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ETH3D / badslam

Bundle Adjusted Direct RGB-D SLAM
BSD 3-Clause "New" or "Revised" License
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badslam-test passed 11 test but failed 3 tests in a Jetson AGX Xavier #75

Closed KyleXBao closed 2 years ago

KyleXBao commented 3 years ago

System: Jetson AGX Xavier OS: Ubuntu 18.04 Jetpack: 4.5.1 Cuda: 10.2 Opencv: build from source 3.4.15 with CUDA Boosts: 1.65.0 DLib: commit b6c28fb with CUDA Eigen: 3.3.7 g2o with cmake -DBUILD_WITH_MARCH_NATIVE=ON .. GLEW
GTest
OpenGV Qt 5.12.0 badslam: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CUDA_FLAGS="-arch=sm_72" ..

I firstly downloaded brief_k10L6.voc and brief_pattern.yml and installed in folder: build/applications/badslam/resources . Then, I installed dataset/cables_3 and run python scripts/auto_tune_parameters.py . After that, I copied the generated auto_tuning_result.txt it to folder: build/applications/badslam/resources Before I start badslam, I run the test file badslam-test. The results has 10 passed and 4 failed. The logs are as follows:

2mtime file:line v| 2m14:03:52.769 loguru.cpp:587 INFO| arguments: ./badslam_test 2m14:03:52.769 loguru.cpp:590 INFO| Current dir: /home/robot/badslam/build/applications/badslam 2m14:03:52.769 loguru.cpp:592 INFO| stderr verbosity: 2 2m14:03:52.769 loguru.cpp:593 INFO| ----------------------------------- [==========] Running 14 tests from 1 test case. [----------] Global test environment set-up. [----------] 14 tests from Optimization [ RUN ] Optimization.AlternatingGeometryOptimizationWithGeometricResidual [ OK ] Optimization.AlternatingGeometryOptimizationWithGeometricResidual (529 ms) [ RUN ] Optimization.PCGGeometryOptimizationWithGeometricResidual 2m14:03:53.575 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.638 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.702 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.766 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.830 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.895 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:53.961 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:54.027 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:54.091 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:54.156 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 9 2m14:03:54.157 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 100 555272395205654307611881766912.0000 (5552723952056542944177422336.000000 +- 4556620468368619302748684288.000000) [00.000125,9254539920094238973303455744.000000] BA geometry optimization 100 555272395205654307611881766912.0000 (5552723952056542944177422336.000000 +- 4556620468368619302748684288.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 100 000000.5920 (00.005920 +- 00.000152) [00.005688,00.007055] BA normals update 100 000000.0305 (00.000305 +- 00.000007) [00.000288,00.000328] BA final surfel del. and radius upd. 20 000000.0082 (00.000410 +- 00.000219) [00.000292,00.001075]

[ OK ] Optimization.PCGGeometryOptimizationWithGeometricResidual (717 ms) [ RUN ] Optimization.AlternatingGeometryOptimizationWithPhotometricResidual 2m14:03:54.387 test_geometry_optimizat:105 INFO| num_fails: 33999 (13.4803% of surfels; surfel_count: 252212) [ OK ] Optimization.AlternatingGeometryOptimizationWithPhotometricResidual (192 ms) [ RUN ] Optimization.PCGGeometryOptimizationWithPhotometricResidual 2m14:03:56.698 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 59 2m14:03:56.729 test_geometry_optimizat:105 INFO| num_fails: 34586 (13.6826% of surfels; surfel_count: 252774) [ OK ] Optimization.PCGGeometryOptimizationWithPhotometricResidual (2344 ms) [ RUN ] Optimization.AlternatingDepthDeformationOptimizationWithGeometricResidual /home/robot/badslam/applications/badslam/src/badslam/test/test_intrinsics_optimization_geometric_residual.cc:347: Failure The difference between true_a and direct_ba.a() is 0.04270579107105732, which exceeds 1e-2f, where true_a evaluates to 0.029999999329447746, direct_ba.a() evaluates to 0.072705790400505066, and 1e-2f evaluates to 0.0099999997764825821. [ FAILED ] Optimization.AlternatingDepthDeformationOptimizationWithGeometricResidual (29598 ms) [ RUN ] Optimization.PCGDepthDeformationOptimizationWithGeometricResidual 2m14:04:31.660 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:31.757 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:31.922 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.031 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.143 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.257 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.381 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.496 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.591 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.697 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.812 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:32.821 direct_ba_pcg.cc:773 INFO| Timing

BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA surfel activation 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000013,9254539920094238973303455744.000000] BA intrinsics optimization 399 000006.4194 (00.016089 +- 00.000840) [00.007736,00.018462] BA surfel creation 411 000005.4386 (00.013233 +- 00.001031) [00.000001,00.015168] BA initial surfel merge 411 000004.0863 (00.009942 +- 00.001106) [00.000000,00.011430] BA final surfel merge and compact 411 000003.7985 (00.009242 +- 00.001072) [00.000003,00.010921] BA PCG step 171 000003.7161 (00.021732 +- 00.022628) [00.005688,00.140302] BA final surfel del. and radius upd. 433 000001.1795 (00.002724 +- 00.000595) [00.000004,00.003521] BA surfel compaction 411 000000.0878 (00.000214 +- 00.000192) [00.000000,00.004080] BA normals update 171 000000.0836 (00.000489 +- 00.000556) [00.000288,00.002810]

2m14:04:32.927 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.054 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.185 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.311 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.444 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.576 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.769 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:33.931 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:34.036 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 [ OK ] Optimization.PCGDepthDeformationOptimizationWithGeometricResidual (7721 ms) [ RUN ] Optimization.AlternatingIntrinsicsOptimizationWithGeometricResidual 2m14:04:37.312 test_intrinsics_optimiz:532 INFO| camera_difference: 0.032608, -0.0539093, 0.0837708, -0.129471 2m14:04:37.389 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00216675, -0.00297546, 0.00491333, -0.00698853 2m14:04:37.466 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000335693, -0.000305176, 6.10352e-05, -0.000427246 2m14:04:37.543 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000198364, -0.000106812, -0.000244141, -0.000106812 2m14:04:37.620 test_intrinsics_optimiz:532 INFO| camera_difference: 9.15527e-05, -0.000106812, -0.000335693, -4.57764e-05 2m14:04:37.698 test_intrinsics_optimiz:532 INFO| camera_difference: -6.10352e-05, -0.000152588, -0.000396729, 0 2m14:04:37.775 test_intrinsics_optimiz:532 INFO| camera_difference: -9.15527e-05, -0.000106812, -0.000396729, 4.57764e-05 2m14:04:37.851 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 7.62939e-05 2m14:04:37.928 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 7.62939e-05 2m14:04:38.005 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.082 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.158 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.236 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.313 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.389 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.466 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.542 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.620 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.696 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.773 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.850 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:38.927 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.003 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.080 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.157 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.233 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.310 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.387 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.464 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.541 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.617 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.694 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.771 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.848 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:39.925 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.001 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.078 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.155 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.231 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.308 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.385 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.462 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.539 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.616 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.692 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.769 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.845 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.922 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:40.999 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.075 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.152 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.229 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.306 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.383 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.459 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.537 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.614 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.691 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.768 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.845 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.922 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:41.999 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.075 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.152 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.228 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.305 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.382 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.459 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.535 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.612 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.688 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.765 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.842 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.918 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:42.995 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.072 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.148 