.962409][info] 5 42385
  48. [18:11:07.962409][info] 6 26135
  49. [18:11:07.962409][info] 7 17397
  50. [18:11:07.962409][info] 8 12654
  51. [18:11:07.962409][info] 9 9572
  52. [18:11:07.962409][info] 10 7269
  53. [18:11:07.962409][info] 11 5906
  54. [18:11:07.962409][info] 12 4950
  55. [18:11:07.962409][info] 13 4042
  56. [18:11:07.962409][info] 14 3381
  57. [18:11:07.962409][info] 15 2927
  58. [18:11:07.962409][info] 16 2542
  59. [18:11:07.962409][info] 17 2293
  60. [18:11:07.962409][info] 18 1988
  61. [18:11:07.962409][info] 19 1823
  62. [18:11:07.962409][info] 20 1632
  63. [18:11:07.962409][info] 21 1498
  64. [18:11:07.962409][info] 22 1393
  65. [18:11:07.962409][info] 23 1260
  66. [18:11:07.962409][info] 24 1142
  67. [18:11:07.962409][info] 25 1048
  68. [18:11:07.962409][info] 26 1014
  69. [18:11:07.962409][info] 27 977
  70. [18:11:07.962409][info] 28 884
  71. [18:11:07.962409][info] 29 861
  72. [18:11:07.962409][info] 30 781
  73. [18:11:07.962409][info] 31 705
  74. [18:11:07.962409][info] 32 743
  75. [18:11:07.962409][info] 33 694
  76. [18:11:07.962409][info] 34 650
  77. [18:11:07.962409][info] 35 613
  78. [18:11:07.962409][info] 36 602
  79. [18:11:07.962409][info] 37 529
  80. [18:11:07.962409][info] 38 498
  81. [18:11:07.962409][info] 39 486
  82. [18:11:07.962409][info] 40 498
  83. [18:11:07.962409][info] 41 461
  84. [18:11:07.963402][info] 42 413
  85. [18:11:07.963402][info] 43 395
  86. [18:11:07.963402][info] 44 404
  87. [18:11:07.963402][info] 45 395
  88. [18:11:07.963402][info] 46 349
  89. [18:11:07.963402][info] 47 347
  90. [18:11:07.963402][info] 48 338
  91. [18:11:07.963402][info] 49 357
  92. [18:11:07.963402][info] 50 306
  93. [18:11:07.963402][info] 51 330
  94. [18:11:07.963402][info] 52 272
  95. [18:11:07.963402][info] 53 271
  96. [18:11:07.963402][info] 54 282
  97. [18:11:07.963402][info] 55 261
  98. [18:11:07.963402][info] 56 253
  99. [18:11:07.963402][info] 57 253
  100. [18:11:07.963402][info] 58 239
  101. [18:11:07.963402][info] 59 226
  102. [18:11:07.963402][info] 60 225
  103. [18:11:07.963402][info] 61 212
  104. [18:11:07.963402][info] 62 194
  105. [18:11:07.963402][info] 63 212
  106. [18:11:07.963402][info] 64 197
  107. [18:11:07.963402][info] 65 218
  108. [18:11:07.963402][info] 66 190
  109. [18:11:07.963402][info] 67 185
  110. [18:11:07.963402][info] 68 181
  111. [18:11:07.963402][info] 69 180
  112. [18:11:07.963402][info] 70 157
  113. [18:11:07.963402][info] 71 177
  114. [18:11:07.963402][info] 72 160
  115. [18:11:07.963402][info] 73 168
  116. [18:11:07.963402][info] 74 159
  117. [18:11:07.963402][info] 75 195
  118. [18:11:07.963402][info] 76 156
  119. [18:11:07.963402][info] 77 139
  120. [18:11:07.963402][info] 78 168
  121. [18:11:07.963402][info] 79 129
  122. [18:11:07.963402][info] 80 141
  123. [18:11:07.963402][info] 81 134
  124. [18:11:07.963402][info] 82 134
  125. [18:11:07.963402][info] 83 135
  126. [18:11:07.963402][info] 84 129
  127. [18:11:07.963402][info] 85 121
  128. [18:11:07.963402][info] 86 116
  129. [18:11:07.963402][info] 87 114
  130. [18:11:07.963402][info] 88 129
  131. [18:11:07.963402][info] 89 107
  132. [18:11:07.963402][info] 90 96
  133. [18:11:07.963402][info] 91 99
  134. [18:11:07.963402][info] 92 119
  135. [18:11:07.963402][info] 93 106
  136. [18:11:07.963402][info] 94 85
  137. [18:11:07.963402][info] 95 96
  138. [18:11:07.963402][info] 96 99
  139. [18:11:07.963402][info] 97 92
  140. [18:11:07.963402][info] 98 93
  141. [18:11:07.963402][info] 99 99
  142. [18:11:07.963402][info] 100 89
  143. [18:11:07.963402][info] 101 85
  144. [18:11:07.963402][info] 102 74
  145. [18:11:07.963402][info] 103 91
  146. [18:11:07.963402][info] 104 82
  147. [18:11:07.963402][info] 105 82
  148. [18:11:07.963402][info] 106 81
  149. [18:11:07.963402][info] 107 64
  150. [18:11:07.963402][info] 108 88
  151. [18:11:07.963402][info] 109 77
  152. [18:11:07.963402][info] 110 65
  153. [18:11:07.963402][info] 111 76
  154. [18:11:07.963402][info] 112 71
  155. [18:11:07.963402][info] 113 75
  156. [18:11:07.963402][info] 114 66
  157. [18:11:07.963402][info] 115 59
  158. [18:11:07.963402][info] 116 73
  159. [18:11:07.963402][info] 117 64
  160. [18:11:07.963402][info] 118 63
  161. [18:11:07.963402][info] 119 54
  162. [18:11:07.963402][info] 120 51
  163. [18:11:07.963402][info] 121 57
  164. [18:11:07.963402][info] 122 52
  165. [18:11:07.963402][info] 123 46
  166. [18:11:07.963402][info] 124 62
  167. [18:11:07.963402][info] 125 65
  168. [18:11:07.963402][info] 126 60
  169. [18:11:07.963402][info] 127 63
  170. [18:11:07.963402][info] 128 43
  171. [18:11:07.963402][info] 129 44
  172. [18:11:07.963402][info] 130 44
  173. [18:11:07.963402][info] 131 45
  174. [18:11:07.963402][info] 132 46
  175. [18:11:07.963402][info] 133 45
  176. [18:11:07.963402][info] 134 55
  177. [18:11:07.963402][info] 135 55
  178. [18:11:07.963402][info] 136 39
  179. [18:11:07.963402][info] 137 41
  180. [18:11:07.963402][info] 138 50
  181. [18:11:07.963402][info] 139 34
  182. [18:11:07.963402][info] 140 39
  183. [18:11:07.963402][info] 141 50
  184. [18:11:07.963402][info] 142 38
  185. [18:11:07.963402][info] 143 34
  186. [18:11:07.963402][info] 144 45
  187. [18:11:07.963402][info] 145 35
  188. [18:11:07.963402][info] 146 30
  189. [18:11:07.963402][info] 147 30
  190. [18:11:07.963402][info] 148 42
  191. [18:11:07.963402][info] 149 24
  192. [18:11:07.963402][info] 150 33
  193. [18:11:07.963402][info] 151 30
  194. [18:11:07.963402][info] 152 35
  195. [18:11:07.963402][info] 153 35
  196. [18:11:07.963402][info] 154 21
  197. [18:11:07.964399][info] 155 21
  198. [18:11:07.964399][info] 156 26
  199. [18:11:07.964399][info] 157 16
  200. [18:11:07.964399][info] 158 23
  201. [18:11:07.964399][info] 159 32
  202. [18:11:07.964399][info] 160 34
  203. [18:11:07.964399][info] 161 29
  204. [18:11:07.964399][info] 162 23
  205. [18:11:07.964399][info] 163 27
  206. [18:11:07.964399][info] 164 24
  207. [18:11:07.964399][info] 165 18
  208. [18:11:07.964399][info] 166 23
  209. [18:11:07.964399][info] 167 15
  210. [18:11:07.964399][info] 168 19
  211. [18:11:07.964399][info] 169 17
  212. [18:11:07.964399][info] 170 17
  213. [18:11:07.964399][info] 171 13
  214. [18:11:07.964399][info] 172 19
  215. [18:11:07.964399][info] 173 17
  216. [18:11:07.964399][info] 174 9
  217. [18:11:07.964399][info] 175 16
  218. [18:11:07.964399][info] 176 9
  219. [18:11:07.964399][info] 177 25
  220. [18:11:07.964399][info] 178 13
  221. [18:11:07.964399][info] 179 17
  222. [18:11:07.964399][info] 180 12
  223. [18:11:07.964399][info] 181 12
  224. [18:11:07.964399][info] 182 15
  225. [18:11:07.964399][info] 183 10
  226. [18:11:07.964399][info] 184 12
  227. [18:11:07.964399][info] 185 9
  228. [18:11:07.964399][info] 186 10
  229. [18:11:07.964399][info] 187 6
  230. [18:11:07.964399][info] 188 7
  231. [18:11:07.964399][info] 189 17
  232. [18:11:07.964399][info] 190 11
  233. [18:11:07.964399][info] 191 11
  234. [18:11:07.964399][info] 192 5
  235. [18:11:07.964399][info] 193 11
  236. [18:11:07.964399][info] 194 7
  237. [18:11:07.964399][info] 195 13
  238. [18:11:07.964399][info] 196 7
  239. [18:11:07.964399][info] 197 4
  240. [18:11:07.964399][info] 198 7
  241. [18:11:07.964399][info] 199 4
  242. [18:11:07.964399][info] 200 6
  243. [18:11:07.964399][info] 201 7
  244. [18:11:07.964399][info] 202 7
  245. [18:11:07.964399][info] 203 7
  246. [18:11:07.964399][info] 204 5
  247. [18:11:07.964399][info] 205 6
  248. [18:11:07.964399][info] 206 4
  249. [18:11:07.964399][info] 207 6
  250. [18:11:07.964399][info] 208 3
  251. [18:11:07.964399][info] 209 6
  252. [18:11:07.964399][info] 210 6
  253. [18:11:07.964399][info] 211 3
  254. [18:11:07.964399][info] 212 3
  255. [18:11:07.964399][info] 213 5
  256. [18:11:07.964399][info] 214 6
  257. [18:11:07.964399][info] 215 3
  258. [18:11:07.964399][info] 216 5
  259. [18:11:07.964399][info] 217 3
  260. [18:11:07.964399][info] 218 1
  261. [18:11:07.964399][info] 219 2
  262. [18:11:07.964399][info] 220 1
  263. [18:11:07.964399][info] 221 2
  264. [18:11:07.964399][info] 222 2
  265. [18:11:07.964399][info] 223 4
  266. [18:11:07.964399][info] 225 4
  267. [18:11:07.964399][info] 226 2
  268. [18:11:07.964399][info] 227 4
  269. [18:11:07.964399][info] 228 1
  270. [18:11:07.964399][info] 230 2
  271. [18:11:07.964399][info] 231 2
  272. [18:11:07.964399][info] 232 1
  273. [18:11:07.964399][info] 233 1
  274. [18:11:07.964399][info] 234 1
  275. [18:11:07.964399][info] 236 1
  276. [18:11:07.964399][info] 237 1
  277. [18:11:07.964399][info] 239 5
  278. [18:11:07.964399][info] 240 1
  279. [18:11:07.964399][info] 241 2
  280. [18:11:07.964399][info] 244 1
  281. [18:11:07.964399][info] 245 3
  282. [18:11:07.964399][info] 246 3
  283. [18:11:07.964399][info] 247 1
  284. [18:11:07.964399][info] 250 1
  285. [18:11:07.964399][info] 253 1
  286. [18:11:07.964399][info] 254 3
  287. [18:11:07.964399][info] 255 1
  288. [18:11:07.964399][info] 256 2
  289. [18:11:07.964399][info] 260 3
  290. [18:11:07.964399][info] 262 2
  291. [18:11:07.964399][info] 263 1
  292. [18:11:07.964399][info] 267 1
  293. [18:11:07.964399][info] 269 1
  294. [18:11:07.964399][info] 273 1
  295. [18:11:07.964399][info] 281 3
  296. [18:11:07.964399][info] 285 1
  297. [18:11:07.964399][info] 313 1
  298. [18:11:07.964399][info] 333 1
  299. [18:11:07.964399][info] 383 1
  300. Automatic selection of an initial pair:
  301. 0% 10 20 30 40 50 60 70 80 90 100%
  302. |----|----|----|----|----|----|----|----|----|----|
  303. ***************************************************
  304. [18:19:07.692075][info] Initial pair is:
  305. - [A] view id: 1441128001, filepath: D:/Projects/Photogrammetry/REMOVED FOR PRIVACY/0Y2A3708.JPG
  306. - [B] view id: 1875243241, filepath: D:/Projects/Photogrammetry/REMOVED FOR PRIVACY/0Y2A3818.JPG
  307. [18:19:07.695066][info] 2235 matches in the image pair for the initial pose estimation.
