Hi Bowen, could you please help with this error. I changed number of train images to 30.
(py38) root@ard-gpu-01:/home/mona/BundleSDF# time python run_custom.py --mode run_video --video_dir /milk/2022-11-18-15-10-24_milk/ --out_folder /home/mona/BundleSDF/out_dir/ --use_segmenter 1 --use_gui 0 --debug_level 2
[2023-06-26 05:58:02.612] [warning] [Bundler.cpp:67] forgetting frame 1668813028105117130
[2023-06-26 05:58:02.612] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028105117130
[bundlesdf.py] exceed window size, forget frame 1668813028105117130
[2023-06-26 05:58:02.612] [warning] [Bundler.cpp:435] total keyframes=2, want to select 10
[2023-06-26 05:58:02.613] [warning] [Bundler.cpp:793] frame 1668813028304456241 and 1668813025164826994 visible=0.927277
[2023-06-26 05:58:02.613] [warning] [Bundler.cpp:802] add frame (1668813028304456241, 1668813025164826994) into pairs
[2023-06-26 05:58:02.613] [warning] [Bundler.cpp:793] frame 1668813028304456241 and 1668813026867024573 visible=0.92396
[2023-06-26 05:58:02.613] [warning] [Bundler.cpp:802] add frame (1668813028304456241, 1668813026867024573) into pairs
[bundlesdf.py] frame_pairs: 2
[loftr_wrapper.py] image0: torch.Size([2, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20015637576580048 0.9868669509887695
[loftr_wrapper.py] pair_ids (1232,)
[loftr_wrapper.py] corres: (1232, 5)
[2023-06-26 05:58:02.713] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=2
[2023-06-26 05:58:02.714] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028304456241 1668813025164826994 #inliers=383, #prev 485
[2023-06-26 05:58:02.714] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028304456241 1668813026867024573 #inliers=382, #prev 485
#optimizeGPU frames=3, #keyframes=2, #_frames=8
1668813025164826994 1668813026867024573 1668813028304456241
[2023-06-26 05:58:02.719] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=1265
global_corres=1265
maxNumResiduals / maxNumberOfImages = 15665 / 3 = 5221
m_maxNumberOfImages*m_maxCorrPerImage = 3 x 883 = 2649
m_solver->solve Time difference = 4.813[ms]
[2023-06-26 05:58:02.726] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:02.726] [warning] [Bundler.cpp:320] Added frame 1668813028304456241 as keyframe, current #keyframe: 3
[bundlesdf.py] processNewFrame done 1668813028304456241
[bundlesdf.py] 1668813028304456241 prepare data for nerf
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:02.741] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:02.763] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028338310452
[bundlesdf.py] process frame 1668813028338310452
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2001141607761383 0.9988178610801697
[loftr_wrapper.py] pair_ids (999,)
[loftr_wrapper.py] corres: (999, 5)
[2023-06-26 05:58:02.847] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:02.849] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028338310452 1668813028304456241 #inliers=672, #prev 743
[bundlesdf.py] frame 1668813028338310452 pose update before
[[ 0.995 -0.075 0.058 -0.077]
[ 0.078 0.996 -0.041 -0.084]
[-0.054 0.045 0.998 -0.422]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:02.851] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028338310452 and 1668813028304456241: 0.000128869
[bundlesdf.py] frame 1668813028338310452 pose update after
[[ 0.995 -0.086 0.059 -0.076]
[ 0.089 0.995 -0.041 -0.085]
[-0.055 0.046 0.997 -0.422]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:02.851] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:02.851] [warning] [Bundler.cpp:793] frame 1668813028338310452 and 1668813025164826994 visible=0.933657
[2023-06-26 05:58:02.851] [warning] [Bundler.cpp:802] add frame (1668813028338310452, 1668813025164826994) into pairs
[2023-06-26 05:58:02.851] [warning] [Bundler.cpp:793] frame 1668813028338310452 and 1668813026867024573 visible=0.929569
[2023-06-26 05:58:02.851] [warning] [Bundler.cpp:802] add frame (1668813028338310452, 1668813026867024573) into pairs
[bundlesdf.py] frame_pairs: 2
[loftr_wrapper.py] image0: torch.Size([2, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20026452839374542 0.9857454895973206
[loftr_wrapper.py] pair_ids (1291,)
[loftr_wrapper.py] corres: (1291, 5)
[2023-06-26 05:58:02.951] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=2
[2023-06-26 05:58:02.953] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028338310452 1668813025164826994 #inliers=418, #prev 530
[2023-06-26 05:58:02.953] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028338310452 1668813026867024573 #inliers=385, #prev 482
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028338310452
[2023-06-26 05:58:02.961] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2740
global_corres=2740
maxNumResiduals / maxNumberOfImages = 31540 / 4 = 7885
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1475 = 5900
m_solver->solve Time difference = 10.294[ms]
[2023-06-26 05:58:02.974] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:02.974] [warning] [Bundler.cpp:302] frame 1668813028338310452 not selected as keyframe since its rot diff with frame 1668813028304456241 is 0.527861 deg
[bundlesdf.py] processNewFrame done 1668813028338310452
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:02.974] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:02.996] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028368029984
[bundlesdf.py] process frame 1668813028368029984
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20050561428070068 0.9889634847640991
[loftr_wrapper.py] pair_ids (962,)
[loftr_wrapper.py] corres: (962, 5)
[2023-06-26 05:58:03.079] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:03.081] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028368029984 1668813028338310452 #inliers=643, #prev 753
[bundlesdf.py] frame 1668813028368029984 pose update before
