4DAGE4 version: 2023.05.23.ai1 argv[1]: 0 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 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: 2.04 [42.6865, -0.00351967, 0.999975, 0.00615737] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.551334 25.3633 Warning: matches.n.bin doesn't exist in the matches folder. 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.317 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 1.jpg argv[4]: 0 argv[5]: 0.jpg argv[6]: try with image: 1.jpg IMU_VERSION: 2.02 [68.0327, 0.0220385, -0.999741, -0.00559498] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.540059 24.9688 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1443 Initial RMSE: 0.0251433 Final RMSE: 0.0247277 Change RMSE: 0.000415541 Time cost (s): 0.0105879 - Iteration Time: 2 - #residuals: 1441 Initial RMSE: 0.0244991 Final RMSE: 0.0244852 Change RMSE: 1.38456e-05 Time cost (s): 0.018502 - Iteration Time: 3 - #residuals: 1442 Initial RMSE: 0.0243242 Final RMSE: 0.0243212 Change RMSE: 3.02018e-06 Time cost (s): 0.0144782 - Iteration Time: 4 - #residuals: 1442 Initial RMSE: 0.0241274 Final RMSE: 0.0241264 Change RMSE: 9.56003e-07 Time cost (s): 0.0237441 - Iteration Time: 5 - #residuals: 1443 Initial RMSE: 0.0241791 Final RMSE: 0.0241789 Change RMSE: 1.43604e-07 Time cost (s): 0.0226169 - Iteration Time: 6 - #residuals: 1444 Initial RMSE: 0.0241778 Final RMSE: 0.0241778 Change RMSE: 5.73468e-08 Time cost (s): 0.0130119 - Iteration Time: 7 - #residuals: 1444 Initial RMSE: 0.0241778 Final RMSE: 0.0241778 Change RMSE: 0 Time cost (s): 0.00461507 Change RMSE < 1e-08 ICP ratio = 0.881957 (1442/1635) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5604 Initial RMSE: 0.00724064 Final RMSE: 0.00687517 Change RMSE: 0.000365467 Time cost (s): 0.088722 - Iteration Time: 2 - #residuals: 5610 Initial RMSE: 0.00676575 Final RMSE: 0.00673583 Change RMSE: 2.99227e-05 Time cost (s): 0.0630741 - Iteration Time: 3 - #residuals: 5608 Initial RMSE: 0.00659723 Final RMSE: 0.0065906 Change RMSE: 6.6343e-06 Time cost (s): 0.0613978 - Iteration Time: 4 - #residuals: 5605 Initial RMSE: 0.00653039 Final RMSE: 0.00652905 Change RMSE: 1.34135e-06 Time cost (s): 0.0602691 - Iteration Time: 5 - #residuals: 5607 Initial RMSE: 0.00654853 Final RMSE: 0.00654847 Change RMSE: 5.44618e-08 Time cost (s): 0.050122 - Iteration Time: 6 - #residuals: 5606 Initial RMSE: 0.00654003 Final RMSE: 0.00654002 Change RMSE: 1.27706e-08 Time cost (s): 0.0527208 - Iteration Time: 7 - #residuals: 5606 Initial RMSE: 0.0065427 Final RMSE: 0.00654269 Change RMSE: 9.23729e-09 Time cost (s): 0.0570228 Change RMSE < 1e-08 ICP ratio = 0.875918 (5605/6399) 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.324 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 2.jpg argv[4]: 0 argv[5]: 1.jpg argv[6]: try with image: 2.jpg IMU_VERSION: 2.10 [133.683, 0.00902199, -0.999915, -0.00946466] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.485446 24.9609 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1268 Initial RMSE: 0.0223868 Final RMSE: 0.0212507 Change RMSE: 0.00113604 Time cost (s): 0.0295079 - Iteration Time: 2 - #residuals: 1272 Initial RMSE: 0.0224504 Final RMSE: 0.0223853 Change RMSE: 6.5098e-05 Time cost (s): 0.0250602 - Iteration Time: 3 - #residuals: 1271 Initial RMSE: 0.0222637 Final RMSE: 0.0222605 Change RMSE: 3.15854e-06 Time cost (s): 0.021558 - Iteration Time: 4 - #residuals: 1271 Initial RMSE: 0.0222697 Final RMSE: 0.0222697 Change RMSE: 0 Time cost (s): 0.018687 