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"metadata": { "id": "vXt8y7QyyRn9" } }, { "cell_type": "code", "source": [ "from google.colab import drive\n", "drive.mount('/content/drive')" ], "metadata": { "colab": { "base_uri": "https://localhost:8080/" }, "id": "t9kAhlZHTIqC", "outputId": "e23a9c7b-f61e-4054-a368-1e389d5f9753" }, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "Mounted at /content/drive\n" ] } ], "execution_count": 1 }, { "cell_type": "code", "source": [ "import os\n", "import sys\n", "import subprocess\n", "from PIL import Image\n", "\n", "def run_cmd(cmd, check=True, capture=False):\n", " \"\"\"Run command with better error handling\"\"\"\n", " print(f\"Running: {' '.join(cmd)}\")\n", " result = subprocess.run(\n", " cmd,\n", " capture_output=capture,\n", " text=True,\n", " check=False\n", " )\n", " if check and result.returncode != 0:\n", " print(f\"❌ Command failed with code {result.returncode}\")\n", " if capture:\n", " print(f\"STDOUT: {result.stdout}\")\n", " print(f\"STDERR: {result.stderr}\")\n", " return result\n", "\n", "def setup_environment():\n", " \"\"\"\n", " Colab environment setup for Gaussian Splatting + LightGlue + pycolmap\n", " Python 3.12 compatible version (v8)\n", " \"\"\"\n", "\n", " print(\"🚀 Setting up COLAB environment (v8 - Python 3.12 compatible)\")\n", "\n", " WORK_DIR = \"/content/gaussian-splatting\"\n", "\n", " # =====================================================================\n", " # STEP 0: NumPy FIX (Python 3.12 compatible)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 0: Fix NumPy (Python 3.12 compatible)\")\n", " print(\"=\"*70)\n", "\n", " # Python 3.12 requires numpy >= 1.26\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"uninstall\", \"-y\", \"numpy\"])\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"numpy==1.26.4\"])\n", "\n", " # sanity check\n", " run_cmd([sys.executable, \"-c\", \"import numpy; print('NumPy:', numpy.__version__)\"])\n", "\n", " # =====================================================================\n", " # STEP 1: System packages (Colab)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 1: System packages\")\n", " print(\"=\"*70)\n", "\n", " run_cmd([\"apt-get\", \"update\", \"-qq\"])\n", " run_cmd([\n", " \"apt-get\", \"install\", \"-y\", \"-qq\",\n", " \"colmap\",\n", " \"build-essential\",\n", " \"cmake\",\n", " \"git\",\n", " \"libopenblas-dev\",\n", " \"xvfb\"\n", " ])\n", "\n", " # virtual display (COLMAP / OpenCV safety)\n", " os.environ[\"QT_QPA_PLATFORM\"] = \"offscreen\"\n", " os.environ[\"DISPLAY\"] = \":99\"\n", " subprocess.Popen(\n", " [\"Xvfb\", \":99\", \"-screen\", \"0\", \"1024x768x24\"],\n", " stdout=subprocess.DEVNULL,\n", " stderr=subprocess.DEVNULL\n", " )\n", "\n", " # =====================================================================\n", " # STEP 2: Clone Gaussian Splatting\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 2: Clone Gaussian Splatting\")\n", " print(\"=\"*70)\n", "\n", " if not os.path.exists(WORK_DIR):\n", " run_cmd([\n", " \"git\", \"clone\", \"--recursive\",\n", " \"https://github.com/graphdeco-inria/gaussian-splatting.git\",\n", " WORK_DIR\n", " ])\n", " else:\n", " print(\"✓ Repository already exists\")\n", "\n", " # =====================================================================\n", " # STEP 3: Python packages (FIXED ORDER & VERSIONS)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 3: Python packages (VERBOSE MODE)\")\n", " print(\"=\"*70)\n", "\n", " # ---- PyTorch (Colab CUDA対応) ----\n", " print(\"\\n📦 Installing PyTorch...\")\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"torch\", \"torchvision\", \"torchaudio\"\n", " ])\n", "\n", " # ---- Core utils ----\n", " print(\"\\n📦 Installing core utilities...\")\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"opencv-python\",\n", " \"pillow\",\n", " \"imageio\",\n", " \"imageio-ffmpeg\",\n", " \"plyfile\",\n", " \"tqdm\",\n", " \"tensorboard\"\n", " ])\n", "\n", " # ---- transformers (NumPy 1.26 compatible) ----\n", " print(\"\\n📦 Installing transformers (NumPy 1.26 compatible)...\")\n", " # Install transformers with proper dependencies\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"transformers==4.40.0\"\n", " ])\n", "\n", " # ---- LightGlue stack (GITHUB INSTALL) ----\n", " print(\"\\n📦 Installing LightGlue stack...\")\n", "\n", " # Install kornia first\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"kornia\"])\n", "\n", " # Install h5py (sometimes needed)\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"h5py\"])\n", "\n", " # Install matplotlib (LightGlue dependency)\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"matplotlib\"])\n", "\n", " # Install LightGlue directly from GitHub (more reliable)\n", " print(\" Installing LightGlue from GitHub...\")\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\",\n", " \"git+https://github.com/cvg/LightGlue.git\"])\n", "\n", " # Install pycolmap\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"pycolmap\"])\n", "\n", " # =====================================================================\n", " # STEP 4: Build GS submodules\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 4: Build Gaussian Splatting submodules\")\n", " print(\"=\"*70)\n", "\n", " submodules = {\n", " \"diff-gaussian-rasterization\":\n", " \"https://github.com/graphdeco-inria/diff-gaussian-rasterization.git\",\n", " \"simple-knn\":\n", " \"https://github.com/camenduru/simple-knn.git\"\n", " }\n", "\n", " for name, repo in submodules.items():\n", " print(f\"\\n📦 Installing {name}...\")\n", " path = os.path.join(WORK_DIR, \"submodules\", name)\n", " if not os.path.exists(path):\n", " run_cmd([\"git\", \"clone\", repo, path])\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", path])\n", "\n", " # =====================================================================\n", " # STEP 5: Detailed Verification\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 5: Detailed Verification\")\n", " print(\"=\"*70)\n", "\n", " # NumPy (verify version first)\n", " print(\"\\n🔍 Testing NumPy...\")\n", " try:\n", " import numpy as np\n", " print(f\" ✓ NumPy: {np.__version__}\")\n", " except Exception as e:\n", " print(f\" ❌ NumPy failed: {e}\")\n", "\n", " # PyTorch\n", " print(\"\\n🔍 Testing PyTorch...\")\n", " try:\n", " import torch\n", " print(f\" ✓ PyTorch: {torch.__version__}\")\n", " print(f\" ✓ CUDA available: {torch.cuda.is_available()}\")\n", " if torch.cuda.is_available():\n", " print(f\" ✓ CUDA version: {torch.version.cuda}\")\n", " except Exception as e:\n", " print(f\" ❌ PyTorch failed: {e}\")\n", "\n", " # transformers\n", " print(\"\\n🔍 Testing transformers...\")\n", " try:\n", " import transformers\n", " print(f\" ✓ transformers version: {transformers.__version__}\")\n", " from transformers import AutoModel\n", " print(f\" ✓ AutoModel import: OK\")\n", " except Exception as e:\n", " print(f\" ❌ transformers failed: {e}\")\n", " print(f\" Attempting detailed diagnosis...\")\n", " result = run_cmd([\n", " sys.executable, \"-c\",\n", " \"import transformers; print(transformers.__version__)\"\n", " ], capture=True)\n", " print(f\" Output: {result.stdout}\")\n", " print(f\" Error: {result.stderr}\")\n", "\n", " # LightGlue\n", " print(\"\\n🔍 Testing LightGlue...\")\n", " try:\n", " from lightglue import LightGlue, ALIKED\n", " print(f\" ✓ LightGlue: OK\")\n", " print(f\" ✓ ALIKED: OK\")\n", " except Exception as e:\n", " print(f\" ❌ LightGlue failed: {e}\")\n", " print(f\" Attempting detailed diagnosis...\")\n", " result = run_cmd([\n", " sys.executable, \"-c\",\n", " \"from lightglue import LightGlue\"\n", " ], capture=True)\n", " print(f\" Output: {result.stdout}\")\n", " print(f\" Error: {result.stderr}\")\n", "\n", " # pycolmap\n", " print(\"\\n🔍 Testing pycolmap...\")\n", " try:\n", " import pycolmap\n", " print(f\" ✓ pycolmap: OK\")\n", " except Exception as e:\n", " print(f\" ❌ pycolmap failed: {e}\")\n", "\n", " # kornia\n", " print(\"\\n🔍 Testing kornia...\")\n", " try:\n", " import kornia\n", " print(f\" ✓ kornia: {kornia.__version__}\")\n", " except Exception as e:\n", " print(f\" ❌ kornia failed: {e}\")\n", "\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"✅ SETUP COMPLETE\")\n", " print(\"=\"*70)\n", " print(f\"Working dir: {WORK_DIR}\")\n", "\n", " return WORK_DIR\n", "\n", "\n", "if __name__ == \"__main__\":\n", " setup_environment()" ], "metadata": { "id": "z6cBHbABzZ0F", "colab": { "base_uri": "https://localhost:8080/" }, "outputId": "1266b2b0-5ce7-42fa-da48-3f223093dcd0" }, "execution_count": 2, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "🚀 Setting up COLAB environment (v8 - Python 3.12 compatible)\n", "\n", "======================================================================\n", "STEP 0: Fix NumPy (Python 3.12 compatible)\n", "======================================================================\n", "Running: /usr/bin/python3 -m pip uninstall -y numpy\n", "Running: /usr/bin/python3 -m pip install numpy==1.26.4\n", "Running: /usr/bin/python3 -c import numpy; print('NumPy:', numpy.__version__)\n", "\n", "======================================================================\n", "STEP 1: System packages\n", "======================================================================\n", "Running: apt-get update -qq\n", "Running: apt-get install -y -qq colmap build-essential cmake git libopenblas-dev xvfb\n", "\n", "======================================================================\n", "STEP 2: Clone Gaussian Splatting\n", "======================================================================\n", "Running: git clone --recursive https://github.com/graphdeco-inria/gaussian-splatting.git /content/gaussian-splatting\n", "\n", "======================================================================\n", "STEP 3: Python packages (VERBOSE MODE)\n", "======================================================================\n", "\n", "📦 Installing PyTorch...\n", "Running: /usr/bin/python3 -m pip install torch torchvision torchaudio\n", "\n", "📦 Installing core utilities...\n", "Running: /usr/bin/python3 -m pip install opencv-python pillow imageio imageio-ffmpeg plyfile tqdm tensorboard\n", "\n", "📦 Installing transformers (NumPy 1.26 compatible)...\n", "Running: /usr/bin/python3 -m pip install transformers==4.40.0\n", "\n", "📦 Installing LightGlue stack...\n", "Running: /usr/bin/python3 -m pip install kornia\n", "Running: /usr/bin/python3 -m pip install h5py\n", "Running: /usr/bin/python3 -m pip install matplotlib\n", " Installing LightGlue from GitHub...\n", "Running: /usr/bin/python3 -m pip install git+https://github.com/cvg/LightGlue.git\n", "Running: /usr/bin/python3 -m pip install pycolmap\n", "\n", "======================================================================\n", "STEP 4: Build Gaussian Splatting submodules\n", "======================================================================\n", "\n", "📦 Installing diff-gaussian-rasterization...\n", "Running: /usr/bin/python3 -m pip install /content/gaussian-splatting/submodules/diff-gaussian-rasterization\n", "\n", "📦 Installing simple-knn...\n", "Running: /usr/bin/python3 -m pip install /content/gaussian-splatting/submodules/simple-knn\n", "\n", "======================================================================\n", "STEP 5: Detailed Verification\n", "======================================================================\n", "\n", "🔍 Testing NumPy...\n", " ✓ NumPy: 2.0.2\n", "\n", "🔍 Testing PyTorch...\n", " ✓ PyTorch: 2.9.0+cu126\n", " ✓ CUDA available: True\n", " ✓ CUDA version: 12.6\n", "\n", "🔍 Testing transformers...\n", " ✓ transformers version: 4.40.0\n", " ✓ AutoModel import: OK\n", "\n", "🔍 Testing LightGlue...\n", " ✓ LightGlue: OK\n", " ✓ ALIKED: OK\n", "\n", "🔍 Testing pycolmap...\n", " ✓ pycolmap: OK\n", "\n", "🔍 Testing kornia...\n", " ✓ kornia: 0.8.2\n", "\n", "======================================================================\n", "✅ SETUP COMPLETE\n", "======================================================================\n", "Working dir: /content/gaussian-splatting\n" ] } ] }, { "cell_type": "code", "source": [ "import os\n", "\n", "%cd /content/gaussian-splatting\n", "\n", "files = ['database.py', 'h5_to_db.py', 'metric.py']\n", "base_url = 'https://huggingface.co/stpete2/imc25_utils/resolve/main/'\n", "\n", "for file in files:\n", " if not os.path.exists(file):\n", " !wget -q {base_url + file}\n", " print(f\"✓ {file} download complete\")\n", " else:\n", " print(f\"✓ {file} already exists\")\n" ], "metadata": { "id": "eJrkKiCLzt1G", "colab": { "base_uri": "https://localhost:8080/" }, "outputId": "4e8be0f2-4001-42b8-8e05-f57eff91ab43" }, "execution_count": 3, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "/content/gaussian-splatting\n", "✓ database.py download complete\n", "✓ h5_to_db.py download complete\n", "✓ metric.py download complete\n" ] } ] }, { "cell_type": "markdown", "source": [ "# **install libraries**" ], "metadata": { "id": "DwyCRLt4yYfx" } }, { "cell_type": "code", "source": [ "from database import COLMAPDatabase, image_ids_to_pair_id\n", "from h5_to_db import add_keypoints, add_matches\n", "from metric import *" ], "metadata": { "id": "WVr8ggyVuq6q" }, "execution_count": 4, "outputs": [] }, { "cell_type": "code", "source": [ "\"\"\"\n", "Gaussian Splatting Pipeline\n", "Simple and robust pipeline: LightGlue → COLMAP → Gaussian Splatting\n", "\"\"\"\n", "\n", "import os\n", "import sys\n", "import gc\n", "import h5py\n", "import numpy as np\n", "import torch\n", "import torch.nn.functional as F\n", "from tqdm import tqdm\n", "from pathlib import Path\n", "import subprocess\n", "\n", "# LightGlue\n", "from lightglue import ALIKED, LightGlue\n", "from lightglue.utils import load_image\n", "\n", "# Transformers for DINO\n", "from transformers import AutoImageProcessor, AutoModel\n", "\n", "\n", "# ============================================================================\n", "# Configuration\n", "# ============================================================================\n", "class Config:\n", " # Feature extraction\n", " N_KEYPOINTS = 8192\n", " IMAGE_SIZE = 1024\n", "\n", " # Pair selection\n", " GLOBAL_TOPK = 200\n", " MIN_MATCHES = 10\n", " RATIO_THR = 1.2\n", "\n", " # Paths\n", " DINO_MODEL = \"facebook/dinov2-base\" # Change if using local path\n", "\n", " # Device\n", " DEVICE = torch.device('cuda' if torch.cuda.is_available() else 'cpu')" ], "metadata": { "id": "7NfrJdMvrPZn" }, "outputs": [], "execution_count": 5 }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 0: images_square\n", "# ============================================================================\n", "\n", "def preprocess_images_square(input_dir, output_dir, size=1024, background='black'):\n", " \"\"\"\n", " Standardize all images to a square format (maintaining aspect ratio with padding).\n", "\n", " Args:\n", " input_dir (str): Directory containing input images.\n", " output_dir (str): Directory to save processed images.\n", " size (int): Target square dimension (default: 1024).\n", " background (str): Background style: 'black', 'white', or 'blur'.\n", " \"\"\"\n", " from PIL import Image, ImageFilter\n", " import os\n", " from tqdm import tqdm\n", "\n", " print(f\"\\n=== Preprocessing to {size}x{size} Square Images ===\")\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", "\n", " image_files = sorted([\n", " f for f in os.listdir(input_dir)\n", " if f.lower().endswith(('.jpg', '.jpeg', '.png'))\n", " ])\n", "\n", " stats = {\n", " 'total': len(image_files),\n", " 'landscape': 0,\n", " 'portrait': 0,\n", " 'square': 0,\n", " 'resized': 0,\n", " }\n", "\n", " for img_file in tqdm(image_files, desc=\"Converting to square\"):\n", " img_path = os.path.join(input_dir, img_file)\n", " img = Image.open(img_path).convert('RGB')\n", "\n", " width, height = img.size\n", "\n", " # Statistics\n", " if width > height:\n", " stats['landscape'] += 1\n", " elif width < height:\n", " stats['portrait'] += 1\n", " else:\n", " stats['square'] += 1\n", "\n", " # Resize based on the longest side\n", " max_dim = max(width, height)\n", " if max_dim != size:\n", " scale = size / max_dim\n", " new_width = int(width * scale)\n", " new_height = int(height * scale)\n", " img = img.resize((new_width, new_height), Image.LANCZOS)\n", " stats['resized'] += 1\n", " else:\n", " new_width, new_height = width, height\n", "\n", " # Create background\n", " if background == 'black':\n", " canvas = Image.new('RGB', (size, size), (0, 0, 0))\n", " elif background == 'white':\n", " canvas = Image.new('RGB', (size, size), (255, 255, 255))\n", " elif background == 'blur':\n", " # Use a blurred version of the image as background for a professional look\n", " canvas = img.resize((size, size), Image.LANCZOS)\n", " canvas = canvas.filter(ImageFilter.GaussianBlur(radius=20))\n", " else:\n", " canvas = Image.new('RGB', (size, size), (0, 0, 0))\n", "\n", " # Center the image\n", " offset_x = (size - new_width) // 2\n", " offset_y = (size - new_height) // 2\n", " canvas.paste(img, (offset_x, offset_y))\n", "\n", " # Save output\n", " output_path = os.path.join(output_dir, img_file)\n", " canvas.save(output_path, quality=95, optimize=True)\n", "\n", " print(f\"\\n✓ Preprocessing complete:\")\n", " print(f\" Total images: {stats['total']}\")\n", " print(f\" Landscape: {stats['landscape']} / Portrait: {stats['portrait']} / Square: {stats['square']}\")\n", " print(f\" Resized: {stats['resized']}\")\n", " print(f\" Output size: {size}x{size}\")\n", "\n", " return output_dir" ], "metadata": { "id": "TkVzKRqsvxFZ" }, "execution_count": 6, "outputs": [] }, { "cell_type": "code", "source": [ "def normalize_image_sizes_biplet(input_dir, output_dir=None, size=1024):\n", " \"\"\"\n", " Generates two square crops (Left & Right or Top & Bottom)\n", " from each image in a directory.\n", " \"\"\"\n", " if output_dir is None:\n", " output_dir = input_dir\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", "\n", " print(f\"Generating 2 cropped squares (Left/Right or Top/Bottom) for each image...\")\n", " print()\n", "\n", " converted_count = 0\n", " size_stats = {}\n", "\n", " for img_file in sorted(os.listdir(input_dir)):\n", " if not img_file.lower().endswith(('.jpg', '.jpeg', '.png')):\n", " continue\n", "\n", " input_path = os.path.join(input_dir, img_file)\n", "\n", " try:\n", " img = Image.open(input_path)\n", " original_size = img.size\n", "\n", " size_key = f\"{original_size[0]}x{original_size[1]}\"\n", " size_stats[size_key] = size_stats.get(size_key, 0) + 1\n", "\n", " # Generate 2 crops\n", " crops = generate_two_crops(img, size)\n", "\n", " base_name, ext = os.path.splitext(img_file)\n", " for mode, cropped_img in crops.items():\n", " output_path = os.path.join(output_dir, f\"{base_name}_{mode}{ext}\")\n", " cropped_img.save(output_path, quality=95)\n", "\n", " converted_count += 1\n", " print(f\" ✓ {img_file}: {original_size} → 2 square images generated\")\n", "\n", " except Exception as e:\n", " print(f\" ✗ Error processing {img_file}: {e}\")\n", "\n", " print(f\"\\nProcessing complete: {converted_count} source images processed\")\n", " print(f\"Original size distribution: {size_stats}\")\n", " return converted_count\n", "\n", "\n", "def generate_two_crops(img, size):\n", " \"\"\"\n", " Crops the image into a square and returns 2 variations\n", " (Left/Right for landscape, Top/Bottom for portrait).