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May 12, 2015 12:44
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minor error in openMVG_main_SfMInit_ImageListing
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| You called : | |
| /root/Downloads/openMVG/openMVG_Build/software/SfM/openMVG_main_SfMInit_ImageListing | |
| --imageDirectory /root/Downloads/openMVG/openMVG_Build/software/SfM/ImageDataset_SceauxCastle/images | |
| --sensorWidthDatabase /root/Downloads/openMVG/src/software/SfM/cameraSensorWidth/cameraGenerated.txt | |
| --outputDirectory /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches | |
| --focal -1 | |
| --intrinsics | |
| --camera_model 3 | |
| --group_camera_model 1 | |
| Error: Couldn't open /root/Downloads/openMVG/openMVG_Build/software/SfM/ImageDataset_SceauxCastle/images/K.txt Unknown file format | |
| Error: Couldn't open /root/Downloads/openMVG/openMVG_Build/software/SfM/ImageDataset_SceauxCastle/images/Readme.txt Unknown file format | |
| You called : | |
| /root/Downloads/openMVG/openMVG_Build/software/SfM/openMVG_main_ComputeFeatures | |
| --input_file /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches/sfm_data.json | |
| --outdir /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches | |
| --describerMethod SIFT | |
| --upright 0 | |
| --describerPreset NORMAL | |
| --force 1 | |
| - EXTRACT FEATURES - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Task done in (s): 21.144 | |
| You called : | |
| /root/Downloads/openMVG/openMVG_Build/software/SfM/openMVG_main_ComputeMatches | |
| --input_file /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches/sfm_data.json | |
| --outdir /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches | |
| --ratio 0.8 | |
| --geometricModel f | |
| --videoModeMatching -1 | |
| --nearestMatchingMethod AUTO | |
| - PUTATIVE MATCHES - | |
| Use: exhaustive pairwise matching | |
| Using the OPENMP thread interface | |
| Using ANN_L2 matcher | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Task (Regions Loading+Matching) done in (s): 8.493 | |
| - Features Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| - GEOMETRIC FILTERING - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Task done in (s): 1.691 | |
| Export Adjacency Matrix of the pairwise's geometric matches | |
| Sequential/Incremental reconstruction | |
| Perform incremental SfM (Initial Pair Essential + Resection). | |
| - Features Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Track building | |
| Track filtering | |
| Track filtering : min occurence | |
| Track export to internal struct | |
| Track stats | |
| ------------------ | |
| -- Tracks Stats -- | |
| Tracks number: 6282 | |
| Images Id: | |
| 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, | |
| ------------------ | |
| TrackLength, Occurrence | |
| 2 2935 | |
| 3 1213 | |
| 4 681 | |
| 5 448 | |
| 6 274 | |
| 7 251 | |
| 8 217 | |
| 9 172 | |
| 10 76 | |
| 11 15 | |
| Putative starting pair is: (4,5) | |
| A-Contrario initial pair residual: 4.69176 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 2 | |
| #poses: 2 | |
| #intrinsics: 1 | |
| #tracks: 1436 | |
| #residuals: 5744 | |
| Initial RMSE: 0.408718 | |
| Final RMSE: 0.3449 | |
| IncrementalReconstructionEngine::ComputeResidualsMSE. | |
| -- #Tracks: 1433 | |
| -- Residual min: 2.49247e-09 | |
| -- Residual median: 0.0112355 | |
| -- Residual max: 3.57276 | |
| -- Residual mean: 0.199495 | |
| ========================= | |
| MSE Residual InitialPair Inlier: 0.199495 | |
| ========================= | |
| ------------------------------- | |
| -- Resection of camera index: 3 | |
| ------------------------------- | |
| nfa=-181.088 inliers=458 precisionNormalized=0.0275082 precision=477.873 (iter=0,sample=321,469,551,) | |
