sweeneychris / TheiaSfM

An open source library for multiview geometry and structure from motion
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several tests fail on macOS: 92% tests passed, 7 tests failed out of 93 #133

Open mikeroberts3000 opened 7 years ago

mikeroberts3000 commented 7 years ago

Hello there,

When building the latest Theia from scratch on macOS (following the instructions on the Theia website exactly), I noticed that not all of the tests are passing. This might be expected / temporary, but I figured I'd flag it just in case.

Cheers, Mike

92% tests passed, 7 tests failed out of 93

Total Test time (real) =  12.92 sec

The following tests FAILED:
     13 - find_polynomial_roots_jenkins_traub_test (Failed)
     41 - extract_maximally_parallel_rigid_subgraph_test (SEGFAULT)
     44 - filter_view_pairs_from_relative_translation_test (SEGFAULT)
     48 - least_unsquared_deviation_position_estimator_test (Failed)
     57 - incremental_reconstruction_estimator_test (SEGFAULT)
     66 - fundamental_matrix_util_test (Failed)
     80 - twoview_info_test (SEGFAULT)
Errors while running CTest
make: *** [test] Error 8
sweeneychris commented 7 years ago

Hi Mike. Segfaults are concerning! Could you please send me the output of running one of these tests directly? Something like

./bin/incremental_reconstruction_estimator_test --logtostderr --v=2

It would be useful to look at the stack trace of these seg faults as well. That will reveal more about the real issue here.

On Fri, Jan 20, 2017, 3:10 PM Mike Roberts notifications@github.com wrote:

Hello there,

When building the latest Theia from scratch on macOS (following the instructions on the Theia website exactly), I noticed that not all of the tests are passing. This might be expected / temporary, but I figured I'd flag it just in case.

Cheers, Mike

92% tests passed, 7 tests failed out of 93

Total Test time (real) = 12.92 sec

The following tests FAILED: 13 - find_polynomial_roots_jenkins_traub_test (Failed) 41 - extract_maximally_parallel_rigid_subgraph_test (SEGFAULT) 44 - filter_view_pairs_from_relative_translation_test (SEGFAULT) 48 - least_unsquared_deviation_position_estimator_test (Failed) 57 - incremental_reconstruction_estimator_test (SEGFAULT) 66 - fundamental_matrix_util_test (Failed) 80 - twoview_info_test (SEGFAULT) Errors while running CTest make: *** [test] Error 8

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/sweeneychris/TheiaSfM/issues/133, or mute the thread https://github.com/notifications/unsubscribe-auth/AAwytr-BbeQTqvI_tDIBWq3C5XE2eHr7ks5rUT74gaJpZM4Lp2Pk .

mikeroberts3000 commented 7 years ago

Not much new info from doing this.

Mikes-MacBook-Pro:BUILD mike$ ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2
I0120 17:32:42.347589 2710905792 test_main.cc:48] Running tests with logs enabled.
[==========] Running 4 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 4 tests from IncrementalReconstructionEstimator
[ RUN      ] IncrementalReconstructionEstimator.BasicTest
Segmentation fault: 11
Mikes-MacBook-Pro:BUILD mike$ ./bin/extract_maximally_parallel_rigid_subgraph_test --logtostderr --v=2
I0120 17:33:04.314923 2710905792 test_main.cc:48] Running tests with logs enabled.
[==========] Running 3 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 3 tests from ExtractMaximallyParallelRigidSubgraph
[ RUN      ] ExtractMaximallyParallelRigidSubgraph.NoBadRotations
Segmentation fault: 11
Mikes-MacBook-Pro:BUILD mike$ ./bin/filter_view_pairs_from_relative_translation_test --logtostderr --v=2
I0120 17:33:28.727156 2710905792 test_main.cc:48] Running tests with logs enabled.
[==========] Running 4 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 4 tests from FilterViewPairsFromRelativeTranslation
[ RUN      ] FilterViewPairsFromRelativeTranslation.LineTest
Segmentation fault: 11
Mikes-MacBook-Pro:BUILD mike$ ./bin/twoview_info_test --logtostderr --v=2
I0120 17:33:43.194113 2710905792 test_main.cc:48] Running tests with logs enabled.
[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from TwoViewInfo
[ RUN      ] TwoViewInfo.SwapCameras
Segmentation fault: 11

In particular, I don't see the stack trace. On a possibly related note, I ran build_reconstruction on a dataset of 44 images (each image is 512 * 512 pixels) using the default build_reconstruction_flags.txt. This segfaulted too. Log pasted below.

I fixed this by changing num_threads to 1 and matching_max_num_images_in_cache to 64. num_threads=2 and matching_max_num_images_in_cache=32 also worked. This seems really suspicious. I'm running a Macbook Pro with 16 GB of memory. What are the recommended system specs for Theia?

Mikes-MacBook-Pro:BUILD mike$ ./bin/build_reconstruction --flagfile=/Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/build_reconstruction_flags.txt
I0120 17:41:53.118518 139366400 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0003.jpg is initialized with the focal length: 768
I0120 17:41:53.118480 139902976 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0002.jpg is initialized with the focal length: 768
I0120 17:41:53.118536 140439552 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0005.jpg is initialized with the focal length: 768
I0120 17:41:53.118532 146878464 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0000.jpg is initialized with the focal length: 768
I0120 17:41:53.118484 143659008 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0009.jpg is initialized with the focal length: 768
I0120 17:41:53.118522 141512704 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0004.jpg is initialized with the focal length: 768
I0120 17:41:53.118546 146341888 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0013.jpg is initialized with the focal length: 768
I0120 17:41:53.118491 144732160 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0011.jpg is initialized with the focal length: 768
I0120 17:41:53.118548 142049280 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0007.jpg is initialized with the focal length: 768
I0120 17:41:53.118504 144195584 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0010.jpg is initialized with the focal length: 768
I0120 17:41:53.118495 145268736 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0012.jpg is initialized with the focal length: 768
I0120 17:41:53.118495 142585856 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0006.jpg is initialized with the focal length: 768
I0120 17:41:53.118508 143122432 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0008.jpg is initialized with the focal length: 768
I0120 17:41:53.118571 145805312 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0014.jpg is initialized with the focal length: 768
I0120 17:41:53.118512 138829824 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0015.jpg is initialized with the focal length: 768
I0120 17:41:53.118517 140976128 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0001.jpg is initialized with the focal length: 768
I0120 17:41:53.162925 139366400 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0003.jpg
I0120 17:41:53.163157 139366400 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0016.jpg is initialized with the focal length: 768
I0120 17:41:53.211246 139902976 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0002.jpg
I0120 17:41:53.211504 139902976 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0017.jpg is initialized with the focal length: 768
I0120 17:41:53.251729 140439552 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0005.jpg
I0120 17:41:53.251968 140439552 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0018.jpg is initialized with the focal length: 768
I0120 17:41:53.296118 146878464 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0000.jpg
I0120 17:41:53.296311 146878464 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0019.jpg is initialized with the focal length: 768
I0120 17:41:53.328392 143659008 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0009.jpg
I0120 17:41:53.328589 143659008 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0020.jpg is initialized with the focal length: 768
I0120 17:41:53.372169 141512704 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0004.jpg
I0120 17:41:53.372547 141512704 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0021.jpg is initialized with the focal length: 768
I0120 17:41:53.405819 146341888 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0013.jpg
I0120 17:41:53.406023 146341888 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0022.jpg is initialized with the focal length: 768
I0120 17:41:53.436632 144732160 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0011.jpg
I0120 17:41:53.436863 144732160 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0023.jpg is initialized with the focal length: 768
I0120 17:41:53.471515 142049280 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0007.jpg
I0120 17:41:53.471730 142049280 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0024.jpg is initialized with the focal length: 768
I0120 17:41:53.503775 144195584 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0010.jpg
I0120 17:41:53.503952 144195584 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0025.jpg is initialized with the focal length: 768
I0120 17:41:53.537127 145268736 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0012.jpg
I0120 17:41:53.537360 145268736 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0026.jpg is initialized with the focal length: 768
I0120 17:41:53.572813 142585856 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0006.jpg
I0120 17:41:53.573068 142585856 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0027.jpg is initialized with the focal length: 768
I0120 17:41:53.610553 143122432 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0008.jpg
I0120 17:41:53.610764 143122432 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0028.jpg is initialized with the focal length: 768
I0120 17:41:53.650259 145805312 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0014.jpg
I0120 17:41:53.650492 145805312 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0029.jpg is initialized with the focal length: 768
I0120 17:41:53.685736 138829824 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0015.jpg
I0120 17:41:53.685994 138829824 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0030.jpg is initialized with the focal length: 768
I0120 17:41:53.742807 140976128 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0001.jpg
I0120 17:41:53.743039 140976128 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0031.jpg is initialized with the focal length: 768
I0120 17:41:53.786281 139366400 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0016.jpg
I0120 17:41:53.786622 139366400 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0032.jpg is initialized with the focal length: 768
I0120 17:41:53.827868 139902976 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0017.jpg
I0120 17:41:53.828116 139902976 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0033.jpg is initialized with the focal length: 768
I0120 17:41:53.872313 140439552 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0018.jpg
I0120 17:41:53.872534 140439552 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0034.jpg is initialized with the focal length: 768
I0120 17:41:53.919770 146878464 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0019.jpg
I0120 17:41:53.920042 146878464 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0035.jpg is initialized with the focal length: 768
I0120 17:41:53.966423 143659008 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0020.jpg
I0120 17:41:53.966634 143659008 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0036.jpg is initialized with the focal length: 768
I0120 17:41:54.012945 141512704 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0021.jpg
I0120 17:41:54.013164 141512704 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0037.jpg is initialized with the focal length: 768
I0120 17:41:54.060158 146341888 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0022.jpg
I0120 17:41:54.060385 146341888 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0038.jpg is initialized with the focal length: 768
I0120 17:41:54.110052 144732160 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0023.jpg
I0120 17:41:54.110283 144732160 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0039.jpg is initialized with the focal length: 768
I0120 17:41:54.171257 142049280 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0024.jpg
I0120 17:41:54.171516 142049280 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0040.jpg is initialized with the focal length: 768
I0120 17:41:54.225186 144195584 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0025.jpg
I0120 17:41:54.225450 144195584 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0041.jpg is initialized with the focal length: 768
I0120 17:41:54.282367 145268736 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0026.jpg
I0120 17:41:54.282559 145268736 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0042.jpg is initialized with the focal length: 768
I0120 17:41:54.339583 142585856 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0027.jpg
I0120 17:41:54.339797 142585856 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0043.jpg is initialized with the focal length: 768
I0120 17:41:54.396689 143122432 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0028.jpg
I0120 17:41:54.396920 143122432 feature_extractor_and_matcher.cc:248] Image /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/jpg/0044.jpg is initialized with the focal length: 768
I0120 17:41:54.451452 145805312 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0029.jpg
I0120 17:41:54.507515 138829824 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0030.jpg
I0120 17:41:54.557713 140976128 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0031.jpg
I0120 17:41:54.608628 139366400 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0032.jpg
I0120 17:41:54.664968 139902976 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0033.jpg
I0120 17:41:54.723984 140439552 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0034.jpg
I0120 17:41:54.781724 146878464 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0035.jpg
I0120 17:41:54.836053 143659008 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0036.jpg
I0120 17:41:54.887804 141512704 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0037.jpg
I0120 17:41:54.941395 146341888 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0038.jpg
I0120 17:41:54.990612 144732160 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0039.jpg
I0120 17:41:55.039062 142049280 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0040.jpg
I0120 17:41:55.087445 144195584 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0041.jpg
I0120 17:41:55.131796 145268736 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0042.jpg
I0120 17:41:55.180418 142585856 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0043.jpg
I0120 17:41:55.226058 143122432 cascade_hashing_feature_matcher.cc:175] Created the hashed descriptors for image: 0044.jpg
I0120 17:41:55.226187 2710905792 feature_extractor_and_matcher.cc:201] Matching images...
I0120 17:41:55.302938 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.302976 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.308447 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.308475 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.314559 139366400 feature_matcher.cc:304] Images 0003.jpg and 0041.jpg were matched with 64 verified matches and 36 homography matches out of 69 putative matches.
I0120 17:41:55.346276 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.346300 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.349390 142585856 feature_matcher.cc:304] Images 0000.jpg and 0035.jpg were matched with 39 verified matches and 31 homography matches out of 45 putative matches.
I0120 17:41:55.354290 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.354313 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.354378 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.354398 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.358921 145268736 feature_matcher.cc:304] Images 0013.jpg and 0018.jpg were matched with 97 verified matches and 43 homography matches out of 108 putative matches.
I0120 17:41:55.364121 146878464 feature_matcher.cc:304] Images 0003.jpg and 0002.jpg were matched with 799 verified matches and 543 homography matches out of 802 putative matches.
I0120 17:41:55.383836 142049280 feature_matcher.cc:304] Images 0000.jpg and 0001.jpg were matched with 867 verified matches and 621 homography matches out of 872 putative matches.
I0120 17:41:55.424690 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.424793 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.443922 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.443948 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.446238 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.446260 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.451272 139366400 feature_matcher.cc:304] Images 0003.jpg and 0042.jpg were matched with 114 verified matches and 64 homography matches out of 127 putative matches.
I0120 17:41:55.452359 142585856 feature_matcher.cc:304] Images 0000.jpg and 0036.jpg were matched with 46 verified matches and 38 homography matches out of 54 putative matches.
I0120 17:41:55.464459 146878464 feature_matcher.cc:304] Images 0003.jpg and 0005.jpg were matched with 392 verified matches and 271 homography matches out of 397 putative matches.
I0120 17:41:55.468607 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.468704 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.476569 140976128 feature_matcher.cc:304] Images 0002.jpg and 0039.jpg were matched with 47 verified matches and 20 homography matches out of 57 putative matches.
I0120 17:41:55.479166 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.479194 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.482641 145268736 feature_matcher.cc:304] Images 0013.jpg and 0019.jpg were matched with 75 verified matches and 28 homography matches out of 86 putative matches.
I0120 17:41:55.526471 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.526500 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.541080 139366400 feature_matcher.cc:304] Images 0003.jpg and 0043.jpg were matched with 196 verified matches and 102 homography matches out of 211 putative matches.
I0120 17:41:55.546834 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.546860 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.550026 144732160 feature_matcher.cc:304] Images 0004.jpg and 0040.jpg were matched with 37 verified matches and 27 homography matches out of 41 putative matches.
I0120 17:41:55.553418 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.553443 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.555670 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.555696 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.555855 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.555872 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.558917 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.559752 140976128 feature_matcher.cc:304] Images 0002.jpg and 0040.jpg were matched with 80 verified matches and 43 homography matches out of 91 putative matches.
I0120 17:41:55.560971 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.562178 142585856 feature_matcher.cc:304] Images 0000.jpg and 0038.jpg were matched with 87 verified matches and 57 homography matches out of 98 putative matches.
I0120 17:41:55.569969 145268736 feature_matcher.cc:304] Images 0013.jpg and 0020.jpg were matched with 41 verified matches and 22 homography matches out of 51 putative matches.
I0120 17:41:55.584657 146878464 feature_matcher.cc:304] Images 0003.jpg and 0000.jpg were matched with 293 verified matches and 152 homography matches out of 309 putative matches.
I0120 17:41:55.595573 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.595600 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.612866 145805312 feature_matcher.cc:304] Images 0011.jpg and 0007.jpg were matched with 109 verified matches and 55 homography matches out of 119 putative matches.
I0120 17:41:55.619014 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.619036 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.638736 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.638763 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.648838 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.648864 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.649204 139366400 feature_matcher.cc:304] Images 0002.jpg and 0005.jpg were matched with 242 verified matches and 139 homography matches out of 256 putative matches.
I0120 17:41:55.649538 144732160 feature_matcher.cc:304] Images 0004.jpg and 0041.jpg were matched with 52 verified matches and 32 homography matches out of 67 putative matches.
I0120 17:41:55.651724 146878464 feature_matcher.cc:304] Images 0003.jpg and 0009.jpg were matched with 56 verified matches and 31 homography matches out of 71 putative matches.
I0120 17:41:55.669595 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.669620 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.670461 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.670485 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.677616 142585856 feature_matcher.cc:304] Images 0000.jpg and 0039.jpg were matched with 109 verified matches and 49 homography matches out of 120 putative matches.
I0120 17:41:55.679445 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.679466 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.676193 140976128 feature_matcher.cc:304] Images 0002.jpg and 0041.jpg were matched with 115 verified matches and 53 homography matches out of 125 putative matches.
I0120 17:41:55.716001 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.716028 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.719189 141512704 feature_matcher.cc:304] Images 0005.jpg and 0042.jpg were matched with 35 verified matches and 27 homography matches out of 49 putative matches.
I0120 17:41:55.730047 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.730074 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.733760 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.733783 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.737000 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.737025 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.740583 144732160 feature_matcher.cc:304] Images 0004.jpg and 0042.jpg were matched with 64 verified matches and 38 homography matches out of 72 putative matches.
I0120 17:41:55.746927 145805312 feature_matcher.cc:304] Images 0011.jpg and 0010.jpg were matched with 535 verified matches and 365 homography matches out of 542 putative matches.
I0120 17:41:55.760049 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.760074 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.760540 139366400 feature_matcher.cc:304] Images 0002.jpg and 0000.jpg were matched with 494 verified matches and 264 homography matches out of 509 putative matches.
I0120 17:41:55.775060 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.775089 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.777262 141512704 feature_matcher.cc:304] Images 0005.jpg and 0043.jpg were matched with 48 verified matches and 31 homography matches out of 67 putative matches.
I0120 17:41:55.778053 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.778070 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.784128 140976128 feature_matcher.cc:304] Images 0002.jpg and 0042.jpg were matched with 181 verified matches and 102 homography matches out of 192 putative matches.
I0120 17:41:55.787816 142585856 feature_matcher.cc:304] Images 0000.jpg and 0040.jpg were matched with 206 verified matches and 84 homography matches out of 223 putative matches.
I0120 17:41:55.798889 146878464 feature_matcher.cc:304] Images 0003.jpg and 0004.jpg were matched with 826 verified matches and 645 homography matches out of 837 putative matches.
I0120 17:41:55.807859 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.807884 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.814375 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.814399 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.820968 144732160 feature_matcher.cc:304] Images 0004.jpg and 0043.jpg were matched with 88 verified matches and 52 homography matches out of 106 putative matches.
I0120 17:41:55.826325 143659008 feature_matcher.cc:304] Images 0004.jpg and 0007.jpg were matched with 241 verified matches and 133 homography matches out of 250 putative matches.
I0120 17:41:55.829752 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.829779 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.875798 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.875826 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.876286 145805312 feature_matcher.cc:304] Images 0011.jpg and 0012.jpg were matched with 520 verified matches and 353 homography matches out of 523 putative matches.
I0120 17:41:55.881570 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.881592 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.884551 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.884577 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.901216 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.901242 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.906421 140976128 feature_matcher.cc:304] Images 0002.jpg and 0043.jpg were matched with 317 verified matches and 150 homography matches out of 329 putative matches.
I0120 17:41:55.913354 143659008 feature_matcher.cc:304] Images 0004.jpg and 0010.jpg were matched with 55 verified matches and 28 homography matches out of 64 putative matches.
I0120 17:41:55.918031 144732160 feature_matcher.cc:304] Images 0013.jpg and 0011.jpg were matched with 297 verified matches and 160 homography matches out of 305 putative matches.
I0120 17:41:55.917083 142585856 feature_matcher.cc:304] Images 0000.jpg and 0041.jpg were matched with 358 verified matches and 161 homography matches out of 376 putative matches.
I0120 17:41:55.923390 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.923475 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.928943 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.928968 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.940932 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.940960 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.950389 141512704 feature_matcher.cc:304] Images 0000.jpg and 0004.jpg were matched with 181 verified matches and 104 homography matches out of 191 putative matches.
I0120 17:41:55.964236 146878464 feature_matcher.cc:304] Images 0003.jpg and 0007.jpg were matched with 132 verified matches and 73 homography matches out of 146 putative matches.
I0120 17:41:55.972076 139366400 feature_matcher.cc:304] Images 0002.jpg and 0004.jpg were matched with 460 verified matches and 291 homography matches out of 472 putative matches.
I0120 17:41:55.974314 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.974336 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:55.988607 145805312 feature_matcher.cc:304] Images 0011.jpg and 0006.jpg were matched with 71 verified matches and 36 homography matches out of 83 putative matches.
I0120 17:41:55.997246 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:55.997272 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.001371 140976128 feature_matcher.cc:304] Images 0005.jpg and 0000.jpg were matched with 88 verified matches and 46 homography matches out of 102 putative matches.
I0120 17:41:56.007650 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.007674 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.024858 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.024885 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.039711 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.039737 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.054584 142585856 feature_matcher.cc:304] Images 0000.jpg and 0042.jpg were matched with 528 verified matches and 304 homography matches out of 549 putative matches.
I0120 17:41:56.055940 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.055963 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.057973 143659008 feature_matcher.cc:304] Images 0004.jpg and 0006.jpg were matched with 375 verified matches and 227 homography matches out of 388 putative matches.
I0120 17:41:56.060293 144732160 feature_matcher.cc:304] Images 0013.jpg and 0010.jpg were matched with 206 verified matches and 96 homography matches out of 217 putative matches.
I0120 17:41:56.076900 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.076925 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.078229 145805312 feature_matcher.cc:304] Images 0011.jpg and 0008.jpg were matched with 206 verified matches and 98 homography matches out of 216 putative matches.
I0120 17:41:56.089041 140976128 feature_matcher.cc:304] Images 0005.jpg and 0009.jpg were matched with 155 verified matches and 73 homography matches out of 167 putative matches.
I0120 17:41:56.095399 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.095427 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.097267 141512704 feature_matcher.cc:304] Images 0000.jpg and 0007.jpg were matched with 35 verified matches and 23 homography matches out of 44 putative matches.
I0120 17:41:56.118088 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.118115 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.120805 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.120831 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.133992 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.134018 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.146404 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.146430 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.150099 143659008 feature_matcher.cc:304] Images 0004.jpg and 0008.jpg were matched with 127 verified matches and 56 homography matches out of 141 putative matches.
I0120 17:41:56.152120 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.152523 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.156556 139366400 feature_matcher.cc:304] Images 0002.jpg and 0007.jpg were matched with 84 verified matches and 41 homography matches out of 100 putative matches.
I0120 17:41:56.160984 144732160 feature_matcher.cc:304] Images 0013.jpg and 0012.jpg were matched with 531 verified matches and 406 homography matches out of 537 putative matches.
I0120 17:41:56.161221 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.161240 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.165381 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.165410 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.173769 145805312 feature_matcher.cc:304] Images 0011.jpg and 0014.jpg were matched with 158 verified matches and 93 homography matches out of 167 putative matches.
I0120 17:41:56.176020 146878464 feature_matcher.cc:304] Images 0003.jpg and 0006.jpg were matched with 239 verified matches and 131 homography matches out of 253 putative matches.
I0120 17:41:56.193436 142585856 feature_matcher.cc:304] Images 0000.jpg and 0043.jpg were matched with 811 verified matches and 545 homography matches out of 836 putative matches.
I0120 17:41:56.220767 140976128 feature_matcher.cc:304] Images 0005.jpg and 0004.jpg were matched with 696 verified matches and 460 homography matches out of 708 putative matches.
I0120 17:41:56.230404 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.230423 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.232797 146878464 feature_matcher.cc:304] Images 0003.jpg and 0008.jpg were matched with 89 verified matches and 46 homography matches out of 96 putative matches.
I0120 17:41:56.261292 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.261374 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.265947 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.265967 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.268003 138829824 feature_matcher.cc:304] Images 0003.jpg and 0039.jpg were matched with 34 verified matches and 18 homography matches out of 41 putative matches.
I0120 17:41:56.269165 143659008 feature_matcher.cc:304] Images 0004.jpg and 0001.jpg were matched with 290 verified matches and 160 homography matches out of 306 putative matches.
I0120 17:41:56.269948 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.269973 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.272811 141512704 feature_matcher.cc:304] Images 0000.jpg and 0006.jpg were matched with 52 verified matches and 31 homography matches out of 68 putative matches.
I0120 17:41:56.296422 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.296447 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.300256 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.301957 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.302180 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.302661 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.315820 144732160 feature_matcher.cc:304] Images 0013.jpg and 0008.jpg were matched with 52 verified matches and 29 homography matches out of 62 putative matches.
I0120 17:41:56.323375 146341888 feature_matcher.cc:304] Images 0010.jpg and 0012.jpg were matched with 332 verified matches and 198 homography matches out of 342 putative matches.
I0120 17:41:56.327886 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.329818 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.330766 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.330790 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.332412 145805312 feature_matcher.cc:304] Images 0011.jpg and 0016.jpg were matched with 48 verified matches and 22 homography matches out of 56 putative matches.
I0120 17:41:56.335371 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.335396 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.336333 143659008 feature_matcher.cc:304] Images 0012.jpg and 0016.jpg were matched with 126 verified matches and 62 homography matches out of 132 putative matches.
I0120 17:41:56.337291 142585856 feature_matcher.cc:304] Images 0009.jpg and 0004.jpg were matched with 90 verified matches and 42 homography matches out of 102 putative matches.
I0120 17:41:56.341595 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.341644 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.343497 143122432 feature_matcher.cc:304] Images 0007.jpg and 0010.jpg were matched with 228 verified matches and 115 homography matches out of 235 putative matches.
I0120 17:41:56.347734 139366400 feature_matcher.cc:304] Images 0002.jpg and 0006.jpg were matched with 131 verified matches and 65 homography matches out of 143 putative matches.
I0120 17:41:56.359735 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.359757 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.363569 138829824 feature_matcher.cc:304] Images 0003.jpg and 0040.jpg were matched with 50 verified matches and 32 homography matches out of 65 putative matches.
I0120 17:41:56.382411 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.382436 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.387758 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.387783 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.392458 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.392483 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.392706 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.392721 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.396034 143122432 feature_matcher.cc:304] Images 0007.jpg and 0012.jpg were matched with 61 verified matches and 44 homography matches out of 71 putative matches.
I0120 17:41:56.398351 140976128 feature_matcher.cc:304] Images 0005.jpg and 0011.jpg were matched with 49 verified matches and 23 homography matches out of 67 putative matches.
I0120 17:41:56.401765 142585856 feature_matcher.cc:304] Images 0009.jpg and 0013.jpg were matched with 102 verified matches and 59 homography matches out of 111 putative matches.
I0120 17:41:56.422164 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.422191 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.423725 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.423749 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.424854 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.424872 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.432389 146341888 feature_matcher.cc:304] Images 0010.jpg and 0006.jpg were matched with 149 verified matches and 77 homography matches out of 158 putative matches.
I0120 17:41:56.434061 139366400 feature_matcher.cc:304] Images 0002.jpg and 0008.jpg were matched with 49 verified matches and 27 homography matches out of 62 putative matches.
I0120 17:41:56.441726 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.441751 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.441910 144732160 feature_matcher.cc:304] Images 0013.jpg and 0014.jpg were matched with 526 verified matches and 412 homography matches out of 535 putative matches.
I0120 17:41:56.445472 143659008 feature_matcher.cc:304] Images 0012.jpg and 0018.jpg were matched with 64 verified matches and 27 homography matches out of 78 putative matches.
I0120 17:41:56.446590 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.446612 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.449760 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.449785 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.452941 146878464 feature_matcher.cc:304] Images 0003.jpg and 0001.jpg were matched with 490 verified matches and 262 homography matches out of 501 putative matches.
I0120 17:41:56.463925 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.464026 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.474261 142585856 feature_matcher.cc:304] Images 0009.jpg and 0011.jpg were matched with 316 verified matches and 176 homography matches out of 330 putative matches.
I0120 17:41:56.488793 143122432 feature_matcher.cc:304] Images 0007.jpg and 0006.jpg were matched with 642 verified matches and 453 homography matches out of 655 putative matches.
I0120 17:41:56.488891 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.488901 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.492337 140976128 feature_matcher.cc:304] Images 0005.jpg and 0007.jpg were matched with 404 verified matches and 227 homography matches out of 420 putative matches.
I0120 17:41:56.512650 146341888 feature_matcher.cc:304] Images 0010.jpg and 0008.jpg were matched with 348 verified matches and 219 homography matches out of 357 putative matches.
I0120 17:41:56.515173 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.515198 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.517671 143659008 feature_matcher.cc:304] Images 0012.jpg and 0019.jpg were matched with 38 verified matches and 18 homography matches out of 45 putative matches.
I0120 17:41:56.536279 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.536304 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.551172 142585856 feature_matcher.cc:304] Images 0009.jpg and 0007.jpg were matched with 370 verified matches and 208 homography matches out of 385 putative matches.
I0120 17:41:56.552175 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.552198 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.557749 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.557767 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.560806 140976128 feature_matcher.cc:304] Images 0005.jpg and 0010.jpg were matched with 103 verified matches and 42 homography matches out of 114 putative matches.
I0120 17:41:56.574729 143122432 feature_matcher.cc:304] Images 0007.jpg and 0008.jpg were matched with 626 verified matches and 454 homography matches out of 642 putative matches.
I0120 17:41:56.578073 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.578099 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.584718 146341888 feature_matcher.cc:304] Images 0010.jpg and 0014.jpg were matched with 111 verified matches and 58 homography matches out of 119 putative matches.
I0120 17:41:56.591697 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.591718 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.595006 144732160 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.595026 144732160 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.599961 144732160 feature_matcher.cc:304] Images 0013.jpg and 0016.jpg were matched with 215 verified matches and 112 homography matches out of 222 putative matches.
I0120 17:41:56.611344 139366400 feature_matcher.cc:304] Images 0002.jpg and 0001.jpg were matched with 812 verified matches and 561 homography matches out of 820 putative matches.
I0120 17:41:56.636263 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.636286 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.645371 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.645548 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.646667 145268736 feature_matcher.cc:304] Images 0008.jpg and 0014.jpg were matched with 34 verified matches and 23 homography matches out of 42 putative matches.
I0120 17:41:56.650679 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.650697 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.654584 145805312 feature_matcher.cc:304] Images 0014.jpg and 0020.jpg were matched with 81 verified matches and 36 homography matches out of 95 putative matches.
I0120 17:41:56.656502 142585856 feature_matcher.cc:304] Images 0009.jpg and 0010.jpg were matched with 571 verified matches and 483 homography matches out of 578 putative matches.
I0120 17:41:56.709313 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.709337 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.713076 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.713102 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.717682 142585856 feature_matcher.cc:304] Images 0009.jpg and 0012.jpg were matched with 192 verified matches and 97 homography matches out of 200 putative matches.
I0120 17:41:56.720158 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.720329 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.722188 145805312 feature_matcher.cc:304] Images 0014.jpg and 0021.jpg were matched with 58 verified matches and 24 homography matches out of 65 putative matches.
I0120 17:41:56.730834 140976128 feature_matcher.cc:304] Images 0005.jpg and 0006.jpg were matched with 725 verified matches and 480 homography matches out of 735 putative matches.
I0120 17:41:56.749770 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.749795 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.751528 145268736 feature_matcher.cc:304] Images 0008.jpg and 0001.jpg were matched with 35 verified matches and 19 homography matches out of 40 putative matches.
I0120 17:41:56.762922 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.762946 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.766144 143122432 feature_matcher.cc:304] Images 0007.jpg and 0001.jpg were matched with 55 verified matches and 32 homography matches out of 65 putative matches.
I0120 17:41:56.784675 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.784894 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.787284 146341888 feature_matcher.cc:304] Images 0010.jpg and 0016.jpg were matched with 42 verified matches and 22 homography matches out of 43 putative matches.
I0120 17:41:56.798132 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.798157 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.798266 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.798286 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.806365 142585856 feature_matcher.cc:304] Images 0009.jpg and 0006.jpg were matched with 233 verified matches and 115 homography matches out of 244 putative matches.
I0120 17:41:56.815341 140976128 feature_matcher.cc:304] Images 0005.jpg and 0008.jpg were matched with 243 verified matches and 124 homography matches out of 259 putative matches.
I0120 17:41:56.853835 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.853864 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.862038 146878464 feature_matcher.cc:304] Images 0001.jpg and 0041.jpg were matched with 228 verified matches and 124 homography matches out of 241 putative matches.
I0120 17:41:56.869814 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.869832 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.892174 142585856 feature_matcher.cc:304] Images 0009.jpg and 0008.jpg were matched with 560 verified matches and 453 homography matches out of 571 putative matches.
I0120 17:41:56.922847 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.922868 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.937532 138829824 feature_matcher.cc:304] Images 0006.jpg and 0008.jpg were matched with 384 verified matches and 216 homography matches out of 395 putative matches.
I0120 17:41:56.939432 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.939452 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.947748 146878464 feature_matcher.cc:304] Images 0001.jpg and 0042.jpg were matched with 341 verified matches and 190 homography matches out of 353 putative matches.
I0120 17:41:56.954754 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:56.954974 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:56.958674 142585856 feature_matcher.cc:304] Images 0009.jpg and 0014.jpg were matched with 67 verified matches and 37 homography matches out of 78 putative matches.
I0120 17:41:57.008554 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.008580 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.016947 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.016973 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.019595 144195584 feature_matcher.cc:304] Images 0012.jpg and 0006.jpg were matched with 48 verified matches and 22 homography matches out of 58 putative matches.
I0120 17:41:57.019892 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.019914 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.020367 140976128 feature_matcher.cc:304] Images 0005.jpg and 0001.jpg were matched with 134 verified matches and 72 homography matches out of 149 putative matches.
I0120 17:41:57.035202 146878464 feature_matcher.cc:304] Images 0001.jpg and 0043.jpg were matched with 526 verified matches and 301 homography matches out of 532 putative matches.
I0120 17:41:57.085659 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.085688 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.089540 138829824 feature_matcher.cc:304] Images 0006.jpg and 0001.jpg were matched with 81 verified matches and 43 homography matches out of 91 putative matches.
I0120 17:41:57.089849 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.089869 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.094643 144195584 feature_matcher.cc:304] Images 0012.jpg and 0008.jpg were matched with 109 verified matches and 55 homography matches out of 118 putative matches.
I0120 17:41:57.164738 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.164768 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.179039 144195584 feature_matcher.cc:304] Images 0012.jpg and 0014.jpg were matched with 311 verified matches and 193 homography matches out of 318 putative matches.
I0120 17:41:57.195902 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.195930 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.225155 146878464 feature_matcher.cc:304] Images 0016.jpg and 0018.jpg were matched with 482 verified matches and 299 homography matches out of 493 putative matches.
I0120 17:41:57.302553 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.303138 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.306593 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.306618 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.314141 146878464 feature_matcher.cc:304] Images 0016.jpg and 0019.jpg were matched with 317 verified matches and 174 homography matches out of 328 putative matches.
I0120 17:41:57.336875 140439552 feature_matcher.cc:304] Images 0018.jpg and 0020.jpg were matched with 655 verified matches and 397 homography matches out of 661 putative matches.
I0120 17:41:57.391288 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.391315 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.399791 146878464 feature_matcher.cc:304] Images 0016.jpg and 0020.jpg were matched with 208 verified matches and 100 homography matches out of 217 putative matches.
I0120 17:41:57.418884 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.418910 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.443732 140439552 feature_matcher.cc:304] Images 0018.jpg and 0021.jpg were matched with 424 verified matches and 244 homography matches out of 436 putative matches.
I0120 17:41:57.465975 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.466001 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.467762 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.467788 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.472884 146878464 feature_matcher.cc:304] Images 0016.jpg and 0021.jpg were matched with 139 verified matches and 62 homography matches out of 155 putative matches.
I0120 17:41:57.485822 142049280 feature_matcher.cc:304] Images 0014.jpg and 0016.jpg were matched with 436 verified matches and 281 homography matches out of 449 putative matches.
I0120 17:41:57.541352 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.541381 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.549518 146878464 feature_matcher.cc:304] Images 0016.jpg and 0022.jpg were matched with 81 verified matches and 41 homography matches out of 94 putative matches.
I0120 17:41:57.553764 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.553791 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.558301 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.558326 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.561676 142049280 feature_matcher.cc:304] Images 0014.jpg and 0018.jpg were matched with 200 verified matches and 89 homography matches out of 210 putative matches.
I0120 17:41:57.571437 140439552 feature_matcher.cc:304] Images 0018.jpg and 0022.jpg were matched with 208 verified matches and 106 homography matches out of 220 putative matches.
I0120 17:41:57.571861 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.571877 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.575680 143659008 feature_matcher.cc:304] Images 0021.jpg and 0028.jpg were matched with 37 verified matches and 20 homography matches out of 54 putative matches.
I0120 17:41:57.592030 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.592054 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.630980 145268736 feature_matcher.cc:304] Images 0022.jpg and 0026.jpg were matched with 279 verified matches and 137 homography matches out of 292 putative matches.
I0120 17:41:57.658917 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.658944 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.661857 146878464 feature_matcher.cc:304] Images 0016.jpg and 0023.jpg were matched with 52 verified matches and 21 homography matches out of 62 putative matches.
I0120 17:41:57.662703 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.662724 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.667964 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.667990 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.683248 142049280 feature_matcher.cc:304] Images 0014.jpg and 0019.jpg were matched with 127 verified matches and 50 homography matches out of 140 putative matches.
I0120 17:41:57.684300 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.684321 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.684609 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.684625 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.704309 140439552 feature_matcher.cc:304] Images 0018.jpg and 0023.jpg were matched with 138 verified matches and 68 homography matches out of 150 putative matches.
I0120 17:41:57.733873 146341888 feature_matcher.cc:304] Images 0023.jpg and 0025.jpg were matched with 737 verified matches and 369 homography matches out of 748 putative matches.
I0120 17:41:57.740159 143122432 feature_matcher.cc:304] Images 0019.jpg and 0020.jpg were matched with 1025 verified matches and 810 homography matches out of 1043 putative matches.
I0120 17:41:57.746971 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.746995 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.767738 145268736 feature_matcher.cc:304] Images 0022.jpg and 0027.jpg were matched with 158 verified matches and 89 homography matches out of 170 putative matches.
I0120 17:41:57.770117 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.773211 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.793514 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.793542 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.798347 140439552 feature_matcher.cc:304] Images 0018.jpg and 0024.jpg were matched with 87 verified matches and 44 homography matches out of 99 putative matches.
I0120 17:41:57.805454 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.805480 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.805661 146878464 feature_matcher.cc:304] Images 0016.jpg and 0024.jpg were matched with 39 verified matches and 22 homography matches out of 54 putative matches.
I0120 17:41:57.821344 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.821369 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.836045 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.836071 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.838783 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.838807 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.874243 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.874271 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.880139 146341888 feature_matcher.cc:304] Images 0023.jpg and 0026.jpg were matched with 447 verified matches and 233 homography matches out of 455 putative matches.
I0120 17:41:57.881414 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.881446 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.882428 145268736 feature_matcher.cc:304] Images 0022.jpg and 0028.jpg were matched with 101 verified matches and 53 homography matches out of 120 putative matches.
I0120 17:41:57.889083 142049280 feature_matcher.cc:304] Images 0024.jpg and 0025.jpg were matched with 1195 verified matches and 762 homography matches out of 1201 putative matches.
I0120 17:41:57.899305 143122432 feature_matcher.cc:304] Images 0019.jpg and 0021.jpg were matched with 680 verified matches and 427 homography matches out of 699 putative matches.
I0120 17:41:57.905550 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.905578 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.907896 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.907922 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.909778 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.909879 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.910985 141512704 feature_matcher.cc:304] Images 0025.jpg and 0026.jpg were matched with 1204 verified matches and 794 homography matches out of 1209 putative matches.
I0120 17:41:57.912415 140439552 feature_matcher.cc:304] Images 0018.jpg and 0025.jpg were matched with 64 verified matches and 25 homography matches out of 76 putative matches.
I0120 17:41:57.916406 142585856 feature_matcher.cc:304] Images 0027.jpg and 0032.jpg were matched with 123 verified matches and 90 homography matches out of 139 putative matches.
I0120 17:41:57.946054 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.946084 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.958179 146878464 feature_matcher.cc:304] Images 0016.jpg and 0025.jpg were matched with 31 verified matches and 13 homography matches out of 50 putative matches.
I0120 17:41:57.962769 145805312 feature_matcher.cc:304] Images 0026.jpg and 0028.jpg were matched with 693 verified matches and 372 homography matches out of 712 putative matches.
I0120 17:41:57.993033 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.993062 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.993233 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.993252 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.994077 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:57.994099 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:57.998421 144195584 feature_matcher.cc:304] Images 0020.jpg and 0021.jpg were matched with 1136 verified matches and 954 homography matches out of 1151 putative matches.
I0120 17:41:58.002774 140439552 feature_matcher.cc:304] Images 0018.jpg and 0026.jpg were matched with 50 verified matches and 28 homography matches out of 63 putative matches.
I0120 17:41:58.003466 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.003489 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.003824 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.003851 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.007753 145268736 feature_matcher.cc:304] Images 0022.jpg and 0029.jpg were matched with 55 verified matches and 35 homography matches out of 69 putative matches.
I0120 17:41:58.007800 139366400 feature_matcher.cc:304] Images 0001.jpg and 0038.jpg were matched with 53 verified matches and 32 homography matches out of 60 putative matches.
I0120 17:41:58.012786 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.012811 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.016414 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.016439 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.018501 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.018523 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.020092 146341888 feature_matcher.cc:304] Images 0023.jpg and 0027.jpg were matched with 258 verified matches and 137 homography matches out of 269 putative matches.
I0120 17:41:58.020575 142585856 feature_matcher.cc:304] Images 0027.jpg and 0033.jpg were matched with 89 verified matches and 66 homography matches out of 105 putative matches.
I0120 17:41:58.027752 143122432 feature_matcher.cc:304] Images 0019.jpg and 0022.jpg were matched with 339 verified matches and 175 homography matches out of 350 putative matches.
I0120 17:41:58.071080 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.071110 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.072970 142049280 feature_matcher.cc:304] Images 0024.jpg and 0026.jpg were matched with 738 verified matches and 378 homography matches out of 746 putative matches.
I0120 17:41:58.074443 141512704 feature_matcher.cc:304] Images 0025.jpg and 0027.jpg were matched with 755 verified matches and 402 homography matches out of 771 putative matches.
I0120 17:41:58.079175 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.079201 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.090942 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.090970 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.103528 145805312 feature_matcher.cc:304] Images 0026.jpg and 0029.jpg were matched with 376 verified matches and 244 homography matches out of 390 putative matches.
I0120 17:41:58.105418 145268736 feature_matcher.cc:304] Images 0022.jpg and 0030.jpg were matched with 47 verified matches and 32 homography matches out of 60 putative matches.
I0120 17:41:58.117460 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.117488 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.117931 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.117950 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.124537 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.124564 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.126549 144195584 feature_matcher.cc:304] Images 0020.jpg and 0022.jpg were matched with 543 verified matches and 335 homography matches out of 552 putative matches.
I0120 17:41:58.132161 146341888 feature_matcher.cc:304] Images 0023.jpg and 0028.jpg were matched with 143 verified matches and 76 homography matches out of 155 putative matches.
I0120 17:41:58.133481 139366400 feature_matcher.cc:304] Images 0001.jpg and 0039.jpg were matched with 74 verified matches and 34 homography matches out of 78 putative matches.
I0120 17:41:58.135018 142585856 feature_matcher.cc:304] Images 0027.jpg and 0034.jpg were matched with 58 verified matches and 46 homography matches out of 77 putative matches.
I0120 17:41:58.136724 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.136745 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.154366 143122432 feature_matcher.cc:304] Images 0019.jpg and 0023.jpg were matched with 208 verified matches and 97 homography matches out of 221 putative matches.
I0120 17:41:58.166748 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.166774 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.180654 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.180680 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.196321 141512704 feature_matcher.cc:304] Images 0025.jpg and 0028.jpg were matched with 443 verified matches and 254 homography matches out of 467 putative matches.
I0120 17:41:58.201450 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.201475 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.203835 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.203858 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.209295 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.209321 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.210816 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.210840 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.221832 142049280 feature_matcher.cc:304] Images 0024.jpg and 0027.jpg were matched with 455 verified matches and 254 homography matches out of 467 putative matches.
I0120 17:41:58.224068 139366400 feature_matcher.cc:304] Images 0001.jpg and 0040.jpg were matched with 128 verified matches and 64 homography matches out of 136 putative matches.
I0120 17:41:58.226831 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.226858 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.228508 145805312 feature_matcher.cc:304] Images 0026.jpg and 0030.jpg were matched with 251 verified matches and 154 homography matches out of 267 putative matches.
I0120 17:41:58.231899 146341888 feature_matcher.cc:304] Images 0023.jpg and 0029.jpg were matched with 84 verified matches and 55 homography matches out of 94 putative matches.
I0120 17:41:58.241111 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.241140 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.244782 142585856 feature_matcher.cc:304] Images 0027.jpg and 0035.jpg were matched with 38 verified matches and 24 homography matches out of 49 putative matches.
I0120 17:41:58.254514 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.254540 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.258594 144195584 feature_matcher.cc:304] Images 0020.jpg and 0023.jpg were matched with 345 verified matches and 178 homography matches out of 369 putative matches.
I0120 17:41:58.260103 143122432 feature_matcher.cc:304] Images 0019.jpg and 0024.jpg were matched with 139 verified matches and 67 homography matches out of 147 putative matches.
I0120 17:41:58.282205 138829824 feature_matcher.cc:304] Images 0021.jpg and 0022.jpg were matched with 953 verified matches and 656 homography matches out of 961 putative matches.
I0120 17:41:58.299571 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.299598 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.311709 141512704 feature_matcher.cc:304] Images 0025.jpg and 0029.jpg were matched with 235 verified matches and 156 homography matches out of 250 putative matches.
I0120 17:41:58.318686 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.318711 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.319985 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.320008 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.325886 145805312 feature_matcher.cc:304] Images 0026.jpg and 0032.jpg were matched with 96 verified matches and 65 homography matches out of 109 putative matches.
I0120 17:41:58.325948 146341888 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.325966 146341888 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.329828 146341888 feature_matcher.cc:304] Images 0023.jpg and 0030.jpg were matched with 75 verified matches and 41 homography matches out of 85 putative matches.
I0120 17:41:58.331593 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.331619 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.342217 142049280 feature_matcher.cc:304] Images 0024.jpg and 0028.jpg were matched with 258 verified matches and 143 homography matches out of 282 putative matches.
I0120 17:41:58.345368 139366400 feature_matcher.cc:304] Images 0028.jpg and 0035.jpg were matched with 38 verified matches and 22 homography matches out of 48 putative matches.
I0120 17:41:58.359180 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.359205 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.364192 143122432 feature_matcher.cc:304] Images 0019.jpg and 0025.jpg were matched with 79 verified matches and 34 homography matches out of 87 putative matches.
I0120 17:41:58.365268 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.365289 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.374801 144195584 feature_matcher.cc:304] Images 0020.jpg and 0024.jpg were matched with 221 verified matches and 83 homography matches out of 237 putative matches.
I0120 17:41:58.375026 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.375047 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.409611 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.409642 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.417209 138829824 feature_matcher.cc:304] Images 0021.jpg and 0023.jpg were matched with 607 verified matches and 307 homography matches out of 617 putative matches.
I0120 17:41:58.432850 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.432934 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.437268 141512704 feature_matcher.cc:304] Images 0025.jpg and 0030.jpg were matched with 171 verified matches and 112 homography matches out of 189 putative matches.
I0120 17:41:58.440539 145805312 feature_matcher.cc:304] Images 0026.jpg and 0033.jpg were matched with 67 verified matches and 46 homography matches out of 76 putative matches.
I0120 17:41:58.468585 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.468612 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.477494 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.477521 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.480604 139366400 feature_matcher.cc:304] Images 0028.jpg and 0036.jpg were matched with 31 verified matches and 12 homography matches out of 44 putative matches.
I0120 17:41:58.487727 142049280 feature_matcher.cc:304] Images 0024.jpg and 0029.jpg were matched with 158 verified matches and 114 homography matches out of 171 putative matches.
I0120 17:41:58.490618 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.490644 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.499058 144195584 feature_matcher.cc:304] Images 0020.jpg and 0025.jpg were matched with 130 verified matches and 49 homography matches out of 144 putative matches.
I0120 17:41:58.517482 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.517510 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.520131 143122432 feature_matcher.cc:304] Images 0019.jpg and 0026.jpg were matched with 53 verified matches and 19 homography matches out of 71 putative matches.
I0120 17:41:58.528789 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.528818 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.532058 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.532083 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.548451 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.548476 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.551427 145805312 feature_matcher.cc:304] Images 0026.jpg and 0034.jpg were matched with 48 verified matches and 31 homography matches out of 58 putative matches.
I0120 17:41:58.553715 141512704 feature_matcher.cc:304] Images 0025.jpg and 0032.jpg were matched with 78 verified matches and 54 homography matches out of 85 putative matches.
I0120 17:41:58.563225 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.563253 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.567095 138829824 feature_matcher.cc:304] Images 0021.jpg and 0024.jpg were matched with 384 verified matches and 175 homography matches out of 397 putative matches.
I0120 17:41:58.568490 142049280 feature_matcher.cc:304] Images 0024.jpg and 0030.jpg were matched with 92 verified matches and 71 homography matches out of 109 putative matches.
I0120 17:41:58.622756 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.622783 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.627379 144195584 feature_matcher.cc:304] Images 0020.jpg and 0026.jpg were matched with 91 verified matches and 33 homography matches out of 106 putative matches.
I0120 17:41:58.628335 143122432 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.628530 143122432 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.630903 143122432 feature_matcher.cc:304] Images 0019.jpg and 0027.jpg were matched with 32 verified matches and 15 homography matches out of 41 putative matches.
I0120 17:41:58.643597 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.643625 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.663017 141512704 feature_matcher.cc:304] Images 0025.jpg and 0033.jpg were matched with 62 verified matches and 45 homography matches out of 74 putative matches.
I0120 17:41:58.664937 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.664958 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.680392 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.680418 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.682633 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.682660 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.686368 142049280 feature_matcher.cc:304] Images 0024.jpg and 0032.jpg were matched with 46 verified matches and 33 homography matches out of 56 putative matches.
I0120 17:41:58.691431 138829824 feature_matcher.cc:304] Images 0021.jpg and 0025.jpg were matched with 230 verified matches and 101 homography matches out of 244 putative matches.
I0120 17:41:58.728288 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.728317 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.748975 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.749001 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.754650 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.754678 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.757669 144195584 feature_matcher.cc:304] Images 0020.jpg and 0027.jpg were matched with 50 verified matches and 22 homography matches out of 64 putative matches.
I0120 17:41:58.768930 141512704 feature_matcher.cc:304] Images 0025.jpg and 0034.jpg were matched with 47 verified matches and 31 homography matches out of 57 putative matches.
I0120 17:41:58.772027 146878464 feature_matcher.cc:304] Images 0030.jpg and 0032.jpg were matched with 407 verified matches and 239 homography matches out of 424 putative matches.
I0120 17:41:58.783951 143659008 feature_matcher.cc:304] Images 0022.jpg and 0023.jpg were matched with 1157 verified matches and 816 homography matches out of 1167 putative matches.
I0120 17:41:58.786855 142049280 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.786880 142049280 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.790918 142049280 feature_matcher.cc:304] Images 0024.jpg and 0033.jpg were matched with 37 verified matches and 29 homography matches out of 51 putative matches.
I0120 17:41:58.797617 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.797641 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.803710 138829824 feature_matcher.cc:304] Images 0021.jpg and 0026.jpg were matched with 120 verified matches and 54 homography matches out of 136 putative matches.
I0120 17:41:58.879868 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.879900 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.881680 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.881705 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.901829 146878464 feature_matcher.cc:304] Images 0030.jpg and 0033.jpg were matched with 246 verified matches and 147 homography matches out of 265 putative matches.
I0120 17:41:58.906339 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.906368 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.911463 138829824 feature_matcher.cc:304] Images 0021.jpg and 0027.jpg were matched with 82 verified matches and 42 homography matches out of 92 putative matches.
I0120 17:41:58.943825 143659008 feature_matcher.cc:304] Images 0022.jpg and 0024.jpg were matched with 783 verified matches and 446 homography matches out of 807 putative matches.
I0120 17:41:58.964701 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.964730 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:58.999361 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:58.999388 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.015307 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.015540 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.019974 146878464 feature_matcher.cc:304] Images 0030.jpg and 0034.jpg were matched with 161 verified matches and 103 homography matches out of 179 putative matches.
I0120 17:41:59.039388 142585856 feature_matcher.cc:304] Images 0028.jpg and 0029.jpg were matched with 976 verified matches and 437 homography matches out of 989 putative matches.
I0120 17:41:59.047276 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.047305 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.072618 143659008 feature_matcher.cc:304] Images 0022.jpg and 0025.jpg were matched with 457 verified matches and 212 homography matches out of 467 putative matches.
I0120 17:41:59.108525 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.108553 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.111971 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.111999 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.113710 144195584 feature_matcher.cc:304] Images 0034.jpg and 0040.jpg were matched with 61 verified matches and 56 homography matches out of 80 putative matches.
I0120 17:41:59.118476 145268736 feature_matcher.cc:304] Images 0023.jpg and 0024.jpg were matched with 1203 verified matches and 752 homography matches out of 1217 putative matches.
I0120 17:41:59.123910 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.123937 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.141508 146878464 feature_matcher.cc:304] Images 0030.jpg and 0035.jpg were matched with 112 verified matches and 63 homography matches out of 134 putative matches.
I0120 17:41:59.149658 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.149874 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.158355 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.158382 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.162216 143659008 feature_matcher.cc:304] Images 0036.jpg and 0043.jpg were matched with 67 verified matches and 57 homography matches out of 82 putative matches.
I0120 17:41:59.176901 139366400 feature_matcher.cc:304] Images 0029.jpg and 0030.jpg were matched with 935 verified matches and 600 homography matches out of 944 putative matches.
I0120 17:41:59.191774 142585856 feature_matcher.cc:304] Images 0028.jpg and 0030.jpg were matched with 590 verified matches and 346 homography matches out of 610 putative matches.
I0120 17:41:59.191993 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.192014 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.220499 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.220526 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.233706 144195584 feature_matcher.cc:304] Images 0034.jpg and 0041.jpg were matched with 46 verified matches and 40 homography matches out of 53 putative matches.
I0120 17:41:59.244421 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.244446 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.252183 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.252208 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.254817 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.254840 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.259868 145268736 feature_matcher.cc:304] Images 0040.jpg and 0041.jpg were matched with 836 verified matches and 468 homography matches out of 854 putative matches.
I0120 17:41:59.261231 146878464 feature_matcher.cc:304] Images 0030.jpg and 0036.jpg were matched with 88 verified matches and 38 homography matches out of 102 putative matches.
I0120 17:41:59.271502 139366400 feature_matcher.cc:304] Images 0029.jpg and 0032.jpg were matched with 224 verified matches and 151 homography matches out of 243 putative matches.
I0120 17:41:59.278942 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.278970 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.286509 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.286533 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.288815 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.288841 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.290640 144195584 feature_matcher.cc:304] Images 0034.jpg and 0042.jpg were matched with 47 verified matches and 37 homography matches out of 52 putative matches.
I0120 17:41:59.291455 142585856 feature_matcher.cc:304] Images 0028.jpg and 0032.jpg were matched with 172 verified matches and 127 homography matches out of 187 putative matches.
I0120 17:41:59.306521 138829824 feature_matcher.cc:304] Images 0033.jpg and 0034.jpg were matched with 898 verified matches and 676 homography matches out of 906 putative matches.
I0120 17:41:59.342906 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.342934 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.352507 146878464 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.352535 146878464 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.356891 146878464 feature_matcher.cc:304] Images 0030.jpg and 0038.jpg were matched with 47 verified matches and 42 homography matches out of 58 putative matches.
I0120 17:41:59.361088 145805312 feature_matcher.cc:304] Images 0027.jpg and 0028.jpg were matched with 1109 verified matches and 634 homography matches out of 1121 putative matches.
I0120 17:41:59.370987 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.371206 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.375241 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.375268 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.381798 139366400 feature_matcher.cc:304] Images 0029.jpg and 0033.jpg were matched with 154 verified matches and 106 homography matches out of 170 putative matches.
I0120 17:41:59.382967 145268736 feature_matcher.cc:304] Images 0040.jpg and 0042.jpg were matched with 502 verified matches and 264 homography matches out of 538 putative matches.
I0120 17:41:59.401089 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.401123 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.401471 141512704 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.401618 141512704 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.404131 144195584 feature_matcher.cc:304] Images 0034.jpg and 0043.jpg were matched with 36 verified matches and 34 homography matches out of 42 putative matches.
I0120 17:41:59.408258 142585856 feature_matcher.cc:304] Images 0028.jpg and 0033.jpg were matched with 95 verified matches and 56 homography matches out of 124 putative matches.
I0120 17:41:59.413928 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.413954 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.449856 138829824 feature_matcher.cc:304] Images 0033.jpg and 0035.jpg were matched with 562 verified matches and 424 homography matches out of 573 putative matches.
I0120 17:41:59.452898 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.452925 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.455209 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.455401 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.455929 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.455947 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.459945 139366400 feature_matcher.cc:304] Images 0029.jpg and 0034.jpg were matched with 101 verified matches and 73 homography matches out of 113 putative matches.
I0120 17:41:59.478031 145268736 feature_matcher.cc:304] Images 0040.jpg and 0043.jpg were matched with 352 verified matches and 162 homography matches out of 367 putative matches.
I0120 17:41:59.483088 142585856 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.483114 142585856 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.488991 142585856 feature_matcher.cc:304] Images 0028.jpg and 0034.jpg were matched with 68 verified matches and 47 homography matches out of 80 putative matches.
I0120 17:41:59.489439 141512704 feature_matcher.cc:304] Images 0026.jpg and 0027.jpg were matched with 1201 verified matches and 783 homography matches out of 1212 putative matches.
I0120 17:41:59.497781 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.497805 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.500618 145805312 feature_matcher.cc:304] Images 0027.jpg and 0029.jpg were matched with 587 verified matches and 334 homography matches out of 600 putative matches.
I0120 17:41:59.510642 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.510668 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.524161 138829824 feature_matcher.cc:304] Images 0033.jpg and 0036.jpg were matched with 314 verified matches and 204 homography matches out of 324 putative matches.
I0120 17:41:59.529202 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.529230 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.538872 139366400 feature_matcher.cc:304] Images 0029.jpg and 0035.jpg were matched with 65 verified matches and 35 homography matches out of 75 putative matches.
I0120 17:41:59.547679 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.547705 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.556581 144195584 feature_matcher.cc:304] Images 0035.jpg and 0036.jpg were matched with 934 verified matches and 569 homography matches out of 951 putative matches.
I0120 17:41:59.559823 145805312 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.559849 145805312 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.582278 145805312 feature_matcher.cc:304] Images 0027.jpg and 0030.jpg were matched with 368 verified matches and 232 homography matches out of 402 putative matches.
I0120 17:41:59.589035 145268736 feature_matcher.cc:304] Images 0041.jpg and 0042.jpg were matched with 895 verified matches and 490 homography matches out of 904 putative matches.
I0120 17:41:59.602252 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.602278 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.605475 138829824 feature_matcher.cc:304] Images 0033.jpg and 0038.jpg were matched with 71 verified matches and 44 homography matches out of 86 putative matches.
I0120 17:41:59.620090 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.620116 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.623839 139366400 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.623862 139366400 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.627018 139366400 feature_matcher.cc:304] Images 0029.jpg and 0036.jpg were matched with 58 verified matches and 24 homography matches out of 70 putative matches.
I0120 17:41:59.635285 144195584 feature_matcher.cc:304] Images 0035.jpg and 0038.jpg were matched with 248 verified matches and 148 homography matches out of 264 putative matches.
I0120 17:41:59.635540 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.635558 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.652156 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.652367 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.659303 138829824 feature_matcher.cc:304] Images 0033.jpg and 0039.jpg were matched with 57 verified matches and 45 homography matches out of 72 putative matches.
I0120 17:41:59.669162 145268736 feature_matcher.cc:304] Images 0041.jpg and 0043.jpg were matched with 576 verified matches and 326 homography matches out of 594 putative matches.
I0120 17:41:59.682818 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.683032 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.695416 144195584 feature_matcher.cc:304] Images 0035.jpg and 0039.jpg were matched with 162 verified matches and 97 homography matches out of 177 putative matches.
I0120 17:41:59.705353 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.705376 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.707118 138829824 feature_matcher.cc:304] Images 0033.jpg and 0040.jpg were matched with 38 verified matches and 32 homography matches out of 49 putative matches.
I0120 17:41:59.716817 145268736 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.716842 145268736 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.733006 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.733028 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.739095 144195584 feature_matcher.cc:304] Images 0035.jpg and 0040.jpg were matched with 86 verified matches and 72 homography matches out of 105 putative matches.
I0120 17:41:59.749642 145268736 feature_matcher.cc:304] Images 0042.jpg and 0043.jpg were matched with 885 verified matches and 588 homography matches out of 893 putative matches.
I0120 17:41:59.775513 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.775540 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.779431 144195584 feature_matcher.cc:304] Images 0035.jpg and 0041.jpg were matched with 64 verified matches and 58 homography matches out of 79 putative matches.
I0120 17:41:59.813866 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.813891 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.817842 144195584 feature_matcher.cc:304] Images 0035.jpg and 0042.jpg were matched with 60 verified matches and 48 homography matches out of 71 putative matches.
I0120 17:41:59.848814 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.848839 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.856698 144195584 feature_matcher.cc:304] Images 0035.jpg and 0043.jpg were matched with 49 verified matches and 39 homography matches out of 64 putative matches.
I0120 17:41:59.864624 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.864646 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.893914 138829824 feature_matcher.cc:304] Images 0034.jpg and 0035.jpg were matched with 996 verified matches and 709 homography matches out of 1003 putative matches.
I0120 17:41:59.909997 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.910022 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.920399 144195584 feature_matcher.cc:304] Images 0036.jpg and 0038.jpg were matched with 423 verified matches and 251 homography matches out of 442 putative matches.
I0120 17:41:59.935684 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.935709 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.953850 138829824 feature_matcher.cc:304] Images 0034.jpg and 0036.jpg were matched with 533 verified matches and 387 homography matches out of 543 putative matches.
I0120 17:41:59.962239 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.962256 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:41:59.970473 144195584 feature_matcher.cc:304] Images 0036.jpg and 0039.jpg were matched with 240 verified matches and 114 homography matches out of 265 putative matches.
I0120 17:41:59.998208 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:41:59.998234 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.003749 138829824 feature_matcher.cc:304] Images 0034.jpg and 0038.jpg were matched with 155 verified matches and 94 homography matches out of 169 putative matches.
I0120 17:42:00.011397 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:00.011422 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.018231 144195584 feature_matcher.cc:304] Images 0036.jpg and 0040.jpg were matched with 154 verified matches and 100 homography matches out of 171 putative matches.
I0120 17:42:00.037593 138829824 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:00.037618 138829824 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.044133 138829824 feature_matcher.cc:304] Images 0034.jpg and 0039.jpg were matched with 102 verified matches and 73 homography matches out of 117 putative matches.
I0120 17:42:00.047077 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:00.047098 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.053472 144195584 feature_matcher.cc:304] Images 0036.jpg and 0041.jpg were matched with 119 verified matches and 85 homography matches out of 131 putative matches.
I0120 17:42:00.078646 144195584 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:00.078670 144195584 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.081068 144195584 feature_matcher.cc:304] Images 0036.jpg and 0042.jpg were matched with 76 verified matches and 64 homography matches out of 92 putative matches.
I0120 17:42:00.971231 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:00.971262 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:00.993206 143659008 feature_matcher.cc:304] Images 0038.jpg and 0039.jpg were matched with 698 verified matches and 435 homography matches out of 713 putative matches.
I0120 17:42:01.029922 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.029942 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.041656 143659008 feature_matcher.cc:304] Images 0038.jpg and 0040.jpg were matched with 390 verified matches and 204 homography matches out of 403 putative matches.
I0120 17:42:01.077947 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.077967 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.084415 143659008 feature_matcher.cc:304] Images 0038.jpg and 0041.jpg were matched with 271 verified matches and 123 homography matches out of 278 putative matches.
I0120 17:42:01.111856 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.111879 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.116287 143659008 feature_matcher.cc:304] Images 0038.jpg and 0042.jpg were matched with 186 verified matches and 101 homography matches out of 200 putative matches.
I0120 17:42:01.139354 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.139379 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.143385 143659008 feature_matcher.cc:304] Images 0038.jpg and 0043.jpg were matched with 129 verified matches and 85 homography matches out of 132 putative matches.
I0120 17:42:01.175055 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.175074 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.190354 143659008 feature_matcher.cc:304] Images 0039.jpg and 0040.jpg were matched with 608 verified matches and 369 homography matches out of 615 putative matches.
I0120 17:42:01.217934 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.217953 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.226874 143659008 feature_matcher.cc:304] Images 0039.jpg and 0041.jpg were matched with 416 verified matches and 193 homography matches out of 438 putative matches.
I0120 17:42:01.259109 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.259133 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.265084 143659008 feature_matcher.cc:304] Images 0039.jpg and 0042.jpg were matched with 262 verified matches and 109 homography matches out of 276 putative matches.
I0120 17:42:01.291491 143659008 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.291509 143659008 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.296082 143659008 feature_matcher.cc:304] Images 0039.jpg and 0043.jpg were matched with 193 verified matches and 93 homography matches out of 204 putative matches.
I0120 17:42:01.332365 140976128 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:01.332386 140976128 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:01.351171 140976128 feature_matcher.cc:304] Images 0018.jpg and 0019.jpg were matched with 990 verified matches and 779 homography matches out of 998 putative matches.
I0120 17:42:02.157538 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:02.157569 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:02.178704 140439552 feature_matcher.cc:304] Images 0032.jpg and 0033.jpg were matched with 807 verified matches and 564 homography matches out of 817 putative matches.
I0120 17:42:02.207721 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:02.207741 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:02.219462 140439552 feature_matcher.cc:304] Images 0032.jpg and 0034.jpg were matched with 500 verified matches and 367 homography matches out of 509 putative matches.
I0120 17:42:02.244952 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:02.244971 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:02.254225 140439552 feature_matcher.cc:304] Images 0032.jpg and 0035.jpg were matched with 328 verified matches and 224 homography matches out of 337 putative matches.
I0120 17:42:02.281276 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:02.281299 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:02.286500 140439552 feature_matcher.cc:304] Images 0032.jpg and 0036.jpg were matched with 196 verified matches and 109 homography matches out of 204 putative matches.
I0120 17:42:02.323135 140439552 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 17:42:02.323156 140439552 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 17:42:02.325280 140439552 feature_matcher.cc:304] Images 0032.jpg and 0038.jpg were matched with 56 verified matches and 29 homography matches out of 74 putative matches.
I0120 17:42:02.374125 2710905792 feature_matcher.cc:229] Matched 263 image pairs out of 990 possible image pairs.
I0120 17:42:02.374162 2710905792 reconstruction_builder.cc:270] 263 of 990 view pairs were matched and geometrically verified.
I0120 17:42:02.374179 2710905792 reconstruction_builder.cc:287] Writing matches to file: /Users/mike/Code/GitHub/scanplan/my_experiments/theia_experiment/theia_matches
Segmentation fault: 11
sweeneychris commented 7 years ago

