本文主要是介绍colmap 已知pose 重建 kitti数据尝试，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！
Frequently Asked Questions — COLMAP 3.7 documentation
COLMAP已知相机内外参数重建稀疏/稠密模型 - thronsbird - 博客园
Colmap根据相机内外参数重建稀疏模型_m0_47677188的博客-CSDN博客_colmap 命令行
准备 images.txt
现利用 colmap的script 提取database中的 id-name 对应关系
colmap/scripts/python/database_slz.py
python /colmap/scripts/python/database_slz.py --database_path 04/model/database.db然后 通过 home_move/dataset_home/kitti/colmap0109/kitti_pose2colmap_images.py 创建images.txt
python kitti_pose2colmap_images.py ../04/04.txt id-name.txt 代码为
from scipy.spatial.transform import Rotation as R
import numpy as np
import sys
path_cam= sys.argv[1]
path_idname= sys.argv[2]f= open(path_cam, 'r')
lines = f.readlines()f_id_name= open(path_idname, 'r')
f_id_name_lines= f_id_name.readlines()f_w= open('04/model/images.txt', 'w')
id_name= {}
for l in f_id_name_lines:l= l.strip().split(' ')id_name[int(l[1].split('.')[-2])]= int(l[0])for i, line in enumerate(lines):line= list(map(float, line.strip().split()))rotation_matrix= np.array([[line[0], line[1], line[2]], [line[4], line[5], line[6]], [line[8], line[9], line[10]]])r = R.from_matrix(rotation_matrix)rquat= r.as_quat() # The returned value is in scalar-last (x, y, z, w) format.# print('before ', rquat)rquat[0], rquat[1], rquat[2], rquat[3] = rquat[3], rquat[0], rquat[1], rquat[2]# print('after ', rquat)out= np.concatenate( (rquat, np.array([line[3], line[7], line[11]])), axis= 0)# print('out \n', out)# input()id= id_name[i]f_w.write('%d '% (id))f_w.write(' '.join([str(a) for a in out.tolist()] ) )f_w.write(' 1 %06d.png'% i)f_w.write('\n\n')f_w.close()
执行 检测和匹配的步骤 安装前面的链接
执行 三角化
nohup colmap/build/src/exe/colmap point_triangulator --database_path 04/model/database.db --image_path ../04/image_2/ --input_path 04/model/ --output_path 04/triangulated/sparse/ > 04/0111-triangulate.log 2>&1 & 结果： 三角化的点数小于500 ， 可以看到问题比较大
可视化问题 —— 已经重装 colmap 3.5解决：
BA只持续很短，可视化的模型 还是像一个 枣核 ，并且点很少
此外 colmap 始终不绘制 相机的轨迹
同样的步骤进行 kitti 07的数据， 并且提取特征时 直接 设置 single-model，参数等（中间不再像参考文章那样修改内参） ，脚本如下
# conda env_36
# nohup sh run.sh &rm nohup.out
rm 07/* ;
rm -rf 07/model/ ;
rm -rf 07/triangulated/ ;mkdir -p 07/triangulated ;
mkdir -p 07/model ;/home/shilinzhe/colmap/build/src/exe/colmap feature_extractor --ImageReader.camera_model SIMPLE_PINHOLE --ImageReader.single_camera 1 --ImageReader.camera_params 707.0912,601.8873,183.1104 --SiftExtraction.use_gpu 0 --database_path 07/model/database.db --image_path ../07/image_0/ > 07/feat-0112.log 2>&1 ;python /home/shilinzhe/colmap/scripts/python/database_slz.py --database_path 07/model/database.db --output 07/id-name.txt ;python kitti_pose2colmap_images.py ../07/07.txt 07/id-name.txt 07/model/images.txt;touch 07/model/points3D.txt ;
cp /data1/shilinzhe/home_move/dataset_home/kitti/colmap0109/04/model/cameras.txt 07/model/ ;/home/shilinzhe/colmap/build/src/exe/colmap exhaustive_matcher --database_path 07/model/database.db --SiftMatching.use_gpu 0 > 07/0112-match.log 2>&1 ;/home/shilinzhe/colmap/build/src/exe/colmap point_triangulator --database_path 07/model/database.db --image_path ../07/image_0/ --input_path 07/model/ --output_path 07/triangulated/ > 07/0112-triangulate.log 2>&1 ;
出来的结果：
有轨迹，有点云 ，但是 比较抖动，回环 不好
下一步 考虑加上 回环 和 修改特征匹配方式： 顺序匹配， 以及设置不优化真值 pose
只有把 带真值位姿的 全量的 kitti 重建 ok了，才好说 不带真值位姿是否可以，自己的数据需要什么样的pose， 数据采样频率， 回环等等
0121更新;
上述bash 的基础上，把最后的部分采用 mapper 进行重建 ， 不用input 也就是不用 预先设置的上那个txt
/home/shilinzhe/colmap/build/src/exe/colmap mapper --database_path 07/model/database.db --Mapper.ba_refine_focal_length 0 --Mapper.ba_refine_extra_params 0 --image_path ../07/image_0/ --output_path 07/mapper_seq/ > 07/0120-seq-mapper.log 2>&1 ;
得到的结果：
过程输出截取
==============================================================================
Global bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 7.807499e+05 0.00e+00 3.87e+16 0.00e+00 0.00e+00 1.00e+04 0 1.89e+00 1.43e+011 7.742615e+05 6.49e+03 6.25e+15 3.02e+00 1.01e+00 3.00e+04 66 1.95e+01 3.38e+012 7.732063e+05 1.06e+03 5.52e+15 3.39e+00 1.02e+00 9.00e+04 100 2.66e+01 6.05e+013 7.723630e+05 8.43e+02 6.09e+15 4.63e+00 1.06e+00 2.70e+05 100 2.67e+01 8.71e+014 7.718831e+05 4.80e+02 1.39e+16 3.54e+00 1.04e+00 8.10e+05 100 2.85e+01 1.16e+025 7.717216e+05 1.61e+02 6.75e+15 1.81e+00 9.56e-01 2.43e+06 100 2.66e+01 1.42e+026 7.716013e+05 1.20e+02 6.73e+15 1.30e+00 9.38e-01 7.29e+06 100 2.90e+01 1.71e+027 7.714913e+05 1.10e+02 6.71e+15 1.19e+00 9.35e-01 2.13e+07 100 2.62e+01 1.97e+028 7.713880e+05 1.03e+02 1.13e+16 1.06e+00 9.42e-01 6.38e+07 100 2.68e+01 2.24e+029 7.712936e+05 9.44e+01 2.50e+16 1.06e+00 8.95e-01 1.26e+08 100 2.75e+01 2.52e+0210 7.711956e+05 9.80e+01 7.21e+15 9.50e-01 9.29e-01 3.40e+08 100 2.80e+01 2.80e+0211 7.711040e+05 9.16e+01 1.88e+16 9.81e-01 8.97e-01 6.79e+08 100 2.80e+01 3.08e+0212 7.710125e+05 9.15e+01 2.32e+16 8.96e-01 8.86e-01 1.26e+09 100 2.68e+01 3.34e+0213 7.709165e+05 9.60e+01 2.35e+15 9.31e-01 9.39e-01 3.77e+09 100 2.74e+01 3.62e+0214 7.708293e+05 8.72e+01 2.18e+16 8.69e-01 9.02e-01 7.82e+09 100 2.96e+01 3.91e+0215 7.707410e+05 8.84e+01 1.89e+16 8.99e-01 9.03e-01 1.65e+10 100 2.81e+01 4.20e+0216 7.706498e+05 9.12e+01 7.60e+15 8.63e-01 9.14e-01 3.79e+10 100 2.52e+01 4.45e+0217 7.705634e+05 8.64e+01 7.69e+15 8.78e-01 9.08e-01 8.28e+10 100 2.98e+01 4.74e+0218 7.704759e+05 8.75e+01 2.57e+16 8.67e-01 8.78e-01 1.46e+11 100 2.92e+01 5.04e+0219 7.703836e+05 9.23e+01 3.12e+15 8.66e-01 9.43e-01 4.37e+11 100 2.65e+01 5.30e+0220 7.702979e+05 8.56e+01 4.44e+15 8.74e-01 9.14e-01 1.01e+12 100 2.58e+01 5.56e+0221 7.702155e+05 8.24e+01 6.17e+15 8.59e-01 8.78e-01 1.79e+12 100 2.72e+01 5.83e+0222 7.701279e+05 8.76e+01 7.75e+15 8.86e-01 9.07e-01 3.90e+12 100 2.86e+01 6.12e+0223 7.700435e+05 8.44e+01 3.76e+15 8.57e-01 8.99e-01 7.94e+12 100 2.69e+01 6.39e+0224 7.699559e+05 8.76e+01 8.89e+15 9.06e-01 9.05e-01 1.70e+13 100 2.70e+01 6.66e+0225 7.698795e+05 7.64e+01 3.86e+16 8.64e-01 8.14e-01 2.25e+13 100 2.86e+01 6.94e+0226 7.697868e+05 9.27e+01 9.37e+15 9.30e-01 8.88e-01 4.22e+13 100 2.85e+01 7.23e+0227 7.697021e+05 8.47e+01 9.70e+15 8.75e-01 8.77e-01 7.40e+13 100 2.96e+01 7.52e+0228 7.696174e+05 8.47e+01 2.24e+16 9.59e-01 8.62e-01 1.20e+14 100 2.82e+01 7.81e+0229 7.695282e+05 8.91e+01 4.04e+15 8.91e-01 9.10e-01 2.66e+14 100 2.78e+01 8.09e+0230 7.694412e+05 8.71e+01 6.05e+15 9.94e-01 9.18e-01 6.42e+14 100 2.67e+01 8.35e+0231 7.693662e+05 7.49e+01 5.39e+15 8.14e-01 9.40e-01 1.92e+15 100 2.89e+01 8.64e+0232 7.691876e+05 1.79e+02 1.25e+16 1.79e+00 9.37e-01 5.76e+15 100 2.81e+01 8.92e+0233 7.690154e+05 1.72e+02 2.47e+16 1.28e+00 9.22e-01 1.00e+16 100 2.99e+01 9.22e+0234 7.689903e+05 2.51e+01 7.63e+15 4.26e-01 7.25e-01 1.00e+16 100 2.80e+01 9.50e+0235 7.689709e+05 1.94e+01 2.02e+16 4.09e-01 6.29e-01 1.00e+16 100 2.87e+01 9.79e+0236 7.689315e+05 3.95e+01 3.02e+15 4.80e-01 8.35e-01 1.00e+16 100 2.79e+01 1.01e+0337 7.688969e+05 3.46e+01 5.78e+15 4.08e-01 8.11e-01 1.00e+16 88 2.47e+01 1.03e+0338 7.688970e+05 -6.77e-02 0.00e+00 7.69e-03 -8.36e-03 5.00e+15 3 2.17e+00 1.03e+0339 7.688962e+05 7.17e-01 1.35e+16 7.80e-03 8.83e-02 3.21e+15 3 4.31e+00 1.04e+0340 7.689004e+05 -4.22e+00 0.00e+00 2.15e-03 -5.23e-01 1.60e+15 3 2.35e+00 1.04e+0341 7.688975e+05 -1.24e+00 0.00e+00 2.16e-03 -1.54e-01 4.01e+14 3 2.50e+00 1.04e+0342 7.688991e+05 -2.94e+00 0.00e+00 2.16e-03 -3.64e-01 5.01e+13 3 2.59e+00 1.05e+0343 7.688992e+05 -3.04e+00 0.00e+00 2.16e-03 -3.77e-01 3.13e+12 3 2.25e+00 1.05e+0344 7.688973e+05 -1.10e+00 0.00e+00 2.16e-03 -1.36e-01 9.79e+10 3 2.26e+00 1.05e+0345 7.688971e+05 -9.02e-01 0.00e+00 2.16e-03 -1.12e-01 1.53e+09 3 2.79e+00 1.05e+0346 7.688971e+05 -9.31e-01 0.00e+00 2.16e-03 -1.15e-01 1.20e+07 3 3.03e+00 1.06e+0347 7.688971e+05 -8.82e-01 0.00e+00 2.16e-03 -1.09e-01 4.67e+04 3 2.88e+00 1.06e+0348 7.688976e+05 -1.39e+00 0.00e+00 2.10e-03 -1.73e-01 9.12e+01 3 2.15e+00 1.06e+0349 7.688949e+05 1.32e+00 8.50e+15 3.71e-04 1.66e-01 7.03e+01 3 4.47e+00 1.07e+0350 7.688956e+05 -7.20e-01 0.00e+00 3.29e-04 -1.01e-01 3.51e+01 2 2.72e+00 1.07e+03Bundle adjustment report
------------------------Residuals : 4888438Parameters : 849539Iterations : 51Time : 1068.61 [s]Initial cost : 0.399642 [px]Final cost : 0.396596 [px]Termination : No convergence=> Completed observations: 1960=> Merged observations: 1983=> Filtered observations: 640=> Changed observations: 0.001875==============================================================================
Global bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 7.725322e+05 0.00e+00 8.66e+15 0.00e+00 0.00e+00 1.00e+04 0 2.01e+00 1.65e+011 7.643204e+05 8.21e+03 4.77e+15 3.92e+00 1.01e+00 3.00e+04 65 2.02e+01 3.67e+012 7.632501e+05 1.07e+03 9.31e+15 2.85e+00 1.00e+00 9.00e+04 100 2.92e+01 6.59e+013 7.627408e+05 5.09e+02 1.75e+16 2.37e+00 9.85e-01 2.70e+05 100 2.84e+01 9.43e+014 7.625455e+05 1.95e+02 5.73e+15 1.53e+00 9.66e-01 8.10e+05 100 2.85e+01 1.23e+025 7.624592e+05 8.63e+01 6.42e+15 9.56e-01 9.19e-01 1.97e+06 100 2.89e+01 1.52e+026 7.623833e+05 7.59e+01 2.42e+16 7.89e-01 8.90e-01 3.74e+06 100 2.86e+01 1.80e+027 7.623082e+05 7.51e+01 1.05e+16 9.49e-01 8.94e-01 7.35e+06 100 2.79e+01 2.08e+028 7.622373e+05 7.09e+01 8.35e+15 8.56e-01 8.78e-01 1.29e+07 100 2.83e+01 2.37e+029 7.621685e+05 6.88e+01 2.11e+16 9.78e-01 8.56e-01 2.02e+07 100 2.90e+01 2.66e+0210 7.620950e+05 7.35e+01 8.14e+15 8.84e-01 9.11e-01 4.56e+07 100 2.76e+01 2.93e+0211 7.620300e+05 6.50e+01 1.37e+16 9.90e-01 8.73e-01 7.81e+07 100 2.87e+01 3.22e+0212 7.619597e+05 7.04e+01 4.58e+15 9.00e-01 9.17e-01 1.86e+08 100 2.87e+01 3.50e+0213 7.618950e+05 6.46e+01 1.01e+16 9.93e-01 9.00e-01 3.82e+08 100 2.70e+01 3.77e+0214 7.618326e+05 6.25e+01 9.89e+15 9.07e-01 8.57e-01 6.01e+08 100 3.02e+01 4.08e+0215 7.617710e+05 6.16e+01 2.29e+16 9.90e-01 8.27e-01 8.35e+08 100 2.59e+01 4.33e+0216 7.617012e+05 6.97e+01 9.98e+15 9.13e-01 9.05e-01 1.78e+09 100 2.81e+01 4.62e+0217 7.616377e+05 6.35e+01 5.26e+15 9.86e-01 9.02e-01 3.68e+09 100 2.61e+01 4.88e+0218 7.615769e+05 6.08e+01 9.99e+15 9.16e-01 8.68e-01 6.14e+09 100 2.72e+01 5.15e+0219 7.615152e+05 6.17e+01 1.86e+16 9.81e-01 8.55e-01 9.57e+09 100 2.59e+01 5.41e+0220 7.614473e+05 6.79e+01 3.80e+15 9.17e-01 9.29e-01 2.60e+10 100 2.53e+01 5.66e+0221 7.613864e+05 6.09e+01 9.71e+15 9.72e-01 9.24e-01 6.65e+10 100 2.87e+01 5.95e+0222 7.613268e+05 5.95e+01 3.28e+15 9.18e-01 8.88e-01 1.24e+11 100 2.93e+01 6.24e+0223 7.612656e+05 6.12e+01 4.25e+15 9.62e-01 9.02e-01 2.59e+11 100 2.72e+01 6.51e+0224 7.612014e+05 6.42e+01 5.17e+15 9.19e-01 9.21e-01 6.40e+11 100 2.92e+01 6.80e+0225 7.611422e+05 5.92e+01 7.67e+15 9.54e-01 8.96e-01 1.28e+12 100 2.76e+01 7.08e+0226 7.610808e+05 6.13e+01 1.02e+16 9.18e-01 9.05e-01 2.72e+12 100 2.73e+01 7.35e+0227 7.610212e+05 5.96e+01 8.75e+15 9.42e-01 8.89e-01 5.14e+12 100 2.78e+01 7.63e+0228 7.609591e+05 6.21e+01 9.05e+15 9.16e-01 9.05e-01 1.09e+13 100 2.84e+01 7.92e+0229 7.609035e+05 5.56e+01 8.75e+15 9.29e-01 8.42e-01 1.61e+13 100 2.85e+01 8.20e+0230 7.608408e+05 6.27e+01 1.19e+16 9.11e-01 8.78e-01 2.84e+13 100 2.93e+01 8.49e+0231 7.607817e+05 5.91e+01 9.08e+15 9.13e-01 8.59e-01 4.50e+13 100 3.04e+01 8.80e+0232 7.607202e+05 6.15e+01 8.37e+15 9.06e-01 8.68e-01 7.48e+13 100 2.69e+01 9.07e+0233 7.606560e+05 6.42e+01 7.75e+15 8.97e-01 9.09e-01 1.65e+14 100 3.12e+01 9.38e+0234 7.605954e+05 6.05e+01 3.89e+15 8.97e-01 8.91e-01 3.16e+14 100 2.84e+01 9.66e+0235 7.605378e+05 5.76e+01 2.41e+16 8.76e-01 8.48e-01 4.77e+14 100 2.81e+01 9.94e+0236 7.604731e+05 6.48e+01 8.78e+15 8.87e-01 8.90e-01 9.11e+14 100 2.60e+01 1.02e+0337 7.604132e+05 5.99e+01 9.21e+15 8.54e-01 8.70e-01 1.53e+15 100 2.72e+01 1.05e+0338 7.604110e+05 2.24e+00 1.56e+16 8.11e-03 2.48e-01 1.36e+15 3 3.50e+00 1.05e+0339 7.603444e+05 6.66e+01 4.66e+15 8.88e-01 9.40e-01 4.07e+15 100 2.66e+01 1.08e+0340 7.602978e+05 4.66e+01 3.08e+15 9.62e-01 8.65e-01 6.66e+15 100 2.71e+01 1.10e+0341 7.601076e+05 1.90e+02 1.36e+16 1.98e+00 9.67e-01 1.00e+16 100 2.76e+01 1.13e+0342 7.599268e+05 1.81e+02 5.24e+15 1.33e+00 9.55e-01 1.00e+16 96 2.66e+01 1.16e+0343 7.599262e+05 6.29e-01 1.76e+16 1.56e-02 7.87e-02 6.26e+15 4 4.53e+00 1.16e+0344 7.599240e+05 2.15e+00 5.04e+15 2.65e-03 2.68e-01 5.69e+15 3 4.73e+00 1.17e+0345 7.599267e+05 -2.66e+00 0.00e+00 1.73e-03 -5.01e-01 2.84e+15 3 2.78e+00 1.17e+0346 7.599264e+05 -2.34e+00 0.00e+00 2.24e-03 -4.38e-01 7.11e+14 3 2.71e+00 1.17e+0347 7.599253e+05 -1.26e+00 0.00e+00 2.26e-03 -2.36e-01 8.89e+13 3 3.26e+00 1.18e+0348 7.599258e+05 -1.71e+00 0.00e+00 2.26e-03 -3.19e-01 5.56e+12 3 2.12e+00 1.18e+0349 7.599257e+05 -1.65e+00 0.00e+00 2.26e-03 -3.09e-01 1.74e+11 3 2.94e+00 1.18e+0350 7.599257e+05 -1.61e+00 0.00e+00 2.26e-03 -3.01e-01 2.71e+09 3 3.07e+00 1.19e+03Bundle adjustment report