| nfa=-2624.43 inliers=936 precisionNormalized=0.000396292 precision=57.3573 (iter=0,sample=321,469,551,) | |
| nfa=-3251.85 inliers=955 precisionNormalized=0.000106197 precision=29.6919 (iter=1,sample=253,57,925,) | |
| nfa=-3337.06 inliers=967 precisionNormalized=0.000100636 precision=28.904 (iter=2,sample=40,534,622,) | |
| nfa=-3544.62 inliers=932 precisionNormalized=3.88423e-05 precision=17.957 (iter=3,sample=935,301,648,) | |
| nfa=-3839.56 inliers=964 precisionNormalized=2.90464e-05 precision=15.5284 (iter=5,sample=23,914,548,) | |
| nfa=-3963.89 inliers=966 precisionNormalized=2.21934e-05 precision=13.5736 (iter=6,sample=480,126,337,) | |
| nfa=-4030.47 inliers=960 precisionNormalized=1.73516e-05 precision=12.0019 (iter=12,sample=869,546,108,) | |
| nfa=-4144.81 inliers=961 precisionNormalized=1.33731e-05 precision=10.5365 (iter=33,sample=655,103,920,) | |
| nfa=-4161.22 inliers=960 precisionNormalized=1.26682e-05 precision=10.2551 (iter=200,sample=437,628,738,) | |
| nfa=-4232.08 inliers=952 precisionNormalized=9.48886e-06 precision=8.87541 (iter=298,sample=156,831,816,) | |
| ------------------------------- | |
| -- Robust Resection of view: 3 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 978 | |
| -- #Points validated by robust Resection: 952 | |
| -- Threshold: 8.87541 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 952 | |
| #residuals: 1904 | |
| Initial RMSE: 2.49319 | |
| Final RMSE: 2.14851 | |
| --Triangulated 3D points [3-4]: #Validated/#Possible: 665/670 | |
| #3DPoint for the entire scene: 2098 | |
| --Triangulated 3D points [3-5]: #Validated/#Possible: 159/164 | |
| #3DPoint for the entire scene: 2257 | |
| ------------------------------- | |
| -- Resection of camera index: 6 | |
| ------------------------------- | |
| nfa=-1826.3 inliers=1088 precisionNormalized=0.0058179 precision=219.768 (iter=0,sample=363,645,1052,) | |
| nfa=-4528.55 inliers=1056 precisionNormalized=1.26415e-05 precision=10.2443 (iter=0,sample=363,645,1052,) | |
| nfa=-4767.07 inliers=1045 precisionNormalized=6.50712e-06 precision=7.3498 (iter=6,sample=710,1046,997,) | |
| nfa=-4853.26 inliers=1056 precisionNormalized=6.21487e-06 precision=7.18286 (iter=7,sample=609,1079,975,) | |
| nfa=-4919.77 inliers=1059 precisionNormalized=5.59104e-06 precision=6.81283 (iter=20,sample=350,880,515,) | |
| nfa=-4927.51 inliers=1063 precisionNormalized=5.79591e-06 precision=6.93653 (iter=233,sample=67,960,983,) | |
| nfa=-4930.48 inliers=1043 precisionNormalized=4.41529e-06 precision=6.05426 (iter=341,sample=915,268,242,) | |
| nfa=-4936.8 inliers=1054 precisionNormalized=5.0416e-06 precision=6.46942 (iter=381,sample=628,61,618,) | |
| nfa=-4937.71 inliers=1049 precisionNormalized=4.70768e-06 precision=6.25151 (iter=406,sample=704,341,386,) | |
| ------------------------------- | |
| -- Robust Resection of view: 6 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1111 | |
| -- #Points validated by robust Resection: 1049 | |
| -- Threshold: 6.25151 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 1049 | |
| #residuals: 2098 | |
| Initial RMSE: 1.48223 | |
| Final RMSE: 1.25016 | |
| --Triangulated 3D points [3-6]: #Validated/#Possible: 71/72 | |
| #3DPoint for the entire scene: 2328 | |
| --Triangulated 3D points [4-6]: #Validated/#Possible: 96/97 | |
| #3DPoint for the entire scene: 2424 | |
| --Triangulated 3D points [5-6]: #Validated/#Possible: 340/340 | |
| #3DPoint for the entire scene: 2764 | |
| ------------------------------- | |
| -- Resection of camera index: 2 | |
| ------------------------------- | |
| nfa=-132.911 inliers=221 precisionNormalized=0.00417064 precision=186.073 (iter=0,sample=78,940,1090,) | |
| nfa=-5668.56 inliers=1406 precisionNormalized=2.45653e-05 precision=14.2805 (iter=0,sample=78,940,1090,) | |