To get a stack trace you'll need to compile it in debug mode. From the build dir:

cmake .. -DCMAKE_BUILD_TYPE=Debug make -j4 lldb -- ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2

lldb is the debugger on the mac. It may ask you for permissions if you haven't used it before. I think the "lldb --" says "run lldb with the following args" but I may have that wrong. Once you're in the debugger type "run" and hit enter. When it reaches the segfault type bt and hit enter to get the full stack trace.

mikeroberts3000 commented 7 years ago

Built successfully in debug mode, following your instructions exactly. Couldn't get lldb working, but also didn't try that hard. Interestingly, I was able to run the test successfully in debug mode that failed in release mode.

Mikes-MacBook-Pro:BUILD mike$ lldb -- ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2
(lldb) target create "./bin/incremental_reconstruction_estimator_test"
ImportError: No module named site
Mikes-MacBook-Pro:BUILD mike$ ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2
I0120 18:19:45.196130 2710905792 test_main.cc:48] Running tests with logs enabled.
[==========] Running 4 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 4 tests from IncrementalReconstructionEstimator
[ RUN      ] IncrementalReconstructionEstimator.BasicTest
I0120 18:19:46.768498 2710905792 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0120 18:19:47.337622 2710905792 estimate_track.cc:196] 139 tracks were estimated of 692 possible tracks.
I0120 18:19:47.342847 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:19:47.358628 2710905792 block_sparse_matrix.cc:80] Allocating values array with 44480 bytes.
I0120 18:19:47.393620 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.710883e+03    0.00e+00    1.10e+05   0.00e+00   0.00e+00  1.00e+04        0    3.49e-02    3.51e-02
I0120 18:19:47.393674 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:19:47.393688 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:19:47.428212 2710905792 callbacks.cc:105]    1  1.771700e+03    1.94e+03    1.79e+06   3.86e+01   5.55e-01  1.00e+04        1    3.46e-02    6.97e-02
I0120 18:19:47.462607 2710905792 callbacks.cc:105]    2  1.649166e+02    1.61e+03    6.60e+04   2.03e+01   9.97e-01  3.00e+04        1    3.44e-02    1.04e-01
I0120 18:19:47.496548 2710905792 callbacks.cc:105]    3  1.564715e+02    8.45e+00    2.57e+05   3.89e+01   9.46e-02  1.96e+04        1    3.39e-02    1.38e-01
I0120 18:19:47.528597 2710905792 callbacks.cc:105]    4  5.371708e+01    1.03e+02    6.26e+04   1.78e+01   9.63e-01  5.88e+04        1    3.20e-02    1.70e-01
I0120 18:19:47.562404 2710905792 callbacks.cc:105]    5  4.564227e+01    8.07e+00    1.46e+05   2.71e+01   2.61e-01  5.30e+04        1    3.38e-02    2.04e-01
I0120 18:19:47.593997 2710905792 callbacks.cc:105]    6  1.722533e+01    2.84e+01    3.70e+04   1.30e+01   9.55e-01  1.59e+05        1    3.16e-02    2.35e-01
I0120 18:19:47.626132 2710905792 callbacks.cc:105]    7  1.381232e+01    3.41e+00    3.05e+04   1.17e+01   7.86e-01  1.95e+05        1    3.21e-02    2.68e-01
I0120 18:19:47.661056 2710905792 callbacks.cc:105]    8  1.260141e+01    1.21e+00    3.37e+03   3.82e+00   9.91e-01  5.86e+05        1    3.49e-02    3.03e-01
I0120 18:19:47.693871 2710905792 callbacks.cc:105]    9  1.256734e+01    3.41e-02    3.70e+02   1.26e+00   9.96e-01  1.76e+06        1    3.28e-02    3.35e-01
I0120 18:19:47.728487 2710905792 callbacks.cc:105]   10  1.256692e+01    4.23e-04    5.35e+00   1.51e-01   1.00e+00  5.28e+06        1    3.46e-02    3.70e-01
I0120 18:19:47.729322 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.984069e-08 <= 1.000000e-06
I0120 18:19:47.729409 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          151                      141
Parameters                                629                      568
Residual blocks                           278                      278
Residual                                  556                      556

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              139, 1, 2                   139, 2

Cost:
Initial                          3.710883e+03
Final                            1.256692e+01
Change                           3.698316e+03

Minimizer iterations                       11
Successful steps                           11
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0002

  Residual evaluation                  0.0042
  Jacobian evaluation                  0.3582
  Linear solver                        0.0074
Minimizer                              0.3707

Postprocessor                          0.0000
Total                                  0.3708

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.984069e-08 <= 1.000000e-06)
I0120 18:19:47.743432 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:19:47.869776 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 126 inliers out of 126 2D-3D matches.
I0120 18:19:47.875363 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:19:51.729356 2710905792 estimate_track.cc:196] 5720 tracks were estimated of 5720 possible tracks.
I0120 18:19:51.731273 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:19:51.793443 2710905792 block_sparse_matrix.cc:80] Allocating values array with 1975680 bytes.
I0120 18:19:53.230123 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.785291e+02    0.00e+00    2.45e+06   0.00e+00   0.00e+00  1.00e+04        0    1.44e+00    1.44e+00
I0120 18:19:53.230793 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:19:53.230806 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:19:54.815313 2710905792 callbacks.cc:105]    1  3.378841e+02    6.41e+02    2.67e+04   1.48e+01   1.00e+00  3.00e+04        1    1.59e+00    3.03e+00
I0120 18:19:56.310472 2710905792 callbacks.cc:105]    2  3.358843e+02    2.00e+00    8.08e+02   2.00e+00   1.00e+00  9.00e+04        1    1.50e+00    4.52e+00
I0120 18:19:57.811946 2710905792 callbacks.cc:105]    3  3.358753e+02    9.06e-03    7.92e+00   1.49e-01   1.00e+00  2.70e+05        1    1.50e+00    6.02e+00
I0120 18:19:57.847717 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.656840e-08 <= 1.000000e-06
I0120 18:19:57.849997 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         5871                     5862
Parameters                              23509                    23454
Residual blocks                         12348                    12348
Residual                                24696                    24696

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             5859, 1, 3                  5859, 3

Cost:
Initial                          9.785291e+02
Final                            3.358753e+02
Change                           6.426539e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0055

  Residual evaluation                  0.0678
  Jacobian evaluation                  5.9044
  Linear solver                        0.0724
Minimizer                              6.0544

Postprocessor                          0.0004
Total                                  6.0603

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.656840e-08 <= 1.000000e-06)
I0120 18:19:57.934691 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:00.539878 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 3452 inliers out of 3454 2D-3D matches.
I0120 18:20:00.600739 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:02.938570 2710905792 estimate_track.cc:196] 3581 tracks were estimated of 3581 possible tracks.
I0120 18:20:02.941126 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:20:03.046654 2710905792 block_sparse_matrix.cc:80] Allocating values array with 3674240 bytes.
I0120 18:20:05.771181 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.681627e+03    0.00e+00    7.56e+05   0.00e+00   0.00e+00  1.00e+04        0    2.72e+00    2.74e+00
I0120 18:20:05.772361 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:20:05.772374 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:20:08.526278 2710905792 callbacks.cc:105]    1  8.524572e+02    8.29e+02    2.40e+03   8.36e+00   1.00e+00  3.00e+04        1    2.76e+00    5.49e+00
I0120 18:20:11.361990 2710905792 callbacks.cc:105]    2  8.523807e+02    7.65e-02    2.53e+01   5.13e-01   1.00e+00  9.00e+04        1    2.84e+00    8.33e+00
I0120 18:20:11.427924 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.704675e-08 <= 1.000000e-06
I0120 18:20:11.432322 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9444
Parameters                              37833                    37784
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4                  9440, 4

Cost:
Initial                          1.681627e+03
Final                            8.523807e+02
Change                           8.292464e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0126

  Residual evaluation                  0.1031
  Jacobian evaluation                  8.1622
  Linear solver                        0.1035
Minimizer                              8.3816

Postprocessor                          0.0008
Total                                  8.3950

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.704675e-08 <= 1.000000e-06)
I0120 18:20:11.595515 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:15.541339 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4841 inliers out of 4844 2D-3D matches.
I0120 18:20:15.648311 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:18.313871 2710905792 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0120 18:20:18.316306 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:20:18.480123 2710905792 block_sparse_matrix.cc:80] Allocating values array with 5686720 bytes.
I0120 18:20:22.753455 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.856450e+03    0.00e+00    2.04e+06   0.00e+00   0.00e+00  1.00e+04        0    4.27e+00    4.30e+00
I0120 18:20:22.755345 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:20:22.755362 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:20:27.320441 2710905792 callbacks.cc:105]    1  1.419644e+03    4.37e+02    1.10e+03   5.05e+00   1.00e+00  3.00e+04        1    4.57e+00    8.86e+00
I0120 18:20:31.653327 2710905792 callbacks.cc:105]    2  1.419639e+03    4.25e-03    8.16e+00   4.09e-02   1.00e+00  9.00e+04        1    4.33e+00    1.32e+01
I0120 18:20:31.758503 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.067273e-09 <= 1.000000e-06
I0120 18:20:31.766538 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13312
Parameters                              53301                    53258
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5                 13307, 5

Cost:
Initial                          1.856450e+03
Final                            1.419639e+03
Change                           4.368106e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0221

  Residual evaluation                  0.1675
  Jacobian evaluation                 12.9232
  Linear solver                        0.1660
Minimizer                             13.2790

Postprocessor                          0.0014
Total                                 13.3025

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.067273e-09 <= 1.000000e-06)
I0120 18:20:32.008167 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:36.863703 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6097 inliers out of 6100 2D-3D matches.
I0120 18:20:36.995714 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:20:39.440862 2710905792 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0120 18:20:39.442637 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:20:39.661202 2710905792 block_sparse_matrix.cc:80] Allocating values array with 7886720 bytes.
I0120 18:20:45.775290 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.520118e+03    0.00e+00    8.93e+05   0.00e+00   0.00e+00  1.00e+04        0    6.11e+00    6.15e+00
I0120 18:20:45.777680 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:20:45.777696 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:20:51.520277 2710905792 callbacks.cc:105]    1  2.030481e+03    4.90e+02    2.24e+03   3.70e+00   1.00e+00  3.00e+04        1    5.74e+00    1.19e+01
I0120 18:20:57.519186 2710905792 callbacks.cc:105]    2  2.030471e+03    1.00e-02    9.98e+00   4.38e-02   1.00e+00  9.00e+04        1    6.00e+00    1.79e+01
I0120 18:20:57.668429 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.932586e-10 <= 1.000000e-06
I0120 18:20:57.679755 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17138
Parameters                              68601                    68564
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6                 17132, 6

Cost:
Initial                          2.520118e+03
Final                            2.030471e+03
Change                           4.896467e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0359

  Residual evaluation                  0.2292
  Jacobian evaluation                 17.5190
  Linear solver                        0.2278
Minimizer                             18.0079

Postprocessor                          0.0021
Total                                 18.0458

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.932586e-10 <= 1.000000e-06)
I0120 18:20:57.972672 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:21:01.580229 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0120 18:21:01.686326 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:21:03.280499 2710905792 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0120 18:21:03.282308 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:21:03.524832 2710905792 block_sparse_matrix.cc:80] Allocating values array with 9480480 bytes.
I0120 18:21:10.217319 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.950065e+03    0.00e+00    7.33e+06   0.00e+00   0.00e+00  1.00e+04        0    6.69e+00    6.74e+00
I0120 18:21:10.219919 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:21:10.219934 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:21:17.094024 2710905792 callbacks.cc:105]    1  2.602702e+03    1.35e+03    3.34e+03   3.09e+00   1.00e+00  3.00e+04        1    6.88e+00    1.36e+01
I0120 18:21:23.923763 2710905792 callbacks.cc:105]    2  2.602662e+03    4.03e-02    1.49e+01   1.36e-01   1.00e+00  9.00e+04        1    6.83e+00    2.04e+01
I0120 18:21:24.088913 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.057235e-08 <= 1.000000e-06
I0120 18:21:24.102529 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19725
Parameters                              78945                    78914
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7                 19718, 7

Cost:
Initial                          3.950065e+03
Final                            2.602662e+03
Change                           1.347403e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0431

  Residual evaluation                  0.2459
  Jacobian evaluation                 20.0338
  Linear solver                        0.2527
Minimizer                             20.5653

Postprocessor                          0.0025
Total                                 20.6109

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.057235e-08 <= 1.000000e-06)
I0120 18:21:24.444591 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:21:28.138394 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5060 inliers out of 5067 2D-3D matches.
I0120 18:21:28.255869 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:21:29.945704 2710905792 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0120 18:21:29.947456 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:21:30.223027 2710905792 block_sparse_matrix.cc:80] Allocating values array with 11146240 bytes.
I0120 18:21:38.254652 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.362112e+03    0.00e+00    4.73e+06   0.00e+00   0.00e+00  1.00e+04        0    8.03e+00    8.08e+00
I0120 18:21:38.257742 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:21:38.257755 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:21:46.326077 2710905792 callbacks.cc:105]    1  3.231022e+03    1.13e+03    3.30e+03   3.50e+00   1.00e+00  3.00e+04        1    8.07e+00    1.61e+01
I0120 18:21:54.733194 2710905792 callbacks.cc:105]    2  3.230975e+03    4.64e-02    3.91e+01   1.21e-01   1.00e+00  9.00e+04        1    8.41e+00    2.46e+01
I0120 18:21:54.961683 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 6.757092e-09 <= 1.000000e-06
I0120 18:21:54.979333 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22398
Parameters                              89633                    89608
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8                 22390, 8

Cost:
Initial                          4.362112e+03
Final                            3.230975e+03
Change                           1.131136e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0462

  Residual evaluation                  0.3183
  Jacobian evaluation                 24.0779
  Linear solver                        0.3052
Minimizer                             24.7400

Postprocessor                          0.0032
Total                                 24.7894

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.757092e-09 <= 1.000000e-06)
I0120 18:21:55.429131 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:21:59.649438 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5374 inliers out of 5379 2D-3D matches.
I0120 18:21:59.786590 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:22:01.285781 2710905792 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0120 18:22:01.287818 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:22:01.601032 2710905792 block_sparse_matrix.cc:80] Allocating values array with 12731360 bytes.
I0120 18:22:11.128006 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.926541e+03    0.00e+00    1.17e+06   0.00e+00   0.00e+00  1.00e+04        0    9.53e+00    9.58e+00
I0120 18:22:11.131448 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:22:11.131464 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:22:20.633672 2710905792 callbacks.cc:105]    1  3.897238e+03    1.03e+03    2.04e+04   9.61e+00   1.00e+00  3.00e+04        1    9.51e+00    1.91e+01
I0120 18:22:30.194828 2710905792 callbacks.cc:105]    2  3.897069e+03    1.69e-01    5.56e+01   2.76e-01   1.00e+00  9.00e+04        1    9.56e+00    2.86e+01
I0120 18:22:30.425472 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.731292e-08 <= 1.000000e-06
I0120 18:22:30.444448 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24663
Parameters                              98689                    98670
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9                 24654, 9

Cost:
Initial                          4.926541e+03
Final                            3.897069e+03
Change                           1.029472e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0536

  Residual evaluation                  0.3573
  Jacobian evaluation                 28.0711
  Linear solver                        0.3524
Minimizer                             28.8258

Postprocessor                          0.0036
Total                                 28.8830

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.731292e-08 <= 1.000000e-06)
I0120 18:22:30.888278 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:22:34.119894 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4443 inliers out of 4451 2D-3D matches.
I0120 18:22:34.228252 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:22:35.378904 2710905792 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0120 18:22:35.380638 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:22:35.720469 2710905792 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0120 18:22:45.627830 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.534856e+03    0.00e+00    1.29e+06   0.00e+00   0.00e+00  1.00e+04        0    9.91e+00    9.97e+00
I0120 18:22:45.631645 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:22:45.631659 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:22:55.752964 2710905792 callbacks.cc:105]    1  4.545920e+03    9.89e+02    3.04e+03   8.55e+00   1.00e+00  3.00e+04        1    1.01e+01    2.01e+01
I0120 18:23:05.985951 2710905792 callbacks.cc:105]    2  4.545906e+03    1.41e-02    1.26e+01   1.75e-01   1.00e+00  9.00e+04        1    1.02e+01    3.03e+01
I0120 18:23:06.234731 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.003884e-09 <= 1.000000e-06
I0120 18:23:06.256979 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.534856e+03
Final                            4.545906e+03
Change                           9.889495e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0598

  Residual evaluation                  0.3705
  Jacobian evaluation                 29.7308
  Linear solver                        0.3672
Minimizer                             30.5169

Postprocessor                          0.0041
Total                                 30.5808

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.003884e-09 <= 1.000000e-06)
I0120 18:23:06.744743 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:23:08.614801 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2558 inliers out of 2562 2D-3D matches.
I0120 18:23:08.670136 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:23:09.756198 2710905792 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0120 18:23:09.757938 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:23:10.111469 2710905792 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0120 18:23:20.705319 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.891546e+03    0.00e+00    3.90e+06   0.00e+00   0.00e+00  1.00e+04        0    1.06e+01    1.07e+01
I0120 18:23:20.709599 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:23:20.709628 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:23:31.544258 2710905792 callbacks.cc:105]    1  4.988054e+03    9.03e+02    1.28e+03   5.86e+00   1.00e+00  3.00e+04        1    1.08e+01    2.15e+01
I0120 18:23:42.344424 2710905792 callbacks.cc:105]    2  4.988044e+03    1.07e-02    1.26e+01   2.34e-01   1.00e+00  9.00e+04        1    1.08e+01    3.23e+01
I0120 18:23:42.605900 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.648309e-09 <= 1.000000e-06
I0120 18:23:42.627276 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.891546e+03
Final                            4.988044e+03
Change                           9.035018e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0653

  Residual evaluation                  0.3912
  Jacobian evaluation                 31.6652
  Linear solver                        0.3895
Minimizer                             32.4974

Postprocessor                          0.0036
Total                                 32.5663

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.648309e-09 <= 1.000000e-06)
I0120 18:23:43.142884 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.BasicTest (238101 ms)
[ RUN      ] IncrementalReconstructionEstimator.RobustCostFunction
I0120 18:23:45.479765 2710905792 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0120 18:23:47.416193 2710905792 estimate_track.cc:196] 138 tracks were estimated of 692 possible tracks.
I0120 18:23:47.421386 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:23:47.436682 2710905792 block_sparse_matrix.cc:80] Allocating values array with 44160 bytes.
I0120 18:23:47.468044 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.604919e+03    0.00e+00    1.38e+05   0.00e+00   0.00e+00  1.00e+04        0    3.13e-02    3.14e-02
I0120 18:23:47.468085 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:23:47.468091 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:23:47.499877 2710905792 callbacks.cc:105]    1  1.771847e+03    1.83e+03    1.78e+06   3.87e+01   5.52e-01  1.00e+04        1    3.18e-02    6.33e-02
I0120 18:23:47.532368 2710905792 callbacks.cc:105]    2  1.642497e+02    1.61e+03    6.57e+04   2.04e+01   9.97e-01  3.00e+04        1    3.25e-02    9.58e-02
I0120 18:23:47.564515 2710905792 callbacks.cc:105]    3  1.559185e+02    8.33e+00    2.54e+05   3.89e+01   9.34e-02  1.95e+04        1    3.21e-02    1.28e-01
I0120 18:23:47.597709 2710905792 callbacks.cc:105]    4  5.322929e+01    1.03e+02    6.17e+04   1.77e+01   9.63e-01  5.86e+04        1    3.32e-02    1.61e-01
I0120 18:23:47.629063 2710905792 callbacks.cc:105]    5  4.499974e+01    8.23e+00    1.43e+05   2.69e+01   2.68e-01  5.33e+04        1    3.13e-02    1.92e-01
I0120 18:23:47.664508 2710905792 callbacks.cc:105]    6  1.705602e+01    2.79e+01    3.67e+04   1.30e+01   9.54e-01  1.60e+05        1    3.54e-02    2.28e-01
I0120 18:23:47.695994 2710905792 callbacks.cc:105]    7  1.367254e+01    3.38e+00    2.97e+04   1.16e+01   7.90e-01  1.99e+05        1    3.15e-02    2.59e-01
I0120 18:23:47.728508 2710905792 callbacks.cc:105]    8  1.250244e+01    1.17e+00    3.25e+03   3.76e+00   9.91e-01  5.96e+05        1    3.25e-02    2.92e-01
I0120 18:23:47.759871 2710905792 callbacks.cc:105]    9  1.247044e+01    3.20e-02    3.43e+02   1.22e+00   9.96e-01  1.79e+06        1    3.13e-02    3.23e-01
I0120 18:23:47.792758 2710905792 callbacks.cc:105]   10  1.247006e+01    3.79e-04    4.78e+00   1.43e-01   1.00e+00  5.36e+06        1    3.29e-02    3.56e-01
I0120 18:23:47.793839 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.534323e-08 <= 1.000000e-06
I0120 18:23:47.793934 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          150                      140
Parameters                                625                      564
Residual blocks                           276                      276
Residual                                  552                      552