------------------------Residuals : 4890898Parameters : 849200Iterations : 51Time : 1185.66 [s]Initial cost : 0.397433 [px]Final cost : 0.394177 [px]Termination : No convergence=> Completed observations: 2256=> Merged observations: 1141=> Filtered observations: 574=> Changed observations: 0.001624==============================================================================
Global bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 7.619420e+05 0.00e+00 1.02e+16 0.00e+00 0.00e+00 1.00e+04 0 2.18e+00 1.50e+011 7.561923e+05 5.75e+03 1.80e+16 1.68e+00 1.00e+00 3.00e+04 34 1.41e+01 2.91e+012 7.555906e+05 6.02e+02 5.15e+15 1.77e+00 9.89e-01 9.00e+04 100 2.86e+01 5.77e+013 7.553218e+05 2.69e+02 6.10e+15 1.64e+00 9.79e-01 2.70e+05 100 2.71e+01 8.48e+014 7.551962e+05 1.26e+02 8.61e+15 1.44e+00 9.45e-01 8.10e+05 100 3.06e+01 1.15e+025 7.551334e+05 6.28e+01 9.50e+15 7.95e-01 8.83e-01 1.47e+06 100 3.01e+01 1.46e+026 7.550757e+05 5.77e+01 5.05e+15 6.89e-01 9.12e-01 3.33e+06 100 2.66e+01 1.72e+027 7.550260e+05 4.97e+01 1.37e+16 6.23e-01 8.68e-01 5.53e+06 100 2.78e+01 2.00e+028 7.549790e+05 4.70e+01 1.32e+16 5.62e-01 8.34e-01 7.86e+06 100 2.89e+01 2.29e+029 7.549288e+05 5.01e+01 1.15e+16 6.02e-01 8.80e-01 1.40e+07 100 2.81e+01 2.57e+0210 7.548792e+05 4.97e+01 3.63e+15 5.41e-01 9.13e-01 3.21e+07 100 2.69e+01 2.84e+0211 7.548343e+05 4.49e+01 5.60e+15 6.06e-01 8.61e-01 5.17e+07 100 2.83e+01 3.12e+0212 7.547897e+05 4.46e+01 2.49e+16 5.35e-01 8.38e-01 7.48e+07 100 2.84e+01 3.41e+0213 7.547427e+05 4.70e+01 1.52e+16 6.06e-01 8.63e-01 1.21e+08 100 2.83e+01 3.69e+0214 7.546961e+05 4.66e+01 8.15e+15 5.38e-01 8.89e-01 2.29e+08 100 2.90e+01 3.98e+0215 7.546507e+05 4.55e+01 1.06e+16 6.01e-01 8.98e-01 4.60e+08 100 2.83e+01 4.26e+0216 7.546089e+05 4.18e+01 8.61e+15 5.40e-01 8.37e-01 6.64e+08 100 2.77e+01 4.54e+0217 7.545675e+05 4.14e+01 1.68e+16 5.94e-01 8.19e-01 8.98e+08 100 2.67e+01 4.81e+0218 7.545184e+05 4.90e+01 4.54e+15 5.43e-01 9.34e-01 2.58e+09 100 2.98e+01 5.10e+0219 7.544803e+05 3.81e+01 1.78e+16 5.87e-01 8.16e-01 3.45e+09 100 2.94e+01 5.40e+0220 7.544360e+05 4.43e+01 9.00e+15 5.45e-01 8.67e-01 5.72e+09 100 2.81e+01 5.68e+0221 7.543977e+05 3.84e+01 1.33e+16 5.79e-01 7.97e-01 7.24e+09 100 2.60e+01 5.94e+0222 7.543534e+05 4.43e+01 1.58e+16 5.48e-01 8.56e-01 1.13e+10 100 2.73e+01 6.21e+0223 7.543136e+05 3.98e+01 1.44e+16 5.72e-01 8.24e-01 1.55e+10 100 2.56e+01 6.47e+0224 7.542709e+05 4.27e+01 1.75e+16 5.52e-01 8.44e-01 2.30e+10 100 2.87e+01 6.76e+0225 7.542277e+05 4.32e+01 1.19e+16 5.70e-01 8.88e-01 4.32e+10 100 2.80e+01 7.04e+0226 7.541887e+05 3.90e+01 1.29e+16 5.60e-01 8.20e-01 5.86e+10 100 2.69e+01 7.30e+0227 7.541487e+05 4.01e+01 9.83e+15 5.68e-01 8.21e-01 7.96e+10 100 2.70e+01 7.57e+0228 7.541037e+05 4.49e+01 7.86e+15 5.69e-01 8.77e-01 1.39e+11 100 2.85e+01 7.86e+0229 7.540626e+05 4.11e+01 5.56e+15 5.68e-01 8.72e-01 2.37e+11 100 2.87e+01 8.15e+0230 7.540224e+05 4.02e+01 2.23e+16 5.80e-01 8.50e-01 3.61e+11 100 2.71e+01 8.42e+0231 7.539843e+05 3.81e+01 2.52e+16 5.71e-01 7.89e-01 4.47e+11 100 2.80e+01 8.70e+0232 7.539368e+05 4.75e+01 2.94e+15 5.93e-01 9.14e-01 1.04e+12 100 2.61e+01 8.96e+0233 7.539013e+05 3.55e+01 1.34e+16 5.77e-01 7.83e-01 1.27e+12 100 2.87e+01 9.24e+0234 7.538597e+05 4.15e+01 1.61e+16 6.06e-01 8.12e-01 1.67e+12 100 2.83e+01 9.53e+0235 7.538156e+05 4.41e+01 8.01e+15 5.83e-01 8.68e-01 2.78e+12 100 2.80e+01 9.81e+0236 7.537764e+05 3.92e+01 6.49e+15 6.22e-01 8.25e-01 3.83e+12 100 2.72e+01 1.01e+0337 7.537352e+05 4.12e+01 1.76e+16 5.93e-01 8.30e-01 5.37e+12 100 2.74e+01 1.04e+0338 7.536936e+05 4.16e+01 6.07e+15 6.39e-01 8.41e-01 7.86e+12 100 2.67e+01 1.06e+0339 7.536494e+05 4.42e+01 4.65e+15 6.03e-01 9.02e-01 1.64e+13 100 2.94e+01 1.09e+0340 7.536120e+05 3.75e+01 4.98e+15 6.58e-01 8.06e-01 2.13e+13 100 2.90e+01 1.12e+0341 7.535699e+05 4.21e+01 1.22e+16 6.18e-01 8.71e-01 3.59e+13 100 2.70e+01 1.15e+0342 7.535296e+05 4.03e+01 1.85e+16 6.80e-01 8.40e-01 5.25e+13 100 2.65e+01 1.17e+0343 7.534878e+05 4.18e+01 6.25e+15 6.35e-01 8.68e-01 8.75e+13 100 2.89e+01 1.20e+0344 7.534472e+05 4.06e+01 1.10e+16 7.01e-01 8.55e-01 1.37e+14 100 2.69e+01 1.23e+0345 7.534066e+05 4.06e+01 7.07e+15 6.53e-01 8.49e-01 2.06e+14 100 3.06e+01 1.26e+0346 7.533641e+05 4.26e+01 3.75e+15 7.25e-01 8.91e-01 3.97e+14 100 2.87e+01 1.29e+0347 7.533227e+05 4.14e+01 2.43e+15 6.74e-01 9.03e-01 8.30e+14 100 2.53e+01 1.31e+0348 7.532949e+05 2.77e+01 9.98e+15 6.72e-01 7.94e-01 1.04e+15 100 2.68e+01 1.34e+0349 7.532401e+05 5.48e+01 2.54e+16 7.79e-01 8.25e-01 1.44e+15 100 2.75e+01 1.37e+0350 7.531789e+05 6.12e+01 3.52e+15 6.41e-01 9.34e-01 4.13e+15 100 2.87e+01 1.40e+03Bundle adjustment report
------------------------Residuals : 4894008Parameters : 848930Iterations : 51Time : 1397.96 [s]Initial cost : 0.394574 [px]Final cost : 0.392299 [px]Termination : No convergence=> Completed observations: 870=> Merged observations: 879=> Filtered observations: 458=> Changed observations: 0.000902=> Filtered images: 0Elapsed time: 299.162 [minutes]
最开始 kitti 04 的 triangulation 情况：
nohup: ignoring input==============================================================================
Loading model
============================================================================================================================================================
Loading database
==============================================================================Loading cameras... 534 in 0.001s
Loading matches... 22761 in 0.128s
Loading images... 271 in 0.194s (connected 271)
Building correspondence graph... in 0.558s (ignored 0)Elapsed time: 0.015 [minutes]==============================================================================
Triangulating image #4 (0)
===============================================================================> Image sees 0 / 2804 points=> Triangulated 84 points==============================================================================
Triangulating image #7 (1)
===============================================================================> Image sees 46 / 3346 points=> Triangulated 73 points==============================================================================
Triangulating image #8 (2)
===============================================================================> Image sees 57 / 3403 points=> Triangulated 75 points==============================================================================
Triangulating image #1 (3)
===============================================================================> Image sees 71 / 3271 points=> Triangulated 51 points==============================================================================
Triangulating image #22 (4)
===============================================================================> Image sees 79 / 3334 points=> Triangulated 82 points==============================================================================
Triangulating image #16 (5)
===============================================================================> Image sees 100 / 3308 points=> Triangulated 78 points==============================================================================
Triangulating image #10 (6)
===============================================================================> Image sees 99 / 3394 points=> Triangulated 73 points==============================================================================
Triangulating image #11 (7)
===============================================================================> Image sees 107 / 3481 points=> Triangulated 75 points==============================================================================
Triangulating image #2 (8)
===============================================================================> Image sees 101 / 3474 points=> Triangulated 77 points==============================================================================
Triangulating image #3 (9)
===============================================================================> Image sees 120 / 3464 points=> Triangulated 74 points==============================================================================
Triangulating image #5 (10)
===============================================================================> Image sees 111 / 3447 points=> Triangulated 99 points==============================================================================
Triangulating image #6 (11)
===============================================================================> Image sees 113 / 3479 points=> Triangulated 76 points==============================================================================
Triangulating image #17 (12)
===============================================================================> Image sees 126 / 3458 points=> Triangulated 97 points==============================================================================
Triangulating image #25 (13)
===============================================================================> Image sees 138 / 3385 points=> Triangulated 113 points==============================================================================
Triangulating image #28 (14)
===============================================================================> Image sees 140 / 3251 points=> Triangulated 96 points==============================================================================
Triangulating image #21 (15)
===============================================================================> Image sees 134 / 3180 points=> Triangulated 94 points==============================================================================
Triangulating image #27 (16)
===============================================================================> Image sees 141 / 3126 points=> Triangulated 114 points==============================================================================
Triangulating image #24 (17)
===============================================================================> Image sees 151 / 2969 points=> Triangulated 113 points==============================================================================
Triangulating image #23 (18)
===============================================================================> Image sees 192 / 2915 points=> Triangulated 113 points==============================================================================
Triangulating image #15 (19)
===============================================================================> Image sees 181 / 2820 points=> Triangulated 108 points==============================================================================
Triangulating image #13 (20)
===============================================================================> Image sees 179 / 2790 points=> Triangulated 117 points==============================================================================
Triangulating image #12 (21)
===============================================================================> Image sees 187 / 2797 points=> Triangulated 117 points==============================================================================
Triangulating image #9 (22)
===============================================================================> Image sees 176 / 2723 points=> Triangulated 109 points==============================================================================
Triangulating image #14 (23)
===============================================================================> Image sees 189 / 2746 points=> Triangulated 129 points==============================================================================
Triangulating image #26 (24)
===============================================================================> Image sees 197 / 2745 points=> Triangulated 146 points==============================================================================
Triangulating image #19 (25)
===============================================================================> Image sees 205 / 2706 points=> Triangulated 126 points==============================================================================
Triangulating image #20 (26)
===============================================================================> Image sees 190 / 2786 points=> Triangulated 134 points==============================================================================
Triangulating image #18 (27)
===============================================================================> Image sees 210 / 2754 points=> Triangulated 139 points==============================================================================
Triangulating image #35 (28)
===============================================================================> Image sees 213 / 2778 points=> Triangulated 143 points==============================================================================
Triangulating image #31 (29)
===============================================================================> Image sees 193 / 2733 points=> Triangulated 151 points==============================================================================
Triangulating image #38 (30)