\n", " \"\"\"\n", " width, height = img.size\n", " crop_size = min(width, height)\n", " crops = {}\n", "\n", " if width > height:\n", " # Landscape → Left & Right\n", " positions = {\n", " 'left': 0,\n", " 'right': width - crop_size\n", " }\n", " for mode, x_offset in positions.items():\n", " box = (x_offset, 0, x_offset + crop_size, crop_size)\n", " crops[mode] = img.crop(box).resize(\n", " (size, size),\n", " Image.Resampling.LANCZOS\n", " )\n", "\n", " else:\n", " # Portrait or Square → Top & Bottom\n", " positions = {\n", " 'top': 0,\n", " 'bottom': height - crop_size\n", " }\n", " for mode, y_offset in positions.items():\n", " box = (0, y_offset, crop_size, y_offset + crop_size)\n", " crops[mode] = img.crop(box).resize(\n", " (size, size),\n", " Image.Resampling.LANCZOS\n", " )\n", "\n", " return crops" ], "metadata": { "id": "A6smO9X0el3d" }, "execution_count": 13, "outputs": [] }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 1: Image Pair Selection (DINO + ALIKED local verify)\n", "# ============================================================================\n", "\n", "def load_torch_image(fname, device):\n", " \"\"\"Load image as torch tensor\"\"\"\n", " from PIL import Image\n", " import torchvision.transforms as T\n", "\n", " img = Image.open(fname).convert('RGB')\n", " transform = T.Compose([\n", " T.ToTensor(),\n", " ])\n", " return transform(img).unsqueeze(0).to(device)\n", "\n", "def extract_dino_global(image_paths, model_path, device):\n", " \"\"\"Extract DINO global descriptors\"\"\"\n", " print(\"\\n=== Extracting DINO Global Features ===\")\n", "\n", " processor = AutoImageProcessor.from_pretrained(model_path)\n", " model = AutoModel.from_pretrained(model_path).eval().to(device)\n", "\n", " global_descs = []\n", " for img_path in tqdm(image_paths):\n", " img = load_torch_image(img_path, device)\n", " with torch.no_grad():\n", " inputs = processor(images=img, return_tensors=\"pt\", do_rescale=False).to(device)\n", " outputs = model(**inputs)\n", " desc = F.normalize(outputs.last_hidden_state[:, 1:].max(dim=1)[0], dim=1, p=2)\n", " global_descs.append(desc.cpu())\n", "\n", " global_descs = torch.cat(global_descs, dim=0)\n", "\n", " del model\n", " torch.cuda.empty_cache()\n", " gc.collect()\n", "\n", " return global_descs\n", "\n", "def build_topk_pairs(global_feats, k, device):\n", " \"\"\"Build top-k similar pairs from global features\"\"\"\n", " g = global_feats.to(device)\n", " sim = g @ g.T\n", " sim.fill_diagonal_(-1)\n", "\n", " N = sim.size(0)\n", " k = min(k, N - 1)\n", "\n", " topk_indices = torch.topk(sim, k, dim=1).indices.cpu()\n", "\n", " pairs = []\n", " for i in range(N):\n", " for j in topk_indices[i]:\n", " j = j.item()\n", " if i < j:\n", " pairs.append((i, j))\n", "\n", " return list(set(pairs))\n", "\n", "def extract_aliked_features(image_paths, device):\n", " \"\"\"Extract ALIKED local features\"\"\"\n", " print(\"\\n=== Extracting ALIKED Local Features ===\")\n", "\n", " extractor = ALIKED(\n", " model_name=\"aliked-n16\",\n", " max_num_keypoints=Config.N_KEYPOINTS,\n", " detection_threshold=0.01,\n", " resize=Config.IMAGE_SIZE\n", " ).eval().to(device)\n", "\n", " features = []\n", " for img_path in tqdm(image_paths):\n", " img = load_torch_image(img_path, device)\n", " with torch.no_grad():\n", " feats = extractor.extract(img)\n", " kpts = feats['keypoints'].reshape(-1, 2).cpu()\n", " descs = feats['descriptors'].reshape(len(kpts), -1).cpu()\n", " features.append({'keypoints': kpts, 'descriptors': descs})\n", "\n", " del extractor\n", " torch.cuda.empty_cache()\n", " gc.collect()\n", "\n", " return features\n", "\n", "def verify_pairs_locally(pairs, features, device, threshold=Config.MIN_MATCHES):\n", " \"\"\"Verify pairs using local descriptor matching\"\"\"\n", " print(\"\\n=== Verifying Pairs with Local Features ===\")\n", "\n", " verified = []\n", " for i, j in tqdm(pairs):\n", " desc1 = features[i]['descriptors'].to(device)\n", " desc2 = features[j]['descriptors'].to(device)\n", "\n", " if len(desc1) == 0 or len(desc2) == 0:\n", " continue\n", "\n", " # Simple mutual nearest neighbor\n", " dist = torch.cdist(desc1, desc2, p=2)\n", " min_dist = dist.min(dim=1)[0]\n", " n_matches = (min_dist < Config.RATIO_THR).sum().item()\n", "\n", " if n_matches >= threshold:\n", " verified.append((i, j))\n", "\n", " return verified\n", "\n", "def get_image_pairs(image_paths):\n", " \"\"\"Main pair selection pipeline\"\"\"\n", " device = Config.DEVICE\n", "\n", " # 1. DINO global\n", " global_feats = extract_dino_global(image_paths, Config.DINO_MODEL, device)\n", " pairs = build_topk_pairs(global_feats, Config.GLOBAL_TOPK, device)\n", "\n", " print(f\"Initial pairs from global features: {len(pairs)}\")\n", "\n", " # 2. ALIKED local\n", " features = extract_aliked_features(image_paths, device)\n", "\n", " # 3. Local verification\n", " verified_pairs = verify_pairs_locally(pairs, features, device)\n", "\n", " print(f\"Verified pairs: {len(verified_pairs)}\")\n", "\n", " return verified_pairs, features" ], "metadata": { "id": "FNjFURfYmVcL" }, "outputs": [], "execution_count": 7 }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 2: Feature Matching (ALIKED + LightGlue)\n", "# ============================================================================\n", "\n", "def match_pairs_lightglue(image_paths, pairs, features, output_dir):\n", " \"\"\"\n", " Match image pairs using LightGlue\n", " \"\"\"\n", " print(\"\\n=== Matching with LightGlue ===\")\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", " keypoints_path = os.path.join(output_dir, 'keypoints.h5')\n", " matches_path = os.path.join(output_dir, 'matches.h5')\n", "\n", " if os.path.exists(keypoints_path):\n", " os.remove(keypoints_path)\n", " if os.path.exists(matches_path):\n", " os.remove(matches_path)\n", "\n", " device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')\n", " extractor = ALIKED(max_num_keypoints=4096, detection_threshold=0.2, nms_radius=2).eval().to(device)\n", " matcher = LightGlue(features='aliked').eval().to(device)\n", "\n", " if isinstance(features, dict):\n", " all_keypoints = features['keypoints']\n", " all_descriptors = features['descriptors']\n", " elif isinstance(features, list):\n", " all_keypoints = [f['keypoints'] for f in features]\n", " all_descriptors = [f['descriptors'] for f in features]\n", " else:\n", " raise ValueError(f\"Unsupported features type: {type(features)}\")\n", "\n", " with h5py.File(keypoints_path, 'w') as f_kp:\n", " for idx, img_path in enumerate(tqdm(image_paths, desc=\"Saving keypoints\")):\n", " img_name = os.path.splitext(os.path.basename(img_path))[0]\n", "\n", " kp = all_keypoints[idx]\n", " if torch.is_tensor(kp):\n", " kp = kp.cpu().numpy()\n", " f_kp.create_dataset(img_name, data=kp)\n", "\n", " # Match pairs\n", " with h5py.File(matches_path, 'w') as f_match:\n", " for idx1, idx2 in tqdm(pairs, desc=\"Matching\"):\n", " with torch.no_grad():\n", " kp0 = all_keypoints[idx1]\n", " kp1 = all_keypoints[idx2]\n", " desc0 = all_descriptors[idx1]\n", " desc1 = all_descriptors[idx2]\n", "\n", " if isinstance(kp0, np.ndarray):\n", " kp0 = torch.from_numpy(kp0).float().to(device)\n", " kp1 = torch.from_numpy(kp1).float().to(device)\n", " desc0 = torch.from_numpy(desc0).float().to(device)\n", " desc1 = torch.from_numpy(desc1).float().to(device)\n", " else:\n", " kp0 = kp0.float().to(device)\n", " kp1 = kp1.float().to(device)\n", " desc0 = desc0.float().to(device)\n", " desc1 = desc1.float().to(device)\n", "\n", " feats0 = {\n", " 'keypoints': kp0.unsqueeze(0) if kp0.dim() == 2 else kp0,\n", " 'descriptors': desc0.unsqueeze(0) if desc0.dim() == 2 else desc0,\n", " }\n", " feats1 = {\n", " 'keypoints': kp1.unsqueeze(0) if kp1.dim() == 2 else kp1,\n", " 'descriptors': desc1.unsqueeze(0) if desc1.dim() == 2 else desc1,\n", " }\n", "\n", " matches01 = matcher({'image0': feats0, 'image1': feats1})\n", "\n", " if 'matches0' in matches01:\n", " matches0 = matches01['matches0'].cpu().numpy()\n", " if matches0.ndim > 1:\n", " matches0 = matches0[0]\n", " valid = matches0 > -1\n", " matches = np.stack([np.where(valid)[0], matches0[valid]], axis=1)\n", " elif 'matches' in matches01:\n", " m = matches01['matches']\n", " if isinstance(m, list):\n", " matches = np.array(m)\n", " elif hasattr(m, 'cpu'):\n", " matches = m.cpu().numpy()\n", " else:\n", " matches = np.array(m)\n", " else:\n", " continue\n", "\n", " if len(matches) > 0:\n", " img_name1 = os.path.splitext(os.path.basename(image_paths[idx1]))[0]\n", " img_name2 = os.path.splitext(os.path.basename(image_paths[idx2]))[0]\n", " pair_key = f\"{img_name1}_{img_name2}\"\n", " f_match.create_dataset(pair_key, data=matches)\n", "\n", " print(f\"✓ Matches saved to {matches_path}\")\n" ], "metadata": { "id": "X-PKgmdwmVcL" }, "outputs": [], "execution_count": 8 }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 3: Import to COLMAP\n", "# ============================================================================\n", "\n", "def import_to_colmap(image_dir, feature_dir, database_path, single_camera=True):\n", " \"\"\"\n", " Import features and matches to COLMAP database\n", "\n", " Args:\n", " image_dir (str): Directory containing the images.\n", " feature_dir (str): Directory to save/load extracted features.\n", " database_path (str): Path to the database file.\n", " single_camera (bool): Set to True if all images have the same dimensions (e.g., pre-resized).\n", " \"\"\"\n", " print(\"\\n=== Creating COLMAP Database ===\")\n", "\n", " if os.path.exists(database_path):\n", " os.remove(database_path)\n", " print(f\"✓ Removed existing database\")\n", "\n", " db = COLMAPDatabase.connect(database_path)\n", " db.create_tables()\n", "\n", " print(f\"Single camera mode: {single_camera}\")\n", "\n", " image_files = [f for f in os.listdir(image_dir)\n", " if f.lower().endswith(('.jpg', '.jpeg', '.png'))]\n", " if not image_files:\n", " raise ValueError(f\"No images found in {image_dir}\")\n", "\n", " first_image = sorted(image_files)[0]\n", " img_ext = os.path.splitext(first_image)[1]\n", " print(f\"Detected image extension: '{img_ext}'\")\n", "\n", " fname_to_id = add_keypoints(\n", " db,\n", " feature_dir,\n", " image_dir,\n", " img_ext,\n", " 'PINHOLE',\n", " single_camera=single_camera\n", " )\n", "\n", " add_matches(db, feature_dir, fname_to_id)\n", " db.commit()\n", " db.close()\n", "\n", " print(f\"✓ Database created: {database_path}\")\n", "\n", "# ============================================================================\n", "# Step 4: Run COLMAP Mapper\n", "# ============================================================================\n", "\n", "def run_colmap_mapper(database_path, image_dir, output_dir):\n", " \"\"\"\n", " Run COLMAP mapper with verbose output\n", " \"\"\"\n", " print(\"\\n=== Running COLMAP Reconstruction ===\")\n", " os.makedirs(output_dir, exist_ok=True)\n", " cmd = [\n", " 'colmap', 'mapper',\n", " '--database_path', database_path,\n", " '--image_path', image_dir,\n", " '--output_path', output_dir,\n", " '--Mapper.ba_refine_focal_length', '0',\n", " '--Mapper.ba_refine_principal_point', '0',\n", " '--Mapper.ba_refine_extra_params', '0',\n", " '--Mapper.min_num_matches', '15',\n", " '--Mapper.init_min_num_inliers', '50',\n", " '--Mapper.max_num_models', '1',\n", " '--Mapper.num_threads', '16',\n", " ]\n", " print(f\"Command: {' '.join(cmd)}\\n\")\n", "\n", " process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True)\n", " for line in process.stdout:\n", " print(line, end='')\n", " process.wait()\n", " if process.returncode == 0:\n", " model_dir = os.path.join(output_dir, '0')\n", " if os.path.exists(model_dir):\n", " print(f\"\\n✓ COLMAP reconstruction complete: {model_dir}\")\n", " return model_dir\n", " raise RuntimeError(\"COLMAP reconstruction failed\")" ], "metadata": { "id": "NJedFruCmVcL" }, "outputs": [], "execution_count": 9 }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 5: Convert to Gaussian Splatting Format (if needed)\n", "# ============================================================================\n", "\n", "def convert_to_gs_format(colmap_model_dir, output_dir):\n", " \"\"\"\n", " Verify COLMAP output and prepare paths for Gaussian Splatting.\n", "\n", " Args:\n", " colmap_model_dir (str): Path to the COLMAP sparse/0 directory.\n", " Example: /content/output/colmap/sparse/0\n", " output_dir (str): Base output directory.\n", "\n", " Returns:\n", " colmap_parent_dir (str): The path to be passed to Gaussian Splatting.\n", " Example: /content/output/colmap (Parent directory containing 'sparse/')\n", " \"\"\"\n", " print(\"\\n=== Verifying COLMAP Model for Gaussian Splatting ===\")\n", "\n", " import pycolmap\n", " reconstruction = pycolmap.Reconstruction(colmap_model_dir)\n", "\n", " print(f\"Registered images: {len(reconstruction.images)}\")\n", " print(f\"3D points: {len(reconstruction.points3D)}\")\n", "\n", " # Check for files required by Gaussian Splatting\n", " required_files = ['cameras.bin', 'images.bin', 'points3D.bin']\n", " for file in required_files:\n", " file_path = os.path.join(colmap_model_dir, file)\n", " if not os.path.exists(file_path):\n", " raise FileNotFoundError(f\"Required file not found: {file}\")\n", " print(f\" ✓ {file}\")\n", "\n", " # Return the grandparent directory of sparse/0\n", " # /content/output/colmap/sparse/0 -> /content/output/colmap\n", " colmap_parent_dir = os.path.dirname(os.path.dirname(colmap_model_dir))\n", "\n", " print(f\"\\n✓ COLMAP model ready for Gaussian Splatting\")\n", " print(f\" Source path: {colmap_parent_dir}\")\n", "\n", " return colmap_parent_dir" ], "metadata": { "id": "4IioqnC1mVcM" }, "outputs": [], "execution_count": 10 }, { "cell_type": "code", "source": [ "def train_gaussian_splatting(colmap_dir, image_dir, output_dir, iterations=30000):\n", " \"\"\"\n", " Train a Gaussian Splatting model.\n", "\n", " Args:\n", " colmap_dir (str): COLMAP parent directory (the directory containing 'sparse/').\n", " Example: /content/output/colmap\n", " image_dir (str): Directory containing training images.\n", " Example: /content/output/processed_images\n", " output_dir (str): Base directory for Gaussian Splatting output.\n", " iterations (int): Total number of training iterations.\n", "\n", " Returns:\n", " gs_output_dir (str): Path to the generated Gaussian Splatting output.\n", " \"\"\"\n", " print(\"\\n=== Training Gaussian Splatting ===\")\n", "\n", " gs_output_dir = os.path.join(output_dir, 'gs_output')\n", " os.makedirs(gs_output_dir, exist_ok=True)\n", "\n", " # Verify the Gaussian Splatting directory structure\n", " sparse_dir = os.path.join(colmap_dir, 'sparse', '0')\n", " if not os.path.exists(sparse_dir):\n", " raise FileNotFoundError(f\"COLMAP sparse directory not found: {sparse_dir}\")\n", "\n", " print(f\"COLMAP sparse model: {sparse_dir}\")\n", " print(f\"Training images: {image_dir}\")\n", " print(f\"Output: {gs_output_dir}\")\n", " print(f\"Iterations: {iterations}\")\n", "\n", " # Gaussian Splatting command\n", " cmd = [\n", " 'python', 'train.py',\n", " '-s', colmap_dir, # Source directory (must contain 'sparse/')\n", " '--images', image_dir, # Explicitly specify the images directory\n", " '-m', gs_output_dir, # Model output directory\n", " '--iterations', str(iterations),\n", " '--test_iterations', str(iterations//2), str(iterations),\n", " '--save_iterations', str(iterations//2), str(iterations),\n", " ]\n", "\n", " print(f\"\\nCommand: {' '.join(cmd)}\\n\")\n", "\n", " result = subprocess.run(cmd, capture_output=True, text=True)\n", "\n", " print(result.stdout)\n", " if result.stderr:\n", " print(\"STDERR:\", result.stderr)\n", "\n", " if result.returncode != 0:\n", " raise RuntimeError(\"Gaussian Splatting training failed\")\n", "\n", " # Check for the existence of the generated PLY file\n", " ply_path = os.path.join(gs_output_dir, 'point_cloud', f'iteration_{iterations}', 'point_cloud.ply')\n", " if os.path.exists(ply_path):\n", " size_mb = os.path.getsize(ply_path) / (1024 * 1024)\n", " print(f\"\\n✓ Training complete!\")\n", " print(f\" PLY file: {ply_path}\")\n", " print(f\" Size: {size_mb:.2f} MB\")\n", " else:\n", " print(f\"⚠️ Warning: PLY file not found at the expected location\")\n", "\n", " return gs_output_dir" ], "metadata": { "id": "EiHoRSfzQ01b" }, "execution_count": 11, "outputs": [] }, { "cell_type": "markdown", "source": [ "# **main**" ], "metadata": { "id": "IqNcsheVywit" } }, { "cell_type": "code", "source": [ "def main_pipeline(image_dir, output_dir, square_size=1024):\n", " \"\"\"\n", " Complete pipeline: Images → Square Processing → COLMAP → Gaussian Splatting\n", " \"\"\"\n", " print(\"=\"*70)\n", " print(\"Gaussian Splatting Preparation Pipeline\")\n", " print(\"=\"*70)\n", "\n", " # Step 0: Standardize images to square format\n", " #processed_dir = os.path.join(output_dir, 'processed_images')\n", " #processed_image_dir = preprocess_images_square(image_dir, processed_dir, size=square_size)\n", "\n", " processed_image_dir = os.path.join(output_dir, \"processed_images\")\n", "\n", " normalize_image_sizes_biplet(\n", " input_dir=image_dir,\n", " output_dir=processed_image_dir,\n", " size=square_size\n", ")\n", "\n", " # Setup paths\n", " feature_dir = os.path.join(output_dir, 'features')\n", " colmap_dir = os.path.join(output_dir, 'colmap')\n", " database_path = os.path.join(colmap_dir, 'database.db')\n", " sparse_dir = os.path.join(colmap_dir, 'sparse')\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", " os.makedirs(colmap_dir, exist_ok=True)\n", "\n", " # Get image paths\n", " image_paths = sorted([\n", " os.path.join(processed_image_dir, f)\n", " for f in os.listdir(processed_image_dir)\n", " if f.lower().endswith(('.jpg', '.jpeg', '.png'))\n", " ])\n", "\n", " print(f\"\\n📸 Found {len(image_paths)} images\")\n", "\n", " # Step 1: Generate image pairs\n", " pairs, features = get_image_pairs(image_paths)\n", "\n", " # Step 2: Feature matching with LightGlue\n", " match_pairs_lightglue(image_paths, pairs, features, feature_dir)\n", "\n", " # Step 3: Import data into COLMAP\n", " # (single_camera=True assumes uniform image dimensions)\n", " import_to_colmap(processed_image_dir, feature_dir, database_path, single_camera=True)\n", "\n", " # Step 4: Run COLMAP Sparse Reconstruction\n", " model_dir = run_colmap_mapper(database_path, processed_image_dir, sparse_dir)\n", "\n", " # Step 5: Verify and prepare for Gaussian Splatting\n", " colmap_parent = convert_to_gs_format(model_dir, output_dir)\n", "\n", " # Step 6: Train Gaussian Splatting model\n", " gs_output = train_gaussian_splatting(\n", " colmap_dir=colmap_parent,\n", " image_dir=processed_image_dir,\n", " output_dir=output_dir,\n", " iterations=6000\n", " )\n", "\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"✅ Full Pipeline Successfully Completed!\")\n", " print(\"=\"*70)\n", " print(f\"\\nGaussian Splatting model saved at: {gs_output}\")\n", "\n", " return gs_output\n", "\n", "\n", "# Example usage\n", "if __name__ == \"__main__\":\n", " # Example: Tourist photos with varying resolutions/aspect ratios\n", " IMAGE_DIR = \"/content/drive/MyDrive/your_folder/grand_place\"\n", " OUTPUT_DIR = \"/content/output\"\n", "\n", " gs_output = main_pipeline(IMAGE_DIR, OUTPUT_DIR, square_size=1024)" ], "metadata": { "id": "5-_UvgTtRiC_", "colab": { "base_uri": "https://localhost:8080/", "height": 1000, "referenced_widgets": [ "e77d9a4ce8544f39a5c9811cba265aa8", "a02ef012cc8e4c0fa262a81234906301", "4a750e6c7bfa4209a1721acf99331a45", "ed674b75d05b433c85dd201b7013803d", "070af62ea35145c0b509dd4b5c7e8fd3", "ce4f381f840543d58933a043069ec9f8", "2cb3a9029a9746318667c5a4c76a7dab", "d6fe40a036834d919ac7246189e2c81f", "019e0283956e4f68ad22184f944cf3c6", "4a768e102dcd463aab632c5ce2b43f1a", "23774a4251de4cb09e1d56c7c5795d05", "fdfd59523e754effa4878c5680a9616d", "4b240715214f4c29822073350ac0369d", "14d21c9d1ff840deb4e1223ff847c99c", "f455f2bb8e804a15bcb45aa4f5148d7c", "c36753994d014f809a112247ca2a88d9", "5f2c9704ac4d415aa329fb31f34c916f", "537a257c672647af991dbadbfee89bd1", "1c8c3747d86f4d7b900b546bd3b32065", "7e00de6878a44473a7bc3ae8c386da6e", "ac48058fb6bb42afad0c59fe59c2e04a", "1bf0ebb06347462ebe5966c67f5acfd9", "5f072e098c0c45028553b98bf3e86935", "033b22f052d648d1a23c13a4ebe42c96", "74f6ceb0670d448795e19382d598bff0", "c1940dbf42f149bf8432f813de5a9514", "f3e807bad5224e11a63657ad2a409fb7", "2d77cbe89b3e43ccac8b060a19871587", "a93447dcb49d476fa7754ba734ea3170", "52c56de17c5a4e18a068007ea15d4fe4", "25ec7a1ca66a40b283456109f4d43a51", "1be18665ff41490894995b775e2d68c0", "46ed28c510e44663b8dd221bd64a749b" ] }, "outputId": "911be225-edbe-43de-f79b-a5c7080b3cca" }, "execution_count": 14, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "======================================================================\n", "Gaussian Splatting Preparation Pipeline\n", "======================================================================\n", "Generating 2 cropped squares (Left/Right or Top/Bottom) for each image...