  308. [18:19:08.800985][info] Bundle adjustment start.
  309. [18:19:08.801983][info] Start bundle adjustment iteration: 0
  310. [18:19:08.841876][info] Bundle Adjustment Statistics:
  311. - local strategy enabled: no
  312. - adjustment duration: 0.0314934 s
  313. - poses:
  314. - # refined: 2
  315. - # constant: 0
  316. - # ignored: 0
  317. - landmarks:
  318. - # refined: 4186
  319. - # constant: 0
  320. - # ignored: 0
  321. - intrinsics:
  322. - # refined: 0
  323. - # constant: 1
  324. - # ignored: 0
  325. - # residual blocks: 8372
  326. - # successful iterations: 6
  327. - # unsuccessful iterations: 0
  328. - initial RMSE: 0.238623
  329. - final RMSE: 0.215938
  330. [18:19:08.843871][info] Remove outliers:
  331. - # outliers residual error: 0
  332. - # outliers angular error: 0
  333. [18:19:08.843871][info] Bundle adjustment iteration: 0 took 41 msec.
  334. [18:19:08.843871][info] Bundle adjustment with 1 iterations took 42 msec.
  335. [18:19:08.845866][info] Initial pair is: 1441128001, 1875243241
  336. [18:19:08.845866][info] Begin Incremental Reconstruction:
  337. - mode: SfM augmentation
  338. - # images in input: 383
  339. - # images in resection: 381
  340. - # landmarks in input: 2093
  341. - # cameras already calibrated: 2
  342. [18:19:08.845866][info] Incremental Reconstruction start iteration 0:
  343. - # number of resection groups: 0
  344. - # number of poses: 2
  345. - # number of landmarks: 2093
  346. - # remaining images: 381
  347. [18:19:08.856836][info] Update Reconstruction:
  348. - resection id: 0
  349. - # images in the resection group: 1
  350. - # images remaining: 381
  351. [18:19:08.857834][info] [3/383] Robust Resection of view: 194435584
  352. [18:19:09.174136][info] Robust Resection information:
  353. - resection status: true
  354. - threshold (error max): 10.9431
  355. - # points used for resection: 1678
  356. - # points validated by robust resection: 1542
  357. [18:19:09.203058][info] Bundle adjustment start.
  358. [18:19:09.204055][info] Start bundle adjustment iteration: 0
  359. [18:19:10.095373][info] Bundle Adjustment Statistics:
  360. - local strategy enabled: no
  361. - adjustment duration: 0.865018 s
  362. - poses:
  363. - # refined: 3
  364. - # constant: 0
  365. - # ignored: 0
  366. - landmarks:
  367. - # refined: 15304
  368. - # constant: 0
  369. - # ignored: 0
  370. - intrinsics:
  371. - # refined: 1
  372. - # constant: 0
  373. - # ignored: 0
  374. - # residual blocks: 30608
  375. - # successful iterations: 51
  376. - # unsuccessful iterations: 0
  377. - initial RMSE: 0.623302
  378. - final RMSE: 0.26367
  379. [18:19:10.100360][info] Remove outliers:
  380. - # outliers residual error: 21
  381. - # outliers angular error: 0
  382. [18:19:10.100360][info] Bundle adjustment iteration: 0 took 895 msec.
  383. [18:19:10.100360][info] Bundle adjustment with 1 iterations took 897 msec.
  384. [18:19:10.250466][info] Update Reconstruction:
  385. - resection id: 1
  386. - # images in the resection group: 1
  387. - # images remaining: 380
  388. [18:19:10.254455][info] [4/383] Robust Resection of view: 1612978394
  389. [18:19:11.242716][info] Robust Resection information:
  390. - resection status: true
  391. - threshold (error max): 3.54408
  392. - # points used for resection: 5175
  393. - # points validated by robust resection: 4803
  394. [18:19:11.297689][info] Bundle adjustment start.
  395. [18:19:11.299684][info] Start bundle adjustment iteration: 0
  396. [18:19:12.185820][info] Bundle Adjustment Statistics:
  397. - local strategy enabled: no
  398. - adjustment duration: 0.846442 s
  399. - poses:
  400. - # refined: 4
  401. - # constant: 0
  402. - # ignored: 0
  403. - landmarks:
  404. - # refined: 24573
  405. - # constant: 0
  406. - # ignored: 0
  407. - intrinsics:
  408. - # refined: 1
  409. - # constant: 0
  410. - # ignored: 0
  411. - # residual blocks: 49146
  412. - # successful iterations: 21
  413. - # unsuccessful iterations: 0
  414. - initial RMSE: 0.47281
  415. - final RMSE: 0.286471
  416. [18:19:12.193799][info] Remove outliers:
  417. - # outliers residual error: 18
  418. - # outliers angular error: 4
  419. [18:19:12.193799][info] Bundle adjustment iteration: 0 took 893 msec.
  420. [18:19:12.193799][info] Bundle adjustment with 1 iterations took 896 msec.
  421. [18:19:12.219729][info] Update Reconstruction:
  422. - resection id: 2
  423. - # images in the resection group: 1
  424. - # images remaining: 379
  425. [18:19:12.223719][info] [5/383] Robust Resection of view: 1206603274
  426. [18:19:13.381355][info] Robust Resection information:
  427. - resection status: true
  428. - threshold (error max): 3.27032
  429. - # points used for resection: 6031
  430. - # points validated by robust resection: 5629
  431. [18:19:13.447179][info] Bundle adjustment start.
  432. [18:19:13.451168][info] Start bundle adjustment iteration: 0
  433. [18:19:15.224496][info] Bundle Adjustment Statistics:
  434. - local strategy enabled: no
  435. - adjustment duration: 1.69775 s
  436. - poses:
  437. - # refined: 5
  438. - # constant: 0
  439. - # ignored: 0
  440. - landmarks:
  441. - # refined: 46853
  442. - # constant: 0
  443. - # ignored: 0
  444. - intrinsics:
  445. - # refined: 1
  446. - # constant: 0
  447. - # ignored: 0
  448. - # residual blocks: 93706
  449. - # successful iterations: 22
  450. - # unsuccessful iterations: 0
  451. - initial RMSE: 0.454588
  452. - final RMSE: 0.274167
  453. [18:19:15.237461][info] Remove outliers:
  454. - # outliers residual error: 45
  455. - # outliers angular error: 1
  456. [18:19:15.238459][info] Bundle adjustment iteration: 0 took 1787 msec.
  457. [18:19:15.238459][info] Bundle adjustment with 1 iterations took 1791 msec.
  458. [18:19:15.270373][info] Update Reconstruction:
  459. - resection id: 3
  460. - # images in the resection group: 1
  461. - # images remaining: 378
  462. [18:19:15.275360][info] [6/383] Robust Resection of view: 789189746
  463. [18:19:16.044990][info] Robust Resection information:
  464. - resection status: true
  465. - threshold (error max): 4.53944
  466. - # points used for resection: 4056
  467. - # points validated by robust resection: 3791
  468. [18:19:16.120786][info] Bundle adjustment start.
  469. [18:19:16.124776][info] Start bundle adjustment iteration: 0
  470. [18:19:17.130594][info] Bundle Adjustment Statistics:
  471. - local strategy enabled: no
  472. - adjustment duration: 0.922195 s
  473. - poses:
  474. - # refined: 6
  475. - # constant: 0
  476. - # ignored: 0
  477. - landmarks:
  478. - # refined: 54010
  479. - # constant: 0
  480. - # ignored: 0
  481. - intrinsics:
  482. - # refined: 1
  483. - # constant: 0
  484. - # ignored: 0
  485. - # residual blocks: 108020
  486. - # successful iterations: 10
  487. - # unsuccessful iterations: 0
  488. - initial RMSE: 0.351685
  489. - final RMSE: 0.274415
  490. [18:19:17.145553][info] Remove outliers:
  491. - # outliers residual error: 31
  492. - # outliers angular error: 2
  493. [18:19:17.146550][info] Bundle adjustment iteration: 0 took 1022 msec.
  494. [18:19:17.146550][info] Bundle adjustment with 1 iterations took 1026 msec.
  495. [18:19:17.304129][info] Update Reconstruction:
  496. - resection id: 4
  497. - # images in the resection group: 1
  498. - # images remaining: 377
  499. [18:19:17.311111][info] [7/383] Robust Resection of view: 1182836571
  500. [18:19:18.867922][info] Robust Resection information:
  501. - resection status: true
  502. - threshold (error max): 4.73127
  503. - # points used for resection: 8035
  504. - # points validated by robust resection: 7640
  505. [18:19:19.039462][info] Bundle adjustment start.
