aliceVision_incrementalSfM Different performance between Windows and Linux

[zell180]

Hello all, we are experiencing very different behavior regarding the StructureFromMotion step in different environments.

We use the same dataset in the attached example.
On Windows we use Meshroom 2023.1.0 and Windows 11 with Intel i9 12900KF as test environment

In production environment we use Ubuntu 20.04.04 LTS with 4x Intel Xeon Gold 5218

Operations in general are slightly slower on Xeon as per attached schematic but why does SFM take 10 times longer in production?

NODE	XEON GOLD 5218	INTEL i9 12900KF	DELTA
CameraInit	0,13	0,07	0,05
FeatureExtraction	8,77	7,34	1,43
ImageMatching	0,08	0,06	0,02
FeatureMatching	0,51	0,49	0,02
StructureFromMotion	76,39	7,13	69,26
SfMAlignment	0,10	0,09	0,01
PrepareDenseScene	5,17	4,84	0,33
DepthMap	17,97	11,69	6,28
DepthMapFilter	8,85	7,63	1,22
Meshing	31,81	25,23	6,58
MeshFiltering	3,50	2,99	0,51
Texturing	27,97	15,86	12,10

I attach the logs of the two environments. Is there any way to optimize the operation?

Thank you

LOG SVIL
`[2023-07-24 11:07:08.363085] [0x000010a8] [trace] Embedded OCIO configuration file: 'C:\Users\user\Desktop\Meshroom-2023.1.0\aliceVision/share/aliceVision/config.ocio' found.
Program called with the following parameters:

• computeStructureColor = 1
• describerTypes = "sift_float"
• extraInfoFolder = "C:/Users/user/MeshroomCache/StructureFromMotion/2c3dd681fcd589009e23623dc173c06f1fe7483d"
• featuresFolders = = [C:/Users/user/MeshroomCache/FeatureExtraction/4c1d00b2a3aacf9feaa409e8341566eac773266f]
• filterTrackForks = 0
• initialPairA = ""
• initialPairB = ""
• input = "C:/Users/user/MeshroomCache/CameraInit/feac85b8b45dcd0c20cbbce224d936e03ccf650c/cameraInit.sfm"
• interFileExtension = ".abc"
• localBAGraphDistance = 1
• localizerEstimator = Unknown Type "enum aliceVision::robustEstimation::ERobustEstimator"
• localizerEstimatorError = 0
• localizerEstimatorMaxIterations = 4096
• lockAllIntrinsics = 0
• lockScenePreviouslyReconstructed = 0
• matchesFolders = = [C:/Users/user/MeshroomCache/FeatureMatching/42c6c406b799b5f3318b78d46eb8b1b649dcbe1d]
• maxAngleInitialPair = 40
• maxCoresAvailable = Unknown Type "unsigned int" (default)
• maxMemoryAvailable = 18446744073709551615 (default)
• maxNumberOfMatches = 0
• maxReprojectionError = 4
• minAngleForLandmark = 2
• minAngleForTriangulation = 3
• minAngleInitialPair = 5
• minInputTrackLength = 2
• minNbCamerasToRefinePrincipalPoint = 3
• minNumberOfMatches = 0
• minNumberOfObservationsForTriangulation = 2
• observationConstraint = Unknown Type "enum aliceVision::sfm::EFeatureConstraint"
• output = "C:/Users/user/MeshroomCache/StructureFromMotion/2c3dd681fcd589009e23623dc173c06f1fe7483d/sfm.abc"
• outputViewsAndPoses = "C:/Users/user/MeshroomCache/StructureFromMotion/2c3dd681fcd589009e23623dc173c06f1fe7483d/cameras.sfm"
• randomSeed = 5489 (default)
• rigMinNbCamerasForCalibration = 20
• useLocalBA = 1
• useOnlyMatchesFromInputFolder = 0
• useRigConstraint = 1
• verboseLevel = "info"

