4DAGE4 version: 2023.05.23.ai2 argv[1]: 0 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 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 [23.3486, -0.0226788, 0.999655, 0.0132593] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.616548 27.8945 Warning: matches.n.bin doesn't exist in the matches folder. 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 3.981 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.017 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.625 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 1.jpg argv[4]: 0 argv[5]: 0.jpg argv[6]: try with image: 1.jpg IMU_VERSION: 2.10 [161.875, -0.00145111, -0.999945, 0.0103674] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.60929 26.6172 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1330 Initial RMSE: 0.033686 Final RMSE: 0.0316547 Change RMSE: 0.00203128 Time cost (s): 0.010169 - Iteration Time: 2 - #residuals: 1334 Initial RMSE: 0.0307713 Final RMSE: 0.0305484 Change RMSE: 0.000222881 Time cost (s): 0.010015 - Iteration Time: 3 - #residuals: 1333 Initial RMSE: 0.0303672 Final RMSE: 0.0303551 Change RMSE: 1.20966e-05 Time cost (s): 0.0115898 - Iteration Time: 4 - #residuals: 1333 Initial RMSE: 0.0304697 Final RMSE: 0.0304668 Change RMSE: 2.95999e-06 Time cost (s): 0.01057 - Iteration Time: 5 - #residuals: 1333 Initial RMSE: 0.0304654 Final RMSE: 0.0304653 Change RMSE: 1.27747e-07 Time cost (s): 0.00994992 - Iteration Time: 6 - #residuals: 1333 Initial RMSE: 0.0305247 Final RMSE: 0.0305245 Change RMSE: 2.18817e-07 Time cost (s): 0.0114942 - Iteration Time: 7 - #residuals: 1333 Initial RMSE: 0.0304945 Final RMSE: 0.0304945 Change RMSE: 4.11318e-08 Time cost (s): 0.00893807 - Iteration Time: 8 - #residuals: 1333 Initial RMSE: 0.0304945 Final RMSE: 0.0304945 Change RMSE: 0 Time cost (s): 0.00494409 Change RMSE < 1e-08 ICP ratio = 0.829496 (1333/1607) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5595 Initial RMSE: 0.0100305 Final RMSE: 0.00994079 Change RMSE: 8.97286e-05 Time cost (s): 0.0318649 - Iteration Time: 2 - #residuals: 5600 Initial RMSE: 0.00985803 Final RMSE: 0.00984218 Change RMSE: 1.58491e-05 Time cost (s): 0.118454 - Iteration Time: 3 - #residuals: 5602 Initial RMSE: 0.00988811 Final RMSE: 0.00988592 Change RMSE: 2.18424e-06 Time cost (s): 0.0584319 - Iteration Time: 4 - #residuals: 5603 Initial RMSE: 0.00987386 Final RMSE: 0.00987276 Change RMSE: 1.09602e-06 Time cost (s): 0.0344031 - Iteration Time: 5 - #residuals: 5604 Initial RMSE: 0.00989687 Final RMSE: 0.0098968 Change RMSE: 6.34245e-08 Time cost (s): 0.048882 - Iteration Time: 6 - #residuals: 5605 Initial RMSE: 0.00990429 Final RMSE: 0.00990429 Change RMSE: 0 Time cost (s): 0.047714 Change RMSE < 1e-08 ICP ratio = 0.882307 (5600/6347) 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.957 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.335 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.06 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 2.jpg argv[4]: 0 argv[5]: 1.jpg argv[6]: try with image: 2.jpg IMU_VERSION: 2.10 [45.6946, -0.00835746, -0.999595, 