[[ 0.995 -0.083 0.062 -0.078]
[ 0.086 0.995 -0.044 -0.084]
[-0.058 0.049 0.997 -0.422]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.084] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028368029984 and 1668813028338310452: 0.000123576
[bundlesdf.py] frame 1668813028368029984 pose update after
[[ 0.994 -0.083 0.065 -0.077]
[ 0.085 0.996 -0.033 -0.089]
[-0.062 0.039 0.997 -0.422]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.085] [warning] [Bundler.cpp:67] forgetting frame 1668813028131446847
[2023-06-26 05:58:03.085] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028131446847
[bundlesdf.py] exceed window size, forget frame 1668813028131446847
[2023-06-26 05:58:03.085] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:03.085] [warning] [Bundler.cpp:793] frame 1668813028368029984 and 1668813025164826994 visible=0.931693
[2023-06-26 05:58:03.085] [warning] [Bundler.cpp:802] add frame (1668813028368029984, 1668813025164826994) into pairs
[2023-06-26 05:58:03.086] [warning] [Bundler.cpp:793] frame 1668813028368029984 and 1668813026867024573 visible=0.928437
[2023-06-26 05:58:03.086] [warning] [Bundler.cpp:802] add frame (1668813028368029984, 1668813026867024573) into pairs
[2023-06-26 05:58:03.086] [warning] [Bundler.cpp:793] frame 1668813028368029984 and 1668813028304456241 visible=0.890213
[2023-06-26 05:58:03.086] [warning] [Bundler.cpp:802] add frame (1668813028368029984, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20004504919052124 0.9957010746002197
[loftr_wrapper.py] pair_ids (2175,)
[loftr_wrapper.py] corres: (2175, 5)
[2023-06-26 05:58:03.229] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:03.234] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028368029984 1668813025164826994 #inliers=395, #prev 507
[2023-06-26 05:58:03.234] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028368029984 1668813026867024573 #inliers=380, #prev 489
[2023-06-26 05:58:03.234] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028368029984 1668813028304456241 #inliers=575, #prev 697
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028368029984
[2023-06-26 05:58:03.243] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2615
global_corres=2615
maxNumResiduals / maxNumberOfImages = 31415 / 4 = 7853
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1350 = 5400
m_solver->solve Time difference = 9.289[ms]
[2023-06-26 05:58:03.255] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:03.256] [warning] [Bundler.cpp:302] frame 1668813028368029984 not selected as keyframe since its rot diff with frame 1668813028304456241 is 0.607807 deg
[bundlesdf.py] processNewFrame done 1668813028368029984
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:03.256] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:03.278] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028402777286
[bundlesdf.py] process frame 1668813028402777286
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2002973109483719 0.9984050989151001
[loftr_wrapper.py] pair_ids (1006,)
[loftr_wrapper.py] corres: (1006, 5)
[2023-06-26 05:58:03.357] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:03.358] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028402777286 1668813028368029984 #inliers=642, #prev 735
[bundlesdf.py] frame 1668813028402777286 pose update before
[[ 0.995 -0.079 0.065 -0.078]
[ 0.081 0.996 -0.034 -0.088]
[-0.062 0.039 0.997 -0.422]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.361] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028402777286 and 1668813028368029984: 0.000129398
[bundlesdf.py] frame 1668813028402777286 pose update after
[[ 0.995 -0.086 0.06 -0.075]
[ 0.089 0.995 -0.046 -0.082]
[-0.055 0.051 0.997 -0.423]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.361] [warning] [Bundler.cpp:67] forgetting frame 1668813028167110952
[2023-06-26 05:58:03.361] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028167110952
[bundlesdf.py] exceed window size, forget frame 1668813028167110952
[2023-06-26 05:58:03.361] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:03.361] [warning] [Bundler.cpp:793] frame 1668813028402777286 and 1668813025164826994 visible=0.924241
[2023-06-26 05:58:03.361] [warning] [Bundler.cpp:802] add frame (1668813028402777286, 1668813025164826994) into pairs
[2023-06-26 05:58:03.362] [warning] [Bundler.cpp:793] frame 1668813028402777286 and 1668813026867024573 visible=0.919453
[2023-06-26 05:58:03.362] [warning] [Bundler.cpp:802] add frame (1668813028402777286, 1668813026867024573) into pairs
[2023-06-26 05:58:03.362] [warning] [Bundler.cpp:793] frame 1668813028402777286 and 1668813028304456241 visible=0.871056
[2023-06-26 05:58:03.362] [warning] [Bundler.cpp:802] add frame (1668813028402777286, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20019742846488953 0.9955222606658936
[loftr_wrapper.py] pair_ids (2259,)
[loftr_wrapper.py] corres: (2259, 5)
[2023-06-26 05:58:03.508] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:03.511] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028402777286 1668813025164826994 #inliers=369, #prev 498
[2023-06-26 05:58:03.511] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028402777286 1668813026867024573 #inliers=426, #prev 539
[2023-06-26 05:58:03.511] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028402777286 1668813028304456241 #inliers=613, #prev 733
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028402777286
[2023-06-26 05:58:03.520] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2673
global_corres=2673
maxNumResiduals / maxNumberOfImages = 31473 / 4 = 7868
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1408 = 5632
m_solver->solve Time difference = 9.057[ms]
[2023-06-26 05:58:03.532] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:03.533] [warning] [Bundler.cpp:302] frame 1668813028402777286 not selected as keyframe since its rot diff with frame 1668813028304456241 is 0.646496 deg
