traffic-laser/server/test/123456789_202305261058088750/sfmlog.txt

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