  506. [18:19:19.045446][info] Start bundle adjustment iteration: 0
  507. [18:19:21.473507][info] Bundle Adjustment Statistics:
  508. - local strategy enabled: no
  509. - adjustment duration: 2.31826 s
  510. - poses:
  511. - # refined: 7
  512. - # constant: 0
  513. - # ignored: 0
  514. - landmarks:
  515. - # refined: 74039
  516. - # constant: 0
  517. - # ignored: 0
  518. - intrinsics:
  519. - # refined: 1
  520. - # constant: 0
  521. - # ignored: 0
  522. - # residual blocks: 148078
  523. - # successful iterations: 16
  524. - # unsuccessful iterations: 0
  525. - initial RMSE: 0.417476
  526. - final RMSE: 0.285621
  527. [18:19:21.493454][info] Remove outliers:
  528. - # outliers residual error: 72
  529. - # outliers angular error: 1
  530. [18:19:21.496446][info] Bundle adjustment iteration: 0 took 2451 msec.
  531. [18:19:21.496446][info] Start bundle adjustment iteration: 1
  532. [18:19:22.903375][info] Bundle Adjustment Statistics:
  533. - local strategy enabled: no
  534. - adjustment duration: 1.28544 s
  535. - poses:
  536. - # refined: 7
  537. - # constant: 0
  538. - # ignored: 0
  539. - landmarks:
  540. - # refined: 73962
  541. - # constant: 0
  542. - # ignored: 0
  543. - intrinsics:
  544. - # refined: 1
  545. - # constant: 0
  546. - # ignored: 0
  547. - # residual blocks: 147924
  548. - # successful iterations: 10
  549. - # unsuccessful iterations: 0
  550. - initial RMSE: 0.273238
  551. - final RMSE: 0.270953
  552. [18:19:22.922323][info] Remove outliers:
  553. - # outliers residual error: 5
  554. - # outliers angular error: 1
  555. [18:19:22.925314][info] Bundle adjustment iteration: 1 took 1428 msec.
  556. [18:19:22.925314][info] Bundle adjustment with 2 iterations took 3885 msec.
  557. [18:19:22.964210][info] Update Reconstruction:
  558. - resection id: 5
  559. - # images in the resection group: 1
  560. - # images remaining: 376
  561. [18:19:22.973186][info] [8/383] Robust Resection of view: 1143913594
  562. [18:19:25.280311][info] Robust Resection information:
  563. - resection status: true
  564. - threshold (error max): 2.79547
  565. - # points used for resection: 11666
  566. - # points validated by robust resection: 11068
  567. [18:19:25.559565][info] Bundle adjustment start.
  568. [18:19:25.565553][info] Start bundle adjustment iteration: 0
  569. [18:19:27.785798][info] Bundle Adjustment Statistics:
  570. - local strategy enabled: no
  571. - adjustment duration: 2.10389 s
  572. - poses:
  573. - # refined: 8
  574. - # constant: 0
  575. - # ignored: 0
  576. - landmarks:
  577. - # refined: 93272
  578. - # constant: 0
  579. - # ignored: 0
  580. - intrinsics:
  581. - # refined: 1
  582. - # constant: 0
  583. - # ignored: 0
  584. - # residual blocks: 186544
  585. - # successful iterations: 12
  586. - # unsuccessful iterations: 0
  587. - initial RMSE: 0.394438
  588. - final RMSE: 0.286428
  589. [18:19:27.811728][info] Remove outliers:
  590. - # outliers residual error: 97
  591. - # outliers angular error: 1
  592. [18:19:27.814719][info] Bundle adjustment iteration: 0 took 2248 msec.
  593. [18:19:27.814719][info] Start bundle adjustment iteration: 1
  594. [18:19:29.254970][info] Bundle Adjustment Statistics:
  595. - local strategy enabled: no
  596. - adjustment duration: 1.29484 s
  597. - poses:
  598. - # refined: 8
  599. - # constant: 0
  600. - # ignored: 0
  601. - landmarks:
  602. - # refined: 93171
  603. - # constant: 0
  604. - # ignored: 0
  605. - intrinsics:
  606. - # refined: 1
  607. - # constant: 0
  608. - # ignored: 0
  609. - # residual blocks: 186342
  610. - # successful iterations: 8
  611. - # unsuccessful iterations: 0
  612. - initial RMSE: 0.274066
  613. - final RMSE: 0.271363
  614. [18:19:29.281864][info] Remove outliers:
  615. - # outliers residual error: 2
  616. - # outliers angular error: 1
  617. [18:19:29.285854][info] Bundle adjustment iteration: 1 took 1471 msec.
  618. [18:19:29.285854][info] Bundle adjustment with 2 iterations took 3725 msec.
  619. [18:19:29.330733][info] Update Reconstruction:
  620. - resection id: 6
  621. - # images in the resection group: 1
  622. - # images remaining: 375
  623. [18:19:29.339710][info] [9/383] Robust Resection of view: 1527830505
  624. [18:19:31.023314][info] Robust Resection information:
  625. - resection status: true
  626. - threshold (error max): 4.68253
  627. - # points used for resection: 8653
  628. - # points validated by robust resection: 8180
  629. [18:19:31.279043][info] Bundle adjustment start.
  630. [18:19:31.286025][info] Start bundle adjustment iteration: 0
  631. [18:19:33.213914][info] Bundle Adjustment Statistics:
  632. - local strategy enabled: no
  633. - adjustment duration: 1.78351 s
  634. - poses:
  635. - # refined: 9
  636. - # constant: 0
  637. - # ignored: 0
  638. - landmarks:
  639. - # refined: 110562
  640. - # constant: 0
  641. - # ignored: 0
  642. - intrinsics:
  643. - # refined: 1
  644. - # constant: 0
  645. - # ignored: 0
  646. - # residual blocks: 221124
  647. - # successful iterations: 9
  648. - # unsuccessful iterations: 0
  649. - initial RMSE: 0.372936
  650. - final RMSE: 0.287395
  651. [18:19:33.243834][info] Remove outliers:
  652. - # outliers residual error: 76
  653. - # outliers angular error: 1
  654. [18:19:33.246826][info] Bundle adjustment iteration: 0 took 1961 msec.
  655. [18:19:33.246826][info] Start bundle adjustment iteration: 1
  656. [18:19:34.831729][info] Bundle Adjustment Statistics:
  657. - local strategy enabled: no
  658. - adjustment duration: 1.4149 s
  659. - poses:
  660. - # refined: 9
  661. - # constant: 0
  662. - # ignored: 0
  663. - landmarks:
  664. - # refined: 110482
  665. - # constant: 0
  666. - # ignored: 0
  667. - intrinsics:
  668. - # refined: 1
  669. - # constant: 0
  670. - # ignored: 0
  671. - # residual blocks: 220964
  672. - # successful iterations: 7
  673. - # unsuccessful iterations: 0
  674. - initial RMSE: 0.279947
  675. - final RMSE: 0.27824
  676. [18:19:34.861616][info] Remove outliers:
  677. - # outliers residual error: 4
  678. - # outliers angular error: 0
  679. [18:19:34.865606][info] Bundle adjustment iteration: 1 took 1618 msec.
  680. [18:19:34.865606][info] Bundle adjustment with 2 iterations took 3586 msec.
  681. [18:19:35.037147][info] Update Reconstruction:
  682. - resection id: 7
  683. - # images in the resection group: 1
  684. - # images remaining: 374
  685. [18:19:35.046123][info] [10/383] Robust Resection of view: 222766554
  686. [18:19:36.254162][info] Robust Resection information:
  687. - resection status: true
  688. - threshold (error max): 7.7531
  689. - # points used for resection: 6279
  690. - # points validated by robust resection: 5710
  691. [18:19:36.474079][info] Bundle adjustment start.
  692. [18:19:36.482058][info] Start bundle adjustment iteration: 0
  693. [18:19:39.058120][info] Bundle Adjustment Statistics:
  694. - local strategy enabled: no
  695. - adjustment duration: 2.40985 s
  696. - poses:
  697. - # refined: 10
  698. - # constant: 0
  699. - # ignored: 0
  700. - landmarks:
  701. - # refined: 122466
  702. - # constant: 0
  703. - # ignored: 0
  704. - intrinsics:
  705. - # refined: 1
  706. - # constant: 0
  707. - # ignored: 0
  708. - # residual blocks: 244932
  709. - # successful iterations: 11
  710. - # unsuccessful iterations: 0
  711. - initial RMSE: 0.371094
  712. - final RMSE: 0.306633
  713. [18:19:39.092029][info] Remove outliers:
  714. - # outliers residual error: 107
  715. - # outliers angular error: 0
  716. [18:19:39.096018][info] Bundle adjustment iteration: 0 took 2614 msec.
  717. [18:19:39.096018][info] Start bundle adjustment iteration: 1
  718. [18:19:40.820573][info] Bundle Adjustment Statistics:
  719. - local strategy enabled: no
  720. - adjustment duration: 1.54036 s
  721. - poses:
  722. - # refined: 10
  723. - # constant: 0
  724. - # ignored: 0
  725. - landmarks:
  726. - # refined: 122353
  727. - # constant: 0
  728. - # ignored: 0
  729. - intrinsics:
  730. - # refined: 1
  731. - # constant: 0
  732. - # ignored: 0
  733. - # residual blocks: 244706
  734. - # successful iterations: 7
  735. - # unsuccessful iterations: 0
  736. - initial RMSE: 0.29724
  737. - final RMSE: 0.295799
  738. [18:19:40.853485][info] Remove outliers:
  739. - # outliers residual error: 7
  740. - # outliers angular error: 0
  741. [18:19:40.858471][info] Bundle adjustment iteration: 1 took 1762 msec.
  742. [18:19:40.858471][info] Bundle adjustment with 2 iterations took 4384 msec.
  743. [18:19:40.911330][info] Update Reconstruction:
  744. - resection id: 8
  745. - # images in the resection group: 1
  746. - # images remaining: 373
  747. [18:19:40.921303][info] [11/383] Robust Resection of view: 369827240
  748. [18:19:42.584240][info] Robust Resection information:
  749. - resection status: true
  750. - threshold (error max): 5.72465
  751. - # points used for resection: 8539
  752. - # points validated by robust resection: 7893
  753. [18:19:42.928382][info] Bundle adjustment start.
  754. [18:19:42.936378][info] Start bundle adjustment iteration: 0
  755. [18:19:45.532259][info] Bundle Adjustment Statistics:
  756. - local strategy enabled: no
  757. - adjustment duration: 2.418 s
  758. - poses:
  759. - # refined: 11
  760. - # constant: 0
  761. - # ignored: 0
  762. - landmarks:
  763. - # refined: 133966
  764. - # constant: 0
  765. - # ignored: 0
  766. - intrinsics:
  767. - # refined: 1
  768. - # constant: 0
  769. - # ignored: 0
  770. - # residual blocks: 267932
  771. - # successful iterations: 10
  772. - # unsuccessful iterations: 0
  773. - initial RMSE: 0.384999
  774. - final RMSE: 0.318289
  775. [18:19:45.569161][info] Remove outliers:
  776. - # outliers residual error: 155
  777. - # outliers angular error: 3
  778. [18:19:45.575145][info] Bundle adjustment iteration: 0 took 2638 msec.