Change RMSE < 1e-08 ICP ratio = 0.754313 (1268/1681) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 4701 Initial RMSE: 0.00522762 Final RMSE: 0.00507878 Change RMSE: 0.000148839 Time cost (s): 0.0465178 - Iteration Time: 2 - #residuals: 4699 Initial RMSE: 0.00506575 Final RMSE: 0.00503285 Change RMSE: 3.28989e-05 Time cost (s): 0.076647 - Iteration Time: 3 - #residuals: 4697 Initial RMSE: 0.00509267 Final RMSE: 0.00508727 Change RMSE: 5.39634e-06 Time cost (s): 0.0809679 - Iteration Time: 4 - #residuals: 4696 Initial RMSE: 0.00507832 Final RMSE: 0.00507765 Change RMSE: 6.73754e-07 Time cost (s): 0.055109 - Iteration Time: 5 - #residuals: 4697 Initial RMSE: 0.0050833 Final RMSE: 0.0050832 Change RMSE: 9.70594e-08 Time cost (s): 0.0468881 - Iteration Time: 6 - #residuals: 4699 Initial RMSE: 0.00511056 Final RMSE: 0.00511056 Change RMSE: 0 Time cost (s): 0.0381718 Change RMSE < 1e-08 ICP ratio = 0.700194 (4699/6711) 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.798 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 3.jpg argv[4]: 0 argv[5]: 2.jpg argv[6]: try with image: 3.jpg IMU_VERSION: 2.10 [72.4459, -0.00418155, 0.999875, 0.0152709] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.460949 23.0039 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1335 Initial RMSE: 0.0193668 Final RMSE: 0.0164483 Change RMSE: 0.00291852 Time cost (s): 0.0235388 - Iteration Time: 2 - #residuals: 1338 Initial RMSE: 0.0161227 Final RMSE: 0.0160643 Change RMSE: 5.84046e-05 Time cost (s): 0.0114381 - Iteration Time: 3 - #residuals: 1340 Initial RMSE: 0.0161874 Final RMSE: 0.0161848 Change RMSE: 2.59649e-06 Time cost (s): 0.00872207 - Iteration Time: 4 - #residuals: 1340 Initial RMSE: 0.0161008 Final RMSE: 0.0161005 Change RMSE: 3.05003e-07 Time cost (s): 0.00743103 - Iteration Time: 5 - #residuals: 1340 Initial RMSE: 0.0160643 Final RMSE: 0.0160642 Change RMSE: 2.4045e-08 Time cost (s): 0.00914598 - Iteration Time: 6 - #residuals: 1340 Initial RMSE: 0.016118 Final RMSE: 0.0161179 Change RMSE: 5.54516e-08 Time cost (s): 0.012171 - Iteration Time: 7 - #residuals: 1340 Initial RMSE: 0.0160777 Final RMSE: 0.0160777 Change RMSE: 4.23928e-08 Time cost (s): 0.0105832 - Iteration Time: 8 - #residuals: 1340 Initial RMSE: 0.016118 Final RMSE: 0.0161179 Change RMSE: 4.24544e-08 Time cost (s): 0.025187 - Iteration Time: 9 - #residuals: 1340 Initial RMSE: 0.0160777 Final RMSE: 0.0160777 Change RMSE: 4.23971e-08 Time cost (s): 0.0178468 - Iteration Time: 10 - #residuals: 1340 Initial RMSE: 0.016118 Final RMSE: 0.0161179 Change RMSE: 4.24544e-08 Time cost (s): 0.0575941 - Iteration Time: 11 - #residuals: 1340 Initial RMSE: 0.0160777 Final RMSE: 0.0160777 Change RMSE: 4.23971e-08 Time cost (s): 0.0164189 - Iteration Time: 12 - #residuals: 1340 Initial RMSE: 0.016118 Final RMSE: 0.0161179 Change RMSE: 4.24544e-08 Time cost (s): 0.0326691 - Iteration Time: 13 - #residuals: 1340 Initial RMSE: 0.0160777 Final RMSE: 0.0160777 Change RMSE: 4.23971e-08 Time cost (s): 0.0073669 - Iteration Time: 14 - #residuals: 1340 Initial RMSE: 0.016118 Final RMSE: 0.0161179 Change RMSE: 4.24544e-08 Time cost (s): 0.0124631 - Iteration Time: 15 - #residuals: 1340 Initial RMSE: 0.0160777 Final RMSE: 0.0160777 Change RMSE: 4.23971e-08 Time cost (s): 0.00955892 Warning: Best RMSE is 0.0160642 ICP ratio = 0.888594 (1340/1508) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5170 Initial RMSE: 0.00420195 Final RMSE: 0.00418163 Change RMSE: 2.03218e-05 Time cost (s): 0.0583839 - Iteration