gistfile1.txt

Incremental reconstruction
 Perform incremental SfM (Initial Pair Essential + Resection).


Track building

Track filtering

Track filtering : min occurence


42 Tracks will be removed

Track export to internal struct

Track stats
------------------
-- Tracks Stats --
 Tracks number: 1899
 Images Id: 
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 
------------------
TrackLength, Occurrence
	2	1716
	3	154
	4	21
	5	8


---------------------------------------------------
IncrementalReconstructionEngine::InitialPairChoice
---------------------------------------------------
 The best F matrix validated pair are displayed
 Choose one pair manually by typing the two integer indexes
---------------------------------------------------

(3,4)		530 matches
(9,10)		460 matches
(0,1)		408 matches
(7,8)		175 matches
(2,4)		102 matches
(5,6)		99 matches
(1,2)		91 matches
(3,6)		82 matches
(0,2)		73 matches
(2,3)		66 matches

 type INITIAL pair Indexes: X enter Y enter
3
6

Putative starting pair is: (3,6)
  nfa=-27.487 inliers=60 precisionNormalized=88838.5 precision=88838.5 (iter=0,sample=14,18,27,41,54,)
  nfa=-45.9625 inliers=66 precisionNormalized=57227.6 precision=57227.6 (iter=1,sample=45,22,30,16,28,)
  nfa=-46.1826 inliers=66 precisionNormalized=56284.6 precision=56284.6 (iter=6,sample=23,33,9,49,17,)
  nfa=-55.3175 inliers=66 precisionNormalized=28241.3 precision=28241.3 (iter=7,sample=22,21,40,54,6,)
  nfa=-75.2153 inliers=66 precisionNormalized=6287.79 precision=6287.79 (iter=13,sample=35,0,43,38,65,)
  nfa=-76.9787 inliers=47 precisionNormalized=52.2045 precision=52.2045 (iter=15,sample=29,12,48,15,44,)
  nfa=-77.1374 inliers=48 precisionNormalized=69.182 precision=69.182 (iter=144,sample=46,20,0,37,61,)
  nfa=-81.2458 inliers=48 precisionNormalized=44.5559 precision=44.5559 (iter=297,sample=0,46,8,52,50,)

-- Robust Essential Matrix estimation 
-- 66 / 48 tentative/inliers
-- Threshold: 44.5559

bundlerHelp::estimate_Rt_fromE
	 Number of points in front of both cameras:5 43 0 0

-- Rotation|Translation matrices: --
  -0.820225    0.571403   0.0270038
   0.571449     0.82061 -0.00675284
 -0.0260182  0.00989245   -0.999613

-0.988477
0.150882
-0.0121312

SfMRobust::triangulate2View_Vector
	-- Residual min max -- 1.48567e-07	720.082
--Triangulated 3D points count: 48
--Triangulated 3D points count under threshold: 43
--Putative correspondences: 66

=========================
 MSE Residual InitialPair Inlier: 


IncrementalReconstructionEngine::ComputeResidualsMSE.
	-- nbTracks:	43
	-- Residual min:	1.44437e-07
	-- Residual median:	1.48969
	-- Residual max:	 3.4448
	-- Residual mean:	 1.44885
1.44885
=========================

---------------------------------
--      BUNDLE ADJUSTMENT      --
---------------------------------
nbCams: 2
nbIntrinsics:2
nbPoints3D: 43
measurements: 86

Ceres Solver Report
-------------------
                                     Original                  Reduced
Parameter blocks                           47                       46
Parameters                                153                      147
Residual blocks                            86                       86
Residual                                  172                      172

Minimizer                        TRUST_REGION
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                 ITERATIVE_SCHUR          ITERATIVE_SCHUR
Preconditioner                   SCHUR_JACOBI             SCHUR_JACOBI
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              AUTOMATIC                    43, 3

Cost:
Initial                          1.292108e+02
Final                            2.818661e+01
Change                           1.010242e+02