  779. [18:19:45.575145][info] Start bundle adjustment iteration: 1
  780. [18:19:47.557358][info] Bundle Adjustment Statistics:
  781. - local strategy enabled: no
  782. - adjustment duration: 1.77232 s
  783. - poses:
  784. - # refined: 11
  785. - # constant: 0
  786. - # ignored: 0
  787. - landmarks:
  788. - # refined: 133789
  789. - # constant: 0
  790. - # ignored: 0
  791. - intrinsics:
  792. - # refined: 1
  793. - # constant: 0
  794. - # ignored: 0
  795. - # residual blocks: 267578
  796. - # successful iterations: 7
  797. - # unsuccessful iterations: 0
  798. - initial RMSE: 0.305336
  799. - final RMSE: 0.303716
  800. [18:19:47.593260][info] Remove outliers:
  801. - # outliers residual error: 8
  802. - # outliers angular error: 0
  803. [18:19:47.599243][info] Bundle adjustment iteration: 1 took 2023 msec.
  804. [18:19:47.599243][info] Bundle adjustment with 2 iterations took 4670 msec.
  805. [18:19:47.655094][info] Update Reconstruction:
  806. - resection id: 9
  807. - # images in the resection group: 1
  808. - # images remaining: 372
  809. [18:19:47.665067][info] [12/383] Robust Resection of view: 1695653169
  810. [18:19:49.368514][info] Robust Resection information:
  811. - resection status: true
  812. - threshold (error max): 5.55133
  813. - # points used for resection: 8756
  814. - # points validated by robust resection: 8102
  815. [18:19:49.757523][info] Bundle adjustment start.
  816. [18:19:49.766501][info] Start bundle adjustment iteration: 0
  817. [18:19:52.660418][info] Bundle Adjustment Statistics:
  818. - local strategy enabled: no
  819. - adjustment duration: 2.69331 s
  820. - poses:
  821. - # refined: 12
  822. - # constant: 0
  823. - # ignored: 0
  824. - landmarks:
  825. - # refined: 155851
  826. - # constant: 0
  827. - # ignored: 0
  828. - intrinsics:
  829. - # refined: 1
  830. - # constant: 0
  831. - # ignored: 0
  832. - # residual blocks: 311702
  833. - # successful iterations: 10
  834. - # unsuccessful iterations: 0
  835. - initial RMSE: 0.387548
  836. - final RMSE: 0.318157
  837. [18:19:52.702305][info] Remove outliers:
  838. - # outliers residual error: 119
  839. - # outliers angular error: 3
  840. [18:19:52.708290][info] Bundle adjustment iteration: 0 took 2942 msec.
  841. [18:19:52.708290][info] Start bundle adjustment iteration: 1
  842. [18:19:54.350371][info] Bundle Adjustment Statistics:
  843. - local strategy enabled: no
  844. - adjustment duration: 1.41119 s
  845. - poses:
  846. - # refined: 12
  847. - # constant: 0
  848. - # ignored: 0
  849. - landmarks:
  850. - # refined: 155721
  851. - # constant: 0
  852. - # ignored: 0
  853. - intrinsics:
  854. - # refined: 1
  855. - # constant: 0
  856. - # ignored: 0
  857. - # residual blocks: 311442
  858. - # successful iterations: 5
  859. - # unsuccessful iterations: 0
  860. - initial RMSE: 0.310545
  861. - final RMSE: 0.308937
  862. [18:19:54.392259][info] Remove outliers:
  863. - # outliers residual error: 11
  864. - # outliers angular error: 0
  865. [18:19:54.398243][info] Bundle adjustment iteration: 1 took 1690 msec.
  866. [18:19:54.398243][info] Bundle adjustment with 2 iterations took 4640 msec.
  867. [18:19:54.577333][info] Update Reconstruction:
  868. - resection id: 10
  869. - # images in the resection group: 1
  870. - # images remaining: 371
  871. [18:19:54.589301][info] [13/383] Robust Resection of view: 645882963
  872. [18:19:56.762978][info] Robust Resection information:
  873. - resection status: true
  874. - threshold (error max): 5.01186
  875. - # points used for resection: 11028
  876. - # points validated by robust resection: 10315
  877. [18:19:57.174916][info] Bundle adjustment start.
  878. [18:19:57.184893][info] Start bundle adjustment iteration: 0
  879. [18:20:00.478990][info] Bundle Adjustment Statistics:
  880. - local strategy enabled: no
  881. - adjustment duration: 3.05809 s
  882. - poses:
  883. - # refined: 13
  884. - # constant: 0
  885. - # ignored: 0
  886. - landmarks:
  887. - # refined: 182704
  888. - # constant: 0
  889. - # ignored: 0
  890. - intrinsics:
  891. - # refined: 1
  892. - # constant: 0
  893. - # ignored: 0
  894. - # residual blocks: 365408
  895. - # successful iterations: 9
  896. - # unsuccessful iterations: 0
  897. - initial RMSE: 0.384257
  898. - final RMSE: 0.318001
  899. [18:20:00.526860][info] Remove outliers:
  900. - # outliers residual error: 164
  901. - # outliers angular error: 0
  902. [18:20:00.533842][info] Bundle adjustment iteration: 0 took 3349 msec.
  903. [18:20:00.533842][info] Start bundle adjustment iteration: 1
  904. [18:20:02.426104][info] Bundle Adjustment Statistics:
  905. - local strategy enabled: no
  906. - adjustment duration: 1.6237 s
  907. - poses:
  908. - # refined: 13
  909. - # constant: 0
  910. - # ignored: 0
  911. - landmarks:
  912. - # refined: 182531
  913. - # constant: 0
  914. - # ignored: 0
  915. - intrinsics:
  916. - # refined: 1
  917. - # constant: 0
  918. - # ignored: 0
  919. - # residual blocks: 365062
  920. - # successful iterations: 4
  921. - # unsuccessful iterations: 0
  922. - initial RMSE: 0.308851
  923. - final RMSE: 0.307151
  924. [18:20:02.473975][info] Remove outliers:
  925. - # outliers residual error: 9
  926. - # outliers angular error: 1
  927. [18:20:02.481954][info] Bundle adjustment iteration: 1 took 1947 msec.
  928. [18:20:02.481954][info] Bundle adjustment with 2 iterations took 5307 msec.
  929. [18:20:02.539799][info] Update Reconstruction:
  930. - resection id: 11
  931. - # images in the resection group: 1
  932. - # images remaining: 370
  933. [18:20:02.551767][info] [14/383] Robust Resection of view: 1555352996
  934. [18:20:04.458883][info] Robust Resection information:
  935. - resection status: true
  936. - threshold (error max): 3.46942
  937. - # points used for resection: 9712
  938. - # points validated by robust resection: 9036
  939. [18:20:04.850696][info] Bundle adjustment start.
  940. [18:20:04.860672][info] Start bundle adjustment iteration: 0
  941. [18:20:07.323401][info] Bundle Adjustment Statistics:
  942. - local strategy enabled: no
  943. - adjustment duration: 2.20663 s
  944. - poses:
  945. - # refined: 14
  946. - # constant: 0
  947. - # ignored: 0
  948. - landmarks:
  949. - # refined: 196644
  950. - # constant: 0
  951. - # ignored: 0
  952. - intrinsics:
  953. - # refined: 1
  954. - # constant: 0
  955. - # ignored: 0
  956. - # residual blocks: 393288
  957. - # successful iterations: 6
  958. - # unsuccessful iterations: 0
  959. - initial RMSE: 0.355731
  960. - final RMSE: 0.314502
  961. [18:20:07.374769][info] Remove outliers:
  962. - # outliers residual error: 125
  963. - # outliers angular error: 1
  964. [18:20:07.382748][info] Bundle adjustment iteration: 0 took 2521 msec.
  965. [18:20:07.382748][info] Start bundle adjustment iteration: 1
  966. [18:20:09.943522][info] Bundle Adjustment Statistics:
  967. - local strategy enabled: no
  968. - adjustment duration: 2.2819 s
  969. - poses:
  970. - # refined: 14
  971. - # constant: 0
  972. - # ignored: 0
  973. - landmarks:
  974. - # refined: 196512
  975. - # constant: 0
  976. - # ignored: 0
  977. - intrinsics:
  978. - # refined: 1
  979. - # constant: 0
  980. - # ignored: 0
  981. - # residual blocks: 393024
  982. - # successful iterations: 6
  983. - # unsuccessful iterations: 0
  984. - initial RMSE: 0.308358
  985. - final RMSE: 0.307106
  986. [18:20:09.995382][info] Remove outliers:
  987. - # outliers residual error: 6
  988. - # outliers angular error: 0
  989. [18:20:10.003360][info] Bundle adjustment iteration: 1 took 2620 msec.
  990. [18:20:10.003360][info] Bundle adjustment with 2 iterations took 5152 msec.
  991. [18:20:10.068187][info] Update Reconstruction:
  992. - resection id: 12
  993. - # images in the resection group: 1
  994. - # images remaining: 369
  995. [18:20:10.081152][info] [15/383] Robust Resection of view: 740379093
  996. [18:20:12.073098][info] Robust Resection information:
  997. - resection status: true
  998. - threshold (error max): 3.93919
  999. - # points used for resection: 10142
  1000. - # points validated by robust resection: 9363
  1001. [18:20:12.490490][info] Bundle adjustment start.
  1002. [18:20:12.501460][info] Start bundle adjustment iteration: 0
  1003. [18:20:15.981877][info] Bundle Adjustment Statistics:
  1004. - local strategy enabled: no
  1005. - adjustment duration: 3.20281 s
  1006. - poses:
  1007. - # refined: 15
  1008. - # constant: 0
  1009. - # ignored: 0
  1010. - landmarks:
  1011. - # refined: 213338
  1012. - # constant: 0
  1013. - # ignored: 0
  1014. - intrinsics:
  1015. - # refined: 1
  1016. - # constant: 0
  1017. - # ignored: 0
  1018. - # residual blocks: 426676
  1019. - # successful iterations: 8
  1020. - # unsuccessful iterations: 0
  1021. - initial RMSE: 0.359015
  1022. - final RMSE: 0.315225
  1023. [18:20:16.037694][info] Remove outliers:
  1024. - # outliers residual error: 135
  1025. - # outliers angular error: 0
  1026. [18:20:16.047175][info] Bundle adjustment iteration: 0 took 3545 msec.