Time: 2 - #residuals: 5178 Initial RMSE: 0.00418476 Final RMSE: 0.0041819 Change RMSE: 2.85395e-06 Time cost (s): 0.049634 - Iteration Time: 3 - #residuals: 5178 Initial RMSE: 0.00417391 Final RMSE: 0.00417321 Change RMSE: 7.06841e-07 Time cost (s): 0.062835 - Iteration Time: 4 - #residuals: 5177 Initial RMSE: 0.00417068 Final RMSE: 0.00417065 Change RMSE: 3.24129e-08 Time cost (s): 0.0736141 - Iteration Time: 5 - #residuals: 5177 Initial RMSE: 0.00417667 Final RMSE: 0.00417666 Change RMSE: 1.09354e-08 Time cost (s): 0.0871921 - Iteration Time: 6 - #residuals: 5177 Initial RMSE: 0.00417528 Final RMSE: 0.00417528 Change RMSE: 0 Time cost (s): 0.0402009 Change RMSE < 1e-08 ICP ratio = 0.835944 (5177/6193) 3.jpg 2.10 [91.2061, 0.00547069, -0.999914, -0.011897] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.28 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 4.jpg argv[4]: 0 argv[5]: 3.jpg argv[6]: try with image: 4.jpg IMU_VERSION: 2.10 [94.9106, -0.00159891, 0.999978, 0.00648795] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.536998 23.75 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 925 Initial RMSE: 0.0170626 Final RMSE: 0.0169467 Change RMSE: 0.000115937 Time cost (s): 0.00646114 - Iteration Time: 2 - #residuals: 928 Initial RMSE: 0.0167938 Final RMSE: 0.0167826 Change RMSE: 1.12005e-05 Time cost (s): 0.013696 - Iteration Time: 3 - #residuals: 931 Initial RMSE: 0.0168153 Final RMSE: 0.0168143 Change RMSE: 9.76705e-07 Time cost (s): 0.00574398 - Iteration Time: 4 - #residuals: 931 Initial RMSE: 0.0168084 Final RMSE: 0.0168083 Change RMSE: 7.35103e-08 Time cost (s): 0.00577593 - Iteration Time: 5 - #residuals: 931 Initial RMSE: 0.0168083 Final RMSE: 0.0168083 Change RMSE: 0 Time cost (s): 0.00334406 Change RMSE < 1e-08 ICP ratio = 0.86406 (928/1074) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 3237 Initial RMSE: 0.00404418 Final RMSE: 0.00397408 Change RMSE: 7.0104e-05 Time cost (s): 0.0268989 - Iteration Time: 2 - #residuals: 3231 Initial RMSE: 0.00390589 Final RMSE: 0.0038999 Change RMSE: 5.99055e-06 Time cost (s): 0.0366189 - Iteration Time: 3 - #residuals: 3227 Initial RMSE: 0.00392922 Final RMSE: 0.0039269 Change RMSE: 2.31582e-06 Time cost (s): 0.0288041 - Iteration Time: 4 - #residuals: 3226 Initial RMSE: 0.00391734 Final RMSE: 0.00391676 Change RMSE: 5.79632e-07 Time cost (s): 0.028146 - Iteration Time: 5 - #residuals: 3229 Initial RMSE: 0.00391841 Final RMSE: 0.00391839 Change RMSE: 1.83576e-08 Time cost (s): 0.01912 - Iteration Time: 6 - #residuals: 3229 Initial RMSE: 0.00391867 Final RMSE: 0.00391867 Change RMSE: 0 Time cost (s): 0.036196 Change RMSE < 1e-08 ICP ratio = 0.760235 (3231/4250) 4.jpg 2.10 [115.869, 0.00239278, -0.999983, -0.00529361] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] 3.jpg 2.10 [91.2061, 0.00547069, -0.999914, -0.011897] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.079 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 5.jpg argv[4]: 0 argv[5]: 4.jpg argv[6]: try with image: 5.jpg IMU_VERSION: 2.10 [93.1552, 0.00416216, 0.999989, 0.00209829] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.552534 25.6172 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 978 Initial RMSE: 0.0223103 Final RMSE: 0.0213895 Change RMSE: 0.000920758 Time cost (s): 0.00694799 - Iteration Time: 2 - #residuals: 978 Initial RMSE: 0.0201408 Final RMSE: 0.0200803 Change RMSE: 6.05191e-05 Time cost (s): 0.00856304 - Iteration Time: 3 - #residuals: 975 Initial RMSE: 0.0199069 Final RMSE: 