0.0271868] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.572333 26.5156 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1436 Initial RMSE: 0.0337604 Final RMSE: 0.0321061 Change RMSE: 0.00165428 Time cost (s): 0.0156641 - Iteration Time: 2 - #residuals: 1437 Initial RMSE: 0.0331273 Final RMSE: 0.0330419 Change RMSE: 8.53732e-05 Time cost (s): 0.0190489 - Iteration Time: 3 - #residuals: 1438 Initial RMSE: 0.0333209 Final RMSE: 0.033312 Change RMSE: 8.98634e-06 Time cost (s): 0.0111289 - Iteration Time: 4 - #residuals: 1438 Initial RMSE: 0.0332672 Final RMSE: 0.0332664 Change RMSE: 8.28236e-07 Time cost (s): 0.0190239 - Iteration Time: 5 - #residuals: 1439 Initial RMSE: 0.0336142 Final RMSE: 0.0336133 Change RMSE: 9.47388e-07 Time cost (s): 0.016479 - Iteration Time: 6 - #residuals: 1439 Initial RMSE: 0.0336115 Final RMSE: 0.0336113 Change RMSE: 2.4507e-07 Time cost (s): 0.0248859 - Iteration Time: 7 - #residuals: 1439 Initial RMSE: 0.0336176 Final RMSE: 0.0336173 Change RMSE: 2.30107e-07 Time cost (s): 0.0332251 - Iteration Time: 8 - #residuals: 1439 Initial RMSE: 0.0336115 Final RMSE: 0.0336113 Change RMSE: 2.30178e-07 Time cost (s): 0.0358622 - Iteration Time: 9 - #residuals: 1439 Initial RMSE: 0.0336176 Final RMSE: 0.0336173 Change RMSE: 2.30212e-07 Time cost (s): 0.041826 - Iteration Time: 10 - #residuals: 1439 Initial RMSE: 0.0336115 Final RMSE: 0.0336113 Change RMSE: 2.30177e-07 Time cost (s): 0.0372021 - Iteration Time: 11 - #residuals: 1439 Initial RMSE: 0.0336176 Final RMSE: 0.0336173 Change RMSE: 2.30212e-07 Time cost (s): 0.020818 Warning: Best RMSE is 0.0321061 ICP ratio = 0.790314 (1436/1817) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5339 Initial RMSE: 0.00869289 Final RMSE: 0.00861157 Change RMSE: 8.13245e-05 Time cost (s): 0.089407 - Iteration Time: 2 - #residuals: 5337 Initial RMSE: 0.00844904 Final RMSE: 0.0084424 Change RMSE: 6.63987e-06 Time cost (s): 0.0483692 - Iteration Time: 3 - #residuals: 5337 Initial RMSE: 0.00842791 Final RMSE: 0.00842772 Change RMSE: 1.91839e-07 Time cost (s): 0.032779 - Iteration Time: 4 - #residuals: 5337 Initial RMSE: 0.00842009 Final RMSE: 0.00842008 Change RMSE: 1.26414e-08 Time cost (s): 0.0335159 - Iteration Time: 5 - #residuals: 5337 Initial RMSE: 0.0084236 Final RMSE: 0.0084236 Change RMSE: 0 Time cost (s): 0.044229 Change RMSE < 1e-08 ICP ratio = 0.750527 (5337/7111) 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.719 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.508 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.867 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 3.jpg argv[4]: 0 argv[5]: 2.jpg argv[6]: try with image: 3.jpg IMU_VERSION: 2.10 [45.7937, -0.0203561, 0.999655, 0.0165881] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.563005 26.0898 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1617 Initial RMSE: 0.0235603 Final RMSE: 0.0224722 Change RMSE: 0.00108807 Time cost (s): 0.015142 - Iteration Time: 2 - #residuals: 1619 Initial RMSE: 0.0234327 Final RMSE: 0.0233483 Change RMSE: 8.4424e-05 Time cost (s): 0.0182638 - Iteration Time: 3 - #residuals: 1619 Initial RMSE: 0.0229251 Final