Hardware :
Detected core count : 8
OpenMP will use 8 cores
Detected available memory : 52967 Mo

[11:07:08.367085][warning] The number of intrinsics is incoherent:
[11:07:08.367085][warning] 2 intrinsics declared and 1 intrinsics used.
Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[11:07:09.436085][info] Fuse matches into tracks:
- # tracks: 23152
- # images in tracks: 6
[11:07:09.436085][info] TrackLength, Occurrence
[11:07:09.436085][info] 2 15415
[11:07:09.436085][info] 3 4354
[11:07:09.436085][info] 4 1862
[11:07:09.436085][info] 5 935
[11:07:09.437086][info] 6 586
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[11:07:10.081594][info] Initial pair is:
- [A] view id: 286536366, filepath: C:/Users/user/Desktop/test/aaa.tiff
- [B] view id: 316091842, filepath: C:/Users/user/Desktop/test/fff.tiff
[11:07:10.083593][info] 1416 matches in the image pair for the initial pose estimation.
[11:07:10.375592][info] Bundle adjustment start.
[11:07:10.376592][info] Start bundle adjustment iteration: 0
[11:07:10.402592][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.0192927 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 1310
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 0
- # residual blocks: 2620
- # successful iterations: 7
- # unsuccessful iterations: 0
- initial RMSE: 0.363252
- final RMSE: 0.25659
[11:07:10.403595][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[11:07:10.403595][info] Bundle adjustment iteration: 0 took 27 msec.
[11:07:10.403595][info] Bundle adjustment with 1 iterations took 27 msec.
[11:07:10.403595][info] Initial pair is: 286536366, 316091842
[11:07:10.404594][info] Begin Incremental Reconstruction:
- mode: SfM augmentation
- # images in input: 6
- # images in resection: 4
- # landmarks in input: 655
- # cameras already calibrated: 2
[11:07:10.404594][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 2
- # number of landmarks: 655
- # remaining images: 4
[11:07:10.404594][info] Update Reconstruction:
- resection id: 0
- # images in the resection group: 1
- # images remaining: 4
[11:07:10.404594][info] [3/6] Robust Resection of view: 1094747651
[11:07:10.468592][info] Robust Resection information:
- resection status: true
- threshold (error max): 34.1947
- # points used for resection: 516
- # points validated by robust resection: 498
[11:07:10.494592][info] Bundle adjustment start.
[11:07:10.495593][info] Start bundle adjustment iteration: 0
[11:07:10.796598][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.29616 s
- poses:
- # refined: 3
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 3504
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 7008
- # successful iterations: 49
- # unsuccessful iterations: 2
- initial RMSE: 0.530359
- final RMSE: 0.212086
[11:07:10.797599][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[11:07:10.797599][info] Bundle adjustment iteration: 0 took 302 msec.
[11:07:10.797599][info] Bundle adjustment with 1 iterations took 302 msec.
[11:07:10.805593][info] Update Reconstruction:
- resection id: 1
- # images in the resection group: 1
- # images remaining: 3
[11:07:10.806593][info] [4/6] Robust Resection of view: 883902540
[11:07:10.932593][info] Robust Resection information:
- resection status: true
- threshold (error max): 12.2912
- # points used for resection: 1076
- # points validated by robust resection: 1029
[11:07:10.989593][info] Bundle adjustment start.
[11:07:10.990593][info] Start bundle adjustment iteration: 0
[11:07:11.809593][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 0.801969 s
- poses:
- # refined: 4
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 11985
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 23970
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.412076
- final RMSE: 0.239208
[11:07:11.811593][info] Remove outliers:
- # outliers residual error: 1
- # outliers angular error: 0
[11:07:11.811593][info] Bundle adjustment iteration: 0 took 821 msec.
[11:07:11.811593][info] Bundle adjustment with 1 iterations took 822 msec.
[11:07:11.815593][info] Update Reconstruction:
- resection id: 2
- # images in the resection group: 1
- # images remaining: 2
[11:07:11.816593][info] [5/6] Robust Resection of view: 1998982598
[11:07:12.122659][info] Robust Resection information:
- resection status: true
- threshold (error max): 11.9954
- # points used for resection: 2424
- # points validated by robust resection: 2306
[11:07:12.163592][info] Bundle adjustment start.
[11:07:12.165592][info] Start bundle adjustment iteration: 0
[11:07:13.867594][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.66874 s
- poses:
- # refined: 5
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 23135
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 46270
- # successful iterations: 50
- # unsuccessful iterations: 1
- initial RMSE: 0.3449
- final RMSE: 0.192738
[11:07:13.870593][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[11:07:13.871594][info] Bundle adjustment iteration: 0 took 1706 msec.
[11:07:13.871594][info] Bundle adjustment with 1 iterations took 1707 msec.
[11:07:13.877592][info] Update Reconstruction:
- resection id: 3
- # images in the resection group: 1
- # images remaining: 1
[11:07:13.880592][info] [6/6] Robust Resection of view: 1081437535
[11:07:14.350659][info] Robust Resection information:
- resection status: true
- threshold (error max): 8.38322
- # points used for resection: 3581
- # points validated by robust resection: 3361
[11:07:14.513655][info] Bundle adjustment start.
[11:07:14.516655][info] Start bundle adjustment iteration: 0
[11:07:16.830598][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 2.26485 s
- poses:
- # refined: 6
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 34142
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 68284
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.314972
- final RMSE: 0.157576
[11:07:16.835594][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[11:07:16.836594][info] Bundle adjustment iteration: 0 took 2319 msec.
[11:07:16.836594][info] Bundle adjustment with 1 iterations took 2322 msec.
[11:07:16.845592][info] Incremental Reconstruction start iteration 1:
- # number of resection groups: 4
- # number of poses: 6
- # number of landmarks: 11812
- # remaining images: 0
[11:07:16.845592][info] Incremental Reconstruction completed with 2 iterations:
- # number of resection groups: 4
- # number of poses: 6
- # number of landmarks: 11812
- # remaining images: 0
[11:07:16.848594][info] Structure from Motion statistics:
- # input images: 6
- # cameras calibrated: 6
- # poses: 6
- # landmarks: 11812
- elapsed time: 6.441
- residual RMSE: 0.707855
[11:07:16.849593][info] - # sift_float: 11812
[11:07:16.853593][info] Histogram of residuals:

0 | 1.5e+04
0.5 | 1.1e+04
1 | 5.1e+03
1.5 | 2e+03
2 | 8.1e+02
2.5 | 4.2e+02
3 | 1.8e+02
3.5 | 97
4 | 38
4.5 | 31
5 | 19
5.5 | 9
6 | 8
6.5 | 6
7 | 6
7.5 | 0
8 | 1
8.5 | 0
9
[11:07:16.853593][info] # landmarks: 11812
[11:07:16.853593][info] # overall observations: 34142
[11:07:16.853593][info] Landmarks observations length min: 2, mean: 2.89045, median: 2, max: 6
[11:07:16.853593][info] Histogram of observations length:

2 | 6015
3 | 2933
4 | 1510
5 | 851
6 | 503
7
[11:07:16.854592][info] Landmarks per view min: 0, mean: 0, median: 0, max: 0
[11:07:16.854592][info] Histogram of nb landmarks per view:

0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
1

Compute scene structure color
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[11:07:17.488593][info] Structure from motion took (s): 8.140000
[11:07:17.488593][info] Generating HTML report...
[11:07:17.498593][info] Export SfMData to disk: C:/Users/user/MeshroomCache/StructureFromMotion/2c3dd681fcd589009e23623dc173c06f1fe7483d/sfm.abc
[11:07:17.510593][info] Structure from Motion results:
- # input images: 6
- # cameras calibrated: 6
- # poses: 6
- # landmarks: 11812
`