0.0199036 Change RMSE: 3.29452e-06 Time cost (s): 0.00620389 - Iteration Time: 4 - #residuals: 975 Initial RMSE: 0.0199141 Final RMSE: 0.0199141 Change RMSE: 0 Time cost (s): 0.00401902 Change RMSE < 1e-08 ICP ratio = 0.654362 (975/1490) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 3729 Initial RMSE: 0.00487085 Final RMSE: 0.00483375 Change RMSE: 3.70989e-05 Time cost (s): 0.0410759 - Iteration Time: 2 - #residuals: 3727 Initial RMSE: 0.0048332 Final RMSE: 0.00482749 Change RMSE: 5.70806e-06 Time cost (s): 0.0368381 - Iteration Time: 3 - #residuals: 3725 Initial RMSE: 0.00480763 Final RMSE: 0.00480625 Change RMSE: 1.38474e-06 Time cost (s): 0.0242772 - Iteration Time: 4 - #residuals: 3724 Initial RMSE: 0.00480546 Final RMSE: 0.00480518 Change RMSE: 2.74569e-07 Time cost (s): 0.0294662 - Iteration Time: 5 - #residuals: 3724 Initial RMSE: 0.00479063 Final RMSE: 0.00479054 Change RMSE: 9.52496e-08 Time cost (s): 0.048768 - Iteration Time: 6 - #residuals: 3723 Initial RMSE: 0.0047959 Final RMSE: 0.00479587 Change RMSE: 3.1942e-08 Time cost (s): 0.0389769 - Iteration Time: 7 - #residuals: 3723 Initial RMSE: 0.00479455 Final RMSE: 0.00479454 Change RMSE: 1.80935e-08 Time cost (s): 0.0410089 - Iteration Time: 8 - #residuals: 3723 Initial RMSE: 0.0047934 Final RMSE: 0.0047934 Change RMSE: 0 Time cost (s): 0.02021 Change RMSE < 1e-08 ICP ratio = 0.619531 (3724/6011) 5.jpg 2.10 [133.21, -0.00252591, -0.999993, -0.00268813] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] 3.jpg 2.10 [91.2061, 0.00547069, -0.999914, -0.011897] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] 4.jpg 2.10 [115.869, 0.00239278, -0.999983, -0.00529361] 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.351 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 6.jpg argv[4]: 0 argv[5]: 5.jpg argv[6]: try with image: 6.jpg IMU_VERSION: 2.10 [95.2474, 0.00423156, 0.999966, 0.00711893] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.542881 25.3789 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1350 Initial RMSE: 0.0215501 Final RMSE: 0.0205658 Change RMSE: 0.00098428 Time cost (s): 0.016552 - Iteration Time: 2 - #residuals: 1353 Initial RMSE: 0.0221666 Final RMSE: 0.0220731 Change RMSE: 9.35276e-05 Time cost (s): 0.0149481 - Iteration Time: 3 - #residuals: 1354 Initial RMSE: 0.0226267 Final RMSE: 0.0226196 Change RMSE: 7.07081e-06 Time cost (s): 0.0180049 - Iteration Time: 4 - #residuals: 1354 Initial RMSE: 0.022511 Final RMSE: 0.0225106 Change RMSE: 3.92163e-07 Time cost (s): 0.027266 - Iteration Time: 5 - #residuals: 1354 Initial RMSE: 0.0225106 Final RMSE: 0.0225106 Change RMSE: 0 Time cost (s): 0.015738 Change RMSE < 1e-08 ICP ratio = 0.71165 (1350/1897) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5236 Initial RMSE: 0.00559721 Final RMSE: 0.00535271 Change RMSE: 0.000244497 Time cost (s): 0.0674829 - Iteration Time: 2 - #residuals: 5241 Initial RMSE: 0.00519199 Final RMSE: 0.00514474 Change RMSE: 4.72529e-05 Time cost (s): 0.061146 - Iteration Time: 3 - #residuals: 5238 Initial RMSE: 0.00503874 Final RMSE: 0.00503128 Change RMSE: 7.45158e-06 Time cost (s): 0.0691299 - Iteration Time: 4 - #residuals: 5236 Initial RMSE: 0.00496037 Final RMSE: 0.00495931 Change RMSE: 1.05704e-06 Time cost (s): 0.0815709 - Iteration Time: 5 - #residuals: 5236 Initial RMSE: 0.00495593 Final RMSE: 0.00495566 Change RMSE: 2.73904e-07 Time cost (s): 0.07991 - Iteration Time: 6 - #residuals: 5235 Initial RMSE: 0.00493569 Final RMSE: 0.0049356 Change RMSE: 9.17139e-08 Time