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              138, 1, 2                   138, 2

Cost:
Initial                          3.604919e+03
Final                            1.247006e+01
Change                           3.592449e+03

Minimizer iterations                       11
Successful steps                           11
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0001

  Residual evaluation                  0.0042
  Jacobian evaluation                  0.3475
  Linear solver                        0.0046
Minimizer                              0.3571

Postprocessor                          0.0000
Total                                  0.3573

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.534323e-08 <= 1.000000e-06)
I0120 18:23:47.809419 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:23:47.936388 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 125 inliers out of 125 2D-3D matches.
I0120 18:23:47.942006 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:23:51.616127 2710905792 estimate_track.cc:196] 5721 tracks were estimated of 5721 possible tracks.
I0120 18:23:51.618144 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:23:51.680692 2710905792 block_sparse_matrix.cc:80] Allocating values array with 1975680 bytes.
I0120 18:23:53.074776 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.885128e+03    0.00e+00    6.67e+06   0.00e+00   0.00e+00  1.00e+04        0    1.39e+00    1.40e+00
I0120 18:23:53.075528 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:23:53.075539 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:23:54.497395 2710905792 callbacks.cc:105]    1  3.377956e+02    3.55e+03    6.28e+04   3.45e+01   1.00e+00  3.00e+04        1    1.42e+00    2.82e+00
I0120 18:23:55.934593 2710905792 callbacks.cc:105]    2  3.358804e+02    1.92e+00    5.56e+02   2.15e+00   1.00e+00  9.00e+04        1    1.44e+00    4.26e+00
I0120 18:23:57.416462 2710905792 callbacks.cc:105]    3  3.358752e+02    5.12e-03    5.45e+00   1.28e-01   1.00e+00  2.70e+05        1    1.48e+00    5.74e+00
I0120 18:23:57.453048 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.169781e-09 <= 1.000000e-06
I0120 18:23:57.456022 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         5871                     5862
Parameters                              23509                    23454
Residual blocks                         12348                    12348
Residual                                24696                    24696

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             5859, 1, 3                  5859, 3

Cost:
Initial                          3.885128e+03
Final                            3.358752e+02
Change                           3.549253e+03

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0056

  Residual evaluation                  0.0661
  Jacobian evaluation                  5.6269
  Linear solver                        0.0707
Minimizer                              5.7727

Postprocessor                          0.0005
Total                                  5.7788

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.169781e-09 <= 1.000000e-06)
I0120 18:23:57.543869 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:00.354449 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 3452 inliers out of 3454 2D-3D matches.
I0120 18:24:00.416136 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:02.923080 2710905792 estimate_track.cc:196] 3581 tracks were estimated of 3581 possible tracks.
I0120 18:24:02.924957 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:24:03.043274 2710905792 block_sparse_matrix.cc:80] Allocating values array with 3674240 bytes.
I0120 18:24:05.919559 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.673835e+03    0.00e+00    3.00e+06   0.00e+00   0.00e+00  1.00e+04        0    2.88e+00    2.89e+00
I0120 18:24:05.920737 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:24:05.920748 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:24:08.866314 2710905792 callbacks.cc:105]    1  8.528725e+02    8.21e+02    4.21e+03   8.15e+00   1.03e+00  3.00e+04        1    2.95e+00    5.84e+00
I0120 18:24:11.833410 2710905792 callbacks.cc:105]    2  8.523806e+02    4.92e-01    1.43e+01   3.68e-01   1.00e+00  9.00e+04        1    2.97e+00    8.81e+00
I0120 18:24:11.904486 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.042668e-08 <= 1.000000e-06
I0120 18:24:11.909538 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9444
Parameters                              37833                    37784
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4                  9440, 4

Cost:
Initial                          1.673835e+03
Final                            8.523806e+02
Change                           8.214548e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0171

  Residual evaluation                  0.1131
  Jacobian evaluation                  8.6276
  Linear solver                        0.1085
Minimizer                              8.8617

Postprocessor                          0.0008
Total                                  8.8796

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.042668e-08 <= 1.000000e-06)
I0120 18:24:12.060305 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:15.591303 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4841 inliers out of 4844 2D-3D matches.
I0120 18:24:15.681869 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:18.089048 2710905792 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0120 18:24:18.091032 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:24:18.238019 2710905792 block_sparse_matrix.cc:80] Allocating values array with 5686720 bytes.
I0120 18:24:22.258167 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.786254e+03    0.00e+00    3.58e+05   0.00e+00   0.00e+00  1.00e+04        0    4.02e+00    4.04e+00
I0120 18:24:22.260047 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:24:22.260062 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:24:26.575358 2710905792 callbacks.cc:105]    1  1.419647e+03    3.67e+02    1.61e+03   3.76e+00   1.00e+00  3.00e+04        1    4.32e+00    8.36e+00
I0120 18:24:30.867074 2710905792 callbacks.cc:105]    2  1.419639e+03    7.63e-03    9.86e+00   1.07e-01   1.00e+00  9.00e+04        1    4.29e+00    1.27e+01
I0120 18:24:30.971045 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.253194e-09 <= 1.000000e-06
I0120 18:24:30.977977 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13312
Parameters                              53301                    53258
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5                 13307, 5

Cost:
Initial                          1.786254e+03
Final                            1.419639e+03
Change                           3.666151e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0220

  Residual evaluation                  0.1500
  Jacobian evaluation                 12.4083
  Linear solver                        0.1545
Minimizer                             12.7335

Postprocessor                          0.0014
Total                                 12.7569

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.253194e-09 <= 1.000000e-06)
I0120 18:24:31.193788 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:35.603564 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6097 inliers out of 6100 2D-3D matches.
I0120 18:24:35.724285 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:38.082571 2710905792 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0120 18:24:38.084681 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:24:38.277827 2710905792 block_sparse_matrix.cc:80] Allocating values array with 7886720 bytes.
I0120 18:24:43.979580 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.495272e+03    0.00e+00    3.05e+06   0.00e+00   0.00e+00  1.00e+04        0    5.70e+00    5.73e+00
I0120 18:24:43.982777 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:24:43.982810 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:24:50.034204 2710905792 callbacks.cc:105]    1  2.030476e+03    4.65e+02    9.37e+02   3.81e+00   1.00e+00  3.00e+04        1    6.05e+00    1.18e+01
I0120 18:24:55.827406 2710905792 callbacks.cc:105]    2  2.030471e+03    4.74e-03    8.41e+00   2.77e-02   1.00e+00  9.00e+04        1    5.79e+00    1.76e+01
I0120 18:24:55.964969 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 4.906806e-10 <= 1.000000e-06
I0120 18:24:55.976816 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17138
Parameters                              68601                    68564
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6                 17132, 6

Cost:
Initial                          2.495272e+03
Final                            2.030471e+03
Change                           4.648006e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0296

  Residual evaluation                  0.2253
  Jacobian evaluation                 17.2073
  Linear solver                        0.2269
Minimizer                             17.6878

Postprocessor                          0.0020
Total                                 17.7194

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.906806e-10 <= 1.000000e-06)
I0120 18:24:56.256875 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:24:59.734381 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0120 18:24:59.836796 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:25:01.461390 2710905792 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0120 18:25:01.463474 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:25:01.711160 2710905792 block_sparse_matrix.cc:80] Allocating values array with 9480480 bytes.
I0120 18:25:08.399766 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.006497e+03    0.00e+00    4.97e+06   0.00e+00   0.00e+00  1.00e+04        0    6.69e+00    6.73e+00
I0120 18:25:08.402521 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:25:08.402537 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:25:15.218085 2710905792 callbacks.cc:105]    1  2.602859e+03    1.40e+03    1.45e+04   3.91e+00   1.00e+00  3.00e+04        1    6.82e+00    1.35e+01
I0120 18:25:22.101126 2710905792 callbacks.cc:105]    2  2.602662e+03    1.97e-01    3.09e+01   2.87e-01   1.00e+00  9.00e+04        1    6.88e+00    2.04e+01
I0120 18:25:22.267416 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 4.729807e-08 <= 1.000000e-06
I0120 18:25:22.280740 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19725
Parameters                              78945                    78914
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7                 19718, 7

Cost:
Initial                          4.006497e+03
Final                            2.602662e+03
Change                           1.403836e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0415

  Residual evaluation                  0.2490
  Jacobian evaluation                 20.0221
  Linear solver                        0.2528
Minimizer                             20.5571

Postprocessor                          0.0026
Total                                 20.6011

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.729807e-08 <= 1.000000e-06)
I0120 18:25:22.615825 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:25:26.665072 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5059 inliers out of 5067 2D-3D matches.
I0120 18:25:26.789259 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:25:28.586292 2710905792 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0120 18:25:28.588266 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:25:28.888970 2710905792 block_sparse_matrix.cc:80] Allocating values array with 11146240 bytes.
I0120 18:25:37.083103 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.132319e+03    0.00e+00    1.00e+06   0.00e+00   0.00e+00  1.00e+04        0    8.19e+00    8.25e+00
I0120 18:25:37.086045 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:25:37.086061 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:25:45.130165 2710905792 callbacks.cc:105]    1  3.231027e+03    9.01e+02    2.22e+03   4.35e+00   1.00e+00  3.00e+04        1    8.05e+00    1.63e+01
I0120 18:25:53.357224 2710905792 callbacks.cc:105]    2  3.230975e+03    5.18e-02    2.46e+01   1.76e-01   1.00e+00  9.00e+04        1    8.23e+00    2.45e+01
I0120 18:25:53.567497 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.276321e-08 <= 1.000000e-06
I0120 18:25:53.586275 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22398
Parameters                              89633                    89608
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8                 22390, 8

Cost:
Initial                          4.132319e+03
Final                            3.230975e+03
Change                           9.013437e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0542

  Residual evaluation                  0.3002
  Jacobian evaluation                 24.0359
  Linear solver                        0.3032
Minimizer                             24.6797

Postprocessor                          0.0035
Total                                 24.7373

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.276321e-08 <= 1.000000e-06)
I0120 18:25:54.031571 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:25:58.229238 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5372 inliers out of 5379 2D-3D matches.
I0120 18:25:58.370095 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:25:59.886962 2710905792 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0120 18:25:59.888767 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:26:00.249528 2710905792 block_sparse_matrix.cc:80] Allocating values array with 12731360 bytes.
I0120 18:26:09.453140 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.794335e+03    0.00e+00    7.34e+05   0.00e+00   0.00e+00  1.00e+04        0    9.20e+00    9.27e+00
I0120 18:26:09.456513 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:26:09.456527 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:26:18.690899 2710905792 callbacks.cc:105]    1  3.897179e+03    8.97e+02    1.79e+04   7.35e+00   1.00e+00  3.00e+04        1    9.24e+00    1.85e+01
I0120 18:26:27.864282 2710905792 callbacks.cc:105]    2  3.897069e+03    1.10e-01    7.03e+01   4.22e-01   1.00e+00  9.00e+04        1    9.17e+00    2.77e+01
I0120 18:26:28.088604 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.835163e-08 <= 1.000000e-06
I0120 18:26:28.107131 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24663
Parameters                              98689                    98670
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9                 24654, 9

Cost:
Initial                          4.794335e+03
Final                            3.897069e+03
Change                           8.972658e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0625

  Residual evaluation                  0.3383
  Jacobian evaluation                 27.1264
  Linear solver                        0.3334
Minimizer                             27.8412

Postprocessor                          0.0031
Total                                 27.9068

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.835163e-08 <= 1.000000e-06)
I0120 18:26:28.607897 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:26:32.221623 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4442 inliers out of 4451 2D-3D matches.
I0120 18:26:32.345412 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:26:33.585894 2710905792 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0120 18:26:33.587860 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:26:33.980957 2710905792 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0120 18:26:44.385102 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.557608e+03    0.00e+00    3.14e+06   0.00e+00   0.00e+00  1.00e+04        0    1.04e+01    1.05e+01
I0120 18:26:44.389250 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:26:44.389263 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:26:55.353895 2710905792 callbacks.cc:105]    1  4.545975e+03    1.01e+03    9.63e+03   1.36e+01   1.00e+00  3.00e+04        1    1.10e+01    2.14e+01
I0120 18:27:05.945752 2710905792 callbacks.cc:105]    2  4.545906e+03    6.92e-02    2.74e+01   4.68e-01   1.00e+00  9.00e+04        1    1.06e+01    3.20e+01
I0120 18:27:06.203366 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.233329e-09 <= 1.000000e-06
I0120 18:27:06.225121 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.557608e+03
Final                            4.545906e+03
Change                           1.011702e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0664

  Residual evaluation                  0.4153
  Jacobian evaluation                 31.3798
  Linear solver                        0.3788
Minimizer                             32.2244

Postprocessor                          0.0033
Total                                 32.2940

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.233329e-09 <= 1.000000e-06)
I0120 18:27:06.729284 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:27:08.798270 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2558 inliers out of 2562 2D-3D matches.
I0120 18:27:08.863026 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:27:10.060230 2710905792 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0120 18:27:10.062997 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:27:10.476580 2710905792 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0120 18:27:21.163025 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.816804e+03    0.00e+00    1.18e+06   0.00e+00   0.00e+00  1.00e+04        0    1.07e+01    1.08e+01
I0120 18:27:21.166973 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:27:21.166987 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:27:32.792767 2710905792 callbacks.cc:105]    1  4.988119e+03    8.29e+02    3.34e+03   5.82e+00   1.00e+00  3.00e+04        1    1.16e+01    2.24e+01
I0120 18:27:44.279237 2710905792 callbacks.cc:105]    2  4.988044e+03    7.55e-02    2.59e+01   4.27e-01   1.00e+00  9.00e+04        1    1.15e+01    3.39e+01
I0120 18:27:44.584746 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.255909e-09 <= 1.000000e-06
I0120 18:27:44.608397 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.816804e+03
Final                            4.988044e+03
Change                           8.287605e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0723

  Residual evaluation                  0.4196
  Jacobian evaluation                 33.2265
  Linear solver                        0.4107
Minimizer                             34.1109

Postprocessor                          0.0038
Total                                 34.1870

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.255909e-09 <= 1.000000e-06)
I0120 18:27:45.173691 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.RobustCostFunction (242033 ms)
[ RUN      ] IncrementalReconstructionEstimator.VariableIntrinsics
I0120 18:27:46.848127 2710905792 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0120 18:27:47.446539 2710905792 estimate_track.cc:196] 139 tracks were estimated of 692 possible tracks.
I0120 18:27:47.451623 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:27:47.467030 2710905792 block_sparse_matrix.cc:80] Allocating values array with 48928 bytes.
I0120 18:27:47.499929 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.710883e+03    0.00e+00    1.10e+05   0.00e+00   0.00e+00  1.00e+04        0    3.28e-02    3.30e-02
I0120 18:27:47.499971 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:27:47.499979 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:27:47.537775 2710905792 callbacks.cc:105]    1  1.109778e+03    2.60e+03    2.71e+05   1.38e+02   7.28e-01  1.10e+04        1    3.78e-02    7.08e-02
I0120 18:27:47.570513 2710905792 callbacks.cc:105]    2  2.298993e+02    8.80e+02    3.82e+05   1.14e+02   8.42e-01  1.62e+04        1    3.27e-02    1.04e-01
I0120 18:27:47.604562 2710905792 callbacks.cc:105]    3  1.021331e+02    1.28e+02    2.54e+05   9.53e+01   6.39e-01  1.66e+04        1    3.40e-02    1.38e-01
I0120 18:27:47.638092 2710905792 callbacks.cc:105]    4  2.761599e+01    7.45e+01    9.19e+04   5.75e+01   8.94e-01  3.25e+04        1    3.35e-02    1.71e-01
I0120 18:27:47.672374 2710905792 callbacks.cc:105]    5  1.828581e+01    9.33e+00    6.61e+04   4.85e+01   6.78e-01  3.40e+04        1    3.42e-02    2.05e-01
I0120 18:27:47.704169 2710905792 callbacks.cc:105]    6  1.310441e+01    5.18e+00    1.36e+04   2.22e+01   9.66e-01  1.02e+05        1    3.18e-02    2.37e-01
I0120 18:27:47.739778 2710905792 callbacks.cc:105]    7  1.273275e+01    3.72e-01    5.04e+03   1.35e+01   9.36e-01  3.03e+05        1    3.56e-02    2.73e-01
I0120 18:27:47.773375 2710905792 callbacks.cc:105]    8  1.269800e+01    3.47e-02    1.82e+02   2.69e+00   9.99e-01  9.09e+05        1    3.36e-02    3.06e-01
I0120 18:27:47.806890 2710905792 callbacks.cc:105]    9  1.269739e+01    6.18e-04    1.12e+02   1.74e+00   9.90e-01  2.73e+06        1    3.35e-02    3.40e-01
I0120 18:27:47.838836 2710905792 callbacks.cc:105]   10  1.269675e+01    6.37e-04    1.30e+03   6.02e+00   4.08e-01  2.71e+06        1    3.19e-02    3.72e-01
I0120 18:27:47.874219 2710905792 callbacks.cc:105]   11  1.269519e+01    1.56e-03    1.29e+03   5.99e+00   6.30e-01  2.76e+06        1    3.54e-02    4.07e-01
I0120 18:27:47.906029 2710905792 callbacks.cc:105]   12  1.269368e+01    1.51e-03    1.35e+03   6.11e+00   6.02e-01  2.78e+06        1    3.18e-02    4.39e-01
I0120 18:27:47.940738 2710905792 callbacks.cc:105]   13  1.269212e+01    1.56e-03    1.38e+03   6.17e+00   5.98e-01  2.80e+06        1    3.47e-02    4.74e-01
I0120 18:27:47.972571 2710905792 callbacks.cc:105]   14  1.269054e+01    1.58e-03    1.40e+03   6.23e+00   5.91e-01  2.82e+06        1    3.18e-02    5.06e-01
I0120 18:27:48.009681 2710905792 callbacks.cc:105]   15  1.268895e+01    1.60e-03    1.43e+03   6.28e+00   5.85e-01  2.83e+06        1    3.71e-02    5.43e-01
I0120 18:27:48.041481 2710905792 callbacks.cc:105]   16  1.268733e+01    1.62e-03    1.45e+03   6.32e+00   5.79e-01  2.84e+06        1    3.18e-02    5.75e-01
I0120 18:27:48.074307 2710905792 callbacks.cc:105]   17  1.268570e+01    1.63e-03    1.47e+03   6.36e+00   5.74e-01  2.85e+06        1    3.28e-02    6.07e-01
I0120 18:27:48.106132 2710905792 callbacks.cc:105]   18  1.268405e+01    1.65e-03    1.48e+03   6.39e+00   5.70e-01  2.86e+06        1    3.18e-02    6.39e-01
I0120 18:27:48.140266 2710905792 callbacks.cc:105]   19  1.268239e+01    1.66e-03    1.50e+03   6.42e+00   5.66e-01  2.87e+06        1    3.41e-02    6.73e-01
I0120 18:27:48.172077 2710905792 callbacks.cc:105]   20  1.268072e+01    1.67e-03    1.51e+03   6.45e+00   5.62e-01  2.87e+06        1    3.18e-02    7.05e-01
I0120 18:27:48.206178 2710905792 callbacks.cc:105]   21  1.267904e+01    1.68e-03    1.53e+03   6.47e+00   5.58e-01  2.88e+06        1    3.41e-02    7.39e-01
I0120 18:27:48.238000 2710905792 callbacks.cc:105]   22  1.267735e+01    1.69e-03    1.54e+03   6.49e+00   5.55e-01  2.88e+06        1    3.18e-02    7.71e-01
I0120 18:27:48.271894 2710905792 callbacks.cc:105]   23  1.267565e+01    1.70e-03    1.55e+03   6.51e+00   5.51e-01  2.88e+06        1    3.39e-02    8.05e-01
I0120 18:27:48.303727 2710905792 callbacks.cc:105]   24  1.267394e+01    1.71e-03    1.56e+03   6.53e+00   5.48e-01  2.89e+06        1    3.18e-02    8.37e-01
I0120 18:27:48.337991 2710905792 callbacks.cc:105]   25  1.267222e+01    1.72e-03    1.57e+03   6.54e+00   5.45e-01  2.89e+06        1    3.42e-02    8.71e-01
I0120 18:27:48.369843 2710905792 callbacks.cc:105]   26  1.267049e+01    1.73e-03    1.58e+03   6.56e+00   5.42e-01  2.89e+06        1    3.18e-02    9.03e-01
I0120 18:27:48.404917 2710905792 callbacks.cc:105]   27  1.266876e+01    1.73e-03    1.59e+03   6.57e+00   5.39e-01  2.89e+06        1    3.50e-02    9.38e-01
I0120 18:27:48.436729 2710905792 callbacks.cc:105]   28  1.266702e+01    1.74e-03    1.60e+03   6.59e+00   5.37e-01  2.89e+06        1    3.18e-02    9.70e-01
I0120 18:27:48.469702 2710905792 callbacks.cc:105]   29  1.266528e+01    1.75e-03    1.61e+03   6.60e+00   5.34e-01  2.89e+06        1    3.29e-02    1.00e+00
I0120 18:27:48.504709 2710905792 callbacks.cc:105]   30  1.266352e+01    1.75e-03    1.62e+03   6.61e+00   5.31e-01  2.90e+06        1    3.50e-02    1.04e+00
I0120 18:27:48.538045 2710905792 callbacks.cc:105]   31  1.266176e+01    1.76e-03    1.62e+03   6.62e+00   5.29e-01  2.90e+06        1    3.33e-02    1.07e+00
I0120 18:27:48.570631 2710905792 callbacks.cc:105]   32  1.266000e+01    1.77e-03    1.63e+03   6.63e+00   5.26e-01  2.90e+06        1    3.25e-02    1.10e+00
I0120 18:27:48.603346 2710905792 callbacks.cc:105]   33  1.265823e+01    1.77e-03    1.64e+03   6.65e+00   5.23e-01  2.90e+06        1    3.27e-02    1.14e+00
I0120 18:27:48.637550 2710905792 callbacks.cc:105]   34  1.265645e+01    1.78e-03    1.64e+03   6.66e+00   5.21e-01  2.90e+06        1    3.42e-02    1.17e+00
I0120 18:27:48.670596 2710905792 callbacks.cc:105]   35  1.265467e+01    1.78e-03    1.65e+03   6.66e+00   5.18e-01  2.90e+06        1    3.30e-02    1.20e+00
I0120 18:27:48.703675 2710905792 callbacks.cc:105]   36  1.265288e+01    1.79e-03    1.66e+03   6.67e+00   5.16e-01  2.90e+06        1    3.30e-02    1.24e+00
I0120 18:27:48.738195 2710905792 callbacks.cc:105]   37  1.265109e+01    1.79e-03    1.67e+03   6.68e+00   5.14e-01  2.90e+06        1    3.45e-02    1.27e+00
I0120 18:27:48.772776 2710905792 callbacks.cc:105]   38  1.264929e+01    1.80e-03    1.67e+03   6.69e+00   5.11e-01  2.90e+06        1    3.45e-02    1.31e+00
I0120 18:27:48.807271 2710905792 callbacks.cc:105]   39  1.264749e+01    1.80e-03    1.68e+03   6.70e+00   5.09e-01  2.90e+06        1    3.45e-02    1.34e+00
I0120 18:27:48.839251 2710905792 callbacks.cc:105]   40  1.264569e+01    1.81e-03    1.68e+03   6.71e+00   5.06e-01  2.90e+06        1    3.19e-02    1.37e+00
I0120 18:27:48.872237 2710905792 callbacks.cc:105]   41  1.264387e+01    1.81e-03    1.69e+03   6.71e+00   5.04e-01  2.90e+06        1    3.30e-02    1.41e+00
I0120 18:27:48.904454 2710905792 callbacks.cc:105]   42  1.264206e+01    1.81e-03    1.70e+03   6.72e+00   5.02e-01  2.90e+06        1    3.22e-02    1.44e+00
I0120 18:27:48.937315 2710905792 callbacks.cc:105]   43  1.264024e+01    1.82e-03    1.70e+03   6.73e+00   4.99e-01  2.90e+06        1    3.28e-02    1.47e+00
I0120 18:27:48.970263 2710905792 callbacks.cc:105]   44  1.263842e+01    1.82e-03    1.71e+03   6.74e+00   4.97e-01  2.90e+06        1    3.29e-02    1.50e+00
I0120 18:27:49.006559 2710905792 callbacks.cc:105]   45  1.263659e+01    1.83e-03    1.71e+03   6.74e+00   4.95e-01  2.90e+06        1    3.63e-02    1.54e+00
I0120 18:27:49.038496 2710905792 callbacks.cc:105]   46  1.263476e+01    1.83e-03    1.72e+03   6.75e+00   4.92e-01  2.90e+06        1    3.19e-02    1.57e+00
I0120 18:27:49.073309 2710905792 callbacks.cc:105]   47  1.263293e+01    1.83e-03    1.73e+03   6.75e+00   4.90e-01  2.90e+06        1    3.48e-02    1.61e+00
I0120 18:27:49.105144 2710905792 callbacks.cc:105]   48  1.263109e+01    1.84e-03    1.73e+03   6.76e+00   4.88e-01  2.90e+06        1    3.18e-02    1.64e+00
I0120 18:27:49.138948 2710905792 callbacks.cc:105]   49  1.262925e+01    1.84e-03    1.74e+03   6.77e+00   4.86e-01  2.90e+06        1    3.38e-02    1.67e+00
I0120 18:27:49.170835 2710905792 callbacks.cc:105]   50  1.262740e+01    1.84e-03    1.74e+03   6.77e+00   4.83e-01  2.90e+06        1    3.19e-02    1.70e+00
I0120 18:27:49.203766 2710905792 callbacks.cc:105]   51  1.262555e+01    1.85e-03    1.75e+03   6.77e+00   4.81e-01  2.90e+06        1    3.29e-02    1.74e+00
I0120 18:27:49.235604 2710905792 callbacks.cc:105]   52  1.262370e+01    1.85e-03    1.75e+03   6.78e+00   4.79e-01  2.90e+06        1    3.18e-02    1.77e+00
I0120 18:27:49.269363 2710905792 callbacks.cc:105]   53  1.262185e+01    1.85e-03    1.75e+03   6.78e+00   4.77e-01  2.90e+06        1    3.37e-02    1.80e+00
I0120 18:27:49.301230 2710905792 callbacks.cc:105]   54  1.261999e+01    1.86e-03    1.76e+03   6.78e+00   4.75e-01  2.90e+06        1    3.18e-02    1.83e+00
I0120 18:27:49.334951 2710905792 callbacks.cc:105]   55  1.261814e+01    1.86e-03    1.76e+03   6.79e+00   4.73e-01  2.90e+06        1    3.37e-02    1.87e+00
I0120 18:27:49.366803 2710905792 callbacks.cc:105]   56  1.261628e+01    1.86e-03    1.76e+03   6.79e+00   4.71e-01  2.89e+06        1    3.18e-02    1.90e+00
I0120 18:27:49.400756 2710905792 callbacks.cc:105]   57  1.261442e+01    1.86e-03    1.77e+03   6.79e+00   4.69e-01  2.89e+06        1    3.39e-02    1.93e+00
I0120 18:27:49.432545 2710905792 callbacks.cc:105]   58  1.261255e+01    1.86e-03    1.77e+03   6.79e+00   4.68e-01  2.89e+06        1    3.18e-02    1.97e+00
I0120 18:27:49.467921 2710905792 callbacks.cc:105]   59  1.261069e+01    1.86e-03    1.77e+03   6.79e+00   4.66e-01  2.89e+06        1    3.54e-02    2.00e+00
I0120 18:27:49.499969 2710905792 callbacks.cc:105]   60  1.260882e+01    1.87e-03    1.77e+03   6.79e+00   4.64e-01  2.89e+06        1    3.20e-02    2.03e+00
I0120 18:27:49.535408 2710905792 callbacks.cc:105]   61  1.260695e+01    1.87e-03    1.78e+03   6.79e+00   4.63e-01  2.89e+06        1    3.54e-02    2.07e+00
I0120 18:27:49.567306 2710905792 callbacks.cc:105]   62  1.260509e+01    1.87e-03    1.78e+03   6.79e+00   4.61e-01  2.89e+06        1    3.19e-02    2.10e+00
I0120 18:27:49.600554 2710905792 callbacks.cc:105]   63  1.260322e+01    1.87e-03    1.78e+03   6.78e+00   4.60e-01  2.89e+06        1    3.32e-02    2.13e+00
I0120 18:27:49.634990 2710905792 callbacks.cc:105]   64  1.260135e+01    1.87e-03    1.78e+03   6.78e+00   4.58e-01  2.89e+06        1    3.44e-02    2.17e+00
I0120 18:27:49.671751 2710905792 callbacks.cc:105]   65  1.259948e+01    1.87e-03    1.78e+03   6.77e+00   4.57e-01  2.88e+06        1    3.67e-02    2.20e+00
I0120 18:27:49.708005 2710905792 callbacks.cc:105]   66  1.259761e+01    1.87e-03    1.78e+03   6.77e+00   4.56e-01  2.88e+06        1    3.62e-02    2.24e+00
I0120 18:27:49.742133 2710905792 callbacks.cc:105]   67  1.259575e+01    1.87e-03    1.78e+03   6.76e+00   4.55e-01  2.88e+06        1    3.41e-02    2.28e+00
I0120 18:27:49.775748 2710905792 callbacks.cc:105]   68  1.259388e+01    1.86e-03    1.78e+03   6.75e+00   4.54e-01  2.88e+06        1    3.36e-02    2.31e+00
I0120 18:27:49.807909 2710905792 callbacks.cc:105]   69  1.259202e+01    1.86e-03    1.77e+03   6.74e+00   4.53e-01  2.87e+06        1    3.21e-02    2.34e+00
I0120 18:27:49.840499 2710905792 callbacks.cc:105]   70  1.259016e+01    1.86e-03    1.77e+03   6.74e+00   4.52e-01  2.87e+06        1    3.26e-02    2.37e+00
I0120 18:27:49.872398 2710905792 callbacks.cc:105]   71  1.258830e+01    1.86e-03    1.77e+03   6.73e+00   4.51e-01  2.87e+06        1    3.19e-02    2.41e+00
I0120 18:27:49.905109 2710905792 callbacks.cc:105]   72  1.258644e+01    1.86e-03    1.76e+03   6.71e+00   4.50e-01  2.87e+06        1    3.27e-02    2.44e+00
I0120 18:27:49.936916 2710905792 callbacks.cc:105]   73  1.258459e+01    1.85e-03    1.76e+03   6.70e+00   4.50e-01  2.86e+06        1    3.18e-02    2.47e+00
I0120 18:27:49.970298 2710905792 callbacks.cc:105]   74  1.258274e+01    1.85e-03    1.76e+03   6.69e+00   4.49e-01  2.86e+06        1    3.34e-02    2.50e+00
I0120 18:27:50.005293 2710905792 callbacks.cc:105]   75  1.258090e+01    1.85e-03    1.75e+03   6.68e+00   4.48e-01  2.86e+06        1    3.50e-02    2.54e+00
I0120 18:27:50.038578 2710905792 callbacks.cc:105]   76  1.257906e+01    1.84e-03    1.75e+03   6.66e+00   4.48e-01  2.85e+06        1    3.32e-02    2.57e+00
I0120 18:27:50.071874 2710905792 callbacks.cc:105]   77  1.257722e+01    1.84e-03    1.74e+03   6.65e+00   4.47e-01  2.85e+06        1    3.33e-02    2.60e+00
I0120 18:27:50.104285 2710905792 callbacks.cc:105]   78  1.257539e+01    1.83e-03    1.74e+03   6.63e+00   4.47e-01  2.85e+06        1    3.24e-02    2.64e+00
I0120 18:27:50.137902 2710905792 callbacks.cc:105]   79  1.257356e+01    1.83e-03    1.73e+03   6.62e+00   4.47e-01  2.84e+06        1    3.36e-02    2.67e+00
I0120 18:27:50.170094 2710905792 callbacks.cc:105]   80  1.257174e+01    1.82e-03    1.72e+03   6.60e+00   4.47e-01  2.84e+06        1    3.22e-02    2.70e+00
I0120 18:27:50.209923 2710905792 callbacks.cc:105]   81  1.256993e+01    1.81e-03    1.72e+03   6.58e+00   4.46e-01  2.84e+06        1    3.98e-02    2.74e+00
I0120 18:27:50.246929 2710905792 callbacks.cc:105]   82  1.256812e+01    1.81e-03    1.71e+03   6.56e+00   4.46e-01  2.83e+06        1    3.70e-02    2.78e+00
I0120 18:27:50.279655 2710905792 callbacks.cc:105]   83  1.256632e+01    1.80e-03    1.70e+03   6.55e+00   4.46e-01  2.83e+06        1    3.27e-02    2.81e+00
I0120 18:27:50.313014 2710905792 callbacks.cc:105]   84  1.256452e+01    1.79e-03    1.70e+03   6.53e+00   4.46e-01  2.83e+06        1    3.27e-02    2.85e+00
I0120 18:27:50.346220 2710905792 callbacks.cc:105]   85  1.256274e+01    1.79e-03    1.69e+03   6.51e+00   4.46e-01  2.82e+06        1    3.32e-02    2.88e+00
I0120 18:27:50.378772 2710905792 callbacks.cc:105]   86  1.256096e+01    1.78e-03    1.68e+03   6.49e+00   4.46e-01  2.82e+06        1    3.25e-02    2.91e+00
I0120 18:27:50.413460 2710905792 callbacks.cc:105]   87  1.255919e+01    1.77e-03    1.67e+03   6.47e+00   4.46e-01  2.82e+06        1    3.47e-02    2.95e+00
I0120 18:27:50.448583 2710905792 callbacks.cc:105]   88  1.255742e+01    1.76e-03    1.66e+03   6.44e+00   4.47e-01  2.81e+06        1    3.51e-02    2.98e+00
I0120 18:27:50.480825 2710905792 callbacks.cc:105]   89  1.255567e+01    1.75e-03    1.65e+03   6.42e+00   4.47e-01  2.81e+06        1    3.22e-02    3.01e+00
I0120 18:27:50.513384 2710905792 callbacks.cc:105]   90  1.255392e+01    1.74e-03    1.64e+03   6.40e+00   4.47e-01  2.81e+06        1    3.25e-02    3.05e+00
I0120 18:27:50.546027 2710905792 callbacks.cc:105]   91  1.255219e+01    1.74e-03    1.63e+03   6.38e+00   4.47e-01  2.80e+06        1    3.26e-02    3.08e+00
I0120 18:27:50.577852 2710905792 callbacks.cc:105]   92  1.255046e+01    1.73e-03    1.62e+03   6.35e+00   4.48e-01  2.80e+06        1    3.18e-02    3.11e+00
I0120 18:27:50.610891 2710905792 callbacks.cc:105]   93  1.254875e+01    1.72e-03    1.61e+03   6.33e+00   4.48e-01  2.80e+06        1    3.30e-02    3.14e+00
I0120 18:27:50.645970 2710905792 callbacks.cc:105]   94  1.254704e+01    1.71e-03    1.60e+03   6.30e+00   4.48e-01  2.79e+06        1    3.50e-02    3.18e+00
I0120 18:27:50.679371 2710905792 callbacks.cc:105]   95  1.254534e+01    1.70e-03    1.59e+03   6.28e+00   4.49e-01  2.79e+06        1    3.34e-02    3.21e+00
I0120 18:27:50.712110 2710905792 callbacks.cc:105]   96  1.254366e+01    1.68e-03    1.58e+03   6.25e+00   4.49e-01  2.79e+06        1    3.27e-02    3.25e+00
I0120 18:27:50.743942 2710905792 callbacks.cc:105]   97  1.254199e+01    1.67e-03    1.57e+03   6.23e+00   4.50e-01  2.78e+06        1    3.18e-02    3.28e+00
I0120 18:27:50.776914 2710905792 callbacks.cc:105]   98  1.254032e+01    1.66e-03    1.56e+03   6.20e+00   4.50e-01  2.78e+06        1    3.29e-02    3.31e+00
I0120 18:27:50.808743 2710905792 callbacks.cc:105]   99  1.253867e+01    1.65e-03    1.55e+03   6.17e+00   4.51e-01  2.78e+06        1    3.18e-02    3.34e+00
I0120 18:27:50.841490 2710905792 callbacks.cc:105]  100  1.253703e+01    1.64e-03    1.54e+03   6.15e+00   4.52e-01  2.78e+06        1    3.27e-02    3.37e+00
I0120 18:27:50.873751 2710905792 callbacks.cc:105]  101  1.253541e+01    1.63e-03    1.52e+03   6.12e+00   4.52e-01  2.77e+06        1    3.22e-02    3.41e+00
I0120 18:27:50.907341 2710905792 callbacks.cc:105]  102  1.253379e+01    1.62e-03    1.51e+03   6.09e+00   4.53e-01  2.77e+06        1    3.36e-02    3.44e+00
I0120 18:27:50.942627 2710905792 callbacks.cc:105]  103  1.253219e+01    1.60e-03    1.50e+03   6.06e+00   4.54e-01  2.77e+06        1    3.52e-02    3.48e+00
I0120 18:27:50.979849 2710905792 callbacks.cc:105]  104  1.253060e+01    1.59e-03    1.49e+03   6.03e+00   4.55e-01  2.77e+06        1    3.72e-02    3.51e+00
I0120 18:27:51.014164 2710905792 callbacks.cc:105]  105  1.252902e+01    1.58e-03    1.48e+03   6.01e+00   4.55e-01  2.77e+06        1    3.43e-02    3.55e+00
I0120 18:27:51.048395 2710905792 callbacks.cc:105]  106  1.252746e+01    1.56e-03    1.46e+03   5.98e+00   4.56e-01  2.76e+06        1    3.42e-02    3.58e+00
I0120 18:27:51.083619 2710905792 callbacks.cc:105]  107  1.252591e+01    1.55e-03    1.45e+03   5.95e+00   4.57e-01  2.76e+06        1    3.52e-02    3.62e+00
I0120 18:27:51.117699 2710905792 callbacks.cc:105]  108  1.252438e+01    1.54e-03    1.44e+03   5.92e+00   4.58e-01  2.76e+06        1    3.40e-02    3.65e+00
I0120 18:27:51.151309 2710905792 callbacks.cc:105]  109  1.252285e+01    1.52e-03    1.43e+03   5.89e+00   4.59e-01  2.76e+06        1    3.36e-02    3.68e+00
I0120 18:27:51.184309 2710905792 callbacks.cc:105]  110  1.252134e+01    1.51e-03    1.41e+03   5.85e+00   4.60e-01  2.76e+06        1    3.30e-02    3.72e+00
I0120 18:27:51.217980 2710905792 callbacks.cc:105]  111  1.251985e+01    1.49e-03    1.40e+03   5.82e+00   4.61e-01  2.76e+06        1    3.36e-02    3.75e+00
I0120 18:27:51.251216 2710905792 callbacks.cc:105]  112  1.251837e+01    1.48e-03    1.39e+03   5.79e+00   4.62e-01  2.76e+06        1    3.32e-02    3.78e+00
I0120 18:27:51.285348 2710905792 callbacks.cc:105]  113  1.251691e+01    1.46e-03    1.37e+03   5.76e+00   4.64e-01  2.75e+06        1    3.41e-02    3.82e+00
I0120 18:27:51.318750 2710905792 callbacks.cc:105]  114  1.251546e+01    1.45e-03    1.36e+03   5.73e+00   4.65e-01  2.75e+06        1    3.34e-02    3.85e+00
I0120 18:27:51.353186 2710905792 callbacks.cc:105]  115  1.251402e+01    1.43e-03    1.34e+03   5.69e+00   4.66e-01  2.75e+06        1    3.44e-02    3.89e+00
I0120 18:27:51.385916 2710905792 callbacks.cc:105]  116  1.251260e+01    1.42e-03    1.33e+03   5.66e+00   4.67e-01  2.75e+06        1    3.27e-02    3.92e+00
I0120 18:27:51.419327 2710905792 callbacks.cc:105]  117  1.251120e+01    1.40e-03    1.32e+03   5.63e+00   4.69e-01  2.75e+06        1    3.34e-02    3.95e+00
I0120 18:27:51.451153 2710905792 callbacks.cc:105]  118  1.250981e+01    1.39e-03    1.30e+03   5.59e+00   4.70e-01  2.75e+06        1    3.18e-02    3.98e+00
I0120 18:27:51.487113 2710905792 callbacks.cc:105]  119  1.250844e+01    1.37e-03    1.29e+03   5.56e+00   4.72e-01  2.75e+06        1    3.59e-02    4.02e+00
I0120 18:27:51.525594 2710905792 callbacks.cc:105]  120  1.250708e+01    1.36e-03    1.27e+03   5.52e+00   4.73e-01  2.75e+06        1    3.84e-02    4.06e+00
I0120 18:27:51.558666 2710905792 callbacks.cc:105]  121  1.250574e+01    1.34e-03    1.26e+03   5.49e+00   4.75e-01  2.75e+06        1    3.30e-02    4.09e+00
I0120 18:27:51.592519 2710905792 callbacks.cc:105]  122  1.250442e+01    1.32e-03    1.24e+03   5.45e+00   4.77e-01  2.75e+06        1    3.38e-02    4.13e+00
I0120 18:27:51.631603 2710905792 callbacks.cc:105]  123  1.250311e+01    1.31e-03    1.23e+03   5.41e+00   4.78e-01  2.75e+06        1    3.90e-02    4.16e+00
I0120 18:27:51.667192 2710905792 callbacks.cc:105]  124  1.250182e+01    1.29e-03    1.21e+03   5.38e+00   4.80e-01  2.75e+06        1    3.55e-02    4.20e+00
I0120 18:27:51.700934 2710905792 callbacks.cc:105]  125  1.250055e+01    1.27e-03    1.20e+03   5.34e+00   4.82e-01  2.75e+06        1    3.37e-02    4.23e+00
I0120 18:27:51.732746 2710905792 callbacks.cc:105]  126  1.249929e+01    1.26e-03    1.18e+03   5.30e+00   4.84e-01  2.75e+06        1    3.18e-02    4.27e+00
I0120 18:27:51.767287 2710905792 callbacks.cc:105]  127  1.249805e+01    1.24e-03    1.17e+03   5.26e+00   4.86e-01  2.75e+06        1    3.45e-02    4.30e+00
I0120 18:27:51.804291 2710905792 callbacks.cc:105]  128  1.249683e+01    1.22e-03    1.15e+03   5.22e+00   4.89e-01  2.75e+06        1    3.70e-02    4.34e+00
I0120 18:27:51.838091 2710905792 callbacks.cc:105]  129  1.249563e+01    1.20e-03    1.13e+03   5.18e+00   4.91e-01  2.75e+06        1    3.38e-02    4.37e+00
I0120 18:27:51.871886 2710905792 callbacks.cc:105]  130  1.249444e+01    1.19e-03    1.12e+03   5.14e+00   4.93e-01  2.75e+06        1    3.38e-02    4.40e+00
I0120 18:27:51.906363 2710905792 callbacks.cc:105]  131  1.249327e+01    1.17e-03    1.10e+03   5.10e+00   4.96e-01  2.75e+06        1    3.44e-02    4.44e+00
I0120 18:27:51.939903 2710905792 callbacks.cc:105]  132  1.249212e+01    1.15e-03    1.08e+03   5.06e+00   4.98e-01  2.75e+06        1    3.35e-02    4.47e+00
I0120 18:27:51.975191 2710905792 callbacks.cc:105]  133  1.249099e+01    1.13e-03    1.07e+03   5.02e+00   5.01e-01  2.75e+06        1    3.53e-02    4.51e+00
I0120 18:27:52.007669 2710905792 callbacks.cc:105]  134  1.248987e+01    1.11e-03    1.05e+03   4.98e+00   5.03e-01  2.75e+06        1    3.24e-02    4.54e+00
I0120 18:27:52.041333 2710905792 callbacks.cc:105]  135  1.248878e+01    1.10e-03    1.03e+03   4.93e+00   5.06e-01  2.75e+06        1    3.36e-02    4.57e+00
I0120 18:27:52.074813 2710905792 callbacks.cc:105]  136  1.248770e+01    1.08e-03    1.02e+03   4.89e+00   5.09e-01  2.75e+06        1    3.34e-02    4.61e+00
I0120 18:27:52.111179 2710905792 callbacks.cc:105]  137  1.248664e+01    1.06e-03    1.00e+03   4.85e+00   5.12e-01  2.75e+06        1    3.63e-02    4.64e+00
I0120 18:27:52.145210 2710905792 callbacks.cc:105]  138  1.248560e+01    1.04e-03    9.83e+02   4.80e+00   5.15e-01  2.75e+06        1    3.40e-02    4.68e+00
I0120 18:27:52.178827 2710905792 callbacks.cc:105]  139  1.248457e+01    1.02e-03    9.66e+02   4.76e+00   5.18e-01  2.75e+06        1    3.36e-02    4.71e+00
I0120 18:27:52.216001 2710905792 callbacks.cc:105]  140  1.248357e+01    1.00e-03    9.49e+02   4.71e+00   5.22e-01  2.75e+06        1    3.71e-02    4.75e+00
I0120 18:27:52.252702 2710905792 callbacks.cc:105]  141  1.248258e+01    9.86e-04    9.32e+02   4.67e+00   5.25e-01  2.75e+06        1    3.67e-02    4.79e+00
I0120 18:27:52.288964 2710905792 callbacks.cc:105]  142  1.248162e+01    9.67e-04    9.16e+02   4.62e+00   5.28e-01  2.75e+06        1    3.62e-02    4.82e+00
I0120 18:27:52.324054 2710905792 callbacks.cc:105]  143  1.248067e+01    9.49e-04    8.99e+02   4.58e+00   5.32e-01  2.75e+06        1    3.50e-02    4.86e+00
I0120 18:27:52.358019 2710905792 callbacks.cc:105]  144  1.247974e+01    9.30e-04    8.82e+02   4.53e+00   5.35e-01  2.75e+06        1    3.39e-02    4.89e+00
I0120 18:27:52.393942 2710905792 callbacks.cc:105]  145  1.247883e+01    9.11e-04    8.65e+02   4.49e+00   5.38e-01  2.75e+06        1    3.59e-02    4.93e+00
I0120 18:27:52.426698 2710905792 callbacks.cc:105]  146  1.247793e+01    8.93e-04    8.49e+02   4.44e+00   5.42e-01  2.75e+06        1    3.27e-02    4.96e+00
I0120 18:27:52.459765 2710905792 callbacks.cc:105]  147  1.247706e+01    8.75e-04    8.33e+02   4.40e+00   5.45e-01  2.76e+06        1    3.30e-02    4.99e+00
I0120 18:27:52.495383 2710905792 callbacks.cc:105]  148  1.247620e+01    8.56e-04    8.17e+02   4.35e+00   5.49e-01  2.76e+06        1    3.56e-02    5.03e+00
I0120 18:27:52.533354 2710905792 callbacks.cc:105]  149  1.247536e+01    8.38e-04    8.01e+02   4.31e+00   5.52e-01  2.76e+06        1    3.79e-02    5.07e+00
I0120 18:27:52.567373 2710905792 callbacks.cc:105]  150  1.247454e+01    8.21e-04    7.86e+02   4.26e+00   5.55e-01  2.77e+06        1    3.40e-02    5.10e+00
I0120 18:27:52.600514 2710905792 callbacks.cc:105]  151  1.247374e+01    8.03e-04    7.71e+02   4.22e+00   5.58e-01  2.77e+06        1    3.31e-02    5.13e+00
I0120 18:27:52.637275 2710905792 callbacks.cc:105]  152  1.247296e+01    7.85e-04    7.56e+02   4.18e+00   5.61e-01  2.77e+06        1    3.67e-02    5.17e+00
I0120 18:27:52.671061 2710905792 callbacks.cc:105]  153  1.247219e+01    7.68e-04    7.42e+02   4.14e+00   5.64e-01  2.78e+06        1    3.37e-02    5.20e+00
I0120 18:27:52.704586 2710905792 callbacks.cc:105]  154  1.247144e+01    7.51e-04    7.28e+02   4.10e+00   5.67e-01  2.79e+06        1    3.35e-02    5.24e+00
I0120 18:27:52.740151 2710905792 callbacks.cc:105]  155  1.247070e+01    7.35e-04    7.14e+02   4.06e+00   5.70e-01  2.80e+06        1    3.55e-02    5.27e+00
I0120 18:27:52.774952 2710905792 callbacks.cc:105]  156  1.246998e+01    7.18e-04    7.01e+02   4.02e+00   5.73e-01  2.80e+06        1    3.47e-02    5.31e+00
I0120 18:27:52.807790 2710905792 callbacks.cc:105]  157  1.246928e+01    7.02e-04    6.89e+02   3.98e+00   5.75e-01  2.81e+06        1    3.28e-02    5.34e+00
I0120 18:27:52.839843 2710905792 callbacks.cc:105]  158  1.246859e+01    6.87e-04    6.76e+02   3.94e+00   5.78e-01  2.82e+06        1    3.20e-02    5.37e+00
I0120 18:27:52.872812 2710905792 callbacks.cc:105]  159  1.246792e+01    6.71e-04    6.64e+02   3.90e+00   5.80e-01  2.84e+06        1    3.29e-02    5.41e+00
I0120 18:27:52.905014 2710905792 callbacks.cc:105]  160  1.246727e+01    6.56e-04    6.52e+02   3.87e+00   5.82e-01  2.85e+06        1    3.22e-02    5.44e+00
I0120 18:27:52.938324 2710905792 callbacks.cc:105]  161  1.246663e+01    6.41e-04    6.41e+02   3.83e+00   5.84e-01  2.86e+06        1    3.33e-02    5.47e+00
I0120 18:27:52.970427 2710905792 callbacks.cc:105]  162  1.246600e+01    6.26e-04    6.30e+02   3.79e+00   5.86e-01  2.88e+06        1    3.21e-02    5.50e+00
I0120 18:27:53.004461 2710905792 callbacks.cc:105]  163  1.246539e+01    6.12e-04    6.19e+02   3.76e+00   5.88e-01  2.89e+06        1    3.40e-02    5.54e+00
I0120 18:27:53.039958 2710905792 callbacks.cc:105]  164  1.246479e+01    5.98e-04    6.09e+02   3.73e+00   5.90e-01  2.91e+06        1    3.55e-02    5.57e+00
I0120 18:27:53.073129 2710905792 callbacks.cc:105]  165  1.246421e+01    5.84e-04    5.99e+02   3.69e+00   5.92e-01  2.93e+06        1    3.31e-02    5.61e+00
I0120 18:27:53.108613 2710905792 callbacks.cc:105]  166  1.246364e+01    5.70e-04    5.89e+02   3.66e+00   5.93e-01  2.95e+06        1    3.54e-02    5.64e+00
I0120 18:27:53.143935 2710905792 callbacks.cc:105]  167  1.246308e+01    5.57e-04    5.79e+02   3.63e+00   5.95e-01  2.97e+06        1    3.53e-02    5.68e+00
I0120 18:27:53.177078 2710905792 callbacks.cc:105]  168  1.246254e+01    5.43e-04    5.69e+02   3.60e+00   5.96e-01  2.99e+06        1    3.31e-02    5.71e+00
I0120 18:27:53.211549 2710905792 callbacks.cc:105]  169  1.246201e+01    5.30e-04    5.60e+02   3.56e+00   5.97e-01  3.01e+06        1    3.44e-02    5.74e+00
I0120 18:27:53.247057 2710905792 callbacks.cc:105]  170  1.246149e+01    5.17e-04    5.50e+02   3.53e+00   5.99e-01  3.03e+06        1    3.55e-02    5.78e+00
I0120 18:27:53.280146 2710905792 callbacks.cc:105]  171  1.246099e+01    5.04e-04    5.41e+02   3.50e+00   6.00e-01  3.06e+06        1    3.30e-02    5.81e+00
I0120 18:27:53.314790 2710905792 callbacks.cc:105]  172  1.246049e+01    4.92e-04    5.32e+02   3.47e+00   6.01e-01  3.08e+06        1    3.46e-02    5.85e+00
I0120 18:27:53.346976 2710905792 callbacks.cc:105]  173  1.246002e+01    4.79e-04    5.23e+02   3.44e+00   6.02e-01  3.11e+06        1    3.22e-02    5.88e+00
I0120 18:27:53.380134 2710905792 callbacks.cc:105]  174  1.245955e+01    4.67e-04    5.14e+02   3.41e+00   6.04e-01  3.14e+06        1    3.31e-02    5.91e+00
I0120 18:27:53.413033 2710905792 callbacks.cc:105]  175  1.245909e+01    4.55e-04    5.06e+02   3.38e+00   6.05e-01  3.17e+06        1    3.29e-02    5.95e+00
I0120 18:27:53.446102 2710905792 callbacks.cc:105]  176  1.245865e+01    4.43e-04    4.97e+02   3.35e+00   6.06e-01  3.20e+06        1    3.30e-02    5.98e+00
I0120 18:27:53.478374 2710905792 callbacks.cc:105]  177  1.245822e+01    4.31e-04    4.88e+02   3.32e+00   6.07e-01  3.23e+06        1    3.22e-02    6.01e+00
I0120 18:27:53.511343 2710905792 callbacks.cc:105]  178  1.245780e+01    4.19e-04    4.80e+02   3.29e+00   6.08e-01  3.26e+06        1    3.29e-02    6.04e+00
I0120 18:27:53.546288 2710905792 callbacks.cc:105]  179  1.245740e+01    4.07e-04    4.71e+02   3.26e+00   6.09e-01  3.30e+06        1    3.49e-02    6.08e+00
I0120 18:27:53.582962 2710905792 callbacks.cc:105]  180  1.245700e+01    3.96e-04    4.63e+02   3.23e+00   6.10e-01  3.33e+06        1    3.66e-02    6.12e+00
I0120 18:27:53.617225 2710905792 callbacks.cc:105]  181  1.245662e+01    3.84e-04    4.54e+02   3.19e+00   6.11e-01  3.37e+06        1    3.42e-02    6.15e+00
I0120 18:27:53.649313 2710905792 callbacks.cc:105]  182  1.245624e+01    3.73e-04    4.46e+02   3.16e+00   6.12e-01  3.41e+06        1    3.20e-02    6.18e+00
I0120 18:27:53.682960 2710905792 callbacks.cc:105]  183  1.245588e+01    3.62e-04    4.37e+02   3.13e+00   6.13e-01  3.45e+06        1    3.36e-02    6.22e+00
I0120 18:27:53.714875 2710905792 callbacks.cc:105]  184  1.245553e+01    3.51e-04    4.29e+02   3.10e+00   6.14e-01  3.49e+06        1    3.19e-02    6.25e+00
I0120 18:27:53.749486 2710905792 callbacks.cc:105]  185  1.245519e+01    3.40e-04    4.21e+02   3.07e+00   6.16e-01  3.53e+06        1    3.46e-02    6.28e+00
I0120 18:27:53.783596 2710905792 callbacks.cc:105]  186  1.245486e+01    3.29e-04    4.13e+02   3.04e+00   6.17e-01  3.58e+06        1    3.41e-02    6.32e+00
I0120 18:27:53.816722 2710905792 callbacks.cc:105]  187  1.245454e+01    3.18e-04    4.04e+02   3.01e+00   6.18e-01  3.63e+06        1    3.31e-02    6.35e+00
I0120 18:27:53.852613 2710905792 callbacks.cc:105]  188  1.245423e+01    3.08e-04    3.96e+02   2.97e+00   6.19e-01  3.68e+06        1    3.58e-02    6.39e+00
I0120 18:27:53.885462 2710905792 callbacks.cc:105]  189  1.245394e+01    2.97e-04    3.88e+02   2.94e+00   6.20e-01  3.73e+06        1    3.28e-02    6.42e+00
I0120 18:27:53.919811 2710905792 callbacks.cc:105]  190  1.245365e+01    2.87e-04    3.80e+02   2.91e+00   6.21e-01  3.78e+06        1    3.43e-02    6.45e+00
I0120 18:27:53.952674 2710905792 callbacks.cc:105]  191  1.245337e+01    2.77e-04    3.72e+02   2.88e+00   6.22e-01  3.84e+06        1    3.28e-02    6.49e+00
I0120 18:27:53.988204 2710905792 callbacks.cc:105]  192  1.245311e+01    2.67e-04    3.63e+02   2.84e+00   6.23e-01  3.89e+06        1    3.55e-02    6.52e+00
I0120 18:27:54.023923 2710905792 callbacks.cc:105]  193  1.245285e+01    2.57e-04    3.55e+02   2.81e+00   6.24e-01  3.96e+06        1    3.57e-02    6.56e+00
I0120 18:27:54.056588 2710905792 callbacks.cc:105]  194  1.245260e+01    2.48e-04    3.47e+02   2.78e+00   6.26e-01  4.02e+06        1    3.26e-02    6.59e+00
I0120 18:27:54.089697 2710905792 callbacks.cc:105]  195  1.245236e+01    2.38e-04    3.39e+02   2.75e+00   6.27e-01  4.09e+06        1    3.31e-02    6.62e+00
I0120 18:27:54.123343 2710905792 callbacks.cc:105]  196  1.245213e+01    2.29e-04    3.31e+02   2.71e+00   6.28e-01  4.16e+06        1    3.36e-02    6.66e+00
I0120 18:27:54.157824 2710905792 callbacks.cc:105]  197  1.245191e+01    2.20e-04    3.23e+02   2.68e+00   6.29e-01  4.23e+06        1    3.44e-02    6.69e+00
I0120 18:27:54.202625 2710905792 callbacks.cc:105]  198  1.245170e+01    2.11e-04    3.15e+02   2.64e+00   6.31e-01  4.31e+06        1    4.48e-02    6.74e+00
I0120 18:27:54.240833 2710905792 callbacks.cc:105]  199  1.245150e+01    2.02e-04    3.07e+02   2.61e+00   6.32e-01  4.39e+06        1    3.82e-02    6.77e+00
I0120 18:27:54.276655 2710905792 callbacks.cc:105]  200  1.245131e+01    1.93e-04    2.99e+02   2.57e+00   6.33e-01  4.47e+06        1    3.58e-02    6.81e+00
I0120 18:27:54.310372 2710905792 callbacks.cc:105]  201  1.245112e+01    1.85e-04    2.91e+02   2.54e+00   6.35e-01  4.56e+06        1    3.37e-02    6.84e+00
I0120 18:27:54.344401 2710905792 callbacks.cc:105]  202  1.245095e+01    1.76e-04    2.84e+02   2.50e+00   6.36e-01  4.65e+06        1    3.40e-02    6.88e+00
I0120 18:27:54.378301 2710905792 callbacks.cc:105]  203  1.245078e+01    1.68e-04    2.76e+02   2.47e+00   6.37e-01  4.75e+06        1    3.39e-02    6.91e+00
I0120 18:27:54.412328 2710905792 callbacks.cc:105]  204  1.245062e+01    1.60e-04    2.68e+02   2.43e+00   6.39e-01  4.85e+06        1    3.40e-02    6.95e+00
I0120 18:27:54.447566 2710905792 callbacks.cc:105]  205  1.245047e+01    1.52e-04    2.60e+02   2.40e+00   6.40e-01  4.96e+06        1    3.52e-02    6.98e+00
I0120 18:27:54.480728 2710905792 callbacks.cc:105]  206  1.245032e+01    1.44e-04    2.52e+02   2.36e+00   6.42e-01  5.08e+06        1    3.31e-02    7.01e+00
I0120 18:27:54.513289 2710905792 callbacks.cc:105]  207  1.245018e+01    1.37e-04    2.45e+02   2.32e+00   6.43e-01  5.20e+06        1    3.25e-02    7.05e+00
I0120 18:27:54.547188 2710905792 callbacks.cc:105]  208  1.245005e+01    1.30e-04    2.37e+02   2.28e+00   6.45e-01  5.33e+06        1    3.39e-02    7.08e+00
I0120 18:27:54.579133 2710905792 callbacks.cc:105]  209  1.244993e+01    1.23e-04    2.29e+02   2.25e+00   6.47e-01  5.47e+06        1    3.19e-02    7.11e+00
I0120 18:27:54.613317 2710905792 callbacks.cc:105]  210  1.244982e+01    1.16e-04    2.22e+02   2.21e+00   6.48e-01  5.62e+06        1    3.41e-02    7.15e+00
I0120 18:27:54.645551 2710905792 callbacks.cc:105]  211  1.244971e+01    1.09e-04    2.14e+02   2.17e+00   6.50e-01  5.77e+06        1    3.22e-02    7.18e+00
I0120 18:27:54.681650 2710905792 callbacks.cc:105]  212  1.244960e+01    1.02e-04    2.06e+02   2.13e+00   6.52e-01  5.94e+06        1    3.61e-02    7.21e+00
I0120 18:27:54.713830 2710905792 callbacks.cc:105]  213  1.244951e+01    9.60e-05    1.99e+02   2.09e+00   6.53e-01  6.12e+06        1    3.21e-02    7.25e+00
I0120 18:27:54.747778 2710905792 callbacks.cc:105]  214  1.244942e+01    8.99e-05    1.91e+02   2.05e+00   6.56e-01  6.31e+06        1    3.39e-02    7.28e+00
I0120 18:27:54.779800 2710905792 callbacks.cc:105]  215  1.244934e+01    8.39e-05    1.84e+02   2.01e+00   6.57e-01  6.51e+06        1    3.20e-02    7.31e+00
I0120 18:27:54.814033 2710905792 callbacks.cc:105]  216  1.244926e+01    7.82e-05    1.76e+02   1.97e+00   6.60e-01  6.73e+06        1    3.42e-02    7.35e+00
I0120 18:27:54.846148 2710905792 callbacks.cc:105]  217  1.244918e+01    7.26e-05    1.69e+02   1.93e+00   6.62e-01  6.96e+06        1    3.21e-02    7.38e+00
I0120 18:27:54.879930 2710905792 callbacks.cc:105]  218  1.244912e+01    6.73e-05    1.62e+02   1.88e+00   6.64e-01  7.22e+06        1    3.38e-02    7.41e+00
I0120 18:27:54.912274 2710905792 callbacks.cc:105]  219  1.244905e+01    6.21e-05    1.55e+02   1.84e+00   6.67e-01  7.50e+06        1    3.23e-02    7.45e+00
I0120 18:27:54.945246 2710905792 callbacks.cc:105]  220  1.244900e+01    5.72e-05    1.47e+02   1.80e+00   6.69e-01  7.80e+06        1    3.29e-02    7.48e+00
I0120 18:27:54.977098 2710905792 callbacks.cc:105]  221  1.244895e+01    5.24e-05    1.40e+02   1.75e+00   6.71e-01  8.12e+06        1    3.18e-02    7.51e+00
I0120 18:27:55.009898 2710905792 callbacks.cc:105]  222  1.244890e+01    4.79e-05    1.33e+02   1.71e+00   6.74e-01  8.48e+06        1    3.28e-02    7.54e+00
I0120 18:27:55.042006 2710905792 callbacks.cc:105]  223  1.244885e+01    4.36e-05    1.26e+02   1.66e+00   6.77e-01  8.88e+06        1    3.21e-02    7.58e+00
I0120 18:27:55.076102 2710905792 callbacks.cc:105]  224  1.244881e+01    3.95e-05    1.19e+02   1.61e+00   6.80e-01  9.31e+06        1    3.41e-02    7.61e+00
I0120 18:27:55.107993 2710905792 callbacks.cc:105]  225  1.244878e+01    3.56e-05    1.12e+02   1.56e+00   6.84e-01  9.80e+06        1    3.19e-02    7.64e+00
I0120 18:27:55.140831 2710905792 callbacks.cc:105]  226  1.244875e+01    3.19e-05    1.05e+02   1.52e+00   6.86e-01  1.03e+07        1    3.28e-02    7.67e+00
I0120 18:27:55.174471 2710905792 callbacks.cc:105]  227  1.244872e+01    2.85e-05    9.83e+01   1.46e+00   6.91e-01  1.09e+07        1    3.36e-02    7.71e+00
I0120 18:27:55.207661 2710905792 callbacks.cc:105]  228  1.244869e+01    2.51e-05    9.16e+01   1.41e+00   6.94e-01  1.16e+07        1    3.32e-02    7.74e+00
I0120 18:27:55.239682 2710905792 callbacks.cc:105]  229  1.244867e+01    2.21e-05    8.50e+01   1.36e+00   6.99e-01  1.24e+07        1    3.20e-02    7.77e+00
I0120 18:27:55.273954 2710905792 callbacks.cc:105]  230  1.244865e+01    1.92e-05    7.84e+01   1.31e+00   7.03e-01  1.33e+07        1    3.42e-02    7.81e+00
I0120 18:27:55.305910 2710905792 callbacks.cc:105]  231  1.244864e+01    1.66e-05    7.19e+01   1.25e+00   7.08e-01  1.43e+07        1    3.19e-02    7.84e+00
I0120 18:27:55.340613 2710905792 callbacks.cc:105]  232  1.244862e+01    1.42e-05    6.56e+01   1.20e+00   7.12e-01  1.55e+07        1    3.47e-02    7.87e+00
I0120 18:27:55.341338 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.620963e-07 <= 1.000000e-06
I0120 18:27:55.341429 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          151                      142
Parameters                                629                      575
Effective parameters                      623                      569
Residual blocks                           278                      278
Residual                                  556                      556

