diff --git a/CMakeLists.txt b/CMakeLists.txt index ddb0af8..5f23b90 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,37 @@ -PROJECT(pixelstruct) -CMAKE_MINIMUM_REQUIRED(VERSION 2.6) -SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") -#SET(CMAKE_VERBOSE_MAKEFILE ON) +# Created by the script cgal_create_CMakeLists +# This is the CMake script for compiling a set of CGAL applications. + +project( pixelstruct ) + + +cmake_minimum_required(VERSION 2.8.11) + +# CGAL and its components +find_package( CGAL QUIET COMPONENTS Core ) + +if ( NOT CGAL_FOUND ) + + message(STATUS "This project requires the CGAL library, and will not be compiled.") + return() + +endif() + +# include helper file +include( ${CGAL_USE_FILE} ) + + +# Boost and its components +find_package( Boost REQUIRED ) + +if ( NOT Boost_FOUND ) + + message(STATUS "This project requires the Boost library, and will not be compiled.") + + return() + +endif() + +# include for local directory ADD_SUBDIRECTORY(src) + + diff --git a/Makefile b/Makefile index a73ba2d..a697fae 100644 --- a/Makefile +++ b/Makefile @@ -1,7 +1,134 @@ -all: - mkdir -p build - cd build && cmake .. && $(MAKE) - cp build/src/pixelstruct . +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.6 +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" at a time, but pass parallelism. +.NOTPARALLEL: + + +#============================================================================= +# Special targets provided by cmake. + +# Disable implicit rules so canonical targets will work. +.SUFFIXES: + + +# Remove some rules from gmake that .SUFFIXES does not remove. +SUFFIXES = + +.SUFFIXES: .hpux_make_needs_suffix_list + + +# Suppress display of executed commands. +$(VERBOSE).SILENT: + + +# A target that is always out of date. +cmake_force: + +.PHONY : cmake_force + +#============================================================================= +# Set environment variables for the build. + +# The shell in which to execute make rules. +SHELL = /bin/sh + +# The CMake executable. +CMAKE_COMMAND = /usr/local/Cellar/cmake/3.6.2/bin/cmake + +# The command to remove a file. +RM = /usr/local/Cellar/cmake/3.6.2/bin/cmake -E remove -f + +# Escaping for special characters. +EQUALS = = + +# The top-level source directory on which CMake was run. +CMAKE_SOURCE_DIR = /Users/johndpope/Documents/gitWorkspace/pixelstruct + +# The top-level build directory on which CMake was run. +CMAKE_BINARY_DIR = /Users/johndpope/Documents/gitWorkspace/pixelstruct + +#============================================================================= +# Targets provided globally by CMake. + +# Special rule for the target edit_cache +edit_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake cache editor..." + /usr/local/Cellar/cmake/3.6.2/bin/ccmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : edit_cache + +# Special rule for the target edit_cache +edit_cache/fast: edit_cache + +.PHONY : edit_cache/fast + +# Special rule for the target rebuild_cache +rebuild_cache: + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..." + /usr/local/Cellar/cmake/3.6.2/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) +.PHONY : rebuild_cache + +# Special rule for the target rebuild_cache +rebuild_cache/fast: rebuild_cache + +.PHONY : rebuild_cache/fast + +# The main all target +all: cmake_check_build_system + $(CMAKE_COMMAND) -E cmake_progress_start /Users/johndpope/Documents/gitWorkspace/pixelstruct/CMakeFiles /Users/johndpope/Documents/gitWorkspace/pixelstruct/CMakeFiles/progress.marks + $(MAKE) -f CMakeFiles/Makefile2 all + $(CMAKE_COMMAND) -E cmake_progress_start /Users/johndpope/Documents/gitWorkspace/pixelstruct/CMakeFiles 0 +.PHONY : all + +# The main clean target clean: - rm -rf build pixelstruct + $(MAKE) -f CMakeFiles/Makefile2 clean +.PHONY : clean + +# The main clean target +clean/fast: clean + +.PHONY : clean/fast + +# Prepare targets for installation. +preinstall: all + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall + +# Prepare targets for installation. +preinstall/fast: + $(MAKE) -f CMakeFiles/Makefile2 preinstall +.PHONY : preinstall/fast + +# clear depends +depend: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1 +.PHONY : depend + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... edit_cache" + @echo "... rebuild_cache" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/README b/README.md similarity index 70% rename from README rename to README.md index 9550f87..8ce176c 100644 --- a/README +++ b/README.md @@ -4,11 +4,59 @@ from photographs. It uses the opensource structure-from-motion system Bundler[2], which is based on the same research as Microsoft Live Labs Photosynth[3]. + +![Alt text](/images/youtube.png "PixelStruct - photosynth viewer alternative") +https://www.youtube.com/watch?v=VFdNQc3gVkM + + + HOW TO COMPILE PixelStruct requires the following libraries: - - Qt4 (with OpenGL support) + - Qt5 (with OpenGL support) - CGAL + +OSX +------------------------------- +brew install boost --with-python +brew install qt5 +// brew install cgal // N.B. doesn't seem to link cgal_qt5 !?? nor does macports - use git + cmake below + +1.) Clone this repo +cd pixelStruct + +2.) clone GCAL inside directory https://github.com/johndpope/cgal/blob/master/INSTALL.md +git clone https://github.com/CGAL/cgal.git +cd cgal +mkdir -p build/debug +cd build/debug +cmake -DCMAKE_OSX_ARCHITECTURES=x86_64 -DCMAKE_BUILD_TYPE=Debug ../.. +make +make install + + +3) +cd ../.. +cmake -DCMAKE_OSX_ARCHITECTURES=x86_64 -DCGAL_DIR=/cgal . +make // here it's failing with Undefined symbols for architecture x86_64: on CGAL + +OPTIONAL / SPIT OUT XCODE PROJECT +qmake -spec macx-xcode pixelstruct.pro +open xcode project + + +Troubleshooting +---------------------------------- +export CXXFLAGS=-std=c++11 maybe not needed anymore? +export CPLUS_INCLUDE_PATH=/usr/include/python2.7 + +https://github.com/Homebrew/legacy-homebrew/issues/29938 +replace 5.7.0 -> current version of qt!!! +sudo ln -s /usr/local/Cellar/qt5/5.7.0/mkspecs /usr/local/mkspecs && ln -s /usr/local/Cellar/qt5/5.7.0/plugins /usr/local/plugins + + + + You will also need to install CMake in order to build PixelStruct. 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-2.7632261373e+00 +226 228 229 +2 9 815 -12.9100 -19.9800 10 797 96.5400 38.3800 +9.4682719404e-01 8.0036197631e-02 -3.1542134854e+00 +208 213 202 +2 9 861 202.4900 67.1600 10 846 282.6600 98.2000 +9.8418065579e-01 9.2118631759e-02 -3.1622743442e+00 +199 202 197 +2 9 864 210.5300 69.9600 10 849 289.9200 100.0300 +1.6577299218e-01 5.7839632418e-01 -2.7443360753e+00 +99 91 71 +2 9 892 11.0300 150.3800 10 879 97.9700 201.0400 +6.3686057209e-01 6.0331390488e-01 -2.8223124770e+00 +139 143 127 +2 9 897 106.9600 170.8500 10 1118 194.6500 209.2000 +-8.2121556324e-02 -8.9258914360e-01 -2.7472294021e+00 +155 127 2 +2 9 950 -58.9500 -118.7500 10 970 60.6100 -54.4800 +-2.6469582507e-02 -4.3214239034e-01 -2.7180342254e+00 +29 30 29 +2 9 1013 -40.4100 -13.4100 10 1038 68.5700 47.6100 +-2.6469582507e-02 -4.3214239034e-01 -2.7180342254e+00 +29 30 29 +2 9 1014 -40.4100 -13.4100 10 1039 68.5700 47.6100 +1.7986970018e-02 -3.1670541139e-01 -2.7045786069e+00 +65 26 18 +2 9 1044 -30.2800 13.0400 10 1057 77.4900 72.2500 +3.7801299040e-01 -6.2907571724e-02 -3.1371834745e+00 +58 103 27 +2 9 1048 84.0300 14.8200 10 1048 166.0300 60.1400 +7.4977515252e-01 1.5504575568e-01 -2.9816507784e+00 +154 162 151 +2 9 1112 148.8900 92.6300 10 1093 237.3200 129.3000 +-4.0934375028e-01 -1.1347185313e-01 -2.6096040997e+00 +186 87 118 +2 0 486 -68.5900 17.7400 3 637 -81.3200 67.2400 +-1.4756728979e-01 -4.0632554464e-01 -2.6733982731e+00 +32 32 37 +2 1 670 -43.8200 -44.8000 3 835 -74.1000 -1.4500 +-7.9577244500e-01 7.9156787634e-02 -2.5312080974e+00 +186 160 144 +2 2 70 -127.6300 71.8400 3 56 -108.1100 117.8300 +9.7434168401e-01 5.7054303055e-01 -3.1107897066e+00 +127 91 79 +2 2 259 217.3000 76.8800 3 138 242.5000 98.5200 +1.9090301592e-01 6.6135680621e-01 -2.6954517050e+00 +211 222 221 +2 2 269 60.4500 139.5200 3 195 68.1300 183.3600 +-4.5120205535e-02 -1.3337018944e+00 -2.4489448909e+00 +121 117 114 +2 2 276 -134.6000 -203.8200 3 376 -190.7800 -167.7400 +5.1498979397e-01 -1.1526526767e+00 -2.6153107120e+00 +151 158 145 +2 2 351 -7.9000 -207.8000 3 365 -92.2600 -199.5800 +1.2009403117e-01 -6.2563625892e-01 -2.8292379420e+00 +50 13 7 +2 2 590 -15.8400 -90.1700 3 575 -43.9000 -69.4800 +1.2009403117e-01 -6.2563625892e-01 -2.8292379420e+00 +50 13 7 +2 2 591 -15.8400 -90.1700 3 576 -43.9000 -69.4800 +4.8401695338e-01 1.6219311145e-01 -3.1646091743e+00 +194 228 85 +2 2 653 114.1900 14.4300 3 621 124.2500 32.2600 +4.8401695338e-01 1.6219311145e-01 -3.1646091743e+00 +194 228 85 +2 2 654 114.1900 14.4300 3 622 124.2500 32.2600 +1.0636787665e+00 7.8473169707e-01 -3.1784620480e+00 +190 189 193 +2 2 674 246.7800 105.4200 3 253 291.9800 134.5000 +-2.0422372939e-02 -4.6363618939e-01 -2.7329836222e+00 +14 17 21 +2 2 825 -36.3800 -50.1900 3 1114 -57.9400 -23.6500 +9.7627344659e-01 9.1434264013e-02 -3.1998732026e+00 +105 73 64 +2 2 866 198.5700 -13.0600 3 602 202.2700 -14.2900 +-8.2821623510e-01 1.2576097768e-01 -2.4712753234e+00 +205 125 142 +2 2 896 -135.2300 84.9400 3 1199 -115.3300 130.3400 +4.9853645502e-01 5.1687969940e-01 -2.8654503261e+00 +218 241 239 +2 2 898 115.5200 97.0200 3 659 121.7200 129.6300 +1.0536932126e-01 -6.1233122296e-01 -2.8222829298e+00 +188 147 143 +2 2 1057 -17.9400 -86.7800 3 1081 -45.2500 -65.4900 +-1.1163200396e-02 -4.4862167445e-01 -2.7291621525e+00 +222 224 219 +2 2 1112 -34.4500 -47.4500 3 1117 -56.2100 -21.3300 +-7.4207639144e-01 -1.6529176531e-01 -2.5972060040e+00 +154 166 177 +2 2 1173 -129.4500 28.6500 3 1175 -114.3600 71.1800 +2.5499879191e-01 6.8787966980e-01 -2.7155493702e+00 +196 212 204 +2 2 1229 73.7500 141.3100 3 906 82.3200 185.4200 +-3.6411026020e-02 -3.9336286221e-01 -2.7059633711e+00 +39 34 31 +2 5 551 105.8200 -19.8500 3 609 -57.2600 -8.0200 +3.7232138447e-03 -3.3750650273e-01 -2.7001645719e+00 +47 17 19 +2 5 555 110.2600 -6.0900 3 615 -48.8200 0.7700 +-1.4880073541e-01 -3.6679541646e-01 -2.6576262551e+00 +38 31 26 +2 5 783 86.1500 -16.7300 3 847 -73.1600 6.5600 +5.4101609406e-02 -3.3249993765e-01 -2.7151706084e+00 +89 1 0 +2 5 794 117.9800 -3.3700 3 832 -40.9100 -2.5900 diff --git a/bundle/out b/bundle/out new file mode 100644 index 0000000..c2dbae2 --- /dev/null +++ b/bundle/out @@ -0,0 +1,3396 @@ +[OnInit] Running program /home/david/bin/bundler/bin/bundler +Loading images from file 'list.txt' +[BundlerApp::OnInit] Processing options... +[BundlerApp::OnInit] Loading frame... +[BundlerApp::OnInit] Loading images... +[LoadMatchTable] Loading matches +[PruneDoubleMatches] Pruned[0,1] = 10 / 210 +[PruneDoubleMatches] Pruned[0,2] = 8 / 124 +[PruneDoubleMatches] Pruned[0,3] = 2 / 46 +[PruneDoubleMatches] Pruned[0,5] = 3 / 123 +[PruneDoubleMatches] Pruned[0,7] = 1 / 172 +[PruneDoubleMatches] Pruned[0,8] = 1 / 17 +[PruneDoubleMatches] Pruned[0,9] = 3 / 115 +[PruneDoubleMatches] Pruned[0,10] = 0 / 65 +[PruneDoubleMatches] Pruned[1,2] = 6 / 158 +[PruneDoubleMatches] Pruned[1,3] = 1 / 40 +[PruneDoubleMatches] Pruned[1,5] = 1 / 38 +[PruneDoubleMatches] Pruned[1,7] = 6 / 229 +[PruneDoubleMatches] Pruned[1,8] = 1 / 25 +[PruneDoubleMatches] Pruned[1,9] = 4 / 151 +[PruneDoubleMatches] Pruned[1,10] = 3 / 82 +[PruneDoubleMatches] Pruned[2,3] = 1 / 74 +[PruneDoubleMatches] Pruned[2,5] = 1 / 32 +[PruneDoubleMatches] Pruned[2,7] = 2 / 113 +[PruneDoubleMatches] Pruned[2,9] = 2 / 108 +[PruneDoubleMatches] Pruned[2,10] = 2 / 54 +[PruneDoubleMatches] Pruned[3,4] = 2 / 44 +[PruneDoubleMatches] Pruned[3,5] = 0 / 20 +[PruneDoubleMatches] Pruned[3,9] = 2 / 17 +[PruneDoubleMatches] Removing[3,9] +[PruneDoubleMatches] Pruned[5,6] = 0 / 22 +[PruneDoubleMatches] Pruned[5,7] = 2 / 42 +[PruneDoubleMatches] Pruned[5,9] = 0 / 20 +[PruneDoubleMatches] Pruned[7,8] = 1 / 139 +[PruneDoubleMatches] Pruned[7,9] = 1 / 124 +[PruneDoubleMatches] Pruned[7,10] = 0 / 59 +[PruneDoubleMatches] Pruned[8,9] = 1 / 28 +[PruneDoubleMatches] Pruned[8,10] = 1 / 19 +[PruneDoubleMatches] Pruned[9,10] = 10 / 147 +[SifterApp::LoadKeys] Loading keys... +[SifterApp::LoadKeys] Loading keys from image 0... +[GetJPEGDimensions] File ./kermit000.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 1... +[GetJPEGDimensions] File ./kermit001.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 2... +[GetJPEGDimensions] File ./kermit002.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 3... +[GetJPEGDimensions] File ./kermit003.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 4... +[GetJPEGDimensions] File ./kermit004.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 5... +[GetJPEGDimensions] File ./kermit005.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 6... +[GetJPEGDimensions] File ./kermit006.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 7... +[GetJPEGDimensions] File ./kermit007.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 8... +[GetJPEGDimensions] File ./kermit008.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 9... +[GetJPEGDimensions] File ./kermit009.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loading keys from image 10... +[GetJPEGDimensions] File ./kermit010.jpg: ( 640 , 480 ) +[SifterApp::LoadKeys] Loaded keys in 0.560s +Sum of squares tolerance reached + -1.945226e-06 5.278789e-04 -3.099461e-01 + -1.415281e-03 -3.670231e-04 2.060124e+00 + 5.724426e-01 -2.133807e+00 -1.673961e-01 + 7.842251e-05 5.494348e-04 -3.099461e-01 + -1.403188e-03 -3.637796e-04 2.060124e+00 + 5.724426e-01 -2.133807e+00 -1.673961e-01 +Inliers[0,1] = 197 out of 200 +Inliers[0,1] = 197 out of 197 +Sum of squares tolerance reached + 5.860478e-04 2.751973e-04 -3.097747e-02 + -9.610575e-06 -4.117492e-05 -2.402171e-01 + -3.299525e-02 2.252430e-01 -1.391677e+00 + -1.959028e-05 1.855287e-04 -3.097763e-02 + 6.554244e-05 -3.004803e-05 -2.402170e-01 + -3.299475e-02 2.252430e-01 -1.391677e+00 +Inliers[0,2] = 111 out of 116 +Inliers[0,2] = 111 out of 111 +Sum of squares tolerance reached + -1.002554e-03 9.311485e-04 -1.250136e-01 + 7.543068e-04 6.038455e-05 -1.057469e+00 + -3.369319e-01 1.068274e+00 2.500483e+01 + -2.688054e-04 1.151893e-03 -1.250131e-01 + 6.489225e-04 2.868025e-05 -1.057469e+00 + -3.369327e-01 1.068274e+00 2.500483e+01 +Inliers[0,3] = 42 out of 44 +Inliers[0,3] = 42 out of 42 +Sum of squares tolerance reached + 2.041135e-04 -1.088904e-05 -7.675642e-04 + -1.188092e-04 1.320965e-05 -2.340630e-01 + 2.673620e-02 2.532798e-01 3.930238e+00 + 4.872089e-07 8.995205e-06 -7.674604e-04 + -1.180207e-04 1.313266e-05 -2.340630e-01 + 2.673620e-02 2.532798e-01 3.930238e+00 +Inliers[0,5] = 113 out of 120 +Inliers[0,5] = 113 out of 113 +Sum of squares tolerance reached + -2.287739e-04 -2.901432e-04 1.239376e+00 + -3.762497e-04 4.675492e-06 -5.309065e-01 + -1.291361e+00 4.113690e-01 -2.347759e+00 + -2.005190e-04 -2.013374e-04 1.239376e+00 + -3.102002e-04 2.122701e-04 -5.309065e-01 + -1.291361e+00 4.113689e-01 -2.347759e+00 +Inliers[0,7] = 167 out of 171 +Inliers[0,7] = 167 out of 167 +Inliers[0,8] = 0 out of 16 +Sum of squares tolerance reached + -5.537452e-05 2.943463e-05 1.325485e-01 + -1.559842e-04 1.484044e-04 1.870102e-01 + -1.717232e-01 -1.982038e-01 2.089401e+00 + -1.015405e-04 6.884413e-05 1.325484e-01 + -1.233056e-04 1.205085e-04 1.870103e-01 + -1.717232e-01 -1.982038e-01 2.089401e+00 +Inliers[0,9] = 110 out of 112 +Inliers[0,9] = 110 out of 110 +Sum of squares tolerance reached + -1.077613e-03 2.279868e-03 -3.942524e-01 + 2.403236e-03 -4.759626e-03 -2.147831e-01 + 4.510148e-01 2.567455e-01 3.863300e+01 + 1.752620e-04 -2.977825e-04 -3.942499e-01 + 1.546748e-04 -1.334617e-04 -2.147876e-01 + 4.510151e-01 2.567449e-01 3.863300e+01 +Inliers[0,10] = 62 out of 65 +Inliers[0,10] = 62 out of 62 +Sum of squares tolerance reached + -5.459083e-04 -4.882194e-04 2.185176e-01 + 2.585287e-04 1.237325e-04 8.391884e-01 + -5.832716e-02 -7.572356e-01 4.212427e+00 + -1.225888e-05 -5.297179e-04 2.185176e-01 + 1.215668e-04 1.343831e-04 8.391884e-01 + -5.832756e-02 -7.572356e-01 4.212427e+00 +Inliers[1,2] = 148 out of 152 +Inliers[1,2] = 148 out of 148 +Sum of squares tolerance reached + -4.712841e+03 -3.419603e+03 -8.559701e+05 + 1.057803e+04 -2.583105e+00 -1.149829e+06 + 2.571759e+05 1.002221e+06 -9.280853e+01 + 2.356252e+03 -5.233903e+03 -8.559396e+05 + 5.315854e+03 1.347967e+03 -1.149852e+06 + 2.572199e+05 1.002209e+06 -9.261838e+01 +Inliers[1,3] = 38 out of 39 +Inliers[1,3] = 38 out of 38 +Sum of squares tolerance reached + -7.501259e-02 -5.250200e-02 6.938206e+00 + -1.178070e-02 -1.024042e-02 -5.555224e+01 + 5.561518e+00 6.148971e+01 6.588932e+02 + -5.149631e-03 -5.880420e-02 6.938204e+00 + -2.242292e-03 -1.110086e-02 -5.555224e+01 + 5.561586e+00 6.148970e+01 6.588932e+02 +Inliers[1,5] = 36 out of 37 +Inliers[1,5] = 36 out of 36 +Sum of squares tolerance reached + -1.211394e-03 1.953812e-03 -1.071613e+00 + 2.407851e-03 -4.119131e-03 -5.636354e-01 + 1.050198e+00 4.681590e-01 -2.816158e+01 + -2.316202e-04 -2.287900e-04 -1.071612e+00 + 4.895789e-04 1.541239e-04 -5.636359e-01 + 1.050199e+00 4.681565e-01 -2.816158e+01 +Inliers[1,7] = 217 out of 223 +Inliers[1,7] = 217 out of 217 +Sum of squares tolerance reached + 2.717090e-05 -8.502381e-05 1.986725e-01 + -2.959342e-04 8.960693e-04 1.456506e-02 + -2.048826e-01 -1.777205e-02 -4.793133e+00 + 1.935242e-05 5.598830e-06 1.986725e-01 + -2.170352e-04 -1.843667e-05 1.456508e-02 + -2.048827e-01 -1.777107e-02 -4.793133e+00 +Inliers[1,8] = 22 out of 24 +Inliers[1,8] = 22 out of 22 +Sum of squares tolerance reached + -6.744057e-08 6.535179e-05 -1.240718e+00 + 6.783453e-04 -2.373379e-03 -5.740891e-01 + 1.412001e+00 4.395747e-01 -1.040582e+01 + 2.875258e-04 -8.422905e-04 -1.240717e+00 + 5.740648e-05 -4.137003e-04 -5.740906e-01 + 1.412001e+00 4.395748e-01 -1.040582e+01 +Inliers[1,9] = 145 out of 147 +Inliers[1,9] = 145 out of 145 +Sum of squares tolerance reached + -7.919968e-06 4.900376e-04 5.839127e-01 + -1.558844e-04 -1.517827e-04 -1.049077e-01 + -6.185229e-01 1.317259e-01 -3.625977e+01 + -3.727096e-06 5.059399e-04 5.839127e-01 + -1.306989e-04 -5.626166e-05 -1.049078e-01 + -6.185229e-01 1.317259e-01 -3.625977e+01 +Inliers[1,10] = 75 out of 79 +Inliers[1,10] = 75 out of 75 +Sum of squares tolerance reached + 1.710110e-02 4.338269e-03 1.418749e-01 + 2.547832e-03 5.822588e-04 -9.868383e-01 + -2.561657e-01 1.080317e+00 2.873074e+01 + -1.239051e-04 3.752665e-04 1.418703e-01 + 2.490315e-04 5.336734e-05 -9.868389e-01 + -2.561596e-01 1.080319e+00 2.873074e+01 +Inliers[2,3] = 66 out of 73 +Inliers[2,3] = 66 out of 66 +Sum of squares tolerance reached + -1.242872e-04 1.742519e-05 -3.345672e-02 + -2.350068e-05 -5.087426e-05 -6.743882e-03 + 3.856674e-02 -3.487560e-03 4.272708e+00 + -1.259055e-04 4.778037e-06 -3.345672e-02 + -1.700495e-05 -1.083685e-07 -6.743899e-03 + 3.856674e-02 -3.487579e-03 4.272708e+00 +Inliers[2,5] = 28 out of 31 +Inliers[2,5] = 28 out of 28 +Sum of squares tolerance reached + 2.286770e-04 5.905397e-04 -1.301846e+00 + -3.004842e-03 8.543087e-05 -3.108939e+00 + 2.113276e+00 2.466571e+00 -1.348554e+02 + -2.349855e-04 1.010168e-03 -1.301846e+00 + -2.819193e-03 -8.258693e-05 -3.108939e+00 + 2.113276e+00 2.466571e+00 -1.348554e+02 +Inliers[2,7] = 107 out of 111 +Inliers[2,7] = 107 out of 107 +Sum of squares tolerance reached + -1.009033e-04 -2.090894e-04 -1.629579e-01 + 1.089136e-04 -4.722038e-06 6.281309e-02 + 1.743737e-01 -1.198603e-01 -4.103015e+00 + -9.462490e-05 -1.994258e-04 -1.629579e-01 + 1.246877e-04 1.955692e-05 6.281305e-02 + 1.743737e-01 -1.198603e-01 -4.103015e+00 +Inliers[2,9] = 101 out of 106 +Inliers[2,9] = 101 out of 101 +Sum of squares tolerance reached + -6.442117e-04 -9.522742e-04 -2.315167e-01 + 4.940420e-04 -3.058613e-04 -1.016941e-01 + 2.733184e-01 1.462656e-01 3.297317e+01 + -6.470321e-04 -9.190394e-04 -2.315168e-01 + 4.967199e-04 -3.374182e-04 -1.016940e-01 + 2.733184e-01 1.462658e-01 3.297317e+01 +Inliers[2,10] = 45 out of 52 +Inliers[2,10] = 45 out of 45 +Sum of squares tolerance reached + -1.531181e-06 -2.418318e-04 -2.003460e-02 + 3.338879e-04 3.588402e-05 -1.890652e-01 + -8.706645e-03 2.496606e-01 -4.524884e+00 + 5.075511e-05 -2.383569e-04 -2.003451e-02 + 3.271296e-04 3.543488e-05 -1.890652e-01 + -8.706594e-03 2.496606e-01 -4.524884e+00 +Inliers[3,4] = 40 out of 42 +Inliers[3,4] = 40 out of 40 +Sum of squares tolerance reached + -3.585234e-04 -4.116027e-04 -1.494140e-04 + 7.497693e-04 -2.679428e-04 1.517503e-01 + -5.196355e-02 -5.642000e-02 -3.220413e+00 + -2.721312e-04 -4.622938e-04 -1.499199e-04 + 7.361625e-04 -2.599590e-04 1.517504e-01 + -5.196419e-02 -5.641962e-02 -3.220413e+00 +Inliers[3,5] = 19 out of 20 +Inliers[3,5] = 19 out of 19 +Sum of squares tolerance reached + -1.233561e-03 8.462505e-04 6.237127e-02 + 2.243617e-04 -1.288025e-04 3.003837e-01 + -1.165815e-01 -2.628974e-01 2.345816e+00 + 1.006437e-04 2.570648e-04 6.237155e-02 + -6.287691e-05 -1.957729e-06 3.003837e-01 + -1.165802e-01 -2.628980e-01 2.345816e+00 +Inliers[5,6] = 21 out of 22 +Inliers[5,6] = 21 out of 21 +Sum of squares and x are within tolerance + 3.898146e-06 1.703651e-02 1.466742e+01 + 6.608351e-03 1.438214e-02 -2.701758e+01 + -1.889438e+01 2.068833e+01 3.484798e+00 + -1.106403e-02 6.928930e-03 1.466741e+01 + 6.005615e-04 8.895639e-03 -2.701758e+01 + -1.889438e+01 2.068834e+01 3.484798e+00 +Inliers[5,7] = 37 out of 40 +Inliers[5,7] = 37 out of 37 +Sum of squares tolerance reached + -1.874949e-04 -1.872030e-07 5.643971e-02 + 8.167384e-05 -1.114743e-04 5.892966e-03 + -7.036512e-02 -1.954409e-02 8.788897e+00 + -1.749788e-04 -4.138412e-05 5.643972e-02 + 4.342487e-05 1.442258e-05 5.892940e-03 + -7.036517e-02 -1.954391e-02 8.788897e+00 +Inliers[5,9] = 18 out of 20 +Inliers[5,9] = 18 out of 18 +Sum of squares tolerance reached + -4.206564e-04 -2.907820e-03 5.485963e+00 + -3.600092e-04 -1.479784e-03 -5.669628e-01 + -5.794568e+00 1.531453e-01 -1.923042e+02 + -4.188919e-04 -2.729451e-03 5.485964e+00 + -3.425424e-04 2.858994e-04 -5.669619e-01 + -5.794568e+00 1.531452e-01 -1.923042e+02 +Inliers[7,8] = 132 out of 138 +Inliers[7,8] = 132 out of 132 +Sum of squares tolerance reached + 3.420188e-03 -7.864455e-03 -6.770868e-01 + -5.771131e-03 1.334339e-02 -3.664970e-01 + 7.969860e-01 3.434022e-01 1.314414e+01 + 3.766439e-04 -5.200140e-04 -6.770941e-01 + -7.678434e-05 -3.977623e-04 -3.664832e-01 + 7.969880e-01 3.433974e-01 1.314414e+01 +Inliers[7,9] = 115 out of 123 +Inliers[7,9] = 115 out of 115 +Sum of squares tolerance reached + 5.262438e-04 -2.533909e-03 -2.662170e+00 + -6.532645e-04 3.216327e-04 -4.619752e-01 + 3.037092e+00 4.694738e-01 2.627442e+02 + 5.172516e-04 -2.413821e-03 -2.662170e+00 + -5.939812e-04 -4.700764e-04 -4.619745e-01 + 3.037092e+00 4.694736e-01 2.627442e+02 +Inliers[7,10] = 57 out of 59 +Inliers[7,10] = 57 out of 57 +Sum of squares tolerance reached + -1.850018e-05 -2.888995e-04 -6.307657e-02 + 1.672827e-04 -7.628543e-04 -8.612704e-03 + 4.100504e-02 -1.176750e-02 -3.259048e+00 + -1.946309e-05 -2.706143e-04 -6.307665e-02 + 1.286924e-04 -3.004699e-05 -8.615836e-03 + 4.100516e-02 -1.176979e-02 -3.259048e+00 +Inliers[8,9] = 24 out of 27 +Inliers[8,9] = 24 out of 24 +Inliers[8,10] = 0 out of 18 +Sum of squares tolerance reached + -4.251503e-02 -9.029113e-03 6.942205e+00 + -2.109358e-02 -1.106147e-03 -4.959346e+01 + -1.101941e+01 4.869182e+01 2.064906e+03 + 1.713671e-03 1.542895e-03 6.942192e+00 + -1.496259e-02 3.593453e-04 -4.959346e+01 + -1.101941e+01 4.869182e+01 2.064906e+03 +Inliers[9,10] = 130 out of 137 +Inliers[9,10] = 130 out of 130 +[LeastSquaresFit] Residual error (before) is 1.108e+03 +pre: 1.066165e+00 1.458518e-01 -2.839248e+01 + -1.168067e-01 1.072341e+00 -3.922202e+00 + -5.262888e-04 -1.912085e-04 1.000000e+00 +post: 1.067116e+00 1.462541e-01 -2.838799e+01 + -1.161763e-01 1.072725e+00 -3.905612e+00 + -5.323252e-04 -1.940785e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 7.241e+02 +Inliers[0,1] = 139 out of 197 +Inliers[0,1] = 139 out of 197 +Ratio[0,1] = 7.056e-01 + 1.067116e+00 1.462541e-01 -2.838799e+01 + -1.161763e-01 1.072725e+00 -3.905612e+00 + -5.323252e-04 -1.940785e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 3.789e+02 +pre: 9.039736e-01 2.441950e-01 -4.138101e+01 + -1.721786e-01 9.000873e-01 5.291684e-02 + -2.259420e-03 -2.776585e-04 1.000000e+00 +post: 9.188351e-01 2.436361e-01 -4.168688e+01 + -1.668688e-01 8.913132e-01 -3.984130e-01 + -2.375427e-03 -3.004542e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.181e+02 +Inliers[0,2] = 93 out of 111 +Inliers[0,2] = 93 out of 111 +Ratio[0,2] = 8.378e-01 + 9.188351e-01 2.436361e-01 -4.168688e+01 + -1.668688e-01 8.913132e-01 -3.984130e-01 + -2.375427e-03 -3.004542e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 3.265e+02 +pre: 9.186434e-01 4.050034e-01 -6.070824e+01 + -3.809285e-01 1.100413e+00 3.660012e+01 + -3.001198e-03 -2.818665e-03 1.000000e+00 +post: 9.305185e-01 3.914679e-01 -6.048442e+01 + -3.784683e-01 1.052612e+00 3.485728e+01 + -3.226042e-03 -2.483823e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.148e+02 +Inliers[0,3] = 41 out of 42 +Inliers[0,3] = 41 out of 42 +Ratio[0,3] = 9.762e-01 + 9.305185e-01 3.914679e-01 -6.048442e+01 + -3.784683e-01 1.052612e+00 3.485728e+01 + -3.226042e-03 -2.483823e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 6.824e+02 +pre: 9.534851e-01 -2.677791e-01 8.150313e+01 + 1.047740e-01 1.074252e+00 1.581287e+01 + 4.230059e-04 -1.760189e-04 1.000000e+00 +post: 9.534459e-01 -2.680189e-01 8.147844e+01 + 1.046602e-01 1.074572e+00 1.583372e+01 + 4.174579e-04 -1.735383e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 6.065e+02 +Inliers[0,5] = 81 out of 113 +Inliers[0,5] = 81 out of 113 +Ratio[0,5] = 7.168e-01 + 9.534459e-01 -2.680189e-01 8.147844e+01 + 1.046602e-01 1.074572e+00 1.583372e+01 + 4.174579e-04 -1.735383e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.311e+03 +pre: 1.024978e+00 1.477288e-01 -2.197716e+01 + -4.281722e-02 1.055550e+00 -5.798568e+01 + -3.728743e-04 -8.837569e-04 1.000000e+00 +post: 1.022770e+00 1.464335e-01 -2.203622e+01 + -4.286226e-02 1.057319e+00 -5.777005e+01 + -3.735224e-04 -8.613868e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 8.556e+02 +Inliers[0,7] = 139 out of 167 +Inliers[0,7] = 139 out of 167 +Ratio[0,7] = 8.323e-01 + 1.022770e+00 1.464335e-01 -2.203622e+01 + -4.286226e-02 1.057319e+00 -5.777005e+01 + -3.735224e-04 -8.613868e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 7.120e+02 +pre: 1.310401e+00 5.180662e-02 -6.070748e+01 + 1.343181e-01 1.076718e+00 3.106510e+01 + -2.042391e-03 -5.133790e-06 1.000000e+00 +post: 1.309958e+00 4.556694e-02 -6.073465e+01 + 1.213559e-01 1.061777e+00 3.068911e+01 + -2.080825e-03 1.263611e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 3.319e+02 +Inliers[0,9] = 90 out of 110 +Inliers[0,9] = 90 out of 110 +Ratio[0,9] = 8.182e-01 + 1.309958e+00 4.556694e-02 -6.073465e+01 + 1.213559e-01 1.061777e+00 3.068911e+01 + -2.080825e-03 1.263611e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 2.894e+02 +pre: 1.268036e+00 9.238247e-02 4.774039e+01 + -2.432803e-01 9.486913e-01 9.078150e+01 + -4.934755e-04 4.767708e-04 1.000000e+00 +post: 1.268041e+00 9.373711e-02 4.776933e+01 + -2.441264e-01 9.500132e-01 9.084725e+01 + -4.945098e-04 4.865945e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.455e+02 +Inliers[0,10] = 43 out of 62 +Inliers[0,10] = 43 out of 62 +Ratio[0,10] = 6.935e-01 + 1.268041e+00 9.373711e-02 4.776933e+01 + -2.441264e-01 9.500132e-01 9.084725e+01 + -4.945098e-04 4.865945e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 7.262e+02 +pre: 7.728822e-01 1.762391e-01 -1.523339e+01 + -1.085176e-01 8.726111e-01 3.762397e-01 + -7.308669e-04 1.316841e-05 1.000000e+00 +post: 7.798670e-01 1.774426e-01 -1.512068e+01 + -1.071091e-01 8.757857e-01 5.043154e-01 + -7.828256e-04 2.083996e-06 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 4.242e+02 +Inliers[1,2] = 118 out of 148 +Inliers[1,2] = 118 out of 148 +Ratio[1,2] = 7.973e-01 + 7.798670e-01 1.774426e-01 -1.512068e+01 + -1.071091e-01 8.757857e-01 5.043154e-01 + -7.828256e-04 2.083996e-06 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 5.343e+01 +pre: 7.642537e-01 2.081867e-01 -3.668221e+01 + -2.769385e-01 9.296935e-01 2.775588e+01 + -1.326345e-03 -2.592184e-04 1.000000e+00 +post: 7.686831e-01 2.133671e-01 -3.660235e+01 + -2.779954e-01 9.360986e-01 2.798106e+01 + -1.350218e-03 -3.361899e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.446e+01 +Inliers[1,3] = 36 out of 38 +Inliers[1,3] = 36 out of 38 +Ratio[1,3] = 9.474e-01 + 7.686831e-01 2.133671e-01 -3.660235e+01 + -2.779954e-01 9.360986e-01 2.798106e+01 + -1.350218e-03 -3.361899e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 3.237e+02 +pre: 9.156488e-01 -1.231926e-01 1.155802e+02 + 1.848349e-01 9.193821e-01 2.346245e+01 + 1.368453e-03 2.651460e-05 1.000000e+00 +post: 9.190713e-01 -1.238799e-01 1.158216e+02 + 1.885018e-01 9.196042e-01 2.353525e+01 + 1.338439e-03 1.565497e-05 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.343e+02 +Inliers[1,5] = 28 out of 36 +Inliers[1,5] = 28 out of 36 +Ratio[1,5] = 7.778e-01 + 9.190713e-01 -1.238799e-01 1.158216e+02 + 1.885018e-01 9.196042e-01 2.353525e+01 + 1.338439e-03 1.565497e-05 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.334e+03 +pre: 9.307042e-01 -6.743856e-02 6.564335e-01 + 3.924574e-02 9.726045e-01 -5.174680e+01 + 2.262773e-04 -4.897625e-04 1.000000e+00 +post: 9.301451e-01 -6.800279e-02 5.942153e-01 + 3.901530e-02 9.734273e-01 -5.176336e+01 + 2.226329e-04 -4.939231e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.069e+03 +Inliers[1,7] = 160 out of 217 +Inliers[1,7] = 160 out of 217 +Ratio[1,7] = 7.373e-01 + 9.301451e-01 -6.800279e-02 5.942153e-01 + 3.901530e-02 9.734273e-01 -5.176336e+01 + 2.226329e-04 -4.939231e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.622e+02 +pre: 8.937354e-01 -2.621325e-02 2.718740e+01 + -2.333123e-04 6.849419e-01 -8.128278e+01 + 9.539279e-04 -5.336681e-04 1.000000e+00 +post: 8.939656e-01 -2.622500e-02 2.716742e+01 + 5.127981e-03 6.855401e-01 -8.118749e+01 + 9.201457e-04 -5.299247e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 5.916e+01 +Inliers[1,8] = 18 out of 22 +Inliers[1,8] = 18 out of 22 +Ratio[1,8] = 8.182e-01 + 8.939656e-01 -2.622500e-02 2.716742e+01 + 5.127981e-03 6.855401e-01 -8.118749e+01 + 9.201457e-04 -5.299247e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.012e+03 +pre: 1.035402e+00 -1.312208e-01 -2.909555e+01 + 2.524719e-01 1.012493e+00 4.365934e+01 + -3.642789e-04 8.537012e-04 1.000000e+00 +post: 1.034520e+00 -1.325958e-01 -2.915192e+01 + 2.507425e-01 1.011911e+00 4.359983e+01 + -3.640302e-04 8.692839e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 8.369e+02 +Inliers[1,9] = 119 out of 145 +Inliers[1,9] = 119 out of 145 +Ratio[1,9] = 8.207e-01 + 1.034520e+00 -1.325958e-01 -2.915192e+01 + 2.507425e-01 1.011911e+00 4.359983e+01 + -3.640302e-04 8.692839e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 5.436e+02 +pre: 1.068961e+00 -4.847427e-02 7.881388e+01 + 1.571483e-01 1.028809e+00 1.008160e+02 + 2.079986e-04 1.039891e-03 1.000000e+00 +post: 1.069473e+00 -4.839424e-02 7.883698e+01 + 1.572717e-01 1.033237e+00 1.010871e+02 + 1.945149e-04 1.035934e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 4.760e+02 +Inliers[1,10] = 64 out of 75 +Inliers[1,10] = 64 out of 75 +Ratio[1,10] = 8.533e-01 + 1.069473e+00 -4.839424e-02 7.883698e+01 + 1.572717e-01 1.033237e+00 1.010871e+02 + 1.945149e-04 1.035934e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 3.214e+02 +pre: 9.180817e-01 1.757751e-01 -1.782576e+01 + -1.589861e-01 1.114094e+00 2.581667e+01 + -8.502089e-04 -1.293988e-04 1.000000e+00 +post: 9.216859e-01 1.757103e-01 -1.763462e+01 + -1.556652e-01 1.113908e+00 2.596851e+01 + -8.414678e-04 -1.085973e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.072e+02 +Inliers[2,3] = 61 out of 66 +Inliers[2,3] = 61 out of 66 +Ratio[2,3] = 9.242e-01 + 9.216859e-01 1.757103e-01 -1.763462e+01 + -1.556652e-01 1.113908e+00 2.596851e+01 + -8.414678e-04 -1.085973e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 8.235e+01 +pre: 1.076230e+00 -5.016642e-01 1.227969e+02 + 4.174285e-01 1.004961e+00 3.204171e+01 + 3.036609e-03 -1.695845e-03 1.000000e+00 +post: 1.076618e+00 -4.832604e-01 1.227497e+02 + 4.169044e-01 9.821446e-01 3.141530e+01 + 3.103144e-03 -1.565670e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.956e+01 +Inliers[2,5] = 23 out of 28 +Inliers[2,5] = 23 out of 28 +Ratio[2,5] = 8.214e-01 + 1.076618e+00 -4.832604e-01 1.227497e+02 + 4.169044e-01 9.821446e-01 3.141530e+01 + 3.103144e-03 -1.565670e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 6.372e+02 +pre: 9.815203e-01 -1.840959e-01 1.937533e+01 + 8.359032e-03 9.501941e-01 -5.353908e+01 + 2.694946e-03 -7.468461e-04 1.000000e+00 +post: 9.772245e-01 -1.831594e-01 1.930680e+01 + -3.702019e-03 9.381439e-01 -5.407547e+01 + 2.728290e-03 -6.813394e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.615e+02 +Inliers[2,7] = 97 out of 107 +Inliers[2,7] = 97 out of 107 +Ratio[2,7] = 9.065e-01 + 9.772245e-01 -1.831594e-01 1.930680e+01 + -3.702019e-03 9.381439e-01 -5.407547e+01 + 2.728290e-03 -6.813394e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 8.585e+02 +pre: 1.189057e+00 -3.317436e-01 -8.000236e+00 + 4.741556e-01 9.889009e-01 4.717582e+01 + 8.862524e-04 9.538973e-04 1.000000e+00 +post: 1.192528e+00 -3.318069e-01 -7.940663e+00 + 4.775340e-01 9.915889e-01 4.741001e+01 + 8.678096e-04 9.424513e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 5.693e+02 +Inliers[2,9] = 94 out of 101 +Inliers[2,9] = 94 out of 101 +Ratio[2,9] = 9.307e-01 + 1.192528e+00 -3.318069e-01 -7.940663e+00 + 4.775340e-01 9.915889e-01 4.741001e+01 + 8.678096e-04 9.424513e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.066e+02 +pre: 1.302369e+00 -2.213687e-01 9.823563e+01 + 3.642363e-01 1.083205e+00 1.016529e+02 + 2.218245e-03 1.109685e-03 1.000000e+00 +post: 1.299591e+00 -2.244013e-01 9.802442e+01 + 3.728252e-01 1.086505e+00 1.021369e+02 + 2.227061e-03 1.094415e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 5.405e+01 +Inliers[2,10] = 42 out of 45 +Inliers[2,10] = 42 out of 45 +Ratio[2,10] = 9.333e-01 + 1.299591e+00 -2.244013e-01 9.802442e+01 + 3.728252e-01 1.086505e+00 1.021369e+02 + 2.227061e-03 1.094415e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.347e+02 +pre: 9.695675e-01 1.851787e-01 1.638029e+01 + -1.692782e-01 1.279698e+00 -2.583165e+01 + -7.495051e-04 1.503755e-05 1.000000e+00 +post: 9.691662e-01 1.836399e-01 1.648533e+01 + -1.690625e-01 1.279242e+00 -2.590513e+01 + -7.484532e-04 6.903971e-06 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.035e+02 +Inliers[3,4] = 26 out of 40 +Inliers[3,4] = 26 out of 40 +Ratio[3,4] = 6.500e-01 + 9.691662e-01 1.836399e-01 1.648533e+01 + -1.690625e-01 1.279242e+00 -2.590513e+01 + -7.484532e-04 6.903971e-06 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 6.590e+00 +pre: 1.012372e+00 -3.504528e-01 1.466692e+02 + 5.603102e-01 8.319666e-01 2.148966e+01 + 2.453145e-03 -2.220583e-04 1.000000e+00 +post: 1.012369e+00 -3.504067e-01 1.466774e+02 + 5.601789e-01 8.322288e-01 2.148217e+01 + 2.451771e-03 -2.218525e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 2.478e+00 +Inliers[3,5] = 17 out of 19 +Inliers[3,5] = 17 out of 19 +Ratio[3,5] = 8.947e-01 + 1.012369e+00 -3.504067e-01 1.466774e+02 + 5.601789e-01 8.322288e-01 2.148217e+01 + 2.451771e-03 -2.218525e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.531e+02 +pre: 6.753061e-01 -2.750559e-01 2.456773e+01 + 2.541730e-01 9.507680e-01 -1.041055e+01 + 3.311836e-04 1.401374e-04 1.000000e+00 +post: 6.757563e-01 -2.756845e-01 2.477103e+01 + 2.561303e-01 9.537414e-01 -1.063176e+01 + 3.459547e-04 1.483241e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 4.728e+01 +Inliers[5,6] = 13 out of 21 +Inliers[5,6] = 13 out of 21 +Ratio[5,6] = 6.190e-01 + 6.757563e-01 -2.756845e-01 2.477103e+01 + 2.561303e-01 9.537414e-01 -1.063176e+01 + 3.459547e-04 1.483241e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.687e+02 +pre: 9.210676e-01 3.440383e-01 -1.028157e+02 + -1.482807e-01 