| nfa=-5819.84 inliers=1417 precisionNormalized=2.12426e-05 precision=13.2796 (iter=19,sample=1137,252,1084,) | |
| nfa=-5860.32 inliers=1408 precisionNormalized=1.82726e-05 precision=12.3163 (iter=262,sample=1239,78,16,) | |
| ------------------------------- | |
| -- Robust Resection of view: 2 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1453 | |
| -- #Points validated by robust Resection: 1408 | |
| -- Threshold: 12.3163 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 1408 | |
| #residuals: 2816 | |
| Initial RMSE: 3.25586 | |
| Final RMSE: 2.87424 | |
| --Triangulated 3D points [2-3]: #Validated/#Possible: 609/610 | |
| #3DPoint for the entire scene: 3373 | |
| --Triangulated 3D points [2-4]: #Validated/#Possible: 170/171 | |
| #3DPoint for the entire scene: 3543 | |
| --Triangulated 3D points [2-5]: #Validated/#Possible: 40/53 | |
| #3DPoint for the entire scene: 3583 | |
| --Triangulated 3D points [2-6]: #Validated/#Possible: 36/37 | |
| #3DPoint for the entire scene: 3619 | |
| ------------------------------- | |
| -- Resection of camera index: 7 | |
| ------------------------------- | |
| nfa=-1566.9 inliers=1182 precisionNormalized=0.0136369 precision=336.465 (iter=0,sample=293,923,1118,) | |
| nfa=-4022.78 inliers=1175 precisionNormalized=0.000104801 precision=29.496 (iter=0,sample=293,923,1118,) | |
| nfa=-4306.79 inliers=1159 precisionNormalized=5.06428e-05 precision=20.5041 (iter=7,sample=584,402,1128,) | |
| nfa=-4333.74 inliers=1158 precisionNormalized=4.7492e-05 precision=19.856 (iter=249,sample=122,83,50,) | |
| nfa=-4394.68 inliers=1171 precisionNormalized=4.83369e-05 precision=20.0318 (iter=336,sample=427,71,384,) | |
| ------------------------------- | |
| -- Robust Resection of view: 7 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1197 | |
| -- #Points validated by robust Resection: 1171 | |
| -- Threshold: 20.0318 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 1171 | |
| #residuals: 2342 | |
| Initial RMSE: 4.97749 | |
| Final RMSE: 4.31833 | |
| --Triangulated 3D points [2-7]: #Validated/#Possible: 38/38 | |
| #3DPoint for the entire scene: 3657 | |
| --Triangulated 3D points [3-7]: #Validated/#Possible: 21/21 | |
| #3DPoint for the entire scene: 3678 | |
| --Triangulated 3D points [4-7]: #Validated/#Possible: 60/61 | |
| #3DPoint for the entire scene: 3738 | |
| --Triangulated 3D points [5-7]: #Validated/#Possible: 66/66 | |
| #3DPoint for the entire scene: 3804 | |
| --Triangulated 3D points [6-7]: #Validated/#Possible: 284/285 | |
| #3DPoint for the entire scene: 4088 | |
| ------------------------------- | |
| -- Resection of camera index: 1 | |
| ------------------------------- | |
| nfa=-1725.94 inliers=1660 precisionNormalized=0.0259252 precision=463.919 (iter=0,sample=627,968,1465,) | |
| nfa=-3721.39 inliers=1671 precisionNormalized=0.00172394 precision=119.631 (iter=0,sample=627,968,1465,) | |
| nfa=-5151.96 inliers=1668 precisionNormalized=0.000234342 precision=44.1068 (iter=1,sample=206,285,1645,) | |
| nfa=-5274.31 inliers=1626 precisionNormalized=0.000148721 precision=35.1373 (iter=3,sample=603,1416,543,) | |
| nfa=-5914.12 inliers=1655 precisionNormalized=7.41477e-05 precision=24.8102 (iter=8,sample=543,810,454,) | |
| nfa=-6174.77 inliers=1635 precisionNormalized=4.43458e-05 precision=19.187 (iter=15,sample=553,163,1032,) | |
| nfa=-6274.77 inliers=1640 precisionNormalized=4.0001e-05 precision=18.2229 (iter=18,sample=817,115,937,) | |
| nfa=-6488.44 inliers=1640 precisionNormalized=2.96171e-05 precision=15.6802 (iter=23,sample=1446,310,306,) | |
| ------------------------------- | |
| -- Robust Resection of view: 1 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1691 | |
| -- #Points validated by robust Resection: 1640 | |
| -- Threshold: 15.6802 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 1640 | |