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              139, 1, 2                139, 1, 2

Cost:
Initial                          3.710883e+03
Final                            1.244862e+01
Change                           3.698435e+03

Minimizer iterations                      233
Successful steps                          233
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0001

  Residual evaluation                  0.0916
  Jacobian evaluation                  7.6921
  Linear solver                        0.0699
Minimizer                              7.8743

Postprocessor                          0.0000
Total                                  7.8744

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.620963e-07 <= 1.000000e-06)
I0120 18:27:55.356195 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:27:55.501165 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 88 inliers out of 126 2D-3D matches.
I0120 18:27:55.507032 2710905792 reconstruction_estimator_utils.cc:349] 3 points were removed because of bad reprojection errors. 0 points were removed because they had insufficient viewing angles and were poorly constrained.
I0120 18:27:55.507048 2710905792 incremental_reconstruction_estimator.cc:552] 3 outlier points were removed.
I0120 18:27:59.542788 2710905792 estimate_track.cc:196] 4904 tracks were estimated of 5723 possible tracks.
I0120 18:27:59.544576 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:27:59.598690 2710905792 block_sparse_matrix.cc:80] Allocating values array with 1872640 bytes.
I0120 18:28:00.845327 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.577929e+05    0.00e+00    1.69e+07   0.00e+00   0.00e+00  1.00e+04        0    1.25e+00    1.25e+00
I0120 18:28:00.845958 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:28:00.846029 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:28:02.127190 2710905792 callbacks.cc:105]    1  3.995876e+04    1.18e+05    1.35e+07   1.01e+03   8.20e-01  1.36e+04        1    1.28e+00    2.53e+00
I0120 18:28:03.377460 2710905792 callbacks.cc:105]    2  3.232230e+04    7.64e+03    9.74e+06   3.73e+02   2.34e-01  1.18e+04        1    1.25e+00    3.78e+00
I0120 18:28:04.631882 2710905792 callbacks.cc:105]    3  9.331296e+03    2.30e+04    4.53e+06   2.63e+02   8.21e-01  1.61e+04        1    1.25e+00    5.04e+00
I0120 18:28:05.872020 2710905792 callbacks.cc:105]    4  6.248089e+03    3.08e+03    4.00e+06   2.36e+02   4.34e-01  1.60e+04        1    1.24e+00    6.28e+00
I0120 18:28:07.128334 2710905792 callbacks.cc:105]    5  2.089135e+03    4.16e+03    1.98e+06   1.52e+02   8.25e-01  2.21e+04        1    1.26e+00    7.53e+00
I0120 18:28:08.384881 2710905792 callbacks.cc:105]    6  1.084609e+03    1.00e+03    1.38e+06   1.26e+02   6.93e-01  2.34e+04        1    1.26e+00    8.79e+00
I0120 18:28:09.648304 2710905792 callbacks.cc:105]    7  4.909741e+02    5.94e+02    5.63e+05   7.73e+01   8.94e-01  4.58e+04        1    1.26e+00    1.01e+01
I0120 18:28:10.906672 2710905792 callbacks.cc:105]    8  3.563362e+02    1.35e+02    3.91e+05   6.46e+01   7.92e-01  5.72e+04        1    1.26e+00    1.13e+01
I0120 18:28:12.172209 2710905792 callbacks.cc:105]    9  3.032799e+02    5.31e+01    8.84e+04   2.98e+01   9.68e-01  1.72e+05        1    1.27e+00    1.26e+01
I0120 18:28:13.415423 2710905792 callbacks.cc:105]   10  2.985019e+02    4.78e+00    2.21e+04   1.51e+01   9.77e-01  5.15e+05        1    1.24e+00    1.38e+01
I0120 18:28:14.659708 2710905792 callbacks.cc:105]   11  2.982981e+02    2.04e-01    8.03e+02   2.84e+00   9.99e-01  1.54e+06        1    1.24e+00    1.51e+01
I0120 18:28:15.911528 2710905792 callbacks.cc:105]   12  2.982976e+02    5.20e-04    3.61e+00   1.88e-01   1.00e+00  4.63e+06        1    1.25e+00    1.63e+01
I0120 18:28:15.936909 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.312814e-10 <= 1.000000e-06
I0120 18:28:15.940011 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         5052                     5044
Parameters                              20233                    20185
Effective parameters                    20227                    20179
Residual blocks                         10640                    10640
Residual                                21280                    21280

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             5040, 1, 3               5040, 1, 3

Cost:
Initial                          1.577929e+05
Final                            2.982976e+02
Change                           1.574946e+05

Minimizer iterations                       13
Successful steps                           13
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0045

  Residual evaluation                  0.1926
  Jacobian evaluation                 15.9838
  Linear solver                        0.1370
Minimizer                             16.3385

Postprocessor                          0.0004
Total                                 16.3434

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.312814e-10 <= 1.000000e-06)
I0120 18:28:16.011135 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:28:18.229087 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 2996 inliers out of 2997 2D-3D matches.
I0120 18:28:18.282872 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:28:21.201949 2710905792 estimate_track.cc:196] 4400 tracks were estimated of 4400 possible tracks.
I0120 18:28:21.204160 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:28:21.310994 2710905792 block_sparse_matrix.cc:80] Allocating values array with 4041664 bytes.
I0120 18:28:23.973804 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.460235e+03    0.00e+00    1.74e+06   0.00e+00   0.00e+00  1.00e+04        0    2.66e+00    2.68e+00
I0120 18:28:23.975174 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:28:23.975349 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:28:26.708142 2710905792 callbacks.cc:105]    1  8.531071e+02    6.07e+02    2.06e+03   8.18e+00   1.00e+00  3.00e+04        1    2.73e+00    5.41e+00
I0120 18:28:29.432189 2710905792 callbacks.cc:105]    2  8.524145e+02    6.93e-01    1.16e+03   4.75e+00   1.00e+00  9.00e+04        1    2.72e+00    8.14e+00
I0120 18:28:32.152405 2710905792 callbacks.cc:105]    3  8.523609e+02    5.36e-02    1.34e+02   1.65e+00   1.00e+00  2.70e+05        1    2.72e+00    1.09e+01
I0120 18:28:32.211465 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 8.026944e-07 <= 1.000000e-06
I0120 18:28:32.218755 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9445
Parameters                              37833                    37791
Effective parameters                    37827                    37785
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4               9440, 1, 4

Cost:
Initial                          1.460235e+03
Final                            8.523609e+02
Change                           6.078744e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0153

  Residual evaluation                  0.1410
  Jacobian evaluation                 10.6404
  Linear solver                        0.0995
Minimizer                             10.9011

Postprocessor                          0.0010
Total                                 10.9174

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.026944e-07 <= 1.000000e-06)
I0120 18:28:32.364464 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:28:35.942944 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4841 inliers out of 4844 2D-3D matches.
I0120 18:28:36.041043 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:28:38.466193 2710905792 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0120 18:28:38.468225 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:28:38.617005 2710905792 block_sparse_matrix.cc:80] Allocating values array with 6255392 bytes.
I0120 18:28:42.727897 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.045522e+03    0.00e+00    2.65e+06   0.00e+00   0.00e+00  1.00e+04        0    4.11e+00    4.14e+00
I0120 18:28:42.729584 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:28:42.729791 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:28:46.913216 2710905792 callbacks.cc:105]    1  1.419254e+03    6.26e+02    5.65e+03   7.09e+00   1.00e+00  3.00e+04        1    4.19e+00    8.32e+00
I0120 18:28:51.075170 2710905792 callbacks.cc:105]    2  1.418779e+03    4.75e-01    4.32e+02   3.55e+00   1.00e+00  9.00e+04        1    4.16e+00    1.25e+01
I0120 18:28:55.268508 2710905792 callbacks.cc:105]    3  1.418749e+03    2.96e-02    3.73e+01   1.12e+00   1.00e+00  2.70e+05        1    4.19e+00    1.67e+01
I0120 18:28:55.360227 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.144133e-07 <= 1.000000e-06
I0120 18:28:55.369030 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13313
Parameters                              53301                    53265
Effective parameters                    53295                    53259
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5              13307, 1, 5

Cost:
Initial                          2.045522e+03
Final                            1.418749e+03
Change                           6.267725e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0264

  Residual evaluation                  0.2120
  Jacobian evaluation                 16.3512
  Linear solver                        0.1501
Minimizer                             16.7443

Postprocessor                          0.0015
Total                                 16.7721

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.144133e-07 <= 1.000000e-06)
I0120 18:28:55.580318 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:00.057083 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6096 inliers out of 6100 2D-3D matches.
I0120 18:29:00.181900 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:02.570073 2710905792 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0120 18:29:02.572242 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:29:02.792421 2710905792 block_sparse_matrix.cc:80] Allocating values array with 8675392 bytes.
I0120 18:29:08.452955 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.760661e+03    0.00e+00    2.54e+06   0.00e+00   0.00e+00  1.00e+04        0    5.66e+00    5.70e+00
I0120 18:29:08.455107 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:29:08.455374 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:29:14.269193 2710905792 callbacks.cc:105]    1  2.029224e+03    7.31e+02    2.01e+03   4.21e+00   1.00e+00  3.00e+04        1    5.82e+00    1.15e+01
I0120 18:29:20.033239 2710905792 callbacks.cc:105]    2  2.029170e+03    5.40e-02    2.59e+01   2.14e-01   1.00e+00  9.00e+04        1    5.76e+00    1.73e+01
I0120 18:29:20.153157 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.230687e-07 <= 1.000000e-06
I0120 18:29:20.164932 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17139
Parameters                              68601                    68571
Effective parameters                    68595                    68565
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6              17132, 1, 6

Cost:
Initial                          2.760661e+03
Final                            2.029170e+03
Change                           7.314909e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0362

  Residual evaluation                  0.2038
  Jacobian evaluation                 16.9535
  Linear solver                        0.1738
Minimizer                             17.3614

Postprocessor                          0.0020
Total                                 17.3995

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.230687e-07 <= 1.000000e-06)
I0120 18:29:20.449105 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:23.934020 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0120 18:29:24.032641 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:25.640002 2710905792 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0120 18:29:25.641824 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:29:25.885535 2710905792 block_sparse_matrix.cc:80] Allocating values array with 10428528 bytes.
I0120 18:29:32.670824 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.479803e+03    0.00e+00    2.74e+06   0.00e+00   0.00e+00  1.00e+04        0    6.79e+00    6.83e+00
I0120 18:29:32.673804 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:29:32.674145 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:29:39.691602 2710905792 callbacks.cc:105]    1  2.600740e+03    8.79e+02    3.70e+03   2.70e+00   1.00e+00  3.00e+04        1    7.02e+00    1.38e+01
I0120 18:29:46.666225 2710905792 callbacks.cc:105]    2  2.600730e+03    1.00e-02    1.30e+01   9.91e-02   1.00e+00  9.00e+04        1    6.97e+00    2.08e+01
I0120 18:29:46.818384 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.635821e-09 <= 1.000000e-06
I0120 18:29:46.832455 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19726
Parameters                              78945                    78921
Effective parameters                    78939                    78915
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7              19718, 1, 7

Cost:
Initial                          3.479803e+03
Final                            2.600730e+03
Change                           8.790727e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0414

  Residual evaluation                  0.2625
  Jacobian evaluation                 20.4263
  Linear solver                        0.2058
Minimizer                             20.9337

Postprocessor                          0.0022
Total                                 20.9773

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.635821e-09 <= 1.000000e-06)
I0120 18:29:47.183951 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:51.147126 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5059 inliers out of 5067 2D-3D matches.
I0120 18:29:51.266271 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:29:53.014248 2710905792 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0120 18:29:53.016031 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:29:53.298980 2710905792 block_sparse_matrix.cc:80] Allocating values array with 12260864 bytes.
I0120 18:30:01.481477 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.288740e+03    0.00e+00    1.24e+06   0.00e+00   0.00e+00  1.00e+04        0    8.18e+00    8.24e+00
I0120 18:30:01.484359 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:30:01.484714 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:30:09.811347 2710905792 callbacks.cc:105]    1  3.228712e+03    1.06e+03    1.58e+04   6.50e+00   1.00e+00  3.00e+04        1    8.33e+00    1.66e+01
I0120 18:30:18.232807 2710905792 callbacks.cc:105]    2  3.228520e+03    1.92e-01    8.28e+01   4.66e-01   1.00e+00  9.00e+04        1    8.42e+00    2.50e+01
I0120 18:30:18.411972 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.176781e-07 <= 1.000000e-06
I0120 18:30:18.430074 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22399
Parameters                              89633                    89615
Effective parameters                    89627                    89609
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8              22390, 1, 8

Cost:
Initial                          4.288740e+03
Final                            3.228520e+03
Change                           1.060220e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0531

  Residual evaluation                  0.3013
  Jacobian evaluation                 24.5221
  Linear solver                        0.2456
Minimizer                             25.1149

Postprocessor                          0.0026
Total                                 25.1705

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.176781e-07 <= 1.000000e-06)
I0120 18:30:18.835784 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:30:23.166281 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5374 inliers out of 5379 2D-3D matches.
I0120 18:30:23.302270 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:30:24.794185 2710905792 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0120 18:30:24.795945 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:30:25.151506 2710905792 block_sparse_matrix.cc:80] Allocating values array with 14004496 bytes.
I0120 18:30:34.591202 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.336794e+03    0.00e+00    3.97e+06   0.00e+00   0.00e+00  1.00e+04        0    9.44e+00    9.50e+00
I0120 18:30:34.594727 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:30:34.595106 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:30:44.406097 2710905792 callbacks.cc:105]    1  3.896028e+03    1.44e+03    2.57e+04   2.00e+01   1.00e+00  3.00e+04        1    9.81e+00    1.93e+01
I0120 18:30:54.461557 2710905792 callbacks.cc:105]    2  3.895630e+03    3.99e-01    8.92e+01   1.21e+00   1.00e+00  9.00e+04        1    1.01e+01    2.94e+01
I0120 18:30:54.723579 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.878410e-07 <= 1.000000e-06
I0120 18:30:54.753132 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24664
Parameters                              98689                    98677
Effective parameters                    98683                    98671
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9              24654, 1, 9

Cost:
Initial                          5.336794e+03
Final                            3.895630e+03
Change                           1.441164e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0628

  Residual evaluation                  0.4175
  Jacobian evaluation                 28.7794
  Linear solver                        0.3210
Minimizer                             29.5740

Postprocessor                          0.0052
Total                                 29.6420

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.878410e-07 <= 1.000000e-06)
I0120 18:30:55.288712 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:30:58.834146 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4441 inliers out of 4451 2D-3D matches.
I0120 18:30:58.955245 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:31:00.162807 2710905792 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0120 18:31:00.164722 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:31:00.521793 2710905792 block_sparse_matrix.cc:80] Allocating values array with 15443648 bytes.
I0120 18:31:11.671730 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.401293e+03    0.00e+00    1.06e+06   0.00e+00   0.00e+00  1.00e+04        0    1.11e+01    1.12e+01
I0120 18:31:11.675698 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:31:11.676141 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:31:22.909821 2710905792 callbacks.cc:105]    1  4.545070e+03    8.56e+02    2.09e+03   7.48e+00   1.00e+00  3.00e+04        1    1.12e+01    2.24e+01
I0120 18:31:34.008983 2710905792 callbacks.cc:105]    2  4.545035e+03    3.50e-02    4.05e+01   6.84e-01   1.00e+00  9.00e+04        1    1.11e+01    3.35e+01
I0120 18:31:34.250778 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.294117e-07 <= 1.000000e-06
I0120 18:31:34.275058 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26528
Parameters                             106141                   106135
Effective parameters                   106135                   106129
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10             26517, 1, 10

Cost:
Initial                          5.401293e+03
Final                            4.545035e+03
Change                           8.562582e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0616

  Residual evaluation                  0.4162
  Jacobian evaluation                 32.9439
  Linear solver                        0.3101
Minimizer                             33.7317

Postprocessor                          0.0037
Total                                 33.7971

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.294117e-07 <= 1.000000e-06)
I0120 18:31:34.788300 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:31:36.712446 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2556 inliers out of 2562 2D-3D matches.
I0120 18:31:36.766927 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:31:37.891870 2710905792 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0120 18:31:37.894345 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:31:38.265416 2710905792 block_sparse_matrix.cc:80] Allocating values array with 16508800 bytes.
I0120 18:31:49.982121 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  6.304606e+03    0.00e+00    1.93e+06   0.00e+00   0.00e+00  1.00e+04        0    1.17e+01    1.18e+01
I0120 18:31:49.985548 2710905792 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0120 18:31:49.985994 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0120 18:32:02.015316 2710905792 callbacks.cc:105]    1  4.987968e+03    1.32e+03    3.88e+04   2.70e+01   9.99e-01  3.00e+04        1    1.20e+01    2.38e+01
I0120 18:32:13.792434 2710905792 callbacks.cc:105]    2  4.987320e+03    6.48e-01    1.33e+02   2.49e+00   1.00e+00  9.00e+04        1    1.18e+01    3.56e+01
I0120 18:32:14.069453 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.778970e-07 <= 1.000000e-06
I0120 18:32:14.099294 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28274
Parameters                             113121                   113121
Effective parameters                   113115                   113115
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11             28262, 1, 11

Cost:
Initial                          6.304606e+03
Final                            4.987320e+03
Change                           1.317286e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0707

  Residual evaluation                  0.4379
  Jacobian evaluation                 34.9469
  Linear solver                        0.3585
Minimizer                             35.8071

Postprocessor                          0.0049
Total                                 35.8827

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.778970e-07 <= 1.000000e-06)
I0120 18:32:14.626914 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.VariableIntrinsics (269462 ms)
[ RUN      ] IncrementalReconstructionEstimator.InitializedReconstruction
I0120 18:32:18.999668 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 10 with 5004 inliers out of 5005 2D-3D matches.
I0120 18:32:19.101130 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:32:20.683462 2710905792 estimate_track.cc:196] 2485 tracks were estimated of 2485 possible tracks.
I0120 18:32:20.685314 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:32:20.844198 2710905792 block_sparse_matrix.cc:80] Allocating values array with 6750240 bytes.
I0120 18:32:25.621948 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.037990e+03    0.00e+00    5.45e+05   0.00e+00   0.00e+00  1.00e+04        0    4.78e+00    4.80e+00
I0120 18:32:25.624476 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:32:25.624498 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:32:30.658774 2710905792 callbacks.cc:105]    1  1.552995e+03    4.85e+02    1.05e+03   3.06e+00   1.00e+00  3.00e+04        1    5.04e+00    9.84e+00
I0120 18:32:35.880450 2710905792 callbacks.cc:105]    2  1.552940e+03    5.57e-02    2.55e+01   3.34e-01   1.00e+00  9.00e+04        1    5.22e+00    1.51e+01
I0120 18:32:36.013685 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.911397e-08 <= 1.000000e-06
I0120 18:32:36.022621 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        14302                    14295
Parameters                              57233                    57190
Residual blocks                         42189                    42189
Residual                                84378                    84378

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            14290, 1, 5                 14290, 5

Cost:
Initial                          2.037990e+03
Final                            1.552940e+03
Change                           4.850500e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0236

  Residual evaluation                  0.1997
  Jacobian evaluation                 14.7574
  Linear solver                        0.1881
Minimizer                             15.1707

Postprocessor                          0.0018
Total                                 15.1961

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.911397e-08 <= 1.000000e-06)
I0120 18:32:36.291973 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:32:40.210664 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 5065 inliers out of 5070 2D-3D matches.
I0120 18:32:40.328718 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:32:42.019094 2710905792 estimate_track.cc:196] 2611 tracks were estimated of 2611 possible tracks.
I0120 18:32:42.020830 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:32:42.230702 2710905792 block_sparse_matrix.cc:80] Allocating values array with 8396960 bytes.
I0120 18:32:48.284718 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.184444e+03    0.00e+00    2.19e+06   0.00e+00   0.00e+00  1.00e+04        0    6.05e+00    6.09e+00
I0120 18:32:48.287732 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:32:48.287746 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:32:54.535509 2710905792 callbacks.cc:105]    1  2.109520e+03    1.07e+03    1.85e+03   5.06e+00   1.00e+00  3.00e+04        1    6.25e+00    1.23e+01
I0120 18:33:00.765761 2710905792 callbacks.cc:105]    2  2.109489e+03    3.08e-02    1.65e+01   9.93e-02   1.00e+00  9.00e+04        1    6.23e+00    1.86e+01
I0120 18:33:00.922979 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 5.931770e-09 <= 1.000000e-06
I0120 18:33:00.934834 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        16913                    16907
Parameters                              67677                    67640
Residual blocks                         52481                    52481
Residual                               104962                   104962