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.225 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.301 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.378 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.455 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.531 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.608 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.684 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.761 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.838 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.915 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:43.992 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.068 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.145 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.222 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.299 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.376 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.453 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.530 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.606 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.687 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.764 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.841 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 2m14:04:44.917 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00012207, -0.000106812, -0.000396729, 0.000106812 [ OK ] Optimization.AlternatingIntrinsicsOptimizationWithGeometricResidual (10876 ms) [ RUN ] Optimization.PCGIntrinsicsOptimizationWithGeometricResidual 2m14:04:48.484 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:48.484 test_intrinsics_optimiz:532 INFO| camera_difference: 0.0332031, -0.0545502, 0.0843506, -0.129349 2m14:04:49.086 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:49.096 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00296021, -0.0032196, 0.00238037, -0.00543213 2m14:04:49.698 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:49.712 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00273132, -0.0019989, 0.00204468, -0.00263977 2m14:04:50.315 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:50.325 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00260925, -0.00183105, 0.00177002, -0.00221252 2m14:04:50.929 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:50.939 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00250244, -0.00169373, 0.0015564, -0.00187683 2m14:04:51.540 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:51.550 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00241089, -0.00158691, 0.00137329, -0.00160217 2m14:04:52.147 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:52.157 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00233459, -0.00149536, 0.0012207, -0.00135803 2m14:04:52.759 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:52.769 test_intrinsics_optimiz:532 INFO| camera_difference: 0.0022583, -0.00140381, 0.00106812, -0.00115967 2m14:04:53.370 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:53.380 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00219727, -0.00132751, 0.000946045, -0.000976562 2m14:04:53.979 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:53.989 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00213623, -0.00125122, 0.000823975, -0.000808716 2m14:04:54.588 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:54.598 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA PCG step 191 000010.9857 (00.057517 +- 00.132739) [00.005688,00.603482] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 553 000002.3033 (00.004165 +- 00.002948) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:04:54.598 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00209045, -0.00119019, 0.000732422, -0.000656128 2m14:04:55.200 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:55.214 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00204468, -0.00112915, 0.000640869, -0.00050354 2m14:04:55.814 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:55.824 test_intrinsics_optimiz:532 INFO| camera_difference: 0.0019989, -0.00106812, 0.000549316, -0.000366211 2m14:04:56.424 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:56.434 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00195312, -0.00102234, 0.000457764, -0.000259399 2m14:04:57.031 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:57.041 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00190735, -0.000976562, 0.000366211, -0.000152588 2m14:04:57.639 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:57.649 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00186157, -0.000930786, 0.000274658, -6.10352e-05 2m14:04:58.251 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:58.261 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00183105, -0.00088501, 0.000213623, 4.57764e-05 2m14:04:58.859 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:58.869 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00178528, -0.000839233, 0.00012207, 0.00012207 2m14:04:59.471 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:04:59.481 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00175476, -0.000793457, 6.10352e-05, 0.000198364 2m14:05:00.080 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:00.090 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00169373, -0.000747681, -6.10352e-05, 0.000274658 2m14:05:00.690 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:00.700 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 201 000016.9804 (00.084480 +- 00.175197) [00.005688,00.603482] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 563 000002.4020 (00.004266 +- 00.003018) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:00.700 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00161743, -0.000686646, -0.000152588, 0.000350952 2m14:05:01.298 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:01.308 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00149536, -0.00062561, -0.000274658, 0.000396729 2m14:05:01.907 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:01.917 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00134277, -0.000595093, -0.000366211, 0.000396729 2m14:05:02.520 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:02.530 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00111389, -0.000579834, -0.000396729, 0.00038147 2m14:05:02.634 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:02.644 