===============================================================================> Image sees 177 / 2852 points=> Triangulated 155 points==============================================================================
Triangulating image #34 (31)
===============================================================================> Image sees 174 / 2807 points=> Triangulated 161 points==============================================================================
Triangulating image #36 (32)
===============================================================================> Image sees 179 / 2849 points=> Triangulated 164 points==============================================================================
Triangulating image #33 (33)
===============================================================================> Image sees 182 / 2701 points=> Triangulated 153 points==============================================================================
Triangulating image #58 (34)
===============================================================================> Image sees 219 / 2683 points=> Triangulated 146 points==============================================================================
Triangulating image #40 (35)
===============================================================================> Image sees 231 / 2656 points=> Triangulated 166 points==============================================================================
Triangulating image #29 (36)
===============================================================================> Image sees 208 / 2641 points=> Triangulated 166 points==============================================================================
Triangulating image #47 (37)
===============================================================================> Image sees 228 / 2664 points=> Triangulated 188 points==============================================================================
Triangulating image #44 (38)
===============================================================================> Image sees 245 / 2687 points=> Triangulated 162 points==============================================================================
Triangulating image #62 (39)
===============================================================================> Image sees 230 / 2650 points=> Triangulated 161 points==============================================================================
Triangulating image #42 (40)
===============================================================================> Image sees 223 / 2619 points=> Triangulated 138 points==============================================================================
Triangulating image #48 (41)
===============================================================================> Image sees 239 / 2650 points=> Triangulated 163 points==============================================================================
Triangulating image #46 (42)
===============================================================================> Image sees 266 / 2583 points=> Triangulated 142 points==============================================================================
Triangulating image #39 (43)
===============================================================================> Image sees 299 / 2558 points=> Triangulated 165 points==============================================================================
Triangulating image #37 (44)
===============================================================================> Image sees 262 / 2494 points=> Triangulated 168 points==============================================================================
Triangulating image #41 (45)
===============================================================================> Image sees 270 / 2344 points=> Triangulated 139 points==============================================================================
Triangulating image #45 (46)
===============================================================================> Image sees 249 / 2240 points=> Triangulated 148 points==============================================================================
Triangulating image #43 (47)
===============================================================================> Image sees 254 / 2237 points=> Triangulated 180 points==============================================================================
Triangulating image #50 (48)
===============================================================================> Image sees 251 / 2345 points=> Triangulated 150 points==============================================================================
Triangulating image #51 (49)
===============================================================================> Image sees 260 / 2409 points=> Triangulated 172 points==============================================================================
Triangulating image #53 (50)
===============================================================================> Image sees 304 / 2488 points=> Triangulated 204 points==============================================================================
Triangulating image #59 (51)
===============================================================================> Image sees 324 / 2437 points=> Triangulated 191 points==============================================================================
Triangulating image #52 (52)
===============================================================================> Image sees 304 / 2393 points=> Triangulated 195 points==============================================================================
Triangulating image #32 (53)
===============================================================================> Image sees 308 / 2409 points=> Triangulated 229 points==============================================================================
Triangulating image #57 (54)
===============================================================================> Image sees 301 / 2361 points=> Triangulated 207 points==============================================================================
Triangulating image #49 (55)
===============================================================================> Image sees 280 / 2311 points=> Triangulated 227 points==============================================================================
Triangulating image #55 (56)
===============================================================================> Image sees 301 / 2309 points=> Triangulated 221 points==============================================================================
Triangulating image #30 (57)
===============================================================================> Image sees 357 / 2372 points=> Triangulated 205 points==============================================================================
Triangulating image #60 (58)
===============================================================================> Image sees 313 / 2398 points=> Triangulated 215 points==============================================================================
Triangulating image #61 (59)
===============================================================================> Image sees 339 / 2458 points=> Triangulated 220 points==============================================================================
Triangulating image #56 (60)
===============================================================================> Image sees 359 / 2514 points=> Triangulated 227 points==============================================================================
Triangulating image #65 (61)
===============================================================================> Image sees 386 / 2531 points=> Triangulated 215 points==============================================================================
Triangulating image #54 (62)
===============================================================================> Image sees 380 / 2572 points=> Triangulated 195 points==============================================================================
Triangulating image #67 (63)
===============================================================================> Image sees 367 / 2688 points=> Triangulated 204 points==============================================================================
Triangulating image #64 (64)
===============================================================================> Image sees 416 / 2827 points=> Triangulated 178 points==============================================================================
Triangulating image #63 (65)
===============================================================================> Image sees 370 / 2889 points=> Triangulated 238 points==============================================================================
Triangulating image #66 (66)
===============================================================================> Image sees 402 / 2899 points=> Triangulated 234 points==============================================================================
Triangulating image #68 (67)
===============================================================================> Image sees 403 / 2929 points=> Triangulated 194 points==============================================================================
Triangulating image #70 (68)
===============================================================================> Image sees 394 / 3003 points=> Triangulated 214 points==============================================================================
Triangulating image #73 (69)
===============================================================================> Image sees 378 / 3016 points=> Triangulated 206 points==============================================================================
Triangulating image #69 (70)
===============================================================================> Image sees 379 / 3045 points=> Triangulated 189 points==============================================================================
Triangulating image #71 (71)
===============================================================================> Image sees 389 / 3038 points=> Triangulated 205 points==============================================================================
Triangulating image #79 (72)
===============================================================================> Image sees 415 / 2887 points=> Triangulated 208 points==============================================================================
Triangulating image #78 (73)
===============================================================================> Image sees 430 / 2856 points=> Triangulated 205 points==============================================================================
Triangulating image #77 (74)
===============================================================================> Image sees 438 / 2912 points=> Triangulated 241 points==============================================================================
Triangulating image #72 (75)
===============================================================================> Image sees 431 / 2927 points=> Triangulated 230 points==============================================================================
Triangulating image #84 (76)
===============================================================================> Image sees 464 / 2900 points=> Triangulated 214 points==============================================================================
Triangulating image #74 (77)
===============================================================================> Image sees 454 / 2783 points=> Triangulated 203 points==============================================================================
Triangulating image #76 (78)
===============================================================================> Image sees 473 / 2794 points=> Triangulated 214 points==============================================================================
Triangulating image #75 (79)
===============================================================================> Image sees 513 / 2772 points=> Triangulated 214 points==============================================================================
Triangulating image #82 (80)
===============================================================================> Image sees 468 / 2699 points=> Triangulated 226 points==============================================================================
Triangulating image #85 (81)
===============================================================================> Image sees 461 / 2566 points=> Triangulated 195 points==============================================================================
Triangulating image #87 (82)
===============================================================================> Image sees 448 / 2480 points=> Triangulated 200 points==============================================================================