\n", "\n", " ✓ 30060098_13881136865.jpg: (1045, 776) → 2 square images generated\n", " ✓ 30932426_9182415658.jpg: (1066, 693) → 2 square images generated\n", " ✓ 31608163_6102133633.jpg: (1013, 757) → 2 square images generated\n", " ✓ 32234104_183977071.jpg: (1056, 780) → 2 square images generated\n", " ✓ 54689750_8177752931.jpg: (780, 1056) → 2 square images generated\n", " ✓ 54789298_4426358141.jpg: (1041, 774) → 2 square images generated\n", " ✓ 54924303_8694631531.jpg: (1020, 680) → 2 square images generated\n", " ✓ 55042300_2998445423.jpg: (780, 1056) → 2 square images generated\n", " ✓ 56336675_12025095504.jpg: (1030, 693) → 2 square images generated\n", " ✓ 56571846_8147517032.jpg: (1039, 773) → 2 square images generated\n", " ✓ 56929508_8486048059.jpg: (1021, 765) → 2 square images generated\n", " ✓ 57895262_5823807439.jpg: (1072, 786) → 2 square images generated\n", " ✓ 57903036_6034663613.jpg: (1014, 758) → 2 square images generated\n", " ✓ 58370062_228935435.jpg: (1047, 776) → 2 square images generated\n", " ✓ 60409409_9335730523.jpg: (1032, 684) → 2 square images generated\n", " ✓ 61195081_2862626518.jpg: (506, 377) → 2 square images generated\n", " ✓ 61353083_128372808.jpg: (606, 816) → 2 square images generated\n", " ✓ 61442570_1877638298.jpg: (935, 1081) → 2 square images generated\n", " ✓ 61931752_11269229804.jpg: (374, 501) → 2 square images generated\n", " ✓ 62109065_5110187734.jpg: (1021, 769) → 2 square images generated\n", " ✓ 63023054_7575192460.jpg: (777, 1049) → 2 square images generated\n", " ✓ 63358653_3107448586.jpg: (1021, 683) → 2 square images generated\n", " ✓ 63732276_3020022441.jpg: (692, 1068) → 2 square images generated\n", " ✓ 63831138_11531850475.jpg: (1057, 689) → 2 square images generated\n", " ✓ 63879656_8828566618.jpg: (1026, 768) → 2 square images generated\n", " ✓ 64133734_1372277262.jpg: (1047, 688) → 2 square images generated\n", " ✓ 64177922_6939801959.jpg: (1065, 651) → 2 square images generated\n", " ✓ 64512286_144258707.jpg: (689, 1050) → 2 square images generated\n", " ✓ 64752693_9379071376.jpg: (760, 1027) → 2 square images generated\n", " ✓ 65596895_2998348333.jpg: (786, 1072) → 2 square images generated\n", " ✓ 65600629_2179631506.jpg: (1041, 774) → 2 square images generated\n", " ✓ 65723931_2797767702.jpg: (1061, 782) → 2 square images generated\n", " ✓ 66906958_589662361.jpg: (1053, 779) → 2 square images generated\n", " ✓ 67684501_389553533.jpg: (1020, 764) → 2 square images generated\n", " ✓ 68173000_3055082929.jpg: (719, 1052) → 2 square images generated\n", " ✓ 68388628_416361462.jpg: (1067, 784) → 2 square images generated\n", " ✓ 68664732_743450957.jpg: (778, 1052) → 2 square images generated\n", " ✓ 69151734_8072413114.jpg: (1021, 677) → 2 square images generated\n", " ✓ 69241373_2334905294.jpg: (1047, 776) → 2 square images generated\n", " ✓ 69675366_3578017198.jpg: (1057, 780) → 2 square images generated\n", " ✓ 70032246_6347641014.jpg: (117, 204) → 2 square images generated\n", " ✓ 70699652_8066487031.jpg: (204, 114) → 2 square images generated\n", " ✓ 71316394_5233978047.jpg: (1033, 771) → 2 square images generated\n", " ✓ 71521166_8226626351.jpg: (1013, 757) → 2 square images generated\n", " ✓ 72075679_2232424648.jpg: (1045, 776) → 2 square images generated\n", " ✓ 72598875_8072411042.jpg: (680, 1032) → 2 square images generated\n", " ✓ 72646474_2231631573.jpg: (1048, 777) → 2 square images generated\n", " ✓ 73543943_6819377449.jpg: (1064, 783) → 2 square images generated\n", " ✓ 74323184_6819378543.jpg: (1061, 782) → 2 square images generated\n", " ✓ 74379252_3524899450.jpg: (1066, 784) → 2 square images generated\n", " ✓ 74949128_744301420.jpg: (1055, 780) → 2 square images generated\n", " ✓ 75556369_8486047615.jpg: (756, 1009) → 2 square images generated\n", " ✓ 75670494_10532227934.jpg: (1045, 776) → 2 square images generated\n", " ✓ 75795010_1073028.jpg: (513, 380) → 2 square images generated\n", " ✓ 75963148_11531980813.jpg: (1062, 690) → 2 square images generated\n", " ✓ 76012163_5234572012.jpg: (1057, 780) → 2 square images generated\n", " ✓ 76033783_4998492930.jpg: (1075, 694) → 2 square images generated\n", " ✓ 76893682_2999450842.jpg: (1036, 772) → 2 square images generated\n", " ✓ 77082765_2334078741.jpg: (780, 1055) → 2 square images generated\n", " ✓ 77322980_4097421297.jpg: (775, 1044) → 2 square images generated\n", " ✓ 77502589_7155532159.jpg: (1010, 1010) → 2 square images generated\n", " ✓ 78461576_2179633616.jpg: (1044, 776) → 2 square images generated\n", " ✓ 78756975_2797764270.jpg: (1060, 782) → 2 square images generated\n", " ✓ 80159334_3432556478.jpg: (610, 822) → 2 square images generated\n", " ✓ 80238669_11531890454.jpg: (1026, 680) → 2 square images generated\n", " ✓ 80394863_159173947.jpg: (1048, 777) → 2 square images generated\n", " ✓ 80419518_5109586935.jpg: (1026, 772) → 2 square images generated\n", " ✓ 80486775_7794448262.jpg: (1007, 756) → 2 square images generated\n", " ✓ 80637823_2178834461.jpg: (773, 1039) → 2 square images generated\n", " ✓ 82494139_2231488841.jpg: (1040, 774) → 2 square images generated\n", " ✓ 82619588_2231634419.jpg: (1041, 774) → 2 square images generated\n", " ✓ 83049944_6012584465.jpg: (689, 1047) → 2 square images generated\n", " ✓ 83295590_2999194388.jpg: (1061, 782) → 2 square images generated\n", " ✓ 83393115_2713666377.jpg: (1057, 691) → 2 square images generated\n", " ✓ 83494299_9338552580.jpg: (1032, 684) → 2 square images generated\n", " ✓ 83683619_338844451.jpg: (1060, 782) → 2 square images generated\n", " ✓ 83880039_8704930508.jpg: (1065, 696) → 2 square images generated\n", " ✓ 84280780_9149810125.jpg: (698, 1070) → 2 square images generated\n", " ✓ 84416532_1372248960.jpg: (1047, 689) → 2 square images generated\n", " ✓ 85875165_3423168615.jpg: (1009, 670) → 2 square images generated\n", " ✓ 87021942_9387960095.jpg: (692, 1060) → 2 square images generated\n", " ✓ 87218542_4659693663.jpg: (1051, 690) → 2 square images generated\n", " ✓ 87247686_240007777.jpg: (1056, 780) → 2 square images generated\n", " ✓ 87692684_217109210.jpg: (613, 454) → 2 square images generated\n", " ✓ 88392746_217109207.jpg: (612, 454) → 2 square images generated\n", " ✓ 89270148_8703811409.jpg: (1064, 696) → 2 square images generated\n", " ✓ 89428328_415853343.jpg: (1041, 774) → 2 square images generated\n", " ✓ 89821764_2714509360.jpg: (768, 1026) → 2 square images generated\n", " ✓ 89912815_3055922954.jpg: (1021, 543) → 2 square images generated\n", " ✓ 90349736_2179635862.jpg: (1038, 773) → 2 square images generated\n", " ✓ 90437703_2231631681.jpg: (776, 1046) → 2 square images generated\n", " ✓ 90505934_1674425132.jpg: (781, 595) → 2 square images generated\n", " ✓ 90635649_2575304688.jpg: (1033, 683) → 2 square images generated\n", " ✓ 90975523_4819480082.jpg: (1070, 698) → 2 square images generated\n", " ✓ 91086090_6251487936.jpg: (774, 1041) → 2 square images generated\n", " ✓ 91147360_7119433063.jpg: (756, 1012) → 2 square images generated\n", " ✓ 91223537_687114481.jpg: (696, 1078) → 2 square images generated\n", " ✓ 91887585_2717484563.jpg: (1024, 628) → 2 square images generated\n", " ✓ 91966016_2575756133.jpg: (1054, 779) → 2 square images generated\n", " ✓ 92092453_6346876777.jpg: (644, 1094) → 2 square images generated\n", " ✓ 92332702_2575760403.jpg: (1056, 780) → 2 square images generated\n", " ✓ 93176024_7794453938.jpg: (975, 563) → 2 square images generated\n", " ✓ 93452424_2796919411.jpg: (783, 1064) → 2 square images generated\n", " ✓ 93855352_2178846945.jpg: (1047, 777) → 2 square images generated\n", " ✓ 94589793_5911133174.jpg: (971, 643) → 2 square images generated\n", " ✓ 94608068_9152036176.jpg: (1029, 686) → 2 square images generated\n", " ✓ 95763587_2232280810.jpg: (1043, 775) → 2 square images generated\n", " ✓ 95912681_1074872458.jpg: (1199, 556) → 2 square images generated\n", " ✓ 96196686_8643079931.jpg: (1035, 772) → 2 square images generated\n", " ✓ 96969581_4970715984.jpg: (1004, 1004) → 2 square images generated\n", " ✓ 97044761_5284916914.jpg: (689, 1047) → 2 square images generated\n", " ✓ 97169342_4819482004.jpg: (1020, 683) → 2 square images generated\n", " ✓ 97408314_4660309480.jpg: (1052, 778) → 2 square images generated\n", " ✓ 97679107_216044726.jpg: (1028, 769) → 2 square images generated\n", " ✓ 98096144_7465571668.jpg: (1035, 1035) → 2 square images generated\n", " ✓ 98217251_4097423171.jpg: (1032, 770) → 2 square images generated\n", " ✓ 98347882_247481604.jpg: (1057, 691) → 2 square images generated\n", " ✓ 98365344_176581376.jpg: (1049, 777) → 2 square images generated\n", " ✓ 98413296_389554202.jpg: (1059, 781) → 2 square images generated\n", " ✓ 99829338_590024774.jpg: (1055, 780) → 2 square images generated\n", "\n", "Processing complete: 120 source images processed\n", "Original size distribution: {'1045x776': 3, '1066x693': 1, '1013x757': 2, '1056x780': 3, '780x1056': 2, '1041x774': 4, '1020x680': 1, '1030x693': 1, '1039x773': 1, '1021x765': 1, '1072x786': 1, '1014x758': 1, '1047x776': 2, '1032x684': 2, '506x377': 1, '606x816': 1, '935x1081': 1, '374x501': 1, '1021x769': 1, '777x1049': 1, '1021x683': 1, '692x1068': 1, '1057x689': 1, '1026x768': 1, '1047x688': 1, '1065x651': 1, '689x1050': 1, '760x1027': 1, '786x1072': 1, '1061x782': 3, '1053x779': 1, '1020x764': 1, '719x1052': 1, '1067x784': 1, '778x1052': 1, '1021x677': 1, '1057x780': 2, '117x204': 1, '204x114': 1, '1033x771': 1, '680x1032': 1, '1048x777': 2, '1064x783': 1, '1066x784': 1, '1055x780': 2, '756x1009': 1, '513x380': 1, '1062x690': 1, '1075x694': 1, '1036x772': 1, '780x1055': 1, '775x1044': 1, '1010x1010': 1, '1044x776': 1, '1060x782': 2, '610x822': 1, '1026x680': 1, '1026x772': 1, '1007x756': 1, '773x1039': 1, '1040x774': 1, '689x1047': 2, '1057x691': 2, '1065x696': 1, '698x1070': 1, '1047x689': 1, '1009x670': 1, '692x1060': 1, '1051x690': 1, '613x454': 1, '612x454': 1, '1064x696': 1, '768x1026': 1, '1021x543': 1, '1038x773': 1, '776x1046': 1, '781x595': 1, '1033x683': 1, '1070x698': 1, '774x1041': 1, '756x1012': 1, '696x1078': 1, '1024x628': 1, '1054x779': 1, '644x1094': 1, '975x563': 1, '783x1064': 1, '1047x777': 1, '971x643': 1, '1029x686': 1, '1043x775': 1, '1199x556': 1, '1035x772': 1, '1004x1004': 1, '1020x683': 1, '1052x778': 1, '1028x769': 1, '1035x1035': 1, '1032x770': 1, '1049x777': 1, '1059x781': 1}\n", "\n", "📸 Found 240 images\n", "\n", "=== Extracting DINO Global Features ===\n" ] }, { "output_type": "stream", "name": "stderr", "text": [ "/usr/local/lib/python3.12/dist-packages/huggingface_hub/file_download.py:942: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.\n", " warnings.warn(\n", "/usr/local/lib/python3.12/dist-packages/huggingface_hub/utils/_auth.py:94: UserWarning: \n", "The secret `HF_TOKEN` does not exist in your Colab secrets.\n", "To authenticate with the Hugging Face Hub, create a token in your settings tab (https://huggingface.co/settings/tokens), set it as secret in your Google Colab and restart your session.\n", "You will be able to reuse this secret in all of your notebooks.\n", "Please note that authentication is recommended but still optional to access public models or datasets.\n", " warnings.warn(\n" ] }, { "output_type": "display_data", "data": { "text/plain": [ "preprocessor_config.json: 0%| | 0.00/436 [00:00 Merged observations: 375\n", " => Completed observations: 506\n", " => Filtered observations: 53\n", " => Changed observations: 0.019963\n", "\n", "==============================================================================\n", "Registering image #207 (198)\n", "==============================================================================\n", "\n", " => Image sees 4925 / 7486 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 58400\n", " Parameters : 6\n", " Iterations : 13\n", " Time : 0.71978 [s]\n", " Initial cost : 0.847703 [px]\n", " Final cost : 0.84013 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4579\n", " => Added observations: 9241\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 95804\n", " Parameters : 11807\n", " Iterations : 26\n", " Time : 2.08403 [s]\n", " Initial cost : 1.20361 [px]\n", " Final cost : 1.15741 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 240\n", " => Completed observations: 465\n", " => Filtered observations: 8989\n", " => Changed observations: 0.189343\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 74354\n", " Parameters : 6587\n", " Iterations : 4\n", " Time : 0.431877 [s]\n", " Initial cost : 1.06453 [px]\n", " Final cost : 1.04323 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 525\n", " => Completed observations: 601\n", " => Filtered observations: 79\n", " => Changed observations: 0.027180\n", "\n", "==============================================================================\n", "Registering image #152 (199)\n", "==============================================================================\n", "\n", " => Image sees 7396 / 7790 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 87446\n", " Parameters : 6\n", " Iterations : 21\n", " Time : 1.70119 [s]\n", " Initial cost : 0.882396 [px]\n", " Final cost : 0.869806 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 6723\n", " => Added observations: 22783\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 151266\n", " Parameters : 25652\n", " Iterations : 26\n", " Time : 2.6321 [s]\n", " Initial cost : 1.48015 [px]\n", " Final cost : 1.42425 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 1183\n", " => Completed observations: 1235\n", " => Filtered observations: 22097\n", " => Changed observations: 0.296817\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 113368\n", " Parameters : 17162\n", " Iterations : 3\n", " Time : 0.294377 [s]\n", " Initial cost : 1.0741 [px]\n", " Final cost : 1.03486 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1809\n", " => Completed observations: 1413\n", " => Filtered observations: 192\n", " => Changed observations: 0.055961\n", "\n", "==============================================================================\n", "Registering image #214 (200)\n", "==============================================================================\n", "\n", " => Image sees 5012 / 6822 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 39878\n", " Parameters : 6\n", " Iterations : 14\n", " Time : 0.501581 [s]\n", " Initial cost : 0.894381 [px]\n", " Final cost : 0.884349 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4266\n", " => Added observations: 18341\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 128076\n", " Parameters : 20531\n", " Iterations : 26\n", " Time : 2.78292 [s]\n", " Initial cost : 1.50836 [px]\n", " Final cost : 1.45326 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 407\n", " => Completed observations: 1136\n", " => Filtered observations: 17889\n", " => Changed observations: 0.273105\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 95406\n", " Parameters : 14519\n", " Iterations : 4\n", " Time : 0.551502 [s]\n", " Initial cost : 1.03683 [px]\n", " Final cost : 0.998045 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1213\n", " => Completed observations: 1191\n", " => Filtered observations: 55\n", " => Changed observations: 0.048077\n", "\n", "==============================================================================\n", "Registering image #11 (201)\n", "==============================================================================\n", "\n", " => Image sees 4884 / 6769 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 61486\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 1.12547 [s]\n", " Initial cost : 0.885408 [px]\n", " Final cost : 0.871276 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4447\n", " => Added observations: 20810\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 129256\n", " Parameters : 19469\n", " Iterations : 26\n", " Time : 2.18901 [s]\n", " Initial cost : 1.5932 [px]\n", " Final cost : 1.53558 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 642\n", " => Completed observations: 1198\n", " => Filtered observations: 19917\n", " => Changed observations: 0.302475\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 93022\n", " Parameters : 12401\n", " Iterations : 3\n", " Time : 0.235273 [s]\n", " Initial cost : 1.08961 [px]\n", " Final cost : 1.05305 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1534\n", " => Completed observations: 1147\n", " => Filtered observations: 73\n", " => Changed observations: 0.051154\n", "\n", "==============================================================================\n", "Registering image #48 (202)\n", "==============================================================================\n", "\n", " => Image sees 6002 / 7386 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 45412\n", " Parameters : 6\n", " Iterations : 19\n", " Time : 0.802261 [s]\n", " Initial cost : 0.901706 [px]\n", " Final cost : 0.894925 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4601\n", " => Added observations: 20337\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 132188\n", " Parameters : 24359\n", " Iterations : 26\n", " Time : 2.34801 [s]\n", " Initial cost : 1.55215 [px]\n", " Final cost : 1.48674 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 530\n", " => Completed observations: 1306\n", " => Filtered observations: 19774\n", " => Changed observations: 0.302039\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 92612\n", " Parameters : 16217\n", " Iterations : 4\n", " Time : 0.543702 [s]\n", " Initial cost : 1.10045 [px]\n", " Final cost : 1.05842 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1470\n", " => Completed observations: 1385\n", " => Filtered observations: 63\n", " => Changed observations: 0.058064\n", "\n", "==============================================================================\n", "Registering image #130 (203)\n", "==============================================================================\n", "\n", " => Image sees 4966 / 6403 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 53640\n", " Parameters : 6\n", " Iterations : 24\n", " Time : 1.44726 [s]\n", " Initial cost : 0.940419 [px]\n", " Final cost : 0.905263 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4670\n", " => Added observations: 9298\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 99020\n", " Parameters : 13727\n", " Iterations : 26\n", " Time : 1.78242 [s]\n", " Initial cost : 1.18995 [px]\n", " Final cost : 1.12716 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 626\n", " => Completed observations: 460\n", " => Filtered observations: 9196\n", " => Changed observations: 0.184991\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 85208\n", " Parameters : 8549\n", " Iterations : 4\n", " Time : 0.300362 [s]\n", " Initial cost : 1.06004 [px]\n", " Final cost : 1.04436 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 856\n", " => Completed observations: 1246\n", " => Filtered observations: 88\n", " => Changed observations: 0.044556\n", "\n", "==============================================================================\n", "Registering image #47 (204)\n", "==============================================================================\n", "\n", " => Image sees 6814 / 7497 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 67318\n", " Parameters : 6\n", " Iterations : 21\n", " Time : 1.28249 [s]\n", " Initial cost : 0.870017 [px]\n", " Final cost : 0.838325 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4851\n", " => Added observations: 13803\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 109704\n", " Parameters : 19031\n", " Iterations : 26\n", " Time : 1.9459 [s]\n", " Initial cost : 1.35086 [px]\n", " Final cost : 1.25335 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 1157\n", " => Completed observations: 871\n", " => Filtered observations: 13382\n", " => Changed observations: 0.248112\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 89462\n", " Parameters : 11816\n", " Iterations : 4\n", " Time : 0.288447 [s]\n", " Initial cost : 1.0562 [px]\n", " Final cost : 1.0286 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 2012\n", " => Completed observations: 991\n", " => Filtered observations: 93\n", " => Changed observations: 0.059907\n", "\n", "==============================================================================\n", "Registering image #180 (205)\n", "==============================================================================\n", "\n", " => Image sees 5329 / 6870 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 74550\n", " Parameters : 6\n", " Iterations : 25\n", " Time : 2.67407 [s]\n", " Initial cost : 0.892928 [px]\n", " Final cost : 0.866896 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 5179\n", " => Added observations: 11019\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 96202\n", " Parameters : 12905\n", " Iterations : 26\n", " Time : 1.67744 [s]\n", " Initial cost : 1.29725 [px]\n", " Final cost : 1.25405 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 1001\n", " => Completed observations: 686\n", " => Filtered observations: 10515\n", " => Changed observations: 0.224922\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 75198\n", " Parameters : 6944\n", " Iterations : 3\n", " Time : 0.204422 [s]\n", " Initial cost : 1.077 [px]\n", " Final cost : 1.05681 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1539\n", " => Completed observations: 749\n", " => Filtered observations: 93\n", " => Changed observations: 0.054437\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 7296\n", " => Merged observations: 3557\n", " => Retriangulated observations: 82502\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.972747e+07 0.00e+00 4.18e+06 0.00e+00 0.00e+00 1.00e+04 0 1.64e+00 7.10e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 5.5179e+08\n", " Nonzeros in L: 7.1272e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.6\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 5.5179e+08\n", " nnz(L): 7.1272e+05\n", " OK\n", " 1 3.191435e+09 -3.16e+09 4.18e+06 1.83e+02 -2.28e+02 5.00e+03 1 7.58e+00 1.47e+01\n", " 2 3.117843e+10 -3.11e+10 4.18e+06 1.74e+02 -2.24e+03 1.25e+03 1 3.81e+00 1.85e+01\n", " 3 2.951485e+07 2.13e+05 4.65e+07 1.48e+02 1.54e-02 6.54e+02 1 6.83e+00 2.53e+01\n", " 4 1.784010e+07 1.17e+07 4.54e+06 6.18e+01 8.60e-01 1.04e+03 1 5.35e+00 3.07e+01\n", " 5 1.620673e+07 1.63e+06 6.52e+05 7.82e+01 8.67e-01 1.72e+03 1 6.05e+00 3.67e+01\n", " 6 1.599446e+07 2.12e+05 1.44e+05 1.02e+02 8.66e-01 2.83e+03 1 6.24e+00 4.30e+01\n", " 7 1.596101e+07 3.35e+04 8.34e+04 9.14e+01 8.16e-01 3.78e+03 1 5.34e+00 4.83e+01\n", " 8 1.595239e+07 8.62e+03 1.08e+06 1.26e+02 3.13e-01 3.59e+03 1 7.04e+00 5.53e+01\n", " 9 1.590117e+07 5.12e+04 1.30e+05 1.62e+02 7.51e-01 4.11e+03 1 5.33e+00 6.07e+01\n", " 10 1.614073e+07 -2.40e+05 1.30e+05 1.12e+02 -4.44e+00 2.06e+03 1 5.49e+00 6.62e+01\n", " 11 1.585589e+07 4.53e+04 7.12e+04 7.09e+01 8.56e-01 3.22e+03 1 5.29e+00 7.15e+01\n", " 12 1.588106e+07 -2.52e+04 7.12e+04 8.97e+01 -1.08e+00 1.61e+03 1 3.87e+00 7.53e+01\n", " 13 1.586076e+07 -4.87e+03 7.12e+04 5.60e+01 -2.18e-01 4.03e+02 1 5.48e+00 8.08e+01\n", " 14 1.583471e+07 2.12e+04 2.68e+04 2.05e+01 1.05e+00 1.21e+03 1 5.24e+00 8.60e+01\n", " 15 1.592458e+07 -8.99e+04 2.68e+04 4.59e+01 -1.60e+01 6.04e+02 1 4.67e+00 9.07e+01\n", " 16 1.582919e+07 5.52e+03 2.89e+04 2.66e+01 1.18e+00 1.81e+03 1 6.08e+00 9.68e+01\n", " 17 1.582682e+07 2.37e+03 1.64e+04 4.71e+01 7.02e-01 1.94e+03 1 5.39e+00 1.02e+02\n", " 18 1.582350e+07 3.33e+03 5.94e+03 1.03e+01 1.03e+00 5.82e+03 1 6.95e+00 1.09e+02\n", " 19 1.582156e+07 1.94e+03 1.07e+04 1.14e+01 1.06e+00 1.75e+04 1 5.36e+00 1.14e+02\n", " 20 1.581993e+07 1.63e+03 3.74e+04 2.29e+01 9.90e-01 5.24e+04 1 7.04e+00 1.22e+02\n", " 21 1.581900e+07 9.34e+02 5.08e+04 5.20e+01 9.19e-01 1.27e+05 1 5.34e+00 1.27e+02\n", " 22 1.581854e+07 4.62e+02 1.80e+04 1.06e+02 9.92e-01 3.81e+05 1 6.88e+00 1.34e+02\n", " 23 1.582402e+07 -5.48e+03 1.80e+04 2.81e+02 -3.30e+01 1.91e+05 1 3.84e+00 1.38e+02\n", " 24 1.581840e+07 1.38e+02 4.16e+04 1.47e+02 1.03e+00 5.72e+05 1 5.36e+00 1.43e+02\n", " 25 1.581831e+07 8.97e+01 8.50e+03 4.11e+02 9.53e-01 1.72e+06 1 7.07e+00 1.50e+02\n", " 26 1.581830e+07 1.05e+01 2.17e+06 1.19e+03 1.11e-01 1.17e+06 1 5.43e+00 1.55e+02\n", " 27 1.581829e+07 9.17e+00 6.13e+05 8.16e+02 8.25e-02 7.38e+05 1 7.01e+00 1.62e+02\n", " 28 1.581818e+07 1.08e+02 3.48e+05 5.17e+02 8.76e-01 1.29e+06 1 5.30e+00 1.68e+02\n", " 29 1.581815e+07 2.91e+01 8.66e+04 8.96e+02 8.71e-01 2.17e+06 1 6.92e+00 1.75e+02\n", " 30 1.581839e+07 -2.39e+02 8.66e+04 1.51e+03 -1.36e+01 1.08e+06 1 3.82e+00 1.79e+02\n", " 31 1.581814e+07 9.59e+00 1.83e+05 7.53e+02 6.46e-01 1.11e+06 1 5.34e+00 1.84e+02\n", " 32 1.581813e+07 1.06e+01 1.02e+04 7.71e+02 8.80e-01 1.98e+06 1 7.05e+00 1.91e+02\n", " 33 1.581813e+07 4.34e+00 4.44e+03 1.37e+03 6.62e-01 2.05e+06 1 5.42e+00 1.96e+02\n", " 34 1.581812e+07 2.32e+00 5.28e+03 1.42e+03 4.54e-01 2.05e+06 1 7.08e+00 2.03e+02\n", " 35 1.581812e+07 1.24e+00 1.67e+03 1.41e+03 2.73e-01 1.87e+06 1 5.33e+00 2.09e+02\n", " 36 1.581812e+07 6.25e-01 2.74e+03 1.29e+03 1.42e-01 1.37e+06 1 6.89e+00 2.16e+02\n", " 37 1.581812e+07 2.50e-01 1.06e+03 9.40e+02 5.54e-02 8.04e+05 1 5.43e+00 2.21e+02\n", " 38 1.581812e+07 4.37e-02 9.44e+02 5.52e+02 9.13e-03 4.13e+05 1 5.81e+00 2.27e+02\n", " 39 1.581812e+07 -1.05e-01 9.44e+02 2.83e+02 -2.05e-02 2.07e+05 1 5.10e+00 2.32e+02\n", " 40 1.581812e+07 -1.16e-01 9.44e+02 1.41e+02 -2.26e-02 5.17e+04 1 3.79e+00 2.36e+02\n", " 41 1.581812e+07 -9.69e-02 9.44e+02 3.53e+01 -1.89e-02 6.46e+03 1 3.88e+00 2.40e+02\n", " 42 1.581812e+07 1.67e-01 1.13e+03 4.47e+00 3.29e-02 3.56e+03 1 6.89e+00 2.47e+02\n", " 43 1.581812e+07 3.55e-01 8.91e+02 2.50e+00 7.24e-02 2.19e+03 1 5.39e+00 2.52e+02\n", " 44 1.581812e+07 5.08e-01 9.27e+02 1.59e+00 1.20e-01 1.52e+03 1 7.09e+00 2.59e+02\n", " 45 1.581812e+07 5.59e-01 6.54e+02 1.12e+00 1.74e-01 1.19e+03 1 5.46e+00 2.64e+02\n", " 46 1.581812e+07 4.48e-01 5.69e+02 8.80e-01 2.13e-01 1.00e+03 1 6.86e+00 2.71e+02\n", " 47 1.581812e+07 3.03e-01 3.75e+02 7.25e-01 2.47e-01 8.87e+02 1 5.41e+00 2.77e+02\n", " 48 1.581812e+07 1.74e-01 2.81e+02 6.33e-01 2.73e-01 8.11e+02 1 6.77e+00 2.84e+02\n", " 49 1.581812e+07 9.24e-02 1.80e+02 5.68e-01 2.97e-01 7.60e+02 1 5.54e+00 2.89e+02\n", " 50 1.581812e+07 4.59e-02 1.22e+02 5.28e-01 3.23e-01 7.28e+02 1 5.93e+00 2.95e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2445452\n", " Parameters : 442004\n", " Iterations : 51\n", " Time : 295.165 [s]\n", " Initial cost : 3.48658 [px]\n", " Final cost : 2.5433 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 12909\n", " => Merged observations: 4478\n", " => Filtered observations: 219495\n", " => Changed observations: 0.193733\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.419212e+06 0.00e+00 6.74e+05 0.00e+00 0.00e+00 1.00e+04 0 1.48e+00 6.99e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 4.3201e+08\n", " Nonzeros in L: 6.4083e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.5\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 4.3201e+08\n", " nnz(L): 6.4083e+05\n", " OK\n", " 1 1.892829e+06 5.26e+05 1.71e+05 5.15e+01 9.88e-01 3.00e+04 1 7.30e+00 1.43e+01\n", " 2 1.882374e+06 1.05e+04 6.43e+04 1.67e+01 9.92e-01 9.00e+04 1 5.59e+00 1.99e+01\n", " 3 1.881640e+06 7.34e+02 5.74e+04 1.18e+01 7.83e-01 1.10e+05 1 4.37e+00 2.43e+01\n", " 4 1.881311e+06 3.29e+02 8.64e+03 7.29e+00 9.87e-01 3.30e+05 1 5.85e+00 3.01e+01\n", " 5 1.881236e+06 7.46e+01 1.18e+04 1.59e+01 9.21e-01 8.19e+05 1 4.44e+00 3.45e+01\n", " 6 1.881141e+06 9.54e+01 1.60e+04 3.40e+01 9.17e-01 1.94e+06 1 4.33e+00 3.89e+01\n", " 7 1.881025e+06 1.16e+02 3.18e+04 5.80e+01 8.15e-01 2.59e+06 1 5.99e+00 4.49e+01\n", " 8 1.880931e+06 9.39e+01 2.45e+04 4.93e+01 8.63e-01 4.20e+06 1 4.44e+00 4.93e+01\n", " 9 1.880883e+06 4.82e+01 1.73e+04 4.03e+01 8.66e-01 6.89e+06 1 4.35e+00 5.37e+01\n", " 10 1.880865e+06 1.81e+01 6.71e+03 2.43e+01 9.44e-01 2.07e+07 1 6.08e+00 5.97e+01\n", " 11 1.880862e+06 2.84e+00 1.57e+03 1.16e+01 9.85e-01 6.20e+07 1 4.39e+00 6.41e+01\n", " 12 1.880862e+06 1.18e-01 5.05e+01 2.02e+00 1.02e+00 1.86e+08 1 4.63e+00 6.87e+01\n", " 13 1.880862e+06 7.82e-04 1.70e+00 1.79e-01 1.04e+00 5.58e+08 1 5.73e+00 7.45e+01\n", " 14 1.880862e+06 1.54e-05 1.95e+00 1.68e-02 6.35e-01 5.69e+08 1 4.49e+00 7.90e+01\n", " 15 1.880862e+06 2.53e-06 1.51e+00 1.48e-03 4.52e-01 5.69e+08 1 5.20e+00 8.42e+01\n", " 16 1.880862e+06 7.28e-07 7.49e-01 3.21e-04 4.18e-01 5.66e+08 1 5.02e+00 8.92e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2029908\n", " Parameters : 401309\n", " Iterations : 17\n", " Time : 89.3074 [s]\n", " Initial cost : 1.09169 [px]\n", " Final cost : 0.962588 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 96262\n", " => Merged observations: 16869\n", " => Filtered observations: 5709\n", " => Changed observations: 0.117089\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.270473e+06 0.00e+00 1.69e+05 0.00e+00 0.00e+00 1.00e+04 0 1.52e+00 6.40e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 4.8468e+08\n", " Nonzeros in L: 6.7225e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.5\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 4.8468e+08\n", " nnz(L): 6.7225e+05\n", " OK\n", " 1 2.175067e+06 9.54e+04 6.42e+03 1.62e+01 9.99e-01 3.00e+04 1 8.45e+00 1.49e+01\n", " 2 2.174705e+06 3.62e+02 5.61e+03 4.66e+00 1.01e+00 9.00e+04 1 4.82e+00 1.97e+01\n", " 3 2.174624e+06 8.10e+01 4.70e+03 3.42e+00 9.90e-01 2.70e+05 1 6.45e+00 2.61e+01\n", " 4 2.174600e+06 2.37e+01 1.42e+03 6.12e+00 1.00e+00 8.10e+05 1 4.88e+00 3.10e+01\n", " 5 2.174579e+06 2.10e+01 4.39e+03 1.43e+01 9.73e-01 2.43e+06 1 5.65e+00 3.66e+01\n", " 6 2.174560e+06 1.94e+01 8.35e+03 2.20e+01 9.12e-01 5.53e+06 1 5.64e+00 4.23e+01\n", " 7 2.174552e+06 7.88e+00 4.07e+03 1.52e+01 9.48e-01 1.66e+07 1 4.81e+00 4.71e+01\n", " 8 2.174551e+06 1.10e+00 5.84e+02 5.67e+00 9.99e-01 4.98e+07 1 6.46e+00 5.36e+01\n", " 9 2.174551e+06 2.23e-02 1.17e+01 7.89e-01 1.02e+00 1.49e+08 1 4.84e+00 5.84e+01\n", " 10 2.174551e+06 1.11e-04 1.58e+00 5.46e-02 1.09e+00 4.48e+08 1 5.61e+00 6.40e+01\n", " 11 2.174551e+06 2.93e-06 8.24e-01 3.75e-03 1.32e+00 1.34e+09 1 5.65e+00 6.97e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2210832\n", " Parameters : 396905\n", " Iterations : 12\n", " Time : 69.7881 [s]\n", " Initial cost : 1.0134 [px]\n", " Final cost : 0.991761 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 11314\n", " => Merged observations: 6819\n", " => Filtered observations: 3693\n", " => Changed observations: 0.019745\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.217705e+06 0.00e+00 8.56e+04 0.00e+00 0.00e+00 1.00e+04 0 1.52e+00 6.42e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 4.7153e+08\n", " Nonzeros in L: 6.652e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.5\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 4.7153e+08\n", " nnz(L): 6.652e+05\n", " OK\n", " 1 2.196678e+06 2.10e+04 1.64e+03 8.01e+00 1.00e+00 3.00e+04 1 8.63e+00 1.50e+01\n", " 2 2.196633e+06 4.50e+01 4.97e+02 1.95e+00 1.05e+00 9.00e+04 1 4.82e+00 1.99e+01\n", " 3 2.196625e+06 8.65e+00 2.50e+02 1.19e+00 1.04e+00 2.70e+05 1 6.45e+00 2.63e+01\n", " 4 2.196621e+06 3.22e+00 2.52e+02 2.87e+00 1.02e+00 8.10e+05 1 4.77e+00 3.11e+01\n", " 5 2.196617e+06 4.47e+00 8.56e+02 6.61e+00 9.98e-01 2.43e+06 1 5.48e+00 3.66e+01\n", " 6 2.196613e+06 4.14e+00 1.71e+03 9.80e+00 9.83e-01 7.29e+06 1 5.76e+00 4.23e+01\n", " 7 2.196612e+06 1.32e+00 9.12e+02 7.11e+00 9.86e-01 2.19e+07 1 4.90e+00 4.72e+01\n", " 8 2.196611e+06 1.03e-01 7.62e+01 2.02e+00 1.01e+00 6.56e+07 1 6.37e+00 5.36e+01\n", " 9 2.196611e+06 1.21e-03 1.98e+00 2.17e-01 1.04e+00 1.97e+08 1 4.81e+00 5.84e+01\n", " 10 2.196611e+06 6.88e-06 4.86e-01 1.32e-02 1.09e+00 5.90e+08 1 5.61e+00 6.40e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2226034\n", " Parameters : 395357\n", " Iterations : 11\n", " Time : 64.1931 [s]\n", " Initial cost : 0.998127 [px]\n", " Final cost : 0.993369 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 4632\n", " => Merged observations: 2726\n", " => Filtered observations: 1713\n", " => Changed observations: 0.008150\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.212629e+06 0.00e+00 5.52e+04 0.00e+00 0.00e+00 1.00e+04 0 1.52e+00 7.12e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 4.7383e+08\n", " Nonzeros in L: 6.6649e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.5\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 4.7383e+08\n", " nnz(L): 6.6649e+05\n", " OK\n", " 1 2.204675e+06 7.95e+03 4.03e+02 4.18e+00 1.00e+00 3.00e+04 1 7.80e+00 1.49e+01\n", " 2 2.204663e+06 1.23e+01 3.56e+02 1.13e+00 1.10e+00 9.00e+04 1 6.10e+00 2.10e+01\n", " 3 2.204661e+06 1.87e+00 9.55e+01 5.05e-01 1.11e+00 2.70e+05 1 4.90e+00 2.59e+01\n", " 4 2.204660e+06 4.98e-01 4.21e+01 1.04e+00 1.06e+00 8.10e+05 1 6.44e+00 3.24e+01\n", " 5 2.204660e+06 5.95e-01 9.69e+01 2.37e+00 1.01e+00 2.43e+06 1 4.82e+00 3.72e+01\n", " 6 2.204659e+06 5.36e-01 2.16e+02 3.49e+00 9.99e-01 7.29e+06 1 5.43e+00 4.26e+01\n", " 7 2.204659e+06 1.59e-01 1.14e+02 2.51e+00 1.00e+00 2.19e+07 1 5.88e+00 4.85e+01\n", " 8 2.204659e+06 1.03e-02 9.43e+00 7.14e-01 1.02e+00 6.56e+07 1 4.88e+00 5.34e+01\n", " 9 2.204659e+06 1.41e-04 1.28e+00 7.71e-02 1.06e+00 1.97e+08 1 6.42e+00 5.98e+01\n", " 10 2.204659e+06 1.89e-06 4.98e-01 4.79e-03 1.24e+00 5.90e+08 1 4.91e+00 6.47e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2231866\n", " Parameters : 394769\n", " Iterations : 11\n", " Time : 64.8491 [s]\n", " Initial cost : 0.995681 [px]\n", " Final cost : 0.993886 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 2298\n", " => Merged observations: 1170\n", " => Filtered observations: 832\n", " => Changed observations: 0.003853\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #12 (206)\n", "==============================================================================\n", "\n", " => Image sees 5168 / 7089 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 48972\n", " Parameters : 6\n", " Iterations : 22\n", " Time : 1.01527 [s]\n", " Initial cost : 0.888475 [px]\n", " Final cost : 0.879095 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4689\n", " => Added observations: 23464\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 674280\n", " Parameters : 140360\n", " Iterations : 26\n", " Time : 10.5229 [s]\n", " Initial cost : 0.987747 [px]\n", " Final cost : 0.965324 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 743\n", " => Completed observations: 2437\n", " => Filtered observations: 25996\n", " => Changed observations: 0.085604\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 631580\n", " Parameters : 132869\n", " Iterations : 4\n", " Time : 1.63103 [s]\n", " Initial cost : 1.01995 [px]\n", " Final cost : 1.00127 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 2805\n", " => Completed observations: 3292\n", " => Filtered observations: 245\n", " => Changed observations: 0.019945\n", "\n", "==============================================================================\n", "Registering image #134 (207)\n", "==============================================================================\n", "\n", " => Image sees 6083 / 6977 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 90954\n", " Parameters : 6\n", " Iterations : 14\n", " Time : 1.95722 [s]\n", " Initial cost : 0.850621 [px]\n", " Final cost : 0.843898 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 5826\n", " => Added observations: 17984\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 126962\n", " Parameters : 18983\n", " Iterations : 26\n", " Time : 2.27506 [s]\n", " Initial cost : 1.40857 [px]\n", " Final cost : 1.35938 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 538\n", " => Completed observations: 1057\n", " => Filtered observations: 16657\n", " => Changed observations: 0.262396\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 97268\n", " Parameters : 12152\n", " Iterations : 3\n", " Time : 0.253243 [s]\n", " Initial cost : 1.0831 [px]\n", " Final cost : 1.05174 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1222\n", " => Completed observations: 1110\n", " => Filtered observations: 127\n", " => Changed observations: 0.045609\n", "\n", "==============================================================================\n", "Registering image #133 (208)\n", "==============================================================================\n", "\n", " => Image sees 5953 / 7438 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 66802\n", " Parameters : 6\n", " Iterations : 15\n", " Time : 1.11964 [s]\n", " Initial cost : 0.854292 [px]\n", " Final cost : 0.846985 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 5494\n", " => Added observations: 21072\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 129144\n", " Parameters : 24290\n", " Iterations : 26\n", " Time : 2.42419 [s]\n", " Initial cost : 1.47083 [px]\n", " Final cost : 1.4119 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 1177\n", " => Completed observations: 1359\n", " => Filtered observations: 17968\n", " => Changed observations: 0.291060\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 98550\n", " Parameters : 16931\n", " Iterations : 3\n", " Time : 0.340439 [s]\n", " Initial cost : 1.04173 [px]\n", " Final cost : 0.996805 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1539\n", " => Completed observations: 1744\n", " => Filtered observations: 99\n", " => Changed observations: 0.062430\n", "\n", "==============================================================================\n", "Registering image #185 (209)\n", "==============================================================================\n", "\n", " => Image sees 5719 / 6679 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 31062\n", " Parameters : 6\n", " Iterations : 16\n", " Time : 0.756928 [s]\n", " Initial cost : 0.859047 [px]\n", " Final cost : 0.852654 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 2435\n", " => Added observations: 16558\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 94552\n", " Parameters : 17360\n", " Iterations : 26\n", " Time : 2.22752 [s]\n", " Initial cost : 1.55749 [px]\n", " Final cost : 1.48053 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 358\n", " => Completed observations: 772\n", " => Filtered observations: 14541\n", " => Changed observations: 0.291885\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 80930\n", " Parameters : 9440\n", " Iterations : 4\n", " Time : 0.262985 [s]\n", " Initial cost : 1.05276 [px]\n", " Final cost : 1.01784 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 833\n", " => Completed observations: 846\n", " => Filtered observations: 48\n", " => Changed observations: 0.036225\n", "\n", "==============================================================================\n", "Registering image #76 (210)\n", "==============================================================================\n", "\n", " => Image sees 4833 / 6979 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 62976\n", " Parameters : 6\n", " Iterations : 27\n", " Time : 1.77039 [s]\n", " Initial cost : 0.899078 [px]\n", " Final cost : 0.868929 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4486\n", " => Added observations: 11880\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 99036\n", " Parameters : 12581\n", " Iterations : 26\n", " Time : 1.83058 [s]\n", " Initial cost : 1.38113 [px]\n", " Final cost : 1.33278 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 341\n", " => Completed observations: 578\n", " => Filtered observations: 11852\n", " => Changed observations: 0.229142\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 84014\n", " Parameters : 7235\n", " Iterations : 3\n", " Time : 0.256233 [s]\n", " Initial cost : 1.05352 [px]\n", " Final cost : 1.03292 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1004\n", " => Completed observations: 601\n", " => Filtered observations: 53\n", " => Changed observations: 0.033675\n", "\n", "==============================================================================\n", "Registering image #220 (211)\n", "==============================================================================\n", "\n", " => Image sees 6570 / 8149 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 88262\n", " Parameters : 6\n", " Iterations : 16\n", " Time : 1.61504 [s]\n", " Initial cost : 0.910583 [px]\n", " Final cost : 0.888063 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 6037\n", " => Added observations: 37605\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 177272\n", " Parameters : 27722\n", " Iterations : 26\n", " Time : 3.79779 [s]\n", " Initial cost : 1.78951 [px]\n", " Final cost : 1.7282 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 77\n", " => Completed observations: 1794\n", " => Filtered observations: 35813\n", " => Changed observations: 0.403750\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 111606\n", " Parameters : 18155\n", " Iterations : 3\n", " Time : 0.320446 [s]\n", " Initial cost : 1.08848 [px]\n", " Final cost : 1.03843 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1038\n", " => Completed observations: 1610\n", " => Filtered observations: 91\n", " => Changed observations: 0.045300\n", "\n", "==============================================================================\n", "Registering image #219 (212)\n", "==============================================================================\n", "\n", " => Image sees 6717 / 8149 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 92402\n", " Parameters : 6\n", " Iterations : 17\n", " Time : 1.66145 [s]\n", " Initial cost : 0.912055 [px]\n", " Final cost : 0.889298 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 6168\n", " => Added observations: 34708\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 172162\n", " Parameters : 27047\n", " Iterations : 26\n", " Time : 3.1186 [s]\n", " Initial cost : 1.78207 [px]\n", " Final cost : 1.73171 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 355\n", " => Completed observations: 854\n", " => Filtered observations: 36049\n", " => Changed observations: 0.409874\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 104610\n", " Parameters : 14906\n", " Iterations : 4\n", " Time : 0.63548 [s]\n", " Initial cost : 1.09041 [px]\n", " Final cost : 1.05687 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1535\n", " => Completed observations: 1670\n", " => Filtered observations: 88\n", " => Changed observations: 0.056313\n", "\n", "==============================================================================\n", "Registering image #144 (213)\n", "==============================================================================\n", "\n", " => Image sees 7518 / 7817 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 72472\n", " Parameters : 6\n", " Iterations : 25\n", " Time : 1.85963 [s]\n", " Initial cost : 0.956467 [px]\n", " Final cost : 0.938691 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 7107\n", " => Added observations: 29536\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 166572\n", " Parameters : 25754\n", " Iterations : 26\n", " Time : 3.00867 [s]\n", " Initial cost : 1.66069 [px]\n", " Final cost : 1.60918 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 349\n", " => Completed observations: 1086\n", " => Filtered observations: 29898\n", " => Changed observations: 0.350230\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 112860\n", " Parameters : 15851\n", " Iterations : 4\n", " Time : 0.355702 [s]\n", " Initial cost : 1.11045 [px]\n", " Final cost : 1.07294 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1310\n", " => Completed observations: 2039\n", " => Filtered observations: 93\n", " => Changed observations: 0.055191\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 8050\n", " => Merged observations: 3192\n", " => Retriangulated observations: 99835\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 3.512085e+07 0.00e+00 6.31e+06 0.00e+00 0.00e+00 1.00e+04 0 1.82e+00 8.80e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.147e+08\n", " Nonzeros in L: 7.6705e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.7\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.147e+08\n", " nnz(L): 7.6705e+05\n", " OK\n", " 1 2.187990e+07 1.32e+07 2.90e+06 1.50e+02 8.57e-01 1.57e+04 1 1.07e+01 1.95e+01\n", " 2 2.027543e+07 1.60e+06 4.48e+06 1.19e+02 7.71e-01 1.87e+04 1 5.98e+00 2.55e+01\n", " 3 1.985701e+07 4.18e+05 9.83e+05 4.37e+01 8.28e-01 2.60e+04 1 7.46e+00 3.29e+01\n", " 4 1.973046e+07 1.27e+05 1.86e+05 2.38e+01 7.64e-01 3.05e+04 1 5.78e+00 3.87e+01\n", " 5 1.967661e+07 5.38e+04 2.45e+04 2.32e+01 6.89e-01 3.23e+04 1 7.52e+00 4.63e+01\n", " 6 1.965957e+07 1.70e+04 7.60e+03 8.99e+01 4.44e-01 3.22e+04 1 5.88e+00 5.21e+01\n", " 7 1.965568e+07 3.89e+03 4.85e+03 1.27e+03 1.67e-01 2.49e+04 1 7.53e+00 5.97e+01\n", " 8 1.965408e+07 1.60e+03 4.10e+03 1.25e+04 2.03e-01 2.06e+04 1 5.90e+00 6.56e+01\n", " 9 1.965035e+07 3.73e+03 3.05e+03 1.22e+04 7.82e-01 2.51e+04 1 7.17e+00 7.27e+01\n", " 10 1.964940e+07 9.47e+02 2.30e+03 1.30e+04 8.82e-01 4.53e+04 1 5.98e+00 7.87e+01\n", " 11 1.964921e+07 1.93e+02 1.64e+03 1.09e+04 9.27e-01 1.20e+05 1 6.74e+00 8.55e+01\n", " 12 1.964901e+07 2.00e+02 1.23e+04 1.75e+04 9.56e-01 3.59e+05 1 6.72e+00 9.22e+01\n", " 13 1.964867e+07 3.42e+02 3.88e+04 2.90e+04 8.75e-01 6.22e+05 1 6.26e+00 9.84e+01\n", " 14 1.964836e+07 3.11e+02 7.07e+04 2.49e+04 6.84e-01 6.54e+05 1 6.98e+00 1.05e+02\n", " 15 1.964803e+07 3.24e+02 4.36e+04 1.69e+04 8.62e-01 1.06e+06 1 6.05e+00 1.11e+02\n", " 16 1.964786e+07 1.73e+02 4.39e+04 2.13e+04 7.59e-01 1.22e+06 1 7.29e+00 1.19e+02\n", " 17 1.964774e+07 1.25e+02 2.34e+04 1.88e+04 9.02e-01 2.55e+06 1 6.00e+00 1.25e+02\n", " 18 1.964768e+07 5.18e+01 2.04e+04 3.16e+04 8.25e-01 3.51e+06 1 7.45e+00 1.32e+02\n", " 19 1.964766e+07 2.53e+01 6.30e+03 3.17e+04 1.00e+00 1.05e+07 1 6.05e+00 1.38e+02\n", " 20 1.964765e+07 5.04e+00 2.05e+03 7.21e+04 1.04e+00 3.16e+07 1 7.46e+00 1.46e+02\n", " 21 1.964765e+07 1.06e+00 1.87e+02 1.29e+05 9.62e-01 9.49e+07 1 5.94e+00 1.52e+02\n", " 22 1.964765e+07 3.55e-01 1.15e+02 1.94e+05 7.58e-01 1.10e+08 1 7.44e+00 1.59e+02\n", " 23 1.964765e+07 1.07e-01 9.52e+01 1.09e+05 7.65e-01 1.29e+08 1 5.87e+00 1.65e+02\n", " 24 1.964765e+07 5.99e-02 7.53e+01 9.31e+04 7.37e-01 1.44e+08 1 7.40e+00 1.72e+02\n", " 25 1.964765e+07 4.02e-02 6.03e+01 8.24e+04 7.47e-01 1.64e+08 1 5.90e+00 1.78e+02\n", " 26 1.964765e+07 3.08e-02 4.77e+01 7.77e+04 7.76e-01 1.97e+08 1 7.55e+00 1.86e+02\n", " 27 1.964765e+07 2.62e-02 3.80e+01 7.94e+04 8.11e-01 2.60e+08 1 5.87e+00 1.92e+02\n", " 28 1.964765e+07 2.49e-02 3.01e+01 8.97e+04 8.43e-01 3.85e+08 1 7.47e+00 1.99e+02\n", " 29 1.964765e+07 2.61e-02 2.39e+01 1.13e+05 8.63e-01 6.24e+08 1 5.90e+00 2.05e+02\n", " 30 1.964765e+07 2.84e-02 1.90e+01 1.53e+05 8.66e-01 1.03e+09 1 7.38e+00 2.12e+02\n", " 31 1.964765e+07 2.92e-02 1.51e+01 2.01e+05 8.61e-01 1.65e+09 1 5.81e+00 2.18e+02\n", " 32 1.964765e+07 2.74e-02 1.20e+01 2.47e+05 8.58e-01 2.60e+09 1 7.45e+00 2.26e+02\n", " 33 1.964765e+07 2.44e-02 9.49e+00 2.94e+05 8.57e-01 4.08e+09 1 5.84e+00 2.32e+02\n", " 34 1.964765e+07 2.14e-02 7.54e+00 3.46e+05 8.57e-01 6.43e+09 1 7.47e+00 2.39e+02\n", " 35 1.964765e+07 1.86e-02 5.98e+00 4.06e+05 8.57e-01 1.01e+10 1 5.83e+00 2.45e+02\n", " 36 1.964765e+07 1.62e-02 4.75e+00 4.74e+05 8.58e-01 1.60e+10 1 7.39e+00 2.52e+02\n", " 37 1.964765e+07 1.40e-02 3.77e+00 5.54e+05 8.58e-01 2.52e+10 1 5.84e+00 2.58e+02\n", " 38 1.964765e+07 1.20e-02 3.00e+00 6.47e+05 8.58e-01 3.99e+10 1 7.51e+00 2.66e+02\n", " 39 1.964765e+07 1.04e-02 2.38e+00 7.55e+05 8.58e-01 6.30e+10 1 5.73e+00 2.71e+02\n", " 40 1.964765e+07 8.93e-03 1.89e+00 8.80e+05 8.58e-01 9.95e+10 1 7.40e+00 2.79e+02\n", " 41 1.964765e+07 7.68e-03 1.50e+00 1.03e+06 8.58e-01 1.57e+11 1 5.83e+00 2.85e+02\n", " 42 1.964765e+07 6.60e-03 1.88e+00 1.20e+06 8.58e-01 2.49e+11 1 7.43e+00 2.92e+02\n", " 43 1.964765e+07 5.67e-03 1.94e+00 1.39e+06 8.58e-01 3.93e+11 1 5.80e+00 2.98e+02\n", " 44 1.964765e+07 4.87e-03 1.96e+00 1.62e+06 8.58e-01 6.22e+11 1 7.37e+00 3.05e+02\n", " 45 1.964765e+07 4.18e-03 1.44e+00 1.89e+06 8.58e-01 9.83e+11 1 5.83e+00 3.11e+02\n", " 46 1.964765e+07 3.59e-03 1.40e+00 2.21e+06 8.58e-01 1.56e+12 1 7.34e+00 3.18e+02\n", " 47 1.964765e+07 3.08e-03 1.14e+00 2.57e+06 8.58e-01 2.46e+12 1 5.85e+00 3.24e+02\n", " 48 1.964765e+07 2.65e-03 8.01e-01 3.00e+06 8.58e-01 3.89e+12 1 7.42e+00 3.32e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2583148\n", " Parameters : 450080\n", " Iterations : 49\n", " Time : 331.729 [s]\n", " Initial cost : 3.68729 [px]\n", " Final cost : 2.75791 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 9294\n", " => Merged observations: 3992\n", " => Filtered observations: 245337\n", " => Changed observations: 0.200239\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.513158e+06 0.00e+00 5.41e+05 0.00e+00 0.00e+00 1.00e+04 0 1.46e+00 6.19e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 4.8006e+08\n", " Nonzeros in L: 6.8963e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.7\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 4.8006e+08\n", " nnz(L): 6.8963e+05\n", " OK\n", " 1 1.926440e+06 5.87e+05 1.38e+05 4.85e+01 9.93e-01 3.00e+04 1 8.61e+00 1.48e+01\n", " 2 1.918205e+06 8.24e+03 4.25e+04 1.25e+01 1.00e+00 9.00e+04 1 4.55e+00 1.93e+01\n", " 3 1.917767e+06 4.38e+02 1.62e+04 5.96e+00 9.86e-01 2.70e+05 1 5.51e+00 2.49e+01\n", " 4 1.917701e+06 6.55e+01 7.10e+03 4.36e+00 9.72e-01 8.10e+05 1 5.04e+00 2.99e+01\n", " 5 1.917689e+06 1.27e+01 3.56e+03 7.77e+00 9.75e-01 2.43e+06 1 4.48e+00 3.44e+01\n", " 6 1.917676e+06 1.27e+01 1.68e+03 1.99e+01 9.96e-01 7.29e+06 1 6.02e+00 4.04e+01\n", " 7 1.917661e+06 1.50e+01 6.02e+03 3.57e+01 9.38e-01 2.19e+07 1 4.62e+00 4.50e+01\n", " 8 1.917653e+06 7.66e+00 5.83e+03 3.37e+01 8.88e-01 4.09e+07 1 4.44e+00 4.95e+01\n", " 9 1.917651e+06 1.81e+00 7.41e+02 1.15e+01 1.01e+00 1.23e+08 1 6.13e+00 5.56e+01\n", " 10 1.917651e+06 5.75e-02 3.59e+01 2.62e+00 1.06e+00 3.68e+08 1 4.49e+00 6.01e+01\n", " 11 1.917651e+06 1.03e-03 1.96e+00 3.06e-01 1.12e+00 1.10e+09 1 5.21e+00 6.53e+01\n", " 12 1.917651e+06 1.98e-05 6.43e-01 4.57e-02 1.13e+00 3.31e+09 1 5.26e+00 7.06e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2108784\n", " Parameters : 412976\n", " Iterations : 13\n", " Time : 70.6856 [s]\n", " Initial cost : 1.09168 [px]\n", " Final cost : 0.953606 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 104527\n", " => Merged observations: 16613\n", " => Filtered observations: 4434\n", " => Changed observations: 0.119096\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.359464e+06 0.00e+00 1.57e+05 0.00e+00 0.00e+00 1.00e+04 0 1.63e+00 6.69e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 5.3806e+08\n", " Nonzeros in L: 7.2454e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.7\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 5.3806e+08\n", " nnz(L): 7.2454e+05\n", " OK\n", " 1 2.261907e+06 9.76e+04 6.93e+03 1.48e+01 1.00e+00 3.00e+04 1 8.39e+00 1.51e+01\n", " 2 2.261746e+06 1.61e+02 2.46e+03 4.17e+00 1.01e+00 9.00e+04 1 5.10e+00 2.02e+01\n", " 3 2.261707e+06 3.93e+01 2.67e+03 2.77e+00 9.92e-01 2.70e+05 1 6.57e+00 2.67e+01\n", " 4 2.261692e+06 1.44e+01 1.78e+03 4.22e+00 9.93e-01 8.10e+05 1 4.97e+00 3.17e+01\n", " 5 2.261681e+06 1.12e+01 2.14e+03 1.00e+01 9.86e-01 2.43e+06 1 6.52e+00 3.82e+01\n", " 6 2.261670e+06 1.12e+01 4.71e+03 1.64e+01 9.54e-01 7.29e+06 1 5.00e+00 4.32e+01\n", " 7 2.261665e+06 4.59e+00 3.24e+03 1.35e+01 9.46e-01 2.19e+07 1 5.55e+00 4.88e+01\n", " 8 2.261665e+06 6.20e-01 3.58e+02 4.40e+00 1.00e+00 6.56e+07 1 6.05e+00 5.48e+01\n", " 9 2.261665e+06 8.83e-03 5.53e+00 5.36e-01 1.02e+00 1.97e+08 1 4.99e+00 5.98e+01\n", " 10 2.261665e+06 3.41e-05 7.92e-01 3.40e-02 1.06e+00 5.90e+08 1 6.64e+00 6.65e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2308844\n", " Parameters : 409265\n", " Iterations : 11\n", " Time : 66.6152 [s]\n", " Initial cost : 1.0109 [px]\n", " Final cost : 0.98973 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 11481\n", " => Merged observations: 7306\n", " => Filtered observations: 3428\n", " => Changed observations: 0.019243\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.310383e+06 0.00e+00 6.11e+04 0.00e+00 0.00e+00 1.00e+04 0 1.52e+00 6.65e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 5.316e+08\n", " Nonzeros in L: 7.1883e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.7\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 5.316e+08\n", " nnz(L): 7.1883e+05\n", " OK\n", " 1 2.289972e+06 2.04e+04 8.80e+02 5.91e+00 1.00e+00 3.00e+04 1 9.29e+00 1.59e+01\n", " 2 2.289959e+06 1.28e+01 1.19e+02 1.05e+00 1.02e+00 9.00e+04 1 5.01e+00 2.09e+01\n", " 3 2.289957e+06 2.20e+00 9.35e+01 6.00e-01 1.01e+00 2.70e+05 1 6.62e+00 2.76e+01\n", " 4 2.289957e+06 7.96e-01 1.06e+02 1.12e+00 1.00e+00 8.10e+05 1 5.02e+00 3.26e+01\n", " 5 2.289956e+06 8.05e-01 1.15e+02 2.69e+00 1.00e+00 2.43e+06 1 6.06e+00 3.86e+01\n", " 6 2.289955e+06 8.04e-01 3.28e+02 4.27e+00 9.98e-01 7.29e+06 1 5.55e+00 4.42e+01\n", " 7 2.289955e+06 2.84e-01 2.15e+02 3.42e+00 9.98e-01 2.19e+07 1 5.05e+00 4.92e+01\n", " 8 2.289955e+06 2.33e-02 2.30e+01 1.11e+00 1.01e+00 6.56e+07 1 6.62e+00 5.59e+01\n", " 9 2.289955e+06 3.64e-04 1.97e+00 1.35e-01 1.04e+00 1.97e+08 1 5.01e+00 6.09e+01\n", " 10 2.289955e+06 2.21e-06 2.77e-01 8.64e-03 1.08e+00 5.90e+08 1 6.60e+00 6.75e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2324862\n", " Parameters : 407819\n", " Iterations : 11\n", " Time : 67.604 [s]\n", " Initial cost : 0.996881 [px]\n", " Final cost : 0.992464 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 4486\n", " => Merged observations: 2890\n", " => Filtered observations: 1552\n", " => Changed observations: 0.007680\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.306782e+06 0.00e+00 4.30e+04 0.00e+00 0.00e+00 1.00e+04 0 1.52e+00 6.98e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 5.3224e+08\n", " Nonzeros in L: 7.1933e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.7\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 5.3224e+08\n", " nnz(L): 7.1933e+05\n", " OK\n", " 1 2.299548e+06 7.23e+03 1.39e+02 3.45e+00 1.00e+00 3.00e+04 1 9.42e+00 1.64e+01\n", " 2 2.299545e+06 2.70e+00 3.54e+01 6.15e-01 1.02e+00 9.00e+04 1 5.12e+00 2.15e+01\n", " 3 2.299545e+06 5.38e-01 2.74e+01 3.27e-01 1.01e+00 2.70e+05 1 6.19e+00 2.77e+01\n", " 4 2.299545e+06 2.55e-01 3.85e+01 6.49e-01 1.00e+00 8.10e+05 1 5.51e+00 3.32e+01\n", " 5 2.299544e+06 2.67e-01 3.79e+01 1.55e+00 1.00e+00 2.43e+06 1 5.05e+00 3.83e+01\n", " 6 2.299544e+06 2.65e-01 1.09e+02 2.44e+00 1.00e+00 7.29e+06 1 6.79e+00 4.51e+01\n", " 7 2.299544e+06 9.20e-02 7.03e+01 1.95e+00 1.00e+00 2.19e+07 1 5.09e+00 5.01e+01\n", " 8 2.299544e+06 7.24e-03 7.43e+00 6.26e-01 1.01e+00 6.56e+07 1 6.66e+00 5.68e+01\n", " 9 2.299544e+06 1.14e-04 1.10e+00 7.62e-02 1.04e+00 1.97e+08 1 5.04e+00 6.19e+01\n", " 10 2.299544e+06 7.78e-07 1.59e-01 4.91e-03 1.17e+00 5.90e+08 1 6.01e+00 6.79e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2330716\n", " Parameters : 407309\n", " Iterations : 11\n", " Time : 68.0215 [s]\n", " Initial cost : 0.994852 [px]\n", " Final cost : 0.99329 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 2034\n", " => Merged observations: 969\n", " => Filtered observations: 763\n", " => Changed observations: 0.003232\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #150 (214)\n", "==============================================================================\n", "\n", " => Image sees 5873 / 6529 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 57872\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 0.887536 [s]\n", " Initial cost : 0.909658 [px]\n", " Final cost : 0.89755 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4439\n", " => Added observations: 36132\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 687772\n", " Parameters : 136766\n", " Iterations : 26\n", " Time : 10.0615 [s]\n", " Initial cost : 1.12195 [px]\n", " Final cost : 1.09147 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 1018\n", " => Completed observations: 2056\n", " => Filtered observations: 37710\n", " => Changed observations: 0.117150\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 622106\n", " Parameters : 126032\n", " Iterations : 4\n", " Time : 2.42518 [s]\n", " Initial cost : 1.02876 [px]\n", " Final cost : 1.00992 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 2447\n", " => Completed observations: 2967\n", " => Filtered observations: 211\n", " => Changed observations: 0.017794\n", "\n", "==============================================================================\n", "Registering image #6 (215)\n", "==============================================================================\n", "\n", " => Image sees 4255 / 5986 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 7500\n", " Parameters : 6\n", " Iterations : 44\n", " Time : 0.317986 [s]\n", " Initial cost : 0.939799 [px]\n", " Final cost : 0.911329 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 2927\n", " => Added observations: 9995\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 59990\n", " Parameters : 21029\n", " Iterations : 26\n", " Time : 1.52647 [s]\n", " Initial cost : 1.43244 [px]\n", " Final cost : 1.34776 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 103\n", " => Completed observations: 224\n", " => Filtered observations: 8646\n", " => Changed observations: 0.273375\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43106\n", " Parameters : 16538\n", " Iterations : 5\n", " Time : 0.265315 [s]\n", " Initial cost : 1.05864 [px]\n", " Final cost : 0.99849 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 116\n", " => Completed observations: 601\n", " => Filtered observations: 44\n", " => Changed observations: 0.028685\n", "\n", "==============================================================================\n", "Registering image #112 (216)\n", "==============================================================================\n", "\n", " => Image sees 4059 / 5472 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 27018\n", " Parameters : 6\n", " Iterations : 21\n", " Time : 0.523548 [s]\n", " Initial cost : 0.939542 [px]\n", " Final cost : 0.928665 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3544\n", " => Added observations: 11468\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 101534\n", " Parameters : 13997\n", " Iterations : 26\n", " Time : 1.79378 [s]\n", " Initial cost : 1.306 [px]\n", " Final cost : 1.25758 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 113\n", " => Completed observations: 601\n", " => Filtered observations: 11078\n", " => Changed observations: 0.213569\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 82164\n", " Parameters : 9743\n", " Iterations : 3\n", " Time : 0.2111 [s]\n", " Initial cost : 1.03127 [px]\n", " Final cost : 1.00222 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 436\n", " => Completed observations: 899\n", " => Filtered observations: 28\n", " => Changed observations: 0.029973\n", "\n", "==============================================================================\n", "Registering image #151 (217)\n", "==============================================================================\n", "\n", " => Image sees 4481 / 5177 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 58104\n", " Parameters : 6\n", " Iterations : 14\n", " Time : 0.836315 [s]\n", " Initial cost : 0.835799 [px]\n", " Final cost : 0.832315 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4003\n", " => Added observations: 14153\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 100670\n", " Parameters : 15707\n", " Iterations : 26\n", " Time : 2.90192 [s]\n", " Initial cost : 1.44863 [px]\n", " Final cost : 1.39906 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 374\n", " => Completed observations: 786\n", " => Filtered observations: 13052\n", " => Changed observations: 0.251504\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 84418\n", " Parameters : 8756\n", " Iterations : 3\n", " Time : 0.21106 [s]\n", " Initial cost : 1.01951 [px]\n", " Final cost : 0.99046 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 517\n", " => Completed observations: 698\n", " => Filtered observations: 65\n", " => Changed observations: 0.026240\n", "\n", "==============================================================================\n", "Registering image #72 (218)\n", "==============================================================================\n", "\n", " => Image sees 5223 / 6975 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 37822\n", " Parameters : 6\n", " Iterations : 16\n", " Time : 0.612109 [s]\n", " Initial cost : 0.939963 [px]\n", " Final cost : 0.929806 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4424\n", " => Added observations: 23093\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 121188\n", " Parameters : 24617\n", " Iterations : 26\n", " Time : 2.18196 [s]\n", " Initial cost : 1.6737 [px]\n", " Final cost : 1.61737 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 252\n", " => Completed observations: 697\n", " => Filtered observations: 22610\n", " => Changed observations: 0.372586\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 70248\n", " Parameters : 18149\n", " Iterations : 6\n", " Time : 0.359664 [s]\n", " Initial cost : 1.07433 [px]\n", " Final cost : 1.02638 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 460\n", " => Completed observations: 1264\n", " => Filtered observations: 79\n", " => Changed observations: 0.045307\n", "\n", "==============================================================================\n", "Registering image #24 (219)\n", "==============================================================================\n", "\n", " => Image