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000808716, -0.000564575, -0.000732422, 0.000350952 2m14:05:02.824 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:02.834 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000854492, -0.000579834, -0.000335693, 0.000350952 2m14:05:03.278 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:03.288 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000564575, -0.000579834, -0.000396729, 0.000350952 2m14:05:03.468 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:03.478 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000534058, -0.000595093, -0.000366211, 0.000335693 2m14:05:03.791 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:03.801 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000259399, -0.000610352, -0.000335693, 0.000305176 2m14:05:03.944 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:03.954 test_intrinsics_optimiz:532 INFO| camera_difference: 0.000228882, -0.000610352, -0.000335693, 0.000320435 2m14:05:04.556 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:04.567 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 211 000020.7439 (00.098312 +- 00.187285) [00.005688,00.603482] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 573 000002.5010 (00.004365 +- 00.003081) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:04.567 test_intrinsics_optimiz:532 INFO| camera_difference: 9.15527e-05, -0.000595093, -0.000274658, 0.000305176 2m14:05:04.708 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:04.718 test_intrinsics_optimiz:532 INFO| camera_difference: 7.62939e-05, -0.000610352, -0.000274658, 0.000274658 2m14:05:05.308 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:05.318 test_intrinsics_optimiz:532 INFO| camera_difference: 6.10352e-05, -0.000595093, -0.000244141, 0.000274658 2m14:05:05.667 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:05.677 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000595093, -0.000244141, 0.000274658 2m14:05:06.273 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:06.283 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000564575, -0.000213623, 0.000289917 2m14:05:06.405 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:06.415 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00012207, -0.000579834, 0, 0.000198364 2m14:05:06.824 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:06.834 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000671387, -0.00012207, 6.10352e-05 2m14:05:07.436 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:07.447 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000549316, -0.000152588, 0.000244141 2m14:05:07.704 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:07.714 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000549316, -0.000183105, 0.00038147 2m14:05:08.322 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:08.332 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000564575, -0.000244141, 0.000198364 2m14:05:08.935 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:08.946 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 221 000025.0194 (00.113210 +- 00.199547) [00.005688,00.607907] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 583 000002.6000 (00.004460 +- 00.003138) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:08.946 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000595093, -0.000183105, 0.000213623 2m14:05:09.184 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:09.194 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000518799, -0.000183105, 0.000366211 2m14:05:09.681 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:09.691 test_intrinsics_optimiz:532 INFO| camera_difference: 4.57764e-05, -0.000549316, -0.000183105, 0.000274658 2m14:05:10.294 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:10.304 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000564575, -0.000213623, 0.000289917 2m14:05:10.905 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:10.915 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000579834, -0.000274658, 0.000213623 2m14:05:11.171 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:11.181 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000610352, -0.000335693, 0.000137329 2m14:05:11.571 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:11.581 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000610352, -0.000305176, 0.000183105 2m14:05:12.178 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:12.188 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000595093, -0.000305176, 0.000183105 2m14:05:12.461 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:12.471 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000640869, -0.000335693, 0.000137329 2m14:05:13.073 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:13.083 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000579834, -0.000244141, 0.000244141 2m14:05:13.680 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:13.691 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 231 000029.6611 (00.128403 +- 00.210255) [00.005688,00.607907] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 593 000002.6988 (00.004551 +- 00.003189) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:13.691 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000579834, -0.000274658, 0.000228882 2m14:05:14.001 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:14.011 test_intrinsics_optimiz:532 INFO| camera_difference: -3.05176e-05, -0.000595093, -0.000305176, 0.000167847 2m14:05:14.607 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:14.617 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.00062561, -0.000305176, 0.000198364 2m14:05:14.970 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:14.980 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.00050354, -0.000152588, 0.000335693 2m14:05:15.585 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:15.595 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000595093, -0.000244141, 0.000259399 2m14:05:16.197 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:16.208 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000579834, -0.000244141, 0.000228882 2m14:05:16.808 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:16.818 test_intrinsics_optimiz:532 INFO| camera_difference: -3.05176e-05, -0.000564575, -0.000274658, 0.000244141 2m14:05:17.419 