Triangulating image #83 (83)
===============================================================================> Image sees 486 / 2472 points=> Triangulated 173 points==============================================================================
Triangulating image #80 (84)
===============================================================================> Image sees 497 / 2486 points=> Triangulated 190 points==============================================================================
Triangulating image #88 (85)
===============================================================================> Image sees 517 / 2479 points=> Triangulated 189 points==============================================================================
Triangulating image #86 (86)
===============================================================================> Image sees 462 / 2454 points=> Triangulated 181 points==============================================================================
Triangulating image #81 (87)
===============================================================================> Image sees 437 / 2605 points=> Triangulated 195 points==============================================================================
Triangulating image #89 (88)
===============================================================================> Image sees 410 / 2540 points=> Triangulated 173 points==============================================================================
Triangulating image #90 (89)
===============================================================================> Image sees 353 / 2640 points=> Triangulated 150 points==============================================================================
Triangulating image #96 (90)
===============================================================================> Image sees 324 / 2692 points=> Triangulated 173 points==============================================================================
Triangulating image #93 (91)
===============================================================================> Image sees 328 / 2679 points=> Triangulated 155 points==============================================================================
Triangulating image #91 (92)
===============================================================================> Image sees 307 / 2597 points=> Triangulated 141 points==============================================================================
Triangulating image #95 (93)
===============================================================================> Image sees 320 / 2611 points=> Triangulated 153 points==============================================================================
Triangulating image #101 (94)
===============================================================================> Image sees 306 / 2545 points=> Triangulated 143 points==============================================================================
Triangulating image #92 (95)
===============================================================================> Image sees 322 / 2627 points=> Triangulated 142 points==============================================================================
Triangulating image #94 (96)
===============================================================================> Image sees 309 / 2700 points=> Triangulated 159 points==============================================================================
Triangulating image #100 (97)
===============================================================================> Image sees 286 / 2763 points=> Triangulated 165 points==============================================================================
Triangulating image #102 (98)
===============================================================================> Image sees 263 / 2765 points=> Triangulated 157 points==============================================================================
Triangulating image #97 (99)
===============================================================================> Image sees 294 / 2770 points=> Triangulated 195 points==============================================================================
Triangulating image #98 (100)
===============================================================================> Image sees 334 / 2663 points=> Triangulated 166 points==============================================================================
Triangulating image #105 (101)
===============================================================================> Image sees 304 / 2652 points=> Triangulated 178 points==============================================================================
Triangulating image #104 (102)
===============================================================================> Image sees 308 / 2607 points=> Triangulated 168 points==============================================================================
Triangulating image #106 (103)
===============================================================================> Image sees 318 / 2732 points=> Triangulated 177 points==============================================================================
Triangulating image #103 (104)
===============================================================================> Image sees 310 / 2904 points=> Triangulated 200 points==============================================================================
Triangulating image #107 (105)
===============================================================================> Image sees 376 / 2859 points=> Triangulated 189 points==============================================================================
Triangulating image #109 (106)
===============================================================================> Image sees 437 / 2876 points=> Triangulated 215 points==============================================================================
Triangulating image #99 (107)
===============================================================================> Image sees 452 / 2702 points=> Triangulated 197 points==============================================================================
Triangulating image #108 (108)
===============================================================================> Image sees 487 / 2772 points=> Triangulated 186 points==============================================================================
Triangulating image #111 (109)
===============================================================================> Image sees 554 / 2762 points=> Triangulated 212 points==============================================================================
Triangulating image #121 (110)
===============================================================================> Image sees 626 / 2877 points=> Triangulated 218 points==============================================================================
Triangulating image #119 (111)
===============================================================================> Image sees 637 / 2953 points=> Triangulated 197 points==============================================================================
Triangulating image #110 (112)
===============================================================================> Image sees 630 / 3000 points=> Triangulated 211 points==============================================================================
Triangulating image #115 (113)
===============================================================================> Image sees 633 / 2873 points=> Triangulated 168 points==============================================================================
Triangulating image #114 (114)
===============================================================================> Image sees 614 / 2821 points=> Triangulated 217 points==============================================================================
Triangulating image #113 (115)
===============================================================================> Image sees 616 / 2623 points=> Triangulated 172 points==============================================================================
Triangulating image #118 (116)
===============================================================================> Image sees 527 / 2608 points=> Triangulated 188 points==============================================================================
Triangulating image #116 (117)
===============================================================================> Image sees 494 / 2646 points=> Triangulated 201 points==============================================================================
Triangulating image #112 (118)
===============================================================================> Image sees 483 / 2667 points=> Triangulated 188 points==============================================================================
Triangulating image #117 (119)
===============================================================================> Image sees 444 / 2589 points=> Triangulated 197 points==============================================================================
Triangulating image #124 (120)
===============================================================================> Image sees 453 / 2516 points=> Triangulated 164 points==============================================================================
Triangulating image #123 (121)
===============================================================================> Image sees 448 / 2637 points=> Triangulated 196 points==============================================================================
Triangulating image #125 (122)
===============================================================================> Image sees 518 / 2741 points=> Triangulated 175 points==============================================================================
Triangulating image #120 (123)
===============================================================================> Image sees 526 / 2662 points=> Triangulated 194 points==============================================================================
Triangulating image #122 (124)
===============================================================================> Image sees 487 / 2762 points=> Triangulated 199 points==============================================================================
Triangulating image #128 (125)
===============================================================================> Image sees 533 / 2737 points=> Triangulated 190 points==============================================================================
Triangulating image #129 (126)
===============================================================================> Image sees 571 / 2772 points=> Triangulated 208 points==============================================================================
Triangulating image #126 (127)
===============================================================================> Image sees 604 / 2785 points=> Triangulated 206 points==============================================================================
Triangulating image #127 (128)
===============================================================================> Image sees 624 / 2857 points=> Triangulated 203 points==============================================================================
Triangulating image #131 (129)
===============================================================================> Image sees 596 / 2863 points=> Triangulated 220 points==============================================================================
Triangulating image #132 (130)
===============================================================================> Image sees 579 / 2743 points=> Triangulated 250 points==============================================================================
Triangulating image #130 (131)
===============================================================================> Image sees 698 / 2855 points=> Triangulated 300 points==============================================================================
Triangulating image #139 (132)
===============================================================================> Image sees 800 / 3036 points=> Triangulated 313 points==============================================================================
Triangulating image #142 (133)
===============================================================================> Image sees 819 / 3054 points=> Triangulated 245 points==============================================================================
Triangulating image #136 (134)
===============================================================================> Image sees 745 / 3038 points=> Triangulated 243 points==============================================================================