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            16901, 1, 6                 16901, 6

Cost:
Initial                          3.184444e+03
Final                            2.109489e+03
Change                           1.074955e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0311

  Residual evaluation                  0.2259
  Jacobian evaluation                 18.2066
  Linear solver                        0.2304
Minimizer                             18.6928

Postprocessor                          0.0017
Total                                 18.7257

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.931770e-09 <= 1.000000e-06)
I0120 18:33:01.238762 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:33:04.911723 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4925 inliers out of 4936 2D-3D matches.
I0120 18:33:05.024837 2710905792 reconstruction_estimator_utils.cc:349] 1 points were removed because of bad reprojection errors. 0 points were removed because they had insufficient viewing angles and were poorly constrained.
I0120 18:33:05.024878 2710905792 incremental_reconstruction_estimator.cc:552] 1 outlier points were removed.
I0120 18:33:06.797749 2710905792 estimate_track.cc:196] 2765 tracks were estimated of 2765 possible tracks.
I0120 18:33:06.799613 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:33:07.055526 2710905792 block_sparse_matrix.cc:80] Allocating values array with 10071200 bytes.
I0120 18:33:14.343796 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.872333e+03    0.00e+00    3.72e+06   0.00e+00   0.00e+00  1.00e+04        0    7.29e+00    7.33e+00
I0120 18:33:14.346813 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:33:14.346829 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:33:21.844151 2710905792 callbacks.cc:105]    1  2.759961e+03    1.11e+03    4.04e+03   5.17e+00   1.00e+00  3.00e+04        1    7.50e+00    1.48e+01
I0120 18:33:29.560194 2710905792 callbacks.cc:105]    2  2.759938e+03    2.28e-02    2.73e+01   8.66e-02   1.00e+00  9.00e+04        1    7.72e+00    2.25e+01
I0120 18:33:29.742702 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.757896e-09 <= 1.000000e-06
I0120 18:33:29.757532 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19677                    19672
Parameters                              78733                    78702
Residual blocks                         62945                    62945
Residual                               125890                   125890

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19665, 1, 7                 19665, 7

Cost:
Initial                          3.872333e+03
Final                            2.759938e+03
Change                           1.112395e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0403

  Residual evaluation                  0.2670
  Jacobian evaluation                 22.1033
  Linear solver                        0.2806
Minimizer                             22.6888

Postprocessor                          0.0025
Total                                 22.7317

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.757896e-09 <= 1.000000e-06)
I0120 18:33:30.122453 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:33:33.502918 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 4517 inliers out of 4527 2D-3D matches.
I0120 18:33:33.617290 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:33:35.161558 2710905792 estimate_track.cc:196] 2448 tracks were estimated of 2448 possible tracks.
I0120 18:33:35.163424 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:33:35.474534 2710905792 block_sparse_matrix.cc:80] Allocating values array with 11578880 bytes.
I0120 18:33:43.837043 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.596280e+03    0.00e+00    2.28e+06   0.00e+00   0.00e+00  1.00e+04        0    8.36e+00    8.42e+00
I0120 18:33:43.840626 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:33:43.840644 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:33:52.392555 2710905792 callbacks.cc:105]    1  3.416166e+03    1.18e+03    1.55e+03   5.27e+00   1.00e+00  3.00e+04        1    8.56e+00    1.70e+01
I0120 18:34:00.982462 2710905792 callbacks.cc:105]    2  3.416131e+03    3.56e-02    1.94e+01   1.78e-01   1.00e+00  9.00e+04        1    8.59e+00    2.56e+01
I0120 18:34:01.191761 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.268476e-08 <= 1.000000e-06
I0120 18:34:01.210979 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22125                    22121
Parameters                              88525                    88500
Residual blocks                         72368                    72368
Residual                               144736                   144736

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22113, 1, 8                 22113, 8

Cost:
Initial                          4.596280e+03
Final                            3.416131e+03
Change                           1.180149e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0558

  Residual evaluation                  0.3119
  Jacobian evaluation                 25.0404
  Linear solver                        0.3250
Minimizer                             25.7191

Postprocessor                          0.0026
Total                                 25.7774

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.268476e-08 <= 1.000000e-06)
I0120 18:34:01.632139 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:34:04.320013 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 3296 inliers out of 3312 2D-3D matches.
I0120 18:34:04.402647 2710905792 reconstruction_estimator_utils.cc:349] 1 points were removed because of bad reprojection errors. 0 points were removed because they had insufficient viewing angles and were poorly constrained.
I0120 18:34:04.402680 2710905792 incremental_reconstruction_estimator.cc:552] 1 outlier points were removed.
I0120 18:34:05.705381 2710905792 estimate_track.cc:196] 1952 tracks were estimated of 1952 possible tracks.
I0120 18:34:05.707837 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:34:06.057400 2710905792 block_sparse_matrix.cc:80] Allocating values array with 12733120 bytes.
I0120 18:34:15.576426 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.646807e+03    0.00e+00    4.02e+06   0.00e+00   0.00e+00  1.00e+04        0    9.52e+00    9.58e+00
I0120 18:34:15.579932 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:34:15.579947 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:34:25.419739 2710905792 callbacks.cc:105]    1  4.030687e+03    1.62e+03    3.85e+03   5.74e+00   1.00e+00  3.00e+04        1    9.84e+00    1.94e+01
I0120 18:34:35.000602 2710905792 callbacks.cc:105]    2  4.030676e+03    1.11e-02    1.07e+01   4.87e-02   1.00e+00  9.00e+04        1    9.58e+00    2.90e+01
I0120 18:34:35.228046 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 5.308613e-10 <= 1.000000e-06
I0120 18:34:35.247444 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24076                    24073
Parameters                              96329                    96310
Residual blocks                         79582                    79582
Residual                               159164                   159164

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24064, 1, 9                 24064, 9

Cost:
Initial                          5.646807e+03
Final                            4.030676e+03
Change                           1.616131e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0590

  Residual evaluation                  0.3641
  Jacobian evaluation                 28.4125
  Linear solver                        0.3513
Minimizer                             29.1728

Postprocessor                          0.0034
Total                                 29.2351

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.308613e-10 <= 1.000000e-06)
I0120 18:34:35.706919 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:34:38.229086 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 6 with 3253 inliers out of 3260 2D-3D matches.
I0120 18:34:38.308926 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:34:39.934882 2710905792 estimate_track.cc:196] 2453 tracks were estimated of 2453 possible tracks.
I0120 18:34:39.936671 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:34:40.299877 2710905792 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0120 18:34:50.883922 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.909977e+03    0.00e+00    3.95e+06   0.00e+00   0.00e+00  1.00e+04        0    1.06e+01    1.06e+01
I0120 18:34:50.887341 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:34:50.887356 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:35:01.964365 2710905792 callbacks.cc:105]    1  4.546196e+03    1.36e+03    9.13e+03   6.79e+00   1.00e+00  3.00e+04        1    1.11e+01    2.17e+01
I0120 18:35:12.905071 2710905792 callbacks.cc:105]    2  4.545906e+03    2.90e-01    1.23e+02   6.11e-01   1.00e+00  9.00e+04        1    1.09e+01    3.27e+01
I0120 18:35:13.162796 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 5.507195e-08 <= 1.000000e-06
I0120 18:35:13.182785 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.909977e+03
Final                            4.545906e+03
Change                           1.364070e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0612

  Residual evaluation                  0.3864
  Jacobian evaluation                 32.0409
  Linear solver                        0.3894
Minimizer                             32.8646

Postprocessor                          0.0037
Total                                 32.9295

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.507195e-08 <= 1.000000e-06)
I0120 18:35:13.725507 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:35:15.776563 2710905792 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2559 inliers out of 2562 2D-3D matches.
I0120 18:35:15.833020 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0120 18:35:17.000705 2710905792 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0120 18:35:17.002524 2710905792 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0120 18:35:17.408349 2710905792 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0120 18:35:28.495329 2710905792 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.654671e+03    0.00e+00    4.77e+05   0.00e+00   0.00e+00  1.00e+04        0    1.11e+01    1.12e+01
I0120 18:35:28.499225 2710905792 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0120 18:35:28.499238 2710905792 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0120 18:35:40.044841 2710905792 callbacks.cc:105]    1  4.988051e+03    6.67e+02    2.84e+03   3.74e+00   1.00e+00  3.00e+04        1    1.15e+01    2.27e+01
I0120 18:35:51.642704 2710905792 callbacks.cc:105]    2  4.988044e+03    7.00e-03    9.62e+00   1.70e-01   1.00e+00  9.00e+04        1    1.16e+01    3.43e+01
I0120 18:35:51.925621 2710905792 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.741861e-10 <= 1.000000e-06
I0120 18:35:51.948014 2710905792 bundle_adjustment.cc:392] 
Solver Summary (v 1.12.0-eigen-(3.3.1)-lapack-suitesparse-(4.5.3)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.654671e+03
Final                            4.988044e+03
Change                           6.666272e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0660

  Residual evaluation                  0.4062
  Jacobian evaluation                 33.6657
  Linear solver                        0.3962
Minimizer                             34.5189

Postprocessor                          0.0042
Total                                 34.5892

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.741861e-10 <= 1.000000e-06)
I0120 18:35:52.543351 2710905792 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.InitializedReconstruction (217932 ms)
[----------] 4 tests from IncrementalReconstructionEstimator (967528 ms total)

[----------] Global test environment tear-down
[==========] 4 tests from 1 test case ran. (967528 ms total)
[  PASSED  ] 4 tests.
Mikes-MacBook-Pro:BUILD mike$ 
sweeneychris commented 7 years ago

Does it still work in debug mode if you use multiple threads? You may have to manually set that in the unit test file.

mikeroberts3000 commented 7 years ago

Not sure, but can't spend any more time debugging this right now. Will try to come back to this when I have some downtime. Thanks for your help :)

nakini commented 7 years ago

Hello Everyone,

I am facing the same issue while building theia. I did try the Debug mode but the results were the same. So, I run the debugger and got the output after following the instruction related to "lldb". I have attached the output here -- lldb.txt. Along with that, I have also attached my cmake cache here -- CMakeCache.txt.

Any help is much appreciated.

Thank you.

sweeneychris commented 7 years ago

@nakini I do not think you compiled Theia in debug mode, otherwise the stack trace would be showing which lines of execution are causing your failure. I will try to investigate this further since multiple users are having issues.

nakini commented 7 years ago

Thanks for your quick reply, @sweeneychris. I was thinking the same and expecting something similar to @mikeroberts3000's debug-output. But I didn't get that. So, I removed all the files in the "theia-build" directory and ran the following commands again to build it from scratch. But no luck.

I am not sure where I am doing something wrong.

Thank you...

luketaverne commented 7 years ago

I'm also having the same issues on a 2013 MBP running Sierra. When running with gcc (alias for clang), I get:

90% tests passed, 9 tests failed out of 93

Total Test time (real) =  37.19 sec

The following tests FAILED:
     13 - find_polynomial_roots_jenkins_traub_test (Failed)
     26 - fov_camera_model_test (Failed)
     41 - extract_maximally_parallel_rigid_subgraph_test (SEGFAULT)
     44 - filter_view_pairs_from_relative_translation_test (SEGFAULT)
     48 - least_unsquared_deviation_position_estimator_test (Failed)
     57 - incremental_reconstruction_estimator_test (SEGFAULT)
     66 - fundamental_matrix_util_test (Failed)
     80 - twoview_info_test (SEGFAULT)
     87 - evsac_test (OTHER_FAULT)
Errors while running CTest
make: *** [test] Error 8

Rebuilding with cmake in debug mode as you told @mikeroberts3000, and then make, yields the same output. I've tried doing this with g++-6 installed with homebrew, but I get other errors doing this so stuck with clang.

Output from the incremental reconstruction estimator (SEGFAULT) lldb -- ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2

luke@public-docking-als-2-0132:~/Documents/Programming/TheiaSfM/theia-build|master⚡
⇒  lldb -- ./bin/incremental_reconstruction_estimator_test --logtostderr --v=2
(lldb) target create "./bin/incremental_reconstruction_estimator_test"
Current executable set to './bin/incremental_reconstruction_estimator_test' (x86_64).
(lldb) settings set -- target.run-args  "--logtostderr" "--v=2"
(lldb) run
Process 54890 launched: './bin/incremental_reconstruction_estimator_test' (x86_64)
I0327 13:51:05.007484 2090958848 test_main.cc:48] Running tests with logs enabled.
[==========] Running 4 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 4 tests from IncrementalReconstructionEstimator
[ RUN      ] IncrementalReconstructionEstimator.BasicTest
I0327 13:51:07.137856 2090958848 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0327 13:51:07.976718 2090958848 estimate_track.cc:196] 139 tracks were estimated of 692 possible tracks.
I0327 13:51:07.983389 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:51:08.008813 2090958848 block_sparse_matrix.cc:80] Allocating values array with 44480 bytes.
I0327 13:51:08.059114 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.710883e+03    0.00e+00    1.10e+05   0.00e+00   0.00e+00  1.00e+04        0    5.02e-02    5.05e-02
I0327 13:51:08.059265 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:51:08.059360 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:51:08.109974 2090958848 callbacks.cc:105]    1  1.771700e+03    1.94e+03    1.79e+06   3.86e+01   5.55e-01  1.00e+04        1    5.08e-02    1.01e-01
I0327 13:51:08.156752 2090958848 callbacks.cc:105]    2  1.649166e+02    1.61e+03    6.60e+04   2.03e+01   9.97e-01  3.00e+04        1    4.67e-02    1.48e-01
I0327 13:51:08.210052 2090958848 callbacks.cc:105]    3  1.564715e+02    8.45e+00    2.57e+05   3.89e+01   9.46e-02  1.96e+04        1    5.32e-02    2.01e-01
I0327 13:51:08.260897 2090958848 callbacks.cc:105]    4  5.371708e+01    1.03e+02    6.26e+04   1.78e+01   9.63e-01  5.88e+04        1    5.06e-02    2.52e-01
I0327 13:51:08.312587 2090958848 callbacks.cc:105]    5  4.564226e+01    8.07e+00    1.46e+05   2.71e+01   2.61e-01  5.30e+04        1    5.16e-02    3.04e-01
I0327 13:51:08.373491 2090958848 callbacks.cc:105]    6  1.722533e+01    2.84e+01    3.70e+04   1.30e+01   9.55e-01  1.59e+05        1    6.08e-02    3.65e-01
I0327 13:51:08.459257 2090958848 callbacks.cc:105]    7  1.381232e+01    3.41e+00    3.05e+04   1.17e+01   7.86e-01  1.95e+05        1    8.57e-02    4.51e-01
I0327 13:51:08.514780 2090958848 callbacks.cc:105]    8  1.260141e+01    1.21e+00    3.37e+03   3.82e+00   9.91e-01  5.86e+05        1    5.55e-02    5.06e-01
I0327 13:51:08.586863 2090958848 callbacks.cc:105]    9  1.256734e+01    3.41e-02    3.70e+02   1.26e+00   9.96e-01  1.76e+06        1    7.18e-02    5.78e-01
I0327 13:51:08.647531 2090958848 callbacks.cc:105]   10  1.256692e+01    4.23e-04    5.35e+00   1.51e-01   1.00e+00  5.28e+06        1    6.06e-02    6.39e-01
I0327 13:51:08.648665 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.984144e-08 <= 1.000000e-06
I0327 13:51:08.649003 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          151                      141
Parameters                                629                      568
Residual blocks                           278                      278
Residual                                  556                      556

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              139, 1, 2                   139, 2

Cost:
Initial                          3.710883e+03
Final                            1.256692e+01
Change                           3.698316e+03

Minimizer iterations                       11
Successful steps                           11
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0003

  Residual evaluation                  0.0071
  Jacobian evaluation                  0.6141
  Linear solver                        0.0159
Minimizer                              0.6400

Postprocessor                          0.0000
Total                                  0.6403

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.984144e-08 <= 1.000000e-06)
I0327 13:51:08.686213 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:08.871709 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 126 inliers out of 126 2D-3D matches.
I0327 13:51:08.878412 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:13.990705 2090958848 estimate_track.cc:196] 5720 tracks were estimated of 5720 possible tracks.
I0327 13:51:13.993201 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:51:14.086135 2090958848 block_sparse_matrix.cc:80] Allocating values array with 1975680 bytes.
I0327 13:51:16.209503 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.301121e+03    0.00e+00    2.46e+06   0.00e+00   0.00e+00  1.00e+04        0    2.12e+00    2.13e+00
I0327 13:51:16.210628 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:51:16.210654 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:51:18.123694 2090958848 callbacks.cc:105]    1  3.398013e+02    9.61e+02    3.03e+04   2.17e+01   1.00e+00  3.00e+04        1    1.91e+00    4.05e+00
I0327 13:51:20.044600 2090958848 callbacks.cc:105]    2  3.358922e+02    3.91e+00    1.38e+03   2.55e+00   1.00e+00  9.00e+04        1    1.92e+00    5.97e+00
I0327 13:51:21.977859 2090958848 callbacks.cc:105]    3  3.358753e+02    1.70e-02    1.19e+01   1.88e-01   1.00e+00  2.70e+05        1    1.93e+00    7.90e+00
I0327 13:51:22.029798 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.067360e-08 <= 1.000000e-06
I0327 13:51:22.034518 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         5871                     5862
Parameters                              23509                    23454
Residual blocks                         12348                    12348
Residual                                24696                    24696

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             5859, 1, 3                  5859, 3

Cost:
Initial                          1.301121e+03
Final                            3.358753e+02
Change                           9.652462e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0094

  Residual evaluation                  0.1115
  Jacobian evaluation                  7.7227
  Linear solver                        0.0955
Minimizer                              7.9454

Postprocessor                          0.0011
Total                                  7.9559

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.067360e-08 <= 1.000000e-06)
I0327 13:51:22.159179 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:25.930001 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 3452 inliers out of 3454 2D-3D matches.
I0327 13:51:26.012301 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:29.342118 2090958848 estimate_track.cc:196] 3581 tracks were estimated of 3581 possible tracks.
I0327 13:51:29.344372 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:51:29.490211 2090958848 block_sparse_matrix.cc:80] Allocating values array with 3674240 bytes.
I0327 13:51:32.949844 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.696097e+03    0.00e+00    1.35e+06   0.00e+00   0.00e+00  1.00e+04        0    3.46e+00    3.48e+00
I0327 13:51:32.952096 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:51:32.952131 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:51:36.695868 2090958848 callbacks.cc:105]    1  8.525008e+02    8.44e+02    4.89e+03   1.12e+01   1.00e+00  3.00e+04        1    3.75e+00    7.23e+00
I0327 13:51:40.390729 2090958848 callbacks.cc:105]    2  8.523807e+02    1.20e-01    4.32e+01   6.30e-01   1.00e+00  9.00e+04        1    3.69e+00    1.09e+01
I0327 13:51:40.493500 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 4.241857e-08 <= 1.000000e-06
I0327 13:51:40.500710 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9444
Parameters                              37833                    37784
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4                  9440, 4

Cost:
Initial                          1.696097e+03
Final                            8.523807e+02
Change                           8.437168e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0229

  Residual evaluation                  0.1379
  Jacobian evaluation                 10.7039
  Linear solver                        0.1444
Minimizer                             11.0041

Postprocessor                          0.0014
Total                                 11.0284

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.241857e-08 <= 1.000000e-06)
I0327 13:51:40.704833 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:46.272282 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4840 inliers out of 4844 2D-3D matches.
I0327 13:51:46.402068 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:51:49.764359 2090958848 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0327 13:51:49.768021 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:51:50.000941 2090958848 block_sparse_matrix.cc:80] Allocating values array with 5686720 bytes.
I0327 13:51:55.783347 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.732437e+03    0.00e+00    8.11e+06   0.00e+00   0.00e+00  1.00e+04        0    5.78e+00    5.83e+00
I0327 13:51:55.785841 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:51:55.785871 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:52:02.354121 2090958848 callbacks.cc:105]    1  1.419658e+03    1.31e+03    1.04e+03   1.14e+01   1.00e+00  3.00e+04        1    6.57e+00    1.24e+01
I0327 13:52:08.358047 2090958848 callbacks.cc:105]    2  1.419639e+03    1.85e-02    1.52e+01   2.67e-01   1.00e+00  9.00e+04        1    6.00e+00    1.84e+01
I0327 13:52:08.508363 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.246965e-08 <= 1.000000e-06
I0327 13:52:08.521914 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13312
Parameters                              53301                    53258
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5                 13307, 5

Cost:
Initial                          2.732437e+03
Final                            1.419639e+03
Change                           1.312798e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0460

  Residual evaluation                  0.2291
  Jacobian evaluation                 18.0090
  Linear solver                        0.2440
Minimizer                             18.5088

Postprocessor                          0.0024
Total                                 18.5572

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.246965e-08 <= 1.000000e-06)
I0327 13:52:08.871251 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:52:16.375653 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6097 inliers out of 6100 2D-3D matches.
I0327 13:52:16.554539 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:52:20.122100 2090958848 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0327 13:52:20.125385 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:52:20.443943 2090958848 block_sparse_matrix.cc:80] Allocating values array with 7886720 bytes.
I0327 13:52:28.632905 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.656754e+03    0.00e+00    3.90e+06   0.00e+00   0.00e+00  1.00e+04        0    8.19e+00    8.25e+00
I0327 13:52:28.635947 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:52:28.635975 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:52:37.356711 2090958848 callbacks.cc:105]    1  2.030505e+03    6.26e+02    7.33e+02   3.83e+00   1.00e+00  3.00e+04        1    8.72e+00    1.70e+01
I0327 13:52:46.012624 2090958848 callbacks.cc:105]    2  2.030471e+03    3.40e-02    1.71e+01   2.12e-01   1.00e+00  9.00e+04        1    8.66e+00    2.56e+01
I0327 13:52:46.304077 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.303842e-08 <= 1.000000e-06
I0327 13:52:46.332415 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17138
Parameters                              68601                    68564
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6                 17132, 6

Cost:
Initial                          2.656754e+03
Final                            2.030471e+03
Change                           6.262831e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0620

  Residual evaluation                  0.3593
  Jacobian evaluation                 25.0929
  Linear solver                        0.3654
Minimizer                             25.8663

Postprocessor                          0.0052
Total                                 25.9335

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.303842e-08 <= 1.000000e-06)
I0327 13:52:46.924006 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:52:52.675199 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0327 13:52:52.836872 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:52:55.249032 2090958848 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0327 13:52:55.252615 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:52:55.649704 2090958848 block_sparse_matrix.cc:80] Allocating values array with 9480480 bytes.
I0327 13:53:05.396967 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.567612e+03    0.00e+00    2.73e+06   0.00e+00   0.00e+00  1.00e+04        0    9.75e+00    9.83e+00
I0327 13:53:05.400818 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:53:05.400861 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:53:15.177083 2090958848 callbacks.cc:105]    1  2.602701e+03    9.65e+02    3.60e+03   2.96e+00   1.00e+00  3.00e+04        1    9.78e+00    1.96e+01
I0327 13:53:24.915951 2090958848 callbacks.cc:105]    2  2.602662e+03    3.97e-02    2.00e+01   1.16e-01   1.00e+00  9.00e+04        1    9.74e+00    2.93e+01
I0327 13:53:25.162346 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.730423e-09 <= 1.000000e-06
I0327 13:53:25.184001 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19725
Parameters                              78945                    78914
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7                 19718, 7

Cost:
Initial                          3.567612e+03
Final                            2.602662e+03
Change                           9.649498e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0793

  Residual evaluation                  0.3763
  Jacobian evaluation                 28.7167
  Linear solver                        0.3799
Minimizer                             29.5150

Postprocessor                          0.0039
Total                                 29.5983

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.730423e-09 <= 1.000000e-06)
I0327 13:53:25.701575 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:53:31.507660 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5060 inliers out of 5067 2D-3D matches.
I0327 13:53:31.674080 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:53:33.999593 2090958848 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0327 13:53:34.001690 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:53:34.442414 2090958848 block_sparse_matrix.cc:80] Allocating values array with 11146240 bytes.
I0327 13:53:46.082934 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.112620e+03    0.00e+00    1.10e+06   0.00e+00   0.00e+00  1.00e+04        0    1.16e+01    1.17e+01
I0327 13:53:46.087362 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:53:46.087399 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:53:57.482025 2090958848 callbacks.cc:105]    1  3.230979e+03    8.82e+02    6.33e+02   2.30e+00   1.00e+00  3.00e+04        1    1.14e+01    2.31e+01
I0327 13:54:08.942086 2090958848 callbacks.cc:105]    2  3.230975e+03    3.79e-03    6.02e+00   3.79e-02   1.00e+00  9.00e+04        1    1.15e+01    3.46e+01
I0327 13:54:09.241230 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.749777e-10 <= 1.000000e-06
I0327 13:54:09.276407 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22398
Parameters                              89633                    89608
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8                 22390, 8

Cost:
Initial                          4.112620e+03
Final                            3.230975e+03
Change                           8.816450e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0929

  Residual evaluation                  0.4369
  Jacobian evaluation                 33.8552
  Linear solver                        0.4602
Minimizer                             34.8013

Postprocessor                          0.0046
Total                                 34.8988

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.749777e-10 <= 1.000000e-06)
I0327 13:54:09.890693 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:54:16.161455 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5373 inliers out of 5379 2D-3D matches.
I0327 13:54:16.354681 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:54:18.372599 2090958848 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0327 13:54:18.375844 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:54:18.878177 2090958848 block_sparse_matrix.cc:80] Allocating values array with 12731360 bytes.
I0327 13:54:31.718536 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.820638e+03    0.00e+00    2.70e+06   0.00e+00   0.00e+00  1.00e+04        0    1.28e+01    1.29e+01
I0327 13:54:31.724017 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:54:31.724051 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:54:44.964691 2090958848 callbacks.cc:105]    1  3.897136e+03    9.24e+02    7.43e+03   6.44e+00   1.00e+00  3.00e+04        1    1.32e+01    2.62e+01
I0327 13:54:59.093396 2090958848 callbacks.cc:105]    2  3.897069e+03    6.74e-02    5.42e+01   2.71e-01   1.00e+00  9.00e+04        1    1.41e+01    4.03e+01
I0327 13:54:59.441723 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.059399e-08 <= 1.000000e-06
I0327 13:54:59.481246 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24663
Parameters                              98689                    98670
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9                 24654, 9

Cost:
Initial                          4.820638e+03
Final                            3.897069e+03
Change                           9.235688e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1071

  Residual evaluation                  0.5158
  Jacobian evaluation                 39.4851
  Linear solver                        0.5054
Minimizer                             40.5664

Postprocessor                          0.0054
Total                                 40.6788

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.059399e-08 <= 1.000000e-06)
I0327 13:55:00.230602 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:55:05.793391 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4442 inliers out of 4451 2D-3D matches.
I0327 13:55:05.985440 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:55:07.729272 2090958848 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0327 13:55:07.732659 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:55:08.282624 2090958848 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0327 13:55:23.542130 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.267303e+03    0.00e+00    6.86e+05   0.00e+00   0.00e+00  1.00e+04        0    1.53e+01    1.54e+01
I0327 13:55:23.553596 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:55:23.553642 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:55:38.223500 2090958848 callbacks.cc:105]    1  4.545926e+03    7.21e+02    3.22e+03   6.82e+00   1.00e+00  3.00e+04        1    1.47e+01    3.01e+01
I0327 13:55:53.559031 2090958848 callbacks.cc:105]    2  4.545906e+03    1.96e-02    2.63e+01   2.12e-01   1.00e+00  9.00e+04        1    1.53e+01    4.54e+01
I0327 13:55:54.008994 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.621588e-09 <= 1.000000e-06
I0327 13:55:54.044322 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.267303e+03
Final                            4.545906e+03
Change                           7.213971e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1176

  Residual evaluation                  0.5702
  Jacobian evaluation                 44.4697
  Linear solver                        0.6175
Minimizer                             45.7307

Postprocessor                          0.0080
Total                                 45.8562

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.621588e-09 <= 1.000000e-06)
I0327 13:55:54.894418 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:55:58.303216 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2559 inliers out of 2562 2D-3D matches.
I0327 13:55:58.529157 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:56:00.242453 2090958848 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0327 13:56:00.245112 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:56:00.790058 2090958848 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0327 13:56:14.875715 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.835004e+03    0.00e+00    1.69e+06   0.00e+00   0.00e+00  1.00e+04        0    1.41e+01    1.42e+01
I0327 13:56:14.883081 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:56:14.883116 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:56:29.398118 2090958848 callbacks.cc:105]    1  4.988047e+03    8.47e+02    1.37e+03   5.83e+00   1.00e+00  3.00e+04        1    1.45e+01    2.87e+01
I0327 13:56:29.767408 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.438366e-07 <= 1.000000e-06
I0327 13:56:29.807132 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.835004e+03
Final                            4.988047e+03
Change                           8.469567e+02

Minimizer iterations                        2
Successful steps                            2
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1170

  Residual evaluation                  0.3731
  Jacobian evaluation                 28.1540
  Linear solver                        0.4023
Minimizer                             28.9829

Postprocessor                          0.0080
Total                                 29.1079

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.438366e-07 <= 1.000000e-06)
I0327 13:56:30.517153 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.BasicTest (325742 ms)
[ RUN      ] IncrementalReconstructionEstimator.RobustCostFunction
I0327 13:56:33.680452 2090958848 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0327 13:56:36.280838 2090958848 estimate_track.cc:196] 138 tracks were estimated of 692 possible tracks.
I0327 13:56:36.289738 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:56:36.310475 2090958848 block_sparse_matrix.cc:80] Allocating values array with 44160 bytes.
I0327 13:56:36.359864 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.604919e+03    0.00e+00    1.38e+05   0.00e+00   0.00e+00  1.00e+04        0    4.93e-02    4.95e-02
I0327 13:56:36.360018 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:56:36.360040 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:56:36.406182 2090958848 callbacks.cc:105]    1  1.771847e+03    1.83e+03    1.78e+06   3.87e+01   5.52e-01  1.00e+04        1    4.62e-02    9.58e-02
I0327 13:56:36.454515 2090958848 callbacks.cc:105]    2  1.642497e+02    1.61e+03    6.57e+04   2.04e+01   9.97e-01  3.00e+04        1    4.82e-02    1.44e-01
I0327 13:56:36.502917 2090958848 callbacks.cc:105]    3  1.559185e+02    8.33e+00    2.54e+05   3.89e+01   9.34e-02  1.95e+04        1    4.82e-02    1.92e-01
I0327 13:56:36.553257 2090958848 callbacks.cc:105]    4  5.322929e+01    1.03e+02    6.17e+04   1.77e+01   9.63e-01  5.86e+04        1    5.03e-02    2.43e-01
I0327 13:56:36.602468 2090958848 callbacks.cc:105]    5  4.499974e+01    8.23e+00    1.43e+05   2.69e+01   2.68e-01  5.33e+04        1    4.91e-02    2.92e-01
I0327 13:56:36.651913 2090958848 callbacks.cc:105]    6  1.705602e+01    2.79e+01    3.67e+04   1.30e+01   9.54e-01  1.60e+05        1    4.94e-02    3.42e-01
I0327 13:56:36.699450 2090958848 callbacks.cc:105]    7  1.367254e+01    3.38e+00    2.97e+04   1.16e+01   7.90e-01  1.99e+05        1    4.75e-02    3.89e-01
I0327 13:56:36.748318 2090958848 callbacks.cc:105]    8  1.250244e+01    1.17e+00    3.25e+03   3.76e+00   9.91e-01  5.96e+05        1    4.88e-02    4.38e-01
I0327 13:56:36.797191 2090958848 callbacks.cc:105]    9  1.247044e+01    3.20e-02    3.43e+02   1.22e+00   9.96e-01  1.79e+06        1    4.88e-02    4.87e-01
I0327 13:56:36.846356 2090958848 callbacks.cc:105]   10  1.247006e+01    3.79e-04    4.78e+00   1.43e-01   1.00e+00  5.36e+06        1    4.91e-02    5.36e-01
I0327 13:56:36.847311 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.534299e-08 <= 1.000000e-06
I0327 13:56:36.847407 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          150                      140
Parameters                                625                      564
Residual blocks                           276                      276
Residual                                  552                      552

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              138, 1, 2                   138, 2

Cost:
Initial                          3.604919e+03
Final                            1.247006e+01
Change                           3.592449e+03

Minimizer iterations                       11
Successful steps                           11
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0002

  Residual evaluation                  0.0062
  Jacobian evaluation                  0.5215
  Linear solver                        0.0072
Minimizer                              0.5368

Postprocessor                          0.0000
Total                                  0.5370

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.534299e-08 <= 1.000000e-06)
I0327 13:56:36.867802 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:56:37.063522 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 125 inliers out of 125 2D-3D matches.
I0327 13:56:37.069993 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:56:41.972517 2090958848 estimate_track.cc:196] 5721 tracks were estimated of 5721 possible tracks.
I0327 13:56:41.975854 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:56:42.074039 2090958848 block_sparse_matrix.cc:80] Allocating values array with 1975680 bytes.
I0327 13:56:43.942517 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.123486e+03    0.00e+00    4.01e+06   0.00e+00   0.00e+00  1.00e+04        0    1.87e+00    1.88e+00
I0327 13:56:43.943387 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:56:43.943410 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:56:45.871170 2090958848 callbacks.cc:105]    1  3.375797e+02    1.79e+03    4.23e+04   2.17e+01   1.00e+00  3.00e+04        1    1.93e+00    3.81e+00
I0327 13:56:47.830229 2090958848 callbacks.cc:105]    2  3.358811e+02    1.70e+00    6.27e+02   2.34e+00   1.00e+00  9.00e+04        1    1.96e+00    5.77e+00
I0327 13:56:49.773102 2090958848 callbacks.cc:105]    3  3.358752e+02    5.84e-03    5.96e+00   1.37e-01   1.00e+00  2.70e+05        1    1.94e+00    7.71e+00
I0327 13:56:49.832438 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.054519e-08 <= 1.000000e-06
I0327 13:56:49.836598 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         5871                     5862
Parameters                              23509                    23454
Residual blocks                         12348                    12348
Residual                                24696                    24696

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             5859, 1, 3                  5859, 3

Cost:
Initial                          2.123486e+03
Final                            3.358752e+02
Change                           1.787611e+03

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0109

  Residual evaluation                  0.1131
  Jacobian evaluation                  7.5278
  Linear solver                        0.1054
Minimizer                              7.7588

Postprocessor                          0.0006
Total                                  7.7703

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.054519e-08 <= 1.000000e-06)
I0327 13:56:49.959985 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:56:53.803627 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 3451 inliers out of 3454 2D-3D matches.
I0327 13:56:53.893196 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:56:56.949826 2090958848 estimate_track.cc:196] 3581 tracks were estimated of 3581 possible tracks.
I0327 13:56:56.951848 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:56:57.112871 2090958848 block_sparse_matrix.cc:80] Allocating values array with 3674240 bytes.
I0327 13:57:00.709978 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.639180e+03    0.00e+00    1.78e+06   0.00e+00   0.00e+00  1.00e+04        0    3.60e+00    3.62e+00
I0327 13:57:00.711613 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:57:00.711642 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:57:04.363533 2090958848 callbacks.cc:105]    1  8.529257e+02    7.86e+02    4.69e+03   8.43e+00   1.03e+00  3.00e+04        1    3.65e+00    7.27e+00
I0327 13:57:08.094646 2090958848 callbacks.cc:105]    2  8.523807e+02    5.45e-01    2.22e+01   4.01e-01   1.00e+00  9.00e+04        1    3.73e+00    1.10e+01
I0327 13:57:08.197577 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.463487e-08 <= 1.000000e-06
I0327 13:57:08.203276 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9444
Parameters                              37833                    37784
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4                  9440, 4

Cost:
Initial                          1.639180e+03
Final                            8.523807e+02
Change                           7.867989e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0212

  Residual evaluation                  0.1413
  Jacobian evaluation                 10.7645
  Linear solver                        0.1619
Minimizer                             11.0853

Postprocessor                          0.0011
Total                                 11.1076

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.463487e-08 <= 1.000000e-06)
I0327 13:57:08.412663 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:57:13.940037 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4841 inliers out of 4844 2D-3D matches.
I0327 13:57:14.071049 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:57:17.446110 2090958848 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0327 13:57:17.448060 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:57:17.688917 2090958848 block_sparse_matrix.cc:80] Allocating values array with 5686720 bytes.
I0327 13:57:23.354640 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.024279e+03    0.00e+00    1.32e+06   0.00e+00   0.00e+00  1.00e+04        0    5.67e+00    5.71e+00
I0327 13:57:23.356933 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:57:23.356987 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:57:29.199323 2090958848 callbacks.cc:105]    1  1.419696e+03    6.05e+02    4.06e+03   4.96e+00   1.00e+00  3.00e+04        1    5.84e+00    1.16e+01
I0327 13:57:35.108147 2090958848 callbacks.cc:105]    2  1.419639e+03    5.64e-02    2.48e+01   4.29e-01   1.00e+00  9.00e+04        1    5.91e+00    1.75e+01
I0327 13:57:35.262091 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.328418e-08 <= 1.000000e-06
I0327 13:57:35.274992 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13312
Parameters                              53301                    53258
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5                 13307, 5

Cost:
Initial                          2.024279e+03
Final                            1.419639e+03
Change                           6.046392e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0438

  Residual evaluation                  0.2176
  Jacobian evaluation                 17.0821
  Linear solver                        0.2484
Minimizer                             17.5743

Postprocessor                          0.0024
Total                                 17.6206

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.328418e-08 <= 1.000000e-06)
I0327 13:57:35.600600 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:57:42.670289 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6096 inliers out of 6100 2D-3D matches.
I0327 13:57:42.850514 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:57:46.246963 2090958848 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0327 13:57:46.249239 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:57:46.565206 2090958848 block_sparse_matrix.cc:80] Allocating values array with 7886720 bytes.
I0327 13:57:54.667527 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.827879e+03    0.00e+00    2.18e+06   0.00e+00   0.00e+00  1.00e+04        0    8.10e+00    8.16e+00
I0327 13:57:54.671056 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:57:54.671088 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:58:02.949745 2090958848 callbacks.cc:105]    1  2.030483e+03    7.97e+02    2.88e+03   4.63e+00   1.00e+00  3.00e+04        1    8.28e+00    1.64e+01
I0327 13:58:11.231366 2090958848 callbacks.cc:105]    2  2.030471e+03    1.15e-02    1.04e+01   6.65e-02   1.00e+00  9.00e+04        1    8.28e+00    2.47e+01
I0327 13:58:11.445173 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.355882e-09 <= 1.000000e-06
I0327 13:58:11.458554 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17138
Parameters                              68601                    68564
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6                 17132, 6

Cost:
Initial                          2.827879e+03
Final                            2.030471e+03
Change                           7.974074e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0614

  Residual evaluation                  0.3074
  Jacobian evaluation                 24.1970
  Linear solver                        0.3422
Minimizer                             24.8814

Postprocessor                          0.0030
Total                                 24.9458

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.355882e-09 <= 1.000000e-06)
I0327 13:58:11.912148 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:58:17.556378 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0327 13:58:17.721096 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:58:20.200158 2090958848 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0327 13:58:20.202163 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:58:20.614686 2090958848 block_sparse_matrix.cc:80] Allocating values array with 9480480 bytes.
I0327 13:58:30.236738 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.377454e+03    0.00e+00    2.14e+06   0.00e+00   0.00e+00  1.00e+04        0    9.62e+00    9.73e+00
I0327 13:58:30.240948 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:58:30.240983 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:58:42.247650 2090958848 callbacks.cc:105]    1  2.602701e+03    7.75e+02    5.17e+03   2.86e+00   1.00e+00  3.00e+04        1    1.20e+01    2.17e+01
I0327 13:58:53.609491 2090958848 callbacks.cc:105]    2  2.602662e+03    3.92e-02    2.02e+01   1.05e-01   1.00e+00  9.00e+04        1    1.14e+01    3.31e+01
I0327 13:58:53.871157 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 6.766756e-09 <= 1.000000e-06
I0327 13:58:53.893843 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19725
Parameters                              78945                    78914
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7                 19718, 7

Cost:
Initial                          3.377454e+03
Final                            2.602662e+03
Change                           7.747919e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1083

  Residual evaluation                  0.3969
  Jacobian evaluation                 32.3825
  Linear solver                        0.4296
Minimizer                             33.2593

Postprocessor                          0.0052
Total                                 33.3728

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.766756e-09 <= 1.000000e-06)
I0327 13:58:54.347270 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:58:59.799757 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5058 inliers out of 5067 2D-3D matches.
I0327 13:58:59.936889 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:59:02.126758 2090958848 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0327 13:59:02.129097 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:59:02.512601 2090958848 block_sparse_matrix.cc:80] Allocating values array with 11146240 bytes.
I0327 13:59:14.679352 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.980079e+03    0.00e+00    2.19e+06   0.00e+00   0.00e+00  1.00e+04        0    1.22e+01    1.22e+01
I0327 13:59:14.685474 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 13:59:14.685521 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 13:59:25.543253 2090958848 callbacks.cc:105]    1  3.231068e+03    1.75e+03    8.98e+03   6.35e+00   1.00e+00  3.00e+04        1    1.09e+01    2.31e+01
I0327 13:59:38.500418 2090958848 callbacks.cc:105]    2  3.230975e+03    9.24e-02    4.89e+01   1.32e-01   1.00e+00  9.00e+04        1    1.30e+01    3.61e+01
I0327 13:59:38.804087 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.110510e-08 <= 1.000000e-06
I0327 13:59:38.841451 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22398
Parameters                              89633                    89608
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8                 22390, 8

Cost:
Initial                          4.980079e+03
Final                            3.230975e+03
Change                           1.749104e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0803

  Residual evaluation                  0.5055
  Jacobian evaluation                 35.2840
  Linear solver                        0.4458
Minimizer                             36.2951

Postprocessor                          0.0067
Total                                 36.3821

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.110510e-08 <= 1.000000e-06)
I0327 13:59:39.965639 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:59:47.684406 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5370 inliers out of 5379 2D-3D matches.
I0327 13:59:47.850066 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 13:59:49.563053 2090958848 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0327 13:59:49.565155 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 13:59:50.007380 2090958848 block_sparse_matrix.cc:80] Allocating values array with 12731360 bytes.
I0327 14:00:04.607601 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.739106e+03    0.00e+00    3.20e+06   0.00e+00   0.00e+00  1.00e+04        0    1.46e+01    1.47e+01
I0327 14:00:04.612141 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:00:04.612195 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:00:17.011423 2090958848 callbacks.cc:105]    1  3.897130e+03    8.42e+02    5.58e+03   8.91e+00   1.00e+00  3.00e+04        1    1.24e+01    2.71e+01
I0327 14:00:29.014137 2090958848 callbacks.cc:105]    2  3.897069e+03    6.15e-02    2.39e+01   1.54e-01   1.00e+00  9.00e+04        1    1.20e+01    3.91e+01
I0327 14:00:29.316876 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 4.834497e-09 <= 1.000000e-06
I0327 14:00:29.349190 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24663
Parameters                              98689                    98670
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9                 24654, 9

Cost:
Initial                          4.739106e+03
Final                            3.897069e+03
Change                           8.420370e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0973

  Residual evaluation                  0.4814
  Jacobian evaluation                 38.3196
  Linear solver                        0.4581
Minimizer                             39.3137

Postprocessor                          0.0070
Total                                 39.4180