LOG PROD
`[2023-07-19 08:40:51.463769] [0x00007fcd87b15000] [trace] Embedded OCIO configuration file: '/Meshroom-2023.1.0-av3.0.0-centos7-cuda11.3.1/aliceVision/share/aliceVision/config.ocio' found.
Program called with the following parameters:

• computeStructureColor = 1
• describerTypes = "sift_float"
• extraInfoFolder = "/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/StructureFromMotion/7f9c2cf20d68b31efc56e47937f5465cec9bdd77"
• featuresFolders = = [/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/FeatureExtraction/7dd58d736ce1adf534fda32ea7d7eba078b2750b]
• filterTrackForks = 0
• initialPairA = ""
• initialPairB = ""
• input = "/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/CameraInit/2ad315f9152a75f6c5401b8d7ae3e8604b4a97f3/cameraInit.sfm"
• interFileExtension = ".abc"
• localBAGraphDistance = 1
• localizerEstimator = Unknown Type "N11aliceVision16robustEstimation16ERobustEstimatorE"
• localizerEstimatorError = 0
• localizerEstimatorMaxIterations = 4096
• lockAllIntrinsics = 0
• lockScenePreviouslyReconstructed = 0
• matchesFolders = = [/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/FeatureMatching/ee2cc8d742241335253bf5b371de8f050693fffb]
• maxAngleInitialPair = 40
• maxCoresAvailable = Unknown Type "j"
• maxMemoryAvailable = 9223372036854771712
• maxNumberOfMatches = 0
• maxReprojectionError = 4
• minAngleForLandmark = 2
• minAngleForTriangulation = 3
• minAngleInitialPair = 5
• minInputTrackLength = 2
• minNbCamerasToRefinePrincipalPoint = 3
• minNumberOfMatches = 0
• minNumberOfObservationsForTriangulation = 2
• observationConstraint = Unknown Type "N11aliceVision3sfm18EFeatureConstraintE"
• output = "/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/StructureFromMotion/7f9c2cf20d68b31efc56e47937f5465cec9bdd77/sfm.abc"
• outputViewsAndPoses = "/test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/StructureFromMotion/7f9c2cf20d68b31efc56e47937f5465cec9bdd77/cameras.sfm"
• randomSeed = 5489 (default)
• rigMinNbCamerasForCalibration = 20
• useLocalBA = 1
• useOnlyMatchesFromInputFolder = 0
• useRigConstraint = 1
• verboseLevel = "info"

Hardware :
Detected core count : 128
User upper limit on core count : 128
OpenMP will use 128 cores
Detected available memory : 183428 Mo
User upper limit on memory available : 8796093022207 Mo