Triangulating image #133 (135)
===============================================================================> Image sees 781 / 3076 points=> Triangulated 249 points==============================================================================
Triangulating image #140 (136)
===============================================================================> Image sees 747 / 3103 points=> Triangulated 266 points==============================================================================
Triangulating image #134 (137)
===============================================================================> Image sees 738 / 3094 points=> Triangulated 259 points==============================================================================
Triangulating image #135 (138)
===============================================================================> Image sees 674 / 3045 points=> Triangulated 222 points==============================================================================
Triangulating image #138 (139)
===============================================================================> Image sees 589 / 3071 points=> Triangulated 265 points==============================================================================
Triangulating image #143 (140)
===============================================================================> Image sees 561 / 3113 points=> Triangulated 246 points==============================================================================
Triangulating image #137 (141)
===============================================================================> Image sees 584 / 3189 points=> Triangulated 231 points==============================================================================
Triangulating image #145 (142)
===============================================================================> Image sees 634 / 3234 points=> Triangulated 258 points==============================================================================
Triangulating image #147 (143)
===============================================================================> Image sees 681 / 3448 points=> Triangulated 264 points==============================================================================
Triangulating image #141 (144)
===============================================================================> Image sees 728 / 3397 points=> Triangulated 244 points==============================================================================
Triangulating image #144 (145)
===============================================================================> Image sees 764 / 3415 points=> Triangulated 251 points==============================================================================
Triangulating image #146 (146)
===============================================================================> Image sees 896 / 3355 points=> Triangulated 268 points==============================================================================
Triangulating image #148 (147)
===============================================================================> Image sees 950 / 3307 points=> Triangulated 278 points==============================================================================
Triangulating image #152 (148)
===============================================================================> Image sees 931 / 3311 points=> Triangulated 250 points==============================================================================
Triangulating image #154 (149)
===============================================================================> Image sees 828 / 3398 points=> Triangulated 234 points==============================================================================
Triangulating image #153 (150)
===============================================================================> Image sees 640 / 3495 points=> Triangulated 235 points==============================================================================
Triangulating image #159 (151)
===============================================================================> Image sees 533 / 3503 points=> Triangulated 244 points==============================================================================
Triangulating image #149 (152)
===============================================================================> Image sees 504 / 3274 points=> Triangulated 230 points==============================================================================
Triangulating image #151 (153)
===============================================================================> Image sees 447 / 3171 points=> Triangulated 263 points==============================================================================
Triangulating image #157 (154)
===============================================================================> Image sees 475 / 3173 points=> Triangulated 233 points==============================================================================
Triangulating image #156 (155)
===============================================================================> Image sees 440 / 2931 points=> Triangulated 200 points==============================================================================
Triangulating image #150 (156)
===============================================================================> Image sees 437 / 2999 points=> Triangulated 217 points==============================================================================
Triangulating image #158 (157)
===============================================================================> Image sees 452 / 3105 points=> Triangulated 205 points==============================================================================
Triangulating image #161 (158)
===============================================================================> Image sees 419 / 3086 points=> Triangulated 210 points==============================================================================
Triangulating image #160 (159)
===============================================================================> Image sees 412 / 3065 points=> Triangulated 195 points==============================================================================
Triangulating image #155 (160)
===============================================================================> Image sees 387 / 3106 points=> Triangulated 173 points==============================================================================
Triangulating image #164 (161)
===============================================================================> Image sees 348 / 3221 points=> Triangulated 199 points==============================================================================
Triangulating image #166 (162)
===============================================================================> Image sees 366 / 3368 points=> Triangulated 190 points==============================================================================
Triangulating image #163 (163)
===============================================================================> Image sees 316 / 3385 points=> Triangulated 184 points==============================================================================
Triangulating image #162 (164)
===============================================================================> Image sees 323 / 3391 points=> Triangulated 174 points==============================================================================
Triangulating image #165 (165)
===============================================================================> Image sees 349 / 3410 points=> Triangulated 162 points==============================================================================
Triangulating image #169 (166)
===============================================================================> Image sees 302 / 3381 points=> Triangulated 180 points==============================================================================
Triangulating image #171 (167)
===============================================================================> Image sees 325 / 3338 points=> Triangulated 185 points==============================================================================
Triangulating image #167 (168)
===============================================================================> Image sees 287 / 3203 points=> Triangulated 154 points==============================================================================
Triangulating image #170 (169)
===============================================================================> Image sees 304 / 3118 points=> Triangulated 147 points==============================================================================
Triangulating image #173 (170)
===============================================================================> Image sees 322 / 3080 points=> Triangulated 137 points==============================================================================
Triangulating image #172 (171)
===============================================================================> Image sees 321 / 3013 points=> Triangulated 155 points==============================================================================
Triangulating image #177 (172)
===============================================================================> Image sees 435 / 3023 points=> Triangulated 158 points==============================================================================
Triangulating image #174 (173)
===============================================================================> Image sees 521 / 3059 points=> Triangulated 130 points==============================================================================
Triangulating image #168 (174)
===============================================================================> Image sees 401 / 3078 points=> Triangulated 157 points==============================================================================
Triangulating image #178 (175)
===============================================================================> Image sees 313 / 2894 points=> Triangulated 168 points==============================================================================
Triangulating image #197 (176)
===============================================================================> Image sees 303 / 2831 points=> Triangulated 154 points==============================================================================
Triangulating image #175 (177)
===============================================================================> Image sees 304 / 2873 points=> Triangulated 144 points==============================================================================
Triangulating image #179 (178)
===============================================================================> Image sees 291 / 2806 points=> Triangulated 132 points==============================================================================
Triangulating image #180 (179)
===============================================================================> Image sees 286 / 2721 points=> Triangulated 122 points==============================================================================
Triangulating image #191 (180)
===============================================================================> Image sees 259 / 2756 points=> Triangulated 143 points==============================================================================
Triangulating image #186 (181)
===============================================================================> Image sees 214 / 2620 points=> Triangulated 105 points==============================================================================
Triangulating image #182 (182)
===============================================================================> Image sees 174 / 2492 points=> Triangulated 104 points==============================================================================
Triangulating image #181 (183)
===============================================================================> Image sees 170 / 2452 points=> Triangulated 101 points==============================================================================
Triangulating image #190 (184)
===============================================================================> Image sees 183 / 2488 points=> Triangulated 97 points==============================================================================
Triangulating image #189 (185)
===============================================================================> Image sees 197 / 2438 points=> Triangulated 93 points==============================================================================
Triangulating image #187 (186)
===============================================================================> Image sees 173 / 2419 points=> Triangulated 87 points==============================================================================
Triangulating image #183 (187)