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:17.430 test_intrinsics_optimiz:532 INFO| camera_difference: 4.57764e-05, -0.000579834, -0.000213623, 0.000244141 2m14:05:18.032 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:18.042 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000564575, -0.000274658, 0.000259399 2m14:05:18.644 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:18.654 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000595093, -0.000274658, 0.000213623 2m14:05:19.257 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:19.267 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 241 000035.1337 (00.145783 +- 00.223295) [00.005688,00.607907] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 603 000002.7980 (00.004640 +- 00.003236) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:19.267 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000564575, -0.000213623, 0.000289917 2m14:05:19.677 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:19.687 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000595093, -0.000305176, 0.000183105 2m14:05:20.285 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:20.295 test_intrinsics_optimiz:532 INFO| camera_difference: -3.05176e-05, -0.00062561, -0.000335693, 0.000183105 2m14:05:20.552 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:20.562 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000595093, -0.000396729, 0.000106812 2m14:05:21.031 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:21.041 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000656128, -0.000274658, 0.000213623 2m14:05:21.318 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:21.328 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000564575, -0.000274658, 0.000244141 2m14:05:21.927 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:21.941 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000579834, -0.000244141, 0.000228882 2m14:05:22.197 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:22.207 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000549316, -0.000213623, 0.000244141 2m14:05:22.556 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:22.566 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000579834, -0.000274658, 0.000259399 2m14:05:23.162 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:23.172 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000579834, -0.000305176, 0.000183105 2m14:05:23.744 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:23.754 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 251 000039.5136 (00.157425 +- 00.227883) [00.005688,00.607907] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 613 000002.8966 (00.004725 +- 00.003277) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:23.754 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000595093, -0.000305176, 0.000183105 2m14:05:24.355 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:24.366 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000595093, -0.000274658, 0.000198364 2m14:05:24.624 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:24.634 test_intrinsics_optimiz:532 INFO| camera_difference: -3.05176e-05, -0.000671387, -0.000396729, 7.62939e-05 2m14:05:24.738 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:24.749 test_intrinsics_optimiz:532 INFO| camera_difference: 0.00201416, 0.00169373, 0.00515747, 0.00550842 2m14:05:25.358 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:25.368 test_intrinsics_optimiz:532 INFO| camera_difference: 7.62939e-05, -0.000473022, 0, 0.000473022 2m14:05:25.727 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:25.737 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000564575, -0.000244141, 0.000274658 2m14:05:26.343 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:26.353 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000579834, -0.000213623, 0.000244141 2m14:05:26.609 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:26.619 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000564575, -0.000244141, 0.000244141 2m14:05:27.215 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:27.225 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000595093, -0.000244141, 0.000213623 2m14:05:27.476 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:27.486 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000564575, -0.000213623, 0.000289917 2m14:05:28.075 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:28.085 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 261 000043.7409 (00.167590 +- 00.232098) [00.005688,00.608748] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 623 000002.9959 (00.004809 +- 00.003316) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:28.085 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000549316, -0.000244141, 0.000274658 2m14:05:28.678 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:28.688 test_intrinsics_optimiz:532 INFO| camera_difference: 6.10352e-05, -0.000595093, -0.000213623, 0.000289917 2m14:05:29.287 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:29.297 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000534058, -0.000213623, 0.000289917 2m14:05:29.900 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:29.910 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000549316, -0.000213623, 0.000289917 2m14:05:30.169 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:30.179 test_intrinsics_optimiz:532 INFO| camera_difference: 6.10352e-05, -0.000549316, -3.05176e-05, 0.000396729 2m14:05:30.283 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:30.293 test_intrinsics_optimiz:532 INFO| camera_difference: -0.00189209, -0.00256348, -0.00576782, -0.00474548 2m14:05:30.890 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:30.900 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000610352, -0.000427246, 4.57764e-05 2m14:05:31.253 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:31.263 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000564575, -0.000244141, 0.000244141 2m14:05:31.519 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:31.529 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000579834, -0.000244141, 0.000244141 2m14:05:32.130 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:32.140 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000579834, -0.000274658, 0.000198364 2m14:05:32.741 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:32.751 direct_ba_pcg.cc:773 INFO| Timing