| #residuals: 3280 | |
| Initial RMSE: 3.77908 | |
| Final RMSE: 3.43711 | |
| --Triangulated 3D points [1-2]: #Validated/#Possible: 483/483 | |
| #3DPoint for the entire scene: 4571 | |
| --Triangulated 3D points [1-3]: #Validated/#Possible: 99/99 | |
| #3DPoint for the entire scene: 4670 | |
| --Triangulated 3D points [1-4]: #Validated/#Possible: 50/50 | |
| #3DPoint for the entire scene: 4720 | |
| --Triangulated 3D points [1-5]: #Validated/#Possible: 19/20 | |
| #3DPoint for the entire scene: 4739 | |
| --Triangulated 3D points [1-6]: #Validated/#Possible: 8/8 | |
| #3DPoint for the entire scene: 4747 | |
| --Triangulated 3D points [1-7]: #Validated/#Possible: 24/24 | |
| #3DPoint for the entire scene: 4771 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 7 | |
| #intrinsics: 1 | |
| #tracks: 4771 | |
| #residuals: 31572 | |
| Initial RMSE: 1.96359 | |
| Final RMSE: 0.303393 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 7 | |
| #intrinsics: 1 | |
| #tracks: 4765 | |
| #residuals: 31516 | |
| Initial RMSE: 0.278908 | |
| Final RMSE: 0.27491 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 7 | |
| #intrinsics: 1 | |
| #tracks: 4764 | |
| #residuals: 31512 | |
| Initial RMSE: 0.273904 | |
| Final RMSE: 0.273856 | |
| ------------------------------- | |
| -- Resection of camera index: 0 | |
| ------------------------------- | |
| nfa=-736.549 inliers=941 precisionNormalized=0.0233914 precision=459.444 (iter=0,sample=280,398,607,) | |
| nfa=-6236.19 inliers=1168 precisionNormalized=1.015e-06 precision=3.02647 (iter=0,sample=280,398,607,) | |
| nfa=-6241.85 inliers=1173 precisionNormalized=1.07062e-06 precision=3.10829 (iter=3,sample=126,791,963,) | |
| nfa=-6245.9 inliers=1178 precisionNormalized=1.13263e-06 precision=3.19705 (iter=162,sample=261,624,918,) | |
| nfa=-6253.86 inliers=1180 precisionNormalized=1.14408e-06 precision=3.21316 (iter=345,sample=16,1042,113,) | |
| ------------------------------- | |
| -- Robust Resection of view: 0 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1272 | |
| -- #Points validated by robust Resection: 1180 | |
| -- Threshold: 3.21316 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 1180 | |
| #residuals: 2360 | |
| Initial RMSE: 0.615509 | |
| Final RMSE: 0.579146 | |
| --Triangulated 3D points [0-1]: #Validated/#Possible: 514/515 | |
| #3DPoint for the entire scene: 5278 | |
| --Triangulated 3D points [0-2]: #Validated/#Possible: 49/50 | |
| #3DPoint for the entire scene: 5327 | |
| --Triangulated 3D points [0-3]: #Validated/#Possible: 26/26 | |
| #3DPoint for the entire scene: 5353 | |
| --Triangulated 3D points [0-4]: #Validated/#Possible: 18/19 | |
| #3DPoint for the entire scene: 5371 | |
| --Triangulated 3D points [0-5]: #Validated/#Possible: 4/6 | |
| #3DPoint for the entire scene: 5375 | |
| --Triangulated 3D points [0-6]: #Validated/#Possible: 6/9 | |
| #3DPoint for the entire scene: 5381 | |
| --Triangulated 3D points [0-7]: #Validated/#Possible: 7/8 | |
| #3DPoint for the entire scene: 5388 | |
| ------------------------------- | |
| -- Resection of camera index: 8 | |
| ------------------------------- | |
| nfa=-2146.69 inliers=1043 precisionNormalized=0.00241863 precision=147.737 (iter=0,sample=376,600,962,) | |
| nfa=-5127.5 inliers=998 precisionNormalized=1.69742e-06 precision=3.91381 (iter=0,sample=376,600,962,) | |
| nfa=-5179.35 inliers=1006 precisionNormalized=1.69706e-06 precision=3.91339 (iter=24,sample=536,193,608,) | |
| nfa=-5183.61 inliers=984 precisionNormalized=1.20588e-06 precision=3.29881 (iter=28,sample=809,773,114,) | |
| nfa=-5253.74 inliers=998 precisionNormalized=1.26742e-06 precision=3.38193 (iter=31,sample=775,434,450,) | |
| ------------------------------- | |
| -- Robust Resection of view: 8 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 1065 | |