  1027. [18:20:16.047175][info] Start bundle adjustment iteration: 1
  1028. [18:20:18.009684][info] Bundle Adjustment Statistics:
  1029. - local strategy enabled: no
  1030. - adjustment duration: 1.65936 s
  1031. - poses:
  1032. - # refined: 15
  1033. - # constant: 0
  1034. - # ignored: 0
  1035. - landmarks:
  1036. - # refined: 213192
  1037. - # constant: 0
  1038. - # ignored: 0
  1039. - intrinsics:
  1040. - # refined: 1
  1041. - # constant: 0
  1042. - # ignored: 0
  1043. - # residual blocks: 426384
  1044. - # successful iterations: 4
  1045. - # unsuccessful iterations: 0
  1046. - initial RMSE: 0.308285
  1047. - final RMSE: 0.307235
  1048. [18:20:18.065535][info] Remove outliers:
  1049. - # outliers residual error: 10
  1050. - # outliers angular error: 0
  1051. [18:20:18.074511][info] Bundle adjustment iteration: 1 took 2027 msec.
  1052. [18:20:18.074511][info] Bundle adjustment with 2 iterations took 5584 msec.
  1053. [18:20:18.263007][info] Update Reconstruction:
  1054. - resection id: 13
  1055. - # images in the resection group: 1
  1056. - # images remaining: 368
  1057. [18:20:18.278964][info] [16/383] Robust Resection of view: 678132869
  1058. [18:20:21.222506][info] Robust Resection information:
  1059. - resection status: true
  1060. - threshold (error max): 3.37563
  1061. - # points used for resection: 14688
  1062. - # points validated by robust resection: 13744
  1063. [18:20:21.759552][info] Bundle adjustment start.
  1064. [18:20:21.771520][info] Start bundle adjustment iteration: 0
  1065. [18:20:25.187130][info] Bundle Adjustment Statistics:
  1066. - local strategy enabled: no
  1067. - adjustment duration: 3.11173 s
  1068. - poses:
  1069. - # refined: 16
  1070. - # constant: 0
  1071. - # ignored: 0
  1072. - landmarks:
  1073. - # refined: 237188
  1074. - # constant: 0
  1075. - # ignored: 0
  1076. - intrinsics:
  1077. - # refined: 1
  1078. - # constant: 0
  1079. - # ignored: 0
  1080. - # residual blocks: 474376
  1081. - # successful iterations: 7
  1082. - # unsuccessful iterations: 0
  1083. - initial RMSE: 0.374474
  1084. - final RMSE: 0.315739
  1085. [18:20:25.253950][info] Remove outliers:
  1086. - # outliers residual error: 172
  1087. - # outliers angular error: 1
  1088. [18:20:25.264921][info] Bundle adjustment iteration: 0 took 3492 msec.
  1089. [18:20:25.264921][info] Start bundle adjustment iteration: 1
  1090. [18:20:28.300836][info] Bundle Adjustment Statistics:
  1091. - local strategy enabled: no
  1092. - adjustment duration: 2.6869 s
  1093. - poses:
  1094. - # refined: 16
  1095. - # constant: 0
  1096. - # ignored: 0
  1097. - landmarks:
  1098. - # refined: 237003
  1099. - # constant: 0
  1100. - # ignored: 0
  1101. - intrinsics:
  1102. - # refined: 1
  1103. - # constant: 0
  1104. - # ignored: 0
  1105. - # residual blocks: 474006
  1106. - # successful iterations: 6
  1107. - # unsuccessful iterations: 0
  1108. - initial RMSE: 0.308281
  1109. - final RMSE: 0.307035
  1110. [18:20:28.363176][info] Remove outliers:
  1111. - # outliers residual error: 12
  1112. - # outliers angular error: 0
  1113. [18:20:28.373150][info] Bundle adjustment iteration: 1 took 3108 msec.
  1114. [18:20:28.373150][info] Bundle adjustment with 2 iterations took 6614 msec.
  1115. [18:20:28.437976][info] Update Reconstruction:
  1116. - resection id: 14
  1117. - # images in the resection group: 1
  1118. - # images remaining: 367
  1119. [18:20:28.450942][info] [17/383] Robust Resection of view: 2072349528
  1120. [18:20:29.600929][info] Robust Resection information:
  1121. - resection status: true
  1122. - threshold (error max): 5.50005
  1123. - # points used for resection: 5996
  1124. - # points validated by robust resection: 5566
  1125. [18:20:29.880688][info] Bundle adjustment start.
  1126. [18:20:29.891659][info] Start bundle adjustment iteration: 0
  1127. [18:20:33.095020][info] Bundle Adjustment Statistics:
  1128. - local strategy enabled: no
  1129. - adjustment duration: 2.88761 s
  1130. - poses:
  1131. - # refined: 17
  1132. - # constant: 0
  1133. - # ignored: 0
  1134. - landmarks:
  1135. - # refined: 245931
  1136. - # constant: 0
  1137. - # ignored: 0
  1138. - intrinsics:
  1139. - # refined: 1
  1140. - # constant: 0
  1141. - # ignored: 0
  1142. - # residual blocks: 491862
  1143. - # successful iterations: 6
  1144. - # unsuccessful iterations: 0
  1145. - initial RMSE: 0.334201
  1146. - final RMSE: 0.312499
  1147. [18:20:33.161841][info] Remove outliers:
  1148. - # outliers residual error: 74
  1149. - # outliers angular error: 1
  1150. [18:20:33.171814][info] Bundle adjustment iteration: 0 took 3280 msec.
  1151. [18:20:33.171814][info] Start bundle adjustment iteration: 1
  1152. [18:20:36.300860][info] Bundle Adjustment Statistics:
  1153. - local strategy enabled: no
  1154. - adjustment duration: 2.77853 s
  1155. - poses:
  1156. - # refined: 17
  1157. - # constant: 0
  1158. - # ignored: 0
  1159. - landmarks:
  1160. - # refined: 245847
  1161. - # constant: 0
  1162. - # ignored: 0
  1163. - intrinsics:
  1164. - # refined: 1
  1165. - # constant: 0
  1166. - # ignored: 0
  1167. - # residual blocks: 491694
  1168. - # successful iterations: 6
  1169. - # unsuccessful iterations: 0
  1170. - initial RMSE: 0.309216
  1171. - final RMSE: 0.30871
  1172. [18:20:36.364689][info] Remove outliers:
  1173. - # outliers residual error: 8
  1174. - # outliers angular error: 0
  1175. [18:20:36.375659][info] Bundle adjustment iteration: 1 took 3203 msec.
  1176. [18:20:36.375659][info] Bundle adjustment with 2 iterations took 6494 msec.
  1177. [18:20:36.441484][info] Update Reconstruction:
  1178. - resection id: 15
  1179. - # images in the resection group: 1
  1180. - # images remaining: 366
  1181. [18:20:36.456443][info] [18/383] Robust Resection of view: 219877029
  1182. [18:20:38.727534][info] Robust Resection information:
  1183. - resection status: true
  1184. - threshold (error max): 4.53325
  1185. - # points used for resection: 11518
  1186. - # points validated by robust resection: 10718
  1187. [18:20:39.234573][info] Bundle adjustment start.
  1188. [18:20:39.248535][info] Start bundle adjustment iteration: 0
  1189. [18:20:44.383322][info] Bundle Adjustment Statistics:
  1190. - local strategy enabled: no
  1191. - adjustment duration: 4.793 s
  1192. - poses:
  1193. - # refined: 18
  1194. - # constant: 0
  1195. - # ignored: 0
  1196. - landmarks:
  1197. - # refined: 265738
  1198. - # constant: 0
  1199. - # ignored: 0
  1200. - intrinsics:
  1201. - # refined: 1
  1202. - # constant: 0
  1203. - # ignored: 0
  1204. - # residual blocks: 531476
  1205. - # successful iterations: 10
  1206. - # unsuccessful iterations: 0
  1207. - initial RMSE: 0.358009
  1208. - final RMSE: 0.31862
  1209. [18:20:44.454133][info] Remove outliers:
  1210. - # outliers residual error: 161
  1211. - # outliers angular error: 2
  1212. [18:20:44.466101][info] Bundle adjustment iteration: 0 took 5217 msec.
  1213. [18:20:44.466101][info] Start bundle adjustment iteration: 1
  1214. [18:20:48.041791][info] Bundle Adjustment Statistics:
  1215. - local strategy enabled: no
  1216. - adjustment duration: 3.20254 s
  1217. - poses:
  1218. - # refined: 18
  1219. - # constant: 0
  1220. - # ignored: 0
  1221. - landmarks:
  1222. - # refined: 265561
  1223. - # constant: 0
  1224. - # ignored: 0
  1225. - intrinsics:
  1226. - # refined: 1
  1227. - # constant: 0
  1228. - # ignored: 0
  1229. - # residual blocks: 531122
  1230. - # successful iterations: 6
  1231. - # unsuccessful iterations: 0
  1232. - initial RMSE: 0.312729
  1233. - final RMSE: 0.311651
  1234. [18:20:48.111603][info] Remove outliers:
  1235. - # outliers residual error: 19
  1236. - # outliers angular error: 0
  1237. [18:20:48.123571][info] Bundle adjustment iteration: 1 took 3657 msec.
  1238. [18:20:48.123571][info] Bundle adjustment with 2 iterations took 8889 msec.
  1239. [18:20:48.320066][info] Update Reconstruction:
  1240. - resection id: 16
  1241. - # images in the resection group: 1
  1242. - # images remaining: 365
  1243. [18:20:48.336024][info] [19/383] Robust Resection of view: 1860817346
  1244. [18:20:50.286187][info] Robust Resection information:
  1245. - resection status: true
  1246. - threshold (error max): 4.26317
  1247. - # points used for resection: 9971
  1248. - # points validated by robust resection: 9261
  1249. [18:20:50.740487][info] Bundle adjustment start.
  1250. [18:20:50.753453][info] Start bundle adjustment iteration: 0
  1251. [18:20:54.915601][info] Bundle Adjustment Statistics:
  1252. - local strategy enabled: no
  1253. - adjustment duration: 3.79515 s
  1254. - poses:
  1255. - # refined: 19
  1256. - # constant: 0
  1257. - # ignored: 0
  1258. - landmarks:
  1259. - # refined: 279495
  1260. - # constant: 0
  1261. - # ignored: 0
  1262. - intrinsics:
  1263. - # refined: 1
  1264. - # constant: 0
  1265. - # ignored: 0
  1266. - # residual blocks: 558990
  1267. - # successful iterations: 7
  1268. - # unsuccessful iterations: 0
  1269. - initial RMSE: 0.352265
  1270. - final RMSE: 0.321831
  1271. [18:20:54.989785][info] Remove outliers:
  1272. - # outliers residual error: 185
  1273. - # outliers angular error: 2
  1274. [18:20:55.002750][info] Bundle adjustment iteration: 0 took 4249 msec.