BA surfel activation 660 1110544790411308193011298467840.0000 (1682643621835315377319444480.000000 +- 3572133333414873053786013696.000000) [00.000013,9254539920094238973303455744.000000] BA geometry optimization 560 1110544790411307770798833401856.0000 (1983115697163049637834129408.000000 +- 3800772515781576935939768320.000000) [00.000125,9254539920094238973303455744.000000] BA PCG step 271 000048.3031 (00.178240 +- 00.236832) [00.005688,00.608748] BA intrinsics optimization 499 000012.9024 (00.025856 +- 00.019545) [00.007736,00.065397] BA surfel creation 420 000005.5447 (00.013202 +- 00.001041) [00.000001,00.015168] BA initial surfel merge 420 000004.1494 (00.009880 +- 00.001174) [00.000000,00.011430] BA final surfel merge and compact 420 000003.8543 (00.009177 +- 00.001149) [00.000003,00.010921] BA final surfel del. and radius upd. 633 000003.0950 (00.004889 +- 00.003350) [00.000004,00.010341] BA normals update 180 000000.1087 (00.000604 +- 00.000739) [00.000288,00.002827] BA surfel compaction 420 000000.0896 (00.000213 +- 00.000190) [00.000000,00.004080]

2m14:05:32.751 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000595093, -0.000274658, 0.000198364 2m14:05:33.027 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:33.037 test_intrinsics_optimiz:532 INFO| camera_difference: -1.52588e-05, -0.000640869, -0.000366211, 0.000137329 2m14:05:33.633 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:33.642 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000564575, -0.000213623, 0.000259399 2m14:05:34.232 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:34.242 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000579834, -0.000244141, 0.000213623 2m14:05:34.649 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:34.659 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000549316, -0.000183105, 0.000289917 2m14:05:35.254 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:35.264 test_intrinsics_optimiz:532 INFO| camera_difference: 0, -0.000595093, -0.000274658, 0.000228882 2m14:05:35.859 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:35.869 test_intrinsics_optimiz:532 INFO| camera_difference: 4.57764e-05, -0.000549316, -0.000183105, 0.000274658 2m14:05:36.127 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:36.137 test_intrinsics_optimiz:532 INFO| camera_difference: 3.05176e-05, -0.000579834, -0.000183105, 0.000320435 2m14:05:36.740 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:36.750 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000518799, -0.000183105, 0.000305176 2m14:05:37.349 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:37.359 test_intrinsics_optimiz:532 INFO| camera_difference: 1.52588e-05, -0.000549316, -0.000183105, 0.000274658 [ OK ] Optimization.PCGIntrinsicsOptimizationWithGeometricResidual (52444 ms) [ RUN ] Optimization.AlternatingIntrinsicsOptimizationWithPhotometricResidual 2m14:05:42.813 test_intrinsics_optimiz:255 INFO| camera_difference: 0.254517, -0.512833, 0.5914, -1.05803 2m14:05:42.827 test_intrinsics_optimiz:255 INFO| camera_difference: 0.0618439, -0.135483, 0.129547, -0.386871 2m14:05:42.841 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0124054, 0.00686646, -0.0327148, -0.17569 2m14:05:42.855 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0351562, 0.0273895, -0.0514526, -0.126999 2m14:05:42.870 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0403137, 0.0279846, -0.0556335, -0.116302 2m14:05:42.884 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0417175, 0.0276184, -0.0565186, -0.113876 2m14:05:42.898 test_intrinsics_optimiz:255 INFO| camera_difference: -0.042038, 0.0273895, -0.0567017, -0.113342 2m14:05:42.912 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0420685, 0.027298, -0.0567017, -0.11322 2m14:05:42.927 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0420685, 0.027298, -0.0567017, -0.113205 2m14:05:42.941 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0420685, 0.027298, -0.0567017, -0.11319 /home/robot/badslam/applications/badslam/src/badslam/test/test_intrinsics_optimization_photometric_residual.cc:262: Failure The difference between camera.parameters()[0] and estimated_camera.parameters()[0] is 0.0420684814453125, which exceeds 0.03, where camera.parameters()[0] evaluates to 240, estimated_camera.parameters()[0] evaluates to 239.95793151855469, and 0.03 evaluates to 0.029999999999999999. [ FAILED ] Optimization.AlternatingIntrinsicsOptimizationWithPhotometricResidual (5575 ms) [ RUN ] Optimization.PCGIntrinsicsOptimizationWithPhotometricResidual 2m14:05:48.267 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.267 test_intrinsics_optimiz:255 INFO| camera_difference: 0.25351, -0.509277, 0.589294, -1.05745 2m14:05:48.308 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.311 test_intrinsics_optimiz:255 INFO| camera_difference: 0.0638275, -0.133575, 0.128021, -0.387405 2m14:05:48.347 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.349 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0109253, 0.00692749, -0.0333862, -0.176773 2m14:05:48.385 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.387 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0338745, 0.027359, -0.0523071, -0.128204 2m14:05:48.423 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.426 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0390472, 0.0280762, -0.0567017, -0.117569 2m14:05:48.461 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.464 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0402222, 