RMSE: 0.0229241 Change RMSE: 1.01694e-06 Time cost (s): 0.0176499 - Iteration Time: 4 - #residuals: 1619 Initial RMSE: 0.0229933 Final RMSE: 0.0229931 Change RMSE: 1.74072e-07 Time cost (s): 0.0368149 - Iteration Time: 5 - #residuals: 1619 Initial RMSE: 0.0230008 Final RMSE: 0.0230008 Change RMSE: 2.40219e-08 Time cost (s): 0.0248542 - Iteration Time: 6 - #residuals: 1619 Initial RMSE: 0.0230008 Final RMSE: 0.0230008 Change RMSE: 0 Time cost (s): 0.0114372 Change RMSE < 1e-08 ICP ratio = 0.868421 (1617/1862) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 6128 Initial RMSE: 0.00525711 Final RMSE: 0.00512565 Change RMSE: 0.000131452 Time cost (s): 0.149356 - Iteration Time: 2 - #residuals: 6129 Initial RMSE: 0.00510442 Final RMSE: 0.00509923 Change RMSE: 5.19336e-06 Time cost (s): 0.154107 - Iteration Time: 3 - #residuals: 6128 Initial RMSE: 0.00510047 Final RMSE: 0.00510001 Change RMSE: 4.51454e-07 Time cost (s): 0.112616 - Iteration Time: 4 - #residuals: 6129 Initial RMSE: 0.00510224 Final RMSE: 0.00510219 Change RMSE: 4.90516e-08 Time cost (s): 0.108177 - Iteration Time: 5 - #residuals: 6129 Initial RMSE: 0.00511295 Final RMSE: 0.00511293 Change RMSE: 2.05443e-08 Time cost (s): 0.111872 - Iteration Time: 6 - #residuals: 6129 Initial RMSE: 0.00510924 Final RMSE: 0.00510924 Change RMSE: 0 Time cost (s): 0.0671761 Change RMSE < 1e-08 ICP ratio = 0.822243 (6129/7454) 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 6.01 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.699 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 2.678 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 4.jpg argv[4]: 0 argv[5]: 3.jpg argv[6]: try with image: 4.jpg IMU_VERSION: 2.10 [71.6085, -0.0192114, 0.999799, 0.00573316] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.562566 25.4531 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1565 Initial RMSE: 0.0258164 Final RMSE: 0.0247083 Change RMSE: 0.00110812 Time cost (s): 0.026798 - Iteration Time: 2 - #residuals: 1563 Initial RMSE: 0.0245808 Final RMSE: 0.0245528 Change RMSE: 2.80043e-05 Time cost (s): 0.0177109 - Iteration Time: 3 - #residuals: 1562 Initial RMSE: 0.0242812 Final RMSE: 0.0242804 Change RMSE: 8.39136e-07 Time cost (s): 0.012002 - Iteration Time: 4 - #residuals: 1562 Initial RMSE: 0.0242659 Final RMSE: 0.0242659 Change RMSE: 0 Time cost (s): 0.00618792 Change RMSE < 1e-08 ICP ratio = 0.933094 (1562/1674) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5728 Initial RMSE: 0.00532857 Final RMSE: 0.00529361 Change RMSE: 3.49578e-05 Time cost (s): 0.193754 - Iteration Time: 2 - #residuals: 5723 Initial RMSE: 0.00528436 Final RMSE: 0.00528186 Change RMSE: 2.50334e-06 Time cost (s): 0.0454919 - Iteration Time: 3 - #residuals: 5722 Initial RMSE: 0.00526738 Final RMSE: 0.00526721 Change RMSE: 1.71307e-07 Time cost (s): 0.0564661 - Iteration Time: 4 - #residuals: 5723 Initial RMSE: 0.00527175 Final RMSE: 0.00527169 Change RMSE: 5.67529e-08 Time cost (s): 0.0345092 - Iteration Time: 5 - #residuals: 5723 Initial RMSE: 0.00527141 Final RMSE: 0.00527141 Change RMSE: 0 Time cost (s): 0.0232041 Change RMSE < 1e-08 ICP