sees 4651 / 5768 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 67520\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 1.32603 [s]\n", " Initial cost : 0.859798 [px]\n", " Final cost : 0.854798 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4513\n", " => Added observations: 11882\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 94920\n", " Parameters : 11810\n", " Iterations : 26\n", " Time : 2.29817 [s]\n", " Initial cost : 1.36927 [px]\n", " Final cost : 1.3251 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 168\n", " => Completed observations: 533\n", " => Filtered observations: 11390\n", " => Changed observations: 0.220474\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 75250\n", " Parameters : 6230\n", " Iterations : 4\n", " Time : 0.431776 [s]\n", " Initial cost : 1.06226 [px]\n", " Final cost : 1.04137 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 679\n", " => Completed observations: 621\n", " => Filtered observations: 65\n", " => Changed observations: 0.031265\n", "\n", "==============================================================================\n", "Registering image #13 (220)\n", "==============================================================================\n", "\n", " => Image sees 2863 / 5673 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 10078\n", " Parameters : 6\n", " Iterations : 21\n", " Time : 0.201792 [s]\n", " Initial cost : 0.966518 [px]\n", " Final cost : 0.957678 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 1966\n", " => Added observations: 6052\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 80502\n", " Parameters : 7784\n", " Iterations : 26\n", " Time : 1.53959 [s]\n", " Initial cost : 1.22556 [px]\n", " Final cost : 1.17527 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 22\n", " => Completed observations: 419\n", " => Filtered observations: 6460\n", " => Changed observations: 0.147511\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 63078\n", " Parameters : 5102\n", " Iterations : 4\n", " Time : 0.221744 [s]\n", " Initial cost : 1.10863 [px]\n", " Final cost : 1.0833 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 209\n", " => Completed observations: 599\n", " => Filtered observations: 31\n", " => Changed observations: 0.022016\n", "\n", "==============================================================================\n", "Registering image #162 (221)\n", "==============================================================================\n", "\n", " => Image sees 3118 / 4157 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 9670\n", " Parameters : 6\n", " Iterations : 21\n", " Time : 0.190525 [s]\n", " Initial cost : 0.976737 [px]\n", " Final cost : 0.975049 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 1735\n", " => Added observations: 11851\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 67760\n", " Parameters : 13916\n", " Iterations : 26\n", " Time : 1.41289 [s]\n", " Initial cost : 1.71731 [px]\n", " Final cost : 1.63712 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 85\n", " => Completed observations: 723\n", " => Filtered observations: 11394\n", " => Changed observations: 0.319190\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 47160\n", " Parameters : 9104\n", " Iterations : 5\n", " Time : 0.228377 [s]\n", " Initial cost : 1.12164 [px]\n", " Final cost : 1.07054 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 311\n", " => Completed observations: 692\n", " => Filtered observations: 68\n", " => Changed observations: 0.038362\n", "\n", "==============================================================================\n", "Registering image #30 (222)\n", "==============================================================================\n", "\n", " => Image sees 5424 / 7008 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 60500\n", " Parameters : 6\n", " Iterations : 42\n", " Time : 2.28841 [s]\n", " Initial cost : 0.944145 [px]\n", " Final cost : 0.890998 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3963\n", " => Added observations: 20874\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 129994\n", " Parameters : 19820\n", " Iterations : 26\n", " Time : 3.91214 [s]\n", " Initial cost : 1.58705 [px]\n", " Final cost : 1.51783 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 424\n", " => Completed observations: 1390\n", " => Filtered observations: 20347\n", " => Changed observations: 0.323688\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 92866\n", " Parameters : 12800\n", " Iterations : 3\n", " Time : 0.255879 [s]\n", " Initial cost : 1.10875 [px]\n", " Final cost : 1.06727 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1054\n", " => Completed observations: 808\n", " => Filtered observations: 91\n", " => Changed observations: 0.036785\n", "\n", "==============================================================================\n", "Registering image #222 (223)\n", "==============================================================================\n", "\n", " => Image sees 6522 / 7005 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 37368\n", " Parameters : 6\n", " Iterations : 19\n", " Time : 0.63987 [s]\n", " Initial cost : 0.95153 [px]\n", " Final cost : 0.944883 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 5278\n", " => Added observations: 16876\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 125424\n", " Parameters : 19001\n", " Iterations : 26\n", " Time : 2.31474 [s]\n", " Initial cost : 1.55767 [px]\n", " Final cost : 1.49809 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 214\n", " => Completed observations: 843\n", " => Filtered observations: 18453\n", " => Changed observations: 0.283563\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 87938\n", " Parameters : 12698\n", " Iterations : 3\n", " Time : 0.263318 [s]\n", " Initial cost : 1.15688 [px]\n", " Final cost : 1.11846 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 945\n", " => Completed observations: 1552\n", " => Filtered observations: 64\n", " => Changed observations: 0.050488\n", "\n", "==============================================================================\n", "Registering image #126 (224)\n", "==============================================================================\n", "\n", " => Image sees 5132 / 6328 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 28150\n", " Parameters : 6\n", " Iterations : 31\n", " Time : 0.789729 [s]\n", " Initial cost : 0.938486 [px]\n", " Final cost : 0.926528 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 4343\n", " => Added observations: 11220\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 88500\n", " Parameters : 22046\n", " Iterations : 26\n", " Time : 1.77233 [s]\n", " Initial cost : 1.44802 [px]\n", " Final cost : 1.35686 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 283\n", " => Completed observations: 1153\n", " => Filtered observations: 12082\n", " => Changed observations: 0.271135\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 71482\n", " Parameters : 22577\n", " Iterations : 5\n", " Time : 0.66023 [s]\n", " Initial cost : 0.981438 [px]\n", " Final cost : 0.938398 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 440\n", " => Completed observations: 870\n", " => Filtered observations: 77\n", " => Changed observations: 0.038312\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 7606\n", " => Merged observations: 2308\n", " => Retriangulated observations: 114692\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 4.383720e+07 0.00e+00 4.83e+06 0.00e+00 0.00e+00 1.00e+04 0 1.88e+00 8.59e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.479e+08\n", " Nonzeros in L: 8.1286e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.9\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.479e+08\n", " nnz(L): 8.1286e+05\n", " OK\n", " 1 2.338401e+09 -2.29e+09 4.83e+06 2.61e+02 -1.07e+02 5.00e+03 1 9.10e+00 1.77e+01\n", " 2 3.182684e+07 1.20e+07 7.26e+06 2.42e+02 5.60e-01 5.01e+03 1 6.05e+00 2.37e+01\n", " 3 3.038066e+07 1.45e+06 3.88e+07 1.83e+02 1.59e-01 3.80e+03 1 7.77e+00 3.15e+01\n", " 4 2.511878e+07 5.26e+06 8.49e+06 1.63e+02 6.86e-01 4.01e+03 1 6.11e+00 3.76e+01\n", " 5 2.545550e+07 -3.37e+05 8.49e+06 4.36e+02 -1.38e-01 2.00e+03 1 6.00e+00 4.36e+01\n", " 6 2.546373e+07 -3.45e+05 8.49e+06 2.75e+02 -1.41e-01 5.01e+02 1 4.37e+00 4.80e+01\n", " 7 2.342665e+07 1.69e+06 1.72e+06 9.70e+01 6.97e-01 5.33e+02 1 7.49e+00 5.55e+01\n", " 8 2.318136e+07 2.45e+05 3.09e+06 1.07e+02 3.25e-01 5.11e+02 1 6.11e+00 6.16e+01\n", " 9 2.273359e+07 4.48e+05 3.58e+05 1.04e+02 8.78e-01 8.99e+02 1 7.62e+00 6.92e+01\n", " 10 2.268325e+07 5.03e+04 1.12e+07 1.82e+02 4.49e-01 8.98e+02 1 6.06e+00 7.53e+01\n", " 11 2.275326e+07 -7.00e+04 1.12e+07 1.89e+02 -5.41e-01 4.49e+02 1 5.27e+00 8.05e+01\n", " 12 2.259816e+07 8.51e+04 1.77e+07 9.65e+01 7.13e-01 4.87e+02 1 6.81e+00 8.73e+01\n", " 13 2.253897e+07 5.92e+04 4.03e+06 1.05e+02 9.28e-01 1.31e+03 1 6.91e+00 9.43e+01\n", " 14 2.250515e+07 3.38e+04 9.34e+05 2.69e+02 5.96e-01 1.32e+03 1 7.05e+00 1.01e+02\n", " 15 2.248643e+07 1.87e+04 1.37e+07 2.66e+02 3.82e-01 1.30e+03 1 6.81e+00 1.08e+02\n", " 16 2.249010e+07 -3.67e+03 1.37e+07 2.62e+02 -7.44e-02 6.51e+02 1 5.34e+00 1.13e+02\n", " 17 2.247789e+07 8.54e+03 4.75e+05 1.32e+02 1.80e-01 5.16e+02 1 6.02e+00 1.19e+02\n", " 18 2.245154e+07 2.63e+04 3.17e+05 1.05e+02 5.81e-01 5.18e+02 1 7.81e+00 1.27e+02\n", " 19 2.243138e+07 2.02e+04 2.16e+05 1.05e+02 1.83e+00 1.55e+03 1 6.07e+00 1.33e+02\n", " 20 2.240212e+07 2.93e+04 6.65e+04 3.14e+02 8.69e-01 2.61e+03 1 7.76e+00 1.41e+02\n", " 21 2.239063e+07 1.15e+04 1.96e+04 5.27e+02 9.82e-01 7.82e+03 1 6.24e+00 1.47e+02\n", " 22 2.238735e+07 3.28e+03 3.87e+04 1.59e+03 1.04e+00 2.35e+04 1 7.61e+00 1.55e+02\n", " 23 2.238570e+07 1.65e+03 4.46e+04 4.88e+03 9.86e-01 7.04e+04 1 6.40e+00 1.61e+02\n", " 24 2.238467e+07 1.03e+03 1.30e+06 1.51e+04 9.09e-01 1.56e+05 1 7.58e+00 1.69e+02\n", " 25 2.238396e+07 7.01e+02 4.51e+05 3.42e+04 8.11e-01 2.05e+05 1 6.48e+00 1.75e+02\n", " 26 2.238302e+07 9.47e+02 6.36e+05 2.63e+04 9.83e-01 6.16e+05 1 7.31e+00 1.83e+02\n", " 27 2.238607e+07 -3.05e+03 6.36e+05 4.89e+04 -1.40e+00 3.08e+05 1 4.48e+00 1.87e+02\n", " 28 2.238277e+07 2.45e+02 2.00e+06 2.45e+04 1.77e-01 2.42e+05 1 7.59e+00 1.95e+02\n", " 29 2.237630e+07 6.47e+03 8.26e+05 1.11e+04 7.43e-01 2.74e+05 1 6.19e+00 2.01e+02\n", " 30 2.237214e+07 4.17e+03 1.72e+06 1.05e+04 5.46e-01 2.74e+05 1 7.74e+00 2.09e+02\n", " 31 2.237226e+07 -1.27e+02 1.72e+06 9.17e+03 -1.20e-02 1.37e+05 1 4.45e+00 2.13e+02\n", " 32 2.236962e+07 2.52e+03 2.51e+05 4.58e+03 2.46e-01 1.21e+05 1 7.77e+00 2.21e+02\n", " 33 1.912986e+09 -1.89e+09 2.51e+05 3.84e+03 -9.94e+04 6.06e+04 1 4.45e+00 2.25e+02\n", " 34 3.126605e+07 -8.90e+06 2.51e+05 1.93e+03 -4.73e+02 1.52e+04 1 5.27e+00 2.31e+02\n", " 35 2.274886e+07 -3.79e+05 2.51e+05 5.09e+02 -2.12e+01 1.89e+03 1 5.03e+00 2.36e+02\n", " 36 2.239339e+07 -2.38e+04 2.51e+05 6.88e+01 -1.54e+00 1.18e+02 1 4.47e+00 2.40e+02\n", " 37 2.236800e+07 1.61e+03 1.24e+05 5.32e+00 1.57e-01 8.95e+01 1 7.73e+00 2.48e+02\n", " 38 2.236183e+07 6.17e+03 1.03e+04 3.51e+00 6.77e-01 9.37e+01 1 6.15e+00 2.54e+02\n", " 39 2.236086e+07 9.71e+02 1.43e+04 3.58e+00 7.94e-01 1.18e+02 1 7.78e+00 2.62e+02\n", " 40 2.235981e+07 1.05e+03 1.06e+04 4.34e+00 1.31e+00 3.53e+02 1 6.16e+00 2.68e+02\n", " 41 2.235770e+07 2.11e+03 3.29e+04 1.28e+01 1.10e+00 1.06e+03 1 7.81e+00 2.76e+02\n", " 42 2.235244e+07 5.26e+03 2.09e+04 3.77e+01 1.77e+00 3.17e+03 1 6.23e+00 2.82e+02\n", " 43 2.234659e+07 5.85e+03 4.18e+04 1.17e+02 5.09e-01 3.17e+03 1 7.78e+00 2.90e+02\n", " 44 2.233779e+07 8.79e+03 3.54e+04 1.27e+02 7.12e-01 3.44e+03 1 6.05e+00 2.96e+02\n", " 45 2.239644e+07 -5.86e+04 3.54e+04 1.51e+02 -5.64e+00 1.72e+03 1 6.15e+00 3.02e+02\n", " 46 2.534961e+09 -2.51e+09 3.54e+04 7.59e+01 -2.48e+05 4.30e+02 1 4.35e+00 3.06e+02\n", " 47 2.235200e+07 -1.42e+04 3.54e+04 1.90e+01 -1.54e+00 5.37e+01 1 5.40e+00 3.12e+02\n", " 48 2.233443e+07 3.37e+03 3.54e+04 2.47e+00 5.86e-01 5.40e+01 1 6.58e+00 3.18e+02\n", " 49 2.233364e+07 7.86e+02 8.56e+03 2.35e+00 6.25e-01 5.48e+01 1 7.27e+00 3.26e+02\n", " 50 2.233240e+07 1.24e+03 4.30e+04 2.46e+00 6.42e-01 5.61e+01 1 6.81e+00 3.32e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2697290\n", " Parameters : 473735\n", " Iterations : 51\n", " Time : 332.586 [s]\n", " Initial cost : 4.03142 [px]\n", " Final cost : 2.87742 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 9977\n", " => Merged observations: 4629\n", " => Filtered observations: 286530\n", " => Changed observations: 0.223288\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.629372e+06 0.00e+00 6.70e+05 0.00e+00 0.00e+00 1.00e+04 0 1.48e+00 7.45e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 5.9109e+08\n", " Nonzeros in L: 7.8386e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.8\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 5.9109e+08\n", " nnz(L): 7.8386e+05\n", " OK\n", " 1 1.959473e+06 6.70e+05 1.66e+05 6.23e+01 9.88e-01 3.00e+04 1 7.07e+00 1.45e+01\n", " 2 1.945683e+06 1.38e+04 5.32e+04 3.68e+01 9.89e-01 9.00e+04 1 6.39e+00 2.09e+01\n", " 3 1.944598e+06 1.09e+03 3.07e+04 3.84e+01 8.79e-01 1.60e+05 1 4.60e+00 2.55e+01\n", " 4 1.976425e+06 -3.18e+04 3.07e+04 7.56e+01 -5.27e+01 7.99e+04 1 3.32e+00 2.88e+01\n", " 5 1.944664e+06 -6.60e+01 3.07e+04 6.31e+01 -1.16e-01 2.00e+04 1 4.92e+00 3.38e+01\n", " 6 1.944281e+06 3.17e+02 4.44e+03 4.32e+01 6.58e-01 2.06e+04 1 4.56e+00 3.83e+01\n", " 7 1.944128e+06 1.53e+02 1.07e+03 2.79e+01 7.61e-01 2.40e+04 1 4.58e+00 4.29e+01\n", " 8 1.944050e+06 7.82e+01 3.40e+03 3.40e+01 6.29e-01 2.44e+04 1 6.27e+00 4.92e+01\n", " 9 1.943984e+06 6.50e+01 6.00e+02 2.17e+01 9.31e-01 6.76e+04 1 4.67e+00 5.38e+01\n", " 10 1.943982e+06 2.79e+00 1.83e+04 3.46e+01 3.99e-02 3.80e+04 1 5.90e+00 5.97e+01\n", " 11 1.943884e+06 9.73e+01 3.36e+03 2.38e+01 9.16e-01 8.98e+04 1 4.95e+00 6.47e+01\n", " 12 1.943857e+06 2.74e+01 2.55e+03 3.31e+01 1.06e+00 2.69e+05 1 4.64e+00 6.93e+01\n", " 13 1.943846e+06 1.07e+01 7.08e+02 9.72e+01 9.99e-01 8.08e+05 1 6.26e+00 7.56e+01\n", " 14 1.943854e+06 -7.31e+00 7.08e+02 2.27e+02 -6.72e-01 4.04e+05 1 3.32e+00 7.89e+01\n", " 15 1.943930e+06 -8.38e+01 7.08e+02 1.17e+02 -1.15e+01 1.01e+05 1 3.26e+00 8.22e+01\n", " 16 1.943842e+06 4.49e+00 6.67e+02 3.06e+01 1.35e+00 3.03e+05 1 6.13e+00 8.83e+01\n", " 17 1.943860e+06 -1.85e+01 6.67e+02 9.23e+01 -2.63e+00 1.51e+05 1 3.28e+00 9.16e+01\n", " 18 1.943830e+06 1.21e+01 1.21e+03 4.67e+01 2.48e+00 4.54e+05 1 4.54e+00 9.61e+01\n", " 19 1.943863e+06 -3.34e+01 1.21e+03 1.08e+02 -2.56e+00 2.27e+05 1 4.92e+00 1.01e+02\n", " 20 1.943922e+06 -9.20e+01 1.21e+03 5.49e+01 -8.07e+00 5.68e+04 1 3.25e+00 1.04e+02\n", " 21 1.943821e+06 9.08e+00 4.92e+03 1.44e+01 1.21e+00 1.70e+05 1 4.58e+00 1.09e+02\n", " 22 1.943816e+06 4.41e+00 5.13e+03 3.57e+01 5.87e-01 1.71e+05 1 6.23e+00 1.15e+02\n", " 23 1.943813e+06 3.38e+00 9.81e+02 4.33e+01 7.91e-01 2.13e+05 1 4.66e+00 1.20e+02\n", " 24 1.943810e+06 3.35e+00 7.77e+02 4.35e+01 1.57e+00 6.40e+05 1 4.60e+00 1.24e+02\n", " 25 1.943805e+06 4.75e+00 2.35e+02 1.34e+02 1.22e+00 1.92e+06 1 6.26e+00 1.31e+02\n", " 26 1.943811e+06 -6.58e+00 2.35e+02 3.15e+02 -4.12e-01 9.61e+05 1 3.29e+00 1.34e+02\n", " 27 1.943798e+06 6.55e+00 1.85e+03 1.65e+02 5.75e-01 9.64e+05 1 4.71e+00 1.39e+02\n", " 28 1.943835e+06 -3.64e+01 1.85e+03 1.67e+02 -1.55e+00 4.82e+05 1 4.86e+00 1.43e+02\n", " 29 1.943855e+06 -5.64e+01 1.85e+03 8.51e+01 -2.66e+00 1.21e+05 1 3.23e+00 1.47e+02\n", " 30 1.944054e+06 -2.56e+02 1.85e+03 2.28e+01 -1.56e+01 1.51e+04 1 3.29e+00 1.50e+02\n", " 31 1.943790e+06 8.14e+00 4.95e+02 4.26e+00 1.07e+00 4.52e+04 1 6.08e+00 1.56e+02\n", " 32 1.943781e+06 8.66e+00 4.31e+03 9.45e+00 1.11e+00 1.36e+05 1 4.63e+00 1.61e+02\n", " 33 1.943777e+06 4.32e+00 1.64e+03 3.04e+01 8.67e-01 2.25e+05 1 4.59e+00 1.65e+02\n", " 34 1.943774e+06 2.93e+00 4.22e+02 4.29e+01 1.11e+00 6.74e+05 1 6.29e+00 1.72e+02\n", " 35 1.943775e+06 -1.05e+00 4.22e+02 1.58e+02 -2.41e-01 3.37e+05 1 3.35e+00 1.75e+02\n", " 36 1.943766e+06 7.85e+00 7.67e+02 7.99e+01 3.07e+00 1.01e+06 1 4.83e+00 1.80e+02\n", " 37 1.943783e+06 -1.67e+01 7.67e+02 2.41e+02 -1.04e+00 5.06e+05 1 4.74e+00 1.85e+02\n", " 38 1.943788e+06 -2.15e+01 7.67e+02 1.22e+02 -1.51e+00 1.26e+05 1 3.26e+00 1.88e+02\n", " 39 1.944127e+06 -3.60e+02 7.67e+02 3.15e+01 -3.78e+01 1.58e+04 1 3.29e+00 1.91e+02\n", " 40 1.943763e+06 3.61e+00 2.12e+02 4.35e+00 1.24e+00 4.74e+04 1 6.13e+00 1.97e+02\n", " 41 1.943750e+06 1.29e+01 1.11e+03 1.42e+01 1.90e+00 1.42e+05 1 4.79e+00 2.02e+02\n", " 42 1.943747e+06 2.71e+00 4.08e+02 4.79e+01 1.28e+00 4.27e+05 1 4.63e+00 2.07e+02\n", " 43 1.943745e+06 2.55e+00 3.19e+02 1.52e+02 1.39e+00 1.28e+06 1 6.31e+00 2.13e+02\n", " 44 1.943749e+06 -4.78e+00 3.19e+02 4.52e+02 -6.55e-01 6.40e+05 1 3.27e+00 2.16e+02\n", " 45 1.943750e+06 -5.32e+00 3.19e+02 2.32e+02 -1.27e+00 1.60e+05 1 3.38e+00 2.20e+02\n", " 46 1.943743e+06 1.91e+00 1.22e+02 5.95e+01 1.45e+00 4.80e+05 1 6.22e+00 2.26e+02\n", " 47 1.946489e+06 -2.75e+03 1.22e+02 1.84e+02 -4.68e+02 2.40e+05 1 3.29e+00 2.29e+02\n", " 48 1.943732e+06 1.01e+01 7.78e+02 9.40e+01 3.02e+00 7.20e+05 1 4.62e+00 2.34e+02\n", " 49 1.943761e+06 -2.83e+01 7.78e+02 2.68e+02 -1.83e+00 3.60e+05 1 4.98e+00 2.39e+02\n", " 50 1.943787e+06 -5.50e+01 7.78e+02 1.37e+02 -4.48e+00 9.00e+04 1 3.28e+00 2.42e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2141048\n", " Parameters : 420497\n", " Iterations : 51\n", " Time : 242.076 [s]\n", " Initial cost : 1.10819 [px]\n", " Final cost : 0.952807 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 122799\n", " => Merged observations: 16491\n", " => Filtered observations: 6054\n", " => Changed observations: 0.135769\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.455544e+06 0.00e+00 1.78e+05 0.00e+00 0.00e+00 1.00e+04 0 2.69e+00 8.43e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.1711e+08\n", " Nonzeros in L: 7.9417e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.8\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.1711e+08\n", " nnz(L): 7.9417e+05\n", " OK\n", " 1 2.339011e+06 1.17e+05 9.19e+03 1.65e+01 1.00e+00 3.00e+04 1 8.07e+00 1.65e+01\n", " 2 2.338717e+06 2.94e+02 3.87e+03 4.53e+00 1.03e+00 9.00e+04 1 6.90e+00 2.34e+01\n", " 3 2.338649e+06 6.84e+01 4.36e+03 3.12e+00 9.98e-01 2.70e+05 1 5.34e+00 2.87e+01\n", " 4 2.338627e+06 2.21e+01 2.58e+03 4.43e+00 9.96e-01 8.10e+05 1 6.44e+00 3.52e+01\n", " 5 2.338613e+06 1.39e+01 2.19e+03 1.09e+01 9.86e-01 2.43e+06 1 5.66e+00 4.09e+01\n", " 6 2.338598e+06 1.52e+01 5.65e+03 1.94e+01 9.50e-01 7.29e+06 1 5.51e+00 4.64e+01\n", " 7 2.338590e+06 7.34e+00 5.07e+03 1.81e+01 9.15e-01 1.71e+07 1 6.75e+00 5.31e+01\n", " 8 2.338589e+06 1.45e+00 7.09e+02 6.63e+00 9.97e-01 5.12e+07 1 5.30e+00 5.84e+01\n", " 9 2.338589e+06 3.58e-02 2.32e+01 1.19e+00 1.02e+00 1.54e+08 1 6.93e+00 6.53e+01\n", " 10 2.338589e+06 2.00e-04 1.94e+00 9.22e-02 1.06e+00 4.61e+08 1 5.27e+00 7.06e+01\n", " 11 2.338589e+06 1.28e-06 2.16e-01 6.04e-03 1.19e+00 1.38e+09 1 6.95e+00 7.76e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2373616\n", " Parameters : 415055\n", " Iterations : 12\n", " Time : 77.7164 [s]\n", " Initial cost : 1.01711 [px]\n", " Final cost : 0.992594 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 14050\n", " => Merged observations: 6434\n", " => Filtered observations: 4352\n", " => Changed observations: 0.020927\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.393776e+06 0.00e+00 5.53e+04 0.00e+00 0.00e+00 1.00e+04 0 1.65e+00 7.19e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.4267e+08\n", " Nonzeros in L: 8.0818e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.8\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.4267e+08\n", " nnz(L): 8.0818e+05\n", " OK\n", " 1 2.368956e+06 2.48e+04 3.61e+03 7.39e+00 1.00e+00 3.00e+04 1 9.58e+00 1.68e+01\n", " 2 2.368918e+06 3.79e+01 8.31e+02 1.83e+00 1.05e+00 9.00e+04 1 5.27e+00 2.20e+01\n", " 3 2.368908e+06 9.87e+00 6.37e+02 1.18e+00 1.03e+00 2.70e+05 1 7.07e+00 2.91e+01\n", " 4 2.368905e+06 2.87e+00 3.16e+02 1.44e+00 1.02e+00 8.10e+05 1 5.31e+00 3.44e+01\n", " 5 2.368904e+06 1.42e+00 2.62e+02 3.38e+00 1.00e+00 2.43e+06 1 6.94e+00 4.14e+01\n", " 6 2.368902e+06 1.43e+00 5.35e+02 5.76e+00 9.97e-01 7.29e+06 1 5.37e+00 4.67e+01\n", " 7 2.368902e+06 5.93e-01 4.23e+02 5.09e+00 9.95e-01 2.19e+07 1 6.66e+00 5.34e+01\n", " 8 2.368902e+06 6.15e-02 5.71e+01 1.85e+00 1.01e+00 6.56e+07 1 5.51e+00 5.89e+01\n", " 