  1275. [18:20:55.002750][info] Start bundle adjustment iteration: 1
  1276. [18:20:58.238162][info] Bundle Adjustment Statistics:
  1277. - local strategy enabled: no
  1278. - adjustment duration: 2.82632 s
  1279. - poses:
  1280. - # refined: 19
  1281. - # constant: 0
  1282. - # ignored: 0
  1283. - landmarks:
  1284. - # refined: 279297
  1285. - # constant: 0
  1286. - # ignored: 0
  1287. - intrinsics:
  1288. - # refined: 1
  1289. - # constant: 0
  1290. - # ignored: 0
  1291. - # residual blocks: 558594
  1292. - # successful iterations: 5
  1293. - # unsuccessful iterations: 0
  1294. - initial RMSE: 0.315583
  1295. - final RMSE: 0.31445
  1296. [18:20:58.311965][info] Remove outliers:
  1297. - # outliers residual error: 15
  1298. - # outliers angular error: 1
  1299. [18:20:58.324931][info] Bundle adjustment iteration: 1 took 3321 msec.
  1300. [18:20:58.324931][info] Bundle adjustment with 2 iterations took 7584 msec.
  1301. [18:20:58.398733][info] Update Reconstruction:
  1302. - resection id: 17
  1303. - # images in the resection group: 1
  1304. - # images remaining: 364
  1305. [18:20:58.415687][info] [20/383] Robust Resection of view: 1538604323
  1306. [18:21:00.644413][info] Robust Resection information:
  1307. - resection status: true
  1308. - threshold (error max): 3.92419
  1309. - # points used for resection: 11354
  1310. - # points validated by robust resection: 10666
  1311. [18:21:01.163748][info] Bundle adjustment start.
  1312. [18:21:01.176714][info] Start bundle adjustment iteration: 0
  1313. [18:21:05.931306][info] Bundle Adjustment Statistics:
  1314. - local strategy enabled: no
  1315. - adjustment duration: 4.36181 s
  1316. - poses:
  1317. - # refined: 20
  1318. - # constant: 0
  1319. - # ignored: 0
  1320. - landmarks:
  1321. - # refined: 294951
  1322. - # constant: 0
  1323. - # ignored: 0
  1324. - intrinsics:
  1325. - # refined: 1
  1326. - # constant: 0
  1327. - # ignored: 0
  1328. - # residual blocks: 589902
  1329. - # successful iterations: 8
  1330. - # unsuccessful iterations: 0
  1331. - initial RMSE: 0.355436
  1332. - final RMSE: 0.32357
  1333. [18:21:06.008605][info] Remove outliers:
  1334. - # outliers residual error: 177
  1335. - # outliers angular error: 1
  1336. [18:21:06.022568][info] Bundle adjustment iteration: 0 took 4845 msec.
  1337. [18:21:06.022568][info] Start bundle adjustment iteration: 1
  1338. [18:21:08.258272][info] Bundle Adjustment Statistics:
  1339. - local strategy enabled: no
  1340. - adjustment duration: 1.80907 s
  1341. - poses:
  1342. - # refined: 20
  1343. - # constant: 0
  1344. - # ignored: 0
  1345. - landmarks:
  1346. - # refined: 294763
  1347. - # constant: 0
  1348. - # ignored: 0
  1349. - intrinsics:
  1350. - # refined: 1
  1351. - # constant: 0
  1352. - # ignored: 0
  1353. - # residual blocks: 589526
  1354. - # successful iterations: 3
  1355. - # unsuccessful iterations: 0
  1356. - initial RMSE: 0.317794
  1357. - final RMSE: 0.31672
  1358. [18:21:08.337062][info] Remove outliers:
  1359. - # outliers residual error: 17
  1360. - # outliers angular error: 0
  1361. [18:21:08.350027][info] Bundle adjustment iteration: 1 took 2327 msec.
  1362. [18:21:08.350027][info] Bundle adjustment with 2 iterations took 7186 msec.
  1363. [18:21:08.426822][info] Update Reconstruction:
  1364. - resection id: 18
  1365. - # images in the resection group: 1
  1366. - # images remaining: 363
  1367. [18:21:08.439787][info] [21/383] Robust Resection of view: 447000332
  1368. [18:21:09.295757][info] Robust Resection information:
  1369. - resection status: true
  1370. - threshold (error max): 12.3303
  1371. - # points used for resection: 4475
  1372. - # points validated by robust resection: 4150
  1373. [18:21:09.514189][info] Bundle adjustment start.
  1374. [18:21:09.527154][info] Start bundle adjustment iteration: 0
  1375. [18:21:13.927052][info] Bundle Adjustment Statistics:
  1376. - local strategy enabled: no
  1377. - adjustment duration: 4.00901 s
  1378. - poses:
  1379. - # refined: 21
  1380. - # constant: 0
  1381. - # ignored: 0
  1382. - landmarks:
  1383. - # refined: 301049
  1384. - # constant: 0
  1385. - # ignored: 0
  1386. - intrinsics:
  1387. - # refined: 1
  1388. - # constant: 0
  1389. - # ignored: 0
  1390. - # residual blocks: 602098
  1391. - # successful iterations: 7
  1392. - # unsuccessful iterations: 0
  1393. - initial RMSE: 0.354059
  1394. - final RMSE: 0.333995
  1395. [18:21:14.005840][info] Remove outliers:
  1396. - # outliers residual error: 142
  1397. - # outliers angular error: 2
  1398. [18:21:14.018805][info] Bundle adjustment iteration: 0 took 4492 msec.
  1399. [18:21:14.018805][info] Start bundle adjustment iteration: 1
  1400. [18:21:17.407337][info] Bundle Adjustment Statistics:
  1401. - local strategy enabled: no
  1402. - adjustment duration: 2.95896 s
  1403. - poses:
  1404. - # refined: 21
  1405. - # constant: 0
  1406. - # ignored: 0
  1407. - landmarks:
  1408. - # refined: 300878
  1409. - # constant: 0
  1410. - # ignored: 0
  1411. - intrinsics:
  1412. - # refined: 1
  1413. - # constant: 0
  1414. - # ignored: 0
  1415. - # residual blocks: 601756
  1416. - # successful iterations: 5
  1417. - # unsuccessful iterations: 0
  1418. - initial RMSE: 0.32959
  1419. - final RMSE: 0.329003
  1420. [18:21:17.490116][info] Remove outliers:
  1421. - # outliers residual error: 11
  1422. - # outliers angular error: 0
  1423. [18:21:17.504078][info] Bundle adjustment iteration: 1 took 3484 msec.
  1424. [18:21:17.504078][info] Bundle adjustment with 2 iterations took 7989 msec.
  1425. [18:21:17.702548][info] Update Reconstruction:
  1426. - resection id: 19
  1427. - # images in the resection group: 1
  1428. - # images remaining: 362
  1429. [18:21:17.717508][info] [22/383] Robust Resection of view: 1209774823
  1430. [18:21:18.800890][info] Robust Resection information:
  1431. - resection status: true
  1432. - threshold (error max): 8.76237
  1433. - # points used for resection: 5666
  1434. - # points validated by robust resection: 5201
  1435. [18:21:19.145911][info] Bundle adjustment start.
  1436. [18:21:19.160871][info] Start bundle adjustment iteration: 0
  1437. [18:21:23.809883][info] Bundle Adjustment Statistics:
  1438. - local strategy enabled: no
  1439. - adjustment duration: 4.22572 s
  1440. - poses:
  1441. - # refined: 22
  1442. - # constant: 0
  1443. - # ignored: 0
  1444. - landmarks:
  1445. - # refined: 316096
  1446. - # constant: 0
  1447. - # ignored: 0
  1448. - intrinsics:
  1449. - # refined: 1
  1450. - # constant: 0
  1451. - # ignored: 0
  1452. - # residual blocks: 632192
  1453. - # successful iterations: 7
  1454. - # unsuccessful iterations: 0
  1455. - initial RMSE: 0.367691
  1456. - final RMSE: 0.341938
  1457. [18:21:23.894657][info] Remove outliers:
  1458. - # outliers residual error: 164
  1459. - # outliers angular error: 1
  1460. [18:21:23.910614][info] Bundle adjustment iteration: 0 took 4749 msec.
  1461. [18:21:23.910614][info] Start bundle adjustment iteration: 1
  1462. [18:21:26.908785][info] Bundle Adjustment Statistics:
  1463. - local strategy enabled: no
  1464. - adjustment duration: 2.53084 s
  1465. - poses:
  1466. - # refined: 22
  1467. - # constant: 0
  1468. - # ignored: 0
  1469. - landmarks:
  1470. - # refined: 315909
  1471. - # constant: 0
  1472. - # ignored: 0
  1473. - intrinsics:
  1474. - # refined: 1
  1475. - # constant: 0
  1476. - # ignored: 0
  1477. - # residual blocks: 631818
  1478. - # successful iterations: 4
  1479. - # unsuccessful iterations: 0
  1480. - initial RMSE: 0.337167
  1481. - final RMSE: 0.336433
  1482. [18:21:26.997546][info] Remove outliers:
  1483. - # outliers residual error: 25
  1484. - # outliers angular error: 0
  1485. [18:21:27.012506][info] Bundle adjustment iteration: 1 took 3101 msec.
  1486. [18:21:27.012506][info] Bundle adjustment with 2 iterations took 7866 msec.
  1487. [18:21:27.091295][info] Update Reconstruction:
  1488. - resection id: 20
  1489. - # images in the resection group: 1
  1490. - # images remaining: 361
  1491. [18:21:27.106255][info] [23/383] Robust Resection of view: 1791389114
  1492. [18:21:28.025798][info] Robust Resection information:
  1493. - resection status: true
  1494. - threshold (error max): 5.64008
  1495. - # points used for resection: 4836
  1496. - # points validated by robust resection: 4323
  1497. [18:21:28.275131][info] Bundle adjustment start.
  1498. [18:21:28.292086][info] Start bundle adjustment iteration: 0
  1499. [18:21:33.152002][info] Bundle Adjustment Statistics:
  1500. - local strategy enabled: no
  1501. - adjustment duration: 4.4269 s
  1502. - poses:
  1503. - # refined: 23
  1504. - # constant: 0
  1505. - # ignored: 0
  1506. - landmarks:
  1507. - # refined: 326535
  1508. - # constant: 0
  1509. - # ignored: 0
  1510. - intrinsics:
  1511. - # refined: 1
  1512. - # constant: 0
  1513. - # ignored: 0
  1514. - # residual blocks: 653070
  1515. - # successful iterations: 7
  1516. - # unsuccessful iterations: 0
  1517. - initial RMSE: 0.3558
  1518. - final RMSE: 0.340757
  1519. [18:21:33.245752][info] Remove outliers:
  1520. - # outliers residual error: 144
  1521. - # outliers angular error: 1
  1522. [18:21:33.261709][info] Bundle adjustment iteration: 0 took 4969 msec.