ratio = 0.886445 (5722/6455) 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.907 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.872 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 3.264 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 5.jpg argv[4]: 0 argv[5]: 4.jpg argv[6]: try with image: 5.jpg IMU_VERSION: 2.10 [89.9533, -0.0179862, 0.999836, -0.00195241] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.599005 25.5625 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1309 Initial RMSE: 0.021259 Final RMSE: 0.0211424 Change RMSE: 0.000116596 Time cost (s): 0.00807714 - Iteration Time: 2 - #residuals: 1311 Initial RMSE: 0.0210341 Final RMSE: 0.0210323 Change RMSE: 1.7953e-06 Time cost (s): 0.0125639 - Iteration Time: 3 - #residuals: 1311 Initial RMSE: 0.0210211 Final RMSE: 0.021021 Change RMSE: 4.2223e-08 Time cost (s): 0.0227129 - Iteration Time: 4 - #residuals: 1311 Initial RMSE: 0.0210236 Final RMSE: 0.0210235 Change RMSE: 2.12597e-08 Time cost (s): 0.0147171 - Iteration Time: 5 - #residuals: 1311 Initial RMSE: 0.0210235 Final RMSE: 0.0210235 Change RMSE: 0 Time cost (s): 0.012018 Change RMSE < 1e-08 ICP ratio = 0.863636 (1311/1518) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 4804 Initial RMSE: 0.00502209 Final RMSE: 0.00501351 Change RMSE: 8.57257e-06 Time cost (s): 0.0768759 - Iteration Time: 2 - #residuals: 4804 Initial RMSE: 0.00502845 Final RMSE: 0.0050278 Change RMSE: 6.49917e-07 Time cost (s): 0.054915 - Iteration Time: 3 - #residuals: 4803 Initial RMSE: 0.00504943 Final RMSE: 0.00504938 Change RMSE: 5.28106e-08 Time cost (s): 0.101576 - Iteration Time: 4 - #residuals: 4802 Initial RMSE: 0.00505224 Final RMSE: 0.00505219 Change RMSE: 4.76413e-08 Time cost (s): 0.107268 - Iteration Time: 5 - #residuals: 4802 Initial RMSE: 0.00505962 Final RMSE: 0.00505962 Change RMSE: 0 Time cost (s): 0.042556 Change RMSE < 1e-08 ICP ratio = 0.789353 (4804/6086) 5.jpg 2.10 [159.992, -0.00625002, 0.999916, -0.011382] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.993 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 0.952 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 3.641 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 6.jpg argv[4]: 0 argv[5]: 5.jpg argv[6]: try with image: 6.jpg IMU_VERSION: 2.10 [129.224, -0.0118715, 0.999898, -0.00794422] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.595681 26.5312 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1408 Initial RMSE: 0.0200861 Final RMSE: 0.0196985 Change RMSE: 0.000387564 Time cost (s): 0.0124688 - Iteration Time: 2 - #residuals: 1405 Initial RMSE: 0.0190111 Final RMSE: 0.0189773 Change RMSE: 3.38496e-05 Time cost (s): 0.0107658 - Iteration Time: 3 - #residuals: 1404 Initial RMSE: 0.0186426 Final RMSE: 0.0186372 Change RMSE: 5.40628e-06 Time cost (s): 0.0121791 - Iteration Time: 4 - #residuals: 1404 Initial RMSE: 0.0187163 Final RMSE: 0.0187154 Change RMSE: 9.01625e-07 Time cost (s): 0.00811791 - Iteration Time: 5 - #residuals: 1404 Initial RMSE: 0.0186796 Final RMSE: 0.0186794 Change RMSE: 1.10569e-07 Time cost (s): 0.0100689 - Iteration Time: 6 - #residuals: 1404 Initial RMSE: 0.0186794 Final RMSE: 0.0186794 Change RMSE: 0 Time cost (s): 0.00599599 Change RMSE < 1e-08 ICP ratio = 0.769315 (1404/1825) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5469 Initial RMSE: 0.00496416 Final RMSE: 0.00477048 Change RMSE: 0.000193671 Time cost (s): 0.040252 - Iteration Time: 2 - #residuals: 5470 Initial RMSE: 0.00472705 Final RMSE: 0.00471498 Change RMSE: 1.20624e-05 Time cost (s): 0.0552452 - Iteration Time: 3 - #residuals: 5469 Initial RMSE: 0.00467528 Final RMSE: 0.00467444 Change RMSE: 8.3916e-07 Time cost (s): 0.119662 - Iteration Time: 4 - #residuals: 5469 Initial RMSE: 0.00465518 Final RMSE: 0.0046549 Change RMSE: 2.8319e-07 Time cost (s): 0.0896358 - Iteration Time: 5 - #residuals: 5469 Initial RMSE: 0.00465588 Final RMSE: 0.00465587 Change RMSE: 9.15778e-09 Time cost (s): 0.0636189 Change RMSE < 1e-08 ICP ratio = 0.732717 (5469/7464) 6.jpg 2.10 [128.054, -0.00121229, 0.999897, -0.0143034] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 5.jpg 2.10 [159.992, -0.00625002, 0.999916, -0.011382] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.709 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.045 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.33 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 7.jpg argv[4]: 0 argv[5]: 6.jpg argv[6]: try with image: 7.jpg IMU_VERSION: 2.10 [105.695, -0.0115981, 0.999873, -0.0108929] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.581332 25.6641 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1624 Initial RMSE: 0.0322929 Final RMSE: 0.0310309 Change RMSE: 0.00126202 Time cost (s): 0.0140929 - Iteration Time: 2 - #residuals: 1630 Initial RMSE: 0.0315793 Final RMSE: 0.0315028 Change RMSE: 7.65481e-05 Time cost (s): 0.0142229 - Iteration Time: 3 - #residuals: 1628 Initial RMSE: 0.0310959 Final RMSE: 0.031092 Change RMSE: 3.98011e-06 Time cost (s): 0.00968313 - Iteration Time: 4 - #residuals: 1628 Initial RMSE: 0.0308007 Final RMSE: 0.0308 Change RMSE: 7.23321e-07 Time cost (s): 0.0100529 - Iteration Time: 5 - #residuals: 1628 Initial RMSE: 0.030826 Final RMSE: 0.0308259 Change RMSE: 9.23918e-08 Time cost (s): 0.0131812 - Iteration Time: 6 - #residuals: 1628 Initial RMSE: 0.0308259 Final RMSE: 0.0308259 Change RMSE: 0 Time cost (s): 0.0079639 Change RMSE < 1e-08 ICP ratio = 0.865037 (1628/1882) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 6260 Initial RMSE: 0.00779901 Final RMSE: 0.00776098 Change RMSE: 3.80323e-05 Time cost (s): 0.150199 - Iteration Time: 2 - #residuals: 6257 Initial RMSE: 0.0077761 Final RMSE: 0.00777101 Change RMSE: 5.09399e-06 Time cost (s): 0.1297 - Iteration Time: 3 - #residuals: 6254 Initial RMSE: 0.00771759 Final RMSE: 0.00771725 Change RMSE: 3.38779e-07 Time cost (s): 0.141809 - Iteration Time: 4 - #residuals: 6254 Initial RMSE: 0.00772551 Final RMSE: 0.00772541 Change RMSE: 1.07912e-07 Time cost (s): 0.107033 - Iteration Time: 5 - #residuals: 6254 Initial RMSE: 0.00772539 Final RMSE: 0.00772537 Change RMSE: 2.34823e-08 Time cost (s): 0.124776 - Iteration Time: 6 - #residuals: 6254 Initial RMSE: 0.00772537 Final RMSE: 0.00772537 