8.971956e-01 -5.645049e+01 + -6.389007e-04 -6.044920e-04 1.000000e+00 +post: 9.211311e-01 3.442485e-01 -1.027873e+02 + -1.495780e-01 8.986864e-01 -5.628628e+01 + -6.313709e-04 -5.864287e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.448e+02 +Inliers[5,7] = 23 out of 37 +Inliers[5,7] = 23 out of 37 +Ratio[5,7] = 6.216e-01 + 9.211311e-01 3.442485e-01 -1.027873e+02 + -1.495780e-01 8.986864e-01 -5.628628e+01 + -6.313709e-04 -5.864287e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.229e+02 +pre: 1.101329e+00 9.052673e-02 -1.527489e+02 + 4.964701e-02 8.544827e-01 1.053840e+01 + -1.895851e-03 3.505889e-04 1.000000e+00 +post: 1.128279e+00 1.033199e-01 -1.539436e+02 + 5.626667e-02 8.416783e-01 9.675000e+00 + -2.084636e-03 2.269251e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 4.976e+01 +Inliers[5,9] = 15 out of 18 +Inliers[5,9] = 15 out of 18 +Ratio[5,9] = 8.333e-01 + 1.128279e+00 1.033199e-01 -1.539436e+02 + 5.626667e-02 8.416783e-01 9.675000e+00 + -2.084636e-03 2.269251e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 6.161e+02 +pre: 1.044370e+00 6.944144e-02 3.230831e+01 + -2.244404e-02 9.582270e-01 -2.319611e+01 + -2.301961e-04 -5.019258e-04 1.000000e+00 +post: 1.043154e+00 6.972273e-02 3.230746e+01 + -1.937552e-02 9.563664e-01 -2.324309e+01 + -2.394711e-04 -4.942833e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 5.046e+02 +Inliers[7,8] = 64 out of 132 +Inliers[7,8] = 64 out of 132 +Ratio[7,8] = 4.848e-01 + 1.043154e+00 6.972273e-02 3.230746e+01 + -1.937552e-02 9.563664e-01 -2.324309e+01 + -2.394711e-04 -4.942833e-04 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 4.166e+02 +pre: 1.137869e+00 -9.268563e-02 -3.412263e+01 + -7.627651e-03 1.085015e+00 9.865648e+01 + -5.517485e-04 1.150403e-03 1.000000e+00 +post: 1.138393e+00 -9.267124e-02 -3.413652e+01 + -7.645965e-03 1.085977e+00 9.874621e+01 + -5.502728e-04 1.145227e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.090e+01 +Inliers[7,9] = 96 out of 115 +Inliers[7,9] = 96 out of 115 +Ratio[7,9] = 8.348e-01 + 1.138393e+00 -9.267124e-02 -3.413652e+01 + -7.645965e-03 1.085977e+00 9.874621e+01 + -5.502728e-04 1.145227e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 1.788e+02 +pre: 1.099181e+00 1.012085e-01 7.914649e+01 + -1.411540e-01 1.047890e+00 1.455480e+02 + -1.102248e-04 1.536050e-03 1.000000e+00 +post: 1.100583e+00 9.358831e-02 7.847867e+01 + -1.382484e-01 1.054623e+00 1.463009e+02 + -7.919050e-05 1.522971e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.132e+02 +Inliers[7,10] = 48 out of 57 +Inliers[7,10] = 48 out of 57 +Ratio[7,10] = 8.421e-01 + 1.100583e+00 9.358831e-02 7.847867e+01 + -1.382484e-01 1.054623e+00 1.463009e+02 + -7.919050e-05 1.522971e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 3.603e+01 +pre: 9.632829e-01 -2.430626e-01 -7.218890e+01 + -4.502620e-02 1.300395e+00 1.417623e+02 + -1.468133e-04 2.105563e-03 1.000000e+00 +post: 9.603173e-01 -2.443439e-01 -7.222320e+01 + -4.519868e-02 1.297330e+00 1.414395e+02 + -1.266461e-04 2.121206e-03 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 1.025e+01 +Inliers[8,9] = 18 out of 24 +Inliers[8,9] = 18 out of 24 +Ratio[8,9] = 7.500e-01 + 9.603173e-01 -2.443439e-01 -7.222320e+01 + -4.519868e-02 1.297330e+00 1.414395e+02 + -1.266461e-04 2.121206e-03 1.000000e+00 +[LeastSquaresFit] Residual error (before) is 7.949e+02 +pre: 1.057747e+00 -1.451708e-01 1.071154e+02 + -5.448835e-02 9.475139e-01 5.674330e+01 + 5.374691e-04 -1.450954e-04 1.000000e+00 +post: 1.058726e+00 -1.451854e-01 1.071491e+02 + -5.391662e-02 9.478579e-01 5.679512e+01 + 5.344405e-04 -1.324900e-04 1.000000e+00 +[LeastSquaresFit] Residual error (after) is 6.664e+02 +Inliers[9,10] = 92 out of 130 +Inliers[9,10] = 92 out of 130 +Ratio[9,10] = 7.077e-01 + 1.058726e+00 -1.451854e-01 1.071491e+02 + -5.391662e-02 9.478579e-01 5.679512e+01 + 5.344405e-04 -1.324900e-04 1.000000e+00 +Point with 4 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 5 projections found +Point with 2 projections found +Point with 7 projections found +Point with 2 projections found +Point with 2 projections found +Point with 5 projections found +Point with 3 projections found +Point with 4 projections found +Point with 6 projections found +Point with 4 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 4 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 6 projections found +Point with 6 projections found +Point with 6 projections found +Point with 3 projections found +Point with 5 projections found +Point with 3 projections found +Point with 6 projections found +Point with 2 projections found +Point with 2 projections found +Point with 6 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 6 projections found +Point with 3 projections found +Point with 4 projections found +Point with 2 projections found +Point with 5 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 6 projections found +Point with 9 projections found +Point with 6 projections found +Point with 3 projections found +Point with 2 projections found +Point with 6 projections found +Point with 5 projections found +Point with 4 projections found +Point with 8 projections found +Point with 6 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 4 projections found +Point with 2 projections found +Point with 4 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 7 projections found +Point with 3 projections found +Point with 2 projections found +Point with 9 projections found +Point with 6 projections found +Point with 9 projections found +Point with 2 projections found +Point with 8 projections found +Point with 9 projections found +Point with 4 projections found +Point with 3 projections found +Point with 5 projections found +Point with 5 projections found +Point with 6 projections found +Point with 10 projections found +Point with 7 projections found +Point with 8 projections found +Point with 5 projections found +Point with 4 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 6 projections found +Point with 6 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 4 projections found +Point with 3 projections found +Point with 3 projections found +Point with 5 projections found +Point with 6 projections found +Point with 5 projections found +Point with 4 projections found +Point with 6 projections found +Point with 8 projections found +Point with 5 projections found +Point with 4 projections found +Point with 7 projections found +Point with 7 projections found +Point with 6 projections found +Point with 6 projections found +Point with 6 projections found +Point with 9 projections found +Point with 9 projections found +Point with 5 projections found +Point with 6 projections found +Point with 6 projections found +Point with 7 projections found +Point with 5 projections found +Point with 5 projections found +Point with 8 projections found +Point with 7 projections found +Point with 7 projections found +Point with 8 projections found +Point with 8 projections found +Point with 5 projections found +Point with 8 projections found +Point with 6 projections found +Point with 7 projections found +Point with 4 projections found +Point with 7 projections found +Point with 8 projections found +Point with 6 projections found +Point with 4 projections found +Point with 3 projections found +Point with 4 projections found +Point with 5 projections found +Point with 2 projections found +Point with 6 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 6 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 7 projections found +Point with 5 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 6 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 7 projections found +Point with 6 projections found +Point with 4 projections found +Point with 4 projections found +Point with 6 projections found +Point with 8 projections found +Point with 4 projections found +Point with 4 projections found +Point with 8 projections found +Point with 7 projections found +Point with 5 projections found +Point with 4 projections found +Point with 4 projections found +Point with 5 projections found +Point with 6 projections found +Point with 6 projections found +Point with 6 projections found +Point with 6 projections found +Point with 3 projections found +Point with 8 projections found +Point with 8 projections found +Point with 6 projections found +Point with 6 projections found +Point with 3 projections found +Point with 6 projections found +Point with 7 projections found +Point with 8 projections found +Point with 2 projections found +Point with 9 projections found +Point with 8 projections found +Point with 7 projections found +Point with 8 projections found +Point with 3 projections found +Point with 8 projections found +Point with 8 projections found +Point with 8 projections found +Point with 8 projections found +Point with 4 projections found +Point with 8 projections found +Point with 8 projections found +Point with 7 projections found +Point with 7 projections found +Point with 6 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 6 projections found +Point with 5 projections found +Point with 2 projections found +Point with 4 projections found +Point with 4 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 5 projections found +Point with 5 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 5 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 5 projections found +Point with 5 projections found +Point with 4 projections found +Point with 6 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 7 projections found +Point with 5 projections found +Point with 4 projections found +Point with 4 projections found +Point with 4 projections found +Point with 3 projections found +Point with 5 projections found +Point with 7 projections found +Point with 2 projections found +Point with 4 projections found +Point with 4 projections found +Point with 6 projections found +Point with 3 projections found +Point with 6 projections found +Point with 5 projections found +Point with 2 projections found +Point with 3 projections found +Point with 4 projections found +Point with 3 projections found +Point with 5 projections found +Point with 5 projections found +Point with 3 projections found +Point with 5 projections found +Point with 2 projections found +Point with 3 projections found +Point with 7 projections found +Point with 6 projections found +Point with 7 projections found +Point with 6 projections found +Point with 6 projections found +Point with 2 projections found +Point with 4 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 7 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 6 projections found +Point with 6 projections found +Point with 6 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 5 projections found +Point with 5 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 5 projections found +Point with 3 projections found +Point with 5 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 4 projections found +Point with 4 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 4 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 5 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 3 projections found +Point with 4 projections found +Point with 3 projections found +Point with 3 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 4 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 3 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +Point with 2 projections found +[SifterApp::ComputeTracks] Found 685 points +[SifterApp::ComputeTracks] Clearing match lists... +[SifterApp::ComputeTracks] Creating consistent match lists... +[SifterApp::ComputeTracks] Done! +num_nbrs[0] = 10 +num_nbrs[1] = 10 +num_nbrs[2] = 10 +num_nbrs[3] = 9 +num_nbrs[4] = 9 +num_nbrs[5] = 10 +num_nbrs[6] = 8 +num_nbrs[7] = 10 +num_nbrs[8] = 10 +num_nbrs[9] = 10 +num_nbrs[10] = 10 +[WriteGeometricConstraints] Writing 58 transforms + Avg. proj error [0 projections] = nan +[SifterApp::BundleAdjust] Adjusting cameras 7 and 8 (score = 0.000) +[BaseApp::SetTracks] Setting tracks for image 7... +[BaseApp::SetTracks] Finished in 0.000s +[BaseApp::SetTracks] Setting tracks for image 8... +[BaseApp::SetTracks] Finished in 0.000s + Found 136 / 137 inliers (99.270%) +[BundleAdjust] Adding initial matches... + Adding match 43 ==> 55 [0] + tri.error[0] = 0.495 + Adding match 94 ==> 77 [1] + tri.error[1] = 0.258 + Adding match 73 ==> 89 [2] + tri.error[2] = 0.236 + Adding match 177 ==> 237 [3] + tri.error[3] = 0.230 + Adding match 134 ==> 126 [4] + tri.error[4] = 0.058 + Adding match 189 ==> 170 [5] + tri.error[5] = 0.414 + Adding match 190 ==> 239 [6] + tri.error[6] = 0.000 + Adding match 136 ==> 173 [7] + tri.error[7] = 0.786 + Adding match 206 ==> 195 [8] + tri.error[8] = 0.440 + Adding match 260 ==> 336 [9] + tri.error[9] = 0.433 + Adding match 539 ==> 510 [10] + tri.error[10] = 0.092 + Adding match 274 ==> 243 [11] + tri.error[11] = 0.204 + Adding match 277 ==> 244 [12] + tri.error[12] = 0.201 + Adding match 485 ==> 707 [13] + tri.error[13] = 0.049 + Adding match 354 ==> 480 [14] + tri.error[14] = 0.214 + Adding match 359 ==> 482 [15] + tri.error[15] = 0.270 + Adding match 361 ==> 483 [16] + tri.error[16] = 0.087 + Adding match 367 ==> 492 [17] + tri.error[17] = 0.167 + Adding match 512 ==> 744 [18] + tri.error[18] = 0.239 + Adding match 391 ==> 364 [19] + tri.error[19] = 0.000 + Adding match 480 ==> 509 [20] + tri.error[20] = 0.289 + Adding match 447 ==> 432 [21] + tri.error[21] = 0.000 + Adding match 658 ==> 1015 [22] + tri.error[22] = 0.193 + Adding match 659 ==> 1017 [23] + tri.error[23] = 0.153 + Adding match 495 ==> 491 [24] + tri.error[24] = 0.107 + Adding match 489 ==> 706 [25] + tri.error[25] = 0.482 + Adding match 493 ==> 713 [26] + tri.error[26] = 0.352 + Adding match 682 ==> 1056 [27] + tri.error[27] = 0.222 + Adding match 683 ==> 1057 [28] + tri.error[28] = 0.222 + Adding match 503 ==> 485 [29] + tri.error[29] = 0.087 + Adding match 504 ==> 731 [30] + tri.error[30] = 0.179 + Adding match 505 ==> 732 [31] + tri.error[31] = 0.179 + Adding match 506 ==> 726 [32] + tri.error[32] = 0.147 + Adding match 524 ==> 761 [33] + tri.error[33] = 0.074 + Adding match 525 ==> 752 [34] + tri.error[34] = 0.061 + Adding match 534 ==> 501 [35] + tri.error[35] = 0.169 + Adding match 570 ==> 561 [36] + tri.error[36] = 0.146 + Adding match 654 ==> 1007 [37] + tri.error[37] = 0.207 + Adding match 655 ==> 1008 [38] + tri.error[38] = 0.207 + Adding match 670 ==> 1077 [39] + tri.error[39] = 0.396 + Adding match 688 ==> 1058 [40] + tri.error[40] = 0.122 + Adding match 698 ==> 1071 [41] + tri.error[41] = 0.149 + Adding match 699 ==> 1072 [42] + tri.error[42] = 0.149 + Adding match 702 ==> 1073 [43] + tri.error[43] = 0.123 + Adding match 707 ==> 734 [44] + tri.error[44] = 0.098 + Adding match 708 ==> 737 [45] + tri.error[45] = 0.110 + Adding match 711 ==> 741 [46] + tri.error[46] = 0.127 + Adding match 717 ==> 1089 [47] + tri.error[47] = 0.213 + Adding match 718 ==> 1094 [48] + tri.error[48] = 0.222 + Adding match 733 ==> 765 [49] + tri.error[49] = 0.236 + Adding match 938 ==> 1055 [50] + tri.error[50] = 0.075 + Adding match 1007 ==> 1142 [51] + tri.error[51] = 0.068 + Adding match 558 ==> 554 [52] + tri.error[52] = 0.623 + Adding match 178 ==> 238 [53] + tri.error[53] = 0.230 + Adding match 263 ==> 337 [54] + tri.error[54] = 0.122 + Adding match 268 ==> 348 [55] + tri.error[55] = 0.154 + Adding match 259 ==> 234 [56] + tri.error[56] = 0.159 + Adding match 557 ==> 555 [57] + tri.error[57] = 0.623 + Adding match 944 ==> 794 [58] + tri.error[58] = 0.151 + Adding match 715 ==> 544 [59] + tri.error[59] = 0.190 + Adding match 716 ==> 545 [60] + tri.error[60] = 0.190 + Adding match 988 ==> 1210 [61] + tri.error[61] = 0.151 + Adding match 574 ==> 562 [62] + tri.error[62] = 0.057 + Adding match 908 ==> 1157 [63] + tri.error[63] = 0.075 + Adding match 968 ==> 1192 [64] + tri.error[64] = 0.258 + Adding match 827 ==> 938 [65] + tri.error[65] = 0.007 + Adding match 828 ==> 939 [66] + tri.error[66] = 0.007 + Adding match 852 ==> 949 [67] + tri.error[67] = 0.301 + Adding match 1077 ==> 821 [68] + tri.error[68] = 0.141 + Adding match 270 ==> 350 [69] + tri.error[69] = 0.104 + Adding match 541 ==> 517 [70] + tri.error[70] = 0.288 + Adding match 668 ==> 1042 [71] + tri.error[71] = 0.235 + Adding match 895 ==> 1041 [72] + tri.error[72] = 0.135 + Adding match 34 ==> 28 [73] + tri.error[73] = 1.014 + Adding match 61 ==> 36 [74] + tri.error[74] = 0.615 + Adding match 93 ==> 120 [75] + tri.error[75] = 0.114 + Adding match 95 ==> 78 [76] + tri.error[76] = 0.258 + Adding match 135 ==> 172 [77] + tri.error[77] = 0.786 + Adding match 137 ==> 134 [78] + tri.error[78] = 0.780 + Adding match 188 ==> 169 [79] + tri.error[79] = 0.414 + Adding match 194 ==> 245 [80] + tri.error[80] = 0.495 + Adding match 200 ==> 181 [81] + tri.error[81] = 0.056 + Adding match 237 ==> 218 [82] + tri.error[82] = 0.553 + Adding match 310 ==> 193 [83] + tri.error[83] = 0.482 + Adding match 348 ==> 473 [84] + tri.error[84] = 0.153 + Adding match 406 ==> 268 [85] + tri.error[85] = 0.285 + Adding match 443 ==> 421 [86] + tri.error[86] = 0.307 + Adding match 462 ==> 449 [87] + tri.error[87] = 0.140 + Adding match 464 ==> 654 [88] + tri.error[88] = 0.047 + Adding match 483 ==> 525 [89] + tri.error[89] = 0.147 + Adding match 486 ==> 703 [90] + tri.error[90] = 0.785 + Adding match 523 ==> 760 [91] + tri.error[91] = 0.074 + Adding match 536 ==> 1109 [92] + tri.error[92] = 0.063 + Adding match 543 ==> 524 [93] + tri.error[93] = 0.121 + Adding match 546 ==> 251 [94] + tri.error[94] = 0.463 + Adding match 547 ==> 387 [95] + tri.error[95] = 0.085 + Adding match 563 ==> 370 [96] + tri.error[96] = 0.021 + Adding match 566 ==> 373 [97] + tri.error[97] = 0.189 + Adding match 577 ==> 277 [98] + tri.error[98] = 0.008 + Adding match 614 ==> 631 [99] + tri.error[99] = 0.190 + Adding match 620 ==> 708 [100] + tri.error[100] = 0.237 + Adding match 625 ==> 651 [101] + tri.error[101] = 0.105 + Adding match 630 ==> 725 [102] + tri.error[102] = 0.274 + Adding match 633 ==> 739 [103] + tri.error[103] = 0.288 + Adding match 634 ==> 738 [104] + tri.error[104] = 0.372 + Adding match 637 ==> 754 [105] + tri.error[105] = 0.178 + Adding match 639 ==> 758 [106] + tri.error[106] = 0.000 + Adding match 641 ==> 759 [107] + tri.error[107] = 0.238 + Adding match 648 ==> 773 [108] + tri.error[108] = 0.016 + Adding match 694 ==> 539 [109] + tri.error[109] = 0.000 + Adding match 712 ==> 542 [110] + tri.error[110] = 0.124 + Adding match 713 ==> 543 [111] + tri.error[111] = 0.124 + Adding match 725 ==> 802 [112] + tri.error[112] = 0.257 + Adding match 726 ==> 803 [113] + tri.error[113] = 0.257 + Adding match 740 ==> 1232 [114] + tri.error[114] = 0.186 + Adding match 745 ==> 787 [115] + tri.error[115] = 0.324 + Adding match 760 ==> 798 [116] + tri.error[116] = 0.019 + Adding match 809 ==> 1027 [117] + tri.error[117] = 0.254 + Adding match 811 ==> 922 [118] + tri.error[118] = 0.099 + Adding match 818 ==> 1052 [119] + tri.error[119] = 0.077 + Adding match 823 ==> 1067 [120] + tri.error[120] = 0.125 + Adding match 826 ==> 937 [121] + tri.error[121] = 0.025 + Adding match 842 ==> 1081 [122] + tri.error[122] = 0.208 + Adding match 848 ==> 945 [123] + tri.error[123] = 0.314 + Adding match 851 ==> 948 [124] + tri.error[124] = 0.301 + Adding match 855 ==> 743 [125] + tri.error[125] = 0.416 + Adding match 914 ==> 1168 [126] + tri.error[126] = 0.262 + Adding match 919 ==> 785 [127] + tri.error[127] = 0.001 + Adding match 928 ==> 1175 [128] + tri.error[128] = 0.162 + Adding match 940 ==> 791 [129] + tri.error[129] = 0.129 + Adding match 942 ==> 1063 [130] + tri.error[130] = 0.068 + Adding match 954 ==> 795 [131] + tri.error[131] = 0.101 + Adding match 1013 ==> 824 [132] + tri.error[132] = 0.121 + Adding match 1021 ==> 1163 [133] + tri.error[133] = 0.192 + Adding match 1032 ==> 840 [134] + tri.error[134] = 0.130 + Adding match 1039 ==> 843 [135] + tri.error[135] = 0.118 + Adding match 1076 ==> 820 [136] + tri.error[136] = 0.141 +[SifterApp::DumpOutputFile] Wrote file in 0.000s +initial motstr-SBA error 21.7399 [0.0793427] +mean reprojection error 0.180035 + +damping term 67579.7, gain ratio 0.999994, errors 0.0793427 / 0.0648413 = 1.22365 +pdp_eL2: 17.767, nvis: 274 +max_pct_change: 7.870e+10 +mean reprojection error 0.178725 + +damping term 22526.6, gain ratio 1.00011, errors 0.0648413 / 0.0644122 = 1.00666 +pdp_eL2: 17.649, nvis: 274 +max_pct_change: 5.483e-01 +mean reprojection error 0.176629 + +damping term 7508.85, gain ratio 1.00045, errors 0.0644122 / 0.0637716 = 1.01005 +pdp_eL2: 17.473, nvis: 274 +max_pct_change: 3.064e-01 +mean reprojection error 0.172901 + +damping term 2502.95, gain ratio 1.00143, errors 0.0637716 / 0.062612 = 1.01852 +pdp_eL2: 17.156, nvis: 274 +max_pct_change: 5.285e-01 +mean reprojection error 0.168425 + +damping term 834.317, gain ratio 1.00473, errors 0.062612 / 0.0611641 = 1.02367 +pdp_eL2: 16.759, nvis: 274 +max_pct_change: 4.604e+00 +mean reprojection error 0.163874 + +damping term 278.106, gain ratio 1.00919, errors 0.0611641 / 0.0598402 = 1.02212 +pdp_eL2: 16.396, nvis: 274 +max_pct_change: 2.322e+00 +mean reprojection error 0.160009 + +damping term 92.7019, gain ratio 1.01603, errors 0.0598402 / 0.0587081 = 1.01928 +pdp_eL2: 16.086, nvis: 274 +max_pct_change: 5.910e-01 +mean reprojection error 0.15627 + +damping term 30.9006, gain ratio 1.02613, errors 0.0587081 / 0.0570168 = 1.02966 +pdp_eL2: 15.623, nvis: 274 +max_pct_change: 5.899e-01 +mean reprojection error 0.153787 + +damping term 10.3002, gain ratio 0.899182, errors 0.0570168 / 0.0548626 = 1.03927 +pdp_eL2: 15.032, nvis: 274 +max_pct_change: 1.650e+01 +mean reprojection error 0.150074 + +damping term 5.0588, gain ratio 0.827673, errors 0.0548626 / 0.0529883 = 1.03537 +pdp_eL2: 14.519, nvis: 274 +max_pct_change: 1.724e+00 +mean reprojection error 0.150526 + +damping term 3.63497, gain ratio -0.340552, errors 0.0529883 / 0.0534808 = 0.990791 +pdp_eL2: 14.654, nvis: 274 +mean reprojection error 0.145354 + +damping term 7.26994, gain ratio 0.469704, errors 0.0529883 / 0.052424 = 1.01076 +pdp_eL2: 14.364, nvis: 274 +max_pct_change: 6.282e-01 +mean reprojection error 0.144499 + +damping term 7.27156, gain ratio 0.249442, errors 0.052424 / 0.0523267 = 1.00186 +pdp_eL2: 14.338, nvis: 274 +max_pct_change: 1.972e-01 +mean reprojection error 0.143802 + +damping term 8.1866, gain ratio 0.345211, errors 0.0523267 / 0.0522304 = 1.00184 +pdp_eL2: 14.311, nvis: 274 +max_pct_change: 1.431e-01 +mean reprojection error 0.1434 + +damping term 8.42949, gain ratio 0.510767, errors 0.0522304 / 0.0521277 = 1.00197 +pdp_eL2: 14.283, nvis: 274 +max_pct_change: 6.120e-02 +mean reprojection error 0.143113 + +damping term 8.42941, gain ratio 0.637565, errors 0.0521277 / 0.0520178 = 1.00211 +pdp_eL2: 14.253, nvis: 274 +max_pct_change: 4.355e-02 +mean reprojection error 0.142888 + +damping term 8.25385, gain ratio 0.723966, errors 0.0520178 / 0.0519039 = 1.00219 +pdp_eL2: 14.222, nvis: 274 +max_pct_change: 4.942e-02 +mean reprojection error 0.142726 + +damping term 7.51205, gain ratio 0.759541, errors 0.0519039 / 0.0517856 = 1.00228 +pdp_eL2: 14.189, nvis: 274 +max_pct_change: 6.483e-02 +mean reprojection error 0.142624 + +damping term 6.46138, gain ratio 0.736779, errors 0.0517856 / 0.051662 = 1.00239 +pdp_eL2: 14.155, nvis: 274 +max_pct_change: 8.489e-02 +mean reprojection error 0.142512 + +damping term 5.77519, gain ratio 0.720542, errors 0.051662 / 0.0515313 = 1.00253 +pdp_eL2: 14.120, nvis: 274 +max_pct_change: 5.833e-02 +mean reprojection error 0.142384 + +damping term 5.27959, gain ratio 0.712794, errors 0.0515313 / 0.051398 = 1.00259 +pdp_eL2: 14.083, nvis: 274 +max_pct_change: 5.944e-02 +mean reprojection error 0.142245 + +damping term 4.87262, gain ratio 0.70578, errors 0.051398 / 0.0512666 = 1.00256 +pdp_eL2: 14.047, nvis: 274 +max_pct_change: 6.140e-02 +mean reprojection error 0.142096 + +damping term 4.53294, gain ratio 0.702224, errors 0.0512666 / 0.0511399 = 1.00248 +pdp_eL2: 14.012, nvis: 274 +max_pct_change: 6.272e-02 +mean reprojection error 0.141941 + +damping term 4.23305, gain ratio 0.700388, errors 0.0511399 / 0.0510204 = 1.00234 +pdp_eL2: 13.980, nvis: 274 +max_pct_change: 6.417e-02 +mean reprojection error 0.141784 + +damping term 3.96055, gain ratio 0.700456, errors 0.0510204 / 0.0509099 = 1.00217 +pdp_eL2: 13.949, nvis: 274 +max_pct_change: 6.815e-02 +mean reprojection error 0.141629 + +damping term 3.70534, gain ratio 0.701833, errors 0.0509099 / 0.0508094 = 1.00198 +pdp_eL2: 13.922, nvis: 274 +max_pct_change: 7.212e-02 +mean reprojection error 0.141477 + +damping term 3.46162, gain ratio 0.70426, errors 0.0508094 / 0.0507195 = 1.00177 +pdp_eL2: 13.897, nvis: 274 +max_pct_change: 7.613e-02 +mean reprojection error 0.141331 + +damping term 3.22561, gain ratio 0.707407, errors 0.0507195 / 0.0506403 = 1.00156 +pdp_eL2: 13.875, nvis: 274 +max_pct_change: 8.020e-02 +mean reprojection error 0.141192 + +damping term 2.99538, gain ratio 0.710927, errors 0.0506403 / 0.0505717 = 1.00136 +pdp_eL2: 13.857, nvis: 274 +max_pct_change: 8.436e-02 +mean reprojection error 0.141064 + +damping term 2.7705, gain ratio 0.714379, errors 0.0505717 / 0.0505132 = 1.00116 +pdp_eL2: 13.841, nvis: 274 +max_pct_change: 3.392e-02 +[run_sfm] Number of iterations: 29 +info[6] = 8.000 +[RunSFM] run_sfm took 0.060s +[RunSFM] Mean error cam 0[7] [137 pts]: 1.423e-01 [med: 7.443e-02, 8.000e+00] + E[1.073e-03--9.046e-02]: 73 [0.533] + E[9.046e-02--1.798e-01]: 30 [0.219] + E[1.798e-01--2.692e-01]: 8 [0.058] + E[2.692e-01--3.586e-01]: 13 [0.095] + E[3.586e-01--4.480e-01]: 4 [0.029] + E[4.480e-01--5.374e-01]: 4 [0.029] + E[5.374e-01--6.268e-01]: 2 [0.015] + E[6.268e-01--7.161e-01]: 0 [0.000] + E[7.161e-01--8.055e-01]: 1 [0.007] + E[8.055e-01--8.949e-01]: 2 [0.015] +[RunSFM] Mean error cam 1[8] [137 pts]: 1.401e-01 [med: 8.102e-02, 8.000e+00] + E[3.879e-03--9.133e-02]: 76 [0.555] + E[9.133e-02--1.788e-01]: 29 [0.212] + E[1.788e-01--2.662e-01]: 6 [0.044] + E[2.662e-01--3.537e-01]: 13 [0.095] + E[3.537e-01--4.411e-01]: 7 [0.051] + E[4.411e-01--5.286e-01]: 1 [0.007] + E[5.286e-01--6.160e-01]: 2 [0.015] + E[6.160e-01--7.035e-01]: 0 [0.000] + E[7.035e-01--7.909e-01]: 1 [0.007] + E[7.909e-01--8.784e-01]: 0 [0.000] +[RunSFM] outlier removal took 0.000s +[RunSFM] Removing 0 outliers + focal lengths: 664.219, 673.860 +[SifterApp::DumpOutputFile] Wrote file in 0.000s + existing_matches[0] = 53 + score[0] = 53.000 + existing_matches[1] = 62 + score[1] = 62.000 + existing_matches[2] = 41 + score[2] = 41.000 + existing_matches[3] = 21 + score[3] = 21.000 + existing_matches[4] = 1 + score[4] = 1.000 + existing_matches[5] = 25 + score[5] = 25.000 + existing_matches[6] = 1 + score[6] = 1.000 + existing_matches[9] = 41 + score[9] = 41.000 + existing_matches[10] = 31 + score[10] = 31.000 +Error: parent not found +[SifterApp::BundleAdjust] max_matches = 62 +[SifterApp::BundleAdjustFast] Registering 2 images +[SifterApp::BundleAdjustFast] Adjusting camera 0 +[SifterApp::BundleAdjustFast] Adjusting camera 1 +[SifterApp::BundleAdjust[0]] Adjusting camera 0 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 0... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 53 (out of 53) +[find_projection_3x4_ransac] error = 1.028 +Best matrix (pre-opt): + -6.096244e+02 7.397390e+01 -4.724196e+01 -1.679720e+02 + -5.260130e+01 -5.828424e+02 -1.578464e+02 -5.540341e+02 + 2.045241e-01 1.555211e-01 -6.959435e-01 1.000000e+00 +Old error: 2.030e+02 +Best matrix (post-opt): + -1.698207e+03 2.229799e+02 -9.688770e+01 -3.630885e+02 + -1.671957e+02 -1.601147e+03 -4.967431e+02 -1.696313e+03 + 1.777370e-01 7.112525e-01 -2.589045e+00 1.000000e+00 +New error: 7.789e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 6.373404e+02 -5.893708e+00 1.486163e+01 + 0.000000e+00 6.258947e+02 1.623528e+01 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 9.926926e-01 -1.150005e-01 3.655550e-02 + 1.009875e-01 9.575531e-01 2.699881e-01 + -6.605258e-02 -2.643235e-01 9.621695e-01 + 2.297846e-01 1.016842e+00 -3.716310e-01 +[FindAndVerifyCamera] Checking consistency... +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 21.65896201 [21.40213672] + Round[1]: RMS error = 1.18070998 [0.87621217] + Round[2]: RMS error = 1.14833835 [0.87018986] + Round[3]: RMS error = 1.14833800 [0.87024865] + Round[4]: RMS error = 1.14833800 [0.87024875] + Round[5]: RMS error = 1.14833800 [0.87024878] + Round[6]: RMS error = 1.14833800 [0.87024878] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 53 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.005) + Round[0]: RMS error = 1.14833800 [0.87024878], f = 660.803; 0.000e+00 0.000e+00 + Round[0]: df = 0.000 + Round[1]: RMS error = 1.11588375 [0.94564586], f = 648.365; -1.847e-01 1.811e-01 + Round[1]: df = 12.438 + Round[2]: RMS error = 0.97231808 [0.73168882], f = 650.570; -1.777e-01 1.922e-01 + Round[2]: df = 10.233 + Round[3]: RMS error = 0.97223940 [0.73166273], f = 650.480; -1.786e-01 1.940e-01 + Round[3]: df = 10.323 + Round[4]: RMS error = 0.97223789 [0.73165901], f = 650.487; -1.786e-01 1.941e-01 + Round[4]: df = 10.316 + Round[5]: RMS error = 0.97223792 [0.73165896], f = 650.487; -1.786e-01 1.941e-01 + Round[5]: df = 10.316 + Round[6]: RMS error = 0.97223795 [0.73165897], f = 650.487; -1.786e-01 1.941e-01 + Round[6]: df = 10.316 + Round[7]: RMS error = 0.97223793 [0.73165897], f = 650.487; -1.786e-01 1.941e-01 + Round[7]: df = 10.316 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.732 +[RefineCameraParameters] Threshold = 8.000 + E[6.076e-02--3.470e-01]: 16 [0.302] + E[3.470e-01--6.332e-01]: 15 [0.283] + E[6.332e-01--9.195e-01]: 8 [0.151] + E[9.195e-01--1.206e+00]: 5 [0.094] + E[1.206e+00--1.492e+00]: 5 [0.094] + E[1.492e+00--1.778e+00]: 0 [0.000] + E[1.778e+00--2.064e+00]: 1 [0.019] + E[2.064e+00--2.351e+00]: 0 [0.000] + E[2.351e+00--2.637e+00]: 1 [0.019] + E[2.637e+00--2.923e+00]: 1 [0.019] +[RefineCameraParameters] Exiting after 1 rounds with 53 / 53 points +[BundleInitializeImage] Initializing took 0.110s +[SifterApp::BundleAdjust[0]] Adjusting camera 1 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 1... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 62 (out of 62) +[find_projection_3x4_ransac] error = 1.408 +Best matrix (pre-opt): + -1.492397e+03 -1.000265e+02 2.385015e+02 6.554771e+02 + 3.529367e+01 -1.463687e+03 -3.313225e+02 -1.176413e+03 + -3.477511e-01 4.272794e-01 -2.076933e+00 1.000000e+00 +Old error: 3.031e+02 +Best matrix (post-opt): + -2.703326e+03 -1.784937e+02 4.893749e+02 1.344727e+03 + 5.363038e+01 -2.652763e+03 -6.402193e+02 -2.243435e+03 + -7.671755e-01 9.067752e-01 -4.070772e+00 1.000000e+00 +New error: 5.307e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 6.492099e+02 1.375955e+00 -4.452319e+00 + 0.000000e+00 6.435991e+02 8.874615e+00 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 9.832493e-01 6.130357e-02 -1.716471e-01 + -2.214529e-02 9.749441e-01 2.213449e-01 + 1.809156e-01 -2.138360e-01 9.599707e-01 + -4.918276e-01 8.252660e-01 -2.358203e-01 +[FindAndVerifyCamera] Checking consistency... +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 9.33499004 [9.11822740] + Round[1]: RMS error = 0.73678902 [0.60060630] + Round[2]: RMS error = 0.71726876 [0.60256691] + Round[3]: RMS error = 0.71726874 [0.60260601] + Round[4]: RMS error = 0.71726874 [0.60260636] + Round[5]: RMS error = 0.71726874 [0.60260636] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 62 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.006) + Round[0]: RMS error = 0.71726874 [0.60260636], f = 660.803; 0.000e+00 0.000e+00 + Round[0]: df = 0.000 + Round[1]: RMS error = 0.65532331 [0.55405079], f = 659.455; 3.438e-02 -2.072e-01 + Round[1]: df = 1.348 + Round[2]: RMS error = 0.65405666 [0.55267092], f = 659.338; 3.353e-02 -2.007e-01 + Round[2]: df = 1.465 + Round[3]: RMS error = 0.65405352 [0.55266215], f = 659.352; 3.354e-02 -2.008e-01 + Round[3]: df = 1.451 + Round[4]: RMS error = 0.65405375 [0.55266246], f = 659.351; 3.354e-02 -2.008e-01 + Round[4]: df = 1.452 + Round[5]: RMS error = 0.65405370 [0.55266243], f = 659.352; 3.354e-02 -2.008e-01 + Round[5]: df = 1.451 + Round[6]: RMS error = 0.65405369 [0.55266236], f = 659.352; 3.354e-02 -2.008e-01 + Round[6]: df = 1.451 + Round[7]: RMS error = 0.65405370 [0.55266239], f = 659.352; 3.354e-02 -2.008e-01 + Round[7]: df = 1.451 + Round[8]: RMS error = 0.65405370 [0.55266238], f = 659.352; 3.354e-02 -2.008e-01 + Round[8]: df = 1.451 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.553 +[RefineCameraParameters] Threshold = 8.000 + E[6.845e-02--2.166e-01]: 7 [0.113] + E[2.166e-01--3.648e-01]: 12 [0.194] + E[3.648e-01--5.130e-01]: 21 [0.339] + E[5.130e-01--6.612e-01]: 5 [0.081] + E[6.612e-01--8.094e-01]: 3 [0.048] + E[8.094e-01--9.576e-01]: 5 [0.081] + E[9.576e-01--1.106e+00]: 3 [0.048] + E[1.106e+00--1.254e+00]: 3 [0.048] + E[1.254e+00--1.402e+00]: 0 [0.000] + E[1.402e+00--1.550e+00]: 2 [0.032] +[RefineCameraParameters] Exiting after 1 rounds with 62 / 62 points +[BundleInitializeImage] Initializing took 0.120s +[SifterApp::BundleAdjust] Adding new matches +[AddAllNewPoints] Added 283 new points +[AddAllNewPoints] Ill-conditioned tracks: 0 +[AddAllNewPoints] Bad reprojections: 1 +[AddAllNewPoints] Failed cheirality checks: 0 +[SifterApp::BundleAdjust] Number of points = 420 +initial motstr-SBA error 1096.75 [1.03761] +mean reprojection error 0.410737 + +damping term 159374, gain ratio 1.0013, errors 1.03761 / 0.589496 = 1.76016 +pdp_eL2: 623.097, nvis: 1057 +max_pct_change: 1.937e+02 +mean reprojection error 0.382264 + +damping term 53124.8, gain ratio 1.00056, errors 0.589496 / 0.496224 = 1.18796 +pdp_eL2: 524.509, nvis: 1057 +max_pct_change: 1.110e+02 +mean reprojection error 0.353365 + +damping term 17708.3, gain ratio 1.0003, errors 0.496224 / 0.435901 = 1.13839 +pdp_eL2: 460.748, nvis: 1057 +max_pct_change: 3.796e+01 +mean reprojection error 0.330421 + +damping term 5902.75, gain ratio 1.00004, errors 0.435901 / 0.40554 = 1.07487 +pdp_eL2: 428.655, nvis: 1057 +max_pct_change: 2.433e+02 +mean reprojection error 0.306333 + +damping term 1967.58, gain ratio 0.999215, errors 0.40554 / 0.382422 = 1.06045 +pdp_eL2: 404.220, nvis: 1057 +max_pct_change: 5.239e+01 +mean reprojection error 0.281721 + +damping term 655.861, gain ratio 0.994903, errors 0.382422 / 0.361936 = 1.0566 +pdp_eL2: 382.567, nvis: 1057 +max_pct_change: 2.890e+01 +mean reprojection error 0.261436 + +damping term 218.62, gain ratio 0.981999, errors 0.361936 / 0.346544 = 1.04442 +pdp_eL2: 366.297, nvis: 1057 +max_pct_change: 6.731e+02 +mean reprojection error 0.248526 + +damping term 72.8735, gain ratio 0.916333, errors 0.346544 / 0.338084 = 1.02502 +pdp_eL2: 357.355, nvis: 1057 +max_pct_change: 2.596e+01 +mean reprojection error 0.242644 + +damping term 30.8025, gain ratio 0.759033, errors 0.338084 / 0.333193 = 1.01468 +pdp_eL2: 352.185, nvis: 1057 +max_pct_change: 1.144e+01 +mean reprojection error 0.236546 + +damping term 26.5196, gain ratio 0.991108, errors 0.333193 / 0.328596 = 1.01399 +pdp_eL2: 347.326, nvis: 1057 +max_pct_change: 1.139e+00 +mean reprojection error 0.239874 + +damping term 8.83985, gain ratio 0.312053, errors 0.328596 / 0.327036 = 1.00477 +pdp_eL2: 345.677, nvis: 1057 +max_pct_change: 9.540e+01 +mean reprojection error 0.229708 + +damping term 9.30936, gain ratio 1.16838, errors 0.327036 / 0.32159 = 1.01694 +pdp_eL2: 339.920, nvis: 1057 +max_pct_change: 2.386e+01 +mean reprojection error 0.23231 + +damping term 3.10312, gain ratio 0.376097, errors 0.32159 / 0.320959 = 1.00197 +pdp_eL2: 339.253, nvis: 1057 +max_pct_change: 1.314e+02 +mean reprojection error 0.227977 + +damping term 3.15034, gain ratio 1.17198, errors 0.320959 / 0.319074 = 1.00591 +pdp_eL2: 337.261, nvis: 1057 +max_pct_change: 3.130e+02 +mean reprojection error 0.228131 + +damping term 1.05011, gain ratio 1.15667, errors 0.319074 / 0.318874 = 1.00063 +pdp_eL2: 337.049, nvis: 1057 +max_pct_change: 5.580e-01 +mean reprojection error 0.228115 + +damping term 0.350038, gain ratio 1.48034, errors 0.318874 / 0.318818 = 1.00017 +pdp_eL2: 336.991, nvis: 1057 +max_pct_change: 2.338e-01 +mean reprojection error 0.228137 + +damping term 0.116679, gain ratio 22.1368, errors 0.318818 / 0.31881 = 1.00003 +pdp_eL2: 336.982, nvis: 1057 +max_pct_change: 2.147e-02 +[run_sfm] Number of iterations: 17 +info[6] = 8.000 +[RunSFM] run_sfm took 0.130s +[RunSFM] Mean error cam 0[7] [344 pts]: 1.950e-01 [med: 1.207e-01, 8.000e+00] + E[1.471e-03--6.777e-01]: 332 [0.965] + E[6.777e-01--1.354e+00]: 9 [0.026] + E[1.354e+00--2.030e+00]: 2 [0.006] + E[2.030e+00--2.706e+00]: 0 [0.000] + E[2.706e+00--3.383e+00]: 0 [0.000] + E[3.383e+00--4.059e+00]: 0 [0.000] + E[4.059e+00--4.735e+00]: 0 [0.000] + E[4.735e+00--5.411e+00]: 0 [0.000] + E[5.411e+00--6.087e+00]: 0 [0.000] + E[6.087e+00--6.764e+00]: 1 [0.003] +[RunSFM] Mean error cam 1[8] [140 pts]: 2.631e-01 [med: 1.437e-01, 8.000e+00] + E[3.433e-03--6.006e-01]: 129 [0.921] + E[6.006e-01--1.198e+00]: 7 [0.050] + E[1.198e+00--1.795e+00]: 3 [0.021] + E[1.795e+00--2.392e+00]: 0 [0.000] + E[2.392e+00--2.989e+00]: 0 [0.000] + E[2.989e+00--3.586e+00]: 0 [0.000] + E[3.586e+00--4.183e+00]: 0 [0.000] + E[4.183e+00--4.780e+00]: 0 [0.000] + E[4.780e+00--5.378e+00]: 0 [0.000] + E[5.378e+00--5.975e+00]: 1 [0.007] +[RunSFM] Mean error cam 2[0] [267 pts]: 2.551e-01 [med: 1.534e-01, 8.000e+00] + E[4.450e-03--9.607e-01]: 259 [0.970] + E[9.607e-01--1.917e+00]: 7 [0.026] + E[1.917e+00--2.873e+00]: 0 [0.000] + E[2.873e+00--3.830e+00]: 0 [0.000] + E[3.830e+00--4.786e+00]: 0 [0.000] + E[4.786e+00--5.742e+00]: 0 [0.000] + E[5.742e+00--6.698e+00]: 0 [0.000] + E[6.698e+00--7.655e+00]: 0 [0.000] + E[7.655e+00--8.611e+00]: 0 [0.000] + E[8.611e+00--9.567e+00]: 0 [0.000] +[RunSFM] Mean error cam 3[1] [306 pts]: 2.258e-01 [med: 1.300e-01, 8.000e+00] + E[7.027e-04--6.609e-01]: 293 [0.958] + E[6.609e-01--1.321e+00]: 11 [0.036] + E[1.321e+00--1.981e+00]: 0 [0.000] + E[1.981e+00--2.641e+00]: 0 [0.000] + E[2.641e+00--3.302e+00]: 0 [0.000] + E[3.302e+00--3.962e+00]: 0 [0.000] + E[3.962e+00--4.622e+00]: 0 [0.000] + E[4.622e+00--5.282e+00]: 1 [0.003] + E[5.282e+00--5.942e+00]: 0 [0.000] + E[5.942e+00--6.602e+00]: 0 [0.000] +[RunSFM] Removing outlier 344 (reproj error: 9.567) +[RunSFM] outlier removal took 0.000s +[RunSFM] Removing 1 outliers +initial motstr-SBA error 182.58 [0.173225] +mean reprojection error 0.207399 + +damping term 175377, gain ratio 0.999855, errors 0.173225 / 0.172245 = 1.00569 +pdp_eL2: 181.547, nvis: 1054 +max_pct_change: 2.589e+02 +mean reprojection error 0.206825 + +damping term 58459.1, gain ratio 1.00218, errors 0.172245 / 0.172019 = 1.00132 +pdp_eL2: 181.308, nvis: 1054 +max_pct_change: 5.819e-01 +mean reprojection error 0.206232 + +damping term 19486.4, gain ratio 1.00042, errors 0.172019 / 0.171804 = 1.00125 +pdp_eL2: 181.081, nvis: 1054 +max_pct_change: 4.206e-01 +mean reprojection error 0.205216 + +damping term 6495.46, gain ratio 0.999913, errors 0.171804 / 0.171526 = 1.00162 +pdp_eL2: 180.789, nvis: 1054 +max_pct_change: 4.090e-01 +mean reprojection error 0.203771 + +damping term 2165.15, gain ratio 1.00192, errors 0.171526 / 0.171236 = 1.00169 +pdp_eL2: 180.483, nvis: 1054 +max_pct_change: 3.997e-01 +mean reprojection error 0.202675 + +damping term 721.718, gain ratio 1.01708, errors 0.171236 / 0.171065 = 1.001 +pdp_eL2: 180.303, nvis: 1054 +max_pct_change: 4.443e-01 +mean reprojection error 0.202152 + +damping term 240.573, gain ratio 1.00208, errors 0.171065 / 0.170976 = 1.00052 +pdp_eL2: 180.208, nvis: 1054 +max_pct_change: 2.409e-01 +mean reprojection error 0.201901 + +damping term 80.1909, gain ratio 0.631411, errors 0.170976 / 0.170938 = 1.00022 +pdp_eL2: 180.169, nvis: 1054 +max_pct_change: 2.307e-01 +mean reprojection error 0.201825 + +damping term 78.7351, gain ratio 0.644101, errors 0.170938 / 0.170924 = 1.00008 +pdp_eL2: 180.154, nvis: 1054 +max_pct_change: 1.177e-01 +mean reprojection error 0.201794 + +damping term 76.8503, gain ratio 1.00828, errors 0.170924 / 0.170912 = 1.00007 +pdp_eL2: 180.142, nvis: 1054 +max_pct_change: 8.553e-02 +mean reprojection error 0.201768 + +damping term 25.6168, gain ratio -0.58797, errors 0.170912 / 0.170922 = 0.999944 +pdp_eL2: 180.152, nvis: 1054 +mean reprojection error 0.201776 + +damping term 51.2335, gain ratio 0.44881, errors 0.170912 / 0.170908 = 1.00003 +pdp_eL2: 180.137, nvis: 1054 +max_pct_change: 8.587e-02 +mean reprojection error 0.201767 + +damping term 51.2885, gain ratio 2.01822, errors 0.170908 / 0.170894 = 1.00008 +pdp_eL2: 180.123, nvis: 1054 +max_pct_change: 6.418e-02 +mean reprojection error 0.201747 + +damping term 17.0962, gain ratio -0.644997, errors 0.170894 / 0.1709 = 0.999966 +pdp_eL2: 180.129, nvis: 1054 +mean reprojection error 0.201758 + +damping term 34.1923, gain ratio 0.811112, errors 0.170894 / 0.17089 = 1.00003 +pdp_eL2: 180.118, nvis: 1054 +max_pct_change: 6.732e-02 +mean reprojection error 0.201744 + +damping term 25.9554, gain ratio 1.92147, errors 0.17089 / 0.170881 = 1.00005 +pdp_eL2: 180.109, nvis: 1054 +max_pct_change: 6.098e-02 +mean reprojection error 0.201703 + +damping term 8.65178, gain ratio 0.332506, errors 0.170881 / 0.170879 = 1.00001 +pdp_eL2: 180.107, nvis: 1054 +max_pct_change: 8.156e-02 +mean reprojection error 0.201668 + +damping term 8.97702, gain ratio 6.99383, errors 0.170879 / 0.170862 = 1.0001 +pdp_eL2: 180.088, nvis: 1054 +max_pct_change: 4.396e-02 +mean reprojection error 0.201613 + +damping term 2.99234, gain ratio 2.0915, errors 0.170862 / 0.170857 = 1.00003 +pdp_eL2: 180.084, nvis: 1054 +max_pct_change: 4.294e-02 +mean reprojection error 0.201568 + +damping term 0.997447, gain ratio 8.8388, errors 0.170857 / 0.170852 = 1.00003 +pdp_eL2: 180.078, nvis: 1054 +max_pct_change: 2.845e-02 +[run_sfm] Number of iterations: 18 +info[6] = 8.000 +[RunSFM] run_sfm took 0.140s +[RunSFM] Mean error cam 0[7] [344 pts]: 1.884e-01 [med: 1.054e-01, 8.000e+00] + E[2.863e-04--6.775e-01]: 333 [0.968] + E[6.775e-01--1.355e+00]: 8 [0.023] + E[1.355e+00--2.032e+00]: 2 [0.006] + E[2.032e+00--2.709e+00]: 0 [0.000] + E[2.709e+00--3.386e+00]: 0 [0.000] + E[3.386e+00--4.063e+00]: 0 [0.000] + E[4.063e+00--4.741e+00]: 0 [0.000] + E[4.741e+00--5.418e+00]: 0 [0.000] + E[5.418e+00--6.095e+00]: 0 [0.000] + E[6.095e+00--6.772e+00]: 1 [0.003] +[RunSFM] Mean error cam 1[8] [139 pts]: 2.122e-01 [med: 1.294e-01, 8.000e+00] + E[2.075e-04--1.440e-01]: 76 [0.547] + E[1.440e-01--2.878e-01]: 31 [0.223] + E[2.878e-01--4.315e-01]: 16 [0.115] + E[4.315e-01--5.753e-01]: 4 [0.029] + E[5.753e-01--7.191e-01]: 7 [0.050] + E[7.191e-01--8.629e-01]: 0 [0.000] + E[8.629e-01--1.007e+00]: 2 [0.014] + E[1.007e+00--1.150e+00]: 0 [0.000] + E[1.150e+00--1.294e+00]: 1 [0.007] + E[1.294e+00--1.438e+00]: 1 [0.007] +[RunSFM] Mean error cam 2[0] [266 pts]: 2.109e-01 [med: 1.317e-01, 8.000e+00] + E[1.057e-03--1.516e-01]: 151 [0.568] + E[1.516e-01--3.021e-01]: 66 [0.248] + E[3.021e-01--4.526e-01]: 18 [0.068] + E[4.526e-01--6.031e-01]: 14 [0.053] + E[6.031e-01--7.537e-01]: 4 [0.015] + E[7.537e-01--9.042e-01]: 6 [0.023] + E[9.042e-01--1.055e+00]: 1 [0.004] + E[1.055e+00--1.205e+00]: 2 [0.008] + E[1.205e+00--1.356e+00]: 3 [0.011] + E[1.356e+00--1.506e+00]: 0 [0.000] +[RunSFM] Mean error cam 3[1] [305 pts]: 2.036e-01 [med: 1.153e-01, 8.000e+00] + E[9.088e-04--6.618e-01]: 293 [0.961] + E[6.618e-01--1.323e+00]: 11 [0.036] + E[1.323e+00--1.984e+00]: 0 [0.000] + E[1.984e+00--2.644e+00]: 0 [0.000] + E[2.644e+00--3.305e+00]: 0 [0.000] + E[3.305e+00--3.966e+00]: 0 [0.000] + E[3.966e+00--4.627e+00]: 0 [0.000] + E[4.627e+00--5.288e+00]: 0 [0.000] + E[5.288e+00--5.949e+00]: 0 [0.000] + E[5.949e+00--6.610e+00]: 1 [0.003] +[RunSFM] outlier removal took 0.000s +[RunSFM] Removing 0 outliers +[RemoveBadPointsAndCameras] Pruned 0 points + focal lengths: + [000] 700.772 (660.803) ./kermit007.jpg 7; -8.509e-02 8.635e-04 + [001] 705.841 (660.803) ./kermit008.jpg 8; -6.822e-02 -2.520e-02 + [002] 690.790 (660.803) ./kermit000.jpg 0; -7.260e-02 -4.160e-04 + [003] 689.063 (660.803) ./kermit001.jpg 1; -6.711e-02 -7.937e-03 +[SifterApp::DumpOutputFile] Wrote file in 0.010s + existing_matches[2] = 149 + score[2] = 149.000 + existing_matches[3] = 53 + score[3] = 53.000 + existing_matches[4] = 1 + score[4] = 1.000 + existing_matches[5] = 95 + score[5] = 95.000 + existing_matches[6] = 4 + score[6] = 4.000 + existing_matches[9] = 141 + score[9] = 141.000 + existing_matches[10] = 95 + score[10] = 95.000 +Error: parent not found +[SifterApp::BundleAdjust] max_matches = 149 +[SifterApp::BundleAdjustFast] Registering 2 images +[SifterApp::BundleAdjustFast] Adjusting camera 2 +[SifterApp::BundleAdjustFast] Adjusting camera 9 +[SifterApp::BundleAdjust[1]] Adjusting camera 2 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 2... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 145 (out of 149) +[find_projection_3x4_ransac] error = 0.718 +Best matrix (pre-opt): + -2.463539e+02 -9.753766e+01 1.493265e+02 4.163101e+02 + 4.484101e+01 -2.797842e+02 -1.073312e+02 -3.418669e+02 + -2.195657e-01 1.110129e-01 -2.428405e-01 1.000000e+00 +Old error: 1.768e+02 +Best matrix (post-opt): + -3.307560e+02 -1.314542e+02 1.960266e+02 5.459298e+02 + 5.751583e+01 -3.726840e+02 -1.501578e+02 -4.751645e+02 + -3.225998e-01 1.373401e-01 -4.425112e-01 1.000000e+00 +New error: 5.725e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 7.196806e+02 2.408804e+00 5.973157e+00 + 0.000000e+00 7.188559e+02 -1.032965e+01 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 8.097402e-01 3.224840e-01 -4.902295e-01 + -1.335060e-01 9.147831e-01 3.812455e-01 + 5.713992e-01 -2.432612e-01 7.837901e-01 + -1.332740e+00 1.145335e+00 -1.771232e+00 +[FindAndVerifyCamera] Checking consistency... +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 12.87730812 [12.22196820] + Round[1]: RMS error = 4.45679198 [2.12401473] + Round[2]: RMS error = 4.28084701 [1.31296580] + Round[3]: RMS error = 4.28081537 [1.30297805] + Round[4]: RMS error = 4.28081536 [1.30293040] + Round[5]: RMS error = 4.28081536 [1.30292819] + Round[6]: RMS error = 4.28081536 [1.30292819] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 149 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.015) + Round[0]: RMS error = 4.28081536 [1.30292819], f = 660.803; 0.000e+00 0.000e+00 + Round[0]: df = 0.000 + Round[1]: RMS error = 4.26743294 [1.32874185], f = 684.327; -1.234e-02 1.001e-01 + Round[1]: df = -23.524 + Round[2]: RMS error = 4.26531461 [1.44219491], f = 724.405; 8.655e-02 1.136e-01 + Round[2]: df = -63.602 + Round[3]: RMS error = 4.25866660 [1.32007129], f = 722.469; 8.795e-02 8.731e-02 + Round[3]: df = -61.666 + Round[4]: RMS error = 4.25865207 [1.31877284], f = 722.949; 8.695e-02 8.851e-02 + Round[4]: df = -62.146 + Round[5]: RMS error = 4.25865575 [1.31879100], f = 722.896; 8.685e-02 8.828e-02 + Round[5]: df = -62.093 + Round[6]: RMS error = 4.25865509 [1.31878862], f = 722.906; 8.688e-02 8.831e-02 + Round[6]: df = -62.103 + Round[7]: RMS error = 4.25865517 [1.31878960], f = 722.906; 8.688e-02 8.830e-02 + Round[7]: df = -62.103 + Round[8]: RMS error = 4.25865516 [1.31878977], f = 722.906; 8.688e-02 8.830e-02 + Round[8]: df = -62.103 + Round[9]: RMS error = 4.25865516 [1.31878977], f = 722.906; 8.688e-02 8.830e-02 + Round[9]: df = -62.103 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 1.319 +[RefineCameraParameters] Threshold = 8.000 +[RefineCameraParameters] Removing point [372] with reprojection error 11.060 +[RefineCameraParameters] Removing point [373] with reprojection error 22.935 +[RefineCameraParameters] Removing point [405] with reprojection error 43.092 + E[8.928e-02--4.390e+00]: 145 [0.973] + E[4.390e+00--8.690e+00]: 1 [0.007] + E[8.690e+00--1.299e+01]: 1 [0.007] + E[1.299e+01--1.729e+01]: 0 [0.000] + E[1.729e+01--2.159e+01]: 0 [0.000] + E[2.159e+01--2.589e+01]: 1 [0.007] + E[2.589e+01--3.019e+01]: 0 [0.000] + E[3.019e+01--3.449e+01]: 0 [0.000] + E[3.449e+01--3.879e+01]: 0 [0.000] + E[3.879e+01--4.309e+01]: 0 [0.000] +[RefineCameraParameters] Calling with 146 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.015) + Round[0]: RMS error = 1.16158496 [0.81789168], f = 722.906; 8.688e-02 8.830e-02 + Round[0]: df = -62.103 + Round[1]: RMS error = 1.07070073 [0.77673347], f = 702.349; -4.153e-02 -7.076e-03 + Round[1]: df = -41.546 + Round[2]: RMS error = 0.82640401 [0.45503799], f = 702.943; -3.295e-02 -7.299e-03 + Round[2]: df = -42.140 + Round[3]: RMS error = 0.82640005 [0.45512068], f = 702.936; -3.323e-02 -7.321e-03 + Round[3]: df = -42.133 + Round[4]: RMS error = 0.82640005 [0.45512068], f = 702.936; -3.323e-02 -7.321e-03 + Round[4]: df = -42.133 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.455 +[RefineCameraParameters] Threshold = 8.000 + E[4.201e-02--7.521e-01]: 125 [0.856] + E[7.521e-01--1.462e+00]: 14 [0.096] + E[1.462e+00--2.172e+00]: 5 [0.034] + E[2.172e+00--2.882e+00]: 0 [0.000] + E[2.882e+00--3.592e+00]: 1 [0.007] + E[3.592e+00--4.303e+00]: 0 [0.000] + E[4.303e+00--5.013e+00]: 0 [0.000] + E[5.013e+00--5.723e+00]: 0 [0.000] + E[5.723e+00--6.433e+00]: 0 [0.000] + E[6.433e+00--7.143e+00]: 0 [0.000] +[RefineCameraParameters] Exiting after 2 rounds with 146 / 149 points +[BundleInitializeImage] Initializing took 0.130s +[SifterApp::BundleAdjust[1]] Adjusting camera 9 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 9... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 139 (out of 141) +[find_projection_3x4_ransac] error = 1.264 +Best matrix (pre-opt): + -3.524230e+02 -1.176170e+01 1.570157e+02 4.768323e+02 + -9.339288e+01 -2.927489e+02 -2.360484e+02 -7.496291e+02 + -1.443876e-01 3.434793e-01 -2.751290e-01 1.000000e+00 +Old error: 1.920e+02 +Best matrix (post-opt): + -5.665964e+02 -1.809445e+01 2.464215e+02 7.488867e+02 + -1.503116e+02 -4.670434e+02 -3.774644e+02 -1.198708e+03 + -3.040764e-01 5.890317e-01 -6.538442e-01 1.000000e+00 +New error: 6.116e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 6.638731e+02 1.026440e+00 5.872648e-01 + 0.000000e+00 6.645433e+02 2.007742e+01 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 9.159847e-01 2.863603e-02 -4.001899e-01 + 2.330607e-01 7.739292e-01 5.888262e-01 + 3.265803e-01 -6.326243e-01 7.022334e-01 + -1.213637e+00 1.969751e+00 -1.074007e+00 +[FindAndVerifyCamera] Checking consistency... +[FindAndVerifyCamera] Removing point [74] (reproj. error = 260.610) +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 20.07064167 [20.06268438] + Round[1]: RMS error = 0.90966090 [0.56159417] + Round[2]: RMS error = 0.90736320 [0.55653712] + Round[3]: RMS error = 0.90736319 [0.55654289] + Round[4]: RMS error = 0.90736319 [0.55654289] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 140 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.014) + Round[0]: RMS error = 0.90736319 [0.55654289], f = 660.803; 0.000e+00 0.000e+00 + Round[0]: df = 0.000 + Round[1]: RMS error = 0.90236287 [0.55227536], f = 705.077; -8.423e-02 -1.063e-02 + Round[1]: df = -44.274 + Round[2]: RMS error = 0.87241458 [0.52121889], f = 706.575; -9.151e-02 -1.030e-02 + Round[2]: df = -45.772 + Round[3]: RMS error = 0.87241915 [0.52119755], f = 706.540; -9.146e-02 -1.024e-02 + Round[3]: df = -45.737 + Round[4]: RMS error = 0.87241914 [0.52119735], f = 706.540; -9.146e-02 -1.024e-02 + Round[4]: df = -45.737 + Round[5]: RMS error = 0.87241914 [0.52119726], f = 706.540; -9.146e-02 -1.024e-02 + Round[5]: df = -45.737 + Round[6]: RMS error = 0.87241914 [0.52119726], f = 706.540; -9.146e-02 -1.024e-02 + Round[6]: df = -45.737 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.521 +[RefineCameraParameters] Threshold = 8.000 + E[1.535e-02--7.643e-01]: 118 [0.843] + E[7.643e-01--1.513e+00]: 17 [0.121] + E[1.513e+00--2.262e+00]: 4 [0.029] + E[2.262e+00--3.011e+00]: 0 [0.000] + E[3.011e+00--3.760e+00]: 0 [0.000] + E[3.760e+00--4.509e+00]: 0 [0.000] + E[4.509e+00--5.258e+00]: 0 [0.000] + E[5.258e+00--6.007e+00]: 0 [0.000] + E[6.007e+00--6.756e+00]: 0 [0.000] + E[6.756e+00--7.505e+00]: 0 [0.000] +[RefineCameraParameters] Exiting after 1 rounds with 140 / 140 points +[BundleInitializeImage] Initializing took 0.140s +[SifterApp::BundleAdjust] Adding new matches +[AddAllNewPoints] Added 89 new points +[AddAllNewPoints] Ill-conditioned tracks: 0 +[AddAllNewPoints] Bad reprojections: 1 +[AddAllNewPoints] Failed cheirality checks: 0 +[SifterApp::BundleAdjust] Number of points = 509 +initial motstr-SBA error 492.166 [0.323156] +mean reprojection error 0.26267 + +damping term 181729, gain ratio 1.00136, errors 0.323156 / 0.268871 = 1.2019 +pdp_eL2: 409.491, nvis: 1523 +max_pct_change: 1.481e+02 +mean reprojection error 0.250029 + +damping term 60576.5, gain ratio 0.999152, errors 0.268871 / 0.236445 = 1.13714 +pdp_eL2: 360.106, nvis: 1523 +max_pct_change: 3.497e+01 +mean reprojection error 0.239431 + +damping term 20192.2, gain ratio 0.998785, errors 0.236445 / 0.216951 = 1.08986 +pdp_eL2: 330.416, nvis: 1523 +max_pct_change: 6.446e+01 +mean reprojection error 0.234519 + +damping term 6730.72, gain ratio 0.998325, errors 0.216951 / 0.208054 = 1.04276 +pdp_eL2: 316.867, nvis: 1523 +max_pct_change: 1.299e+02 +mean reprojection error 0.232798 + +damping term 2243.57, gain ratio 0.998908, errors 0.208054 / 0.205782 = 1.01104 +pdp_eL2: 313.406, nvis: 1523 +max_pct_change: 6.978e+01 +mean reprojection error 0.231555 + +damping term 747.858, gain ratio 1.00326, errors 0.205782 / 0.204688 = 1.00534 +pdp_eL2: 311.739, nvis: 1523 +max_pct_change: 1.712e+00 +mean reprojection error 0.230847 + +damping term 249.286, gain ratio 1.03159, errors 0.204688 / 0.203896 = 1.00389 +pdp_eL2: 310.533, nvis: 1523 +max_pct_change: 1.326e+00 +mean reprojection error 0.230659 + +damping term 83.0953, gain ratio 1.13729, errors 0.203896 / 0.203506 = 1.00191 +pdp_eL2: 309.940, nvis: 1523 +max_pct_change: 1.568e+00 +mean reprojection error 0.230626 + +damping term 27.6984, gain ratio 1.11376, errors 0.203506 / 0.2033 = 1.00101 +pdp_eL2: 309.626, nvis: 1523 +max_pct_change: 6.567e-01 +mean reprojection error 0.230749 + +damping term 