| -- #Points validated by robust Resection: 998 | |
| -- Threshold: 3.38193 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 998 | |
| #residuals: 1996 | |
| Initial RMSE: 0.68399 | |
| Final RMSE: 0.60167 | |
| --Triangulated 3D points [0-8]: #Validated/#Possible: 15/17 | |
| #3DPoint for the entire scene: 5403 | |
| --Triangulated 3D points [1-8]: #Validated/#Possible: 8/10 | |
| #3DPoint for the entire scene: 5411 | |
| --Triangulated 3D points [2-8]: #Validated/#Possible: 5/5 | |
| #3DPoint for the entire scene: 5416 | |
| --Triangulated 3D points [3-8]: #Validated/#Possible: 10/10 | |
| #3DPoint for the entire scene: 5426 | |
| --Triangulated 3D points [4-8]: #Validated/#Possible: 18/18 | |
| #3DPoint for the entire scene: 5444 | |
| --Triangulated 3D points [5-8]: #Validated/#Possible: 13/13 | |
| #3DPoint for the entire scene: 5457 | |
| --Triangulated 3D points [6-8]: #Validated/#Possible: 41/41 | |
| #3DPoint for the entire scene: 5498 | |
| --Triangulated 3D points [7-8]: #Validated/#Possible: 383/383 | |
| #3DPoint for the entire scene: 5881 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 9 | |
| #intrinsics: 1 | |
| #tracks: 5881 | |
| #residuals: 40348 | |
| Initial RMSE: 0.319293 | |
| Final RMSE: 0.285854 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 9 | |
| #intrinsics: 1 | |
| #tracks: 5881 | |
| #residuals: 40346 | |
| Initial RMSE: 0.285513 | |
| Final RMSE: 0.284866 | |
| ------------------------------- | |
| -- Resection of camera index: 10 | |
| ------------------------------- | |
| nfa=-261.34 inliers=295 precisionNormalized=0.0191787 precision=414.242 (iter=0,sample=109,231,269,) | |
| nfa=-679.136 inliers=359 precisionNormalized=0.00300538 precision=163.981 (iter=1,sample=7,175,103,) | |
| nfa=-722.281 inliers=334 precisionNormalized=0.00130569 precision=108.085 (iter=2,sample=328,94,90,) | |
| nfa=-1543.2 inliers=336 precisionNormalized=4.68005e-06 precision=6.47098 (iter=3,sample=132,177,79,) | |
| nfa=-1581.07 inliers=331 precisionNormalized=2.93718e-06 precision=5.12637 (iter=7,sample=79,334,214,) | |
| nfa=-1609.69 inliers=328 precisionNormalized=2.11732e-06 precision=4.35249 (iter=16,sample=367,165,30,) | |
| nfa=-1610.43 inliers=339 precisionNormalized=3.32249e-06 precision=5.45226 (iter=19,sample=332,320,115,) | |
| nfa=-1620.33 inliers=339 precisionNormalized=3.10453e-06 precision=5.27039 (iter=111,sample=47,170,309,) | |
| nfa=-1622.07 inliers=337 precisionNormalized=2.82669e-06 precision=5.02902 (iter=233,sample=169,7,372,) | |
| nfa=-1630.98 inliers=332 precisionNormalized=2.15826e-06 precision=4.39437 (iter=318,sample=226,173,261,) | |
| ------------------------------- | |
| -- Robust Resection of view: 10 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 378 | |
| -- #Points validated by robust Resection: 332 | |
| -- Threshold: 4.39437 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 332 | |
| #residuals: 664 | |
| Initial RMSE: 1.01072 | |
| Final RMSE: 0.888821 | |
| --Triangulated 3D points [0-10]: #Validated/#Possible: 4/5 | |
| #3DPoint for the entire scene: 5885 | |
| --Triangulated 3D points [1-10]: #Validated/#Possible: 4/5 | |
| #3DPoint for the entire scene: 5889 | |
| --Triangulated 3D points [2-10]: #Validated/#Possible: 4/4 | |
| #3DPoint for the entire scene: 5893 | |
| --Triangulated 3D points [3-10]: #Validated/#Possible: 4/4 | |
| #3DPoint for the entire scene: 5897 | |
| --Triangulated 3D points [4-10]: #Validated/#Possible: 3/3 | |
| #3DPoint for the entire scene: 5900 | |
| --Triangulated 3D points [5-10]: #Validated/#Possible: 1/2 | |
| #3DPoint for the entire scene: 5901 | |
| --Triangulated 3D points [6-10]: #Validated/#Possible: 5/5 | |
| #3DPoint for the entire scene: 5906 | |