Loading features
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[08:40:51.945808][info] Fuse matches into tracks:
- # tracks: 23313
- # images in tracks: 6
[08:40:51.946345][info] TrackLength, Occurrence
[08:40:51.946402][info] 2 15488
[08:40:51.946415][info] 3 4413
[08:40:51.946423][info] 4 1848
[08:40:51.946430][info] 5 952
[08:40:51.946437][info] 6 612
Automatic selection of an initial pair:
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[08:40:52.500611][info] Initial pair is:
- [A] view id: 376464373, filepath: /test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/tiff/ddd.tiff
- [B] view id: 2068822876, filepath: /test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/tiff/aaa.tiff
[08:40:52.504749][info] 2481 matches in the image pair for the initial pose estimation.
[08:40:53.149681][info] Bundle adjustment start.
[08:40:53.151093][info] Start bundle adjustment iteration: 0
block_sparse_matrix.cc:92 Allocating values array with 529632 bytes.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
[08:40:54.543160][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 1.36934 s
- poses:
- # refined: 2
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 3678
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 0
- # constant: 1
- # ignored: 0
- # residual blocks: 7356
- # successful iterations: 5
- # unsuccessful iterations: 0
- initial RMSE: 0.286364
- final RMSE: 0.265171
[08:40:54.552676][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[08:40:54.552877][info] Bundle adjustment iteration: 0 took 1401 msec.
[08:40:54.552891][info] Bundle adjustment with 1 iterations took 1403 msec.
[08:40:54.557233][info] Initial pair is: 376464373, 2068822876
[08:40:54.559000][info] Begin Incremental Reconstruction:
- mode: SfM augmentation
- # images in input: 6
- # images in resection: 4
- # landmarks in input: 1839
- # cameras already calibrated: 2
[08:40:54.559026][info] Incremental Reconstruction start iteration 0:
- # number of resection groups: 0
- # number of poses: 2
- # number of landmarks: 1839
- # remaining images: 4
[08:40:54.569957][info] Update Reconstruction:
- resection id: 0
- # images in the resection group: 1
- # images remaining: 4
[08:40:54.583626][info] [3/6] Robust Resection of view: 1570894053
[08:40:54.803290][info] Robust Resection information:
- resection status: true
- threshold (error max): 19.3737
- # points used for resection: 1366
- # points validated by robust resection: 1341
[08:40:55.913850][info] Bundle adjustment start.
[08:40:55.915273][info] Start bundle adjustment iteration: 0
block_sparse_matrix.cc:92 Allocating values array with 1596240 bytes.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
[08:41:33.537495][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 37.598 s
- poses:
- # refined: 3
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 6651
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 13302
- # successful iterations: 51
- # unsuccessful iterations: 0
- initial RMSE: 0.438155
- final RMSE: 0.097772
[08:41:33.544681][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[08:41:33.545205][info] Bundle adjustment iteration: 0 took 37629 msec.
[08:41:33.545219][info] Bundle adjustment with 1 iterations took 37631 msec.
[08:41:33.561082][info] Update Reconstruction:
- resection id: 1
- # images in the resection group: 1
- # images remaining: 3
[08:41:33.573598][info] [4/6] Robust Resection of view: 1867449040
[08:41:33.844934][info] Robust Resection information:
- resection status: true
- threshold (error max): 3.62351
- # points used for resection: 1787
- # points validated by robust resection: 1691
[08:41:34.725754][info] Bundle adjustment start.
[08:41:34.728752][info] Start bundle adjustment iteration: 0
block_sparse_matrix.cc:92 Allocating values array with 5071440 bytes.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
[08:41:52.075487][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 17.2932 s
- poses:
- # refined: 4
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 21131
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 42262
- # successful iterations: 28
- # unsuccessful iterations: 0
- initial RMSE: 0.201421
- final RMSE: 0.104666
[08:41:52.091352][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[08:41:52.092505][info] Bundle adjustment iteration: 0 took 17363 msec.
[08:41:52.092522][info] Bundle adjustment with 1 iterations took 17366 msec.
[08:41:52.112607][info] Update Reconstruction:
- resection id: 2
- # images in the resection group: 1
- # images remaining: 2
[08:41:52.126313][info] [5/6] Robust Resection of view: 1923288372
[08:41:52.595461][info] Robust Resection information:
- resection status: true
- threshold (error max): 4.99661
- # points used for resection: 2969
- # points validated by robust resection: 2768
[08:41:53.207456][info] Bundle adjustment start.
[08:41:53.212141][info] Start bundle adjustment iteration: 0
block_sparse_matrix.cc:92 Allocating values array with 7801920 bytes.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
[08:41:59.230085][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 5.92496 s
- poses:
- # refined: 5
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 32508
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 65016
- # successful iterations: 9
- # unsuccessful iterations: 0
- initial RMSE: 0.162355
- final RMSE: 0.110001
[08:41:59.247608][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[08:41:59.249100][info] Bundle adjustment iteration: 0 took 6036 msec.
[08:41:59.249123][info] Bundle adjustment with 1 iterations took 6041 msec.
[08:41:59.265331][info] Update Reconstruction:
- resection id: 3
- # images in the resection group: 1
- # images remaining: 1
[08:41:59.275838][info] [6/6] Robust Resection of view: 2144614340
[08:41:59.888453][info] Robust Resection information:
- resection status: true
- threshold (error max): 5.12541
- # points used for resection: 3534
- # points validated by robust resection: 3285
[08:42:00.496622][info] Bundle adjustment start.
[08:42:00.501668][info] Start bundle adjustment iteration: 0
block_sparse_matrix.cc:92 Allocating values array with 10151040 bytes.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
detect_structure.cc:114 Schur complement static structure <2,3,6>.
[08:42:07.304194][info] Bundle Adjustment Statistics:
- local strategy enabled: no
- adjustment duration: 6.68326 s
- poses:
- # refined: 6
- # constant: 0
- # ignored: 0
- landmarks:
- # refined: 42296
- # constant: 0
- # ignored: 0
- intrinsics:
- # refined: 1
- # constant: 0
- # ignored: 0
- # residual blocks: 84592
- # successful iterations: 10
- # unsuccessful iterations: 0
- initial RMSE: 0.151011
- final RMSE: 0.11542
[08:42:07.321970][info] Remove outliers:
- # outliers residual error: 0
- # outliers angular error: 0
[08:42:07.323830][info] Bundle adjustment iteration: 0 took 6822 msec.
[08:42:07.323849][info] Bundle adjustment with 1 iterations took 6827 msec.
[08:42:07.336875][info] Incremental Reconstruction start iteration 1:
- # number of resection groups: 4
- # number of poses: 6
- # number of landmarks: 15036
- # remaining images: 0
[08:42:07.336897][info] Incremental Reconstruction completed with 2 iterations:
- # number of resection groups: 4
- # number of poses: 6
- # number of landmarks: 15036
- # remaining images: 0
[08:42:07.340945][info] Structure from Motion statistics:
- # input images: 6
- # cameras calibrated: 6
- # poses: 6
- # landmarks: 15036
- elapsed time: 72.777
- residual RMSE: 0.581205
[08:42:07.341856][info] - # sift_float: 15036
[08:42:07.349106][info] Histogram of residuals:

0 | 2.4e+04
0.5 | 1.1e+04
1 | 4.2e+03
1.5 | 1.5e+03
2 | 6.2e+02
2.5 | 3e+02
3 | 1.5e+02
3.5 | 76
4 | 48
4.5 | 25
5 | 15
5.5 | 8
6 | 7
6.5 | 0
7 | 1
7.5 | 1
8
[08:42:07.349841][info] # landmarks: 15036
[08:42:07.349851][info] # overall observations: 42296
[08:42:07.349857][info] Landmarks observations length min: 2, mean: 2.81298, median: 2, max: 6
[08:42:07.349866][info] Histogram of observations length:

2 | 8178
3 | 3598
4 | 1747
5 | 920
6 | 593
7
[08:42:07.350189][info] Landmarks per view min: 0, mean: 0, median: 0, max: 0
[08:42:07.350202][info] Histogram of nb landmarks per view:

0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
0 | 0
1

Compute scene structure color
0% 10 20 30 40 50 60 70 80 90 100%
|----|----|----|----|----|----|----|----|----|----|

---

[08:42:07.989449][info] Structure from motion took (s): 76.394000
[08:42:07.989558][info] Generating HTML report...
[08:42:08.005434][info] Export SfMData to disk: /test/data/168975324090_Pioltello_LL_dispari_not_available/SD_OUT/ms_out/StructureFromMotion/7f9c2cf20d68b31efc56e47937f5465cec9bdd77/sfm.abc
[08:42:08.015161][info] Structure from Motion results:
- # input images: 6
- # cameras calibrated: 6
- # poses: 6
- # landmarks: 15036
`

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