Minimizer iterations                       50
Successful steps                           40
Unsuccessful steps                         10

Time (in seconds):
Preprocessor                            0.000

  Residual evaluation                   0.000
  Jacobian evaluation                   0.004
  Linear solver                         0.016
Minimizer                               0.021

Postprocessor                           0.000
Total                                   0.021

Termination:                   NO_CONVERGENCE


Bundle Adjustment statistics:
 Initial RMSE: 0.866733
 Final RMSE: 0.404816

 for camera Idx=[0]: 
	 focal: 4.58684
	 ppx: 2013.32
	 ppy: 1464.28
	 k1: -3.22153e-07
	 k2: -7.26323e-13
	 k3: 1.27583e-17
 for camera Idx=[1]: 
	 focal: 5.29071
	 ppx: 1863.36
	 ppy: 1490.39
	 k1: -7.81604e-07
	 k2: 3.53526e-12
	 k3: -1.92641e-17


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 4
-------------------------------


 Tracks in: 4
 	576
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	29
  nfa=13.0273 inliers=4 precisionNormalized=343082 precision=2413.22 (iter=0,sample=3,12,16,)
  nfa=6.92953 inliers=4 precisionNormalized=0.273905 precision=2.15624 (iter=0,sample=3,12,16,)
  nfa=5.42047 inliers=4 precisionNormalized=0.00848301 precision=0.379465 (iter=0,sample=3,12,16,)
  nfa=5.1211 inliers=4 precisionNormalized=0.00425766 precision=0.268833 (iter=2,sample=2,23,28,)
  nfa=4.14373 inliers=4 precisionNormalized=0.000448539 precision=0.0872564 (iter=2,sample=2,23,28,)
  nfa=3.92806 inliers=4 precisionNormalized=0.000272982 precision=0.0680714 (iter=3,sample=2,22,26,)
  nfa=3.92212 inliers=4 precisionNormalized=0.000269273 precision=0.0676073 (iter=12,sample=12,22,26,)
  nfa=3.8609 inliers=4 precisionNormalized=0.000233873 precision=0.0630067 (iter=35,sample=0,4,26,)
  nfa=3.84288 inliers=4 precisionNormalized=0.000224363 precision=0.0617125 (iter=77,sample=3,4,26,)
  nfa=3.68067 inliers=4 precisionNormalized=0.000154433 precision=0.0511997 (iter=143,sample=5,25,28,)
  nfa=3.66027 inliers=4 precisionNormalized=0.00014735 precision=0.0500117 (iter=346,sample=3,25,28,)
  nfa=3.59881 inliers=4 precisionNormalized=0.000127904 precision=0.0465951 (iter=448,sample=0,25,28,)
  nfa=3.50532 inliers=4 precisionNormalized=0.000103133 precision=0.0418404 (iter=954,sample=13,14,28,)
  nfa=3.36748 inliers=4 precisionNormalized=7.50852e-05 precision=0.0357005 (iter=1281,sample=6,7,26,)

-------------------------------
-- Robust Resection of camera index: 4
-- Resection status: 0
-- Nb points used for Resection: 29
-- Nb points validated by robust Resection: 0
-- Threshold: 7.50852e-05
-------------------------------

Resection of image: 4 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 5
-------------------------------


 Tracks in: 5
 	203
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	20
  nfa=9.36342 inliers=4 precisionNormalized=557.704 precision=97.2969 (iter=0,sample=4,6,8,)
  nfa=7.07435 inliers=4 precisionNormalized=2.8664 precision=6.97534 (iter=0,sample=4,6,8,)
  nfa=6.56402 inliers=4 precisionNormalized=0.885122 precision=3.87613 (iter=1,sample=0,2,13,)
  nfa=2.95159 inliers=4 precisionNormalized=0.00021606 precision=0.0605598 (iter=2,sample=1,16,17,)
  nfa=2.17812 inliers=4 precisionNormalized=3.64008e-05 precision=0.0248572 (iter=4,sample=10,13,17,)
  nfa=1.45228 inliers=4 precisionNormalized=6.84339e-06 precision=0.0107779 (iter=52,sample=11,12,19,)
  nfa=1.30315 inliers=4 precisionNormalized=4.85438e-06 precision=0.00907746 (iter=69,sample=4,8,19,)
  nfa=1.23566 inliers=4 precisionNormalized=4.15573e-06 precision=0.00839887 (iter=266,sample=8,9,17,)
  nfa=1.11931 inliers=4 precisionNormalized=3.17904e-06 precision=0.00734591 (iter=305,sample=8,14,19,)