9 2.368902e+06 1.18e-03 2.00e+00 2.54e-01 1.04e+00 1.97e+08 1 5.52e+00 6.44e+01\n", " 10 2.368902e+06 8.07e-06 4.73e-01 1.73e-02 1.08e+00 5.90e+08 1 6.82e+00 7.12e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2392882\n", " Parameters : 413525\n", " Iterations : 11\n", " Time : 71.3967 [s]\n", " Initial cost : 1.00019 [px]\n", " Final cost : 0.994977 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 5610\n", " => Merged observations: 2516\n", " => Filtered observations: 2008\n", " => Changed observations: 0.008470\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.388397e+06 0.00e+00 3.24e+04 0.00e+00 0.00e+00 1.00e+04 0 1.92e+00 7.37e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.3805e+08\n", " Nonzeros in L: 8.0558e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 1.8\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.3805e+08\n", " nnz(L): 8.0558e+05\n", " OK\n", " 1 2.379492e+06 8.91e+03 9.85e+02 4.38e+00 1.00e+00 3.00e+04 1 8.91e+00 1.63e+01\n", " 2 2.379482e+06 1.01e+01 2.34e+02 1.05e+00 1.05e+00 9.00e+04 1 6.14e+00 2.24e+01\n", " 3 2.379480e+06 2.33e+00 1.66e+02 5.83e-01 1.03e+00 2.70e+05 1 6.19e+00 2.86e+01\n", " 4 2.379479e+06 6.22e-01 6.09e+01 5.94e-01 1.01e+00 8.10e+05 1 5.41e+00 3.40e+01\n", " 5 2.379479e+06 2.27e-01 4.98e+01 1.29e+00 1.00e+00 2.43e+06 1 7.05e+00 4.11e+01\n", " 6 2.379479e+06 2.08e-01 7.97e+01 2.18e+00 1.00e+00 7.29e+06 1 5.41e+00 4.65e+01\n", " 7 2.379478e+06 8.23e-02 5.94e+01 1.88e+00 1.00e+00 2.19e+07 1 7.04e+00 5.35e+01\n", " 8 2.379478e+06 7.68e-03 7.67e+00 6.71e-01 1.01e+00 6.56e+07 1 5.30e+00 5.88e+01\n", " 9 2.379478e+06 1.44e-04 1.44e+00 9.09e-02 1.04e+00 1.97e+08 1 6.81e+00 6.56e+01\n", " 10 2.379478e+06 9.17e-07 1.75e-01 6.18e-03 9.99e-01 5.90e+08 1 5.29e+00 7.09e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2400038\n", " Parameters : 412925\n", " Iterations : 11\n", " Time : 71.0555 [s]\n", " Initial cost : 0.997572 [px]\n", " Final cost : 0.995708 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 2458\n", " => Merged observations: 1086\n", " => Filtered observations: 960\n", " => Changed observations: 0.003753\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #83 (225)\n", "==============================================================================\n", "\n", " => Image sees 2414 / 2725 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 2152\n", " Parameters : 6\n", " Iterations : 27\n", " Time : 0.0501082 [s]\n", " Initial cost : 0.984088 [px]\n", " Final cost : 0.979998 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 982\n", " => Added observations: 1779\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 682354\n", " Parameters : 132521\n", " Iterations : 26\n", " Time : 10.075 [s]\n", " Initial cost : 0.787223 [px]\n", " Final cost : 0.775316 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 914\n", " => Completed observations: 1417\n", " => Filtered observations: 6703\n", " => Changed observations: 0.025992\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 671052\n", " Parameters : 131360\n", " Iterations : 6\n", " Time : 2.18616 [s]\n", " Initial cost : 1.01712 [px]\n", " Final cost : 1.00475 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1808\n", " => Completed observations: 1137\n", " => Filtered observations: 162\n", " => Changed observations: 0.009120\n", "\n", "==============================================================================\n", "Registering image #188 (226)\n", "==============================================================================\n", "\n", " => Image sees 6439 / 7501 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 75558\n", " Parameters : 6\n", " Iterations : 20\n", " Time : 1.80538 [s]\n", " Initial cost : 0.893644 [px]\n", " Final cost : 0.885192 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 5547\n", " => Added observations: 26706\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 139280\n", " Parameters : 26087\n", " Iterations : 26\n", " Time : 3.08444 [s]\n", " Initial cost : 1.62441 [px]\n", " Final cost : 1.55374 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 414\n", " => Completed observations: 1674\n", " => Filtered observations: 24584\n", " => Changed observations: 0.370501\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 87708\n", " Parameters : 17915\n", " Iterations : 4\n", " Time : 0.309593 [s]\n", " Initial cost : 1.07318 [px]\n", " Final cost : 1.01864 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1237\n", " => Completed observations: 1597\n", " => Filtered observations: 141\n", " => Changed observations: 0.060593\n", "\n", "==============================================================================\n", "Registering image #208 (227)\n", "==============================================================================\n", "\n", " => Image sees 3577 / 6261 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 54082\n", " Parameters : 6\n", " Iterations : 23\n", " Time : 1.2032 [s]\n", " Initial cost : 0.891715 [px]\n", " Final cost : 0.864537 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3305\n", " => Added observations: 9217\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 78720\n", " Parameters : 10979\n", " Iterations : 26\n", " Time : 1.45336 [s]\n", " Initial cost : 1.27426 [px]\n", " Final cost : 1.23152 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 333\n", " => Completed observations: 455\n", " => Filtered observations: 8147\n", " => Changed observations: 0.191924\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 63668\n", " Parameters : 5468\n", " Iterations : 4\n", " Time : 0.26088 [s]\n", " Initial cost : 1.10539 [px]\n", " Final cost : 1.08741 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 652\n", " => Completed observations: 670\n", " => Filtered observations: 45\n", " => Changed observations: 0.035032\n", "\n", "==============================================================================\n", "Registering image #1 (228)\n", "==============================================================================\n", "\n", " => Image sees 2650 / 6145 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 2004\n", " Parameters : 6\n", " Iterations : 16\n", " Time : 0.029259 [s]\n", " Initial cost : 0.757658 [px]\n", " Final cost : 0.747327 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 602\n", " => Added observations: 1844\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43826\n", " Parameters : 6242\n", " Iterations : 26\n", " Time : 1.1334 [s]\n", " Initial cost : 0.979234 [px]\n", " Final cost : 0.946405 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 203\n", " => Completed observations: 277\n", " => Filtered observations: 1464\n", " => Changed observations: 0.078549\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 41462\n", " Parameters : 5144\n", " Iterations : 3\n", " Time : 0.205475 [s]\n", " Initial cost : 1.07322 [px]\n", " Final cost : 1.06119 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 44\n", " => Completed observations: 123\n", " => Filtered observations: 21\n", " => Changed observations: 0.007977\n", "\n", "==============================================================================\n", "Registering image #84 (229)\n", "==============================================================================\n", "\n", " => Image sees 2297 / 2635 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 1796\n", " Parameters : 6\n", " Iterations : 20\n", " Time : 0.050334 [s]\n", " Initial cost : 0.966157 [px]\n", " Final cost : 0.951186 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 838\n", " => Added observations: 1830\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 64168\n", " Parameters : 2414\n", " Iterations : 26\n", " Time : 2.37281 [s]\n", " Initial cost : 1.00834 [px]\n", " Final cost : 0.950418 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 31\n", " => Completed observations: 235\n", " => Filtered observations: 2183\n", " => Changed observations: 0.062793\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 60918\n", " Parameters : 1949\n", " Iterations : 6\n", " Time : 0.316517 [s]\n", " Initial cost : 1.02013 [px]\n", " Final cost : 1.01264 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 85\n", " => Completed observations: 140\n", " => Filtered observations: 19\n", " => Changed observations: 0.006469\n", "\n", "==============================================================================\n", "Registering image #2 (230)\n", "==============================================================================\n", "\n", " => Image sees 3404 / 7148 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 24408\n", " Parameters : 6\n", " Iterations : 28\n", " Time : 0.651198 [s]\n", " Initial cost : 0.904151 [px]\n", " Final cost : 0.893665 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 2188\n", " => Added observations: 9063\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 72748\n", " Parameters : 11270\n", " Iterations : 26\n", " Time : 1.35185 [s]\n", " Initial cost : 1.4166 [px]\n", " Final cost : 1.35206 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 176\n", " => Completed observations: 751\n", " => Filtered observations: 8540\n", " => Changed observations: 0.224597\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 54338\n", " Parameters : 8078\n", " Iterations : 3\n", " Time : 0.168615 [s]\n", " Initial cost : 1.10989 [px]\n", " Final cost : 1.081 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 487\n", " => Completed observations: 450\n", " => Filtered observations: 59\n", " => Changed observations: 0.030240\n", "\n", "==============================================================================\n", "Registering image #92 (231)\n", "==============================================================================\n", "\n", " => Image sees 2612 / 6235 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 37320\n", " Parameters : 6\n", " Iterations : 25\n", " Time : 0.876249 [s]\n", " Initial cost : 0.900017 [px]\n", " Final cost : 0.874653 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 2366\n", " => Added observations: 6699\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 73338\n", " Parameters : 7424\n", " Iterations : 26\n", " Time : 1.34792 [s]\n", " Initial cost : 1.2664 [px]\n", " Final cost : 1.18182 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 552\n", " => Completed observations: 513\n", " => Filtered observations: 6140\n", " => Changed observations: 0.173380\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 62182\n", " Parameters : 4199\n", " Iterations : 4\n", " Time : 0.222838 [s]\n", " Initial cost : 1.05442 [px]\n", " Final cost : 1.03841 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 852\n", " => Completed observations: 368\n", " => Filtered observations: 31\n", " => Changed observations: 0.034773\n", "\n", "==============================================================================\n", "Registering image #75 (232)\n", "==============================================================================\n", "\n", " => Image sees 2894 / 5135 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 33130\n", " Parameters : 6\n", " Iterations : 20\n", " Time : 0.633965 [s]\n", " Initial cost : 0.892343 [px]\n", " Final cost : 0.859762 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 2465\n", " => Added observations: 5437\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 76986\n", " Parameters : 6653\n", " Iterations : 26\n", " Time : 1.62528 [s]\n", " Initial cost : 1.07083 [px]\n", " Final cost : 1.03749 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 380\n", " => Completed observations: 352\n", " => Filtered observations: 4910\n", " => Changed observations: 0.131598\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 63728\n", " Parameters : 3791\n", " Iterations : 3\n", " Time : 0.329495 [s]\n", " Initial cost : 1.06031 [px]\n", " Final cost : 1.04849 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 650\n", " => Completed observations: 409\n", " => Filtered observations: 55\n", " => Changed observations: 0.028966\n", "\n", "==============================================================================\n", "Registering image #141 (233)\n", "==============================================================================\n", "\n", " => Image sees 3437 / 5715 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 43802\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 1.11168 [s]\n", " Initial cost : 0.895155 [px]\n", " Final cost : 0.879362 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3100\n", " => Added observations: 6153\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 82884\n", " Parameters : 8072\n", " Iterations : 26\n", " Time : 1.57518 [s]\n", " Initial cost : 1.11764 [px]\n", " Final cost : 1.08361 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 548\n", " => Completed observations: 375\n", " => Filtered observations: 6211\n", " => Changed observations: 0.148569\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 71388\n", " Parameters : 3842\n", " Iterations : 4\n", " Time : 0.250853 [s]\n", " Initial cost : 1.0508 [px]\n", " Final cost : 1.03757 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 940\n", " => Completed observations: 494\n", " => Filtered observations: 43\n", " => Changed observations: 0.034952\n", "\n", "==============================================================================\n", "Registering image #187 (234)\n", "==============================================================================\n", "\n", " => Image sees 3246 / 6086 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 12924\n", " Parameters : 6\n", " Iterations : 16\n", " Time : 0.206831 [s]\n", " Initial cost : 0.886895 [px]\n", " Final cost : 0.878243 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 1300\n", " => Added observations: 12701\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 70914\n", " Parameters : 17114\n", " Iterations : 26\n", " Time : 1.40359 [s]\n", " Initial cost : 1.61965 [px]\n", " Final cost : 1.28628 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 291\n", " => Completed observations: 1563\n", " => Filtered observations: 7875\n", " => Changed observations: 0.267641\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 54628\n", " Parameters : 14975\n", " Iterations : 6\n", " Time : 0.340566 [s]\n", " Initial cost : 1.03051 [px]\n", " Final cost : 0.980573 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 551\n", " => Completed observations: 1109\n", " => Filtered observations: 138\n", " => Changed observations: 0.059281\n", "\n", "==============================================================================\n", "Registering image #55 (235)\n", "==============================================================================\n", "\n", " => Image sees 1471 / 4004 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 8194\n", " Parameters : 6\n", " Iterations : 15\n", " Time : 0.115451 [s]\n", " Initial cost : 0.922784 [px]\n", " Final cost : 0.920518 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 656\n", " => Added observations: 7769\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65588\n", " Parameters : 7202\n", " Iterations : 26\n", " Time : 1.27085 [s]\n", " Initial cost : 1.44607 [px]\n", " Final cost : 1.35735 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 64\n", " => Completed observations: 442\n", " => Filtered observations: 7068\n", " => Changed observations: 0.194140\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 56328\n", " Parameters : 3845\n", " Iterations : 3\n", " Time : 0.170326 [s]\n", " Initial cost : 1.05652 [px]\n", " Final cost : 1.03362 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 158\n", " => Completed observations: 421\n", " => Filtered observations: 14\n", " => Changed observations: 0.018385\n", "\n", "==============================================================================\n", "Registering image #81 (236)\n", "==============================================================================\n", "\n", " => Image sees 1184 / 2134 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 326\n", " Parameters : 6\n", " Iterations : 56\n", " Time : 0.013622 [s]\n", " Initial cost : 0.98755 [px]\n", " Final cost : 0.963191 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 159\n", " => Added observations: 699\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 40996\n", " Parameters : 2288\n", " Iterations : 26\n", " Time : 0.721248 [s]\n", " Initial cost : 0.941741 [px]\n", " Final cost : 0.899841 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 16\n", " => Completed observations: 45\n", " => Filtered observations: 713\n", " => Changed observations: 0.030790\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 39784\n", " Parameters : 1904\n", " Iterations : 7\n", " Time : 0.289195 [s]\n", " Initial cost : 1.07332 [px]\n", " Final cost : 1.06938 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 163\n", " => Completed observations: 36\n", " => Filtered observations: 6\n", " => Changed observations: 0.008357\n", "\n", "==============================================================================\n", "Registering image #200 (237)\n", "==============================================================================\n", "\n", " => Image sees 5013 / 5513 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 27984\n", " Parameters : 6\n", " Iterations : 25\n", " Time : 0.931636 [s]\n", " Initial cost : 0.957383 [px]\n", " Final cost : 0.954759 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3487\n", " => Added observations: 19709\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 119588\n", " Parameters : 17363\n", " Iterations : 26\n", " Time : 2.85556 [s]\n", " Initial cost : 1.65439 [px]\n", " Final cost : 1.57706 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 153\n", " => Completed observations: 927\n", " => Filtered observations: 18906\n", " => Changed observations: 0.319178\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 81432\n", " Parameters : 11111\n", " Iterations : 3\n", " Time : 0.219106 [s]\n", " Initial cost : 1.1551 [px]\n", " Final cost : 1.11083 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 948\n", " => Completed observations: 1461\n", " => Filtered observations: 66\n", " => Changed observations: 0.053682\n", "\n", "==============================================================================\n", "Registering image #29 (238)\n", "==============================================================================\n", "\n", " => Image sees 3412 / 5002 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 60790\n", " Parameters : 6\n", " Iterations : 17\n", " Time : 1.00438 [s]\n", " Initial cost : 0.80503 [px]\n", " Final cost : 0.801946 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 3014\n", " => Added observations: 10098\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 84892\n", " Parameters : 10055\n", " Iterations : 26\n", " Time : 1.54012 [s]\n", " Initial cost : 1.33622 [px]\n", " Final cost : 1.29553 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 732\n", " => Completed observations: 662\n", " => Filtered observations: 9121\n", " => Changed observations: 0.215856\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 69222\n", " Parameters : 5789\n", " Iterations : 4\n", " Time : 0.239261 [s]\n", " Initial cost : 1.08674 [px]\n", " Final cost : 1.06526 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 1605\n", " => Completed observations: 562\n", " => Filtered observations: 43\n", " => Changed observations: 0.052873\n", "\n", "==============================================================================\n", "Registering image #82 (239)\n", "==============================================================================\n", "\n", " => Image sees 789 / 1623 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 122\n", " Parameters : 6\n", " Iterations : 27\n", " Time : 0.00270605 [s]\n", " Initial cost : 0.989201 [px]\n", " Final cost : 0.962241 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 59\n", " => Added observations: 865\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 52084\n", " Parameters : 1202\n", " Iterations : 26\n", " Time : 1.0754 [s]\n", " Initial cost : 0.990269 [px]\n", " Final cost : 0.946513 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 66\n", " => Filtered