| --Triangulated 3D points [7-10]: #Validated/#Possible: 44/45 | |
| #3DPoint for the entire scene: 5950 | |
| --Triangulated 3D points [8-10]: #Validated/#Possible: 106/108 | |
| #3DPoint for the entire scene: 6056 | |
| ------------------------------- | |
| -- Resection of camera index: 9 | |
| ------------------------------- | |
| nfa=-1127.2 inliers=336 precisionNormalized=0.00010991 precision=31.359 (iter=0,sample=137,231,237,) | |
| nfa=-1243.32 inliers=332 precisionNormalized=4.24373e-05 precision=19.4858 (iter=1,sample=0,120,28,) | |
| nfa=-1573.83 inliers=319 precisionNormalized=2.35192e-06 precision=4.58729 (iter=2,sample=216,340,111,) | |
| nfa=-1601.13 inliers=319 precisionNormalized=1.92769e-06 precision=4.15301 (iter=5,sample=228,50,307,) | |
| nfa=-1617 inliers=313 precisionNormalized=1.29625e-06 precision=3.40557 (iter=46,sample=212,214,148,) | |
| nfa=-1619.15 inliers=311 precisionNormalized=1.15966e-06 precision=3.22114 (iter=103,sample=47,1,282,) | |
| nfa=-1621.28 inliers=315 precisionNormalized=1.38036e-06 precision=3.51432 (iter=314,sample=321,16,299,) | |
| nfa=-1630.89 inliers=317 precisionNormalized=1.41313e-06 precision=3.55578 (iter=378,sample=42,248,90,) | |
| ------------------------------- | |
| -- Robust Resection of view: 9 | |
| -- Resection status: 1 | |
| -- #Points used for Resection: 344 | |
| -- #Points validated by robust Resection: 317 | |
| -- Threshold: 3.55578 | |
| ------------------------------- | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 1 | |
| #poses: 1 | |
| #intrinsics: 1 | |
| #tracks: 317 | |
| #residuals: 634 | |
| Initial RMSE: 0.725044 | |
| Final RMSE: 0.646441 | |
| --Triangulated 3D points [0-9]: #Validated/#Possible: 0/8 | |
| #3DPoint for the entire scene: 6056 | |
| --Triangulated 3D points [1-9]: #Validated/#Possible: 1/3 | |
| #3DPoint for the entire scene: 6057 | |
| --Triangulated 3D points [2-9]: #Validated/#Possible: 3/3 | |
| #3DPoint for the entire scene: 6060 | |
| --Triangulated 3D points [3-9]: #Validated/#Possible: 1/1 | |
| #3DPoint for the entire scene: 6061 | |
| --Triangulated 3D points [4-9]: #Validated/#Possible: 1/1 | |
| #3DPoint for the entire scene: 6062 | |
| --Triangulated 3D points [5-9]: #Validated/#Possible: 5/5 | |
| #3DPoint for the entire scene: 6067 | |
| --Triangulated 3D points [6-9]: #Validated/#Possible: 3/3 | |
| #3DPoint for the entire scene: 6070 | |
| --Triangulated 3D points [7-9]: #Validated/#Possible: 15/15 | |
| #3DPoint for the entire scene: 6085 | |
| --Triangulated 3D points [8-9]: #Validated/#Possible: 101/103 | |
| #3DPoint for the entire scene: 6186 | |
| --Triangulated 3D points [9-10]: #Validated/#Possible: 54/57 | |
| #3DPoint for the entire scene: 6240 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 11 | |
| #intrinsics: 1 | |
| #tracks: 6240 | |
| #residuals: 43068 | |
| Initial RMSE: 0.309485 | |
| Final RMSE: 0.292493 | |
| ------------------------------- | |
| -- Structure from Motion (statistics): | |
| -- #Camera calibrated: 11 from 11 input images. | |
| -- #Tracks, #3D points: 6240 | |
| ------------------------------- | |
| IncrementalReconstructionEngine::ComputeResidualsMSE. | |
| -- #Tracks: 6240 | |
| -- Residual min: 2.55783e-07 | |
| -- Residual median: 0.151838 | |
| -- Residual max: 3.93265 | |
| -- Residual mean: 0.254675 | |
| Histogram of residuals: | |
| 0 | 34316 | |
| 0.393 | 6147 | |
| 0.787 | 1634 | |
| 1.18 | 543 | |
| 1.57 | 225 | |
| 1.97 | 98 | |
| 2.36 | 56 | |
| 2.75 | 24 | |
| 3.15 | 15 | |
| 3.54 | 9 | |
| 3.93 | |
| Total Ac-Sfm took (s): 4.774 | |
| ...Generating SfM_Report.html | |
| ...Export SfM_Data to disk. | |
| Compute scene structure color | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute Structure from the provided poses | |