  1523. [18:21:33.261709][info] Start bundle adjustment iteration: 1
  1524. [18:21:37.423063][info] Bundle Adjustment Statistics:
  1525. - local strategy enabled: no
  1526. - adjustment duration: 3.70601 s
  1527. - poses:
  1528. - # refined: 23
  1529. - # constant: 0
  1530. - # ignored: 0
  1531. - landmarks:
  1532. - # refined: 326371
  1533. - # constant: 0
  1534. - # ignored: 0
  1535. - intrinsics:
  1536. - # refined: 1
  1537. - # constant: 0
  1538. - # ignored: 0
  1539. - # residual blocks: 652742
  1540. - # successful iterations: 6
  1541. - # unsuccessful iterations: 0
  1542. - initial RMSE: 0.336661
  1543. - final RMSE: 0.336091
  1544. [18:21:37.513819][info] Remove outliers:
  1545. - # outliers residual error: 15
  1546. - # outliers angular error: 0
  1547. [18:21:37.529776][info] Bundle adjustment iteration: 1 took 4268 msec.
  1548. [18:21:37.529776][info] Bundle adjustment with 2 iterations took 9253 msec.
  1549. [18:21:37.606571][info] Update Reconstruction:
  1550. - resection id: 21
  1551. - # images in the resection group: 1
  1552. - # images remaining: 360
  1553. [18:21:37.620534][info] [24/383] Robust Resection of view: 1320501552
  1554. [18:21:38.411420][info] Robust Resection information:
  1555. - resection status: true
  1556. - threshold (error max): 5.32343
  1557. - # points used for resection: 4182
  1558. - # points validated by robust resection: 3579
  1559. [18:21:38.688680][info] Bundle adjustment start.
  1560. [18:21:38.704637][info] Start bundle adjustment iteration: 0
  1561. [18:21:43.539141][info] Bundle Adjustment Statistics:
  1562. - local strategy enabled: no
  1563. - adjustment duration: 4.38704 s
  1564. - poses:
  1565. - # refined: 24
  1566. - # constant: 0
  1567. - # ignored: 0
  1568. - landmarks:
  1569. - # refined: 338819
  1570. - # constant: 0
  1571. - # ignored: 0
  1572. - intrinsics:
  1573. - # refined: 1
  1574. - # constant: 0
  1575. - # ignored: 0
  1576. - # residual blocks: 677638
  1577. - # successful iterations: 7
  1578. - # unsuccessful iterations: 0
  1579. - initial RMSE: 0.352228
  1580. - final RMSE: 0.338578
  1581. [18:21:43.638874][info] Remove outliers:
  1582. - # outliers residual error: 142
  1583. - # outliers angular error: 0
  1584. [18:21:43.655829][info] Bundle adjustment iteration: 0 took 4951 msec.
  1585. [18:21:43.655829][info] Start bundle adjustment iteration: 1
  1586. [18:21:47.488946][info] Bundle Adjustment Statistics:
  1587. - local strategy enabled: no
  1588. - adjustment duration: 3.35614 s
  1589. - poses:
  1590. - # refined: 24
  1591. - # constant: 0
  1592. - # ignored: 0
  1593. - landmarks:
  1594. - # refined: 338651
  1595. - # constant: 0
  1596. - # ignored: 0
  1597. - intrinsics:
  1598. - # refined: 1
  1599. - # constant: 0
  1600. - # ignored: 0
  1601. - # residual blocks: 677302
  1602. - # successful iterations: 5
  1603. - # unsuccessful iterations: 0
  1604. - initial RMSE: 0.334499
  1605. - final RMSE: 0.333749
  1606. [18:21:47.582694][info] Remove outliers:
  1607. - # outliers residual error: 19
  1608. - # outliers angular error: 0
  1609. [18:21:47.599649][info] Bundle adjustment iteration: 1 took 3943 msec.
  1610. [18:21:47.599649][info] Bundle adjustment with 2 iterations took 8910 msec.
  1611. [18:21:47.805100][info] Update Reconstruction:
  1612. - resection id: 22
  1613. - # images in the resection group: 1
  1614. - # images remaining: 359
  1615. [18:21:47.822055][info] [25/383] Robust Resection of view: 684725470
  1616. [18:21:48.995928][info] Robust Resection information:
  1617. - resection status: true
  1618. - threshold (error max): 4.36007
  1619. - # points used for resection: 6119
  1620. - # points validated by robust resection: 5327
  1621. [18:21:49.315091][info] Bundle adjustment start.
  1622. [18:21:49.331048][info] Start bundle adjustment iteration: 0
  1623. [18:21:54.467208][info] Bundle Adjustment Statistics:
  1624. - local strategy enabled: no
  1625. - adjustment duration: 4.67249 s
  1626. - poses:
  1627. - # refined: 25
  1628. - # constant: 0
  1629. - # ignored: 0
  1630. - landmarks:
  1631. - # refined: 352685
  1632. - # constant: 0
  1633. - # ignored: 0
  1634. - intrinsics:
  1635. - # refined: 1
  1636. - # constant: 0
  1637. - # ignored: 0
  1638. - # residual blocks: 705370
  1639. - # successful iterations: 7
  1640. - # unsuccessful iterations: 0
  1641. - initial RMSE: 0.353112
  1642. - final RMSE: 0.336262
  1643. [18:21:54.570931][info] Remove outliers:
  1644. - # outliers residual error: 137
  1645. - # outliers angular error: 2
  1646. [18:21:54.587885][info] Bundle adjustment iteration: 0 took 5257 msec.
  1647. [18:21:54.587885][info] Start bundle adjustment iteration: 1
  1648. [18:21:58.518031][info] Bundle Adjustment Statistics:
  1649. - local strategy enabled: no
  1650. - adjustment duration: 3.42865 s
  1651. - poses:
  1652. - # refined: 25
  1653. - # constant: 0
  1654. - # ignored: 0
  1655. - landmarks:
  1656. - # refined: 352527
  1657. - # constant: 0
  1658. - # ignored: 0
  1659. - intrinsics:
  1660. - # refined: 1
  1661. - # constant: 0
  1662. - # ignored: 0
  1663. - # residual blocks: 705054
  1664. - # successful iterations: 5
  1665. - # unsuccessful iterations: 0
  1666. - initial RMSE: 0.332363
  1667. - final RMSE: 0.331743
  1668. [18:21:58.610784][info] Remove outliers:
  1669. - # outliers residual error: 18
  1670. - # outliers angular error: 0
  1671. [18:21:58.628735][info] Bundle adjustment iteration: 1 took 4040 msec.
  1672. [18:21:58.628735][info] Bundle adjustment with 2 iterations took 9313 msec.
  1673. [18:21:58.717644][info] Update Reconstruction:
  1674. - resection id: 23
  1675. - # images in the resection group: 1
  1676. - # images remaining: 358
  1677. [18:21:58.732604][info] [26/383] Robust Resection of view: 254502892
  1678. [18:21:59.107109][info] Robust Resection information:
  1679. - resection status: true
  1680. - threshold (error max): 10.1528
  1681. - # points used for resection: 1998
  1682. - # points validated by robust resection: 1804
  1683. [18:21:59.231776][info] Bundle adjustment start.
  1684. [18:21:59.250725][info] Start bundle adjustment iteration: 0
  1685. [18:22:02.653934][info] Bundle Adjustment Statistics:
  1686. - local strategy enabled: no
  1687. - adjustment duration: 2.90763 s
  1688. - poses:
  1689. - # refined: 26
  1690. - # constant: 0
  1691. - # ignored: 0
  1692. - landmarks:
  1693. - # refined: 356191
  1694. - # constant: 0
  1695. - # ignored: 0
  1696. - intrinsics:
  1697. - # refined: 1
  1698. - # constant: 0
  1699. - # ignored: 0
  1700. - # residual blocks: 712382
  1701. - # successful iterations: 4
  1702. - # unsuccessful iterations: 0
  1703. - initial RMSE: 0.340334
  1704. - final RMSE: 0.334656
  1705. [18:22:02.747682][info] Remove outliers:
  1706. - # outliers residual error: 66
  1707. - # outliers angular error: 0
  1708. [18:22:02.765634][info] Bundle adjustment iteration: 0 took 3514 msec.
  1709. [18:22:02.765634][info] Start bundle adjustment iteration: 1
  1710. [18:22:05.529890][info] Bundle Adjustment Statistics:
  1711. - local strategy enabled: no
  1712. - adjustment duration: 2.2655 s
  1713. - poses:
  1714. - # refined: 26
  1715. - # constant: 0
  1716. - # ignored: 0
  1717. - landmarks:
  1718. - # refined: 356104
  1719. - # constant: 0
  1720. - # ignored: 0
  1721. - intrinsics:
  1722. - # refined: 1
  1723. - # constant: 0
  1724. - # ignored: 0
  1725. - # residual blocks: 712208
  1726. - # successful iterations: 3
  1727. - # unsuccessful iterations: 0
  1728. - initial RMSE: 0.332813
  1729. - final RMSE: 0.332636
  1730. [18:22:05.625633][info] Remove outliers:
  1731. - # outliers residual error: 3
  1732. - # outliers angular error: 0
  1733. [18:22:05.642588][info] Bundle adjustment iteration: 1 took 2877 msec.
  1734. [18:22:05.642588][info] Bundle adjustment with 2 iterations took 6410 msec.
  1735. [18:22:05.724369][info] Update Reconstruction:
  1736. - resection id: 24
  1737. - # images in the resection group: 1
  1738. - # images remaining: 357
  1739. [18:22:05.741324][info] [27/383] Robust Resection of view: 60787698
  1740. [18:22:06.697786][info] Robust Resection information:
  1741. - resection status: true
  1742. - threshold (error max): 4.66574
  1743. - # points used for resection: 5025
  1744. - # points validated by robust resection: 4418
  1745. [18:22:06.966576][info] Bundle adjustment start.
  1746. [18:22:06.983531][info] Start bundle adjustment iteration: 0
  1747. [18:22:12.565605][info] Bundle Adjustment Statistics:
  1748. - local strategy enabled: no
  1749. - adjustment duration: 5.0787 s
  1750. - poses:
  1751. - # refined: 27
  1752. - # constant: 0
  1753. - # ignored: 0
  1754. - landmarks:
  1755. - # refined: 368185
  1756. - # constant: 0
  1757. - # ignored: 0
  1758. - intrinsics:
  1759. - # refined: 1
  1760. - # constant: 0
  1761. - # ignored: 0
  1762. - # residual blocks: 736370
  1763. - # successful iterations: 7
  1764. - # unsuccessful iterations: 0
  1765. - initial RMSE: 0.346986
  1766. - final RMSE: 0.335866
  1767. [18:22:12.664342][info] Remove outliers:
  1768. - # outliers residual error: 130
  1769. - # outliers angular error: 1
  1770. [18:22:12.682293][info] Bundle adjustment iteration: 0 took 5699 msec.