[bundlesdf.py] processNewFrame done 1668813028402777286
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:03.533] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:03.555] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028436692512
[bundlesdf.py] process frame 1668813028436692512
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20017139613628387 0.9998650550842285
[loftr_wrapper.py] pair_ids (1019,)
[loftr_wrapper.py] corres: (1019, 5)
[2023-06-26 05:58:03.637] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:03.638] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028436692512 1668813028402777286 #inliers=657, #prev 752
[bundlesdf.py] frame 1668813028436692512 pose update before
[[ 0.995 -0.086 0.058 -0.074]
[ 0.089 0.995 -0.046 -0.082]
[-0.054 0.051 0.997 -0.423]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.641] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028436692512 and 1668813028402777286: 0.000105936
[bundlesdf.py] frame 1668813028436692512 pose update after
[[ 0.994 -0.093 0.059 -0.075]
[ 0.096 0.994 -0.047 -0.082]
[-0.054 0.052 0.997 -0.424]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.641] [warning] [Bundler.cpp:67] forgetting frame 1668813028197906493
[2023-06-26 05:58:03.641] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028197906493
[bundlesdf.py] exceed window size, forget frame 1668813028197906493
[2023-06-26 05:58:03.641] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:03.641] [warning] [Bundler.cpp:793] frame 1668813028436692512 and 1668813025164826994 visible=0.924723
[2023-06-26 05:58:03.641] [warning] [Bundler.cpp:802] add frame (1668813028436692512, 1668813025164826994) into pairs
[2023-06-26 05:58:03.642] [warning] [Bundler.cpp:793] frame 1668813028436692512 and 1668813026867024573 visible=0.92191
[2023-06-26 05:58:03.642] [warning] [Bundler.cpp:802] add frame (1668813028436692512, 1668813026867024573) into pairs
[2023-06-26 05:58:03.642] [warning] [Bundler.cpp:793] frame 1668813028436692512 and 1668813028304456241 visible=0.876215
[2023-06-26 05:58:03.642] [warning] [Bundler.cpp:802] add frame (1668813028436692512, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2000163048505783 0.9990230798721313
[loftr_wrapper.py] pair_ids (2305,)
[loftr_wrapper.py] corres: (2305, 5)
[2023-06-26 05:58:03.787] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:03.789] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028436692512 1668813025164826994 #inliers=411, #prev 564
[2023-06-26 05:58:03.789] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028436692512 1668813026867024573 #inliers=376, #prev 517
[2023-06-26 05:58:03.789] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028436692512 1668813028304456241 #inliers=606, #prev 736
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028436692512
[2023-06-26 05:58:03.798] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2658
global_corres=2658
maxNumResiduals / maxNumberOfImages = 31458 / 4 = 7864
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1393 = 5572
m_solver->solve Time difference = 8.477[ms]
[2023-06-26 05:58:03.809] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:03.809] [warning] [Bundler.cpp:302] frame 1668813028436692512 not selected as keyframe since its rot diff with frame 1668813028304456241 is 1.4432 deg
[bundlesdf.py] processNewFrame done 1668813028436692512
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:03.810] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:03.832] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028470606334
[bundlesdf.py] process frame 1668813028470606334
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20003794133663177 0.996128499507904
[loftr_wrapper.py] pair_ids (1010,)
[loftr_wrapper.py] corres: (1010, 5)
[2023-06-26 05:58:03.916] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:03.917] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028470606334 1668813028436692512 #inliers=706, #prev 780
[bundlesdf.py] frame 1668813028470606334 pose update before
[[ 0.993 -0.098 0.063 -0.076]
[ 0.101 0.994 -0.045 -0.083]
[-0.058 0.051 0.997 -0.424]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.919] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028470606334 and 1668813028436692512: 0.000109317
[bundlesdf.py] frame 1668813028470606334 pose update after
[[ 0.993 -0.102 0.063 -0.077]
[ 0.106 0.993 -0.054 -0.078]
[-0.057 0.06 0.997 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:03.919] [warning] [Bundler.cpp:67] forgetting frame 1668813028234864619
[2023-06-26 05:58:03.919] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028234864619
[bundlesdf.py] exceed window size, forget frame 1668813028234864619
[2023-06-26 05:58:03.920] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:03.920] [warning] [Bundler.cpp:793] frame 1668813028470606334 and 1668813025164826994 visible=0.918705
[2023-06-26 05:58:03.920] [warning] [Bundler.cpp:802] add frame (1668813028470606334, 1668813025164826994) into pairs
[2023-06-26 05:58:03.920] [warning] [Bundler.cpp:793] frame 1668813028470606334 and 1668813026867024573 visible=0.914968
[2023-06-26 05:58:03.920] [warning] [Bundler.cpp:802] add frame (1668813028470606334, 1668813026867024573) into pairs
[2023-06-26 05:58:03.921] [warning] [Bundler.cpp:793] frame 1668813028470606334 and 1668813028304456241 visible=0.868756
[2023-06-26 05:58:03.921] [warning] [Bundler.cpp:802] add frame (1668813028470606334, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2001725137233734 0.999255895614624
[loftr_wrapper.py] pair_ids (2229,)
[loftr_wrapper.py] corres: (2229, 5)
[2023-06-26 05:58:04.063] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:04.067] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028470606334 1668813025164826994 #inliers=396, #prev 524