| - Regions Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute frustum intersection | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute pairwise fundamental guided matching: | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Per triplet tracks validation (discard spurious correspondences): | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Robust triangulation progress: | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Structure estimation took (s): 1.044. | |
| #landmark found: 4170 | |
| You called : | |
| /root/Downloads/openMVG/openMVG_Build/software/SfM/openMVG_main_ComputeMatches | |
| --input_file /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches/sfm_data.json | |
| --outdir /root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out/matches | |
| --ratio 0.8 | |
| --geometricModel e | |
| --videoModeMatching -1 | |
| --nearestMatchingMethod AUTO | |
| - PUTATIVE MATCHES - | |
| PREVIOUS RESULTS LOADED | |
| - Features Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| - GEOMETRIC FILTERING - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Task done in (s): 2.833 | |
| Export Adjacency Matrix of the pairwise's geometric matches | |
| ----------------------------------------------------------- | |
| Global Structure from Motion: | |
| ----------------------------------------------------------- | |
| Open Source implementation of the paper: | |
| "Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion." | |
| Pierre Moulon, Pascal Monasse and Renaud Marlet. ICCV 2013. | |
| ------------------------------------------------------------ | |
| - Features Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 1 | |
| Connected component of size: 11 | |
| Cardinal of nodes: 11 | |
| Cardinal of edges: 45 | |
| Compute_Relative_Rotations | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| ------------------------------- | |
| Global rotations computation: | |
| #relative rotations: 45 | |
| #global rotations: 11 | |
| Statistics about rotation triplets: | |
| min: 0.103771 | |
| mean: 1.25038 | |
| median: 0.822563 | |
| max: 10.0751 | |
| 0 | 25 | |
| 0.504 | 36 | |
| 1.01 | 16 | |
| 1.51 | 11 | |
| 2.02 | 3 | |
| 2.52 | 1 | |
| 3.02 | 2 | |
| 3.53 | 0 | |
| 4.03 | 2 | |
| 4.53 | 0 | |
| 5.04 | 1 | |
| 5.54 | 1 | |
| 6.05 | 0 | |
| 6.55 | 0 | |
| 7.05 | 1 | |
| 7.56 | 0 | |
| 8.06 | 0 | |
| 8.56 | 0 | |
| 9.07 | 0 | |
| 9.57 | 0 | |
| 10.1 | |
| Triplets filtering based on composition error on unit cycles | |
| #Triplets before: 100 | |
| #Triplets after: 96 | |
| #Edges removed by triplet inference: 1 | |
| CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 1 | |
| Connected component of size: 11 | |
| Cardinal of nodes: 11 | |
| Cardinal of edges: 44 | |
| ------------------------------- | |
| Relative translations computation: | |
| ------------------------------- | |
| #Triplets: 100 | |
| Computation of the relative translations over the graph with an edge coverage algorithm | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| TRIPLET COVERAGE TIMING: 2.776 seconds | |
| ------------------------------- | |
| -- #Effective translations estimates: 28 from 100 triplets. | |
| -- resulting in 84 translation estimation. | |
| -- timing to obtain the relative translations: 2.776 seconds. | |
| ------------------------------- | |
| CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 1 | |
| Connected component of size: 11 | |
| Cardinal of nodes: 11 | |
| Cardinal of edges: 44 | |
| ------------------------------- | |
| Global translations computation: | |
| - Ready to compute 11 global translations. | |
| from #relative translations: 84 | |
| Feasibility 1 | |
| ------------------------------- | |
| -- #relative estimates: 84 converge with gamma: 0.0139918. | |
| timing (s): 0.013. | |
| ------------------------------- | |
| Found solution: | |