observations: 776\n", " => Changed observations: 0.025536\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 47298\n", " Parameters : 722\n", " Iterations : 7\n", " Time : 0.289022 [s]\n", " Initial cost : 1.18693 [px]\n", " Final cost : 1.18407 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 25\n", " => Completed observations: 41\n", " => Filtered observations: 18\n", " => Changed observations: 0.002702\n", "\n", "==============================================================================\n", "Registering image #91 (240)\n", "==============================================================================\n", "\n", " => Image sees 576 / 3338 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 376\n", " Parameters : 6\n", " Iterations : 32\n", " Time : 0.00888705 [s]\n", " Initial cost : 0.848482 [px]\n", " Final cost : 0.785305 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 185\n", " => Added observations: 685\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 26426\n", " Parameters : 2738\n", " Iterations : 26\n", " Time : 0.779171 [s]\n", " Initial cost : 1.07548 [px]\n", " Final cost : 1.02678 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 116\n", " => Filtered observations: 868\n", " => Changed observations: 0.052736\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 19660\n", " Parameters : 2300\n", " Iterations : 4\n", " Time : 0.154197 [s]\n", " Initial cost : 1.22947 [px]\n", " Final cost : 1.21003 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 334\n", " => Filtered observations: 4\n", " => Changed observations: 0.027127\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 5242\n", " => Merged observations: 1999\n", " => Retriangulated observations: 95039\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 3.137313e+07 0.00e+00 1.79e+07 0.00e+00 0.00e+00 1.00e+04 0 1.85e+00 8.85e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 7.8869e+08\n", " Nonzeros in L: 9.2661e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 2.1\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 7.8869e+08\n", " nnz(L): 9.2661e+05\n", " OK\n", " 1 1.019257e+09 -9.88e+08 1.79e+07 3.29e+02 -6.19e+01 5.00e+03 1 9.43e+00 1.83e+01\n", " 2 2.781777e+07 3.56e+06 5.18e+07 2.84e+02 2.23e-01 4.27e+03 1 6.13e+00 2.44e+01\n", " 3 1.738105e+07 1.04e+07 2.59e+06 1.39e+02 8.53e-01 6.59e+03 1 7.94e+00 3.24e+01\n", " 4 1.606128e+07 1.32e+06 6.24e+05 1.72e+02 6.91e-01 6.98e+03 1 6.37e+00 3.87e+01\n", " 5 1.584614e+07 2.15e+05 1.01e+06 2.27e+02 4.29e-01 6.96e+03 1 7.82e+00 4.65e+01\n", " 6 1.626014e+07 -4.14e+05 1.01e+06 2.02e+03 -1.40e+00 3.48e+03 1 4.54e+00 5.11e+01\n", " 7 1.623717e+07 -3.91e+05 1.01e+06 1.47e+03 -1.34e+00 8.70e+02 1 6.17e+00 5.73e+01\n", " 8 1.611212e+07 -2.66e+05 1.01e+06 5.67e+02 -9.30e-01 1.09e+02 1 4.56e+00 6.18e+01\n", " 9 1.570364e+07 1.42e+05 1.27e+06 8.74e+01 5.29e-01 1.09e+02 1 7.73e+00 6.95e+01\n", " 10 1.730560e+07 -1.60e+06 1.27e+06 8.46e+01 -7.58e+00 5.44e+01 1 4.57e+00 7.41e+01\n", " 11 1.562615e+07 7.75e+04 8.61e+05 4.28e+01 4.21e-01 5.42e+01 1 6.59e+00 8.07e+01\n", " 12 4.081222e+07 -2.52e+07 8.61e+05 4.21e+01 -2.93e+02 2.71e+01 1 5.78e+00 8.65e+01\n", " 13 1.560605e+07 2.01e+04 1.95e+06 2.12e+01 2.65e-01 2.45e+01 1 6.16e+00 9.26e+01\n", " 14 1.557129e+07 3.48e+04 1.91e+06 1.91e+01 6.57e-01 2.53e+01 1 7.87e+00 1.01e+02\n", " 15 1.555115e+07 2.01e+04 1.47e+05 1.95e+01 9.93e-01 7.60e+01 1 6.23e+00 1.07e+02\n", " 16 1.554802e+07 3.14e+03 1.65e+05 5.80e+01 9.35e-01 2.24e+02 1 7.90e+00 1.15e+02\n", " 17 1.554450e+07 3.51e+03 8.38e+05 1.68e+02 8.29e-01 3.13e+02 1 6.77e+00 1.21e+02\n", " 18 1.554270e+07 1.80e+03 6.68e+05 2.34e+02 8.21e-01 4.25e+02 1 7.45e+00 1.29e+02\n", " 19 1.554147e+07 1.23e+03 4.72e+05 3.17e+02 8.39e-01 6.17e+02 1 6.90e+00 1.36e+02\n", " 20 1.554047e+07 1.00e+03 3.86e+05 4.61e+02 8.53e-01 9.51e+02 1 7.14e+00 1.43e+02\n", " 21 1.553954e+07 9.27e+02 3.96e+05 7.10e+02 8.68e-01 1.58e+03 1 7.26e+00 1.50e+02\n", " 22 1.553858e+07 9.65e+02 5.81e+05 1.18e+03 8.89e-01 2.99e+03 1 7.04e+00 1.57e+02\n", " 23 1.553742e+07 1.16e+03 1.57e+06 2.23e+03 9.16e-01 7.07e+03 1 7.17e+00 1.64e+02\n", " 24 1.553581e+07 1.61e+03 1.57e+07 5.28e+03 9.49e-01 2.12e+04 1 7.02e+00 1.71e+02\n", " 25 1.553764e+07 -1.83e+03 1.57e+07 1.58e+04 -8.78e-01 1.06e+04 1 4.67e+00 1.76e+02\n", " 26 1.553449e+07 1.33e+03 1.16e+07 7.91e+03 9.86e-01 3.18e+04 1 7.83e+00 1.84e+02\n", " 27 1.553609e+07 -1.60e+03 1.16e+07 2.36e+04 -1.08e+00 1.59e+04 1 4.60e+00 1.88e+02\n", " 28 1.553351e+07 9.76e+02 9.98e+06 1.18e+04 9.74e-01 4.78e+04 1 7.87e+00 1.96e+02\n", " 29 1.553303e+07 4.79e+02 5.03e+07 2.79e+04 4.86e-01 4.78e+04 1 6.22e+00 2.03e+02\n", " 30 1.553234e+07 6.94e+02 1.74e+07 9.67e+03 9.15e-01 1.12e+05 1 7.93e+00 2.11e+02\n", " 31 1.553208e+07 2.53e+02 1.67e+07 1.96e+04 8.54e-01 1.74e+05 1 6.21e+00 2.17e+02\n", " 32 1.553198e+07 1.06e+02 1.46e+07 2.55e+04 9.04e-01 3.67e+05 1 7.97e+00 2.25e+02\n", " 33 1.553194e+07 4.19e+01 2.61e+07 3.33e+04 8.17e-01 4.92e+05 1 6.43e+00 2.31e+02\n", " 34 1.553192e+07 1.67e+01 1.99e+07 3.27e+04 4.06e-01 4.88e+05 1 7.62e+00 2.39e+02\n", " 35 1.553191e+07 9.59e+00 7.23e+06 2.73e+04 4.89e-01 4.88e+05 1 6.69e+00 2.45e+02\n", " 36 1.553190e+07 9.49e+00 1.84e+06 1.84e+04 7.48e-01 5.57e+05 1 7.33e+00 2.53e+02\n", " 37 1.553188e+07 2.51e+01 4.02e+05 1.71e+04 9.15e-01 1.30e+06 1 6.97e+00 2.60e+02\n", " 38 1.553177e+07 1.02e+02 3.00e+05 3.36e+04 9.74e-01 3.89e+06 1 7.32e+00 2.67e+02\n", " 39 1.553172e+07 5.07e+01 1.36e+06 7.58e+04 9.98e-01 1.17e+07 1 7.34e+00 2.74e+02\n", " 40 1.553174e+07 -1.43e+01 1.36e+06 1.36e+05 -1.45e+00 5.83e+06 1 5.26e+00 2.80e+02\n", " 41 1.553172e+07 7.19e+00 1.13e+06 6.79e+04 7.99e-01 7.42e+06 1 6.19e+00 2.86e+02\n", " 42 1.553172e+07 1.89e-01 6.08e+05 5.98e+04 5.16e-02 4.31e+06 1 7.88e+00 2.94e+02\n", " 43 1.553172e+07 -1.09e+00 6.08e+05 2.64e+04 -2.35e-01 2.15e+06 1 4.53e+00 2.98e+02\n", " 44 1.553172e+07 -8.07e-01 6.08e+05 1.32e+04 -1.78e-01 5.39e+05 1 6.17e+00 3.04e+02\n", " 45 1.553172e+07 -6.46e-01 6.08e+05 3.31e+03 -1.47e-01 6.73e+04 1 4.45e+00 3.09e+02\n", " 46 1.553172e+07 -2.06e-01 6.08e+05 4.10e+02 -4.88e-02 4.21e+03 1 4.72e+00 3.14e+02\n", " 47 1.553171e+07 1.21e+00 3.43e+04 2.04e+01 3.34e-01 4.06e+03 1 7.41e+00 3.21e+02\n", " 48 1.553171e+07 4.31e-01 5.17e+04 2.44e+01 2.99e-01 3.81e+03 1 6.90e+00 3.28e+02\n", " 49 1.553171e+07 2.06e-01 4.64e+04 2.30e+01 2.99e-01 3.58e+03 1 7.39e+00 3.35e+02\n", " 50 1.553171e+07 9.67e-02 3.92e+04 2.18e+01 3.23e-01 3.43e+03 1 7.10e+00 3.42e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2712010\n", " Parameters : 478757\n", " Iterations : 51\n", " Time : 342.61 [s]\n", " Initial cost : 3.40121 [px]\n", " Final cost : 2.39312 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 13820\n", " => Merged observations: 5635\n", " => Filtered observations: 228923\n", " => Changed observations: 0.183169\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.737446e+06 0.00e+00 8.38e+05 0.00e+00 0.00e+00 1.00e+04 0 1.66e+00 7.17e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 7.4186e+08\n", " Nonzeros in L: 9.0904e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 2.0\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 7.4186e+08\n", " nnz(L): 9.0904e+05\n", " OK\n", " 1 2.140744e+06 5.97e+05 1.52e+05 5.03e+01 9.92e-01 3.00e+04 1 9.43e+00 1.66e+01\n", " 2 2.130838e+06 9.91e+03 9.06e+04 2.53e+01 9.87e-01 9.00e+04 1 5.10e+00 2.17e+01\n", " 3 2.130043e+06 7.95e+02 7.33e+04 1.67e+01 8.29e-01 1.26e+05 1 6.83e+00 2.85e+01\n", " 4 2.129649e+06 3.94e+02 1.63e+04 1.08e+01 9.49e-01 3.77e+05 1 5.09e+00 3.36e+01\n", " 5 2.129465e+06 1.84e+02 1.79e+04 1.33e+01 8.86e-01 6.97e+05 1 6.66e+00 4.03e+01\n", " 6 2.129394e+06 7.04e+01 1.07e+04 1.75e+01 9.61e-01 2.09e+06 1 5.24e+00 4.55e+01\n", " 7 2.129310e+06 8.46e+01 1.22e+04 4.24e+01 9.33e-01 5.95e+06 1 5.18e+00 5.07e+01\n", " 8 2.129220e+06 8.95e+01 3.17e+04 8.10e+01 7.15e-01 6.47e+06 1 6.68e+00 5.74e+01\n", " 9 2.129136e+06 8.40e+01 1.54e+04 5.99e+01 9.12e-01 1.47e+07 1 5.06e+00 6.24e+01\n", " 10 2.129101e+06 3.57e+01 1.84e+04 6.91e+01 7.45e-01 1.67e+07 1 6.75e+00 6.92e+01\n", " 11 2.129078e+06 2.29e+01 5.50e+03 3.87e+01 9.50e-01 5.01e+07 1 5.15e+00 7.43e+01\n", " 12 2.129074e+06 4.17e+00 3.05e+03 2.98e+01 9.12e-01 1.13e+08 1 5.95e+00 8.03e+01\n", " 13 2.129073e+06 6.45e-01 2.90e+02 9.06e+00 9.19e-01 2.76e+08 1 5.93e+00 8.62e+01\n", " 14 2.129073e+06 -6.59e-02 2.90e+02 1.85e+00 -7.42e-01 1.38e+08 1 3.71e+00 8.99e+01\n", " 15 2.129073e+06 -6.52e-02 2.90e+02 1.76e+00 -7.35e-01 3.45e+07 1 5.03e+00 9.50e+01\n", " 16 2.129073e+06 -6.16e-02 2.90e+02 1.38e+00 -7.00e-01 4.32e+06 1 4.11e+00 9.91e+01\n", " 17 2.129073e+06 -3.37e-02 2.90e+02 7.00e-01 -4.03e-01 2.70e+05 1 3.63e+00 1.03e+02\n", " 18 2.129073e+06 3.09e-02 1.32e+02 2.31e-01 5.76e-01 2.71e+05 1 6.34e+00 1.09e+02\n", " 19 2.129073e+06 5.58e-03 1.40e+01 9.63e-02 7.71e-01 3.22e+05 1 5.32e+00 1.14e+02\n", " 20 2.129073e+06 1.60e-03 2.59e+01 5.12e-02 7.26e-01 3.55e+05 1 5.04e+00 1.19e+02\n", " 21 2.129073e+06 8.43e-04 5.13e+00 4.71e-02 1.11e+00 1.07e+06 1 6.71e+00 1.26e+02\n", " 22 2.129073e+06 1.14e-03 1.74e+01 1.12e-01 9.56e-01 3.20e+06 1 5.10e+00 1.31e+02\n", " 23 2.129073e+06 1.94e-03 2.57e+00 2.71e-01 1.01e+00 9.59e+06 1 6.66e+00 1.38e+02\n", " 24 2.129073e+06 2.66e-03 1.19e+01 5.27e-01 9.81e-01 2.88e+07 1 5.02e+00 1.43e+02\n", " 25 2.129073e+06 1.60e-03 7.80e+00 5.95e-01 9.44e-01 8.63e+07 1 5.94e+00 1.49e+02\n", " 26 2.129073e+06 2.18e-04 1.67e+01 2.98e-01 5.27e-01 8.63e+07 1 5.92e+00 1.55e+02\n", " 27 2.129073e+06 -1.02e-04 1.67e+01 6.43e-02 -3.28e-01 4.32e+07 1 3.64e+00 1.58e+02\n", " 28 2.129073e+06 -9.68e-05 1.67e+01 5.82e-02 -3.11e-01 1.08e+07 1 4.76e+00 1.63e+02\n", " 29 2.129073e+06 -6.77e-05 1.67e+01 4.29e-02 -2.20e-01 1.35e+06 1 4.06e+00 1.67e+02\n", " 30 2.129073e+06 6.29e-05 1.22e+01 2.42e-02 2.31e-01 1.17e+06 1 4.99e+00 1.72e+02\n", " 31 2.129073e+06 3.37e-05 9.37e+00 1.72e-02 2.33e-01 1.01e+06 1 6.77e+00 1.79e+02\n", " 32 2.129073e+06 2.13e-05 5.84e+00 1.14e-02 2.92e-01 9.44e+05 1 5.16e+00 1.84e+02\n", " 33 2.129073e+06 9.63e-06 3.92e+00 7.59e-03 3.08e-01 8.94e+05 1 6.16e+00 1.90e+02\n", " 34 2.129073e+06 4.41e-06 2.31e+00 4.99e-03 3.44e-01 8.68e+05 1 5.59e+00 1.96e+02\n", " 35 2.129073e+06 2.03e-06 1.62e+00 3.57e-03 3.94e-01 8.59e+05 1 5.01e+00 2.01e+02\n", " 36 2.129073e+06 1.02e-06 1.61e+00 2.76e-03 4.77e-01 8.59e+05 1 6.65e+00 2.08e+02\n", " 37 2.129073e+06 6.27e-07 1.65e+00 2.38e-03 6.04e-01 8.67e+05 1 5.10e+00 2.13e+02\n", " 38 2.129073e+06 4.20e-07 1.49e+00 2.18e-03 7.03e-01 9.30e+05 1 6.61e+00 2.19e+02\n", " 39 2.129073e+06 3.69e-07 1.29e+00 2.17e-03 8.17e-01 1.25e+06 1 4.99e+00 2.24e+02\n", " 40 2.129073e+06 4.38e-07 1.19e+00 2.69e-03 9.44e-01 3.74e+06 1 5.17e+00 2.29e+02\n", " 41 2.129073e+06 9.69e-07 1.13e+00 6.65e-03 1.01e+00 1.12e+07 1 6.44e+00 2.36e+02\n", " 42 2.129073e+06 1.20e-06 1.58e+00 1.22e-02 9.43e-01 3.37e+07 1 5.04e+00 2.41e+02\n", " 43 2.129073e+06 6.55e-07 1.62e+00 1.24e-02 9.44e-01 1.01e+08 1 6.69e+00 2.48e+02\n", " 44 2.129073e+06 5.82e-08 1.24e+00 5.43e-03 3.17e-01 9.63e+07 1 5.04e+00 2.53e+02\n", " 45 2.129073e+06 -1.11e-07 1.24e+00 1.35e-03 -5.97e-01 4.82e+07 1 3.77e+00 2.56e+02\n", " 46 2.129073e+06 -7.64e-08 1.24e+00 1.26e-03 -4.16e-01 1.20e+07 1 5.05e+00 2.61e+02\n", " 47 2.129073e+06 -4.14e-08 1.24e+00 1.04e-03 -2.33e-01 1.50e+06 1 3.57e+00 2.65e+02\n", " 48 2.129073e+06 9.31e-10 1.24e+00 6.48e-04 -8.29e-03 9.40e+04 1 3.60e+00 2.69e+02\n", " 49 2.129073e+06 4.84e-08 4.16e-01 1.95e-04 6.15e-01 9.52e+04 1 6.80e+00 2.75e+02\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2278988\n", " Parameters : 434873\n", " Iterations : 50\n", " Time : 275.552 [s]\n", " Initial cost : 1.09598 [px]\n", " Final cost : 0.96655 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 102095\n", " => Merged observations: 18943\n", " => Filtered observations: 6685\n", " => Changed observations: 0.112087\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.549139e+06 0.00e+00 1.77e+05 0.00e+00 0.00e+00 1.00e+04 0 2.82e+00 8.68e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.695e+08\n", " Nonzeros in L: 8.5861e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 2.0\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.695e+08\n", " nnz(L): 8.5861e+05\n", " OK\n", " 1 2.449383e+06 9.98e+04 1.09e+04 1.78e+01 1.00e+00 3.00e+04 1 8.96e+00 1.76e+01\n", " 2 2.449189e+06 1.94e+02 5.17e+03 4.17e+00 1.02e+00 9.00e+04 1 7.39e+00 2.50e+01\n", " 3 2.449163e+06 2.62e+01 5.60e+03 2.42e+00 1.00e+00 2.70e+05 1 5.56e+00 3.06e+01\n", " 4 2.449156e+06 7.32e+00 2.62e+03 2.22e+00 1.00e+00 8.10e+05 1 7.17e+00 3.78e+01\n", " 5 2.449153e+06 2.19e+00 1.23e+03 3.64e+00 9.96e-01 2.43e+06 1 5.67e+00 4.34e+01\n", " 6 2.449151e+06 2.39e+00 8.76e+02 6.97e+00 9.88e-01 7.29e+06 1 6.36e+00 4.98e+01\n", " 7 2.449149e+06 1.61e+00 1.17e+03 8.43e+00 9.76e-01 2.19e+07 1 6.72e+00 5.65e+01\n", " 8 2.449149e+06 3.46e-01 3.64e+02 4.72e+00 9.95e-01 6.56e+07 1 5.65e+00 6.22e+01\n", " 9 2.449149e+06 1.62e-02 1.74e+01 1.03e+00 1.02e+00 1.97e+08 1 7.29e+00 6.95e+01\n", " 10 2.449149e+06 1.49e-04 1.48e+00 9.23e-02 1.06e+00 5.90e+08 1 5.63e+00 7.51e+01\n", " 11 2.449149e+06 1.01e-06 3.81e-01 6.58e-03 1.11e+00 1.77e+09 1 7.33e+00 8.24e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2469100\n", " Parameters : 429551\n", " Iterations : 12\n", " Time : 82.5865 [s]\n", " Initial cost : 1.01608 [px]\n", " Final cost : 0.995952 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 11720\n", " => Merged observations: 7455\n", " => Filtered observations: 4305\n", " => Changed observations: 0.019019\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.490996e+06 0.00e+00 6.67e+04 0.00e+00 0.00e+00 1.00e+04 0 2.29e+00 8.14e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.9307e+08\n", " Nonzeros in L: 8.7048e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 2.0\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.9307e+08\n", " nnz(L): 8.7048e+05\n", " OK\n", " 1 2.469650e+06 2.13e+04 3.13e+03 5.76e+00 1.00e+00 3.00e+04 1 9.34e+00 1.75e+01\n", " 2 2.469624e+06 2.52e+01 1.06e+03 1.88e+00 1.03e+00 9.00e+04 1 7.40e+00 2.49e+01\n", " 3 2.469621e+06 3.43e+00 5.94e+02 1.02e+00 1.02e+00 2.70e+05 1 5.68e+00 3.06e+01\n", " 4 2.469620e+06 1.02e+00 5.63e+02 1.16e+00 1.01e+00 8.10e+05 1 6.55e+00 3.71e+01\n", " 5 2.469619e+06 9.50e-01 3.47e+02 2.65e+00 1.00e+00 2.43e+06 1 6.41e+00 4.35e+01\n", " 6 2.469618e+06 1.39e+00 4.61e+02 5.28e+00 9.93e-01 7.29e+06 1 5.85e+00 4.94e+01\n", " 7 2.469617e+06 9.52e-01 6.90e+02 6.46e+00 9.86e-01 2.19e+07 1 7.14e+00 5.65e+01\n", " 8 2.469616e+06 2.00e-01 2.20e+02 3.64e+00 1.00e+00 6.56e+07 1 5.74e+00 6.22e+01\n", " 9 2.469616e+06 9.20e-03 1.07e+01 8.01e-01 1.03e+00 1.97e+08 1 7.49e+00 6.97e+01\n", " 10 2.469616e+06 9.63e-05 1.11e+00 7.43e-02 1.06e+00 5.90e+08 1 5.63e+00 7.54e+01\n", " 11 2.469616e+06 7.05e-07 1.81e-01 5.58e-03 1.12e+00 1.77e+09 1 7.47e+00 8.28e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2483844\n", " Parameters : 427868\n", " Iterations : 12\n", " Time : 82.9797 [s]\n", " Initial cost : 1.00144 [px]\n", " Final cost : 0.997132 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 4838\n", " => Merged observations: 1974\n", " => Filtered observations: 1822\n", " => Changed observations: 0.006952\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.485001e+06 0.00e+00 3.49e+04 0.00e+00 0.00e+00 1.00e+04 0 2.16e+00 8.06e+00\n", "\n", "CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n", " Architecture: Linux\n", " sizeof(int): 4\n", " sizeof(SuiteSparse_long): 8\n", " sizeof(void *): 8\n", " sizeof(double): 8\n", " sizeof(Int): 4 (CHOLMOD's basic integer)\n", " sizeof(BLAS_INT): 4 (integer used in the BLAS)\n", " Results from most recent analysis:\n", " Cholesky flop count: 6.832e+08\n", " Nonzeros in L: 8.6655e+05\n", " memory blocks in use: 11\n", " memory in use (MB): 0.1\n", " peak memory usage (MB): 2.0\n", " maxrank: update/downdate rank: 8\n", " supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n", " nmethods: number of ordering methods to try: 1\n", " method 0: natural\n", " flop count: 6.832e+08\n", " nnz(L): 8.6655e+05\n", " OK\n", " 1 2.477325e+06 7.68e+03 7.05e+02 4.41e+00 1.00e+00 3.00e+04 1 9.36e+00 1.74e+01\n", " 2 2.477317e+06 7.75e+00 3.32e+02 9.37e-01 1.03e+00 9.00e+04 1 7.09e+00 2.45e+01\n", " 3 2.477315e+06 2.15e+00 3.81e+02 6.16e-01 1.03e+00 2.70e+05 1 5.91e+00 3.04e+01\n", " 4 2.477314e+06 9.89e-01 3.82e+02 1.20e+00 1.02e+00 8.10e+05 1 6.38e+00 3.68e+01\n", " 5 2.477313e+06 1.25e+00 5.40e+02 3.04e+00 1.00e+00 2.43e+06 1 6.80e+00 4.36e+01\n", " 6 2.477311e+06 1.89e+00 6.19e+02 6.17e+00 9.92e-01 7.29e+06 1 5.78e+00 4.94e+01\n", " 7 2.477310e+06 1.32e+00 9.57e+02 7.64e+00 9.80e-01 2.19e+07 1 7.25e+00 5.66e+01\n", " 8 2.477309e+06 2.93e-01 3.17e+02 4.40e+00 9.97e-01 6.56e+07 1 5.77e+00 6.24e+01\n", " 9 2.477309e+06 1.45e-02 1.61e+01 9.89e-01 1.03e+00 1.97e+08 1 7.43e+00 6.98e+01\n", " 10 2.477309e+06 1.50e-04 1.27e+00 9.33e-02 1.06e+00 5.90e+08 1 5.81e+00 7.56e+01\n", " 11 2.477309e+06 1.01e-06 2.31e-01 7.08e-03 1.01e+00 1.77e+09 1 7.44e+00 8.31e+01\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 2489826\n", " Parameters : 427355\n", " Iterations : 12\n", " Time : 83.2411 [s]\n", " Initial cost : 0.999031 [px]\n", " Final cost : 0.997483 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 2109\n", " => Merged observations: 1041\n", " => Filtered observations: 898\n", " => Changed observations: 0.003252\n", " => Filtered images: 0\n", "\n", "Elapsed time: 236.096 [minutes]\n", "\n", "✓ COLMAP reconstruction complete: /content/output/colmap/sparse/0\n", "\n", "=== Verifying COLMAP Model for Gaussian Splatting ===\n", "Registered images: 240\n", "3D points: 141888\n", " ✓ cameras.bin\n", " ✓ images.bin\n", " ✓ points3D.bin\n", "\n", "✓ COLMAP model ready for Gaussian Splatting\n", " Source path: /content/output/colmap\n", "\n", "=== Training Gaussian Splatting ===\n", "COLMAP sparse model: /content/output/colmap/sparse/0\n", "Training images: /content/output/processed_images\n", "Output: /content/output/gs_output\n", "Iterations: 6000\n", "\n", "Command: python train.py -s /content/output/colmap --images /content/output/processed_images -m /content/output/gs_output --iterations 6000 --test_iterations 3000 6000 --save_iterations 3000 6000\n", "\n", "Optimizing /content/output/gs_output\n", "Output folder: /content/output/gs_output [10/01 15:40:00]\n", "\n", "Reading camera 1/240\n", "Reading camera 2/240\n", "Reading camera 3/240\n", "Reading camera 4/240\n", "Reading camera 5/240\n", "Reading camera 6/240\n", "Reading camera 7/240\n", "Reading camera 8/240\n", "Reading camera 9/240\n", "Reading camera 10/240\n", "Reading camera 11/240\n", "Reading camera 12/240\n", "Reading camera 13/240\n", "Reading camera 14/240\n", "Reading camera 15/240\n", "Reading camera 16/240\n", "Reading camera 17/240\n", "Reading camera 18/240\n", "Reading camera 19/240\n", "Reading camera 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camera 237/240\n", "Reading camera 238/240\n", "Reading camera 239/240\n", "Reading camera 240/240 [10/01 15:40:01]\n", "Converting point3d.bin to .ply, will happen only the first time you open the scene. [10/01 15:40:01]\n", "Loading Training Cameras [10/01 15:40:02]\n", "Loading Test Cameras [10/01 15:40:12]\n", "Number of points at initialisation : 141888 [10/01 15:40:12]\n", "\n", "[ITER 3000] Evaluating train: L1 0.09921183437108994 PSNR 17.413712310791016 [10/01 15:45:50]\n", "\n", "[ITER 3000] Saving Gaussians [10/01 15:45:50]\n", "\n", "[ITER 6000] Evaluating train: L1 0.07871389985084534 PSNR 18.848042678833007 [10/01 15:51:28]\n", "\n", "[ITER 6000] Saving Gaussians [10/01 15:51:28]\n", "\n", "Training complete. [10/01 15:51:34]\n", "\n", "STDERR: 2026-01-10 15:39:53.743261: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", "WARNING: All log messages before absl::InitializeLog() is called are written to STDERR\n", "E0000 00:00:1768059593.763319 83380 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", "E0000 00:00:1768059593.769621 83380 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", "W0000 00:00:1768059593.784436 83380 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1768059593.784460 83380 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1768059593.784462 83380 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1768059593.784465 83380 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "\n", "Training progress: 0%| | 0/6000 [00:00