[2023-06-26 05:58:04.067] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028470606334 1668813026867024573 #inliers=349, #prev 470
[2023-06-26 05:58:04.067] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028470606334 1668813028304456241 #inliers=642, #prev 763
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028470606334
[2023-06-26 05:58:04.075] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2652
global_corres=2652
maxNumResiduals / maxNumberOfImages = 31452 / 4 = 7863
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1407 = 5628
m_solver->solve Time difference = 10.18[ms]
[2023-06-26 05:58:04.088] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:04.089] [warning] [Bundler.cpp:302] frame 1668813028470606334 not selected as keyframe since its rot diff with frame 1668813028304456241 is 1.90331 deg
[bundlesdf.py] processNewFrame done 1668813028470606334
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:04.090] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:04.111] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028507764057
[bundlesdf.py] process frame 1668813028507764057
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2001977413892746 0.9986804723739624
[loftr_wrapper.py] pair_ids (937,)
[loftr_wrapper.py] corres: (937, 5)
[2023-06-26 05:58:04.192] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:04.193] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028507764057 1668813028470606334 #inliers=599, #prev 701
[bundlesdf.py] frame 1668813028507764057 pose update before
[[ 0.992 -0.103 0.066 -0.078]
[ 0.107 0.993 -0.054 -0.078]
[-0.06 0.061 0.996 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.195] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028507764057 and 1668813028470606334: 0.000133336
[bundlesdf.py] frame 1668813028507764057 pose update after
[[ 0.991 -0.113 0.076 -0.083]
[ 0.119 0.99 -0.078 -0.07 ]
[-0.066 0.086 0.994 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.195] [warning] [Bundler.cpp:67] forgetting frame 1668813028266074031
[2023-06-26 05:58:04.195] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028266074031
[bundlesdf.py] exceed window size, forget frame 1668813028266074031
[2023-06-26 05:58:04.196] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:04.196] [warning] [Bundler.cpp:793] frame 1668813028507764057 and 1668813025164826994 visible=0.911014
[2023-06-26 05:58:04.196] [warning] [Bundler.cpp:802] add frame (1668813028507764057, 1668813025164826994) into pairs
[2023-06-26 05:58:04.196] [warning] [Bundler.cpp:793] frame 1668813028507764057 and 1668813026867024573 visible=0.90726
[2023-06-26 05:58:04.196] [warning] [Bundler.cpp:802] add frame (1668813028507764057, 1668813026867024573) into pairs
[2023-06-26 05:58:04.197] [warning] [Bundler.cpp:793] frame 1668813028507764057 and 1668813028304456241 visible=0.860677
[2023-06-26 05:58:04.197] [warning] [Bundler.cpp:802] add frame (1668813028507764057, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20041555166244507 0.9838345050811768
[loftr_wrapper.py] pair_ids (1944,)
[loftr_wrapper.py] corres: (1944, 5)
[2023-06-26 05:58:04.336] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:04.340] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028507764057 1668813025164826994 #inliers=354, #prev 480
[2023-06-26 05:58:04.340] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028507764057 1668813026867024573 #inliers=317, #prev 471
[2023-06-26 05:58:04.341] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028507764057 1668813028304456241 #inliers=491, #prev 600
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028507764057
[2023-06-26 05:58:04.348] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2427
global_corres=2427
maxNumResiduals / maxNumberOfImages = 31227 / 4 = 7806
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1256 = 5024
m_solver->solve Time difference = 8.922[ms]
[2023-06-26 05:58:04.360] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:04.360] [warning] [Bundler.cpp:302] frame 1668813028507764057 not selected as keyframe since its rot diff with frame 1668813028304456241 is 3.37812 deg
[bundlesdf.py] processNewFrame done 1668813028507764057
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:04.361] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:04.383] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028535412549
[bundlesdf.py] process frame 1668813028535412549
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20026157796382904 0.9952811002731323
[loftr_wrapper.py] pair_ids (906,)
[loftr_wrapper.py] corres: (906, 5)
[2023-06-26 05:58:04.461] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:04.462] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028535412549 1668813028507764057 #inliers=563, #prev 661
[bundlesdf.py] frame 1668813028535412549 pose update before
[[ 0.99 -0.115 0.079 -0.084]
[ 0.121 0.99 -0.078 -0.07 ]
[-0.07 0.087 0.994 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.464] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028535412549 and 1668813028507764057: 0.000132263
[bundlesdf.py] frame 1668813028535412549 pose update after
[[ 0.989 -0.12 0.084 -0.088]
[ 0.125 0.99 -0.066 -0.076]
[-0.075 0.076 0.994 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.464] [warning] [Bundler.cpp:67] forgetting frame 1668813028338310452
[2023-06-26 05:58:04.464] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028338310452
[bundlesdf.py] exceed window size, forget frame 1668813028338310452
[2023-06-26 05:58:04.465] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:04.465] [warning] [Bundler.cpp:793] frame 1668813028535412549 and 1668813025164826994 visible=0.907409
[2023-06-26 05:58:04.465] [warning] [Bundler.cpp:802] add frame (1668813028535412549, 1668813025164826994) into pairs