| 0 0 0 -0.423185 0.0628904 0.169272 -0.682327 0.0882358 0.312296 -0.788208 0.0999248 0.355608 -0.964533 0.110194 0.506305 -1.1887 0.124239 0.602598 -1.35552 0.119907 0.66489 -1.45428 0.148869 0.730337 -1.67159 0.141117 0.732905 -1.77192 0.143567 0.815827 -1.97201 0.172183 0.754882 1.87397 1.83593 2.00581 1.40632 2.00807 1.57816 1.79228 1.50297 1.33721 2.00059 1.5441 1.6177 1.73023 1.26056 1.78059 1.92923 1.29611 1.35088 1.97464 1 1.52719 1.12923 1.23001 1.07471 1.62949 1.74068 1 1.76849 0.0139918 | |
| cam position: | |
| 0 0 0 -0.423185 0.0628904 0.169272 -0.682327 0.0882358 0.312296 -0.788208 0.0999248 0.355608 -0.964533 0.110194 0.506305 -1.1887 0.124239 0.602598 -1.35552 0.119907 0.66489 -1.45428 0.148869 0.730337 -1.67159 0.141117 0.732905 -1.77192 0.143567 0.815827 -1.97201 0.172183 0.754882 | |
| cam Lambdas: | |
| 1.87397 1.83593 2.00581 1.40632 2.00807 1.57816 1.79228 1.50297 1.33721 2.00059 1.5441 1.6177 1.73023 1.26056 1.78059 1.92923 1.29611 1.35088 1.97464 1 1.52719 1.12923 1.23001 1.07471 1.62949 1.74068 1 1.76849 | |
| Track stats | |
| ------------------ | |
| -- Tracks Stats -- | |
| Tracks number: 2550 | |
| Images Id: | |
| 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, | |
| ------------------ | |
| TrackLength, Occurrence | |
| 3 1031 | |
| 4 399 | |
| 5 337 | |
| 6 225 | |
| 7 201 | |
| 8 169 | |
| 9 149 | |
| 10 33 | |
| 11 6 | |
| Blind triangulation progress: | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| #removed tracks (invalid triangulation): 0 | |
| Triangulation took (s): 0.001 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 11 | |
| #intrinsics: 1 | |
| #tracks: 2550 | |
| #residuals: 24440 | |
| Initial RMSE: 5.13366 | |
| Final RMSE: 1.10738 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 11 | |
| #intrinsics: 1 | |
| #tracks: 2550 | |
| #residuals: 24440 | |
| Initial RMSE: 1.10738 | |
| Final RMSE: 0.851662 | |
| Bundle Adjustment statistics (approximated RMSE): | |
| #views: 11 | |
| #poses: 11 | |
| #intrinsics: 1 | |
| #tracks: 2550 | |
| #residuals: 24440 | |
| Initial RMSE: 0.851662 | |
| Final RMSE: 0.30667 | |
| Outlier removal (remaining #points): | |
| initial structure size #3DPoints: 2550 | |
| pixel residual filter #3DPoints: 2550 | |
| angular filter #3DPoints: 2550 | |
| Total Ac-Global-Sfm took (s): 4.343 | |
| ...Generating SfM_Report.html | |
| ...Export SfM_Data to disk. | |
| Compute scene structure color | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute Structure from the provided poses | |
| - Regions Loading - | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute frustum intersection | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Compute pairwise fundamental guided matching: | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Per triplet tracks validation (discard spurious correspondences): | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Robust triangulation progress: | |
| 0% 10 20 30 40 50 60 70 80 90 100% | |
| |----|----|----|----|----|----|----|----|----|----| | |
| *************************************************** | |
| Structure estimation took (s): 1.05. | |
| #landmark found: 4145 | |
| ('Using input dir : ', '/root/Downloads/openMVG/openMVG_Build/software/SfM/ImageDataset_SceauxCastle/images') | |
| (' output_dir : ', '/root/Downloads/openMVG/openMVG_Build/software/SfM/tutorial_out') | |
| 1. Intrisics analysis | |
| 2. Compute features | |
| 2. Compute matches | |
| 3. Do Incremental/Sequential reconstruction | |
| 5. Colorize Structure | |
| 4. Structure from Known Poses (robust triangulation) | |
| 2. Compute matches (for the global SfM Pipeline) | |
| 3. Do Global reconstruction | |
| 5. Colorize Structure | |
| 4. Structure from Known Poses (robust triangulation) |
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