-------------------------------
-- Robust Resection of camera index: 5
-- Resection status: 0
-- Nb points used for Resection: 20
-- Nb points validated by robust Resection: 0
-- Threshold: 3.17904e-06
-------------------------------

Resection of image: 5 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 7
-------------------------------


 Tracks in: 7
 	212
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	15
  nfa=10.2984 inliers=4 precisionNormalized=24146.9 precision=640.217 (iter=0,sample=2,11,13,)
  nfa=5.49206 inliers=4 precisionNormalized=0.377121 precision=2.5301 (iter=0,sample=2,11,13,)
  nfa=5.48423 inliers=4 precisionNormalized=0.370382 precision=2.50739 (iter=4,sample=9,11,14,)
  nfa=5.15067 inliers=4 precisionNormalized=0.171827 precision=1.70782 (iter=4,sample=9,11,14,)
  nfa=5.02232 inliers=4 precisionNormalized=0.12786 precision=1.47321 (iter=7,sample=4,10,13,)
  nfa=5.00437 inliers=4 precisionNormalized=0.122683 precision=1.44308 (iter=11,sample=1,2,9,)
  nfa=4.30483 inliers=4 precisionNormalized=0.0245047 precision=0.644945 (iter=44,sample=7,10,11,)
  nfa=3.56768 inliers=4 precisionNormalized=0.00448847 precision=0.276024 (iter=78,sample=2,6,12,)
  nfa=3.48883 inliers=4 precisionNormalized=0.00374326 precision=0.252071 (iter=87,sample=2,3,12,)
  nfa=3.40315 inliers=4 precisionNormalized=0.00307303 precision=0.228392 (iter=548,sample=5,9,14,)

-------------------------------
-- Robust Resection of camera index: 7
-- Resection status: 0
-- Nb points used for Resection: 15
-- Nb points validated by robust Resection: 0
-- Threshold: 0.00307303
-------------------------------

Resection of image: 7 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 0
-------------------------------


 Tracks in: 0
 	448
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 0 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 1
-------------------------------


 Tracks in: 1
 	449
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 1 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 2
-------------------------------


 Tracks in: 2
 	249
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 2 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 8
-------------------------------


 Tracks in: 8
 	222
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 8 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 9
-------------------------------


 Tracks in: 9
 	460
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 9 was not possible


TEMPORARY return only the best image

-------------------------------
-- Resection of camera index: 10
-------------------------------


 Tracks in: 10
 	460
 Reconstructed tracks:
 	43
 Tracks Valid for resection:
 	0

Resection of image: 10 was not possible


-------------------------------
-- Structure from Motion (statistics):
-- #Camera calibrated: 2 from 11 input images.
-- #Tracks, #3D points: 43
-------------------------------



IncrementalReconstructionEngine::ComputeResidualsMSE.
	-- nbTracks:	43
	-- Residual min:	0.0238509
	-- Residual median:	0.537457
	-- Residual max:	 2.16696
	-- Residual mean:	 0.656092

Histogram of residuals:

0	|	19
0.214	|	17
0.429	|	15
0.643	|	10
0.857	|	13
1.07	|	3
1.29	|	5
1.5	|	1
1.71	|	1
1.93	|	1
2.17


 Ac-Sfm took : 0 seconds.

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Export 3D scene to openMVG format