9.23281, gain ratio 0.441387, errors 0.2033 / 0.203259 = 1.0002 +pdp_eL2: 309.564, nvis: 1523 +max_pct_change: 2.754e-01 +mean reprojection error 0.230848 + +damping term 9.24769, gain ratio -0.561519, errors 0.203259 / 0.203274 = 0.999927 +pdp_eL2: 309.586, nvis: 1523 +mean reprojection error 0.230796 + +damping term 18.4954, gain ratio -0.960951, errors 0.203259 / 0.203277 = 0.999914 +pdp_eL2: 309.591, nvis: 1523 +mean reprojection error 0.230739 + +damping term 73.9815, gain ratio -3.65438, errors 0.203259 / 0.203285 = 0.999873 +pdp_eL2: 309.603, nvis: 1523 +mean reprojection error 0.230716 + +damping term 591.852, gain ratio -17.0426, errors 0.203259 / 0.203291 = 0.999842 +pdp_eL2: 309.613, nvis: 1523 +mean reprojection error 0.230712 + +damping term 9469.63, gain ratio -31.4642, errors 0.203259 / 0.203293 = 0.999835 +pdp_eL2: 309.615, nvis: 1523 +mean reprojection error 0.230711 + +damping term 303028, gain ratio -34.489, errors 0.203259 / 0.203293 = 0.999835 +pdp_eL2: 309.615, nvis: 1523 +mean reprojection error 0.230715 + +damping term 1.93938e+07, gain ratio -38.1576, errors 0.203259 / 0.203293 = 0.999835 +pdp_eL2: 309.615, nvis: 1523 +mean reprojection error 0.230747 + +damping term 2.48241e+09, gain ratio -438.49, errors 0.203259 / 0.203294 = 0.999831 +pdp_eL2: 309.616, nvis: 1523 +mean reprojection error 0.230749 + +damping term 6.35496e+11, gain ratio -104315, errors 0.203259 / 0.203294 = 0.99983 +pdp_eL2: 309.617, nvis: 1523 +[run_sfm] Number of iterations: 11 +info[6] = 2.000 +[RunSFM] run_sfm took 0.150s +[RunSFM] Mean error cam 0[7] [356 pts]: 2.249e-01 [med: 1.262e-01, 8.000e+00] + E[3.076e-03--7.433e-01]: 344 [0.966] + E[7.433e-01--1.484e+00]: 9 [0.025] + E[1.484e+00--2.224e+00]: 1 [0.003] + E[2.224e+00--2.964e+00]: 0 [0.000] + E[2.964e+00--3.704e+00]: 1 [0.003] + E[3.704e+00--4.444e+00]: 0 [0.000] + E[4.444e+00--5.185e+00]: 0 [0.000] + E[5.185e+00--5.925e+00]: 0 [0.000] + E[5.925e+00--6.665e+00]: 0 [0.000] + E[6.665e+00--7.405e+00]: 1 [0.003] +[RunSFM] Mean error cam 1[8] [142 pts]: 2.449e-01 [med: 1.669e-01, 8.000e+00] + E[3.611e-03--1.637e-01]: 70 [0.493] + E[1.637e-01--3.237e-01]: 34 [0.239] + E[3.237e-01--4.838e-01]: 21 [0.148] + E[4.838e-01--6.438e-01]: 6 [0.042] + E[6.438e-01--8.039e-01]: 5 [0.035] + E[8.039e-01--9.639e-01]: 2 [0.014] + E[9.639e-01--1.124e+00]: 1 [0.007] + E[1.124e+00--1.284e+00]: 1 [0.007] + E[1.284e+00--1.444e+00]: 0 [0.000] + E[1.444e+00--1.604e+00]: 2 [0.014] +[RunSFM] Mean error cam 2[0] [284 pts]: 2.367e-01 [med: 1.580e-01, 8.000e+00] + E[2.640e-03--1.507e-01]: 139 [0.489] + E[1.507e-01--2.987e-01]: 83 [0.292] + E[2.987e-01--4.467e-01]: 25 [0.088] + E[4.467e-01--5.948e-01]: 14 [0.049] + E[5.948e-01--7.428e-01]: 5 [0.018] + E[7.428e-01--8.909e-01]: 7 [0.025] + E[8.909e-01--1.039e+00]: 2 [0.007] + E[1.039e+00--1.187e+00]: 3 [0.011] + E[1.187e+00--1.335e+00]: 3 [0.011] + E[1.335e+00--1.483e+00]: 2 [0.007] +[RunSFM] Mean error cam 3[1] [355 pts]: 2.093e-01 [med: 1.176e-01, 8.000e+00] + E[7.739e-04--6.014e-01]: 335 [0.944] + E[6.014e-01--1.202e+00]: 16 [0.045] + E[1.202e+00--1.803e+00]: 2 [0.006] + E[1.803e+00--2.403e+00]: 0 [0.000] + E[2.403e+00--3.004e+00]: 1 [0.003] + E[3.004e+00--3.605e+00]: 0 [0.000] + E[3.605e+00--4.205e+00]: 0 [0.000] + E[4.205e+00--4.806e+00]: 0 [0.000] + E[4.806e+00--5.407e+00]: 0 [0.000] + E[5.407e+00--6.007e+00]: 1 [0.003] +[RunSFM] Mean error cam 4[2] [192 pts]: 3.076e-01 [med: 1.581e-01, 8.000e+00] + E[2.323e-03--4.359e-01]: 155 [0.807] + E[4.359e-01--8.696e-01]: 28 [0.146] + E[8.696e-01--1.303e+00]: 2 [0.010] + E[1.303e+00--1.737e+00]: 3 [0.016] + E[1.737e+00--2.170e+00]: 1 [0.005] + E[2.170e+00--2.604e+00]: 0 [0.000] + E[2.604e+00--3.038e+00]: 2 [0.010] + E[3.038e+00--3.471e+00]: 0 [0.000] + E[3.471e+00--3.905e+00]: 0 [0.000] + E[3.905e+00--4.339e+00]: 1 [0.005] +[RunSFM] Mean error cam 5[9] [194 pts]: 1.856e-01 [med: 1.225e-01, 8.000e+00] + E[2.572e-03--3.059e-01]: 171 [0.881] + E[3.059e-01--6.093e-01]: 15 [0.077] + E[6.093e-01--9.127e-01]: 4 [0.021] + E[9.127e-01--1.216e+00]: 1 [0.005] + E[1.216e+00--1.519e+00]: 2 [0.010] + E[1.519e+00--1.823e+00]: 0 [0.000] + E[1.823e+00--2.126e+00]: 0 [0.000] + E[2.126e+00--2.430e+00]: 0 [0.000] + E[2.430e+00--2.733e+00]: 0 [0.000] + E[2.733e+00--3.036e+00]: 1 [0.005] +[RunSFM] outlier removal took 0.000s +[RunSFM] Removing 0 outliers +[RemoveBadPointsAndCameras] Pruned 0 points + focal lengths: + [000] 703.507 (660.803) ./kermit007.jpg 7; -8.957e-02 -3.185e-03 + [001] 706.000 (660.803) ./kermit008.jpg 8; -7.226e-02 -2.531e-02 + [002] 694.782 (660.803) ./kermit000.jpg 0; -8.545e-02 2.440e-03 + [003] 693.484 (660.803) ./kermit001.jpg 1; -7.112e-02 -5.825e-03 + [004] 723.221 (660.803) ./kermit002.jpg 2; -2.424e-02 -4.112e-03 + [005] 689.274 (660.803) ./kermit009.jpg 9; -7.725e-02 -7.660e-03 +[SifterApp::DumpOutputFile] Wrote file in 0.000s + existing_matches[3] = 59 + score[3] = 59.000 + existing_matches[4] = 1 + score[4] = 1.000 + existing_matches[5] = 98 + score[5] = 98.000 + existing_matches[6] = 5 + score[6] = 5.000 + existing_matches[10] = 108 + score[10] = 108.000 +Error: parent not found +[SifterApp::BundleAdjust] max_matches = 108 +[SifterApp::BundleAdjustFast] Registering 2 images +[SifterApp::BundleAdjustFast] Adjusting camera 5 +[SifterApp::BundleAdjustFast] Adjusting camera 10 +[SifterApp::BundleAdjust[2]] Adjusting camera 5 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 5... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 96 (out of 98) +[find_projection_3x4_ransac] error = 1.545 +[find_projection_3x4_ransac] Reverting to old solution +Best matrix (pre-opt): + -2.648562e+02 8.290575e+01 -1.007654e+02 -3.856752e+02 + -5.521492e+01 -2.615200e+02 -7.766967e+01 -2.893261e+02 + 1.963541e-01 5.676331e-02 -1.178385e-01 1.000000e+00 +Old error: 2.492e+02 +Decreased number of inliers (95 < 96), reverting +Best matrix (post-opt): + -2.648562e+02 8.290575e+01 -1.007654e+02 -3.856752e+02 + -5.521492e+01 -2.615200e+02 -7.766967e+01 -2.893261e+02 + 1.963541e-01 5.676331e-02 -1.178385e-01 1.000000e+00 +New error: 1.545e+00 +[FindAndVerifyCamera] Estimated intrinsics: + 1.066556e+03 -1.534735e+02 -6.364303e+02 + 0.000000e+00 1.141758e+03 -2.970370e+02 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 5.542710e-01 -3.423443e-01 7.586725e-01 + -1.154345e-02 9.082483e-01 4.182724e-01 + -8.322562e-01 -2.405940e-01 4.994639e-01 + -1.000633e+00 -2.862500e-02 -4.238547e+00 +[FindAndVerifyCamera] Checking consistency... +[FindAndVerifyCamera] Removing point [402] (reproj. error = 144.505) +[FindAndVerifyCamera] Removing point [72] (reproj. error = 168.034) +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Estimated focal length of 1104.157 is too different +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 756.34339069 [756.28452119] + Round[1]: RMS error = 274.52485961 [272.95566305] + Round[2]: RMS error = 54.24838124 [54.00404921] + Round[3]: RMS error = 4.18766045 [3.91663021] + Round[4]: RMS error = 2.76510906 [2.16563017] + Round[5]: RMS error = 2.76510662 [2.16529781] + Round[6]: RMS error = 2.76510662 [2.16530269] + Round[7]: RMS error = 2.76510662 [2.16530267] + Round[8]: RMS error = 2.76510662 [2.16530267] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 96 points + Round[0]: RMS error = 2.76510662 [2.16530267], f = 1104.157; 0.000e+00 0.000e+00 + Round[1]: RMS error = 2.03501410 [1.75923682], f = 1072.317; -1.067e+00 -2.840e-02 + Round[2]: RMS error = 1.71567164 [1.43153384], f = 1017.627; -8.115e-01 -1.462e-02 + Round[3]: RMS error = 1.69448145 [1.49610938], f = 904.459; -5.205e-01 -4.853e-03 + Round[4]: RMS error = 1.26852547 [1.03317821], f = 852.187; -4.109e-01 -1.952e-03 + Round[5]: RMS error = 1.16798916 [0.94125687], f = 821.114; -3.447e-01 -6.577e-04 + Round[6]: RMS error = 1.10915018 [0.87231219], f = 759.588; -2.149e-01 -4.440e-03 + Round[7]: RMS error = 1.07802657 [0.83175605], f = 698.987; -1.056e-01 -1.748e-02 + Round[8]: RMS error = 0.95617534 [0.68881747], f = 687.648; -9.183e-02 -2.683e-02 + Round[9]: RMS error = 0.95579694 [0.68988926], f = 687.788; -9.198e-02 -2.809e-02 + Round[10]: RMS error = 0.95579699 [0.68988938], f = 687.786; -9.198e-02 -2.810e-02 + Round[11]: RMS error = 0.95579699 [0.68988946], f = 687.787; -9.198e-02 -2.810e-02 + Round[12]: RMS error = 0.95579695 [0.68988933], f = 687.787; -9.198e-02 -2.810e-02 + Round[13]: RMS error = 0.95579695 [0.68988933], f = 687.787; -9.198e-02 -2.810e-02 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.690 +[RefineCameraParameters] Threshold = 8.000 + E[1.405e-02--4.055e-01]: 32 [0.333] + E[4.055e-01--7.969e-01]: 41 [0.427] + E[7.969e-01--1.188e+00]: 13 [0.135] + E[1.188e+00--1.580e+00]: 1 [0.010] + E[1.580e+00--1.971e+00]: 4 [0.042] + E[1.971e+00--2.363e+00]: 2 [0.021] + E[2.363e+00--2.754e+00]: 0 [0.000] + E[2.754e+00--3.145e+00]: 1 [0.010] + E[3.145e+00--3.537e+00]: 1 [0.010] + E[3.537e+00--3.928e+00]: 0 [0.000] +[RefineCameraParameters] Exiting after 1 rounds with 96 / 96 points +[BundleInitializeImage] Initializing took 0.130s +[SifterApp::BundleAdjust[2]] Adjusting camera 10 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 10... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 108 (out of 108) +[find_projection_3x4_ransac] error = 0.955 +[find_projection_3x4_ransac] Reverting to old solution +Best matrix (pre-opt): + -6.187875e+02 -3.978604e+00 1.343372e+02 1.705314e+02 + -9.659147e+01 -4.903535e+02 -4.001952e+02 -1.425059e+03 + -1.547908e-01 5.598247e-01 -6.651148e-01 1.000000e+00 +Old error: 2.548e+02 +Best matrix (post-opt): + -6.392559e+02 -9.315601e+00 1.623683e+02 2.380005e+02 + -9.906730e+01 -5.107927e+02 -4.052737e+02 -1.452800e+03 + -1.519997e-01 6.190295e-01 -7.082801e-01 1.000000e+00 +New error: 7.479e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 6.917501e+02 3.052448e+00 -2.599471e+01 + 0.000000e+00 6.919692e+02 -1.551858e+01 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 9.751368e-01 -1.363388e-02 -2.211840e-01 + 1.538258e-01 7.601136e-01 6.313199e-01 + 1.595177e-01 -6.496471e-01 7.433120e-01 + -4.101285e-01 2.179823e+00 -1.049461e+00 +[FindAndVerifyCamera] Checking consistency... +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 33.23112152 [33.00838184] + Round[1]: RMS error = 1.06216927 [0.83818050] + Round[2]: RMS error = 0.84993945 [0.62502447] + Round[3]: RMS error = 0.84993592 [0.62501159] + Round[4]: RMS error = 0.84993592 [0.62501179] + Round[5]: RMS error = 0.84993592 [0.62501179] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 108 points +[camera_refine] Constraining focal length to 660.803 (weight: 0.011) + Round[0]: RMS error = 0.84993592 [0.62501179], f = 660.803; 0.000e+00 0.000e+00 + Round[0]: df = 0.000 + Round[1]: RMS error = 0.83319461 [0.65578832], f = 700.136; -1.292e-01 9.590e-02 + Round[1]: df = -39.333 + Round[2]: RMS error = 0.73332086 [0.51684356], f = 699.374; -1.294e-01 9.475e-02 + Round[2]: df = -38.570 + Round[3]: RMS error = 0.73331605 [0.51683979], f = 699.388; -1.294e-01 9.483e-02 + Round[3]: df = -38.585 + Round[4]: RMS error = 0.73331640 [0.51684023], f = 699.387; -1.294e-01 9.482e-02 + Round[4]: df = -38.584 + Round[5]: RMS error = 0.73331640 [0.51684015], f = 699.387; -1.294e-01 9.482e-02 + Round[5]: df = -38.584 + Round[6]: RMS error = 0.73331640 [0.51684015], f = 699.387; -1.294e-01 9.482e-02 + Round[6]: df = -38.584 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.517 +[RefineCameraParameters] Threshold = 8.000 + E[3.500e-02--3.645e-01]: 50 [0.463] + E[3.645e-01--6.940e-01]: 40 [0.370] + E[6.940e-01--1.023e+00]: 7 [0.065] + E[1.023e+00--1.353e+00]: 4 [0.037] + E[1.353e+00--1.682e+00]: 4 [0.037] + E[1.682e+00--2.012e+00]: 0 [0.000] + E[2.012e+00--2.341e+00]: 0 [0.000] + E[2.341e+00--2.671e+00]: 1 [0.009] + E[2.671e+00--3.000e+00]: 1 [0.009] + E[3.000e+00--3.330e+00]: 0 [0.000] +[RefineCameraParameters] Exiting after 1 rounds with 108 / 108 points +[BundleInitializeImage] Initializing took 0.130s +[SifterApp::BundleAdjust] Adding new matches +[AddAllNewPoints] Added 99 new points +[AddAllNewPoints] Ill-conditioned tracks: 0 +[AddAllNewPoints] Bad reprojections: 5 +[AddAllNewPoints] Failed cheirality checks: 1 +[SifterApp::BundleAdjust] Number of points = 608 +initial motstr-SBA error 1273.91 [0.661083] +mean reprojection error 0.356409 + +damping term 186378, gain ratio 1.00219, errors 0.661083 / 0.389053 = 1.69921 +pdp_eL2: 749.705, nvis: 1927 +max_pct_change: 1.497e+02 +mean reprojection error 0.348768 + +damping term 62126, gain ratio 0.99971, errors 0.389053 / 0.331712 = 1.17286 +pdp_eL2: 639.209, nvis: 1927 +max_pct_change: 4.897e+02 +mean reprojection error 0.336357 + +damping term 20708.7, gain ratio 1.00012, errors 0.331712 / 0.300067 = 1.10546 +pdp_eL2: 578.229, nvis: 1927 +max_pct_change: 3.131e+01 +mean reprojection error 0.317325 + +damping term 6902.89, gain ratio 1.00044, errors 0.300067 / 0.271852 = 1.10379 +pdp_eL2: 523.858, nvis: 1927 +max_pct_change: 3.300e+01 +mean reprojection error 0.294686 + +damping term 2300.96, gain ratio 1.00253, errors 0.271852 / 0.244961 = 1.10977 +pdp_eL2: 472.040, nvis: 1927 +max_pct_change: 3.809e+01 +mean reprojection error 0.276515 + +damping term 766.988, gain ratio 1.00905, errors 0.244961 / 0.225785 = 1.08493 +pdp_eL2: 435.088, nvis: 1927 +max_pct_change: 8.530e+01 +mean reprojection error 0.266368 + +damping term 255.663, gain ratio 1.01203, errors 0.225785 / 0.218673 = 1.03252 +pdp_eL2: 421.383, nvis: 1927 +max_pct_change: 1.794e+01 +mean reprojection error 0.26362 + +damping term 85.2209, gain ratio 1.0209, errors 0.218673 / 0.21726 = 1.0065 +pdp_eL2: 418.660, nvis: 1927 +max_pct_change: 3.461e+00 +mean reprojection error 0.262379 + +damping term 28.407, gain ratio 0.957692, errors 0.21726 / 0.216526 = 1.00339 +pdp_eL2: 417.246, nvis: 1927 +max_pct_change: 8.104e-01 +mean reprojection error 0.26148 + +damping term 9.46899, gain ratio 0.775158, errors 0.216526 / 0.216166 = 1.00167 +pdp_eL2: 416.552, nvis: 1927 +max_pct_change: 1.647e+00 +mean reprojection error 0.261048 + +damping term 7.89087, gain ratio 1.12219, errors 0.216166 / 0.215996 = 1.00079 +pdp_eL2: 416.224, nvis: 1927 +max_pct_change: 2.276e-01 +mean reprojection error 0.260715 + +damping term 2.63029, gain ratio 1.14042, errors 0.215996 / 0.215913 = 1.00038 +pdp_eL2: 416.064, nvis: 1927 +max_pct_change: 2.156e-01 +mean reprojection error 0.260594 + +damping term 0.876764, gain ratio 4.82737, errors 0.215913 / 0.215865 = 1.00022 +pdp_eL2: 415.972, nvis: 1927 +max_pct_change: 9.947e-02 +mean reprojection error 0.260575 + +damping term 0.292255, gain ratio 54.0965, errors 0.215865 / 0.215852 = 1.00006 +pdp_eL2: 415.947, nvis: 1927 +max_pct_change: 1.336e-02 +[run_sfm] Number of iterations: 14 +info[6] = 8.000 +[RunSFM] run_sfm took 0.200s +[RunSFM] Mean error cam 0[7] [363 pts]: 2.543e-01 [med: 1.532e-01, 8.000e+00] + E[1.950e-03--7.438e-01]: 346 [0.953] + E[7.438e-01--1.486e+00]: 14 [0.039] + E[1.486e+00--2.227e+00]: 1 [0.003] + E[2.227e+00--2.969e+00]: 0 [0.000] + E[2.969e+00--3.711e+00]: 0 [0.000] + E[3.711e+00--4.453e+00]: 1 [0.003] + E[4.453e+00--5.195e+00]: 0 [0.000] + E[5.195e+00--5.936e+00]: 0 [0.000] + E[5.936e+00--6.678e+00]: 0 [0.000] + E[6.678e+00--7.420e+00]: 0 [0.000] +[RunSFM] Mean error cam 1[8] [142 pts]: 2.849e-01 [med: 2.084e-01, 8.000e+00] + E[1.892e-03--2.363e-01]: 80 [0.563] + E[2.363e-01--4.708e-01]: 38 [0.268] + E[4.708e-01--7.052e-01]: 14 [0.099] + E[7.052e-01--9.396e-01]: 4 [0.028] + E[9.396e-01--1.174e+00]: 2 [0.014] + E[1.174e+00--1.409e+00]: 1 [0.007] + E[1.409e+00--1.643e+00]: 2 [0.014] + E[1.643e+00--1.877e+00]: 0 [0.000] + E[1.877e+00--2.112e+00]: 0 [0.000] + E[2.112e+00--2.346e+00]: 1 [0.007] +[RunSFM] Mean error cam 2[0] [321 pts]: 2.538e-01 [med: 1.624e-01, 8.000e+00] + E[1.909e-03--1.460e-01]: 147 [0.458] + E[1.460e-01--2.901e-01]: 90 [0.280] + E[2.901e-01--4.342e-01]: 34 [0.106] + E[4.342e-01--5.783e-01]: 18 [0.056] + E[5.783e-01--7.224e-01]: 8 [0.025] + E[7.224e-01--8.665e-01]: 6 [0.019] + E[8.665e-01--1.011e+00]: 6 [0.019] + E[1.011e+00--1.155e+00]: 3 [0.009] + E[1.155e+00--1.299e+00]: 6 [0.019] + E[1.299e+00--1.443e+00]: 2 [0.006] +[RunSFM] Mean error cam 3[1] [361 pts]: 2.285e-01 [med: 1.344e-01, 8.000e+00] + E[8.918e-04--5.966e-01]: 339 [0.939] + E[5.966e-01--1.192e+00]: 17 [0.047] + E[1.192e+00--1.788e+00]: 3 [0.008] + E[1.788e+00--2.384e+00]: 0 [0.000] + E[2.384e+00--2.979e+00]: 1 [0.003] + E[2.979e+00--3.575e+00]: 0 [0.000] + E[3.575e+00--4.171e+00]: 0 [0.000] + E[4.171e+00--4.766e+00]: 0 [0.000] + E[4.766e+00--5.362e+00]: 0 [0.000] + E[5.362e+00--5.958e+00]: 1 [0.003] +[RunSFM] Mean error cam 4[2] [192 pts]: 3.180e-01 [med: 1.812e-01, 8.000e+00] + E[1.144e-03--4.405e-01]: 159 [0.828] + E[4.405e-01--8.799e-01]: 23 [0.120] + E[8.799e-01--1.319e+00]: 3 [0.016] + E[1.319e+00--1.759e+00]: 2 [0.010] + E[1.759e+00--2.198e+00]: 2 [0.010] + E[2.198e+00--2.637e+00]: 0 [0.000] + E[2.637e+00--3.077e+00]: 2 [0.010] + E[3.077e+00--3.516e+00]: 0 [0.000] + E[3.516e+00--3.955e+00]: 0 [0.000] + E[3.955e+00--4.395e+00]: 1 [0.005] +[RunSFM] Mean error cam 5[9] [243 pts]: 1.873e-01 [med: 1.335e-01, 8.000e+00] + E[9.100e-04--3.018e-01]: 209 [0.860] + E[3.018e-01--6.027e-01]: 27 [0.111] + E[6.027e-01--9.037e-01]: 4 [0.016] + E[9.037e-01--1.205e+00]: 1 [0.004] + E[1.205e+00--1.505e+00]: 1 [0.004] + E[1.505e+00--1.806e+00]: 0 [0.000] + E[1.806e+00--2.107e+00]: 0 [0.000] + E[2.107e+00--2.408e+00]: 0 [0.000] + E[2.408e+00--2.709e+00]: 0 [0.000] + E[2.709e+00--3.010e+00]: 1 [0.004] +[RunSFM] Mean error cam 6[5] [136 pts]: 4.076e-01 [med: 3.288e-01, 8.000e+00] + E[1.574e-03--2.635e-01]: 59 [0.434] + E[2.635e-01--5.254e-01]: 52 [0.382] + E[5.254e-01--7.873e-01]: 11 [0.081] + E[7.873e-01--1.049e+00]: 5 [0.037] + E[1.049e+00--1.311e+00]: 4 [0.029] + E[1.311e+00--1.573e+00]: 3 [0.022] + E[1.573e+00--1.835e+00]: 0 [0.000] + E[1.835e+00--2.097e+00]: 0 [0.000] + E[2.097e+00--2.359e+00]: 0 [0.000] + E[2.359e+00--2.621e+00]: 2 [0.015] +[RunSFM] Mean error cam 7[10] [169 pts]: 2.569e-01 [med: 1.855e-01, 8.000e+00] + E[8.426e-04--1.778e-01]: 