  1771. [18:22:12.683291][info] Start bundle adjustment iteration: 1
  1772. [18:22:16.281618][info] Bundle Adjustment Statistics:
  1773. - local strategy enabled: no
  1774. - adjustment duration: 3.07627 s
  1775. - poses:
  1776. - # refined: 27
  1777. - # constant: 0
  1778. - # ignored: 0
  1779. - landmarks:
  1780. - # refined: 368029
  1781. - # constant: 0
  1782. - # ignored: 0
  1783. - intrinsics:
  1784. - # refined: 1
  1785. - # constant: 0
  1786. - # ignored: 0
  1787. - # residual blocks: 736058
  1788. - # successful iterations: 4
  1789. - # unsuccessful iterations: 0
  1790. - initial RMSE: 0.332316
  1791. - final RMSE: 0.331979
  1792. [18:22:16.379355][info] Remove outliers:
  1793. - # outliers residual error: 10
  1794. - # outliers angular error: 0
  1795. [18:22:16.398304][info] Bundle adjustment iteration: 1 took 3715 msec.
  1796. [18:22:16.398304][info] Bundle adjustment with 2 iterations took 9430 msec.
  1797. [18:22:16.618715][info] Update Reconstruction:
  1798. - resection id: 25
  1799. - # images in the resection group: 1
  1800. - # images remaining: 356
  1801. [18:22:16.636667][info] [28/383] Robust Resection of view: 1132964825
  1802. [18:22:17.739720][info] Robust Resection information:
  1803. - resection status: true
  1804. - threshold (error max): 3.7173
  1805. - # points used for resection: 5772
  1806. - # points validated by robust resection: 5266
  1807. [18:22:18.088787][info] Bundle adjustment start.
  1808. [18:22:18.105741][info] Start bundle adjustment iteration: 0
  1809. [18:22:22.979145][info] Bundle Adjustment Statistics:
  1810. - local strategy enabled: no
  1811. - adjustment duration: 4.35467 s
  1812. - poses:
  1813. - # refined: 28
  1814. - # constant: 0
  1815. - # ignored: 0
  1816. - landmarks:
  1817. - # refined: 381767
  1818. - # constant: 0
  1819. - # ignored: 0
  1820. - intrinsics:
  1821. - # refined: 1
  1822. - # constant: 0
  1823. - # ignored: 0
  1824. - # residual blocks: 763534
  1825. - # successful iterations: 6
  1826. - # unsuccessful iterations: 0
  1827. - initial RMSE: 0.34344
  1828. - final RMSE: 0.332546
  1829. [18:22:23.081871][info] Remove outliers:
  1830. - # outliers residual error: 94
  1831. - # outliers angular error: 1
  1832. [18:22:23.101817][info] Bundle adjustment iteration: 0 took 4995 msec.
  1833. [18:22:23.101817][info] Start bundle adjustment iteration: 1
  1834. [18:22:26.831822][info] Bundle Adjustment Statistics:
  1835. - local strategy enabled: no
  1836. - adjustment duration: 3.1839 s
  1837. - poses:
  1838. - # refined: 28
  1839. - # constant: 0
  1840. - # ignored: 0
  1841. - landmarks:
  1842. - # refined: 381661
  1843. - # constant: 0
  1844. - # ignored: 0
  1845. - intrinsics:
  1846. - # refined: 1
  1847. - # constant: 0
  1848. - # ignored: 0
  1849. - # residual blocks: 763322
  1850. - # successful iterations: 4
  1851. - # unsuccessful iterations: 0
  1852. - initial RMSE: 0.329967
  1853. - final RMSE: 0.329677
  1854. [18:22:26.932552][info] Remove outliers:
  1855. - # outliers residual error: 9
  1856. - # outliers angular error: 0
  1857. [18:22:26.952498][info] Bundle adjustment iteration: 1 took 3850 msec.
  1858. [18:22:26.952498][info] Bundle adjustment with 2 iterations took 8863 msec.
  1859. [18:22:27.039266][info] Update Reconstruction:
  1860. - resection id: 26
  1861. - # images in the resection group: 1
  1862. - # images remaining: 355
  1863. [18:22:27.057218][info] [29/383] Robust Resection of view: 1626903457
  1864. [18:22:27.901992][info] Robust Resection information:
  1865. - resection status: true
  1866. - threshold (error max): 8.54549
  1867. - # points used for resection: 4437
  1868. - # points validated by robust resection: 4047
  1869. [18:22:28.148315][info] Bundle adjustment start.
  1870. [18:22:28.166267][info] Start bundle adjustment iteration: 0
  1871. [18:22:33.943780][info] Bundle Adjustment Statistics:
  1872. - local strategy enabled: no
  1873. - adjustment duration: 5.23924 s
  1874. - poses:
  1875. - # refined: 29
  1876. - # constant: 0
  1877. - # ignored: 0
  1878. - landmarks:
  1879. - # refined: 389193
  1880. - # constant: 0
  1881. - # ignored: 0
  1882. - intrinsics:
  1883. - # refined: 1
  1884. - # constant: 0
  1885. - # ignored: 0
  1886. - # residual blocks: 778386
  1887. - # successful iterations: 7
  1888. - # unsuccessful iterations: 0
  1889. - initial RMSE: 0.354601
  1890. - final RMSE: 0.338575
  1891. [18:22:34.049497][info] Remove outliers:
  1892. - # outliers residual error: 139
  1893. - # outliers angular error: 0
  1894. [18:22:34.068446][info] Bundle adjustment iteration: 0 took 5902 msec.
  1895. [18:22:34.068446][info] Start bundle adjustment iteration: 1
  1896. [18:22:38.503854][info] Bundle Adjustment Statistics:
  1897. - local strategy enabled: no
  1898. - adjustment duration: 3.87799 s
  1899. - poses:
  1900. - # refined: 29
  1901. - # constant: 0
  1902. - # ignored: 0
  1903. - landmarks:
  1904. - # refined: 389024
  1905. - # constant: 0
  1906. - # ignored: 0
  1907. - intrinsics:
  1908. - # refined: 1
  1909. - # constant: 0
  1910. - # ignored: 0
  1911. - # residual blocks: 778048
  1912. - # successful iterations: 5
  1913. - # unsuccessful iterations: 0
  1914. - initial RMSE: 0.33485
  1915. - final RMSE: 0.334363
  1916. [18:22:38.607085][info] Remove outliers:
  1917. - # outliers residual error: 17
  1918. - # outliers angular error: 0
  1919. [18:22:38.626034][info] Bundle adjustment iteration: 1 took 4557 msec.
  1920. [18:22:38.626034][info] Bundle adjustment with 2 iterations took 10478 msec.
  1921. [18:22:38.715794][info] Update Reconstruction:
  1922. - resection id: 27
  1923. - # images in the resection group: 1
  1924. - # images remaining: 354
  1925. [18:22:38.737735][info] [30/383] Robust Resection of view: 1109825155
  1926. [18:22:40.798228][info] Robust Resection information:
  1927. - resection status: true
  1928. - threshold (error max): 4.24379
  1929. - # points used for resection: 10506
  1930. - # points validated by robust resection: 9840
  1931. [18:22:41.367222][info] Bundle adjustment start.
  1932. [18:22:41.387169][info] Start bundle adjustment iteration: 0
  1933. [18:22:46.737555][info] Bundle Adjustment Statistics:
  1934. - local strategy enabled: no
  1935. - adjustment duration: 4.79589 s
  1936. - poses:
  1937. - # refined: 30
  1938. - # constant: 0
  1939. - # ignored: 0
  1940. - landmarks:
  1941. - # refined: 403543
  1942. - # constant: 0
  1943. - # ignored: 0
  1944. - intrinsics:
  1945. - # refined: 1
  1946. - # constant: 0
  1947. - # ignored: 0
  1948. - # residual blocks: 807086
  1949. - # successful iterations: 6
  1950. - # unsuccessful iterations: 0
  1951. - initial RMSE: 0.36925
  1952. - final RMSE: 0.343674
  1953. [18:22:46.842275][info] Remove outliers:
  1954. - # outliers residual error: 259
  1955. - # outliers angular error: 1
  1956. [18:22:46.863219][info] Bundle adjustment iteration: 0 took 5475 msec.
  1957. [18:22:46.863219][info] Start bundle adjustment iteration: 1
  1958. [18:22:50.755828][info] Bundle Adjustment Statistics:
  1959. - local strategy enabled: no
  1960. - adjustment duration: 3.31059 s
  1961. - poses:
  1962. - # refined: 30
  1963. - # constant: 0
  1964. - # ignored: 0
  1965. - landmarks:
  1966. - # refined: 403264
  1967. - # constant: 0
  1968. - # ignored: 0
  1969. - intrinsics:
  1970. - # refined: 1
  1971. - # constant: 0
  1972. - # ignored: 0
  1973. - # residual blocks: 806528
  1974. - # successful iterations: 4
  1975. - # unsuccessful iterations: 0
  1976. - initial RMSE: 0.337485
  1977. - final RMSE: 0.336603
  1978. [18:22:50.861512][info] Remove outliers:
  1979. - # outliers residual error: 28
  1980. - # outliers angular error: 0
  1981. [18:22:50.881459][info] Bundle adjustment iteration: 1 took 4018 msec.
  1982. [18:22:50.882456][info] Bundle adjustment with 2 iterations took 9514 msec.
  1983. [18:22:51.102867][info] Update Reconstruction:
  1984. - resection id: 28
  1985. - # images in the resection group: 30
  1986. - # images remaining: 353
  1987. [18:22:51.133784][info] [31/383] Robust Resection of view: 156649351
  1988. [18:22:51.133784][info] [31/383] Robust Resection of view: 1285447084
  1989. [18:22:51.134782][info] [31/383] Robust Resection of view: 953122700
  1990. [18:22:51.135779][info] [31/383] Robust Resection of view: 351771270
  1991. [18:22:51.135779][info] [31/383] Robust Resection of view: 1370984086
  1992. [18:22:51.137773][info] [31/383] Robust Resection of view: 141820920
  1993. [18:22:51.138771][info] [31/383] Robust Resection of view: 351482621
  1994. [18:22:51.138771][info] [31/383] Robust Resection of view: 1503247470
  1995. [18:22:51.138771][info] [31/383] Robust Resection of view: 1583931757
  1996. [18:22:51.138771][info] [31/383] Robust Resection of view: 1809914083
  1997. [18:22:51.138771][info] [31/383] Robust Resection of view: 1627680800
  1998. [18:22:51.138771][info] [31/383] Robust Resection of view: 759834850
  1999. [18:22:51.139769][info] [31/383] Robust Resection of view: 1380158735
  2000. [18:22:51.139769][info] [31/383] Robust Resection of view: 1288967215
  2001. [18:22:51.139769][info] [31/383] Robust Resection of view: 2125352506
  2002. [18:22:51.139769][info] [31/383] Robust Resection of view: 1946840278
  2003. [18:22:51.139769][info] [31/383] Robust Resection of view: 2074866204
  2004. [18:22:51.139769][info] [31/383] Robust Resection of view: 1357781195
  2005. [18:22:51.140766][info] [31/383] Robust Resection of view: 1730506161
  2006. [18:22:51.141763][info] [31/383] Robust Resection of view: 687951866
  2007.  
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