[2023-06-26 05:58:04.465] [warning] [Bundler.cpp:793] frame 1668813028535412549 and 1668813026867024573 visible=0.90447
[2023-06-26 05:58:04.465] [warning] [Bundler.cpp:802] add frame (1668813028535412549, 1668813026867024573) into pairs
[2023-06-26 05:58:04.466] [warning] [Bundler.cpp:793] frame 1668813028535412549 and 1668813028304456241 visible=0.871185
[2023-06-26 05:58:04.466] [warning] [Bundler.cpp:802] add frame (1668813028535412549, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.2001340240240097 0.994535505771637
[loftr_wrapper.py] pair_ids (1786,)
[loftr_wrapper.py] corres: (1786, 5)
[2023-06-26 05:58:04.602] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:04.607] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028535412549 1668813025164826994 #inliers=307, #prev 437
[2023-06-26 05:58:04.607] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028535412549 1668813026867024573 #inliers=302, #prev 456
[2023-06-26 05:58:04.607] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028535412549 1668813028304456241 #inliers=416, #prev 536
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028535412549
[2023-06-26 05:58:04.614] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2290
global_corres=2290
maxNumResiduals / maxNumberOfImages = 31090 / 4 = 7772
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1190 = 4760
m_solver->solve Time difference = 7.642[ms]
[2023-06-26 05:58:04.625] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:04.625] [warning] [Bundler.cpp:302] frame 1668813028535412549 not selected as keyframe since its rot diff with frame 1668813028304456241 is 3.70338 deg
[bundlesdf.py] processNewFrame done 1668813028535412549
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:04.626] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:04.647] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028571340409
[bundlesdf.py] process frame 1668813028571340409
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20032481849193573 0.9984725117683411
[loftr_wrapper.py] pair_ids (838,)
[loftr_wrapper.py] corres: (838, 5)
[2023-06-26 05:58:04.726] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:04.727] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028571340409 1668813028535412549 #inliers=536, #prev 615
[bundlesdf.py] frame 1668813028571340409 pose update before
[[ 0.988 -0.124 0.088 -0.089]
[ 0.13 0.989 -0.069 -0.075]
[-0.078 0.079 0.994 -0.425]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.729] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028571340409 and 1668813028535412549: 0.00015808
[bundlesdf.py] frame 1668813028571340409 pose update after
[[ 0.985 -0.139 0.098 -0.096]
[ 0.146 0.987 -0.068 -0.075]
[-0.088 0.081 0.993 -0.424]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:04.729] [warning] [Bundler.cpp:67] forgetting frame 1668813028368029984
[2023-06-26 05:58:04.729] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028368029984
[bundlesdf.py] exceed window size, forget frame 1668813028368029984
[2023-06-26 05:58:04.730] [warning] [Bundler.cpp:435] total keyframes=3, want to select 10
[2023-06-26 05:58:04.730] [warning] [Bundler.cpp:793] frame 1668813028571340409 and 1668813025164826994 visible=0.894442
[2023-06-26 05:58:04.730] [warning] [Bundler.cpp:802] add frame (1668813028571340409, 1668813025164826994) into pairs
[2023-06-26 05:58:04.730] [warning] [Bundler.cpp:793] frame 1668813028571340409 and 1668813026867024573 visible=0.888238
[2023-06-26 05:58:04.730] [warning] [Bundler.cpp:802] add frame (1668813028571340409, 1668813026867024573) into pairs
[2023-06-26 05:58:04.731] [warning] [Bundler.cpp:793] frame 1668813028571340409 and 1668813028304456241 visible=0.862904
[2023-06-26 05:58:04.731] [warning] [Bundler.cpp:802] add frame (1668813028571340409, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20018917322158813 0.9895710945129395
[loftr_wrapper.py] pair_ids (1630,)
[loftr_wrapper.py] corres: (1630, 5)
[2023-06-26 05:58:04.865] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:04.871] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028571340409 1668813025164826994 #inliers=289, #prev 438
[2023-06-26 05:58:04.871] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028571340409 1668813026867024573 #inliers=279, #prev 438
[2023-06-26 05:58:04.871] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028571340409 1668813028304456241 #inliers=323, #prev 432
#optimizeGPU frames=4, #keyframes=3, #_frames=9
1668813025164826994 1668813026867024573 1668813028304456241 1668813028571340409
[2023-06-26 05:58:04.877] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2156
global_corres=2156
maxNumResiduals / maxNumberOfImages = 30956 / 4 = 7739
m_maxNumberOfImages*m_maxCorrPerImage = 4 x 1172 = 4688
m_solver->solve Time difference = 7.713[ms]
[2023-06-26 05:58:04.888] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:04.889] [warning] [Bundler.cpp:320] Added frame 1668813028571340409 as keyframe, current #keyframe: 4
[bundlesdf.py] processNewFrame done 1668813028571340409
[bundlesdf.py] 1668813028571340409 prepare data for nerf
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:04.895] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:04.917] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028603309139
[bundlesdf.py] process frame 1668813028603309139
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20006100833415985 0.9935852885246277
[loftr_wrapper.py] pair_ids (857,)
[loftr_wrapper.py] corres: (857, 5)
[2023-06-26 05:58:04.998] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:05.000] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028603309139 1668813028571340409 #inliers=570, #prev 656
[bundlesdf.py] frame 1668813028603309139 pose update before
[[ 0.985 -0.138 0.102 -0.097]
[ 0.146 0.986 -0.076 -0.072]