83 [0.491] + E[1.778e-01--3.548e-01]: 49 [0.290] + E[3.548e-01--5.318e-01]: 25 [0.148] + E[5.318e-01--7.087e-01]: 2 [0.012] + E[7.087e-01--8.857e-01]: 4 [0.024] + E[8.857e-01--1.063e+00]: 3 [0.018] + E[1.063e+00--1.240e+00]: 1 [0.006] + E[1.240e+00--1.417e+00]: 0 [0.000] + E[1.417e+00--1.594e+00]: 1 [0.006] + E[1.594e+00--1.771e+00]: 0 [0.000] +[RunSFM] outlier removal took 0.000s +[RunSFM] Removing 0 outliers +[RemoveBadPointsAndCameras] Pruned 0 points + focal lengths: + [000] 693.789 (660.803) ./kermit007.jpg 7; -9.700e-02 -7.389e-03 + [001] 700.972 (660.803) ./kermit008.jpg 8; -8.504e-02 -2.307e-02 + [002] 686.701 (660.803) ./kermit000.jpg 0; -9.716e-02 1.356e-02 + [003] 687.339 (660.803) ./kermit001.jpg 1; -8.659e-02 3.753e-03 + [004] 716.534 (660.803) ./kermit002.jpg 2; -4.448e-02 -3.541e-03 + [005] 691.376 (660.803) ./kermit009.jpg 9; -1.149e-01 -1.627e-02 + [006] 700.202 (660.803) ./kermit005.jpg 5; -7.065e-02 -4.830e-03 + [007] 685.156 (660.803) ./kermit010.jpg 10; -1.110e-01 9.405e-03 +[SifterApp::DumpOutputFile] Wrote file in 0.010s + existing_matches[3] = 60 + score[3] = 60.000 + existing_matches[4] = 2 + score[4] = 2.000 + existing_matches[6] = 9 + score[6] = 9.000 +Error: parent not found +[SifterApp::BundleAdjust] max_matches = 60 +[SifterApp::BundleAdjustFast] Registering 1 images +[SifterApp::BundleAdjustFast] Adjusting camera 3 +[SifterApp::BundleAdjust[3]] Adjusting camera 3 (parent = -1) +[BaseApp::SetTracks] Setting tracks for image 3... +[BaseApp::SetTracks] Finished in 0.000s +[BundleInitializeImage] Connecting existing matches... +[BundleInitializeImage] Initializing camera... +[find_projection_3x4_ransac] num_inliers = 58 (out of 60) +[find_projection_3x4_ransac] error = 1.086 +Best matrix (pre-opt): + 2.327797e+01 -4.896861e+00 2.799842e+01 6.956796e+01 + 1.214455e+00 1.034851e+01 2.562870e+01 7.276135e+01 + 1.477153e-01 -1.289803e-01 4.192161e-01 1.000000e+00 +Old error: 1.282e+02 +Best matrix (post-opt): + 2.611544e+01 -4.099900e+00 2.817105e+01 6.957511e+01 + 5.831333e-01 1.323028e+01 2.688398e+01 7.715233e+01 + 1.593812e-01 -1.260706e-01 4.242267e-01 1.000000e+00 +New error: 5.564e-01 +[FindAndVerifyCamera] Estimated intrinsics: + 3.304518e+01 -2.026156e+00 7.515938e+01 + 0.000000e+00 4.566623e+01 4.442601e+01 + 0.000000e+00 0.000000e+00 1.000000e+00 +[FindAndVerifyCamera] Estimated extrinsics: + 8.908983e-01 3.995741e-01 -2.159646e-01 + -3.024809e-01 8.766464e-01 3.741610e-01 + 3.388296e-01 -2.680142e-01 9.018663e-01 + -2.658412e-01 1.523513e+00 2.125907e+00 +[FindAndVerifyCamera] Checking consistency... +[FindAndVerifyCamera] Removing point [459] (reproj. error = 147.690) +[BundleInitializeImage] Camera has initial focal length of 660.803 +[BundleInitializeImage] Estimated focal length of 39.356 is too different +[BundleInitializeImage] Adjusting... + Round[0]: RMS error = 89.83145870 [89.79351789] + Round[1]: RMS error = 51.59198583 [51.40884433] + Round[2]: RMS error = 13.19582883 [11.04120323] + Round[3]: RMS error = 9.37816997 [8.00121076] + Round[4]: RMS error = 7.59189787 [6.00156605] + Round[5]: RMS error = 7.58395685 [5.96954318] + Round[6]: RMS error = 7.58365035 [5.95878824] + Round[7]: RMS error = 7.58363430 [5.95620044] + Round[8]: RMS error = 7.58363340 [5.95555922] + Round[9]: RMS error = 7.58363335 [5.95540256] + Round[10]: RMS error = 7.58363334 [5.95536431] + Round[11]: RMS error = 7.58363334 [5.95535505] + Round[12]: RMS error = 7.58363334 [5.95535280] + Round[13]: RMS error = 7.58363334 [5.95535222] +Sum of squares tolerance reached +[RefineCameraParameters] Calling with 59 points + Round[0]: RMS error = 7.58363334 [5.95535222], f = 39.356; 0.000e+00 0.000e+00 + Round[1]: RMS error = 7.05890999 [5.13955779], f = 43.949; -1.172e-02 1.849e-03 + Round[2]: RMS error = 6.30595034 [4.67444061], f = 49.784; -1.952e-02 3.744e-03 + Round[3]: RMS error = 5.72421836 [4.09663257], f = 60.953; -3.648e-02 7.853e-03 + Round[4]: RMS error = 5.29428397 [3.74724491], f = 71.336; -3.884e-02 1.254e-02 + Round[5]: RMS error = 5.00678790 [3.53579469], f = 79.499; -2.689e-02 1.572e-02 + Round[6]: RMS error = 4.97731040 [3.53542178], f = 96.615; 8.703e-03 2.038e-02 + Round[7]: RMS error = 4.36843960 [2.94198147], f = 105.082; 3.967e-02 2.169e-02 + Round[8]: RMS error = 4.33380307 [2.93906061], f = 122.894; 9.467e-02 2.359e-02 + Round[9]: RMS error = 3.85855629 [2.43873763], f = 131.905; 1.258e-01 2.421e-02 + Round[10]: RMS error = 3.77002820 [2.38273106], f = 150.249; 1.813e-01 2.521e-02 + Round[11]: RMS error = 3.50204127 [2.10989054], f = 168.884; 2.369e-01 2.594e-02 + Round[12]: RMS error = 3.30483864 [1.90577487], f = 187.842; 2.900e-01 2.648e-02 + Round[13]: RMS error = 3.15240707 [1.73872777], f = 207.068; 3.402e-01 2.691e-02 + Round[14]: RMS error = 3.03475799 [1.60170794], f = 226.573; 3.870e-01 2.726e-02 + Round[15]: RMS error = 2.94376692 [1.48878752], f = 246.372; 4.295e-01 2.755e-02 + Round[16]: RMS error = 2.87330453 [1.39570303], f = 266.479; 4.671e-01 2.779e-02 + Round[17]: RMS error = 2.82337162 [1.32550718], f = 279.690; 4.899e-01 2.792e-02 + Round[18]: RMS error = 2.79812229 [1.29587685], f = 306.680; 5.204e-01 2.815e-02 + Round[19]: RMS error = 2.74818951 [1.21938647], f = 334.038; 5.392e-01 2.833e-02 + Round[20]: RMS error = 2.71379473 [1.16798451], f = 361.565; 5.437e-01 2.849e-02 + Round[21]: RMS error = 2.68939652 [1.13338078], f = 389.016; 5.335e-01 2.863e-02 + Round[22]: RMS error = 2.67271813 [1.11434427], f = 410.894; 5.158e-01 2.872e-02 + Round[23]: RMS error = 2.66786166 [1.10197684], f = 453.730; 4.538e-01 2.890e-02 + Round[24]: RMS error = 2.65071145 [1.08194858], f = 495.486; 3.720e-01 2.907e-02 + Round[25]: RMS error = 2.64180021 [1.07441357], f = 536.237; 2.753e-01 2.921e-02 + Round[26]: RMS error = 2.63684676 [1.07169500], f = 576.267; 1.695e-01 2.932e-02 + Round[27]: RMS error = 2.63417135 [1.07080994], f = 615.839; 5.841e-02 2.934e-02 + Round[28]: RMS error = 2.63296939 [1.07083791], f = 655.174; -5.515e-02 2.846e-02 + Round[29]: RMS error = 2.63070722 [1.08498552], f = 658.523; -6.254e-02 1.657e-02 + Round[30]: RMS error = 2.63070215 [1.08515115], f = 658.903; -6.396e-02 1.620e-02 + Round[31]: RMS error = 2.63070278 [1.08516222], f = 658.859; -6.379e-02 1.615e-02 + Round[32]: RMS error = 2.63070267 [1.08516115], f = 658.865; -6.382e-02 1.618e-02 + Round[33]: RMS error = 2.63070269 [1.08516128], f = 658.865; -6.382e-02 1.615e-02 + Round[34]: RMS error = 2.63070271 [1.08516125], f = 658.864; -6.381e-02 1.615e-02 + Round[35]: RMS error = 2.63070271 [1.08516128], f = 658.864; -6.382e-02 1.615e-02 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 1.085 +[RefineCameraParameters] Threshold = 8.120 +[RefineCameraParameters] Removing point [411] with reprojection error 17.841 + E[7.340e-02--1.850e+00]: 55 [0.932] + E[1.850e+00--3.627e+00]: 2 [0.034] + E[3.627e+00--5.404e+00]: 0 [0.000] + E[5.404e+00--7.180e+00]: 1 [0.017] + E[7.180e+00--8.957e+00]: 0 [0.000] + E[8.957e+00--1.073e+01]: 0 [0.000] + E[1.073e+01--1.251e+01]: 0 [0.000] + E[1.251e+01--1.429e+01]: 0 [0.000] + E[1.429e+01--1.606e+01]: 0 [0.000] + E[1.606e+01--1.784e+01]: 0 [0.000] +[RefineCameraParameters] Calling with 58 points + Round[0]: RMS error = 1.24589784 [0.79627584], f = 658.864; -6.382e-02 1.615e-02 + Round[1]: RMS error = 0.97231879 [0.73994987], f = 678.666; -1.294e-01 -4.633e-03 + Round[2]: RMS error = 0.86760045 [0.54839091], f = 674.041; -1.213e-01 -4.593e-03 + Round[3]: RMS error = 0.86745957 [0.54681393], f = 674.868; -1.249e-01 -4.796e-03 + Round[4]: RMS error = 0.86746722 [0.54680709], f = 674.760; -1.245e-01 -4.857e-03 + Round[5]: RMS error = 0.86746630 [0.54680728], f = 674.772; -1.245e-01 -4.785e-03 + Round[6]: RMS error = 0.86746641 [0.54680730], f = 674.770; -1.245e-01 -4.777e-03 + Round[7]: RMS error = 0.86746641 [0.54680731], f = 674.770; -1.245e-01 -4.775e-03 + Round[8]: RMS error = 0.86746641 [0.54680731], f = 674.770; -1.245e-01 -4.775e-03 +Sum of squares tolerance reached +[RefineCameraParameters] Error: 0.547 +[RefineCameraParameters] Threshold = 8.000 + E[8.675e-03--5.280e-01]: 41 [0.707] + E[5.280e-01--1.047e+00]: 14 [0.241] + E[1.047e+00--1.567e+00]: 2 [0.034] + E[1.567e+00--2.086e+00]: 0 [0.000] + E[2.086e+00--2.605e+00]: 0 [0.000] + E[2.605e+00--3.124e+00]: 0 [0.000] + E[3.124e+00--3.644e+00]: 0 [0.000] + E[3.644e+00--4.163e+00]: 0 [0.000] + E[4.163e+00--4.682e+00]: 0 [0.000] + E[4.682e+00--5.202e+00]: 1 [0.017] +[RefineCameraParameters] Exiting after 2 rounds with 58 / 59 points +[BundleInitializeImage] Initializing took 0.130s +[SifterApp::BundleAdjust] Adding new matches +[AddAllNewPoints] Added 24 new points +[AddAllNewPoints] Ill-conditioned tracks: 0 +[AddAllNewPoints] Bad reprojections: 6 +[AddAllNewPoints] Failed cheirality checks: 1 +[SifterApp::BundleAdjust] Number of points = 632 +initial motstr-SBA error 641.807 [0.315695] +mean reprojection error 0.282583 + +damping term 181064, gain ratio 1.00235, errors 0.315695 / 0.255201 = 1.23704 +pdp_eL2: 518.824, nvis: 2033 +max_pct_change: 1.618e+02 +mean reprojection error 0.27907 + +damping term 60354.6, gain ratio 0.999445, errors 0.255201 / 0.239527 = 1.06544 +pdp_eL2: 486.959, nvis: 2033 +max_pct_change: 1.724e+02 +mean reprojection error 0.275817 + +damping term 20118.2, gain ratio 0.997198, errors 0.239527 / 0.230965 = 1.03707 +pdp_eL2: 469.552, nvis: 2033 +max_pct_change: 2.237e+01 +mean reprojection error 0.272853 + +damping term 6706.06, gain ratio 0.992318, errors 0.230965 / 0.225071 = 1.02619 +pdp_eL2: 457.569, nvis: 2033 +max_pct_change: 3.874e+00 +mean reprojection error 0.269363 + +damping term 2235.35, gain ratio 0.991016, errors 0.225071 / 0.220166 = 1.02228 +pdp_eL2: 447.598, nvis: 2033 +max_pct_change: 6.751e+00 +mean reprojection error 0.266628 + +damping term 745.118, gain ratio 0.994515, errors 0.220166 / 0.217871 = 1.01053 +pdp_eL2: 442.932, nvis: 2033 +max_pct_change: 2.956e+00 +mean reprojection error 0.265365 + +damping term 248.373, gain ratio 0.960311, errors 0.217871 / 0.217044 = 1.00381 +pdp_eL2: 441.250, nvis: 2033 +max_pct_change: 2.026e+00 +mean reprojection error 0.264618 + +damping term 82.7909, gain ratio 0.873562, errors 0.217044 / 0.216525 = 1.0024 +pdp_eL2: 440.196, nvis: 2033 +max_pct_change: 4.238e+00 +mean reprojection error 0.264179 + +damping term 48.2638, gain ratio 0.944612, errors 0.216525 / 0.216176 = 1.00161 +pdp_eL2: 439.487, nvis: 2033 +max_pct_change: 1.702e+01 +mean reprojection error 0.263832 + +damping term 16.0879, gain ratio 0.73027, errors 0.216176 / 0.215934 = 1.00112 +pdp_eL2: 438.994, nvis: 2033 +max_pct_change: 9.505e-01 +mean reprojection error 0.263717 + +damping term 14.5165, gain ratio 1.59364, errors 0.215934 / 0.215723 = 1.00098 +pdp_eL2: 438.564, nvis: 2033 +max_pct_change: 2.876e-01 +mean reprojection error 0.263777 + +damping term 4.83882, gain ratio 0.838184, errors 0.215723 / 0.215661 = 1.00029 +pdp_eL2: 438.439, nvis: 2033 +max_pct_change: 2.037e-01 +mean reprojection error 0.26384 + +damping term 3.34159, gain ratio 7.72879, errors 0.215661 / 0.21557 = 1.00042 +pdp_eL2: 438.254, nvis: 2033 +max_pct_change: 8.856e-02 +mean reprojection error 0.263874 + +damping term 1.11386, gain ratio 28.689, errors 0.21557 / 0.215535 = 1.00016 +pdp_eL2: 438.182, nvis: 2033 +max_pct_change: 7.420e-02 +mean reprojection error 0.263881 + +damping term 0.371287, gain ratio 726.442, errors 0.215535 / 0.215514 = 1.0001 +pdp_eL2: 438.140, nvis: 2033 +max_pct_change: 1.244e-02 +[run_sfm] Number of iterations: 15 +info[6] = 8.000 +[RunSFM] run_sfm took 0.230s +[RunSFM] Mean error cam 0[7] [363 pts]: 2.594e-01 [med: 1.535e-01, 8.000e+00] + E[6.206e-04--7.455e-01]: 345 [0.950] + E[7.455e-01--1.490e+00]: 15 [0.041] + E[1.490e+00--2.235e+00]: 1 [0.003] + E[2.235e+00--2.980e+00]: 0 [0.000] + E[2.980e+00--3.725e+00]: 0 [0.000] + E[3.725e+00--4.470e+00]: 1 [0.003] + E[4.470e+00--5.215e+00]: 0 [0.000] + E[5.215e+00--5.960e+00]: 0 [0.000] + E[5.960e+00--6.705e+00]: 0 [0.000] + E[6.705e+00--7.450e+00]: 0 [0.000] +[RunSFM] Mean error cam 1[8] [142 pts]: 2.954e-01 [med: 2.204e-01, 8.000e+00] + E[6.193e-04--2.354e-01]: 76 [0.535] + E[2.354e-01--4.702e-01]: 41 [0.289] + E[4.702e-01--7.050e-01]: 14 [0.099] + E[7.050e-01--9.399e-01]: 5 [0.035] + E[9.399e-01--1.175e+00]: 2 [0.014] + E[1.175e+00--1.409e+00]: 1 [0.007] + E[1.409e+00--1.644e+00]: 1 [0.007] + E[1.644e+00--1.879e+00]: 1 [0.007] + E[1.879e+00--2.114e+00]: 0 [0.000] + E[2.114e+00--2.349e+00]: 0 [0.000] +[RunSFM] Mean error cam 2[0] [322 pts]: 2.533e-01 [med: 1.609e-01, 8.000e+00] + E[6.426e-03--1.509e-01]: 149 [0.463] + E[1.509e-01--2.953e-01]: 97 [0.301] + E[2.953e-01--4.397e-01]: 27 [0.084] + E[4.397e-01--5.842e-01]: 16 [0.050] + E[5.842e-01--7.286e-01]: 8 [0.025] + E[7.286e-01--8.730e-01]: 8 [0.025] + E[8.730e-01--1.017e+00]: 5 [0.016] + E[1.017e+00--1.162e+00]: 2 [0.006] + E[1.162e+00--1.306e+00]: 7 [0.022] + E[1.306e+00--1.451e+00]: 3 [0.009] +[RunSFM] Mean error cam 3[1] [362 pts]: 2.307e-01 [med: 1.322e-01, 8.000e+00] + E[8.294e-04--5.949e-01]: 337 [0.931] + E[5.949e-01--1.189e+00]: 19 [0.052] + E[1.189e+00--1.783e+00]: 4 [0.011] + E[1.783e+00--2.377e+00]: 0 [0.000] + E[2.377e+00--2.971e+00]: 1 [0.003] + E[2.971e+00--3.565e+00]: 0 [0.000] + E[3.565e+00--4.159e+00]: 0 [0.000] + E[4.159e+00--4.753e+00]: 0 [0.000] + E[4.753e+00--5.348e+00]: 0 [0.000] + E[5.348e+00--5.942e+00]: 0 [0.000] +[RunSFM] Mean error cam 4[2] [210 pts]: 3.006e-01 [med: 1.736e-01, 8.000e+00] + E[5.442e-03--4.498e-01]: 179 [0.852] + E[4.498e-01--8.941e-01]: 21 [0.100] + E[8.941e-01--1.338e+00]: 3 [0.014] + E[1.338e+00--1.783e+00]: 2 [0.010] + E[1.783e+00--2.227e+00]: 2 [0.010] + E[2.227e+00--2.671e+00]: 0 [0.000] + E[2.671e+00--3.116e+00]: 2 [0.010] + E[3.116e+00--3.560e+00]: 0 [0.000] + E[3.560e+00--4.004e+00]: 0 [0.000] + E[4.004e+00--4.449e+00]: 0 [0.000] +[RunSFM] Mean error cam 5[9] [243 pts]: 1.960e-01 [med: 1.436e-01, 8.000e+00] + E[7.695e-04--3.018e-01]: 200 [0.823] + E[3.018e-01--6.027e-01]: 35 [0.144] + E[6.027e-01--9.037e-01]: 5 [0.021] + E[9.037e-01--1.205e+00]: 1 [0.004] + E[1.205e+00--1.506e+00]: 1 [0.004] + E[1.506e+00--1.807e+00]: 0 [0.000] + E[1.807e+00--2.108e+00]: 0 [0.000] + E[2.108e+00--2.409e+00]: 0 [0.000] + E[2.409e+00--2.710e+00]: 0 [0.000] + E[2.710e+00--3.011e+00]: 1 [0.004] +[RunSFM] Mean error cam 6[5] [140 pts]: 4.051e-01 [med: 2.985e-01, 8.000e+00] + E[8.883e-03--2.697e-01]: 61 [0.436] + E[2.697e-01--5.306e-01]: 53 [0.379] + E[5.306e-01--7.914e-01]: 14 [0.100] + E[7.914e-01--1.052e+00]: 3 [0.021] + E[1.052e+00--1.313e+00]: 4 [0.029] + E[1.313e+00--1.574e+00]: 2 [0.014] + E[1.574e+00--1.835e+00]: 0 [0.000] + E[1.835e+00--2.096e+00]: 0 [0.000] + E[2.096e+00--2.356e+00]: 1 [0.007] + E[2.356e+00--2.617e+00]: 2 [0.014] +[RunSFM] Mean error cam 7[10] [169 pts]: 2.612e-01 [med: 1.867e-01, 8.000e+00] + E[2.804e-03--1.785e-01]: 82 [0.485] + E[1.785e-01--3.542e-01]: 48 [0.284] + E[3.542e-01--5.299e-01]: 25 [0.148] + E[5.299e-01--7.055e-01]: 4 [0.024] + E[7.055e-01--8.812e-01]: 4 [0.024] + E[8.812e-01--1.057e+00]: 3 [0.018] + E[1.057e+00--1.233e+00]: 1 [0.006] + E[1.233e+00--1.408e+00]: 0 [0.000] + E[1.408e+00--1.584e+00]: 1 [0.006] + E[1.584e+00--1.760e+00]: 0 [0.000] +[RunSFM] Mean error cam 8[3] [82 pts]: 2.884e-01 [med: 2.237e-01, 8.000e+00] + E[5.074e-03--1.542e-01]: 23 [0.280] + E[1.542e-01--3.033e-01]: 33 [0.402] + E[3.033e-01--4.524e-01]: 13 [0.159] + E[4.524e-01--6.015e-01]: 6 [0.073] + E[6.015e-01--7.506e-01]: 3 [0.037] + E[7.506e-01--8.997e-01]: 2 [0.024] + E[8.997e-01--1.049e+00]: 1 [0.012] + E[1.049e+00--1.198e+00]: 0 [0.000] + E[1.198e+00--1.347e+00]: 0 [0.000] + E[1.347e+00--1.496e+00]: 1 [0.012] +[RunSFM] outlier removal took 0.010s +[RunSFM] Removing 0 outliers +[RemoveBadPointsAndCameras] Pruned 0 points + focal lengths: + [000] 692.059 (660.803) ./kermit007.jpg 7; -9.536e-02 -6.559e-03 + [001] 699.792 (660.803) ./kermit008.jpg 8; -8.323e-02 -2.405e-02 + [002] 684.582 (660.803) ./kermit000.jpg 0; -9.287e-02 1.161e-02 + [003] 684.937 (660.803) ./kermit001.jpg 1; -8.245e-02 9.204e-04 + [004] 709.334 (660.803) ./kermit002.jpg 2; -4.245e-02 -4.061e-03 + [005] 690.241 (660.803) ./kermit009.jpg 9; -1.140e-01 -1.692e-02 + [006] 699.373 (660.803) ./kermit005.jpg 5; -6.775e-02 -4.235e-03 + [007] 683.901 (660.803) ./kermit010.jpg 10; -1.103e-01 7.939e-03 + [008] 712.819 (660.803) ./kermit003.jpg 3; -3.052e-02 3.259e-03 +[SifterApp::DumpOutputFile] Wrote file in 0.000s + existing_matches[4] = 6 + score[4] = 6.000 + existing_matches[6] = 9 + score[6] = 9.000 +Error: parent not found +[SifterApp::BundleAdjust] max_matches = 9 +[BundleAdjust] Bundle adjustment took 3.660s +[SifterApp::DumpOutputFile] Wrote file in 0.010s +[BaseApp::SetMatchesFromPoints] Setting up matches... +[BaseApp::SetMatchesFromPoints] Done! +[FixReflectionBug] Reflecting scene... diff --git a/bundle/points001.ply b/bundle/points001.ply new file mode 100644 index 0000000..ed26bb8 --- /dev/null +++ b/bundle/points001.ply @@ -0,0 +1,153 @@ +ply +format ascii 1.0 +element face 0 +property list uchar int vertex_indices +element vertex 141 +property float x +property float y +property float z +property uchar diffuse_red +property uchar diffuse_green +property uchar diffuse_blue +end_header +-4.433718e-01 -3.558271e-01 -2.684142e+00 100 179 115 +-1.461028e-01 -8.284077e-01 -2.756592e+00 227 230 74 +-4.669959e-01 -4.839512e-01 -2.729521e+00 31 27 24 +-4.221640e-01 -5.416792e-01 -2.770363e+00 100 164 102 +-4.926433e-01 -4.010995e-01 -2.680508e+00 36 38 33 +-1.674067e-01 -3.192125e-01 -2.618499e+00 207 206 203 +-1.236423e-01 -3.125343e-01 -2.635839e+00 213 217 214 +-9.921048e-02 -2.620010e-01 -2.632287e+00 113 67 40 +6.643340e-01 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+-1.498650e+00 -7.976188e-01 -1.937695e-02 255 255 0 +2.431992e-01 -2.280816e+00 -7.328083e-01 255 0 0 +2.328499e-01 -2.249455e+00 -7.703496e-01 255 255 0 +2.853007e+00 -2.466974e-01 -7.885040e-01 0 255 0 +2.813278e+00 -2.465158e-01 -8.188608e-01 255 255 0 diff --git a/cmake/FindGMP.cmake b/cmake/FindGMP.cmake new file