0.0276642, -0.0576172, -0.115189 2m14:05:48.496 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.499 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0405884, 0.0276031, -0.0578308, -0.1147 2m14:05:48.530 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.533 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0406952, 0.0275879, -0.0578613, -0.114594 2m14:05:48.561 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.563 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0406952, 0.0275726, -0.0578613, -0.114578 2m14:05:48.587 direct_ba_pcg.cc:748 INFO| Debug: early convergence in PCG-based BA at iteration: 0 2m14:05:48.589 test_intrinsics_optimiz:255 INFO| camera_difference: -0.0406952, 0.0275574, -0.0578613, -0.114563 /home/robot/badslam/applications/badslam/src/badslam/test/test_intrinsics_optimization_photometric_residual.cc:262: Failure The difference between camera.parameters()[0] and estimated_camera.parameters()[0] is 0.0406951904296875, which exceeds 0.03, where camera.parameters()[0] evaluates to 240, estimated_camera.parameters()[0] evaluates to 239.95930480957031, and 0.03 evaluates to 0.029999999999999999. [ FAILED ] Optimization.PCGIntrinsicsOptimizationWithPhotometricResidual (5649 ms) [ RUN ] Optimization.PairwiseFrameTracking 2m14:05:48.722 test_pairwise_frame_tra:422 INFO| NOTE: Testing photometric residuals only. 2m14:05:48.722 test_pairwise_frame_tra:427 INFO| --- Testing with use_gradmag: 0 --- 2m14:05:48.964 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.5 --> average error norm (convergence): 1.45869 --> average error norm (accuracy): 0.00739072 2m14:05:49.201 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.25 --> average error norm (convergence): 0.87595 --> average error norm (accuracy): 0.000406998 2m14:05:49.433 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.1 --> average error norm (convergence): 0.290974 --> average error norm (accuracy): 0.000267279 2m14:05:49.644 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.08 --> average error norm (convergence): 0.171472 --> average error norm (accuracy): 0.000229175 2m14:05:49.851 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.07 --> average error norm (convergence): 0.0636607 --> average error norm (accuracy): 0.000187206 2m14:05:50.048 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.06 --> average error norm (convergence): 0.0166331 --> average error norm (accuracy): 0.000158079 2m14:05:50.224 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.05 --> average error norm (convergence): 0.000276499 --> average error norm (accuracy): 0.000209708 2m14:05:50.397 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.025 --> average error norm (convergence): 0.000221854 --> average error norm (accuracy): 0.000190488 2m14:05:50.567 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.01 --> average error norm (convergence): 0.000229395 --> average error norm (accuracy): 0.000222035 2m14:05:50.736 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.001 --> average error norm (convergence): 0.000232478 --> average error norm (accuracy): 0.00109509 2m14:05:50.736 test_pairwise_frame_tra:427 INFO| --- Testing with use_gradmag: 1 --- 2m14:05:50.969 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.5 --> average error norm (convergence): 1.4869 --> average error norm (accuracy): 0.986636 2m14:05:51.276 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.25 --> average error norm (convergence): 1.09427 --> average error norm (accuracy): 0.021429 2m14:05:51.549 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.1 --> average error norm (convergence): 0.143167 --> average error norm (accuracy): 0.00175105 2m14:05:51.814 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.08 --> average error norm (convergence): 0.0822552 --> average error norm (accuracy): 0.00135379 2m14:05:52.061 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.07 --> average error norm (convergence): 0.0409038 --> average error norm (accuracy): 0.0013017 2m14:05:52.290 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.06 --> average error norm (convergence): 0.0125209 --> average error norm (accuracy): 0.00104812 2m14:05:52.502 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.05 --> average error norm (convergence): 0.00111627 --> average error norm (accuracy): 0.000687628 2m14:05:52.710 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.025 --> average error norm (convergence): 0.00112235 --> average error norm (accuracy): 0.000536803 2m14:05:52.899 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.01 --> average error norm (convergence): 0.00112283 --> average error norm (accuracy): 0.000340571 2m14:05:53.072 test_pairwise_frame_tra:543 INFO| Distortion strenght: 0.001 --> average error norm (convergence): 0.00111607 --> average error norm (accuracy): 0.000932091 [ OK ] Optimization.PairwiseFrameTracking (4481 ms) [ RUN ] Optimization.PoseGraphOptimizer 2m14:05:53.093 pose_graph_optimizer.cc:127 INFO| - Performing pose graph optimization ... 2m14:05:53.096 pose_graph_optimizer.cc:131 INFO| - Pose graph optimization done [ OK ] Optimization.PoseGraphOptimizer (21 ms) [ RUN ] Optimization.PoseOptimizationWithGeometricResidual [ OK ] Optimization.PoseOptimizationWithGeometricResidual (22 ms) [ RUN ] Optimization.PoseOptimizationColorOnlyCues [ OK ] Optimization.PoseOptimizationColorOnlyCues (36 ms) [----------] 14 tests from Optimization (120207 ms total)