[-0.09 0.09 0.992 -0.424]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.002] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028603309139 and 1668813028571340409: 0.000151598
[bundlesdf.py] frame 1668813028603309139 pose update after
[[ 0.982 -0.152 0.109 -0.103]
[ 0.161 0.984 -0.078 -0.071]
[-0.095 0.095 0.991 -0.424]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.002] [warning] [Bundler.cpp:435] total keyframes=4, want to select 10
[2023-06-26 05:58:05.002] [warning] [Bundler.cpp:793] frame 1668813028603309139 and 1668813025164826994 visible=0.88973
[2023-06-26 05:58:05.002] [warning] [Bundler.cpp:802] add frame (1668813028603309139, 1668813025164826994) into pairs
[2023-06-26 05:58:05.003] [warning] [Bundler.cpp:793] frame 1668813028603309139 and 1668813026867024573 visible=0.882498
[2023-06-26 05:58:05.003] [warning] [Bundler.cpp:802] add frame (1668813028603309139, 1668813026867024573) into pairs
[2023-06-26 05:58:05.003] [warning] [Bundler.cpp:793] frame 1668813028603309139 and 1668813028304456241 visible=0.843614
[2023-06-26 05:58:05.003] [warning] [Bundler.cpp:802] add frame (1668813028603309139, 1668813028304456241) into pairs
[bundlesdf.py] frame_pairs: 3
[loftr_wrapper.py] image0: torch.Size([3, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20037215948104858 0.9571887850761414
[loftr_wrapper.py] pair_ids (1197,)
[loftr_wrapper.py] corres: (1197, 5)
[2023-06-26 05:58:05.133] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=3
[2023-06-26 05:58:05.139] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028603309139 1668813025164826994 #inliers=181, #prev 314
[2023-06-26 05:58:05.139] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028603309139 1668813026867024573 #inliers=192, #prev 344
[2023-06-26 05:58:05.139] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028603309139 1668813028304456241 #inliers=204, #prev 318
#optimizeGPU frames=5, #keyframes=4, #_frames=10
1668813025164826994 1668813026867024573 1668813028304456241 1668813028571340409 1668813028603309139
[2023-06-26 05:58:05.147] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=3303
global_corres=3303
maxNumResiduals / maxNumberOfImages = 51303 / 5 = 10260
m_maxNumberOfImages*m_maxCorrPerImage = 5 x 1461 = 7305
m_solver->solve Time difference = 11.232[ms]
[2023-06-26 05:58:05.162] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:05.162] [warning] [Bundler.cpp:302] frame 1668813028603309139 not selected as keyframe since its rot diff with frame 1668813028571340409 is 1.12466 deg
[bundlesdf.py] processNewFrame done 1668813028603309139
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:05.163] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:05.184] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028640607722
[bundlesdf.py] process frame 1668813028640607722
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20038504898548126 0.995787501335144
[loftr_wrapper.py] pair_ids (883,)
[loftr_wrapper.py] corres: (883, 5)
[2023-06-26 05:58:05.270] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:05.271] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028640607722 1668813028603309139 #inliers=494, #prev 630
[bundlesdf.py] frame 1668813028640607722 pose update before
[[ 0.982 -0.153 0.113 -0.105]
[ 0.163 0.983 -0.083 -0.069]
[-0.099 0.1 0.99 -0.423]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.273] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028640607722 and 1668813028603309139: 0.000148338
[bundlesdf.py] frame 1668813028640607722 pose update after
[[ 0.976 -0.171 0.133 -0.116]
[ 0.181 0.981 -0.065 -0.076]
[-0.12 0.088 0.989 -0.421]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.273] [warning] [Bundler.cpp:67] forgetting frame 1668813028402777286
[2023-06-26 05:58:05.273] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028402777286
[bundlesdf.py] exceed window size, forget frame 1668813028402777286
[2023-06-26 05:58:05.273] [warning] [Bundler.cpp:435] total keyframes=4, want to select 10
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:793] frame 1668813028640607722 and 1668813025164826994 visible=0.894387
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:802] add frame (1668813028640607722, 1668813025164826994) into pairs
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:793] frame 1668813028640607722 and 1668813026867024573 visible=0.886183
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:802] add frame (1668813028640607722, 1668813026867024573) into pairs
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:793] frame 1668813028640607722 and 1668813028304456241 visible=0.861485
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:802] add frame (1668813028640607722, 1668813028304456241) into pairs
[2023-06-26 05:58:05.274] [warning] [Bundler.cpp:793] frame 1668813028640607722 and 1668813028571340409 visible=0.878497
[2023-06-26 05:58:05.275] [warning] [Bundler.cpp:802] add frame (1668813028640607722, 1668813028571340409) into pairs
[bundlesdf.py] frame_pairs: 4
[loftr_wrapper.py] image0: torch.Size([4, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20000247657299042 0.9954982995986938
[loftr_wrapper.py] pair_ids (2037,)
[loftr_wrapper.py] corres: (2037, 5)
[2023-06-26 05:58:05.443] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=4
[2023-06-26 05:58:05.455] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028640607722 1668813025164826994 #inliers=170, #prev 302
[2023-06-26 05:58:05.456] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028640607722 1668813026867024573 #inliers=171, #prev 332
[2023-06-26 05:58:05.456] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028640607722 1668813028304456241 #inliers=168, #prev 293
[2023-06-26 05:58:05.456] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028640607722 1668813028571340409 #inliers=546, #prev 659
#optimizeGPU frames=5, #keyframes=4, #_frames=10