mode 100644 index 0000000..5e2106d --- /dev/null +++ b/cmake/FindGMP.cmake @@ -0,0 +1,19 @@ +# Try to find the GMP librairies +# GMP_FOUND - system has GMP lib +# GMP_INCLUDE_DIR - the GMP include directory +# GMP_LIBRARIES - Libraries needed to use GMP + +if (GMP_INCLUDE_DIR AND GMP_LIBRARIES) + # Already in cache, be silent + set(GMP_FIND_QUIETLY TRUE) +endif (GMP_INCLUDE_DIR AND GMP_LIBRARIES) + +find_path(GMP_INCLUDE_DIR NAMES gmp.h ) +find_library(GMP_LIBRARIES NAMES gmp libgmp ) +find_library(GMPXX_LIBRARIES NAMES gmpxx libgmpxx ) +MESSAGE(STATUS "GMP libs: " ${GMP_LIBRARIES} " " ${GMPXX_LIBRARIES} ) + +include(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(GMP DEFAULT_MSG GMP_INCLUDE_DIR GMP_LIBRARIES) + +mark_as_advanced(GMP_INCLUDE_DIR GMP_LIBRARIES) diff --git a/images/youtube.png b/images/youtube.png new file mode 100644 index 0000000..da1fc3e Binary files /dev/null and b/images/youtube.png differ diff --git a/pixelstruct.pro b/pixelstruct.pro new file mode 100755 index 0000000..ef90f8e --- /dev/null +++ b/pixelstruct.pro @@ -0,0 +1,93 @@ +QT += widgets core gui opengl + +QMAKE_LFLAGS += -F /System/Library/Frameworks -F /System/Library/Frameworks/IOKit.framework -F /System/Library/Frameworks/CoreFoundation.framework +LIBS += -framework IOKit -framework CoreFoundation + +greaterThan(QT_MAJOR_VERSION, 4): QT += widgets + +TARGET = pixelstruct +TEMPLATE = app + +INCLUDEPATH += /usr/local/include + +@ +CONFIG -= x86 ppc +CONFIG += x86_64 +@ + + +SOURCES += ./src/main.cpp \ + ./src/glwidget.cpp \ + ./src/camera.cpp \ + ./src/point.cpp \ + ./src/bundleparser.cpp \ + ./src/visiblepoint.cpp \ + ./src/mainwindow.cpp \ + ./src/imagelist.cpp \ + ./src/plane.cpp \ + ./src/commonplane.cpp \ + ./src/triangulation.cpp \ + ./src/photo.cpp + +HEADERS += ./src/glwidget.h \ + ./src/camera.h \ + ./src/point.h \ + ./src/bundleparser.h \ + ./src/visiblepoint.h \ + ./src/mainwindow.h \ + ./src/imagelist.h \ + ./src/plane.h \ + ./src/commonplane.h \ + ./src/triangulation.h \ + ./src/photo.h + + +#------------------------------------------------- +# CGAL LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lCGAL + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# CGAL CORE LIBRARY +#------------------------------------------------- +#macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lCGAL_Core.11 + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# CGAL IMAGE IO LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lCGAL_ImageIO + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# BOOST THREAD LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lboost_thread-mt + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# BOOST SYSTEM LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lboost_system-mt + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# GMP LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lgmp + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include +#------------------------------------------------- +# MPFR LIBRARY +#------------------------------------------------- +macx: LIBS += -L$$PWD/../../../../../../opt/local/lib/ -lmpfr + +INCLUDEPATH += $$PWD/../../../../../../opt/local/include +DEPENDPATH += $$PWD/../../../../../../opt/local/include diff --git a/pixelstruct.xcodeproj/project.pbxproj b/pixelstruct.xcodeproj/project.pbxproj new file mode 100644 index 0000000..149bbcf --- /dev/null +++ b/pixelstruct.xcodeproj/project.pbxproj @@ -0,0 +1,639 @@ +// !$*UTF8*$! +{ + archiveVersion = 1; + classes = { + }; + objectVersion = 46; + objects = { + +/* Begin PBXAggregateTarget section */ + 4267DCFDD5C3244DD3593F6E /* Qt Preprocess */ = { + 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b/pixelstruct.xcodeproj/qt_preprocess.mak new file mode 100644 index 0000000..e02c3a1 --- /dev/null +++ b/pixelstruct.xcodeproj/qt_preprocess.mak @@ -0,0 +1,3759 @@ +############################################################################# +# Makefile for building: pixelstruct.app/Contents/MacOS/pixelstruct +# Generated by qmake (3.0) (Qt 5.7.0) +# Project: pixelstruct.pro +# Template: app +# Command: /usr/local/bin/qmake -spec macx-xcode -o pixelstruct.xcodeproj/project.pbxproj pixelstruct.pro +############################################################################# + +MAKEFILE = project.pbxproj + +MOC = /usr/local/Cellar/qt5/5.7.0/bin/moc +UIC = /usr/local/Cellar/qt5/5.7.0/bin/uic +LEX = flex +LEXFLAGS = +YACC = yacc +YACCFLAGS = -d +DEFINES = -DQT_NO_DEBUG -DQT_OPENGL_LIB -DQT_WIDGETS_LIB -DQT_GUI_LIB -DQT_CORE_LIB +INCPATH = -I. -I/usr/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/usr/local/Cellar/qt5/5.7.0/lib/QtOpenGL.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtWidgets.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtGui.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtCore.framework/Headers -I. -I/Applications/Xcode-beta.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.12.sdk/System/Library/Frameworks/OpenGL.framework/Headers -I/Applications/Xcode-beta.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.12.sdk/System/Library/Frameworks/AGL.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/mkspecs/macx-clang -F/usr/local/Cellar/qt5/5.7.0/lib +DEL_FILE = rm -f +MOVE = mv -f + +preprocess: compilers +clean preprocess_clean: compiler_clean + +mocclean: compiler_moc_header_clean compiler_moc_source_clean + +mocables: compiler_moc_header_make_all compiler_moc_source_make_all + +check: first + +benchmark: first + +compilers: moc_glwidget.cpp 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/../opt/local/include/boost/multi_index/detail/hash_index_node.hpp \ + /../opt/local/include/boost/multi_index/detail/hash_index_iterator.hpp \ + /../opt/local/include/boost/multi_index/detail/modify_key_adaptor.hpp \ + /../opt/local/include/boost/multi_index/detail/promotes_arg.hpp \ + /../opt/local/include/boost/multi_index/detail/is_transparent.hpp \ + /../opt/local/include/boost/type_traits/is_final.hpp \ + /../opt/local/include/boost/multi_index/hashed_index_fwd.hpp \ + /../opt/local/include/boost/multi_index/detail/hash_index_args.hpp \ + /../opt/local/include/boost/functional/hash.hpp \ + /../opt/local/include/boost/functional/hash/hash.hpp \ + /../opt/local/include/boost/functional/hash/detail/hash_float.hpp \ + /../opt/local/include/boost/functional/hash/detail/float_functions.hpp \ + /../opt/local/include/boost/functional/hash/detail/limits.hpp \ + /../opt/local/include/boost/functional/hash/extensions.hpp \ + /../opt/local/include/boost/detail/container_fwd.hpp \ + /../opt/local/include/boost/multi_index/member.hpp \ + /../opt/local/include/boost/multi_index/sequenced_index.hpp \ + /../opt/local/include/boost/bind.hpp \ + /../opt/local/include/boost/bind/bind.hpp \ + /../opt/local/include/boost/is_placeholder.hpp \ + /../opt/local/include/boost/bind/arg.hpp \ + /../opt/local/include/boost/visit_each.hpp \ + /../opt/local/include/boost/core/is_same.hpp \ + /../opt/local/include/boost/bind/storage.hpp \ + /../opt/local/include/boost/bind/bind_template.hpp \ + /../opt/local/include/boost/bind/bind_cc.hpp \ + /../opt/local/include/boost/bind/bind_mf_cc.hpp \ + /../opt/local/include/boost/bind/bind_mf2_cc.hpp \ + /../opt/local/include/boost/bind/placeholders.hpp \ + /../opt/local/include/boost/multi_index/detail/bidir_node_iterator.hpp \ + /../opt/local/include/boost/multi_index/detail/seq_index_node.hpp \ + /../opt/local/include/boost/multi_index/detail/seq_index_ops.hpp \ + /../opt/local/include/boost/multi_index/sequenced_index_fwd.hpp \ + /../opt/local/include/boost/property_map/parallel/impl/distributed_property_map.ipp \ + /../opt/local/include/boost/property_map/parallel/simple_trigger.hpp \ + /../opt/local/include/boost/property_map/vector_property_map.hpp \ + /../opt/local/include/boost/property_map/parallel/vector_property_map.hpp \ + /../opt/local/include/CGAL/internal/info_check.h \ + /../opt/local/include/boost/iterator/zip_iterator.hpp \ + /../opt/local/include/boost/iterator/minimum_category.hpp \ + src/photo.h \ + src/mainwindow.h \ + /usr/local/Cellar/qt5/5.7.0/bin/moc + /usr/local/Cellar/qt5/5.7.0/bin/moc $(DEFINES) -D__APPLE__ -D__GNUC__=4 -D__APPLE_CC__ -I/usr/local/Cellar/qt5/5.7.0/mkspecs/macx-clang -I/Users/johndpope/Documents/gitWorkspace/pixelstruct -I/usr/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/../opt/local/include -I/usr/local/Cellar/qt5/5.7.0/lib/QtOpenGL.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtWidgets.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtGui.framework/Headers -I/usr/local/Cellar/qt5/5.7.0/lib/QtCore.framework/Headers -I/Applications/Xcode-beta.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include/c++/v1 -I/usr/local/include -I/Applications/Xcode-beta.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/8.0.0/include -I/Applications/Xcode-beta.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include -I/usr/include -I'/System/Library/Frameworks (framework directory)' -I'/Library/Frameworks (framework directory)' -F/usr/local/Cellar/qt5/5.7.0/lib src/mainwindow.h -o moc_mainwindow.cpp + +compiler_moc_source_make_all: +compiler_moc_source_clean: +compiler_uic_make_all: +compiler_uic_clean: +compiler_rez_source_make_all: +compiler_rez_source_clean: +compiler_yacc_decl_make_all: +compiler_yacc_decl_clean: +compiler_yacc_impl_make_all: +compiler_yacc_impl_clean: +compiler_lex_make_all: +compiler_lex_clean: +compiler_clean: compiler_moc_header_clean + diff --git a/pixelstruct.xcodeproj/xcshareddata/xcschemes/pixelstruct.xcscheme b/pixelstruct.xcodeproj/xcshareddata/xcschemes/pixelstruct.xcscheme new file mode 100644 index 0000000..bb22812 --- /dev/null +++ b/pixelstruct.xcodeproj/xcshareddata/xcschemes/pixelstruct.xcscheme @@ -0,0 +1,114 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcdebugger/Breakpoints_v2.xcbkptlist b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcdebugger/Breakpoints_v2.xcbkptlist new file mode 100644 index 0000000..d4bac1c --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcdebugger/Breakpoints_v2.xcbkptlist @@ -0,0 +1,23 @@ + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ALL_BUILD.xcscheme b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ALL_BUILD.xcscheme new file mode 100644 index 0000000..11425a0 --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ALL_BUILD.xcscheme @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ZERO_CHECK.xcscheme b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ZERO_CHECK.xcscheme new file mode 100644 index 0000000..aceba30 --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/ZERO_CHECK.xcscheme @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct.xcscheme b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct.xcscheme new file mode 100644 index 0000000..0bf9e06 --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct.xcscheme @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct_automoc.xcscheme b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct_automoc.xcscheme new file mode 100644 index 0000000..9fb250f --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/pixelstruct_automoc.xcscheme @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/xcschememanagement.plist b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/xcschememanagement.plist new file mode 100644 index 0000000..f3078c5 --- /dev/null +++ b/pixelstruct.xcodeproj/xcuserdata/johndpope.xcuserdatad/xcschemes/xcschememanagement.plist @@ -0,0 +1,62 @@ + + + + + SchemeUserState + + ALL_BUILD.xcscheme + + orderHint + 0 + + ZERO_CHECK.xcscheme + + orderHint + 1 + + pixelstruct.xcscheme + + orderHint + 2 + + pixelstruct_automoc.xcscheme + + orderHint + 3 + + + SuppressBuildableAutocreation + + 4267DCFDD5C3244DD3593F6E + + primary + + + 7813C25D7A324C8A97DC409A + + primary + + + 87F23C5C47EA484089F3CD04 + + primary + + + 93AA06E3680C42698917F5C4 + + primary + + + BE97EB8105F13AE92AACFFE0 + + primary + + + C559ADE8BE6C45B5B8C759B5 + + primary + + + + + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 77c7610..fde3315 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -1,18 +1,78 @@ -FIND_PACKAGE(Qt4 REQUIRED) -FIND_PACKAGE(OpenGL REQUIRED) -FIND_PACKAGE(CGAL REQUIRED) -SET(QT_USE_QTOPENGL ON) -INCLUDE(${QT_USE_FILE}) +# Include this package's headers first +include_directories( BEFORE ./ ./include ../../include ../../../include) + +# Find includes in corresponding build directories +set(CMAKE_INCLUDE_CURRENT_DIR ON) +# Instruct CMake to run moc automatically when needed. +set(CMAKE_AUTOMOC ON) +cmake_minimum_required(VERSION 2.8.11) +if(POLICY CMP0043) + cmake_policy(SET CMP0043 OLD) +endif() + +# Widgets finds its own dependencies (QtGui and QtCore). +find_package(Qt5Widgets REQUIRED) +find_package(Qt5Core REQUIRED) +find_package(Qt5Gui REQUIRED) + + +# CGAL +find_package(Qt5 COMPONENTS Xml Script OpenGL Svg) +find_package(CGAL COMPONENTS Qt5) +#include(${CGAL_USE_FILE}) +set(CGAL_DONT_OVERRIDE_CMAKE_FLAGS TRUE CACHE BOOL "Force CGAL to maintain CMAKE flags") + +find_package(CGAL REQUIRED) +find_package(OpenGL REQUIRED) + +find_package(GMP REQUIRED) +set(QT_USE_QTOPENGL ON) + + + +# QGLViwer needs Qt5 configured with QtOpenGL and QtXml support + +set( QT_USE_QTOPENGL TRUE ) +set( QT_USE_QTXML TRUE ) +set( QT_USE_QTMAIN TRUE ) + +#include( ${CGAL_USE_FILE} ) + + + +include_directories(${Qt5Widgets_INCLUDE_DIRS}) ADD_DEFINITIONS(${QT_DEFINITIONS} -Wall -O2) +# The Qt5Widgets_INCLUDES also includes the include directories for +# dependencies QtCore and QtGui +include_directories(${Qt5Widgets_INCLUDES}) + +# We need add -DQT_WIDGETS_LIB when using QtWidgets in Qt 5. +add_definitions(${Qt5Widgets_DEFINITIONS}) + +# Executables fail to build with Qt 5 in the default configuration +# without -fPIE. We add that here. +set(CMAKE_CXX_FLAGS "${Qt5Widgets_EXECUTABLE_COMPILE_FLAGS}") + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall") + INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_BINARY_DIR} ${QT_INCLUDE_DIR} + ${GMP_INCLUDE_DIR} # including the following directory causes conflicts with GMP headers #${CGAL_INCLUDE_DIR} ) ADD_DEFINITIONS(${CGAL_DEFINITIONS}) + +#if ( CGAL_FOUND AND CGAL_Qt5_FOUND AND Qt5_FOUND ) +if ( CGAL_FOUND AND Qt5_FOUND ) + +add_definitions(-DQT_NO_KEYWORDS) + + + SET(SOURCES main.cpp glwidget.cpp @@ -41,15 +101,30 @@ SET(HEADERS photo.h ) -QT4_AUTOMOC(${SOURCES}) ADD_EXECUTABLE(pixelstruct ${SOURCES} ${HEADERS}) + +# Link with Qt libraries TARGET_LINK_LIBRARIES(pixelstruct - ${QT_QTCORE_LIBRARY} - ${QT_QTGUI_LIBRARY} - ${QT_QTMAIN_LIBRARY} - ${QT_QTOPENGL_LIBRARY} + ${QT5_LIBRARIES} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} - ${CGAL_LIBRARIES} + ${GMP_LIBRARIES} ) + +add_to_cached_list( CGAL_EXECUTABLE_TARGETS pixelstruct ) + +# Link the executable to CGAL and third-party libraries +target_link_libraries(pixelstruct ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES} ) + + + +else() + + message(STATUS "NOTICE: This demo requires CGAL and Qt5, and will not be compiled.") + +endif() + + + + diff --git a/src/glwidget.cpp b/src/glwidget.cpp index 47d54d6..f12533f 100644 --- a/src/glwidget.cpp +++ b/src/glwidget.cpp @@ -22,10 +22,19 @@ #include #include #include +#if defined(__APPLE__) +#include +#include +#else +#include +#include +#endif + #include #include #include +#include using std::cerr; using std::endl; diff --git a/src/glwidget.h b/src/glwidget.h index 11f1b12..3912749 100644 --- a/src/glwidget.h +++ b/src/glwidget.h @@ -16,7 +16,10 @@ #ifndef GLWIDGET_H #define GLWIDGET_H -#include + + + +#include #include "bundleparser.h" #include "imagelist.h" @@ -62,6 +65,8 @@ class GLWidget : public QGLWidget { Photo *m_prev_image; CommonPlane m_common_plane; GLint texSize; + + }; #endif diff --git a/src/imagelist.cpp b/src/imagelist.cpp index 443a186..1105984 100644 --- a/src/imagelist.cpp +++ b/src/imagelist.cpp @@ -45,7 +45,7 @@ void ImageList::parse(const char* file, const char* directory) { ifstream fin(file); if(!fin) { cerr << "[ImageList::parse] Unable to open file " << file << endl; - exit(1); +// exit(1); } else { cerr << "[ImageList::parse] Successfully opened file " << file << endl; } diff --git a/src/main.cpp b/src/main.cpp index 9c6656f..eec0831 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -17,7 +17,7 @@ #include "mainwindow.h" -int main(int argc, char *argv[]) { +int main(int argc, char **argv){ QApplication app(argc, argv); MainWindow window; window.show(); diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp index 88737a1..cb3241d 100644 --- a/src/mainwindow.cpp +++ b/src/mainwindow.cpp @@ -31,10 +31,12 @@ MainWindow::MainWindow() createActions(); createMenus(); - m_transmode_2->setChecked(true); if(qApp->arguments().size() > 1) openImageDirectory(qApp->arguments().at(1)); + + m_transmode_1->setChecked(true); + } MainWindow::~MainWindow() { diff --git a/src/mainwindow.h b/src/mainwindow.h index 83220d6..c0c3412 100644 --- a/src/mainwindow.h +++ b/src/mainwindow.h @@ -16,7 +16,7 @@ #ifndef MAINWINDOW_H #define MAINWINDOW_H -#include +#include #include #include diff --git a/src/photo.h b/src/photo.h index 1b7b1e8..a5e6216 100644 --- a/src/photo.h +++ b/src/photo.h @@ -16,10 +16,17 @@ #ifndef PHOTO_H #define PHOTO_H -#include #include "triangulation.h" +#if defined(__APPLE__) +#include +#include +#else +#include +#include +#endif + class Photo { public: Photo(const int, const int, const Camera *); diff --git a/src/triangulation.h b/src/triangulation.h index 8fba075..9495e84 100644 --- a/src/triangulation.h +++ b/src/triangulation.h @@ -23,7 +23,8 @@ #include #include -#include +//#include +#include #include class Triangulation { @@ -31,7 +32,8 @@ class Triangulation { typedef CGAL::Exact_predicates_inexact_constructions_kernel::Point_3 CGAL_Point; typedef CGAL::Delaunay_triangulation_2< - CGAL::Triangulation_euclidean_traits_xy_3< + // CGAL::Triangulation_euclidean_traits_xy_3< + CGAL::Projection_traits_xy_3< CGAL::Exact_predicates_inexact_constructions_kernel> > DelaunayTriangulation;