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.834497e-09 <= 1.000000e-06)
I0327 14:00:30.025502 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:00:34.968464 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4442 inliers out of 4451 2D-3D matches.
I0327 14:00:35.114558 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:00:36.580752 2090958848 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0327 14:00:36.584028 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:00:37.094193 2090958848 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0327 14:00:49.674562 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.416490e+03    0.00e+00    8.99e+05   0.00e+00   0.00e+00  1.00e+04        0    1.26e+01    1.27e+01
I0327 14:00:49.679241 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:00:49.679271 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:01:02.999244 2090958848 callbacks.cc:105]    1  4.546022e+03    8.70e+02    1.58e+04   1.18e+01   1.00e+00  3.00e+04        1    1.33e+01    2.60e+01
I0327 14:01:18.143632 2090958848 callbacks.cc:105]    2  4.545906e+03    1.16e-01    7.14e+01   5.24e-01   1.00e+00  9.00e+04        1    1.51e+01    4.12e+01
I0327 14:01:18.501374 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.215259e-08 <= 1.000000e-06
I0327 14:01:18.529203 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.416490e+03
Final                            4.545906e+03
Change                           8.705841e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1067

  Residual evaluation                  0.5224
  Jacobian evaluation                 40.3186
  Linear solver                        0.5116
Minimizer                             41.4104

Postprocessor                          0.0055
Total                                 41.5226

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.215259e-08 <= 1.000000e-06)
I0327 14:01:19.236135 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:01:22.132982 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2558 inliers out of 2562 2D-3D matches.
I0327 14:01:22.217094 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:01:23.723575 2090958848 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0327 14:01:23.725939 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:01:24.299706 2090958848 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0327 14:01:38.906105 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.619082e+03    0.00e+00    1.24e+06   0.00e+00   0.00e+00  1.00e+04        0    1.46e+01    1.47e+01
I0327 14:01:38.911368 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:01:38.911404 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:01:54.411412 2090958848 callbacks.cc:105]    1  4.988045e+03    6.31e+02    1.00e+03   3.92e+00   1.00e+00  3.00e+04        1    1.55e+01    3.02e+01
I0327 14:01:54.819779 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.310890e-07 <= 1.000000e-06
I0327 14:01:54.859422 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.619082e+03
Final                            4.988045e+03
Change                           6.310362e+02

Minimizer iterations                        2
Successful steps                            2
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1286

  Residual evaluation                  0.3871
  Jacobian evaluation                 29.6712
  Linear solver                        0.4170
Minimizer                             30.5243

Postprocessor                          0.0069
Total                                 30.6598

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.310890e-07 <= 1.000000e-06)
I0327 14:01:55.478811 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.RobustCostFunction (324984 ms)
[ RUN      ] IncrementalReconstructionEstimator.VariableIntrinsics
I0327 14:01:57.991070 2090958848 estimate_track.cc:196] 0 tracks were estimated of 780 possible tracks.
I0327 14:01:58.831385 2090958848 estimate_track.cc:196] 139 tracks were estimated of 692 possible tracks.
I0327 14:01:58.839706 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:01:58.866847 2090958848 block_sparse_matrix.cc:80] Allocating values array with 48928 bytes.
I0327 14:01:58.922399 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.710883e+03    0.00e+00    1.10e+05   0.00e+00   0.00e+00  1.00e+04        0    5.55e-02    5.57e-02
I0327 14:01:58.922467 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:01:58.922485 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:01:58.972743 2090958848 callbacks.cc:105]    1  1.109778e+03    2.60e+03    2.71e+05   1.38e+02   7.28e-01  1.10e+04        1    5.03e-02    1.06e-01
I0327 14:01:59.024502 2090958848 callbacks.cc:105]    2  2.298993e+02    8.80e+02    3.82e+05   1.14e+02   8.42e-01  1.62e+04        1    5.17e-02    1.58e-01
I0327 14:01:59.078294 2090958848 callbacks.cc:105]    3  1.021331e+02    1.28e+02    2.54e+05   9.53e+01   6.39e-01  1.66e+04        1    5.37e-02    2.12e-01
I0327 14:01:59.135191 2090958848 callbacks.cc:105]    4  2.761599e+01    7.45e+01    9.19e+04   5.75e+01   8.94e-01  3.25e+04        1    5.68e-02    2.68e-01
I0327 14:01:59.189510 2090958848 callbacks.cc:105]    5  1.828581e+01    9.33e+00    6.61e+04   4.85e+01   6.78e-01  3.40e+04        1    5.43e-02    3.23e-01
I0327 14:01:59.241888 2090958848 callbacks.cc:105]    6  1.310441e+01    5.18e+00    1.36e+04   2.22e+01   9.66e-01  1.02e+05        1    5.23e-02    3.75e-01
I0327 14:01:59.295104 2090958848 callbacks.cc:105]    7  1.273275e+01    3.72e-01    5.04e+03   1.35e+01   9.36e-01  3.03e+05        1    5.32e-02    4.28e-01
I0327 14:01:59.345525 2090958848 callbacks.cc:105]    8  1.269800e+01    3.47e-02    1.82e+02   2.69e+00   9.99e-01  9.09e+05        1    5.04e-02    4.79e-01
I0327 14:01:59.398471 2090958848 callbacks.cc:105]    9  1.269739e+01    6.18e-04    1.12e+02   1.74e+00   9.90e-01  2.73e+06        1    5.29e-02    5.32e-01
I0327 14:01:59.446074 2090958848 callbacks.cc:105]   10  1.269675e+01    6.37e-04    1.30e+03   6.02e+00   4.08e-01  2.71e+06        1    4.76e-02    5.79e-01
I0327 14:01:59.499064 2090958848 callbacks.cc:105]   11  1.269519e+01    1.56e-03    1.29e+03   5.99e+00   6.30e-01  2.76e+06        1    5.30e-02    6.32e-01
I0327 14:01:59.550823 2090958848 callbacks.cc:105]   12  1.269368e+01    1.51e-03    1.35e+03   6.11e+00   6.02e-01  2.78e+06        1    5.17e-02    6.84e-01
I0327 14:01:59.601143 2090958848 callbacks.cc:105]   13  1.269212e+01    1.56e-03    1.38e+03   6.17e+00   5.98e-01  2.80e+06        1    5.02e-02    7.34e-01
I0327 14:01:59.655815 2090958848 callbacks.cc:105]   14  1.269054e+01    1.58e-03    1.40e+03   6.23e+00   5.91e-01  2.82e+06        1    5.46e-02    7.89e-01
I0327 14:01:59.714108 2090958848 callbacks.cc:105]   15  1.268895e+01    1.60e-03    1.43e+03   6.28e+00   5.85e-01  2.83e+06        1    5.82e-02    8.47e-01
I0327 14:01:59.759587 2090958848 callbacks.cc:105]   16  1.268733e+01    1.62e-03    1.45e+03   6.32e+00   5.79e-01  2.84e+06        1    4.54e-02    8.93e-01
I0327 14:01:59.812204 2090958848 callbacks.cc:105]   17  1.268570e+01    1.63e-03    1.47e+03   6.36e+00   5.74e-01  2.85e+06        1    5.26e-02    9.45e-01
I0327 14:01:59.867554 2090958848 callbacks.cc:105]   18  1.268405e+01    1.65e-03    1.48e+03   6.39e+00   5.70e-01  2.86e+06        1    5.53e-02    1.00e+00
I0327 14:01:59.923678 2090958848 callbacks.cc:105]   19  1.268239e+01    1.66e-03    1.50e+03   6.42e+00   5.66e-01  2.87e+06        1    5.61e-02    1.06e+00
I0327 14:01:59.978096 2090958848 callbacks.cc:105]   20  1.268072e+01    1.67e-03    1.51e+03   6.45e+00   5.62e-01  2.87e+06        1    5.43e-02    1.11e+00
I0327 14:02:00.032982 2090958848 callbacks.cc:105]   21  1.267904e+01    1.68e-03    1.53e+03   6.47e+00   5.58e-01  2.88e+06        1    5.48e-02    1.17e+00
I0327 14:02:00.090080 2090958848 callbacks.cc:105]   22  1.267735e+01    1.69e-03    1.54e+03   6.49e+00   5.55e-01  2.88e+06        1    5.70e-02    1.22e+00
I0327 14:02:00.140929 2090958848 callbacks.cc:105]   23  1.267565e+01    1.70e-03    1.55e+03   6.51e+00   5.51e-01  2.88e+06        1    5.08e-02    1.27e+00
I0327 14:02:00.194907 2090958848 callbacks.cc:105]   24  1.267394e+01    1.71e-03    1.56e+03   6.53e+00   5.48e-01  2.89e+06        1    5.39e-02    1.33e+00
I0327 14:02:00.245832 2090958848 callbacks.cc:105]   25  1.267222e+01    1.72e-03    1.57e+03   6.54e+00   5.45e-01  2.89e+06        1    5.09e-02    1.38e+00
I0327 14:02:00.297047 2090958848 callbacks.cc:105]   26  1.267049e+01    1.73e-03    1.58e+03   6.56e+00   5.42e-01  2.89e+06        1    5.12e-02    1.43e+00
I0327 14:02:00.350389 2090958848 callbacks.cc:105]   27  1.266876e+01    1.73e-03    1.59e+03   6.57e+00   5.39e-01  2.89e+06        1    5.33e-02    1.48e+00
I0327 14:02:00.398632 2090958848 callbacks.cc:105]   28  1.266702e+01    1.74e-03    1.60e+03   6.59e+00   5.37e-01  2.89e+06        1    4.82e-02    1.53e+00
I0327 14:02:00.451550 2090958848 callbacks.cc:105]   29  1.266528e+01    1.75e-03    1.61e+03   6.60e+00   5.34e-01  2.89e+06        1    5.29e-02    1.58e+00
I0327 14:02:00.503265 2090958848 callbacks.cc:105]   30  1.266352e+01    1.75e-03    1.62e+03   6.61e+00   5.31e-01  2.90e+06        1    5.17e-02    1.64e+00
I0327 14:02:00.558573 2090958848 callbacks.cc:105]   31  1.266176e+01    1.76e-03    1.62e+03   6.62e+00   5.29e-01  2.90e+06        1    5.52e-02    1.69e+00
I0327 14:02:00.615525 2090958848 callbacks.cc:105]   32  1.266000e+01    1.77e-03    1.63e+03   6.64e+00   5.26e-01  2.90e+06        1    5.68e-02    1.75e+00
I0327 14:02:00.673198 2090958848 callbacks.cc:105]   33  1.265823e+01    1.77e-03    1.64e+03   6.65e+00   5.23e-01  2.90e+06        1    5.76e-02    1.81e+00
I0327 14:02:00.723505 2090958848 callbacks.cc:105]   34  1.265645e+01    1.78e-03    1.64e+03   6.66e+00   5.21e-01  2.90e+06        1    5.03e-02    1.86e+00
I0327 14:02:00.782076 2090958848 callbacks.cc:105]   35  1.265467e+01    1.78e-03    1.65e+03   6.66e+00   5.18e-01  2.90e+06        1    5.85e-02    1.92e+00
I0327 14:02:00.830552 2090958848 callbacks.cc:105]   36  1.265288e+01    1.79e-03    1.66e+03   6.67e+00   5.16e-01  2.90e+06        1    4.83e-02    1.96e+00
I0327 14:02:00.886257 2090958848 callbacks.cc:105]   37  1.265109e+01    1.79e-03    1.67e+03   6.68e+00   5.13e-01  2.90e+06        1    5.56e-02    2.02e+00
I0327 14:02:00.932615 2090958848 callbacks.cc:105]   38  1.264929e+01    1.80e-03    1.67e+03   6.69e+00   5.11e-01  2.90e+06        1    4.63e-02    2.07e+00
I0327 14:02:00.989919 2090958848 callbacks.cc:105]   39  1.264749e+01    1.80e-03    1.68e+03   6.70e+00   5.09e-01  2.90e+06        1    5.73e-02    2.12e+00
I0327 14:02:01.042403 2090958848 callbacks.cc:105]   40  1.264569e+01    1.81e-03    1.68e+03   6.71e+00   5.06e-01  2.90e+06        1    5.24e-02    2.18e+00
I0327 14:02:01.102022 2090958848 callbacks.cc:105]   41  1.264387e+01    1.81e-03    1.69e+03   6.71e+00   5.04e-01  2.90e+06        1    5.95e-02    2.24e+00
I0327 14:02:01.150527 2090958848 callbacks.cc:105]   42  1.264206e+01    1.81e-03    1.70e+03   6.72e+00   5.02e-01  2.90e+06        1    4.85e-02    2.28e+00
I0327 14:02:01.203071 2090958848 callbacks.cc:105]   43  1.264024e+01    1.82e-03    1.70e+03   6.73e+00   4.99e-01  2.90e+06        1    5.25e-02    2.34e+00
I0327 14:02:01.253192 2090958848 callbacks.cc:105]   44  1.263842e+01    1.82e-03    1.71e+03   6.74e+00   4.97e-01  2.90e+06        1    5.01e-02    2.39e+00
I0327 14:02:01.310508 2090958848 callbacks.cc:105]   45  1.263659e+01    1.83e-03    1.71e+03   6.74e+00   4.95e-01  2.90e+06        1    5.73e-02    2.44e+00
I0327 14:02:01.383885 2090958848 callbacks.cc:105]   46  1.263476e+01    1.83e-03    1.72e+03   6.75e+00   4.92e-01  2.90e+06        1    7.33e-02    2.52e+00
I0327 14:02:01.434551 2090958848 callbacks.cc:105]   47  1.263293e+01    1.83e-03    1.73e+03   6.75e+00   4.90e-01  2.90e+06        1    5.06e-02    2.57e+00
I0327 14:02:01.486474 2090958848 callbacks.cc:105]   48  1.263109e+01    1.84e-03    1.73e+03   6.76e+00   4.88e-01  2.90e+06        1    5.19e-02    2.62e+00
I0327 14:02:01.538177 2090958848 callbacks.cc:105]   49  1.262925e+01    1.84e-03    1.74e+03   6.77e+00   4.86e-01  2.90e+06        1    5.17e-02    2.67e+00
I0327 14:02:01.589850 2090958848 callbacks.cc:105]   50  1.262740e+01    1.84e-03    1.74e+03   6.77e+00   4.83e-01  2.90e+06        1    5.16e-02    2.72e+00
I0327 14:02:01.642859 2090958848 callbacks.cc:105]   51  1.262555e+01    1.85e-03    1.75e+03   6.77e+00   4.81e-01  2.90e+06        1    5.30e-02    2.78e+00
I0327 14:02:01.694249 2090958848 callbacks.cc:105]   52  1.262370e+01    1.85e-03    1.75e+03   6.78e+00   4.79e-01  2.90e+06        1    5.13e-02    2.83e+00
I0327 14:02:01.747740 2090958848 callbacks.cc:105]   53  1.262185e+01    1.85e-03    1.75e+03   6.78e+00   4.77e-01  2.90e+06        1    5.34e-02    2.88e+00
I0327 14:02:01.795516 2090958848 callbacks.cc:105]   54  1.262000e+01    1.86e-03    1.76e+03   6.79e+00   4.75e-01  2.90e+06        1    4.77e-02    2.93e+00
I0327 14:02:01.886548 2090958848 callbacks.cc:105]   55  1.261814e+01    1.86e-03    1.76e+03   6.79e+00   4.73e-01  2.90e+06        1    9.09e-02    3.02e+00
I0327 14:02:01.951331 2090958848 callbacks.cc:105]   56  1.261628e+01    1.86e-03    1.76e+03   6.79e+00   4.71e-01  2.89e+06        1    6.47e-02    3.08e+00
I0327 14:02:01.991951 2090958848 callbacks.cc:105]   57  1.261442e+01    1.86e-03    1.77e+03   6.79e+00   4.69e-01  2.89e+06        1    4.06e-02    3.13e+00
I0327 14:02:02.038715 2090958848 callbacks.cc:105]   58  1.261255e+01    1.86e-03    1.77e+03   6.79e+00   4.68e-01  2.89e+06        1    4.67e-02    3.17e+00
I0327 14:02:02.092603 2090958848 callbacks.cc:105]   59  1.261069e+01    1.87e-03    1.77e+03   6.79e+00   4.66e-01  2.89e+06        1    5.38e-02    3.23e+00
I0327 14:02:02.184010 2090958848 callbacks.cc:105]   60  1.260882e+01    1.87e-03    1.77e+03   6.79e+00   4.64e-01  2.89e+06        1    9.14e-02    3.32e+00
I0327 14:02:02.276021 2090958848 callbacks.cc:105]   61  1.260695e+01    1.87e-03    1.78e+03   6.79e+00   4.63e-01  2.89e+06        1    9.18e-02    3.41e+00
I0327 14:02:02.365341 2090958848 callbacks.cc:105]   62  1.260509e+01    1.87e-03    1.78e+03   6.79e+00   4.61e-01  2.89e+06        1    8.88e-02    3.50e+00
I0327 14:02:02.436951 2090958848 callbacks.cc:105]   63  1.260322e+01    1.87e-03    1.78e+03   6.78e+00   4.60e-01  2.89e+06        1    7.16e-02    3.57e+00
I0327 14:02:02.490633 2090958848 callbacks.cc:105]   64  1.260135e+01    1.87e-03    1.78e+03   6.78e+00   4.58e-01  2.89e+06        1    5.36e-02    3.62e+00
I0327 14:02:02.559177 2090958848 callbacks.cc:105]   65  1.259948e+01    1.87e-03    1.78e+03   6.77e+00   4.57e-01  2.88e+06        1    6.85e-02    3.69e+00
I0327 14:02:02.630554 2090958848 callbacks.cc:105]   66  1.259761e+01    1.87e-03    1.78e+03   6.77e+00   4.56e-01  2.88e+06        1    7.13e-02    3.76e+00
I0327 14:02:02.810093 2090958848 callbacks.cc:105]   67  1.259575e+01    1.87e-03    1.78e+03   6.76e+00   4.55e-01  2.88e+06        1    1.79e-01    3.94e+00
I0327 14:02:02.879176 2090958848 callbacks.cc:105]   68  1.259388e+01    1.87e-03    1.78e+03   6.75e+00   4.54e-01  2.88e+06        1    6.89e-02    4.01e+00
I0327 14:02:02.935686 2090958848 callbacks.cc:105]   69  1.259202e+01    1.86e-03    1.77e+03   6.74e+00   4.53e-01  2.87e+06        1    5.64e-02    4.07e+00
I0327 14:02:03.000862 2090958848 callbacks.cc:105]   70  1.259016e+01    1.86e-03    1.77e+03   6.74e+00   4.52e-01  2.87e+06        1    6.49e-02    4.13e+00
I0327 14:02:03.116839 2090958848 callbacks.cc:105]   71  1.258830e+01    1.86e-03    1.77e+03   6.73e+00   4.51e-01  2.87e+06        1    1.16e-01    4.25e+00
I0327 14:02:03.234290 2090958848 callbacks.cc:105]   72  1.258644e+01    1.86e-03    1.76e+03   6.71e+00   4.50e-01  2.87e+06        1    1.17e-01    4.37e+00
I0327 14:02:03.352524 2090958848 callbacks.cc:105]   73  1.258459e+01    1.85e-03    1.76e+03   6.70e+00   4.50e-01  2.86e+06        1    1.18e-01    4.49e+00
I0327 14:02:03.409687 2090958848 callbacks.cc:105]   74  1.258274e+01    1.85e-03    1.76e+03   6.69e+00   4.49e-01  2.86e+06        1    5.71e-02    4.54e+00
I0327 14:02:03.504796 2090958848 callbacks.cc:105]   75  1.258090e+01    1.85e-03    1.75e+03   6.68e+00   4.48e-01  2.86e+06        1    9.49e-02    4.64e+00
I0327 14:02:03.569986 2090958848 callbacks.cc:105]   76  1.257906e+01    1.84e-03    1.75e+03   6.66e+00   4.48e-01  2.85e+06        1    6.51e-02    4.70e+00
I0327 14:02:03.634284 2090958848 callbacks.cc:105]   77  1.257722e+01    1.84e-03    1.74e+03   6.65e+00   4.47e-01  2.85e+06        1    6.42e-02    4.77e+00
I0327 14:02:03.706197 2090958848 callbacks.cc:105]   78  1.257539e+01    1.83e-03    1.74e+03   6.63e+00   4.47e-01  2.85e+06        1    7.18e-02    4.84e+00
I0327 14:02:03.792623 2090958848 callbacks.cc:105]   79  1.257356e+01    1.83e-03    1.73e+03   6.62e+00   4.47e-01  2.84e+06        1    8.64e-02    4.93e+00
I0327 14:02:03.878633 2090958848 callbacks.cc:105]   80  1.257174e+01    1.82e-03    1.72e+03   6.60e+00   4.47e-01  2.84e+06        1    8.60e-02    5.01e+00
I0327 14:02:03.970247 2090958848 callbacks.cc:105]   81  1.256993e+01    1.81e-03    1.72e+03   6.58e+00   4.46e-01  2.84e+06        1    9.12e-02    5.10e+00
I0327 14:02:04.057068 2090958848 callbacks.cc:105]   82  1.256812e+01    1.81e-03    1.71e+03   6.56e+00   4.46e-01  2.83e+06        1    8.68e-02    5.19e+00
I0327 14:02:04.144321 2090958848 callbacks.cc:105]   83  1.256632e+01    1.80e-03    1.70e+03   6.55e+00   4.46e-01  2.83e+06        1    8.69e-02    5.28e+00
I0327 14:02:04.230250 2090958848 callbacks.cc:105]   84  1.256452e+01    1.79e-03    1.69e+03   6.53e+00   4.46e-01  2.83e+06        1    8.59e-02    5.36e+00
I0327 14:02:04.295171 2090958848 callbacks.cc:105]   85  1.256274e+01    1.79e-03    1.69e+03   6.51e+00   4.46e-01  2.82e+06        1    6.49e-02    5.43e+00
I0327 14:02:04.359525 2090958848 callbacks.cc:105]   86  1.256096e+01    1.78e-03    1.68e+03   6.49e+00   4.46e-01  2.82e+06        1    6.43e-02    5.49e+00
I0327 14:02:04.440140 2090958848 callbacks.cc:105]   87  1.255919e+01    1.77e-03    1.67e+03   6.46e+00   4.46e-01  2.82e+06        1    8.05e-02    5.57e+00
I0327 14:02:04.569890 2090958848 callbacks.cc:105]   88  1.255742e+01    1.76e-03    1.66e+03   6.44e+00   4.47e-01  2.81e+06        1    1.30e-01    5.70e+00
I0327 14:02:04.638813 2090958848 callbacks.cc:105]   89  1.255567e+01    1.75e-03    1.65e+03   6.42e+00   4.47e-01  2.81e+06        1    6.89e-02    5.77e+00
I0327 14:02:04.788331 2090958848 callbacks.cc:105]   90  1.255392e+01    1.74e-03    1.64e+03   6.40e+00   4.47e-01  2.81e+06        1    1.49e-01    5.92e+00
I0327 14:02:04.894433 2090958848 callbacks.cc:105]   91  1.255219e+01    1.74e-03    1.63e+03   6.38e+00   4.47e-01  2.80e+06        1    1.06e-01    6.03e+00
I0327 14:02:04.951403 2090958848 callbacks.cc:105]   92  1.255046e+01    1.73e-03    1.62e+03   6.35e+00   4.48e-01  2.80e+06        1    5.68e-02    6.08e+00
I0327 14:02:04.994210 2090958848 callbacks.cc:105]   93  1.254875e+01    1.72e-03    1.61e+03   6.33e+00   4.48e-01  2.80e+06        1    4.28e-02    6.13e+00
I0327 14:02:05.051259 2090958848 callbacks.cc:105]   94  1.254704e+01    1.71e-03    1.60e+03   6.30e+00   4.48e-01  2.79e+06        1    5.70e-02    6.18e+00
I0327 14:02:05.120925 2090958848 callbacks.cc:105]   95  1.254535e+01    1.70e-03    1.59e+03   6.28e+00   4.49e-01  2.79e+06        1    6.96e-02    6.25e+00
I0327 14:02:05.189283 2090958848 callbacks.cc:105]   96  1.254366e+01    1.68e-03    1.58e+03   6.25e+00   4.49e-01  2.79e+06        1    6.83e-02    6.32e+00
I0327 14:02:05.239918 2090958848 callbacks.cc:105]   97  1.254199e+01    1.67e-03    1.57e+03   6.23e+00   4.50e-01  2.78e+06        1    5.06e-02    6.37e+00
I0327 14:02:05.288472 2090958848 callbacks.cc:105]   98  1.254032e+01    1.66e-03    1.56e+03   6.20e+00   4.50e-01  2.78e+06        1    4.85e-02    6.42e+00
I0327 14:02:05.334728 2090958848 callbacks.cc:105]   99  1.253867e+01    1.65e-03    1.55e+03   6.17e+00   4.51e-01  2.78e+06        1    4.62e-02    6.47e+00
I0327 14:02:05.382637 2090958848 callbacks.cc:105]  100  1.253703e+01    1.64e-03    1.54e+03   6.15e+00   4.52e-01  2.78e+06        1    4.79e-02    6.52e+00
I0327 14:02:05.427630 2090958848 callbacks.cc:105]  101  1.253541e+01    1.63e-03    1.52e+03   6.12e+00   4.52e-01  2.77e+06        1    4.49e-02    6.56e+00
I0327 14:02:05.482841 2090958848 callbacks.cc:105]  102  1.253379e+01    1.61e-03    1.51e+03   6.09e+00   4.53e-01  2.77e+06        1    5.52e-02    6.62e+00
I0327 14:02:05.538383 2090958848 callbacks.cc:105]  103  1.253219e+01    1.60e-03    1.50e+03   6.06e+00   4.54e-01  2.77e+06        1    5.55e-02    6.67e+00
I0327 14:02:05.599567 2090958848 callbacks.cc:105]  104  1.253060e+01    1.59e-03    1.49e+03   6.03e+00   4.55e-01  2.77e+06        1    6.11e-02    6.73e+00
I0327 14:02:05.641649 2090958848 callbacks.cc:105]  105  1.252902e+01    1.58e-03    1.48e+03   6.01e+00   4.55e-01  2.77e+06        1    4.20e-02    6.77e+00
I0327 14:02:05.872990 2090958848 callbacks.cc:105]  106  1.252746e+01    1.56e-03    1.46e+03   5.98e+00   4.56e-01  2.76e+06        1    2.31e-01    7.01e+00
I0327 14:02:05.957080 2090958848 callbacks.cc:105]  107  1.252591e+01    1.55e-03    1.45e+03   5.95e+00   4.57e-01  2.76e+06        1    8.22e-02    7.09e+00
I0327 14:02:06.098392 2090958848 callbacks.cc:105]  108  1.252438e+01    1.54e-03    1.44e+03   5.92e+00   4.58e-01  2.76e+06        1    1.41e-01    7.23e+00
I0327 14:02:06.212590 2090958848 callbacks.cc:105]  109  1.252285e+01    1.52e-03    1.43e+03   5.89e+00   4.59e-01  2.76e+06        1    1.14e-01    7.35e+00
I0327 14:02:06.312283 2090958848 callbacks.cc:105]  110  1.252134e+01    1.51e-03    1.41e+03   5.85e+00   4.60e-01  2.76e+06        1    9.96e-02    7.45e+00
I0327 14:02:06.390759 2090958848 callbacks.cc:105]  111  1.251985e+01    1.49e-03    1.40e+03   5.82e+00   4.61e-01  2.76e+06        1    7.84e-02    7.52e+00
I0327 14:02:06.502053 2090958848 callbacks.cc:105]  112  1.251837e+01    1.48e-03    1.39e+03   5.79e+00   4.62e-01  2.76e+06        1    1.11e-01    7.64e+00
I0327 14:02:06.588486 2090958848 callbacks.cc:105]  113  1.251691e+01    1.46e-03    1.37e+03   5.76e+00   4.64e-01  2.75e+06        1    8.63e-02    7.72e+00
I0327 14:02:06.649427 2090958848 callbacks.cc:105]  114  1.251546e+01    1.45e-03    1.36e+03   5.73e+00   4.65e-01  2.75e+06        1    6.09e-02    7.78e+00
I0327 14:02:06.735510 2090958848 callbacks.cc:105]  115  1.251402e+01    1.43e-03    1.34e+03   5.69e+00   4.66e-01  2.75e+06        1    8.60e-02    7.87e+00
I0327 14:02:06.834457 2090958848 callbacks.cc:105]  116  1.251260e+01    1.42e-03    1.33e+03   5.66e+00   4.67e-01  2.75e+06        1    9.88e-02    7.97e+00
I0327 14:02:06.914973 2090958848 callbacks.cc:105]  117  1.251120e+01    1.40e-03    1.32e+03   5.63e+00   4.69e-01  2.75e+06        1    8.01e-02    8.05e+00
I0327 14:02:06.969624 2090958848 callbacks.cc:105]  118  1.250981e+01    1.39e-03    1.30e+03   5.59e+00   4.70e-01  2.75e+06        1    5.46e-02    8.10e+00
I0327 14:02:07.031313 2090958848 callbacks.cc:105]  119  1.250844e+01    1.37e-03    1.29e+03   5.56e+00   4.72e-01  2.75e+06        1    6.16e-02    8.16e+00
I0327 14:02:07.106052 2090958848 callbacks.cc:105]  120  1.250708e+01    1.36e-03    1.27e+03   5.52e+00   4.73e-01  2.75e+06        1    7.47e-02    8.24e+00
I0327 14:02:07.178251 2090958848 callbacks.cc:105]  121  1.250574e+01    1.34e-03    1.26e+03   5.49e+00   4.75e-01  2.75e+06        1    7.21e-02    8.31e+00
I0327 14:02:07.239893 2090958848 callbacks.cc:105]  122  1.250442e+01    1.32e-03    1.24e+03   5.45e+00   4.77e-01  2.75e+06        1    6.15e-02    8.37e+00
I0327 14:02:07.298387 2090958848 callbacks.cc:105]  123  1.250311e+01    1.31e-03    1.23e+03   5.41e+00   4.78e-01  2.75e+06        1    5.84e-02    8.43e+00
I0327 14:02:07.352038 2090958848 callbacks.cc:105]  124  1.250182e+01    1.29e-03    1.21e+03   5.38e+00   4.80e-01  2.75e+06        1    5.36e-02    8.49e+00
I0327 14:02:07.427361 2090958848 callbacks.cc:105]  125  1.250055e+01    1.27e-03    1.20e+03   5.34e+00   4.82e-01  2.75e+06        1    7.50e-02    8.56e+00
I0327 14:02:07.494413 2090958848 callbacks.cc:105]  126  1.249929e+01    1.26e-03    1.18e+03   5.30e+00   4.84e-01  2.75e+06        1    6.70e-02    8.63e+00
I0327 14:02:07.598085 2090958848 callbacks.cc:105]  127  1.249805e+01    1.24e-03    1.17e+03   5.26e+00   4.86e-01  2.75e+06        1    1.04e-01    8.73e+00
I0327 14:02:07.677729 2090958848 callbacks.cc:105]  128  1.249683e+01    1.22e-03    1.15e+03   5.22e+00   4.88e-01  2.75e+06        1    7.96e-02    8.81e+00
I0327 14:02:07.770272 2090958848 callbacks.cc:105]  129  1.249563e+01    1.20e-03    1.13e+03   5.18e+00   4.91e-01  2.75e+06        1    9.24e-02    8.90e+00
I0327 14:02:07.854251 2090958848 callbacks.cc:105]  130  1.249444e+01    1.19e-03    1.12e+03   5.14e+00   4.93e-01  2.75e+06        1    8.36e-02    8.99e+00
I0327 14:02:07.896008 2090958848 callbacks.cc:105]  131  1.249327e+01    1.17e-03    1.10e+03   5.10e+00   4.96e-01  2.75e+06        1    4.17e-02    9.03e+00
I0327 14:02:07.949522 2090958848 callbacks.cc:105]  132  1.249212e+01    1.15e-03    1.08e+03   5.06e+00   4.98e-01  2.75e+06        1    5.35e-02    9.08e+00
I0327 14:02:08.006839 2090958848 callbacks.cc:105]  133  1.249099e+01    1.13e-03    1.07e+03   5.02e+00   5.01e-01  2.75e+06        1    5.73e-02    9.14e+00
I0327 14:02:08.078001 2090958848 callbacks.cc:105]  134  1.248987e+01    1.11e-03    1.05e+03   4.98e+00   5.03e-01  2.75e+06        1    7.10e-02    9.21e+00
I0327 14:02:08.143712 2090958848 callbacks.cc:105]  135  1.248878e+01    1.10e-03    1.03e+03   4.93e+00   5.06e-01  2.75e+06        1    6.57e-02    9.28e+00
I0327 14:02:08.218483 2090958848 callbacks.cc:105]  136  1.248770e+01    1.08e-03    1.02e+03   4.89e+00   5.09e-01  2.75e+06        1    7.47e-02    9.35e+00
I0327 14:02:08.286303 2090958848 callbacks.cc:105]  137  1.248664e+01    1.06e-03    1.00e+03   4.85e+00   5.12e-01  2.75e+06        1    6.77e-02    9.42e+00
I0327 14:02:08.355746 2090958848 callbacks.cc:105]  138  1.248560e+01    1.04e-03    9.83e+02   4.80e+00   5.15e-01  2.75e+06        1    6.94e-02    9.49e+00
I0327 14:02:08.429555 2090958848 callbacks.cc:105]  139  1.248457e+01    1.02e-03    9.66e+02   4.76e+00   5.18e-01  2.75e+06        1    7.38e-02    9.56e+00
I0327 14:02:08.500115 2090958848 callbacks.cc:105]  140  1.248357e+01    1.00e-03    9.49e+02   4.71e+00   5.22e-01  2.75e+06        1    7.05e-02    9.63e+00
I0327 14:02:08.559655 2090958848 callbacks.cc:105]  141  1.248258e+01    9.86e-04    9.32e+02   4.67e+00   5.25e-01  2.75e+06        1    5.95e-02    9.69e+00
I0327 14:02:08.665593 2090958848 callbacks.cc:105]  142  1.248162e+01    9.67e-04    9.15e+02   4.62e+00   5.28e-01  2.75e+06        1    1.06e-01    9.80e+00
I0327 14:02:08.785126 2090958848 callbacks.cc:105]  143  1.248067e+01    9.48e-04    8.99e+02   4.58e+00   5.32e-01  2.75e+06        1    1.19e-01    9.92e+00
I0327 14:02:08.868558 2090958848 callbacks.cc:105]  144  1.247974e+01    9.30e-04    8.82e+02   4.53e+00   5.35e-01  2.75e+06        1    8.30e-02    1.00e+01
I0327 14:02:08.932283 2090958848 callbacks.cc:105]  145  1.247883e+01    9.11e-04    8.65e+02   4.49e+00   5.38e-01  2.75e+06        1    6.37e-02    1.01e+01
I0327 14:02:08.982723 2090958848 callbacks.cc:105]  146  1.247793e+01    8.93e-04    8.49e+02   4.44e+00   5.42e-01  2.75e+06        1    5.04e-02    1.01e+01
I0327 14:02:09.033669 2090958848 callbacks.cc:105]  147  1.247706e+01    8.75e-04    8.33e+02   4.40e+00   5.45e-01  2.76e+06        1    5.09e-02    1.02e+01
I0327 14:02:09.095075 2090958848 callbacks.cc:105]  148  1.247620e+01    8.56e-04    8.17e+02   4.35e+00   5.49e-01  2.76e+06        1    6.14e-02    1.02e+01
I0327 14:02:09.164568 2090958848 callbacks.cc:105]  149  1.247537e+01    8.38e-04    8.01e+02   4.31e+00   5.52e-01  2.76e+06        1    6.91e-02    1.03e+01
I0327 14:02:09.243922 2090958848 callbacks.cc:105]  150  1.247454e+01    8.21e-04    7.86e+02   4.26e+00   5.55e-01  2.77e+06        1    7.93e-02    1.04e+01
I0327 14:02:09.323693 2090958848 callbacks.cc:105]  151  1.247374e+01    8.03e-04    7.71e+02   4.22e+00   5.58e-01  2.77e+06        1    7.97e-02    1.05e+01
I0327 14:02:09.387130 2090958848 callbacks.cc:105]  152  1.247296e+01    7.85e-04    7.56e+02   4.18e+00   5.61e-01  2.77e+06        1    6.30e-02    1.05e+01
I0327 14:02:09.440598 2090958848 callbacks.cc:105]  153  1.247219e+01    7.68e-04    7.42e+02   4.14e+00   5.64e-01  2.78e+06        1    5.34e-02    1.06e+01
I0327 14:02:09.504864 2090958848 callbacks.cc:105]  154  1.247144e+01    7.51e-04    7.28e+02   4.10e+00   5.67e-01  2.79e+06        1    6.42e-02    1.06e+01
I0327 14:02:09.576865 2090958848 callbacks.cc:105]  155  1.247070e+01    7.35e-04    7.14e+02   4.05e+00   5.70e-01  2.80e+06        1    7.19e-02    1.07e+01
I0327 14:02:09.651660 2090958848 callbacks.cc:105]  156  1.246998e+01    7.18e-04    7.01e+02   4.02e+00   5.73e-01  2.80e+06        1    7.47e-02    1.08e+01
I0327 14:02:09.728587 2090958848 callbacks.cc:105]  157  1.246928e+01    7.02e-04    6.89e+02   3.98e+00   5.75e-01  2.81e+06        1    7.66e-02    1.09e+01
I0327 14:02:09.823396 2090958848 callbacks.cc:105]  158  1.246859e+01    6.86e-04    6.76e+02   3.94e+00   5.78e-01  2.82e+06        1    9.46e-02    1.10e+01
I0327 14:02:09.870476 2090958848 callbacks.cc:105]  159  1.246792e+01    6.71e-04    6.64e+02   3.90e+00   5.80e-01  2.84e+06        1    4.70e-02    1.10e+01
I0327 14:02:09.914554 2090958848 callbacks.cc:105]  160  1.246727e+01    6.56e-04    6.52e+02   3.87e+00   5.82e-01  2.85e+06        1    4.40e-02    1.10e+01
I0327 14:02:09.955488 2090958848 callbacks.cc:105]  161  1.246663e+01    6.41e-04    6.41e+02   3.83e+00   5.84e-01  2.86e+06        1    4.09e-02    1.11e+01
I0327 14:02:09.998033 2090958848 callbacks.cc:105]  162  1.246600e+01    6.26e-04    6.30e+02   3.80e+00   5.86e-01  2.88e+06        1    4.25e-02    1.11e+01
I0327 14:02:10.042304 2090958848 callbacks.cc:105]  163  1.246539e+01    6.12e-04    6.19e+02   3.76e+00   5.88e-01  2.89e+06        1    4.42e-02    1.12e+01
I0327 14:02:10.097929 2090958848 callbacks.cc:105]  164  1.246479e+01    5.97e-04    6.09e+02   3.73e+00   5.90e-01  2.91e+06        1    5.56e-02    1.12e+01
I0327 14:02:10.149396 2090958848 callbacks.cc:105]  165  1.246421e+01    5.84e-04    5.99e+02   3.69e+00   5.92e-01  2.93e+06        1    5.14e-02    1.13e+01
I0327 14:02:10.195366 2090958848 callbacks.cc:105]  166  1.246364e+01    5.70e-04    5.89e+02   3.66e+00   5.93e-01  2.95e+06        1    4.59e-02    1.13e+01
I0327 14:02:10.246690 2090958848 callbacks.cc:105]  167  1.246308e+01    5.56e-04    5.79e+02   3.63e+00   5.95e-01  2.97e+06        1    5.13e-02    1.14e+01
I0327 14:02:10.292883 2090958848 callbacks.cc:105]  168  1.246254e+01    5.43e-04    5.69e+02   3.60e+00   5.96e-01  2.99e+06        1    4.61e-02    1.14e+01
I0327 14:02:10.337080 2090958848 callbacks.cc:105]  169  1.246201e+01    5.30e-04    5.60e+02   3.56e+00   5.97e-01  3.01e+06        1    4.42e-02    1.15e+01
I0327 14:02:10.382717 2090958848 callbacks.cc:105]  170  1.246149e+01    5.17e-04    5.50e+02   3.53e+00   5.99e-01  3.03e+06        1    4.56e-02    1.15e+01
I0327 14:02:10.430518 2090958848 callbacks.cc:105]  171  1.246099e+01    5.04e-04    5.41e+02   3.50e+00   6.00e-01  3.06e+06        1    4.78e-02    1.16e+01
I0327 14:02:10.480741 2090958848 callbacks.cc:105]  172  1.246049e+01    4.92e-04    5.32e+02   3.47e+00   6.01e-01  3.08e+06        1    5.02e-02    1.16e+01
I0327 14:02:10.525380 2090958848 callbacks.cc:105]  173  1.246002e+01    4.79e-04    5.23e+02   3.44e+00   6.02e-01  3.11e+06        1    4.46e-02    1.17e+01
I0327 14:02:10.578687 2090958848 callbacks.cc:105]  174  1.245955e+01    4.67e-04    5.14e+02   3.41e+00   6.04e-01  3.14e+06        1    5.33e-02    1.17e+01
I0327 14:02:10.626626 2090958848 callbacks.cc:105]  175  1.245909e+01    4.55e-04    5.06e+02   3.38e+00   6.05e-01  3.17e+06        1    4.79e-02    1.18e+01
I0327 14:02:10.672570 2090958848 callbacks.cc:105]  176  1.245865e+01    4.43e-04    4.97e+02   3.35e+00   6.06e-01  3.20e+06        1    4.59e-02    1.18e+01
I0327 14:02:10.728364 2090958848 callbacks.cc:105]  177  1.245822e+01    4.31e-04    4.88e+02   3.32e+00   6.07e-01  3.23e+06        1    5.58e-02    1.19e+01
I0327 14:02:10.777129 2090958848 callbacks.cc:105]  178  1.245780e+01    4.19e-04    4.80e+02   3.29e+00   6.08e-01  3.26e+06        1    4.87e-02    1.19e+01
I0327 14:02:10.824198 2090958848 callbacks.cc:105]  179  1.245740e+01    4.07e-04    4.71e+02   3.26e+00   6.09e-01  3.30e+06        1    4.70e-02    1.20e+01
I0327 14:02:10.873517 2090958848 callbacks.cc:105]  180  1.245700e+01    3.96e-04    4.63e+02   3.23e+00   6.10e-01  3.33e+06        1    4.93e-02    1.20e+01
I0327 14:02:10.962340 2090958848 callbacks.cc:105]  181  1.245662e+01    3.84e-04    4.54e+02   3.19e+00   6.11e-01  3.37e+06        1    8.85e-02    1.21e+01
I0327 14:02:11.035706 2090958848 callbacks.cc:105]  182  1.245624e+01    3.73e-04    4.46e+02   3.16e+00   6.12e-01  3.41e+06        1    7.33e-02    1.22e+01
I0327 14:02:11.082914 2090958848 callbacks.cc:105]  183  1.245588e+01    3.62e-04    4.37e+02   3.13e+00   6.13e-01  3.45e+06        1    4.72e-02    1.22e+01
I0327 14:02:11.143887 2090958848 callbacks.cc:105]  184  1.245553e+01    3.51e-04    4.29e+02   3.10e+00   6.14e-01  3.49e+06        1    6.09e-02    1.23e+01
I0327 14:02:11.203375 2090958848 callbacks.cc:105]  185  1.245519e+01    3.40e-04    4.21e+02   3.07e+00   6.16e-01  3.53e+06        1    5.92e-02    1.23e+01
I0327 14:02:11.254004 2090958848 callbacks.cc:105]  186  1.245486e+01    3.29e-04    4.12e+02   3.04e+00   6.17e-01  3.58e+06        1    5.06e-02    1.24e+01
I0327 14:02:11.344383 2090958848 callbacks.cc:105]  187  1.245454e+01    3.18e-04    4.04e+02   3.01e+00   6.18e-01  3.63e+06        1    9.01e-02    1.25e+01
I0327 14:02:11.391130 2090958848 callbacks.cc:105]  188  1.245423e+01    3.08e-04    3.96e+02   2.97e+00   6.19e-01  3.68e+06        1    4.67e-02    1.25e+01
I0327 14:02:11.441390 2090958848 callbacks.cc:105]  189  1.245394e+01    2.98e-04    3.88e+02   2.94e+00   6.20e-01  3.73e+06        1    5.02e-02    1.26e+01
I0327 14:02:11.508955 2090958848 callbacks.cc:105]  190  1.245365e+01    2.87e-04    3.80e+02   2.91e+00   6.21e-01  3.78e+06        1    6.72e-02    1.26e+01
I0327 14:02:11.550839 2090958848 callbacks.cc:105]  191  1.245337e+01    2.77e-04    3.72e+02   2.88e+00   6.22e-01  3.84e+06        1    4.18e-02    1.27e+01
I0327 14:02:11.610576 2090958848 callbacks.cc:105]  192  1.245311e+01    2.67e-04    3.63e+02   2.84e+00   6.23e-01  3.89e+06        1    5.96e-02    1.27e+01
I0327 14:02:11.658504 2090958848 callbacks.cc:105]  193  1.245285e+01    2.57e-04    3.55e+02   2.81e+00   6.24e-01  3.96e+06        1    4.77e-02    1.28e+01
I0327 14:02:11.705936 2090958848 callbacks.cc:105]  194  1.245260e+01    2.48e-04    3.47e+02   2.78e+00   6.26e-01  4.02e+06        1    4.74e-02    1.28e+01
I0327 14:02:11.749428 2090958848 callbacks.cc:105]  195  1.245236e+01    2.38e-04    3.39e+02   2.75e+00   6.27e-01  4.09e+06        1    4.34e-02    1.29e+01
I0327 14:02:11.796125 2090958848 callbacks.cc:105]  196  1.245213e+01    2.29e-04    3.31e+02   2.71e+00   6.28e-01  4.16e+06        1    4.66e-02    1.29e+01
I0327 14:02:11.853003 2090958848 callbacks.cc:105]  197  1.245191e+01    2.20e-04    3.23e+02   2.68e+00   6.29e-01  4.23e+06        1    5.68e-02    1.30e+01
I0327 14:02:11.973820 2090958848 callbacks.cc:105]  198  1.245170e+01    2.11e-04    3.15e+02   2.64e+00   6.31e-01  4.31e+06        1    1.21e-01    1.31e+01
I0327 14:02:12.208559 2090958848 callbacks.cc:105]  199  1.245150e+01    2.02e-04    3.07e+02   2.61e+00   6.32e-01  4.39e+06        1    2.35e-01    1.33e+01
I0327 14:02:12.397475 2090958848 callbacks.cc:105]  200  1.245131e+01    1.93e-04    2.99e+02   2.57e+00   6.33e-01  4.47e+06        1    1.89e-01    1.35e+01
I0327 14:02:12.468688 2090958848 callbacks.cc:105]  201  1.245112e+01    1.85e-04    2.91e+02   2.54e+00   6.35e-01  4.56e+06        1    7.12e-02    1.36e+01
I0327 14:02:12.525774 2090958848 callbacks.cc:105]  202  1.245095e+01    1.76e-04    2.84e+02   2.50e+00   6.36e-01  4.65e+06        1    5.70e-02    1.37e+01
I0327 14:02:12.575039 2090958848 callbacks.cc:105]  203  1.245078e+01    1.68e-04    2.76e+02   2.47e+00   6.37e-01  4.75e+06        1    4.92e-02    1.37e+01
I0327 14:02:12.667517 2090958848 callbacks.cc:105]  204  1.245062e+01    1.60e-04    2.68e+02   2.43e+00   6.39e-01  4.85e+06        1    9.24e-02    1.38e+01
I0327 14:02:12.761454 2090958848 callbacks.cc:105]  205  1.245047e+01    1.52e-04    2.60e+02   2.40e+00   6.40e-01  4.96e+06        1    9.39e-02    1.39e+01
I0327 14:02:12.841409 2090958848 callbacks.cc:105]  206  1.245032e+01    1.45e-04    2.52e+02   2.36e+00   6.42e-01  5.08e+06        1    7.97e-02    1.40e+01
I0327 14:02:12.891855 2090958848 callbacks.cc:105]  207  1.245018e+01    1.37e-04    2.45e+02   2.32e+00   6.43e-01  5.20e+06        1    5.04e-02    1.40e+01
I0327 14:02:12.941483 2090958848 callbacks.cc:105]  208  1.245005e+01    1.30e-04    2.37e+02   2.28e+00   6.45e-01  5.33e+06        1    4.96e-02    1.41e+01
I0327 14:02:12.988395 2090958848 callbacks.cc:105]  209  1.244993e+01    1.23e-04    2.29e+02   2.25e+00   6.46e-01  5.47e+06        1    4.69e-02    1.41e+01
I0327 14:02:13.036629 2090958848 callbacks.cc:105]  210  1.244982e+01    1.16e-04    2.22e+02   2.21e+00   6.48e-01  5.62e+06        1    4.82e-02    1.42e+01
I0327 14:02:13.085033 2090958848 callbacks.cc:105]  211  1.244971e+01    1.09e-04    2.14e+02   2.17e+00   6.50e-01  5.77e+06        1    4.82e-02    1.42e+01
I0327 14:02:13.150059 2090958848 callbacks.cc:105]  212  1.244960e+01    1.02e-04    2.06e+02   2.13e+00   6.52e-01  5.94e+06        1    6.50e-02    1.43e+01
I0327 14:02:13.196393 2090958848 callbacks.cc:105]  213  1.244951e+01    9.61e-05    1.99e+02   2.09e+00   6.54e-01  6.12e+06        1    4.63e-02    1.43e+01
I0327 14:02:13.250380 2090958848 callbacks.cc:105]  214  1.244942e+01    8.98e-05    1.91e+02   2.05e+00   6.55e-01  6.31e+06        1    5.39e-02    1.44e+01
I0327 14:02:13.307296 2090958848 callbacks.cc:105]  215  1.244934e+01    8.40e-05    1.84e+02   2.01e+00   6.58e-01  6.51e+06        1    5.69e-02    1.44e+01
I0327 14:02:13.374063 2090958848 callbacks.cc:105]  216  1.244926e+01    7.82e-05    1.77e+02   1.97e+00   6.60e-01  6.73e+06        1    6.65e-02    1.45e+01
I0327 14:02:13.482872 2090958848 callbacks.cc:105]  217  1.244918e+01    7.26e-05    1.69e+02   1.93e+00   6.62e-01  6.97e+06        1    1.09e-01    1.46e+01
I0327 14:02:13.547101 2090958848 callbacks.cc:105]  218  1.244912e+01    6.73e-05    1.62e+02   1.88e+00   6.64e-01  7.22e+06        1    6.42e-02    1.47e+01
I0327 14:02:13.609477 2090958848 callbacks.cc:105]  219  1.244905e+01    6.21e-05    1.55e+02   1.84e+00   6.66e-01  7.50e+06        1    6.23e-02    1.47e+01
I0327 14:02:13.686789 2090958848 callbacks.cc:105]  220  1.244900e+01    5.72e-05    1.47e+02   1.80e+00   6.69e-01  7.80e+06        1    7.73e-02    1.48e+01
I0327 14:02:13.732851 2090958848 callbacks.cc:105]  221  1.244895e+01    5.25e-05    1.40e+02   1.75e+00   6.72e-01  8.13e+06        1    4.60e-02    1.49e+01
I0327 14:02:13.782201 2090958848 callbacks.cc:105]  222  1.244890e+01    4.79e-05    1.33e+02   1.71e+00   6.74e-01  8.48e+06        1    4.93e-02    1.49e+01
I0327 14:02:13.827982 2090958848 callbacks.cc:105]  223  1.244885e+01    4.36e-05    1.26e+02   1.66e+00   6.77e-01  8.88e+06        1    4.57e-02    1.50e+01
I0327 14:02:13.872615 2090958848 callbacks.cc:105]  224  1.244881e+01    3.95e-05    1.19e+02   1.61e+00   6.80e-01  9.31e+06        1    4.46e-02    1.50e+01
I0327 14:02:13.917068 2090958848 callbacks.cc:105]  225  1.244878e+01    3.56e-05    1.12e+02   1.56e+00   6.83e-01  9.79e+06        1    4.44e-02    1.51e+01
I0327 14:02:13.958225 2090958848 callbacks.cc:105]  226  1.244875e+01    3.19e-05    1.05e+02   1.51e+00   6.87e-01  1.03e+07        1    4.11e-02    1.51e+01
I0327 14:02:14.005451 2090958848 callbacks.cc:105]  227  1.244872e+01    2.84e-05    9.84e+01   1.46e+00   6.90e-01  1.09e+07        1    4.71e-02    1.51e+01
I0327 14:02:14.055320 2090958848 callbacks.cc:105]  228  1.244869e+01    2.52e-05    9.16e+01   1.41e+00   6.95e-01  1.16e+07        1    4.98e-02    1.52e+01
I0327 14:02:14.102340 2090958848 callbacks.cc:105]  229  1.244867e+01    2.21e-05    8.50e+01   1.36e+00   6.98e-01  1.24e+07        1    4.70e-02    1.52e+01
I0327 14:02:14.263654 2090958848 callbacks.cc:105]  230  1.244865e+01    1.93e-05    7.83e+01   1.31e+00   7.04e-01  1.33e+07        1    1.61e-01    1.54e+01
I0327 14:02:14.362149 2090958848 callbacks.cc:105]  231  1.244864e+01    1.66e-05    7.20e+01   1.25e+00   7.07e-01  1.43e+07        1    9.81e-02    1.55e+01
I0327 14:02:14.443832 2090958848 callbacks.cc:105]  232  1.244862e+01    1.42e-05    6.55e+01   1.19e+00   7.13e-01  1.55e+07        1    8.16e-02    1.56e+01
I0327 14:02:14.445227 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.622356e-07 <= 1.000000e-06
I0327 14:02:14.445859 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                          151                      142
Parameters                                629                      575
Effective parameters                      623                      569
Residual blocks                           278                      278
Residual                                  556                      556