===============================================================================> Image sees 208 / 2331 points=> Triangulated 103 points==============================================================================
Triangulating image #192 (188)
===============================================================================> Image sees 200 / 1995 points=> Triangulated 94 points==============================================================================
Triangulating image #184 (189)
===============================================================================> Image sees 224 / 1743 points=> Triangulated 92 points==============================================================================
Triangulating image #188 (190)
===============================================================================> Image sees 220 / 1693 points=> Triangulated 67 points==============================================================================
Triangulating image #196 (191)
===============================================================================> Image sees 226 / 1658 points=> Triangulated 84 points==============================================================================
Triangulating image #185 (192)
===============================================================================> Image sees 212 / 1574 points=> Triangulated 79 points==============================================================================
Triangulating image #193 (193)
===============================================================================> Image sees 180 / 1557 points=> Triangulated 113 points==============================================================================
Triangulating image #195 (194)
===============================================================================> Image sees 180 / 1688 points=> Triangulated 81 points==============================================================================
Triangulating image #176 (195)
===============================================================================> Image sees 202 / 1754 points=> Triangulated 61 points==============================================================================
Triangulating image #194 (196)
===============================================================================> Image sees 181 / 1744 points=> Triangulated 62 points==============================================================================
Triangulating image #199 (197)
===============================================================================> Image sees 177 / 1787 points=> Triangulated 71 points==============================================================================
Triangulating image #202 (198)
===============================================================================> Image sees 169 / 1752 points=> Triangulated 74 points==============================================================================
Triangulating image #200 (199)
===============================================================================> Image sees 199 / 1804 points=> Triangulated 91 points==============================================================================
Triangulating image #204 (200)
===============================================================================> Image sees 222 / 1804 points=> Triangulated 72 points==============================================================================
Triangulating image #208 (201)
===============================================================================> Image sees 243 / 1845 points=> Triangulated 85 points==============================================================================
Triangulating image #201 (202)
===============================================================================> Image sees 251 / 1863 points=> Triangulated 101 points==============================================================================
Triangulating image #206 (203)
===============================================================================> Image sees 241 / 2012 points=> Triangulated 106 points==============================================================================
Triangulating image #198 (204)
===============================================================================> Image sees 231 / 2015 points=> Triangulated 74 points==============================================================================
Triangulating image #207 (205)
===============================================================================> Image sees 181 / 2112 points=> Triangulated 100 points==============================================================================
Triangulating image #205 (206)
===============================================================================> Image sees 178 / 2254 points=> Triangulated 112 points==============================================================================
Triangulating image #210 (207)
===============================================================================> Image sees 157 / 2233 points=> Triangulated 91 points==============================================================================
Triangulating image #203 (208)
===============================================================================> Image sees 168 / 2303 points=> Triangulated 91 points==============================================================================
Triangulating image #209 (209)
===============================================================================> Image sees 183 / 2340 points=> Triangulated 97 points==============================================================================
Triangulating image #213 (210)
===============================================================================> Image sees 225 / 2475 points=> Triangulated 102 points==============================================================================
Triangulating image #212 (211)
===============================================================================> Image sees 290 / 2594 points=> Triangulated 114 points==============================================================================
Triangulating image #214 (212)
===============================================================================> Image sees 304 / 2749 points=> Triangulated 108 points==============================================================================
Triangulating image #215 (213)
===============================================================================> Image sees 288 / 2874 points=> Triangulated 161 points==============================================================================
Triangulating image #211 (214)
===============================================================================> Image sees 259 / 2965 points=> Triangulated 178 points==============================================================================
Triangulating image #217 (215)
===============================================================================> Image sees 246 / 3093 points=> Triangulated 177 points==============================================================================
Triangulating image #216 (216)
===============================================================================> Image sees 282 / 3272 points=> Triangulated 213 points==============================================================================
Triangulating image #218 (217)
===============================================================================> Image sees 435 / 3420 points=> Triangulated 203 points==============================================================================
Triangulating image #219 (218)
===============================================================================> Image sees 510 / 3637 points=> Triangulated 285 points==============================================================================
Triangulating image #229 (219)
===============================================================================> Image sees 735 / 3725 points=> Triangulated 232 points==============================================================================
Triangulating image #221 (220)
===============================================================================> Image sees 881 / 3725 points=> Triangulated 275 points==============================================================================
Triangulating image #226 (221)
===============================================================================> Image sees 789 / 3836 points=> Triangulated 249 points==============================================================================
Triangulating image #228 (222)
===============================================================================> Image sees 734 / 3841 points=> Triangulated 216 points==============================================================================
Triangulating image #231 (223)
===============================================================================> Image sees 592 / 3786 points=> Triangulated 244 points==============================================================================
Triangulating image #227 (224)
===============================================================================> Image sees 495 / 3663 points=> Triangulated 238 points==============================================================================
Triangulating image #220 (225)
===============================================================================> Image sees 356 / 3654 points=> Triangulated 197 points==============================================================================
Triangulating image #223 (226)
===============================================================================> Image sees 303 / 3516 points=> Triangulated 193 points==============================================================================
Triangulating image #236 (227)
===============================================================================> Image sees 264 / 3225 points=> Triangulated 171 points==============================================================================
Triangulating image #233 (228)
===============================================================================> Image sees 338 / 3273 points=> Triangulated 186 points==============================================================================
Triangulating image #230 (229)
===============================================================================> Image sees 414 / 3265 points=> Triangulated 206 points==============================================================================
Triangulating image #225 (230)
===============================================================================> Image sees 439 / 3289 points=> Triangulated 174 points==============================================================================
Triangulating image #232 (231)
===============================================================================> Image sees 423 / 3161 points=> Triangulated 175 points==============================================================================
Triangulating image #224 (232)
===============================================================================> Image sees 371 / 3060 points=> Triangulated 172 points==============================================================================
Triangulating image #235 (233)
===============================================================================> Image sees 382 / 2997 points=> Triangulated 162 points==============================================================================
Triangulating image #222 (234)
===============================================================================> Image sees 465 / 3113 points=> Triangulated 213 points==============================================================================
Triangulating image #240 (235)
===============================================================================> Image sees 593 / 3161 points=> Triangulated 171 points==============================================================================
Triangulating image #246 (236)
===============================================================================> Image sees 608 / 3188 points=> Triangulated 237 points==============================================================================
Triangulating image #238 (237)
===============================================================================> Image sees 637 / 3201 points=> Triangulated 205 points==============================================================================
Triangulating image #242 (238)
===============================================================================> Image sees 625 / 3173 points=> Triangulated 186 points==============================================================================
Triangulating image #234 (239)