1668813025164826994 1668813026867024573 1668813028304456241 1668813028571340409 1668813028640607722
[2023-06-26 05:58:05.465] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=3211
global_corres=3211
maxNumResiduals / maxNumberOfImages = 51211 / 5 = 10242
m_maxNumberOfImages*m_maxCorrPerImage = 5 x 1437 = 7185
m_solver->solve Time difference = 11.81[ms]
[2023-06-26 05:58:05.480] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:05.481] [warning] [Bundler.cpp:302] frame 1668813028640607722 not selected as keyframe since its rot diff with frame 1668813028571340409 is 2.73795 deg
[bundlesdf.py] processNewFrame done 1668813028640607722
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:05.481] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:05.503] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028667811894
[bundlesdf.py] process frame 1668813028667811894
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20013412833213806 0.9949706196784973
[loftr_wrapper.py] pair_ids (935,)
[loftr_wrapper.py] corres: (935, 5)
[2023-06-26 05:58:05.584] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:05.585] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028667811894 1668813028640607722 #inliers=552, #prev 682
[bundlesdf.py] frame 1668813028667811894 pose update before
[[ 0.976 -0.171 0.137 -0.117]
[ 0.182 0.981 -0.071 -0.074]
[-0.122 0.094 0.988 -0.421]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.587] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028667811894 and 1668813028640607722: 0.00014521
[bundlesdf.py] frame 1668813028667811894 pose update after
[[ 0.972 -0.177 0.157 -0.128]
[ 0.19 0.979 -0.071 -0.072]
[-0.141 0.099 0.985 -0.418]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.588] [warning] [Bundler.cpp:67] forgetting frame 1668813028436692512
[2023-06-26 05:58:05.588] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028436692512
[bundlesdf.py] exceed window size, forget frame 1668813028436692512
[2023-06-26 05:58:05.588] [warning] [Bundler.cpp:435] total keyframes=4, want to select 10
[2023-06-26 05:58:05.588] [warning] [Bundler.cpp:793] frame 1668813028667811894 and 1668813025164826994 visible=0.89138
[2023-06-26 05:58:05.588] [warning] [Bundler.cpp:802] add frame (1668813028667811894, 1668813025164826994) into pairs
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:793] frame 1668813028667811894 and 1668813026867024573 visible=0.880467
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:802] add frame (1668813028667811894, 1668813026867024573) into pairs
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:793] frame 1668813028667811894 and 1668813028304456241 visible=0.863842
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:802] add frame (1668813028667811894, 1668813028304456241) into pairs
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:793] frame 1668813028667811894 and 1668813028571340409 visible=0.887288
[2023-06-26 05:58:05.589] [warning] [Bundler.cpp:802] add frame (1668813028667811894, 1668813028571340409) into pairs
[bundlesdf.py] frame_pairs: 4
[loftr_wrapper.py] image0: torch.Size([4, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20000247657299042 0.983616054058075
[loftr_wrapper.py] pair_ids (1871,)
[loftr_wrapper.py] corres: (1871, 5)
[2023-06-26 05:58:05.756] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=4
[2023-06-26 05:58:05.767] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028667811894 1668813025164826994 #inliers=181, #prev 314
[2023-06-26 05:58:05.767] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028667811894 1668813026867024573 #inliers=140, #prev 298
[2023-06-26 05:58:05.767] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028667811894 1668813028304456241 #inliers=218, #prev 329
[2023-06-26 05:58:05.767] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028667811894 1668813028571340409 #inliers=414, #prev 528
#optimizeGPU frames=5, #keyframes=4, #_frames=10
1668813025164826994 1668813026867024573 1668813028304456241 1668813028571340409 1668813028667811894
[2023-06-26 05:58:05.776] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=3109
global_corres=3109
maxNumResiduals / maxNumberOfImages = 51109 / 5 = 10221
m_maxNumberOfImages*m_maxCorrPerImage = 5 x 1353 = 6765
m_solver->solve Time difference = 12.138[ms]
[2023-06-26 05:58:05.792] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:05.792] [warning] [Bundler.cpp:302] frame 1668813028667811894 not selected as keyframe since its rot diff with frame 1668813028571340409 is 4.98248 deg
[bundlesdf.py] processNewFrame done 1668813028667811894
[bundlesdf.py] rematch_after_nerf: True
[2023-06-26 05:58:05.793] [warning] [Bundler.cpp:961] Welcome saveNewframeResult
[2023-06-26 05:58:05.814] [warning] [Bundler.cpp:1110] saveNewframeResult done
[bundlesdf.py] percentile denoise start
[bundlesdf.py] percentile denoise done
[bundlesdf.py] processNewFrame start 1668813028705557007
[bundlesdf.py] process frame 1668813028705557007
[bundlesdf.py] frame_pairs: 1
[loftr_wrapper.py] image0: torch.Size([1, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20006240904331207 0.9847671389579773
[loftr_wrapper.py] pair_ids (940,)
[loftr_wrapper.py] corres: (940, 5)
[2023-06-26 05:58:05.896] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=1
[2023-06-26 05:58:05.897] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028705557007 1668813028667811894 #inliers=566, #prev 699
[bundlesdf.py] frame 1668813028705557007 pose update before
[[ 0.968 -0.186 0.17 -0.133]
[ 0.202 0.976 -0.078 -0.07 ]
[-0.152 0.11 0.982 -0.416]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.899] [warning] [FeatureManager.cpp:1095] procrustesByCorrespondence err per point between 1668813028705557007 and 1668813028667811894: 0.000136082
[bundlesdf.py] frame 1668813028705557007 pose update after
[[ 0.966 -0.19 0.175 -0.136]
[ 0.207 0.975 -0.083 -0.068]