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              139, 1, 2                139, 1, 2

Cost:
Initial                          3.710883e+03
Final                            1.244862e+01
Change                           3.698435e+03

Minimizer iterations                      233
Successful steps                          233
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0002

  Residual evaluation                  0.1578
  Jacobian evaluation                 15.2190
  Linear solver                        0.1453
Minimizer                             15.5786

Postprocessor                          0.0001
Total                                 15.5788

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.622356e-07 <= 1.000000e-06)
I0327 14:02:14.489305 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:02:14.723733 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 97 inliers out of 126 2D-3D matches.
I0327 14:02:14.730634 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:02:20.266517 2090958848 estimate_track.cc:196] 3612 tracks were estimated of 5720 possible tracks.
I0327 14:02:20.269183 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:02:20.348054 2090958848 block_sparse_matrix.cc:80] Allocating values array with 1388464 bytes.
I0327 14:02:21.590859 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.169166e+05    0.00e+00    6.99e+06   0.00e+00   0.00e+00  1.00e+04        0    1.24e+00    1.25e+00
I0327 14:02:21.591761 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:02:21.591853 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:02:22.927284 2090958848 callbacks.cc:105]    1  3.242357e+04    8.45e+04    1.25e+07   5.68e+02   7.82e-01  1.22e+04        1    1.34e+00    2.58e+00
I0327 14:02:24.313024 2090958848 callbacks.cc:105]    2  1.665116e+04    1.58e+04    7.05e+06   3.05e+02   5.76e-01  1.22e+04        1    1.39e+00    3.97e+00
I0327 14:02:25.762287 2090958848 callbacks.cc:105]    3  7.154339e+03    9.50e+03    4.50e+06   2.23e+02   6.95e-01  1.30e+04        1    1.45e+00    5.42e+00
I0327 14:02:26.920590 2090958848 callbacks.cc:105]    4  3.419301e+03    3.74e+03    2.91e+06   1.66e+02   6.95e-01  1.38e+04        1    1.16e+00    6.58e+00
I0327 14:02:28.154287 2090958848 callbacks.cc:105]    5  1.666404e+03    1.75e+03    1.79e+06   1.25e+02   7.45e-01  1.57e+04        1    1.23e+00    7.81e+00
I0327 14:02:29.445507 2090958848 callbacks.cc:105]    6  8.990787e+02    7.67e+02    1.16e+06   9.79e+01   7.57e-01  1.81e+04        1    1.29e+00    9.10e+00
I0327 14:02:30.602540 2090958848 callbacks.cc:105]    7  5.165024e+02    3.83e+02    7.21e+05   7.52e+01   8.05e-01  2.35e+04        1    1.16e+00    1.03e+01
I0327 14:02:31.750879 2090958848 callbacks.cc:105]    8  3.406965e+02    1.76e+02    4.68e+05   5.96e+01   8.20e-01  3.18e+04        1    1.15e+00    1.14e+01
I0327 14:02:32.859794 2090958848 callbacks.cc:105]    9  2.596672e+02    8.10e+01    2.62e+05   4.39e+01   8.72e-01  5.42e+04        1    1.11e+00    1.25e+01
I0327 14:02:34.249963 2090958848 callbacks.cc:105]   10  2.311574e+02    2.85e+01    1.34e+05   3.11e+01   9.02e-01  1.13e+05        1    1.39e+00    1.39e+01
I0327 14:02:35.525199 2090958848 callbacks.cc:105]   11  2.243394e+02    6.82e+00    3.93e+04   1.67e+01   9.63e-01  3.39e+05        1    1.27e+00    1.52e+01
I0327 14:02:36.754173 2090958848 callbacks.cc:105]   12  2.237927e+02    5.47e-01    3.89e+03   5.24e+00   9.96e-01  1.02e+06        1    1.23e+00    1.64e+01
I0327 14:02:38.005740 2090958848 callbacks.cc:105]   13  2.237869e+02    5.78e-03    5.03e+01   5.92e-01   1.00e+00  3.05e+06        1    1.25e+00    1.77e+01
I0327 14:02:38.028635 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.348888e-08 <= 1.000000e-06
I0327 14:02:38.030697 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         3763                     3755
Parameters                              15077                    15029
Effective parameters                    15071                    15023
Residual blocks                          7889                     7889
Residual                                15778                    15778

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             3751, 1, 3               3751, 1, 3

Cost:
Initial                          1.169166e+05
Final                            2.237869e+02
Change                           1.166928e+05

Minimizer iterations                       14
Successful steps                           14
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0047

  Residual evaluation                  0.2289
  Jacobian evaluation                 17.2611
  Linear solver                        0.1598
Minimizer                             17.6807

Postprocessor                          0.0003
Total                                 17.6857

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.348888e-08 <= 1.000000e-06)
I0327 14:02:38.123857 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:02:40.619160 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 2191 inliers out of 2192 2D-3D matches.
I0327 14:02:40.691617 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:02:45.893901 2090958848 estimate_track.cc:196] 5689 tracks were estimated of 5689 possible tracks.
I0327 14:02:45.895928 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:02:46.053843 2090958848 block_sparse_matrix.cc:80] Allocating values array with 4041664 bytes.
I0327 14:02:49.784384 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.282651e+03    0.00e+00    5.45e+05   0.00e+00   0.00e+00  1.00e+04        0    3.73e+00    3.75e+00
I0327 14:02:49.786190 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:02:49.786413 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:02:53.547969 2090958848 callbacks.cc:105]    1  8.534951e+02    4.29e+02    2.98e+03   1.40e+01   1.00e+00  3.00e+04        1    3.76e+00    7.52e+00
I0327 14:02:57.395617 2090958848 callbacks.cc:105]    2  8.524456e+02    1.05e+00    1.81e+03   6.32e+00   1.00e+00  9.00e+04        1    3.85e+00    1.14e+01
I0327 14:03:01.240352 2090958848 callbacks.cc:105]    3  8.523613e+02    8.44e-02    2.09e+02   2.07e+00   1.00e+00  2.70e+05        1    3.84e+00    1.52e+01
I0327 14:03:05.085695 2090958848 callbacks.cc:105]    4  8.523602e+02    1.08e-03    3.65e+00   2.51e-01   1.00e+00  8.10e+05        1    3.85e+00    1.91e+01
I0327 14:03:05.168398 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.092626e-09 <= 1.000000e-06
I0327 14:03:05.177840 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                         9452                     9445
Parameters                              37833                    37791
Effective parameters                    37827                    37785
Residual blocks                         22964                    22964
Residual                                45928                    45928

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering             9440, 1, 4               9440, 1, 4

Cost:
Initial                          1.282651e+03
Final                            8.523602e+02
Change                           4.302909e+02

Minimizer iterations                        5
Successful steps                            5
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0235

  Residual evaluation                  0.2408
  Jacobian evaluation                 18.6635
  Linear solver                        0.1807
Minimizer                             19.1153

Postprocessor                          0.0013
Total                                 19.1400

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.092626e-09 <= 1.000000e-06)
I0327 14:03:05.401711 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:03:11.060781 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4841 inliers out of 4844 2D-3D matches.
I0327 14:03:11.200258 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:03:14.556975 2090958848 estimate_track.cc:196] 3867 tracks were estimated of 3867 possible tracks.
I0327 14:03:14.559027 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:03:14.801343 2090958848 block_sparse_matrix.cc:80] Allocating values array with 6255392 bytes.
I0327 14:03:20.562646 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.889474e+03    0.00e+00    8.28e+05   0.00e+00   0.00e+00  1.00e+04        0    5.76e+00    5.81e+00
I0327 14:03:20.565392 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:03:20.565739 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:03:26.464494 2090958848 callbacks.cc:105]    1  1.419208e+03    4.70e+02    2.77e+03   5.58e+00   1.00e+00  3.00e+04        1    5.90e+00    1.17e+01
I0327 14:03:32.918248 2090958848 callbacks.cc:105]    2  1.418777e+03    4.31e-01    3.78e+02   3.65e+00   1.00e+00  9.00e+04        1    6.45e+00    1.82e+01
I0327 14:03:39.182646 2090958848 callbacks.cc:105]    3  1.418749e+03    2.81e-02    3.51e+01   1.09e+00   1.00e+00  2.70e+05        1    6.26e+00    2.44e+01
I0327 14:03:39.340001 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.032602e-07 <= 1.000000e-06
I0327 14:03:39.353510 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        13319                    13313
Parameters                              53301                    53265
Effective parameters                    53295                    53259
Residual blocks                         35542                    35542
Residual                                71084                    71084

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            13307, 1, 5              13307, 1, 5

Cost:
Initial                          1.889474e+03
Final                            1.418749e+03
Change                           4.707249e+02

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0457

  Residual evaluation                  0.3389
  Jacobian evaluation                 23.8949
  Linear solver                        0.2602
Minimizer                             24.5403

Postprocessor                          0.0023
Total                                 24.5883

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.032602e-07 <= 1.000000e-06)
I0327 14:03:39.707620 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:03:46.924906 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 6097 inliers out of 6100 2D-3D matches.
I0327 14:03:47.101819 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:03:50.460635 2090958848 estimate_track.cc:196] 3825 tracks were estimated of 3825 possible tracks.
I0327 14:03:50.463372 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:03:50.787140 2090958848 block_sparse_matrix.cc:80] Allocating values array with 8675392 bytes.
I0327 14:03:58.919548 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.820227e+03    0.00e+00    2.89e+06   0.00e+00   0.00e+00  1.00e+04        0    8.13e+00    8.20e+00
I0327 14:03:58.923393 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:03:58.923938 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:04:07.346074 2090958848 callbacks.cc:105]    1  2.029228e+03    7.91e+02    3.22e+03   4.36e+00   1.00e+00  3.00e+04        1    8.43e+00    1.66e+01
I0327 14:04:15.749141 2090958848 callbacks.cc:105]    2  2.029171e+03    5.75e-02    2.92e+01   3.58e-01   1.00e+00  9.00e+04        1    8.40e+00    2.50e+01
I0327 14:04:15.941316 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.854618e-07 <= 1.000000e-06
I0327 14:04:15.957166 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        17144                    17139
Parameters                              68601                    68571
Effective parameters                    68595                    68565
Residual blocks                         49292                    49292
Residual                                98584                    98584

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            17132, 1, 6              17132, 1, 6

Cost:
Initial                          2.820227e+03
Final                            2.029171e+03
Change                           7.910567e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0694

  Residual evaluation                  0.3166
  Jacobian evaluation                 24.5389
  Linear solver                        0.2598
Minimizer                             25.1559

Postprocessor                          0.0030
Total                                 25.2283

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.854618e-07 <= 1.000000e-06)
I0327 14:04:16.421094 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:04:22.033957 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 1 with 4786 inliers out of 4789 2D-3D matches.
I0327 14:04:22.184506 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:04:24.459087 2090958848 estimate_track.cc:196] 2586 tracks were estimated of 2586 possible tracks.
I0327 14:04:24.462647 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:04:24.860659 2090958848 block_sparse_matrix.cc:80] Allocating values array with 10428528 bytes.
I0327 14:04:34.915453 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.771655e+03    0.00e+00    4.63e+06   0.00e+00   0.00e+00  1.00e+04        0    1.01e+01    1.01e+01
I0327 14:04:34.919517 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:04:34.920004 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:04:45.149955 2090958848 callbacks.cc:105]    1  2.600783e+03    1.17e+03    6.35e+03   2.96e+00   1.00e+00  3.00e+04        1    1.02e+01    2.04e+01
I0327 14:04:55.429165 2090958848 callbacks.cc:105]    2  2.600732e+03    5.10e-02    6.97e+01   5.85e-01   1.00e+00  9.00e+04        1    1.03e+01    3.07e+01
I0327 14:04:55.652549 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 4.971853e-07 <= 1.000000e-06
I0327 14:04:55.683387 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19730                    19726
Parameters                              78945                    78921
Effective parameters                    78939                    78915
Residual blocks                         59253                    59253
Residual                               118506                   118506

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19718, 1, 7              19718, 1, 7

Cost:
Initial                          3.771655e+03
Final                            2.600732e+03
Change                           1.170924e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0843

  Residual evaluation                  0.3877
  Jacobian evaluation                 30.0567
  Linear solver                        0.3023
Minimizer                             30.7939

Postprocessor                          0.0039
Total                                 30.8821

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 4.971853e-07 <= 1.000000e-06)
I0327 14:04:56.221040 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:05:02.293567 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 9 with 5058 inliers out of 5067 2D-3D matches.
I0327 14:05:02.459609 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:05:04.880391 2090958848 estimate_track.cc:196] 2672 tracks were estimated of 2672 possible tracks.
I0327 14:05:04.883378 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:05:05.337411 2090958848 block_sparse_matrix.cc:80] Allocating values array with 12260864 bytes.
I0327 14:05:17.197528 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.317496e+03    0.00e+00    3.58e+06   0.00e+00   0.00e+00  1.00e+04        0    1.19e+01    1.20e+01
I0327 14:05:17.201197 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:05:17.201702 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:05:29.417903 2090958848 callbacks.cc:105]    1  3.228706e+03    1.09e+03    1.39e+04   1.11e+01   1.00e+00  3.00e+04        1    1.22e+01    2.42e+01
I0327 14:05:41.468757 2090958848 callbacks.cc:105]    2  3.228522e+03    1.84e-01    1.05e+02   8.54e-01   1.00e+00  9.00e+04        1    1.21e+01    3.62e+01
I0327 14:05:41.722389 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.624827e-07 <= 1.000000e-06
I0327 14:05:41.751466 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22402                    22399
Parameters                              89633                    89615
Effective parameters                    89627                    89609
Residual blocks                         69664                    69664
Residual                               139328                   139328

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22390, 1, 8              22390, 1, 8

Cost:
Initial                          4.317496e+03
Final                            3.228522e+03
Change                           1.088974e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0987

  Residual evaluation                  0.4551
  Jacobian evaluation                 35.5271
  Linear solver                        0.3463
Minimizer                             36.3880

Postprocessor                          0.0046
Total                                 36.4913

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.624827e-07 <= 1.000000e-06)
I0327 14:05:42.373443 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:05:48.929294 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 5 with 5372 inliers out of 5379 2D-3D matches.
I0327 14:05:49.128635 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:05:51.209154 2090958848 estimate_track.cc:196] 2264 tracks were estimated of 2264 possible tracks.
I0327 14:05:51.211225 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:05:51.735186 2090958848 block_sparse_matrix.cc:80] Allocating values array with 14004496 bytes.
I0327 14:06:05.268991 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.650271e+03    0.00e+00    7.49e+05   0.00e+00   0.00e+00  1.00e+04        0    1.35e+01    1.36e+01
I0327 14:06:05.275172 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:06:05.275867 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:06:19.058199 2090958848 callbacks.cc:105]    1  3.895699e+03    7.55e+02    8.58e+02   5.06e+00   1.00e+00  3.00e+04        1    1.38e+01    2.74e+01
I0327 14:06:32.946214 2090958848 callbacks.cc:105]    2  3.895629e+03    6.94e-02    7.21e+01   9.84e-01   1.00e+00  9.00e+04        1    1.39e+01    4.13e+01
I0327 14:06:33.247160 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 8.669856e-07 <= 1.000000e-06
I0327 14:06:33.284896 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24666                    24664
Parameters                              98689                    98677
Effective parameters                    98683                    98671
Residual blocks                         79571                    79571
Residual                               159142                   159142

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24654, 1, 9              24654, 1, 9

Cost:
Initial                          4.650271e+03
Final                            3.895629e+03
Change                           7.546415e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1126

  Residual evaluation                  0.5083
  Jacobian evaluation                 40.5282
  Linear solver                        0.4142
Minimizer                             41.5150

Postprocessor                          0.0050
Total                                 41.6327

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 8.669856e-07 <= 1.000000e-06)
I0327 14:06:33.982041 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:06:39.387936 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 3 with 4440 inliers out of 4451 2D-3D matches.
I0327 14:06:39.559495 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:06:41.281466 2090958848 estimate_track.cc:196] 1863 tracks were estimated of 1863 possible tracks.
I0327 14:06:41.285408 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:06:41.856007 2090958848 block_sparse_matrix.cc:80] Allocating values array with 15443648 bytes.
I0327 14:06:56.805850 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.734869e+03    0.00e+00    2.59e+06   0.00e+00   0.00e+00  1.00e+04        0    1.49e+01    1.51e+01
I0327 14:06:56.810462 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:06:56.811198 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:07:11.997300 2090958848 callbacks.cc:105]    1  4.545196e+03    1.19e+03    8.81e+03   8.39e+00   1.00e+00  3.00e+04        1    1.52e+01    3.03e+01
I0327 14:07:27.137773 2090958848 callbacks.cc:105]    2  4.545038e+03    1.58e-01    8.88e+01   1.13e+00   1.00e+00  9.00e+04        1    1.51e+01    4.54e+01
I0327 14:07:42.171643 2090958848 callbacks.cc:105]    3  4.545033e+03    4.66e-03    6.87e+00   2.96e-01   1.00e+00  2.70e+05        1    1.50e+01    6.04e+01
I0327 14:07:42.501567 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 7.640692e-09 <= 1.000000e-06
I0327 14:07:42.540293 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26528
Parameters                             106141                   106135
Effective parameters                   106135                   106129
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10             26517, 1, 10

Cost:
Initial                          5.734869e+03
Final                            4.545033e+03
Change                           1.189836e+03

Minimizer iterations                        4
Successful steps                            4
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1233

  Residual evaluation                  0.7622
  Jacobian evaluation                 59.2086
  Linear solver                        0.5908
Minimizer                             60.6497

Postprocessor                          0.0055
Total                                 60.7785

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 7.640692e-09 <= 1.000000e-06)
I0327 14:07:43.310020 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:07:46.391439 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2558 inliers out of 2562 2D-3D matches.
I0327 14:07:46.472770 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:07:48.063585 2090958848 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0327 14:07:48.065642 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:07:48.658527 2090958848 block_sparse_matrix.cc:80] Allocating values array with 16508800 bytes.
I0327 14:08:04.453332 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.921876e+03    0.00e+00    1.26e+06   0.00e+00   0.00e+00  1.00e+04        0    1.58e+01    1.59e+01
I0327 14:08:04.458621 2090958848 detect_structure.cc:95] Dynamic f block size because the block size changed from 1 to 6
I0327 14:08:04.459439 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,-1>.
I0327 14:08:20.759426 2090958848 callbacks.cc:105]    1  4.987609e+03    9.34e+02    8.27e+03   1.96e+01   1.00e+00  3.00e+04        1    1.63e+01    3.22e+01
I0327 14:08:36.847817 2090958848 callbacks.cc:105]    2  4.987319e+03    2.90e-01    9.51e+01   1.66e+00   1.00e+00  9.00e+04        1    1.61e+01    4.83e+01
I0327 14:08:37.199559 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 9.407024e-08 <= 1.000000e-06
I0327 14:08:37.235175 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28274
Parameters                             113121                   113121
Effective parameters                   113115                   113115
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11             28262, 1, 11

Cost:
Initial                          5.921876e+03
Final                            4.987319e+03
Change                           9.345568e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1344

  Residual evaluation                  0.6233
  Jacobian evaluation                 47.3865
  Linear solver                        0.4542
Minimizer                             48.5451

Postprocessor                          0.0063
Total                                 48.6858

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 9.407024e-08 <= 1.000000e-06)
I0327 14:12:15.166939 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.VariableIntrinsics (619685 ms)
[ RUN      ] IncrementalReconstructionEstimator.InitializedReconstruction
I0327 14:12:25.644814 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 10 with 5004 inliers out of 5005 2D-3D matches.
I0327 14:12:25.833886 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:12:28.640256 2090958848 estimate_track.cc:196] 2485 tracks were estimated of 2485 possible tracks.
I0327 14:12:28.644991 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:12:28.981148 2090958848 block_sparse_matrix.cc:80] Allocating values array with 6750240 bytes.
I0327 14:12:38.206998 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.058675e+03    0.00e+00    1.05e+05   0.00e+00   0.00e+00  1.00e+04        0    9.23e+00    9.29e+00
I0327 14:12:38.209823 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:12:38.209856 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:12:46.753618 2090958848 callbacks.cc:105]    1  1.552989e+03    5.06e+02    1.14e+03   3.62e+00   1.00e+00  3.00e+04        1    8.55e+00    1.78e+01
I0327 14:12:55.108749 2090958848 callbacks.cc:105]    2  1.552940e+03    4.91e-02    2.42e+01   3.14e-01   1.00e+00  9.00e+04        1    8.36e+00    2.62e+01
I0327 14:12:55.327591 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 6.926545e-08 <= 1.000000e-06
I0327 14:12:55.344549 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        14302                    14295
Parameters                              57233                    57190
Residual blocks                         42189                    42189
Residual                                84378                    84378

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            14290, 1, 5                 14290, 5

Cost:
Initial                          2.058675e+03
Final                            1.552940e+03
Change                           5.057354e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0641

  Residual evaluation                  0.3194
  Jacobian evaluation                 25.6598
  Linear solver                        0.3375
Minimizer                             26.3480

Postprocessor                          0.0027
Total                                 26.4148

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 6.926545e-08 <= 1.000000e-06)
I0327 14:12:55.817142 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:13:02.909631 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 0 with 5065 inliers out of 5070 2D-3D matches.
I0327 14:13:03.113440 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:13:05.898425 2090958848 estimate_track.cc:196] 2611 tracks were estimated of 2611 possible tracks.
I0327 14:13:05.902477 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:13:06.292088 2090958848 block_sparse_matrix.cc:80] Allocating values array with 8396960 bytes.
I0327 14:13:16.474164 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.271836e+03    0.00e+00    1.70e+06   0.00e+00   0.00e+00  1.00e+04        0    1.02e+01    1.03e+01
I0327 14:13:16.477758 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:13:16.477790 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:13:26.749392 2090958848 callbacks.cc:105]    1  2.109529e+03    1.16e+03    4.82e+03   5.98e+00   1.00e+00  3.00e+04        1    1.03e+01    2.05e+01
I0327 14:13:38.075969 2090958848 callbacks.cc:105]    2  2.109489e+03    4.00e-02    2.55e+01   2.32e-01   1.00e+00  9.00e+04        1    1.13e+01    3.19e+01
I0327 14:13:38.524024 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.125949e-08 <= 1.000000e-06
I0327 14:13:38.546250 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        16913                    16907
Parameters                              67677                    67640
Residual blocks                         52481                    52481
Residual                               104962                   104962

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            16901, 1, 6                 16901, 6

Cost:
Initial                          3.271836e+03
Final                            2.109489e+03
Change                           1.162347e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0714

  Residual evaluation                  0.4156
  Jacobian evaluation                 31.1969
  Linear solver                        0.5744
Minimizer                             32.2342

Postprocessor                          0.0036
Total                                 32.3091

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.125949e-08 <= 1.000000e-06)
I0327 14:13:39.185995 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:13:46.578776 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 2 with 4924 inliers out of 4936 2D-3D matches.
I0327 14:13:46.813614 2090958848 reconstruction_estimator_utils.cc:349] 1 points were removed because of bad reprojection errors. 0 points were removed because they had insufficient viewing angles and were poorly constrained.
I0327 14:13:46.813644 2090958848 incremental_reconstruction_estimator.cc:552] 1 outlier points were removed.
I0327 14:13:50.536685 2090958848 estimate_track.cc:196] 2765 tracks were estimated of 2765 possible tracks.
I0327 14:13:50.539171 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:13:51.017550 2090958848 block_sparse_matrix.cc:80] Allocating values array with 10071200 bytes.
I0327 14:14:00.560959 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.970926e+03    0.00e+00    2.13e+06   0.00e+00   0.00e+00  1.00e+04        0    9.54e+00    9.66e+00
I0327 14:14:00.564462 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:14:00.564513 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:14:10.457936 2090958848 callbacks.cc:105]    1  2.760069e+03    1.21e+03    6.27e+03   5.39e+00   1.00e+00  3.00e+04        1    9.90e+00    1.96e+01
I0327 14:14:20.358970 2090958848 callbacks.cc:105]    2  2.759938e+03    1.31e-01    2.63e+01   3.40e-01   1.00e+00  9.00e+04        1    9.90e+00    2.95e+01
I0327 14:14:20.595094 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 5.083785e-08 <= 1.000000e-06
I0327 14:14:20.615242 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        19677                    19672
Parameters                              78733                    78702
Residual blocks                         62945                    62945
Residual                               125890                   125890

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            19665, 1, 7                 19665, 7

Cost:
Initial                          3.970926e+03
Final                            2.759938e+03
Change                           1.210988e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1202

  Residual evaluation                  0.3900
  Jacobian evaluation                 28.7895
  Linear solver                        0.3488
Minimizer                             29.5800

Postprocessor                          0.0038
Total                                 29.7040

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 5.083785e-08 <= 1.000000e-06)
I0327 14:14:21.158509 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:14:26.143399 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 8 with 4518 inliers out of 4527 2D-3D matches.
I0327 14:14:26.275645 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:14:28.263588 2090958848 estimate_track.cc:196] 2448 tracks were estimated of 2448 possible tracks.
I0327 14:14:28.265887 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:14:28.683254 2090958848 block_sparse_matrix.cc:80] Allocating values array with 11578880 bytes.
I0327 14:14:40.151002 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.595374e+03    0.00e+00    1.96e+06   0.00e+00   0.00e+00  1.00e+04        0    1.15e+01    1.16e+01
I0327 14:14:40.154996 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:14:40.155035 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:14:52.173337 2090958848 callbacks.cc:105]    1  3.416239e+03    1.18e+03    7.40e+03   5.32e+00   1.00e+00  3.00e+04        1    1.20e+01    2.36e+01
I0327 14:15:05.412581 2090958848 callbacks.cc:105]    2  3.416131e+03    1.08e-01    2.51e+01   2.81e-01   1.00e+00  9.00e+04        1    1.32e+01    3.68e+01
I0327 14:15:05.767036 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 3.188734e-08 <= 1.000000e-06
I0327 14:15:05.800359 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        22125                    22121
Parameters                              88525                    88500
Residual blocks                         72368                    72368
Residual                               144736                   144736

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            22113, 1, 8                 22113, 8

Cost:
Initial                          4.595374e+03
Final                            3.416131e+03
Change                           1.179243e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.0869

  Residual evaluation                  0.4696
  Jacobian evaluation                 36.1033
  Linear solver                        0.4626
Minimizer                             37.0868

Postprocessor                          0.0055
Total                                 37.1791

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 3.188734e-08 <= 1.000000e-06)
I0327 14:15:06.524080 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:15:10.901625 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 4 with 3293 inliers out of 3312 2D-3D matches.
I0327 14:15:11.034415 2090958848 reconstruction_estimator_utils.cc:349] 1 points were removed because of bad reprojection errors. 0 points were removed because they had insufficient viewing angles and were poorly constrained.
I0327 14:15:11.034451 2090958848 incremental_reconstruction_estimator.cc:552] 1 outlier points were removed.
I0327 14:15:12.985635 2090958848 estimate_track.cc:196] 1952 tracks were estimated of 1952 possible tracks.
I0327 14:15:12.989034 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:15:13.529897 2090958848 block_sparse_matrix.cc:80] Allocating values array with 12733120 bytes.
I0327 14:15:28.184561 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.637202e+03    0.00e+00    3.47e+06   0.00e+00   0.00e+00  1.00e+04        0    1.47e+01    1.48e+01
I0327 14:15:28.190793 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:15:28.190832 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:15:43.162339 2090958848 callbacks.cc:105]    1  4.030763e+03    1.61e+03    7.64e+03   7.59e+00   1.00e+00  3.00e+04        1    1.50e+01    2.97e+01
I0327 14:15:57.954516 2090958848 callbacks.cc:105]    2  4.030676e+03    8.64e-02    1.72e+01   2.15e-01   1.00e+00  9.00e+04        1    1.48e+01    4.45e+01
I0327 14:15:58.322597 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.134982e-08 <= 1.000000e-06
I0327 14:15:58.355913 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        24076                    24073
Parameters                              96329                    96310
Residual blocks                         79582                    79582
Residual                               159164                   159164

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering            24064, 1, 9                 24064, 9

Cost:
Initial                          5.637202e+03
Final                            4.030676e+03
Change                           1.606525e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1127

  Residual evaluation                  0.5548
  Jacobian evaluation                 43.6104
  Linear solver                        0.5728
Minimizer                             44.7960

Postprocessor                          0.0053
Total                                 44.9140

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.134982e-08 <= 1.000000e-06)
I0327 14:15:59.113122 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:16:03.315754 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 6 with 3253 inliers out of 3260 2D-3D matches.
I0327 14:16:03.438808 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:16:05.859920 2090958848 estimate_track.cc:196] 2453 tracks were estimated of 2453 possible tracks.
I0327 14:16:05.863845 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:16:06.453101 2090958848 block_sparse_matrix.cc:80] Allocating values array with 14039680 bytes.
I0327 14:16:21.963832 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.600187e+03    0.00e+00    2.79e+06   0.00e+00   0.00e+00  1.00e+04        0    1.55e+01    1.56e+01
I0327 14:16:21.970685 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:16:21.970724 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:16:37.756186 2090958848 callbacks.cc:105]    1  4.545995e+03    1.05e+03    1.56e+04   1.05e+01   1.00e+00  3.00e+04        1    1.58e+01    3.14e+01
I0327 14:16:53.172099 2090958848 callbacks.cc:105]    2  4.545906e+03    8.90e-02    5.56e+01   4.10e-01   1.00e+00  9.00e+04        1    1.54e+01    4.68e+01
I0327 14:16:53.553429 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 1.430223e-08 <= 1.000000e-06
I0327 14:16:53.587723 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        26529                    26527
Parameters                             106141                   106128
Residual blocks                         87748                    87748
Residual                               175496                   175496

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           26517, 1, 10                26517, 10

Cost:
Initial                          5.600187e+03
Final                            4.545906e+03
Change                           1.054281e+03

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1240

  Residual evaluation                  0.5900
  Jacobian evaluation                 45.8591
  Linear solver                        0.5951
Minimizer                             47.1035

Postprocessor                          0.0057
Total                                 47.2331

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.430223e-08 <= 1.000000e-06)
I0327 14:16:54.364917 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:16:57.495942 2090958848 localize_view_to_reconstruction.cc:193] Estimated the camera pose for view 7 with 2559 inliers out of 2562 2D-3D matches.
I0327 14:16:57.580874 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
I0327 14:16:59.154227 2090958848 estimate_track.cc:196] 1745 tracks were estimated of 1745 possible tracks.
I0327 14:16:59.156244 2090958848 incremental_reconstruction_estimator.cc:472] Running full bundle adjustment on the entire reconstruction.
I0327 14:16:59.752522 2090958848 block_sparse_matrix.cc:80] Allocating values array with 15008000 bytes.
I0327 14:17:15.550905 2090958848 callbacks.cc:105] iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.763326e+03    0.00e+00    9.19e+05   0.00e+00   0.00e+00  1.00e+04        0    1.58e+01    1.59e+01
I0327 14:17:15.556491 2090958848 detect_structure.cc:113] Schur complement static structure <2,4,6>.
I0327 14:17:15.556525 2090958848 schur_eliminator.cc:155] Template specializations not found for <2,4,6>
I0327 14:17:32.008132 2090958848 callbacks.cc:105]    1  4.988052e+03    7.75e+02    3.99e+03   4.55e+00   1.00e+00  3.00e+04        1    1.65e+01    3.24e+01
I0327 14:17:48.642501 2090958848 callbacks.cc:105]    2  4.988044e+03    8.61e-03    6.89e+00   1.24e-01   1.00e+00  9.00e+04        1    1.66e+01    4.90e+01
I0327 14:17:49.053891 2090958848 trust_region_minimizer.cc:703] Terminating: Function tolerance reached. |cost_change|/cost: 2.447194e-10 <= 1.000000e-06
I0327 14:17:49.088802 2090958848 bundle_adjustment.cc:392]
Solver Summary (v 1.12.0-eigen-(3.3.3)-lapack-suitesparse-(4.5.4)-cxsparse-(3.1.9)-no_openmp)

                                     Original                  Reduced
Parameter blocks                        28274                    28273
Parameters                             113121                   113114
Residual blocks                         93800                    93800
Residual                               187600                   187600

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering           28262, 1, 11                28262, 11

Cost:
Initial                          5.763326e+03
Final                            4.988044e+03
Change                           7.752819e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1319

  Residual evaluation                  0.6212
  Jacobian evaluation                 48.0058
  Linear solver                        0.6133
Minimizer                             49.3050

Postprocessor                          0.0060
Total                                 49.4429

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 2.447194e-10 <= 1.000000e-06)
I0327 14:17:49.934190 2090958848 incremental_reconstruction_estimator.cc:552] 0 outlier points were removed.
[       OK ] IncrementalReconstructionEstimator.InitializedReconstruction (334777 ms)
[----------] 4 tests from IncrementalReconstructionEstimator (1605188 ms total)

[----------] Global test environment tear-down
[==========] 4 tests from 1 test case ran. (1605188 ms total)
[  PASSED  ] 4 tests.
Process 54890 exited with status = 0 (0x00000000)
(lldb)

Apologies for the long text. I didn't want to put it in a pastebin, and markdown doesn't seem to have anything to denote collapsible text...

