traffic-laser/server/test/a0k4xu045_202305311600080410/sfmlog.txt

4DAGE4 version: 2023.05.31.ai
argv[1]: 0
argv[2]: /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410
argv[3]: 0.jpg
argv[4]: 0
argv[5]: 
argv[6]: 
try with image: 0.jpg
Create folders success.
Init the first view success.

IMU_VERSION: 2.02
[6.35239, -0.0152328, -0.954541, 0.29769]
JSON Parsing failed - provided NVP (ggaLocation_0) not found
Warning: when read rtk data.

Prepare Lidar Data: 0.240593 10.6953
Warning: matches.n.bin doesn't exist in the matches folder.

0.jpg 2.02 [6.35239, 0.0152328, 0.954541, -0.29769]

-----------------------------
-- #Hardware Thread: 8
-- #4DAGE4 Time cost: 3.106
-----------------------------

4DAGE4 version: 2023.05.31.ai
argv[1]: 9
argv[2]: /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410
argv[3]: 
argv[4]: 
argv[5]: 
argv[6]: 

-----------------------------
-- #Hardware Thread: 8
-- #4DAGE4 Time cost: 0.007
-----------------------------

4DAGE4 version: 2023.05.31.ai
argv[1]: 7
argv[2]: /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410
argv[3]: 1.jpg
argv[4]: 0
argv[5]: 0.jpg
argv[6]: 
try with image: 1.jpg

IMU_VERSION: 2.10
[89.4054, 0.0142246, -0.999764, 0.0164182]
JSON Parsing failed - provided NVP (ggaLocation_0) not found
Warning: when read rtk data.

Prepare Lidar Data: 0.232627 11.1602

 - Using Radius-Times: 2 -

 - MV-ICP 2022.06.29 -

 - Iteration Time: 1 - 
 #residuals: 1650
 Initial RMSE: 0.00649865
 Final RMSE: 0.00597459
 Change RMSE: 0.000524066
 Time cost (s): 0.011318

 - Iteration Time: 2 - 
 #residuals: 1652
 Initial RMSE: 0.00607798
 Final RMSE: 0.00603177
 Change RMSE: 4.62054e-05
 Time cost (s): 0.0219438

 - Iteration Time: 3 - 
 #residuals: 1652
 Initial RMSE: 0.00601492
 Final RMSE: 0.00601064
 Change RMSE: 4.28576e-06
 Time cost (s): 0.012645

 - Iteration Time: 4 - 
 #residuals: 1652
 Initial RMSE: 0.00598355
 Final RMSE: 0.00598043
 Change RMSE: 3.12124e-06
 Time cost (s): 0.016175

 - Iteration Time: 5 - 
 #residuals: 1654
 Initial RMSE: 0.00596227
 Final RMSE: 0.00596174
 Change RMSE: 5.25792e-07
 Time cost (s): 0.00857592

 - Iteration Time: 6 - 
 #residuals: 1655
 Initial RMSE: 0.00596563
 Final RMSE: 0.00596515
 Change RMSE: 4.83632e-07
 Time cost (s): 0.00657201

 - Iteration Time: 7 - 
 #residuals: 1656
 Initial RMSE: 0.00596838
 Final RMSE: 0.00596821
 Change RMSE: 1.72572e-07
 Time cost (s): 0.00548887

 - Iteration Time: 8 - 
 #residuals: 1656
 Initial RMSE: 0.00601848
 Final RMSE: 0.00601838
 Change RMSE: 9.94778e-08
 Time cost (s): 0.00564694

 - Iteration Time: 9 - 
 #residuals: 1656
 Initial RMSE: 0.00599991
 Final RMSE: 0.00599986
 Change RMSE: 4.69328e-08
 Time cost (s): 0.023068

 - Iteration Time: 10 - 
 #residuals: 1656
 Initial RMSE: 0.00599992
 Final RMSE: 0.00599992
 Change RMSE: 0
 Time cost (s): 0.019469

 Change RMSE < 1e-08

ICP ratio = 0.63738 (1654/2595)

 - Using Radius-Times: 1 -

 - MV-ICP 2022.06.29 -

 - Iteration Time: 1 - 
 #residuals: 5363
 Initial RMSE: 0.00197469
 Final RMSE: 0.00190628
 Change RMSE: 6.84136e-05
 Time cost (s): 0.0215909

 - Iteration Time: 2 - 
 #residuals: 5370
 Initial RMSE: 0.00188178
 Final RMSE: 0.00187194
 Change RMSE: 9.8459e-06
 Time cost (s): 0.0317049

 - Iteration Time: 3 - 
 #residuals: 5380
 Initial RMSE: 0.00187841
 Final RMSE: 0.00187721
 Change RMSE: 1.19856e-06
 Time cost (s): 0.030334

 - Iteration Time: 4 - 
 #residuals: 5377
 Initial RMSE: 0.00187075
 Final RMSE: 0.00187049
 Change RMSE: 2.5814e-07
 Time cost (s): 0.0303268

 - Iteration Time: 5 - 
 #residuals: 5377
 Initial RMSE: 0.00186796
 Final RMSE: 0.00186792
 Change RMSE: 4.41512e-08
 Time cost (s): 0.0365081

 - Iteration Time: 6 - 
 #residuals: 5378
 Initial RMSE: 0.00186891
 Final RMSE: 0.0018689
 Change RMSE: 6.16246e-09
 Time cost (s): 0.031024

 Change RMSE < 1e-08

ICP ratio = 0.620901 (5377/8660)
1.jpg 2.10 [3.66103, 0.0450025, -0.878157, -0.476251]
0.jpg 2.02 [6.35239, 0.0152328, 0.954541, -0.29769]

-----------------------------
-- #Hardware Thread: 8
-- #4DAGE4 Time cost: 3.434
-----------------------------

4DAGE4 version: 2023.05.31.ai
argv[1]: 9
argv[2]: /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410
argv[3]: 
argv[4]: 
argv[5]: 
argv[6]: 

-----------------------------
-- #Hardware Thread: 8
-- #4DAGE4 Time cost: 0.066
-----------------------------

4DAGE4 version: 2023.05.31.ai
argv[1]: 10
argv[2]: /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410
argv[3]: 
argv[4]: 
argv[5]: 
argv[6]: 

-----------------------------
-- #Hardware Thread: 8
-- #4DAGE4 Time cost: 2.544
-----------------------------

== params ==
source[0]:         	/storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410/result/reconstruction/floor_0_all.ply
outdir:            	/storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410/floor_0_webcloud
spacing:           	0
diagonal-fraction: 	200
levels:            	-1
format:            	
scale:             	0
pageName:          	
projection:        	

processing following attributes: 
POSITION_CARTESIAN
RGBA
NORMAL_OCT16

AABB: {
	"min": [-13.485563, -10.453930, -1.587030],
	"max": [9.800017, 14.465085, 2.551095],
	"size": [23.285580, 24.919015, 4.138125]
}

cubicAABB: {
	"min": [-13.485563, -10.453930, -1.587030],
	"max": [11.433452, 14.465085, 23.331985],
	"size": [24.919015, 24.919015, 24.919015]
}

total number of points: 1434135
spacing calculated from diagonal: 0.215805
READING:  /storage/emulated/0/Android/data/com.fdage.jmjj.pad/files/creator/a0k4xu045_202305311600080410/result/reconstruction/floor_0_all.ply
INDEXING: 1000000 of 1434135 processed (69%); 1000000 written; 30.638 seconds passed
closing writer

conversion finished
1434135 points were processed and 1434135 points ( 100% ) were written to the output. 
duration: 38.128s