[-0.155 0.117 0.981 -0.416]
[ 0. 0. 0. 1. ]]
[2023-06-26 05:58:05.899] [warning] [Bundler.cpp:67] forgetting frame 1668813028470606334
[2023-06-26 05:58:05.899] [warning] [FeatureManager.cpp:469] forgetting frame 1668813028470606334
[bundlesdf.py] exceed window size, forget frame 1668813028470606334
[2023-06-26 05:58:05.899] [warning] [Bundler.cpp:435] total keyframes=4, want to select 10
[2023-06-26 05:58:05.899] [warning] [Bundler.cpp:793] frame 1668813028705557007 and 1668813025164826994 visible=0.876661
[2023-06-26 05:58:05.899] [warning] [Bundler.cpp:802] add frame (1668813028705557007, 1668813025164826994) into pairs
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:793] frame 1668813028705557007 and 1668813026867024573 visible=0.861584
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:802] add frame (1668813028705557007, 1668813026867024573) into pairs
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:793] frame 1668813028705557007 and 1668813028304456241 visible=0.844634
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:802] add frame (1668813028705557007, 1668813028304456241) into pairs
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:793] frame 1668813028705557007 and 1668813028571340409 visible=0.87385
[2023-06-26 05:58:05.900] [warning] [Bundler.cpp:802] add frame (1668813028705557007, 1668813028571340409) into pairs
[bundlesdf.py] frame_pairs: 4
[loftr_wrapper.py] image0: torch.Size([4, 1, 400, 400])
[loftr_wrapper.py] net forward
[loftr_wrapper.py] mconf, 0.20003856718540192 0.9896245002746582
[loftr_wrapper.py] pair_ids (1609,)
[loftr_wrapper.py] corres: (1609, 5)
[2023-06-26 05:58:06.063] [warning] [FeatureManager.cpp:1589] start multi pair ransac GPU, pairs#=4
[2023-06-26 05:58:06.073] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028705557007 1668813025164826994 #inliers=153, #prev 282
[2023-06-26 05:58:06.073] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028705557007 1668813026867024573 #inliers=134, #prev 283
[2023-06-26 05:58:06.073] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028705557007 1668813028304456241 #inliers=176, #prev 277
[2023-06-26 05:58:06.073] [warning] [FeatureManager.cpp:1699] ransac makes match betwee frame 1668813028705557007 1668813028571340409 #inliers=351, #prev 453
#optimizeGPU frames=5, #keyframes=4, #_frames=10
1668813025164826994 1668813026867024573 1668813028304456241 1668813028571340409 1668813028705557007
[2023-06-26 05:58:06.081] [warning] [Bundler.cpp:920] OptimizerGPU begin, global_corres#=2970
global_corres=2970
maxNumResiduals / maxNumberOfImages = 50970 / 5 = 10194
m_maxNumberOfImages*m_maxCorrPerImage = 5 x 1325 = 6625
m_solver->solve Time difference = 10.914[ms]
[2023-06-26 05:58:06.095] [warning] [Bundler.cpp:924] OptimizerGPU finish
[2023-06-26 05:58:06.096] [warning] [Bundler.cpp:320] Added frame 1668813028705557007 as keyframe, current #keyframe: 5
[bundlesdf.py] processNewFrame done 1668813028705557007
[bundlesdf.py] 1668813028705557007 prepare data for nerf
[bundlesdf.py] out_dir: /home/mona/BundleSDF/out_dir///1668813028705557007/nerf
[tool.py] compute_scene_bounds_worker start
[tool.py] compute_scene_bounds_worker done
[tool.py] merge pcd
[tool.py] compute_translation_scales done
translation_cvcam=[0.00912177 0.0047836 0.00677279], sc_factor=8.092820218749138
[bundlesdf.py] First nerf run, create Runner, latest nerf frame 1668813028705557007
[nerf_runner.py] Octree voxel dilate_radius:1
level 0, resolution: 16
level 1, resolution: 32
level 2, resolution: 64
level 3, resolution: 128
GridEncoder: input_dim=3 n_levels=4 level_dim=2 resolution=16 -> 128 per_level_scale=2.0000 params=(2462192, 2) gridtype=hash align_corners=False
sc_factor 5.664974153124396
translation [0.00912177 0.0047836 0.00677279]
[nerf_runner.py] denoise cloud
[nerf_runner.py] Denoising rays based on octree cloud
[nerf_runner.py] bad_mask#=444
rays torch.Size([341220, 12])
[bundlesdf.py] Start training, latest nerf frame 1668813028705557007
[nerf_runner.py] train progress 0/11
[nerf_runner.py] Iter: 0, valid_samples: 393216/393216, valid_rays: 2048/2048, loss: 6.4799452, rgb_loss: 3.2260215, rgb0_loss: 0.0000000, fs_rgb_loss: 0.0000000, depth_loss: 0.0000000, depth_loss0: 0.0000000, fs_loss: 0.5752184, point_cloud_loss: 0.0000000, point_cloud_normal_loss: 0.0000000, sdf_loss: 2.6787052, eikonal_loss: 0.0000000, variation_loss: 0.0000000, truncation(meter): 0.0100000, pose_reg: 0.0000000, reg_features: 0.0000000,
[nerf_runner.py] train progress 1/11
[nerf_runner.py] train progress 2/11
[nerf_runner.py] train progress 3/11
[nerf_runner.py] train progress 4/11
[nerf_runner.py] train progress 5/11
[nerf_runner.py] train progress 6/11
[nerf_runner.py] train progress 7/11
[nerf_runner.py] train progress 8/11
[nerf_runner.py] train progress 9/11
[nerf_runner.py] train progress 10/11
[bundlesdf.py] Training done, latest nerf frame 1668813028705557007
[bundlesdf.py] Getting mesh
sc_factor is: 5.664974153124396
[nerf_runner.py] query_pts:torch.Size([357911, 3]), valid:36101
[nerf_runner.py] Running Marching Cubes
[nerf_runner.py] ERROR Marching Cubes Surface level must be within volume data range.
Process Process-2:
Traceback (most recent call last):
File "/opt/conda/envs/py38/lib/python3.8/multiprocessing/process.py", line 315, in _bootstrap
self.run()
File "/opt/conda/envs/py38/lib/python3.8/multiprocessing/process.py", line 108, in run
self._target(*self._args, **self._kwargs)
File "/home/mona/BundleSDF/bundlesdf.py", line 235, in run_nerf
mesh = mesh_to_real_world(mesh, pose_offset=offset, translation=nerf.cfg['translation'], sc_factor=nerf.cfg['sc_factor'])
File "/home/mona/BundleSDF/Utils.py", line 512, in mesh_to_real_world
mesh.vertices = mesh.vertices/sc_factor - np.array(translation).reshape(1,3)
AttributeError: 'NoneType' object has no attribute 'vertices'