traffic-laser/server/test/00000000_202305171042508750/sfmlog.txt

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
-----------------------------