Change RMSE: 0 Time cost (s): 0.0486729 Change RMSE < 1e-08 ICP ratio = 0.795877 (6254/7858) 7.jpg 2.10 [87.1347, 0.0110218, 0.999831, -0.0147343] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 5.jpg 2.10 [159.992, -0.00625002, 0.999916, -0.011382] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 6.jpg 2.10 [128.054, -0.00121229, 0.999897, -0.0143034] 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 6.625 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.303 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.614 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 8.jpg argv[4]: 0 argv[5]: 7.jpg argv[6]: try with image: 8.jpg IMU_VERSION: 2.10 [25.1369, -0.032931, 0.99936, -0.0139564] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.633942 28.3867 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1712 Initial RMSE: 0.0356533 Final RMSE: 0.031595 Change RMSE: 0.00405822 Time cost (s): 0.032572 - Iteration Time: 2 - #residuals: 1717 Initial RMSE: 0.0311521 Final RMSE: 0.0308867 Change RMSE: 0.000265367 Time cost (s): 0.0374441 - Iteration Time: 3 - #residuals: 1717 Initial RMSE: 0.0308514 Final RMSE: 0.0308372 Change RMSE: 1.42223e-05 Time cost (s): 0.0212359 - Iteration Time: 4 - #residuals: 1716 Initial RMSE: 0.0304959 Final RMSE: 0.0304909 Change RMSE: 5.01613e-06 Time cost (s): 0.035042 - Iteration Time: 5 - #residuals: 1716 Initial RMSE: 0.030589 Final RMSE: 0.0305877 Change RMSE: 1.24559e-06 Time cost (s): 0.028234 - Iteration Time: 6 - #residuals: 1716 Initial RMSE: 0.0304942 Final RMSE: 0.0304936 Change RMSE: 5.94172e-07 Time cost (s): 0.0108099 - Iteration Time: 7 - #residuals: 1716 Initial RMSE: 0.0304901 Final RMSE: 0.0304901 Change RMSE: 0 Time cost (s): 0.00757003 Change RMSE < 1e-08 ICP ratio = 0.982818 (1716/1746) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 6896 Initial RMSE: 0.00896904 Final RMSE: 0.00884577 Change RMSE: 0.000123267 Time cost (s): 0.054204 - Iteration Time: 2 - #residuals: 6897 Initial RMSE: 0.00883145 Final RMSE: 0.00881254 Change RMSE: 1.89039e-05 Time cost (s): 0.040643 - Iteration Time: 3 - #residuals: 6894 Initial RMSE: 0.00879071 Final RMSE: 0.0087883 Change RMSE: 2.40721e-06 Time cost (s): 0.0514071 - Iteration Time: 4 - #residuals: 6896 Initial RMSE: 0.00880377 Final RMSE: 0.00880329 Change RMSE: 4.8106e-07 Time cost (s): 0.0562229 - Iteration Time: 5 - #residuals: 6895 Initial RMSE: 0.00877574 Final RMSE: 0.00877571 Change RMSE: 3.27758e-08 Time cost (s): 0.0857401 - Iteration Time: 6 - #residuals: 6895 Initial RMSE: 0.00878127 Final RMSE: 0.00878126 Change RMSE: 9.02362e-09 Time cost (s): 0.091063 Change RMSE < 1e-08 ICP ratio = 0.959371 (6895/7187) 8.jpg 2.10 [48.3323, 0.0184662, 0.999819, -0.00452052] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 6.jpg 2.10 [128.054, -0.00121229, 0.999897, -0.0143034] 5.jpg 2.10 [159.992, -0.00625002, 0.999916, -0.011382] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 7.jpg 2.10 [87.1347, 0.0110218, 0.999831, -0.0147343] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.739 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.506 