Really strange that it passes like this in debug but segfaults in release... I'll run the other tests with lldb later, this killed my laptop battery and I don't have my charger :). I'll also double check the output of make test with the debug build.

Hoping to find a solution to this. I'll post here if I find anything else.

luketaverne commented 7 years ago

Tried quickly with the find_polynomial_roots_jenkins_traub_test. Results below.

luke@public-docking-als-2-0132:~/Documents/Programming/TheiaSfM/theia-build|master⚡
⇒  lldb -- ./bin/find_polynomial_roots_jenkins_traub_test --logtostderr --v=2
(lldb) target create "./bin/find_polynomial_roots_jenkins_traub_test"
Current executable set to './bin/find_polynomial_roots_jenkins_traub_test' (x86_64).
(lldb) settings set -- target.run-args  "--logtostderr" "--v=2"
(lldb) run
Process 55071 launched: './bin/find_polynomial_roots_jenkins_traub_test' (x86_64)
I0327 14:35:33.648262 2090958848 test_main.cc:48] Running tests with logs enabled.
[==========] Running 18 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 18 tests from Polynomial
[ RUN      ] Polynomial.InvalidPolynomialOfZeroLengthIsRejected
E0327 14:35:33.650624 2090958848 find_polynomial_roots_jenkins_traub.cc:309] Invalid polynomial of size 0 passed to FindPolynomialRootsJenkinsTraub
[       OK ] Polynomial.InvalidPolynomialOfZeroLengthIsRejected (0 ms)
[ RUN      ] Polynomial.ConstantPolynomialReturnsNoRoots
W0327 14:35:33.651237 2090958848 find_polynomial_roots_jenkins_traub.cc:708] Trying to extract roots from a constant polynomial in FindPolynomialRoots
[       OK ] Polynomial.ConstantPolynomialReturnsNoRoots (0 ms)
[ RUN      ] Polynomial.LinearPolynomialWithPositiveRootWorks
[       OK ] Polynomial.LinearPolynomialWithPositiveRootWorks (1 ms)
[ RUN      ] Polynomial.LinearPolynomialWithNegativeRootWorks
[       OK ] Polynomial.LinearPolynomialWithNegativeRootWorks (0 ms)
[ RUN      ] Polynomial.QuadraticPolynomialWithPositiveRootsWorks
[       OK ] Polynomial.QuadraticPolynomialWithPositiveRootsWorks (0 ms)
[ RUN      ] Polynomial.QuadraticPolynomialWithOneNegativeRootWorks
[       OK ] Polynomial.QuadraticPolynomialWithOneNegativeRootWorks (0 ms)
[ RUN      ] Polynomial.QuadraticPolynomialWithTwoNegativeRootsWorks
[       OK ] Polynomial.QuadraticPolynomialWithTwoNegativeRootsWorks (0 ms)
[ RUN      ] Polynomial.QuadraticPolynomialWithCloseRootsWorks
[       OK ] Polynomial.QuadraticPolynomialWithCloseRootsWorks (1 ms)
[ RUN      ] Polynomial.QuadraticPolynomialWithComplexRootsWorks
[       OK ] Polynomial.QuadraticPolynomialWithComplexRootsWorks (0 ms)
[ RUN      ] Polynomial.QuarticPolynomialWorks
[       OK ] Polynomial.QuarticPolynomialWorks (1 ms)
[ RUN      ] Polynomial.QuarticPolynomialWithTwoClustersOfCloseRootsWorks
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 0.042304981518939938, which exceeds tolerance, where
a[i] evaluates to 0.08069501848106006,
b[i] evaluates to 0.123, and
tolerance evaluates to 1e-10.
i = 0
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 0.16530498151893994, which exceeds tolerance, where
a[i] evaluates to 0.08069501848106006,
b[i] evaluates to 0.246, and
tolerance evaluates to 1e-10.
i = 1
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 122999.754, which exceeds tolerance, where
a[i] evaluates to 0.24600000000000011,
b[i] evaluates to 123000, and
tolerance evaluates to 1e-10.
i = 2
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 122999.96160996304, which exceeds tolerance, where
a[i] evaluates to 368999.96160996304,
b[i] evaluates to 246000, and
tolerance evaluates to 1e-10.
i = 3
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 0.092828999880726959, which exceeds tolerance, where
a[i] evaluates to 0.092828999880726959,
b[i] evaluates to 0, and
tolerance evaluates to 1e-10.
i = 1
/Users/luke/Documents/Programming/TheiaSfM/src/theia/test/test_utils.h:66: Failure
The difference between a[i] and b[i] is 0.092828999880726959, which exceeds tolerance, where
a[i] evaluates to -0.092828999880726959,
b[i] evaluates to 0, and
tolerance evaluates to 1e-10.
i = 2
[  FAILED  ] Polynomial.QuarticPolynomialWithTwoClustersOfCloseRootsWorks (4 ms)
[ RUN      ] Polynomial.QuarticPolynomialWithTwoZeroRootsWorks
[       OK ] Polynomial.QuarticPolynomialWithTwoZeroRootsWorks (1 ms)
[ RUN      ] Polynomial.QuarticMonomialWorks
W0327 14:35:33.659549 2090958848 find_polynomial_roots_jenkins_traub.cc:708] Trying to extract roots from a constant polynomial in FindPolynomialRoots
[       OK ] Polynomial.QuarticMonomialWorks (0 ms)
[ RUN      ] Polynomial.NullPointerAsImaginaryPartWorks
[       OK ] Polynomial.NullPointerAsImaginaryPartWorks (2 ms)
[ RUN      ] Polynomial.NullPointerAsRealPartWorks
[       OK ] Polynomial.NullPointerAsRealPartWorks (3 ms)
[ RUN      ] Polynomial.BothOutputArgumentsNullWorks
[       OK ] Polynomial.BothOutputArgumentsNullWorks (1 ms)
[ RUN      ] Polynomial.HardPolynomial1
[       OK ] Polynomial.HardPolynomial1 (13 ms)
[ RUN      ] Polynomial.HardPolynomial2
[       OK ] Polynomial.HardPolynomial2 (23 ms)
[----------] 18 tests from Polynomial (51 ms total)

[----------] Global test environment tear-down
[==========] 18 tests from 1 test case ran. (51 ms total)
[  PASSED  ] 17 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] Polynomial.QuarticPolynomialWithTwoClustersOfCloseRootsWorks

 1 FAILED TEST
Process 55071 exited with status = 1 (0x00000001)
(lldb)
luketaverne commented 7 years ago

Also tried fov_camera_model_test. Results below:

luke@public-docking-als-2-0132:~/Documents/Programming/TheiaSfM/theia-build|master⚡
⇒  lldb -- ./bin/fov_camera_model_test --logtostderr --v=2
(lldb) target create "./bin/fov_camera_model_test"
Current executable set to './bin/fov_camera_model_test' (x86_64).
(lldb) settings set -- target.run-args  "--logtostderr" "--v=2"
(lldb) run
Process 55100 launched: './bin/fov_camera_model_test' (x86_64)
I0327 14:38:24.148797 2090958848 test_main.cc:48] Running tests with logs enabled.
[==========] Running 7 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 7 tests from FOVCameraModel
[ RUN      ] FOVCameraModel.InternalParameterGettersAndSetters
[       OK ] FOVCameraModel.InternalParameterGettersAndSetters (1 ms)
[ RUN      ] FOVCameraModel.SetFromCameraIntrinsicsPriors
[       OK ] FOVCameraModel.SetFromCameraIntrinsicsPriors (0 ms)
[ RUN      ] FOVCameraModel.GetSubsetFromOptimizeIntrinsicsType
[       OK ] FOVCameraModel.GetSubsetFromOptimizeIntrinsicsType (1 ms)
[ RUN      ] FOVCameraModel.ReprojectionNoDistortion
/Users/luke/Documents/Programming/TheiaSfM/src/theia/sfm/camera/fov_camera_model_test.cc:215: Failure
Expected: ((pixel - reprojected_pixel).norm()) < (kTolerance), actual: 721.11 vs 1e-05
gt pixel: 0 0
reprojected pixel: 600 400
/Users/luke/Documents/Programming/TheiaSfM/src/theia/sfm/camera/fov_camera_model_test.cc:215: Failure
Expected: ((pixel - reprojected_pixel).norm()) < (kTolerance), actual: 721.11 vs 1e-05
gt pixel: 0 0
reprojected pixel: 600 400
/Users/luke/Documents/Programming/TheiaSfM/src/theia/sfm/camera/fov_camera_model_test.cc:215: Failure
Expected: ((pixel - reprojected_pixel).norm()) < (kTolerance), actual: 721.11 vs 1e-05
gt pixel: 0 0
reprojected pixel: 600 400
/Users/luke/Documents/Programming/TheiaSfM/src/theia/sfm/camera/fov_camera_model_test.cc:215: Failure
Expected: ((pixel - reprojected_pixel).norm()) < (kTolerance), actual: 721.11 vs 1e-05
gt pixel: 0 0

And it continues doing this for thousands of lines. I ended up cancelling the test. Between this and the QuarticPolynomial failure above, this is some serious floating point math problem, right?

sweeneychris commented 7 years ago

Hi there,

I am less worried about the polynomial roots test, as there is a fail-safe mode for any time that method is called. However, the FOV camera model errors seem concerning. I will investigate this today and let you know when I fix the errors.

sweeneychris commented 7 years ago

Alrighty with this commit I have all unit tests passing on Linux and Mac. Sorry about that, I have gotten a bit sloppy recently about running "make test" before I push my commits to ensure everything is passing.

https://review.gerrithub.io/#/c/354602/

Let me know if this fixes your issues!

luketaverne commented 7 years ago

Thanks Chris!

So the last commit actually fixed the FOVCameraModel test, but the find_polynomial_roots_jenkins_traub_test is still failing.

The tests that are now failing are:

92% tests passed, 7 tests failed out of 93

Total Test time (real) =  20.25 sec

The following tests FAILED:
     13 - find_polynomial_roots_jenkins_traub_test (Failed)
     41 - extract_maximally_parallel_rigid_subgraph_test (SEGFAULT)
     44 - filter_view_pairs_from_relative_translation_test (SEGFAULT)
     48 - least_unsquared_deviation_position_estimator_test (Failed)
     57 - incremental_reconstruction_estimator_test (SEGFAULT)
     80 - twoview_info_test (SEGFAULT)
     87 - evsac_test (OTHER_FAULT)
Errors while running CTest
make: *** [test] Error 8

For posterity, the previous failure for FOVCameraModel (that is now passing) was

[  FAILED  ] FOVCameraModel.ReprojectionOneDistortionSmall (73741 ms)
[ RUN      ] FOVCameraModel.ReprojectionOneDistortionMedium
[       OK ] FOVCameraModel.ReprojectionOneDistortionMedium (396 ms)
[ RUN      ] FOVCameraModel.ReprojectionOneDistortionLarge
[       OK ] FOVCameraModel.ReprojectionOneDistortionLarge (393 ms)
[----------] 7 tests from FOVCameraModel (137361 ms total)

[----------] Global test environment tear-down
[==========] 7 tests from 1 test case ran. (137361 ms total)
[  PASSED  ] 5 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] FOVCameraModel.ReprojectionNoDistortion
[  FAILED  ] FOVCameraModel.ReprojectionOneDistortionSmall

I'll rerun with the debug cmake now and see what the output is for find_polynomial_roots_jenkins_traub_test, least_unsquared_deviation_position_estimator_test and evsac_test are. Any idea on how to investigate the SEGFAULTs futher?

Thanks again!

sweeneychris commented 7 years ago

It is expected that the JK root solver will still fail -- I didn't change any code within that, just told Theia that it should not use that solver and should use a more stable method.

The segfaults are very worrisome though. I cannot replicate this on my Mac, but clearly several people have. I suspect it has to do with random number generation getting unlucky. Running the debug mode for the extract_maximally_parallel_rigid_subgraph_test adn least_unsquared_deviation_position_estimator_test should give us a good clue as to what may be going wrong. If you could post or email me a stack trace from those two algs, I should be able to trace down the error.

Thanks!

luketaverne commented 7 years ago

Okay thank you, will do. Would you prefer email, to avoid this thread from being any longer, or prefer I post it here, for searchability for future issues?

sweeneychris commented 7 years ago

Either works. Sometimes the logs from these tests can be massive, so it may be worthwhile to at least upload it to a file for brevity/readability.

luketaverne commented 7 years ago

Preferred location for uploaded files? I pared these this one down to be much shorter for now.

extract_maximally_parallel_rigid_subgraph_test passed everything after building with debug...

Pared down version of lldb -- ./bin/least_unsquared_deviation_position_estimator_test --logtostderr --v=2 (removing the list of residuals that were fine)

luke@public-docking-als-2-0132:~/Documents/Programming/TheiaSfM/theia-build|master⚡
⇒  lldb -- ./bin/least_unsquared_deviation_position_estimator_test --logtostderr --v=2
(lldb) target create "./bin/least_unsquared_deviation_position_estimator_test"
Current executable set to './bin/least_unsquared_deviation_position_estimator_test' (x86_64).
(lldb) settings set -- target.run-args  "--logtostderr" "--v=2"
(lldb) run
Process 65888 launched: './bin/least_unsquared_deviation_position_estimator_test' (x86_64)
I0327 21:09:15.224409 2090958848 test_main.cc:48] Running tests with logs enabled.
[==========] Running 2 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 2 tests from EstimatePositionsLeastUnsquaredDeviationTest
[ RUN      ] EstimatePositionsLeastUnsquaredDeviationTest.SmallTestNoNoise
I0327 21:09:15.229571 2090958848 least_unsquared_deviation_position_estimator.cc:222] 6 camera to camera constraints were added to the position estimation problem.

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Mac
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 483
    Nonzeros in L:       81
  memory blocks in use:           7
  memory in use (MB):           0.0
  peak memory usage (MB):       0.0
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: AMD (or COLAMD if factorizing AA')
        prune_dense: for pruning dense nodes:   10
        a dense node has degree >= max(16,(10)*sqrt(n))
        flop count: 483
        nnz(L):     81
  OK
I0327 21:09:15.235357 2090958848 qp_solver.cc:108] Iteration   Residual         R norm          S norm          Primal eps      Dual eps
I0327 21:09:15.236258 2090958848 qp_solver.cc:143]      0       0.0000e+00      2.4495e+00      2.4495e+00      2.4919e-04      2.4919e-04
I0327 21:09:15.236341 2090958848 qp_solver.cc:143]      1       9.9989e-01      1.8051e+00      8.6137e-01      4.2425e-04      1.3143e-04
I0327 21:09:15.236400 2090958848 qp_solver.cc:143]      2       6.2867e-01      3.8719e-01      4.7790e-01      3.0628e-04      9.6633e-05
.
.
.

CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
  Architecture: Mac
    sizeof(int):      4
    sizeof(SuiteSparse_long):  8
    sizeof(void *):   8
    sizeof(double):   8
    sizeof(Int):      4 (CHOLMOD's basic integer)
    sizeof(BLAS_INT): 4 (integer used in the BLAS)
  Results from most recent analysis:
    Cholesky flop count: 483
    Nonzeros in L:       81
  memory blocks in use:           7
  memory in use (MB):           0.0
  peak memory usage (MB):       0.0
  maxrank:    update/downdate rank:   8
  supernodal control: 1 40 (supernodal if flops/lnz >= 40)
  nmethods:   number of ordering methods to try: 1
    method 0: AMD (or COLAMD if factorizing AA')
        prune_dense: for pruning dense nodes:   10
        a dense node has degree >= max(16,(10)*sqrt(n))
        flop count: 483
        nnz(L):     81
  OK
I0327 21:09:15.330134 2090958848 qp_solver.cc:108] Iteration   Residual         R norm          S norm          Primal eps      Dual eps
I0327 21:09:15.330193 2090958848 qp_solver.cc:143]      0       0.0000e+00      2.4495e+00      2.4495e+00      2.4919e-04      2.4919e-04
I0327 21:09:15.330257 2090958848 qp_solver.cc:143]      1       1.3010e-02      1.7527e+00      1.7035e+00      4.1763e-04      2.0316e-04
I0327 21:09:15.330320 2090958848 qp_solver.cc:143]      2       3.3276e-02      7.0225e-01      1.0907e+00      4.1276e-04      1.3586e-04
I0327 21:09:15.330368 2090958848 qp_solver.cc:143]      3       3.9859e-02      9.3454e-01      2.7688e-01      4.4620e-04      5.6141e-05
I0327 21:09:15.330411 2090958848 qp_solver.cc:143]      4       3.2578e-02      3.2228e-01      6.0452e-01      4.1014e-04      2.5474e-05
I0327 21:09:15.330456 2090958848 qp_solver.cc:143]      5       3.0547e-02      2.1231e-01      1.4768e-01      4.0105e-04      4.2426e-06
I0327 21:09:15.330497 2090958848 qp_solver.cc:143]      6       2.9054e-02      0.0000e+00      1.9911e-01      3.9290e-04      4.2426e-06
I0327 21:09:15.330545 2090958848 qp_solver.cc:143]      7       2.8728e-02      0.0000e+00      1.6638e-02      3.9141e-04      4.2426e-06
I0327 21:09:15.330592 2090958848 qp_solver.cc:143]      8       2.8455e-02      0.0000e+00      1.6514e-02      3.8994e-04      4.2426e-06
I0327 21:09:15.330695 2090958848 qp_solver.cc:143]      9       2.8184e-02      0.0000e+00      1.6435e-02      3.8847e-04      4.2426e-06
I0327 21:09:15.330741 2090958848 qp_solver.cc:143]     10       2.7916e-02      0.0000e+00      1.6357e-02      3.8701e-04      4.2426e-06
I0327 21:09:15.330974 2090958848 qp_solver.cc:143]     11       2.7650e-02      0.0000e+00      1.6279e-02      3.8556e-04      4.2426e-06
I0327 21:09:15.331027 2090958848 qp_solver.cc:143]     12       2.7387e-02      0.0000e+00      1.6201e-02      3.8411e-04      4.2426e-06
I0327 21:09:15.331071 2090958848 qp_solver.cc:143]     13       2.7126e-02      0.0000e+00      1.6124e-02      3.8268e-04      4.2426e-06
I0327 21:09:15.331115 2090958848 qp_solver.cc:143]     14       2.6868e-02      0.0000e+00      1.6047e-02      3.8125e-04      4.2426e-06
I0327 21:09:15.331156 2090958848 qp_solver.cc:143]     15       2.6613e-02      0.0000e+00      1.5970e-02      3.7984e-04      4.2426e-06
I0327 21:09:15.331255 2090958848 qp_solver.cc:143]     16       2.6359e-02      0.0000e+00      1.5894e-02      3.7843e-04      4.2426e-06
I0327 21:09:15.331303 2090958848 qp_solver.cc:143]     17       2.6108e-02      0.0000e+00      1.5818e-02      3.7703e-04      4.2426e-06
I0327 21:09:15.331349 2090958848 qp_solver.cc:143]     18       2.5860e-02      0.0000e+00      1.5743e-02      3.7563e-04      4.2426e-06
I0327 21:09:15.331398 2090958848 qp_solver.cc:143]     19       2.5614e-02      0.0000e+00      1.5668e-02      3.7425e-04      4.2426e-06
I0327 21:09:15.331449 2090958848 qp_solver.cc:143]     20       2.5370e-02      0.0000e+00      1.5593e-02      3.7287e-04      4.2426e-06
I0327 21:09:15.331497 2090958848 qp_solver.cc:143]     21       2.5129e-02      0.0000e+00      1.5519e-02      3.7150e-04      4.2426e-06
I0327 21:09:15.331543 2090958848 qp_solver.cc:143]     22       2.4890e-02      0.0000e+00      1.5445e-02      3.7014e-04      4.2426e-06
I0327 21:09:15.331591 2090958848 qp_solver.cc:143]     23       2.4653e-02      0.0000e+00      1.5371e-02      3.6879e-04      4.2426e-06
I0327 21:09:15.331635 2090958848 qp_solver.cc:143]     24       2.4418e-02      0.0000e+00      1.5298e-02      3.6744e-04      4.2426e-06
I0327 21:09:15.331733 2090958848 qp_solver.cc:143]     25       2.4186e-02      0.0000e+00      1.5225e-02      3.6610e-04      4.2426e-06
I0327 21:09:15.331784 2090958848 qp_solver.cc:143]     26       2.3956e-02      0.0000e+00      1.5152e-02      3.6477e-04      4.2426e-06
I0327 21:09:15.331830 2090958848 qp_solver.cc:143]     27       2.3728e-02      0.0000e+00      1.5080e-02      3.6345e-04      4.2426e-06
I0327 21:09:15.331873 2090958848 qp_solver.cc:143]     28       2.3502e-02      0.0000e+00      1.5008e-02      3.6214e-04      4.2426e-06
I0327 21:09:15.331917 2090958848 qp_solver.cc:143]     29       2.3278e-02      0.0000e+00      1.4937e-02      3.6083e-04      4.2426e-06
I0327 21:09:15.331960 2090958848 qp_solver.cc:143]     30       2.3057e-02      0.0000e+00      1.4865e-02      3.5953e-04      4.2426e-06
I0327 21:09:15.332007 2090958848 qp_solver.cc:143]     31       2.2838e-02      0.0000e+00      1.4794e-02      3.5824e-04      4.2426e-06
I0327 21:09:15.332049 2090958848 qp_solver.cc:143]     32       2.2620e-02      0.0000e+00      1.4724e-02      3.5696e-04      4.2426e-06
I0327 21:09:15.332089 2090958848 qp_solver.cc:143]     33       2.2405e-02      0.0000e+00      1.4654e-02      3.5568e-04      4.2426e-06
I0327 21:09:15.332134 2090958848 qp_solver.cc:143]     34       2.2192e-02      0.0000e+00      1.4584e-02      3.5441e-04      4.2426e-06
I0327 21:09:15.332181 2090958848 qp_solver.cc:143]     35       2.1981e-02      0.0000e+00      1.4514e-02      3.5315e-04      4.2426e-06
I0327 21:09:15.332231 2090958848 qp_solver.cc:143]     36       2.1771e-02      0.0000e+00      1.4445e-02      3.5190e-04      4.2426e-06
I0327 21:09:15.332273 2090958848 qp_solver.cc:143]     37       2.1564e-02      0.0000e+00      1.4376e-02      3.5065e-04      4.2426e-06
I0327 21:09:15.332312 2090958848 qp_solver.cc:143]     38       2.1359e-02      0.0000e+00      1.4308e-02      3.4942e-04      4.2426e-06
I0327 21:09:15.332352 2090958848 qp_solver.cc:143]     39       2.1156e-02      0.0000e+00      1.4239e-02      3.4819e-04      4.2426e-06
I0327 21:09:15.332397 2090958848 qp_solver.cc:143]     40       2.0955e-02      0.0000e+00      1.4171e-02      3.4696e-04      4.2426e-06
I0327 21:09:15.332463 2090958848 qp_solver.cc:143]     41       2.0755e-02      0.0000e+00      1.4104e-02      3.4575e-04      4.2426e-06
I0327 21:09:15.332511 2090958848 qp_solver.cc:143]     42       2.0558e-02      0.0000e+00      1.4037e-02      3.4454e-04      4.2426e-06
I0327 21:09:15.332593 2090958848 qp_solver.cc:143]     43       2.0362e-02      0.0000e+00      1.3970e-02      3.4333e-04      4.2426e-06
I0327 21:09:15.332651 2090958848 qp_solver.cc:143]     44       2.0168e-02      0.0000e+00      1.3903e-02      3.4214e-04      4.2426e-06
I0327 21:09:15.332705 2090958848 qp_solver.cc:143]     45       1.9976e-02      0.0000e+00      1.3837e-02      3.4095e-04      4.2426e-06
I0327 21:09:15.332756 2090958848 qp_solver.cc:143]     46       1.9786e-02      0.0000e+00      1.3771e-02      3.3977e-04      4.2426e-06
I0327 21:09:15.332808 2090958848 qp_solver.cc:143]     47       1.9598e-02      8.3514e-04      1.3436e-02      3.3862e-04      4.3262e-06
I0327 21:09:15.332860 2090958848 qp_solver.cc:143]     48       1.9419e-02      5.3936e-03      1.2237e-02      3.3764e-04      4.8655e-06
I0327 21:09:15.334822 2090958848 qp_solver.cc:143]     49       1.9290e-02      8.7025e-03      8.9440e-03      3.3693e-04      5.7358e-06
I0327 21:09:15.335196 2090958848 qp_solver.cc:143]     50       1.9218e-02      1.0532e-02      4.9904e-03      3.3653e-04      6.7889e-06
I0327 21:09:15.335278 2090958848 qp_solver.cc:143]     51       1.9205e-02      1.0849e-02      9.4201e-04      3.3646e-04      7.8739e-06
I0327 21:09:15.335340 2090958848 qp_solver.cc:143]     52       1.9246e-02      9.8118e-03      2.7046e-03      3.3667e-04      8.8550e-06
I0327 21:09:15.335392 2090958848 qp_solver.cc:143]     53       1.9327e-02      7.7187e-03      5.5517e-03      3.3712e-04      9.6269e-06
I0327 21:09:15.335443 2090958848 qp_solver.cc:143]     54       1.9435e-02      4.9594e-03      7.3605e-03      3.3770e-04      1.0123e-05
I0327 21:09:15.335494 2090958848 qp_solver.cc:143]     55       1.9553e-02      1.9538e-03      8.0450e-03      3.3835e-04      1.0318e-05
I0327 21:09:15.335544 2090958848 qp_solver.cc:143]     56       1.9665e-02      9.0216e-04      7.6668e-03      3.3899e-04      1.0228e-05
I0327 21:09:15.335605 2090958848 qp_solver.cc:143]     57       1.9758e-02      3.2817e-03      6.4082e-03      3.3957e-04      9.8998e-06
I0327 21:09:15.335695 2090958848 qp_solver.cc:143]     58       1.9824e-02      4.9578e-03      4.5351e-03      3.3999e-04      9.4040e-06
I0327 21:09:15.335759 2090958848 qp_solver.cc:143]     59       1.9858e-02      5.8177e-03      2.3533e-03      3.4020e-04      8.8223e-06
I0327 21:09:15.335811 2090958848 qp_solver.cc:143]     60       1.9860e-02      5.8621e-03      1.7023e-04      3.4022e-04      8.2361e-06
I0327 21:09:15.335885 2090958848 qp_solver.cc:143]     61       1.9833e-02      5.1906e-03      1.7596e-03      3.4006e-04      7.7170e-06
I0327 21:09:15.335968 2090958848 qp_solver.cc:143]     62       1.9786e-02      3.9764e-03      3.2244e-03      3.3976e-04      7.3194e-06
I0327 21:09:15.336019 2090958848 qp_solver.cc:143]     63       1.9725e-02      2.4365e-03      4.1104e-03      3.3939e-04      7.0757e-06
I0327 21:09:15.336068 2090958848 qp_solver.cc:143]     64       1.9661e-02      7.9931e-04      4.3845e-03      3.3899e-04      6.9958e-06
I0327 21:09:15.336119 2090958848 qp_solver.cc:143]     65       1.9601e-02      7.2430e-04      4.0921e-03      3.3863e-04      7.0682e-06
I0327 21:09:15.336165 2090958848 qp_solver.cc:143]     66       1.9552e-02      1.9643e-03      3.3415e-03      3.3837e-04      7.2646e-06
I0327 21:09:15.336208 2090958848 qp_solver.cc:143]     67       1.9519e-02      2.8069e-03      2.2825e-03      3.3818e-04      7.5453e-06
I0327 21:09:15.336251 2090958848 qp_solver.cc:143]     68       1.9504e-02      3.2011e-03      1.0831e-03      3.3810e-04      7.8654e-06
I0327 21:09:15.336295 2090958848 qp_solver.cc:143]     69       1.9505e-02      3.1568e-03      9.5522e-05      3.3810e-04      8.1811e-06
I0327 21:09:15.336417 2090958848 qp_solver.cc:143]     70       1.9522e-02      2.7356e-03      1.1076e-03      3.3819e-04      8.4547e-06
I0327 21:09:15.336470 2090958848 qp_solver.cc:143]     71       1.9549e-02      2.0372e-03      1.8569e-03      3.3834e-04      8.6584e-06
I0327 21:09:15.336514 2090958848 qp_solver.cc:143]     72       1.9583e-02      1.1816e-03      2.2850e-03      3.3852e-04      8.7766e-06
I0327 21:09:15.336555 2090958848 qp_solver.cc:143]     73       1.9618e-02      2.9289e-04      2.3812e-03      3.3871e-04      8.8059e-06
I0327 21:09:15.336593 2090958848 qp_solver.cc:143]     74       1.9649e-02      5.1711e-04      2.1765e-03      3.3890e-04      8.7541e-06
I0327 21:09:15.336633 2090958848 qp_solver.cc:143]     75       1.9675e-02      1.1603e-03      1.7344e-03      3.3906e-04      8.6381e-06
I0327 21:09:15.336674 2090958848 qp_solver.cc:143]     76       1.9691e-02      1.5803e-03      1.1390e-03      3.3917e-04      8.4801e-06
I0327 21:09:15.336750 2090958848 qp_solver.cc:143]     77       1.9698e-02      1.7548e-03      4.8221e-04      3.3921e-04      8.3046e-06
I0327 21:09:15.336804 2090958848 qp_solver.cc:143]     78       1.9696e-02      1.6942e-03      1.4915e-04      3.3920e-04      8.1352e-06
I0327 21:09:15.336856 2090958848 qp_solver.cc:143]     79       1.9685e-02      1.4362e-03      6.8060e-04      3.3913e-04      7.9916e-06
I0327 21:09:15.336908 2090958848 qp_solver.cc:143]     80       1.9670e-02      1.0373e-03      1.0615e-03      3.3904e-04      7.8878e-06
I0327 21:09:15.336961 2090958848 qp_solver.cc:143]     81       1.9651e-02      5.6395e-04      1.2649e-03      3.3892e-04      7.8314e-06
I0327 21:09:15.337036 2090958848 qp_solver.cc:143]     82       1.9632e-02      8.3143e-05      1.2888e-03      3.3880e-04      7.8231e-06
I0327 21:09:15.337090 2090958848 qp_solver.cc:143]     83       1.9615e-02      3.4594e-04      1.1535e-03      3.3871e-04      7.8577e-06
I0327 21:09:15.337141 2090958848 qp_solver.cc:143]     84       1.9602e-02      6.7795e-04      8.9589e-04      3.3864e-04      7.9255e-06
I0327 21:09:15.337186 2090958848 qp_solver.cc:143]     85       1.9594e-02      8.8514e-04      5.6282e-04      3.3859e-04      8.0140e-06
I0327 21:09:15.337236 2090958848 qp_solver.cc:143]     86       1.9591e-02      9.5845e-04      2.0440e-04      3.3858e-04      8.1099e-06
I0327 21:09:15.337285 2090958848 qp_solver.cc:143]     87       1.9593e-02      9.0620e-04      1.3295e-04      3.3859e-04      8.2005e-06
I0327 21:09:15.337332 2090958848 qp_solver.cc:143]     88       1.9600e-02      7.5087e-04      4.1058e-04      3.3862e-04      8.2756e-06
I0327 21:09:15.337378 2090958848 qp_solver.cc:143]     89       1.9608e-02      5.2452e-04      6.0284e-04      3.3867e-04      8.3280e-06
I0327 21:09:15.337543 2090958848 qp_solver.cc:143]     90       1.9619e-02      2.6371e-04      6.9735e-04      3.3872e-04      8.3544e-06
I0327 21:09:15.337594 2090958848 qp_solver.cc:143]     91       1.9629e-02      4.4748e-06      6.9523e-04      3.3878e-04      8.3549e-06
I0327 21:09:15.337642 2090958848 qp_solver.cc:143]     92       1.9638e-02      2.2198e-04      6.0914e-04      3.3884e-04      8.3327e-06
I0327 21:09:15.337694 2090958848 qp_solver.cc:143]     93       1.9644e-02      3.9244e-04      4.6031e-04      3.3888e-04      8.2934e-06
I0327 21:09:15.337743 2090958848 qp_solver.cc:143]     94       1.9648e-02      4.9343e-04      2.7484e-04      3.3890e-04      8.2441e-06
I0327 21:09:15.337795 2090958848 qp_solver.cc:143]     95       1.9649e-02      5.2166e-04      7.9954e-05      3.3891e-04      8.1919e-06
I0327 21:09:15.337863 2090958848 qp_solver.cc:143]     96       1.9648e-02      4.8304e-04      9.9713e-05      3.3890e-04      8.1436e-06
I0327 21:09:15.337934 2090958848 qp_solver.cc:143]     97       1.9644e-02      3.9087e-04      2.4408e-04      3.3888e-04      8.1045e-06
I0327 21:09:15.338006 2090958848 qp_solver.cc:143]     98       1.9639e-02      2.6318e-04      3.4034e-04      3.3885e-04      8.0782e-06
I0327 21:09:15.338062 2090958848 qp_solver.cc:143]     99       1.9634e-02      1.2001e-04      3.8300e-04      3.3881e-04      8.0662e-06
I0327 21:09:15.338110 2090958848 qp_solver.cc:143]    100       1.9628e-02      1.9292e-05      3.7376e-04      3.3878e-04      8.0681e-06
I0327 21:09:15.338153 2090958848 qp_solver.cc:143]    101       1.9624e-02      1.3835e-04      3.2043e-04      3.3875e-04      8.0820e-06
I0327 21:09:15.338196 2090958848 qp_solver.cc:143]    102       1.9620e-02      2.2535e-04      2.3513e-04      3.3873e-04      8.1045e-06
I0327 21:09:15.338279 2090958848 qp_solver.cc:143]    103       1.9618e-02      2.7385e-04      1.3231e-04      3.3872e-04      8.1319e-06
I0327 21:09:15.338323 2090958848 qp_solver.cc:143]    104       1.9618e-02      2.8294e-04      2.6710e-05      3.3872e-04      8.1602e-06
I0327 21:09:15.338366 2090958848 qp_solver.cc:143]    105       1.9619e-02      2.5658e-04      6.8657e-05      3.3873e-04      8.1858e-06
I0327 21:09:15.338413 2090958848 qp_solver.cc:143]    106       1.9621e-02      2.0252e-04      1.4337e-04      3.3874e-04      8.2061e-06
I0327 21:09:15.338467 2090958848 qp_solver.cc:143]    107       1.9624e-02      1.3087e-04      1.9112e-04      3.3875e-04      8.2192e-06
I0327 21:09:15.338513 2090958848 qp_solver.cc:143]    108       1.9627e-02      5.2567e-05      2.0957e-04      3.3877e-04      8.2244e-06
I0327 21:09:15.338565 2090958848 qp_solver.cc:143]    109       1.9630e-02      2.2037e-05      2.0026e-04      3.3879e-04      8.2222e-06
I0327 21:09:15.338616 2090958848 qp_solver.cc:143]    110       1.9632e-02      8.4382e-05      1.6788e-04      3.3880e-04      8.2138e-06
I0327 21:09:15.338670 2090958848 qp_solver.cc:143]    111       1.9634e-02      1.2849e-04      1.1933e-04      3.3881e-04      8.2009e-06
I0327 21:09:15.338752 2090958848 qp_solver.cc:143]    112       1.9635e-02      1.5136e-04      6.2557e-05      3.3882e-04      8.1858e-06
I0327 21:09:15.338811 2090958848 qp_solver.cc:143]    113       1.9635e-02      1.5295e-04      5.5732e-06      3.3882e-04      8.1705e-06
/Users/luke/Documents/Programming/TheiaSfM/src/theia/sfm/global_pose_estimation/least_unsquared_deviation_position_estimator_test.cc:146: Failure
Expected: (position_error) < (position_tolerance), actual: 0.101397 vs 0.1

g.t. position = 0.80973612898918912 -4.8243044347354171   8.928812044605742
estimated position =  0.8254220389770659 -4.8071605498522052  9.0275105429981988
[  FAILED  ] EstimatePositionsLeastUnsquaredDeviationTest.SmallTestWithNoise (81 ms)
[----------] 2 tests from EstimatePositionsLeastUnsquaredDeviationTest (114 ms total)

[----------] Global test environment tear-down
[==========] 2 tests from 1 test case ran. (114 ms total)
[  PASSED  ] 1 test.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] EstimatePositionsLeastUnsquaredDeviationTest.SmallTestWithNoise
luketaverne commented 7 years ago

evsac_test result:

luke@public-docking-als-2-0132:~/Documents/Programming/TheiaSfM/theia-build|master⚡
⇒  lldb -- ./bin/evsac_test --logtostderr --v=2
(lldb) target create "./bin/evsac_test"
Current executable set to './bin/evsac_test' (x86_64).
(lldb) settings set -- target.run-args  "--logtostderr" "--v=2"
(lldb) run
Process 65957 launched: './bin/evsac_test' (x86_64)
I0327 21:15:54.429105 2090958848 test_main.cc:48] Running tests with logs enabled.
[==========] Running 4 tests from 2 test cases.
[----------] Global test environment set-up.
[----------] 3 tests from EvsacSamplerTest
[ RUN      ] EvsacSamplerTest.CalculateKSmallestDistances
[       OK ] EvsacSamplerTest.CalculateKSmallestDistances (0 ms)
[ RUN      ] EvsacSamplerTest.MRRayleighPrediction
[       OK ] EvsacSamplerTest.MRRayleighPrediction (0 ms)
[ RUN      ] EvsacSamplerTest.MixtureModelParamsCalculation
I0327 21:15:54.431574 2090958848 evsac_sampler.h:510] Gamma distribution: k=3.28073 theta=1.84953 flag: 1
I0327 21:15:54.432364 2090958848 evsac_sampler.h:529] GEV distribution: mu=-84.7617 sigma=4.18719 xi=0.0148144 flag: 1
I0327 21:15:54.436116 2090958848 evsac_sampler.h:397] estimated inlier ratio=0.999999 termination_type: 0
I0327 21:15:54.436189 2090958848 evsac_test.cc:390] Average probability: 1
[       OK ] EvsacSamplerTest.MixtureModelParamsCalculation (5 ms)
[----------] 3 tests from EvsacSamplerTest (6 ms total)

[----------] 1 test from EvsacTest
[ RUN      ] EvsacTest.HomographyEstimationWithEvsacSampling
I0327 21:15:54.436739 2090958848 evsac_sampler.h:510] Gamma distribution: k=3.28073 theta=1.84953 flag: 1
I0327 21:15:54.437625 2090958848 gev_mle.cc:253] MLE did not converge: res=1
I0327 21:15:54.437645 2090958848 gev_mle.cc:254] Values: 0-88.1238 002.88702 -0.150342 min_val: 2.12495e-314
I0327 21:15:54.437723 2090958848 evsac_sampler.h:529] GEV distribution: mu=-88.1238 sigma=2.88702 xi=-0.150342 flag: 0
I0327 21:15:54.437748 2090958848 evsac_sampler.h:605] FitGEV failed.
F0327 21:15:54.438091 2090958848 sample_consensus_estimator.h:255] Check failed: 'quality_measurement_.get()' Must be non NULL
*** Check failure stack trace: ***
    @        0x100593ea8  google::LogMessage::Fail()
    @        0x10059331c  google::LogMessage::SendToLog()
    @        0x10059387a  google::LogMessage::Flush()
    @        0x100596c2f  google::LogMessageFatal::~LogMessageFatal()
    @        0x10059418f  google::LogMessageFatal::~LogMessageFatal()
    @        0x1000ade39  google::CheckNotNull<>()
    @        0x1000ac55e  theia::SampleConsensusEstimator<>::Estimate()
    @        0x10000b8f4  theia::EvsacTest_HomographyEstimationWithEvsacSampling_Test::TestBody()
    @        0x100110b3a  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @        0x1000d4c37  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @        0x1000d4b75  testing::Test::Run()
    @        0x1000d6698  testing::TestInfo::Run()
    @        0x1000d7c87  testing::TestCase::Run()
    @        0x1000e5e7c  testing::internal::UnitTestImpl::RunAllTests()
    @        0x1001119aa  testing::internal::HandleSehExceptionsInMethodIfSupported<>()
    @        0x1000e5887  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @        0x1000e5738  testing::UnitTest::Run()
    @        0x100006651  RUN_ALL_TESTS()
    @        0x1000065c6  main
    @     0x7fff9a98d5ad  start
Process 65957 stopped
* thread #1: tid = 0x2efb9f, 0x00007fff9e212f06 libsystem_kernel.dylib`__pthread_kill + 10, queue = 'com.apple.main-thread', stop reason = signal SIGABRT
    frame #0: 0x00007fff9e212f06 libsystem_kernel.dylib`__pthread_kill + 10
libsystem_kernel.dylib`__pthread_kill:
->  0x7fff9e212f06 <+10>: jae    0x7fff9e212f10            ; <+20>
    0x7fff9e212f08 <+12>: movq   %rax, %rdi
    0x7fff9e212f0b <+15>: jmp    0x7fff9e20d7cd            ; cerror_nocancel
    0x7fff9e212f10 <+20>: retq
(lldb)
luketaverne commented 7 years ago

Those are the only failing tests now:

97% tests passed, 3 tests failed out of 93

Total Test time (real) = 2398.17 sec

The following tests FAILED:
     13 - find_polynomial_roots_jenkins_traub_test (Failed)
     48 - least_unsquared_deviation_position_estimator_test (Failed)
     87 - evsac_test (OTHER_FAULT)
Errors while running CTest
make: *** [test] Error 8
sweeneychris commented 7 years ago

Ok that's good news at least. The LUD test seems to just be some bad thresholds and unlucky random tests. Same with EVSAC, but there should be a better fail-safe method in the code.

You should be good to go ahead and use the Theia library for reconstructions -- the EVSAC code is not used for reconstruction, and the LUD formulation is indeed stable (I use it very frequently). I will work on getting these unit tests to pass!

luketaverne commented 7 years ago

Ahhh, recompiled with normal cmake and we're back to:

92% tests passed, 7 tests failed out of 93

Total Test time (real) =  19.01 sec

The following tests FAILED:
     13 - find_polynomial_roots_jenkins_traub_test (Failed)
     41 - extract_maximally_parallel_rigid_subgraph_test (SEGFAULT)
     44 - filter_view_pairs_from_relative_translation_test (SEGFAULT)
     48 - least_unsquared_deviation_position_estimator_test (Failed)
     57 - incremental_reconstruction_estimator_test (SEGFAULT)
     80 - twoview_info_test (SEGFAULT)
     87 - evsac_test (OTHER_FAULT)
Errors while running CTest
make: *** [test] Error 8

So, still segfaulting with the release build...

sweeneychris commented 7 years ago

I'm starting to think this may be some mac compiler error. I've was finally able to recreate this behavior on my mac, and I am quite puzzled how the twoview_info_test for instance (a very trivial unit test) would result in a seg fault.

I'll keep working on this but if you happen to come across anything insightful please keep this thread posted.

windelbouwman commented 7 years ago

Not sure this is the right place to ask, but travis-ci.org has support for linux and mac. Might it be a good idea to add integration with travis to check builds automatically on linux and mac? Myself I had some good experience setting up travis for some python projects, not yet a c++ application.

danielbuhrig commented 6 years ago

Are there any updates concerning this issue? I'm experiencing the same errors: Several errors during tests, the build_reconstruction application stops with a segfault.

vfragoso commented 5 years ago

The tests that are failing on my mac (Mojave 10.14.1) are:

The others pass w/o a problem.