[----------] Global test environment tear-down [==========] 14 tests from 1 test case ran. (120207 ms total) [ PASSED ] 11 tests. [ FAILED ] 3 tests, listed below: [ FAILED ] Optimization.AlternatingDepthDeformationOptimizationWithGeometricResidual [ FAILED ] Optimization.AlternatingIntrinsicsOptimizationWithPhotometricResidual [ FAILED ] Optimization.PCGIntrinsicsOptimizationWithPhotometricResidual

3 FAILED TESTS 2m14:05:53.167 loguru.cpp:467 INFO| atexit

puzzlepaint commented 3 years ago

Thank you for reporting these failures. I believe that they are likely more of an issue with the tests rather than an issue with the tested functionality. There is generally some variance in the test results, for example due to differing CUDA block scheduling. It seems that the thresholds used in the tests may be slightly too small to account for that variance.

In detail:

The test Optimization.PCGIntrinsicsOptimizationWithPhotometricResidual reached a difference of -0.0406952, 0.0275574, -0.0578613, -0.114563 to the ground truth intrinsics, but the thresholds on the absolute difference values are 0.03, 0.03, 0.15, 0.15 (only the first value exceeds the threshold slightly).

The test Optimization.AlternatingIntrinsicsOptimizationWithPhotometricResidual reached a difference of -0.0420685, 0.027298, -0.0567017, -0.11319 to the ground truth intrinsics, but the thresholds on the absolute difference values are 0.03, 0.03, 0.15, 0.15 (again, only the first value exceeds the threshold slightly).

The test Optimization.AlternatingDepthDeformationOptimizationWithGeometricResidual exceeded a threshold of 0.01 more significantly with a value of 0.0427, but there is a comment in the test code that this specific value converges very slowly and probably does not matter much.

KyleXBao commented 3 years ago

Thank you for your explanation. I was worried about these 3 to 4 test failures because it's written all tests should passed in your installation instruction. Since it's not matter much, I can continue work on the badslam.

KyleXBao commented 2 years ago

close issue