cost (s): 0.088949 - Iteration Time: 7 - #residuals: 5235 Initial RMSE: 0.00493183 Final RMSE: 0.00493181 Change RMSE: 1.52826e-08 Time cost (s): 0.0743101 - Iteration Time: 8 - #residuals: 5235 Initial RMSE: 0.00493181 Final RMSE: 0.00493181 Change RMSE: 0 Time cost (s): 0.0428011 Change RMSE < 1e-08 ICP ratio = 0.693653 (5235/7547) 6.jpg 2.10 [153.314, -0.000185815, -0.99998, -0.0062849] 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] 4.jpg 2.10 [115.869, 0.00239278, -0.999983, -0.00529361] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] 5.jpg 2.10 [133.21, -0.00252591, -0.999993, -0.00268813] 3.jpg 2.10 [91.2061, 0.00547069, -0.999914, -0.011897] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.413 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: 7.jpg argv[4]: 0 argv[5]: 6.jpg argv[6]: try with image: 7.jpg IMU_VERSION: 2.10 [79.8474, 0.0129315, 0.999844, 0.0120417] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.548663 24.3711 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1728 Initial RMSE: 0.0202129 Final RMSE: 0.0200837 Change RMSE: 0.000129157 Time cost (s): 0.0229051 - Iteration Time: 2 - #residuals: 1728 Initial RMSE: 0.0204005 Final RMSE: 0.0203884 Change RMSE: 1.21357e-05 Time cost (s): 0.022691 - Iteration Time: 3 - #residuals: 1730 Initial RMSE: 0.0206621 Final RMSE: 0.0206564 Change RMSE: 5.73596e-06 Time cost (s): 0.0135951 - Iteration Time: 4 - #residuals: 1728 Initial RMSE: 0.0204476 Final RMSE: 0.020446 Change RMSE: 1.6846e-06 Time cost (s): 0.0144799 - Iteration Time: 5 - #residuals: 1727 Initial RMSE: 0.0201906 Final RMSE: 0.0201901 Change RMSE: 5.06303e-07 Time cost (s): 0.013021 - Iteration Time: 6 - #residuals: 1727 Initial RMSE: 0.0201522 Final RMSE: 0.0201521 Change RMSE: 1.48637e-07 Time cost (s): 0.031132 - Iteration Time: 7 - #residuals: 1727 Initial RMSE: 0.0201521 Final RMSE: 0.0201521 Change RMSE: 0 Time cost (s): 0.0147991 Change RMSE < 1e-08 ICP ratio = 0.915254 (1728/1888) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 6480 Initial RMSE: 0.00556179 Final RMSE: 0.00552189 Change RMSE: 3.98905e-05 Time cost (s): 0.0792761 - Iteration Time: 2 - #residuals: 6479 Initial RMSE: 0.00547016 Final RMSE: 0.0054666 Change RMSE: 3.55554e-06 Time cost (s): 0.0857689 - Iteration Time: 3 - #residuals: 6482 Initial RMSE: 0.00547992 Final RMSE: 0.00547947 Change RMSE: 4.48867e-07 Time cost (s): 0.0479758 - Iteration Time: 4 - #residuals: 6483 Initial RMSE: 0.00548589 Final RMSE: 0.00548585 Change RMSE: 4.10059e-08 Time cost (s): 0.0574961 - Iteration Time: 5 - #residuals: 6483 Initial RMSE: 0.00548206 Final RMSE: 0.00548206 Change RMSE: 0 Time cost (s): 0.0216131 Change RMSE < 1e-08 ICP ratio = 0.83708 (6479/7740) 7.jpg 2.10 [170.576, -0.000332016, -0.999935, -0.0113736] 0.jpg 2.04 [42.6865, 0.00351967, -0.999975, -0.00615737] 3.jpg 2.10 [91.2061, 0.00547069, -0.999914, -0.011897] 5.jpg 2.10 [133.21, -0.00252591, -0.999993, -0.00268813] 2.jpg 2.10 [73.1896, -0.0109664, -0.999797, -0.0169238] 6.jpg 2.10 [153.314, -0.000185815, -0.99998, -0.0062849] 4.jpg 2.10 [115.869, 0.00239278, -0.999983, -0.00529361] 1.jpg 2.02 [58.3994, -0.0171209, -0.99966, -0.0196648] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.111 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.804 ----------------------------- 4DAGE4 version: 2023.05.23.ai1 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/00000000_202305171042508750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 11.08 -----------------------------