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 5.849 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 7 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: 9.jpg argv[4]: 0 argv[5]: 8.jpg argv[6]: try with image: 9.jpg IMU_VERSION: 2.10 [67.2326, -0.0083612, 0.999952, -0.00505754] JSON Parsing failed - provided NVP (ggaLocation_0) not found Warning: when read rtk data. Prepare Lidar Data: 0.631704 26.7148 - Using Radius-Times: 2 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 1349 Initial RMSE: 0.0339371 Final RMSE: 0.0338351 Change RMSE: 0.000101996 Time cost (s): 0.016583 - Iteration Time: 2 - #residuals: 1347 Initial RMSE: 0.033284 Final RMSE: 0.0332768 Change RMSE: 7.23787e-06 Time cost (s): 0.0123439 - Iteration Time: 3 - #residuals: 1347 Initial RMSE: 0.0331951 Final RMSE: 0.0331922 Change RMSE: 2.96375e-06 Time cost (s): 0.0127749 - Iteration Time: 4 - #residuals: 1347 Initial RMSE: 0.0331967 Final RMSE: 0.0331967 Change RMSE: 0 Time cost (s): 0.00574708 Change RMSE < 1e-08 ICP ratio = 0.958719 (1347/1405) - Using Radius-Times: 1 - - MV-ICP 2022.06.29 - - Iteration Time: 1 - #residuals: 5348 Initial RMSE: 0.00777967 Final RMSE: 0.00770749 Change RMSE: 7.21791e-05 Time cost (s): 0.0912318 - Iteration Time: 2 - #residuals: 5342 Initial RMSE: 0.00749896 Final RMSE: 0.00748094 Change RMSE: 1.80189e-05 Time cost (s): 0.062386 - Iteration Time: 3 - #residuals: 5341 Initial RMSE: 0.00738581 Final RMSE: 0.0073817 Change RMSE: 4.11399e-06 Time cost (s): 0.0965219 - Iteration Time: 4 - #residuals: 5340 Initial RMSE: 0.00737458 Final RMSE: 0.00737405 Change RMSE: 5.26545e-07 Time cost (s): 0.0659609 - Iteration Time: 5 - #residuals: 5341 Initial RMSE: 0.00738757 Final RMSE: 0.00738744 Change RMSE: 1.29564e-07 Time cost (s): 0.125168 - Iteration Time: 6 - #residuals: 5341 Initial RMSE: 0.00738461 Final RMSE: 0.00738458 Change RMSE: 2.25616e-08 Time cost (s): 0.16239 - Iteration Time: 7 - #residuals: 5341 Initial RMSE: 0.00738624 Final RMSE: 0.00738624 Change RMSE: 0 Time cost (s): 0.0911069 Change RMSE < 1e-08 ICP ratio = 0.954936 (5340/5592) 9.jpg 2.10 [14.096, 0.0434875, 0.999028, -0.00726739] 2.jpg 2.10 [83.2136, 0.01645, -0.999862, -0.00244976] 7.jpg 2.10 [87.1347, 0.0110218, 0.999831, -0.0147343] 0.jpg 2.02 [23.3486, 0.0226788, -0.999655, -0.0132593] 3.jpg 2.10 [132.489, 0.0111328, -0.999938, 0.000813069] 5.jpg 2.10 [159.992, -0.00625002, 0.999916, -0.011382] 6.jpg 2.10 [128.054, -0.00121229, 0.999897, -0.0143034] 4.jpg 2.10 [166.708, 0.0101281, -0.99993, 0.00607075] 1.jpg 2.10 [49.385, 0.0226784, -0.999694, 0.00990359] 8.jpg 2.10 [48.3323, 0.0184662, 0.999819, -0.00452052] ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 4.482 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 9 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 1.769 ----------------------------- 4DAGE4 version: 2023.05.23.ai2 argv[1]: 10 argv[2]: /storage/emulated/0/Android/data/com.fdage.turn.sg/files/creator/123456789_202305261058088750 argv[3]: argv[4]: argv[5]: argv[6]: ----------------------------- -- #Hardware Thread: 8 -- #4DAGE4 Time cost: 6.701 -----------------------------