===============================================================================> Image sees 604 / 3289 points=> Triangulated 247 points==============================================================================
Triangulating image #239 (240)
===============================================================================> Image sees 571 / 3167 points=> Triangulated 246 points==============================================================================
Triangulating image #237 (241)
===============================================================================> Image sees 485 / 2896 points=> Triangulated 223 points==============================================================================
Triangulating image #244 (242)
===============================================================================> Image sees 462 / 2887 points=> Triangulated 181 points==============================================================================
Triangulating image #245 (243)
===============================================================================> Image sees 361 / 2959 points=> Triangulated 152 points==============================================================================
Triangulating image #241 (244)
===============================================================================> Image sees 303 / 2885 points=> Triangulated 123 points==============================================================================
Triangulating image #247 (245)
===============================================================================> Image sees 268 / 2880 points=> Triangulated 126 points==============================================================================
Triangulating image #243 (246)
===============================================================================> Image sees 288 / 3006 points=> Triangulated 132 points==============================================================================
Triangulating image #249 (247)
===============================================================================> Image sees 281 / 3029 points=> Triangulated 122 points==============================================================================
Triangulating image #248 (248)
===============================================================================> Image sees 265 / 2958 points=> Triangulated 114 points==============================================================================
Triangulating image #251 (249)
===============================================================================> Image sees 231 / 2869 points=> Triangulated 115 points==============================================================================
Triangulating image #250 (250)
===============================================================================> Image sees 301 / 2900 points=> Triangulated 129 points==============================================================================
Triangulating image #253 (251)
===============================================================================> Image sees 359 / 2850 points=> Triangulated 124 points==============================================================================
Triangulating image #255 (252)
===============================================================================> Image sees 336 / 2731 points=> Triangulated 127 points==============================================================================
Triangulating image #254 (253)
===============================================================================> Image sees 310 / 2787 points=> Triangulated 110 points==============================================================================
Triangulating image #262 (254)
===============================================================================> Image sees 279 / 2687 points=> Triangulated 102 points==============================================================================
Triangulating image #256 (255)
===============================================================================> Image sees 231 / 2471 points=> Triangulated 127 points==============================================================================
Triangulating image #252 (256)
===============================================================================> Image sees 226 / 2299 points=> Triangulated 92 points==============================================================================
Triangulating image #261 (257)
===============================================================================> Image sees 201 / 2119 points=> Triangulated 106 points==============================================================================
Triangulating image #259 (258)
===============================================================================> Image sees 180 / 1986 points=> Triangulated 92 points==============================================================================
Triangulating image #260 (259)
===============================================================================> Image sees 201 / 2034 points=> Triangulated 82 points==============================================================================
Triangulating image #258 (260)
===============================================================================> Image sees 193 / 2080 points=> Triangulated 87 points==============================================================================
Triangulating image #263 (261)
===============================================================================> Image sees 182 / 2051 points=> Triangulated 88 points==============================================================================
Triangulating image #257 (262)
===============================================================================> Image sees 166 / 1883 points=> Triangulated 78 points==============================================================================
Triangulating image #264 (263)
===============================================================================> Image sees 174 / 1792 points=> Triangulated 85 points==============================================================================
Triangulating image #265 (264)
===============================================================================> Image sees 169 / 1777 points=> Triangulated 95 points==============================================================================
Triangulating image #270 (265)
===============================================================================> Image sees 158 / 1661 points=> Triangulated 78 points==============================================================================
Triangulating image #267 (266)
===============================================================================> Image sees 98 / 1497 points=> Triangulated 73 points==============================================================================
Triangulating image #266 (267)
===============================================================================> Image sees 98 / 1476 points=> Triangulated 58 points==============================================================================
Triangulating image #271 (268)
===============================================================================> Image sees 102 / 1589 points=> Triangulated 64 points==============================================================================
Triangulating image #269 (269)
===============================================================================> Image sees 74 / 1562 points=> Triangulated 58 points==============================================================================
Triangulating image #268 (270)
===============================================================================> Image sees 75 / 1357 points=> Triangulated 58 points==============================================================================
Retriangulation
===============================================================================> Completed observations: 275=> Merged observations: 176==============================================================================
Bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 1.437339e+07 0.00e+00 2.30e+05 0.00e+00 0.00e+00 1.00e+04 0 1.38e-01 5.79e-011 1.733338e+07 -2.96e+06 0.00e+00 2.98e+04 -4.69e-01 5.00e+03 0 8.33e-02 6.63e-012 1.949082e+07 -5.12e+06 0.00e+00 2.51e+04 -8.14e-01 1.25e+03 0 4.40e-02 7.07e-013 9.930172e+06 4.44e+06 6.92e+05 1.56e+04 7.21e-01 1.37e+03 0 1.72e-01 8.79e-014 8.286475e+06 1.64e+06 1.04e+05 1.20e+04 8.70e-01 2.29e+03 0 1.51e-01 1.03e+005 8.002938e+06 2.84e+05 1.97e+04 1.57e+04 8.05e-01 2.97e+03 0 1.69e-01 1.20e+006 7.923294e+06 7.96e+04 2.31e+04 1.10e+05 7.66e-01 3.50e+03 0 1.83e-01 1.38e+007 7.900512e+06 2.28e+04 2.97e+04 3.79e+04 5.90e-01 3.52e+03 0 1.87e-01 1.57e+008 7.932149e+06 -3.16e+04 0.00e+00 3.12e+04 -1.38e+00 1.76e+03 0 1.11e-01 1.70e+009 7.936789e+06 -3.63e+04 0.00e+00 1.72e+04 -1.98e+00 4.40e+02 0 6.15e-02 1.76e+0010 7.950099e+06 -4.96e+04 0.00e+00 4.82e+03 -3.60e+00 5.50e+01 0 7.96e-02 1.84e+0011 1.586053e+07 -7.96e+06 0.00e+00 1.24e+03 -6.80e+02 3.43e+00 0 8.81e-02 1.92e+0012 7.891835e+06 8.68e+03 6.11e+03 1.08e+03 1.00e+00 1.03e+01 0 2.18e-01 2.14e+0013 7.967048e+06 -7.52e+04 0.00e+00 2.03e+02 -2.64e+01 5.15e+00 0 4.70e-02 2.19e+0014 7.890612e+06 1.22e+03 2.10e+04 1.76e+02 6.08e-01 5.20e+00 0 1.93e-01 2.38e+0015 7.890033e+06 5.79e+02 3.50e+03 7.91e+01 9.75e-01 1.56e+01 0 2.47e-01 2.63e+0016 7.889706e+06 3.27e+02 1.47e+03 2.24e+02 9.20e-01 3.83e+01 0 2.08e-01 2.85e+0017 7.889344e+06 3.63e+02 1.49e+03 5.08e+02 9.48e-01 1.15e+02 0 2.08e-01 3.06e+0018 7.888687e+06 6.57e+02 8.84e+02 1.40e+03 9.74e-01 3.45e+02 0 2.00e-01 3.26e+0019 7.887183e+06 1.50e+03 8.25e+02 3.83e+03 9.66e-01 1.04e+03 0 1.92e-01 3.45e+0020 7.883830e+06 3.35e+03 5.54e+02 1.05e+04 9.35e-01 3.04e+03 0 1.67e-01 3.61e+0021 8.109260e+06 -2.25e+05 0.00e+00 2.59e+04 -3.27e+01 1.52e+03 0 7.34e-02 3.69e+0022 7.880273e+06 3.56e+03 9.12e+02 1.33e+04 9.27e-01 4.04e+03 0 1.53e-01 3.84e+0023 7.874611e+06 5.66e+03 4.12e+03 3.02e+04 8.58e-01 6.38e+03 0 1.28e-01 3.97e+0024 7.869840e+06 4.77e+03 4.55e+03 4.31e+04 8.32e-01 9.01e+03 0 1.77e-01 4.15e+0025 7.866281e+06 3.56e+03 2.41e+03 5.22e+04 8.18e-01 1.21e+04 0 1.80e-01 4.33e+0026 7.863695e+06 2.59e+03 2.01e+03 6.44e+04 8.11e-01 1.60e+04 0 1.68e-01 4.49e+0027 7.861804e+06 1.89e+03 5.51e+02 7.96e+04 8.07e-01 2.08e+04 0 1.19e-01 4.61e+0028 7.860397e+06 1.41e+03 7.14e+02 9.79e+04 8.07e-01 2.71e+04 0 2.17e-01 4.83e+0029 7.859351e+06 1.05e+03 2.79e+03 1.21e+05 7.92e-01 3.38e+04 0 1.71e-01 5.00e+0030 7.858546e+06 8.05e+02 6.91e+02 1.43e+05 8.08e-01 4.40e+04 0 1.69e-01 5.17e+0031 7.857928e+06 6.18e+02 3.01e+02 1.77e+05 8.02e-01 5.65e+04 0 1.67e-01 5.34e+0032 7.857449e+06 4.79e+02 3.66e+02 2.13e+05 8.01e-01 7.22e+04 0 1.96e-01 5.53e+0033 7.857077e+06 3.72e+02 1.55e+03 2.52e+05 7.99e-01 9.18e+04 0 1.55e-01 5.69e+0034 7.856788e+06 2.89e+02 6.80e+02 2.96e+05 7.93e-01 1.15e+05 0 1.62e-01 5.85e+0035 7.856594e+06 1.95e+02 2.46e+05 3.42e+05 6.83e-01 1.21e+05 0 1.72e-01 6.02e+0036 7.856426e+06 1.67e+02 2.28e+04 3.33e+05 7.57e-01 1.40e+05 0 1.55e-01 6.18e+0037 7.856302e+06 1.24e+02 4.44e+03 3.60e+05 7.71e-01 1.66e+05 0 1.28e-01 6.30e+0038 7.856349e+06 -4.67e+01 0.00e+00 3.97e+05 -3.49e-01 8.32e+04 0 5.29e-02 6.36e+0039 7.856401e+06 -9.83e+01 0.00e+00 1.99e+05 -1.27e+00 2.08e+04 0 5.55e-02 6.41e+0040 7.856512e+06 -2.10e+02 0.00e+00 4.97e+04 -6.17e+00 2.60e+03 0 5.17e-02 6.46e+0041 7.856369e+06 -6.66e+01 0.00e+00 6.21e+03 -3.31e+00 1.62e+02 0 5.05e-02 6.52e+0042 7.856295e+06 7.21e+00 2.62e+02 3.87e+02 9.88e-01 4.87e+02 0 1.52e-01 6.67e+0043 7.856292e+06 3.27e+00 1.32e+03 1.17e+03 7.09e-01 5.26e+02 0 2.45e-01 6.91e+0044 7.856291e+06 6.00e-01 9.14e+01 1.26e+03 9.84e-01 1.58e+03 0 1.61e-01 7.07e+0045 7.856290e+06 1.17e+00 2.28e+02 3.77e+03 9.53e-01 4.73e+03 0 1.61e-01 7.23e+0046 7.856287e+06 3.26e+00 6.84e+01 1.13e+04 9.92e-01 1.42e+04 0 1.41e-01 7.38e+0047 7.856277e+06 9.55e+00 6.72e+01 3.38e+04 9.83e-01 4.26e+04 0 1.98e-01 7.57e+0048 7.856250e+06 2.68e+01 6.39e+01 1.01e+05 9.54e-01 1.28e+05 0 1.61e-01 7.73e+0049 7.856184e+06 6.65e+01 1.63e+02 2.96e+05 8.82e-01 2.30e+05 0 1.68e-01 7.90e+0050 7.856099e+06 8.46e+01 2.53e+02 5.02e+05 8.27e-01 3.20e+05 0 1.64e-01 8.07e+00Bundle adjustment report
------------------------Residuals : 314636Parameters : 120363Iterations : 51Time : 8.10026 [s]Initial cost : 6.75889 [px]Final cost : 4.99688 [px]Termination : No convergence=> Completed observations: 2530=> Merged observations: 1265=> Filtered observations: 117251=> Changed observations: 0.769435==============================================================================
Bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 3.790813e+04 0.00e+00 1.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 7.63e-021 3.260843e+04 5.30e+03 1.18e+02 1.15e+03 9.95e-01 3.00e+04 0 3.35e-02 1.10e-012 3.257458e+04 3.39e+01 3.45e+01 2.24e+02 9.99e-01 9.00e+04 0 3.52e-02 1.45e-013 3.257428e+04 3.03e-01 3.36e+01 1.81e+01 1.00e+00 2.70e+05 0 3.44e-02 1.80e-014 3.257424e+04 4.22e-02 3.08e+01 3.87e-01 1.00e+00 8.10e+05 0 3.24e-02 2.12e-015 3.257422e+04 1.33e-02 2.28e+01 1.96e-02 1.00e+00 2.43e+06 0 3.18e-02 2.44e-016 3.257420e+04 1.88e-02 2.31e+01 2.51e-03 1.00e+00 7.29e+06 0 3.25e-02 2.77e-017 3.257419e+04 1.19e-02 1.44e+02 5.28e-04 1.00e+00 2.19e+07 0 3.31e-02 3.10e-018 3.257419e+04 2.34e-03 3.66e+02 9.54e-05 1.00e+00 6.56e+07 0 3.25e-02 3.42e-019 3.257419e+04 1.29e-03 4.09e+03 4.52e-05 1.00e+00 1.97e+08 0 3.24e-02 3.75e-0110 3.257419e+04 2.73e-04 1.38e+04 9.49e-06 1.00e+00 5.90e+08 0 3.24e-02 4.07e-0111 3.257419e+04 1.41e-04 1.36e+05 4.86e-06 1.00e+00 1.77e+09 0 3.24e-02 4.40e-0112 3.257419e+04 3.11e-05 4.89e+05 1.08e-06 9.96e-01 5.31e+09 0 3.18e-02 4.71e-0113 3.257419e+04 1.48e-05 4.62e+06 5.33e-07 9.51e-01 1.59e+10 0 3.14e-02 5.03e-0114 3.257419e+04 2.61e-06 1.72e+07 1.22e-07 6.07e-01 1.61e+10 0 3.29e-02 5.36e-0115 3.257419e+04 2.09e-06 7.23e+06 1.97e-08 9.24e-01 4.14e+10 0 3.14e-02 5.68e-0116 3.257419e+04 8.78e-07 1.23e+07 2.91e-08 8.65e-01 6.77e+10 0 3.17e-02 5.99e-0117 3.257419e+04 4.74e-07 1.23e+07 1.33e-08 9.08e-01 1.48e+11 0 3.22e-02 6.32e-0118 3.257419e+04 2.43e-07 3.75e+07 1.02e-08 7.06e-01 1.59e+11 0 3.39e-02 6.66e-0119 3.257419e+04 1.23e-07 3.42e+07 2.44e-09 7.17e-01 1.73e+11 0 3.40e-02 7.00e-0120 3.257419e+04 8.75e-08 9.78e+06 1.43e-09 9.75e-01 5.20e+11 0 3.22e-02 7.32e-0121 3.257419e+04 -2.26e-07 0.00e+00 2.64e-09 -2.86e+00 2.60e+11 0 1.04e-02 7.43e-0122 3.257419e+04 -1.93e-08 0.00e+00 1.33e-09 -4.76e-01 6.51e+10 0 1.03e-02 7.53e-0123 3.257419e+04 2.36e-09 1.76e+07 3.48e-10 2.02e-01 5.36e+10 0 3.15e-02 7.85e-0124 3.257419e+04 1.39e-08 9.58e+06 2.68e-10 8.51e-01 8.18e+10 0 3.17e-02 8.16e-0125 3.257419e+04 -2.18e-08 0.00e+00 3.51e-10 -1.81e+00 4.09e+10 0 1.05e-02 8.27e-0126 3.257419e+04 5.46e-09 1.01e+07 2.04e-10 7.52e-01 4.69e+10 0 3.31e-02 8.60e-0127 3.257419e+04 -2.28e-09 0.00e+00 2.07e-10 -3.33e-01 2.34e+10 0 1.13e-02 8.72e-0128 3.257419e+04 -4.90e-08 0.00e+00 1.39e-10 -1.13e+01 5.86e+09 0 1.07e-02 8.82e-0129 3.257419e+04 1.42e-09 7.52e+06 1.10e-10 5.76e-01 5.88e+09 0 3.27e-02 9.15e-0130 3.257419e+04 -3.71e-09 0.00e+00 1.08e-10 -2.21e+00 2.94e+09 0 1.09e-02 9.26e-0131 3.257419e+04 -1.71e-08 0.00e+00 1.06e-10 -1.26e+01 7.35e+08 0 1.04e-02 9.36e-0132 3.257419e+04 7.86e-10 3.88e+06 1.06e-10 7.17e-01 8.01e+08 0 3.06e-02 9.67e-0133 3.257419e+04 -2.72e-09 0.00e+00 1.08e-10 -6.96e+00 4.00e+08 0 1.07e-02 9.78e-0134 3.257419e+04 -1.04e-07 0.00e+00 1.08e-10 -2.99e+02 1.00e+08 0 1.07e-02 9.89e-0135 3.257419e+04 -3.17e-08 0.00e+00 1.08e-10 -1.01e+02 1.25e+07 0 1.05e-02 9.99e-0136 3.257419e+04 -1.56e-10 0.00e+00 1.08e-10 -5.00e-01 7.82e+05 0 1.06e-02 1.01e+0037 3.257419e+04 -1.41e-08 0.00e+00 1.08e-10 -4.63e+01 2.44e+04 0 1.07e-02 1.02e+0038 3.257419e+04 2.98e-10 1.60e+06 1.03e-10 9.93e-01 7.33e+04 0 3.36e-02 1.05e+0039 3.257419e+04 -1.71e-10 0.00e+00 1.09e-10 -3.49e+00 3.67e+04 0 1.09e-02 1.07e+0040 3.257419e+04 -6.91e-11 0.00e+00 1.07e-10 -1.54e+00 9.16e+03 0 1.06e-02 1.08e+0041 3.257419e+04 -5.46e-11 0.00e+00 9.74e-11 -1.26e+00 1.15e+03 0 1.06e-02 1.09e+0042 3.257419e+04 -8.37e-11 0.00e+00 5.90e-11 -1.82e+00 7.16e+01 0 1.06e-02 1.10e+0043 3.257419e+04 -3.64e-11 0.00e+00 1.24e-11 -9.09e-01 2.24e+00 0 1.06e-02 1.11e+0044 3.257419e+04 -6.91e-11 0.00e+00 3.06e-12 -1.70e+00 3.50e-02 0 1.02e-02 1.12e+0045 3.257419e+04 7.28e-12 0.00e+00 6.14e-14 -1.04e+00 2.73e-04 0 1.05e-02 1.13e+0046 3.257419e+04 1.09e-11 0.00e+00 1.56e-17 0.00e+00 1.07e-06 0 1.00e-02 1.14e+00Bundle adjustment report
------------------------Residuals : 36466Parameters : 24198Iterations : 47Time : 1.15586 [s]Initial cost : 1.01958 [px]Final cost : 0.945133 [px]Termination : Convergence=> Completed observations: 2208=> Merged observations: 64=> Filtered observations: 91=> Changed observations: 0.129600==============================================================================
Bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 3.872910e+04 0.00e+00 1.60e+06 0.00e+00 0.00e+00 1.00e+04 0 2.40e-02 8.32e-021 3.722574e+04 1.50e+03 1.61e+06 2.94e+02 9.96e-01 3.00e+04 0 3.59e-02 1.19e-012 3.721707e+04 8.67e+00 1.61e+06 2.29e+01 1.03e+00 9.00e+04 0 3.53e-02 1.55e-013 3.721660e+04 4.70e-01 4.16e+06 1.45e+00 1.18e+00 2.70e+05 0 3.39e-02 1.89e-014 3.721645e+04 1.46e-01 1.06e+07 1.99e-01 1.26e+00 8.10e+05 0 3.57e-02 2.24e-015 3.721641e+04 4.27e-02 3.31e+07 2.71e-01 1.31e+00 2.43e+06 0 3.46e-02 2.59e-016 3.721639e+04 1.31e-02 2.99e+07 5.49e-02 1.34e+00 7.29e+06 0 3.53e-02 2.94e-017 3.721639e+04 3.89e-03 1.83e+07 7.95e-02 1.38e+00 2.19e+07 0 3.41e-02 3.29e-018 3.721639e+04 1.17e-03 3.32e+07 1.91e-02 1.40e+00 6.56e+07 0 3.50e-02 3.64e-019 3.721639e+04 3.48e-04 4.08e+06 2.30e-02 1.42e+00 1.97e+08 0 3.54e-02 3.99e-0110 3.721639e+04 1.04e-04 4.12e+07 6.29e-03 1.44e+00 5.90e+08 0 3.56e-02 4.35e-0111 3.721639e+04 3.11e-05 1.31e+07 6.65e-03 1.45e+00 1.77e+09 0 3.67e-02 4.72e-0112 3.721639e+04 9.22e-06 4.45e+07 2.03e-03 1.46e+00 5.31e+09 0 3.69e-02 5.40e-0113 3.721639e+04 2.79e-06 3.08e+07 1.93e-03 1.45e+00 1.59e+10 0 4.43e-02 5.84e-0114 3.721639e+04 7.14e-07 7.98e+07 6.42e-04 1.23e+00 4.78e+10 0 4.34e-02 6.27e-0115 3.721639e+04 2.52e-07 8.23e+07 5.60e-04 8.27e-01 6.65e+10 0 3.55e-02 6.63e-0116 3.721639e+04 2.10e-07 1.41e+07 2.01e-04 1.11e+00 1.99e+11 0 4.38e-02 7.07e-0117 3.721639e+04 4.12e-08 1.06e+07 1.63e-04 1.15e+00 5.98e+11 0 4.26e-02 7.49e-0118 3.721639e+04 -7.08e-08 0.00e+00 6.25e-05 -1.62e+00 2.99e+11 0 1.25e-02 7.62e-0119 3.721639e+04 -1.19e-07 0.00e+00 6.25e-05 -4.74e+00 7.48e+10 0 1.18e-02 7.74e-0120 3.721639e+04 -3.83e-08 0.00e+00 6.25e-05 -3.42e+00 9.35e+09 0 1.19e-02 7.86e-0121 3.721639e+04 -5.04e-08 0.00e+00 6.25e-05 -7.09e+00 5.84e+08 0 1.56e-02 8.02e-0122 3.721639e+04 -3.47e-09 0.00e+00 6.25e-05 -5.29e-01 1.83e+07 0 1.15e-02 8.13e-0123 3.721639e+04 7.62e-09 9.17e+06 6.25e-05 1.17e+00 5.48e+07 0 4.59e-02 8.59e-0124 3.721639e+04 -3.96e-08 0.00e+00 4.78e-05 -1.60e+01 2.74e+07 0 1.24e-02 8.72e-0125 3.721639e+04 -8.83e-09 0.00e+00 4.78e-05 -3.56e+00 6.85e+06 0 1.15e-02 8.83e-0126 3.721639e+04 2.68e-09 4.66e+06 4.78e-05 1.08e+00 2.05e+07 0 4.28e-02 9.26e-0127 3.721639e+04 -1.45e-08 0.00e+00 1.93e-05 -1.83e+01 1.03e+07 0 1.57e-02 9.42e-0128 3.721639e+04 -1.83e-09 0.00e+00 1.93e-05 -2.30e+00 2.57e+06 0 1.52e-02 9.57e-0129 3.721639e+04 -1.25e-08 0.00e+00 1.93e-05 -1.59e+01 3.21e+05 0 1.21e-02 9.69e-0130 3.721639e+04 -2.47e-10 0.00e+00 1.93e-05 -2.87e-01 2.01e+04 0 1.18e-02 9.81e-0131 3.721639e+04 8.22e-10 4.28e+06 1.92e-05 1.07e+00 6.02e+04 0 3.68e-02 1.02e+0032 3.721639e+04 1.67e-10 4.27e+06 1.41e-05 4.35e-01 6.01e+04 0 4.74e-02 1.07e+0033 3.721639e+04 8.73e-11 4.27e+06 5.92e-06 4.20e-01 5.98e+04 0 3.91e-02 1.10e+00Bundle adjustment report
------------------------Residuals : 39984Parameters : 24078Iterations : 34Time : 1.12282 [s]Initial cost : 0.984182 [px]Final cost : 0.96477 [px]Termination : Convergence=> Completed observations: 247=> Merged observations: 0=> Filtered observations: 90=> Changed observations: 0.016857==============================================================================
Bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 3.714632e+04 0.00e+00 4.27e+06 0.00e+00 0.00e+00 1.00e+04 0 2.38e-02 7.96e-021 3.683388e+04 3.12e+02 4.27e+06 7.84e+01 9.98e-01 3.00e+04 0 3.64e-02 1.16e-012 3.683292e+04 9.64e-01 4.27e+06 4.98e+00 9.95e-01 9.00e+04 0 4.27e-02 1.59e-013 3.683290e+04 1.27e-02 6.82e+06 5.13e-01 7.67e-01 1.06e+05 0 4.08e-02 2.00e-014 3.683290e+04 1.08e-03 6.83e+06 1.47e-01 6.44e-01 1.09e+05 0 5.10e-02 2.51e-015 3.683290e+04 1.51e-04 6.83e+06 5.44e-02 6.23e-01 1.10e+05 0 3.56e-02 2.87e-016 3.683290e+04 2.15e-05 6.83e+06 2.06e-02 6.17e-01 1.12e+05 0 5.05e-02 3.37e-017 3.683290e+04 3.16e-06 6.83e+06 7.90e-03 6.17e-01 1.13e+05 0 3.53e-02 3.73e-018 3.683290e+04 4.62e-07 9.19e+06 3.02e-03 6.15e-01 1.15e+05 0 4.43e-02 4.17e-019 3.683290e+04 6.78e-08 9.19e+06 1.16e-03 6.09e-01 1.16e+05 0 4.03e-02 4.58e-0110 3.683290e+04 9.98e-09 9.19e+06 4.43e-04 5.73e-01 1.16e+05 0 3.64e-02 4.94e-0111 3.683290e+04 1.54e-09 9.19e+06 1.70e-04 4.16e-01 1.16e+05 0 4.12e-02 5.37e-0112 3.683290e+04 1.31e-10 9.19e+06 6.50e-05 7.90e-02 7.25e+04 0 3.49e-02 5.72e-0113 3.683290e+04 5.31e-10 6.83e+06 2.49e-05 3.96e-01 7.18e+04 0 3.95e-02 6.12e-0114 3.683290e+04 -1.46e-11 0.00e+00 9.53e-06 -5.76e-02 3.59e+04 0 1.13e-02 6.23e-0115 3.683290e+04 -2.18e-11 0.00e+00 9.53e-06 -6.58e-02 8.98e+03 0 1.10e-02 6.35e-0116 3.683290e+04 2.84e-10 6.82e+06 9.49e-06 2.80e-01 8.27e+03 0 3.51e-02 6.70e-0117 3.683290e+04 6.55e-11 6.82e+06 3.57e-06 3.65e-02 4.60e+03 0 3.59e-02 7.06e-0118 3.683290e+04 -7.28e-12 0.00e+00 1.33e-06 -1.22e-02 2.30e+03 0 1.16e-02 7.18e-0119 3.683290e+04 -2.18e-11 0.00e+00 1.32e-06 -3.65e-02 5.75e+02 0 1.13e-02 7.29e-0120 3.683290e+04 -7.28e-12 0.00e+00 1.24e-06 -1.22e-02 7.19e+01 0 1.13e-02 7.41e-0121 3.683290e+04 -6.55e-11 0.00e+00 8.09e-07 -1.10e-01 4.49e+00 0 1.13e-02 7.52e-0122 3.683290e+04 -3.64e-11 0.00e+00 1.27e-07 -6.19e-02 1.40e-01 0 1.24e-02 7.64e-0123 3.683290e+04 1.46e-11 6.82e+06 7.49e-09 7.09e-02 8.61e-02 0 3.61e-02 8.01e-0124 3.683290e+04 -2.18e-11 0.00e+00 4.25e-09 -1.54e-01 4.30e-02 0 1.16e-02 8.12e-0125 3.683290e+04 -2.18e-11 0.00e+00 2.20e-09 -2.79e-01 1.08e-02 0 1.18e-02 8.24e-0126 3.683290e+04 -7.28e-12 0.00e+00 5.66e-10 -3.42e-01 1.34e-03 0 1.14e-02 8.36e-01Bundle adjustment report
------------------------Residuals : 39846Parameters : 24039Iterations : 27Time : 0.85546 [s]Initial cost : 0.96553 [px]Final cost : 0.961448 [px]Termination : Convergence=> Completed observations: 95=> Merged observations: 60=> Filtered observations: 41=> Changed observations: 0.009838==============================================================================
Bundle adjustment
==============================================================================iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time0 3.673507e+04 0.00e+00 6.82e+06 0.00e+00 0.00e+00 1.00e+04 0 2.45e-02 9.79e-021 3.663089e+04 1.04e+02 6.82e+06 3.39e+01 9.97e-01 3.00e+04 0 3.61e-02 1.34e-012 3.663047e+04 4.21e-01 6.82e+06 4.23e+00 1.01e+00 9.00e+04 0 3.72e-02 1.71e-013 3.663046e+04 4.98e-03 6.83e+06 5.63e-01 9.82e-01 2.70e+05 0 3.58e-02 2.07e-014 3.663046e+04 9.97e-05 1.20e+07 1.17e-01 8.94e-01 5.30e+05 0 3.67e-02 2.44e-015 3.663046e+04 3.13e-06 2.30e+07 2.46e-02 8.20e-01 7.17e+05 0 3.49e-02 2.79e-016 3.663046e+04 1.23e-07 3.69e+07 5.45e-03 7.04e-01 7.69e+05 0 3.29e-02 3.12e-017 3.663046e+04 -5.82e-09 0.00e+00 1.21e-03 -2.33e-01 3.85e+05 0 1.05e-02 3.23e-018 3.663046e+04 1.00e-08 3.14e+07 1.21e-03 4.05e-01 3.82e+05 0 3.26e-02 3.55e-019 3.663046e+04 1.96e-09 2.86e+07 2.70e-04 1.48e-01 2.83e+05 0 3.81e-02 3.93e-0110 3.663046e+04 1.48e-09 2.58e+07 6.02e-05 1.28e-01 2.01e+05 0 3.51e-02 4.29e-0111 3.663046e+04 5.32e-09 2.03e+07 1.34e-05 5.40e-01 2.01e+05 0 3.38e-02 4.63e-0112 3.663046e+04 1.11e-09 1.75e+07 3.00e-06 2.37e-01 1.75e+05 0 3.57e-02 4.98e-0113 3.663046e+04 8.80e-10 1.47e+07 6.68e-07 2.43e-01 1.54e+05 0 3.28e-02 5.31e-0114 3.663046e+04 7.42e-10 1.20e+07 1.49e-07 2.79e-01 1.42e+05 0 3.27e-02 5.64e-0115 3.663046e+04 -7.28e-12 0.00e+00 3.31e-08 -7.67e-03 7.09e+04 0 1.07e-02 5.75e-0116 3.663046e+04 5.82e-10 9.19e+06 3.31e-08 3.03e-01 6.69e+04 0 3.29e-02 6.08e-0117 3.663046e+04 4.51e-10 6.83e+06 7.35e-09 3.50e-01 6.51e+04 0 3.37e-02 6.42e-0118 3.663046e+04 5.09e-11 6.83e+06 1.63e-09 4.98e-02 3.76e+04 0 3.53e-02 6.77e-0119 3.663046e+04 -7.28e-12 0.00e+00 3.78e-10 -1.66e-02 1.88e+04 0 1.13e-02 6.88e-0120 3.663046e+04 2.76e-10 6.82e+06 3.76e-10 3.07e-01 1.78e+04 0 3.37e-02 7.22e-0121 3.663046e+04 -3.64e-11 0.00e+00 1.32e-10 -9.74e-02 8.89e+03 0 1.12e-02 7.33e-0122 3.663046e+04 -3.64e-11 0.00e+00 1.26e-10 -9.74e-02 2.22e+03 0 1.08e-02 7.44e-0123 3.663046e+04 -5.82e-11 0.00e+00 1.05e-10 -1.34e-01 2.78e+02 0 1.14e-02 7.56e-0124 3.663046e+04 -1.46e-11 0.00e+00 6.40e-11 -6.09e-02 1.74e+01 0 1.10e-02 7.67e-0125 3.663046e+04 2.18e-11 0.00e+00 1.30e-11 0.00e+00 5.43e-01 0 1.06e-02 7.78e-0126 3.663046e+04 -1.46e-11 0.00e+00 1.56e-12 -8.53e-02 8.48e-03 0 1.11e-02 7.89e-0127 3.663046e+04 2.18e-11 0.00e+00 1.48e-14 0.00e+00 6.63e-05 0 1.09e-02 8.00e-0128 3.663046e+04 2.18e-11 0.00e+00 1.76e-18 0.00e+00 2.59e-07 0 1.10e-02 8.11e-01Bundle adjustment report
------------------------Residuals : 39678Parameters : 24006Iterations : 29Time : 0.827546 [s]Initial cost : 0.9622 [px]Final cost : 0.960829 [px]Termination : Convergence=> Completed observations: 76=> Merged observations: 29=> Filtered observations: 26=> Changed observations: 0.006603==============================================================================
Extracting colors
==============================================================================这篇关于colmap 已知pose 重建 kitti数据尝试的文章就介绍到这儿，希望我们推荐的文章对编程师们有所帮助！
