sunghoonim / adfsm Goto Github PK

Hi,
thanks for the awesome code. I really appreciate it.
However, I would like to use my own data on theta ricoh V.
And, I am wondering how can I get the file like RicohCalib.mat, or what is the calibration tool you are using to generate RicohCalib.mat.
Thank you.

Hi.
Thank you for sharing your wonderful research.

How did you make synthesized data rendered with unified omnidirectional camera model introduced in the paper?

Error after some iterations, when I run the main.m
Please, tell, how to solve this problem?

Harris : 10532 and 10139 number of features are extracted
Tracking : 9227 and 8353 number of features are remaind
Filtering : 8508 and 7692 number of features are remaind
Start bundle adjuetment
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.890877e+007 0.00e+000 9.86e+006 0.00e+000 0.00e+000 1.00e+004 0 3.77e-001 8.22e-001
1 1.890877e+007 -3.25e+007 0.00e+000 1.31e+001 -4.99e+000 5.00e+003 2 3.24e-001 1.15e+000
2 1.817775e+007 7.31e+005 2.82e+006 6.76e+000 1.12e-001 3.41e+003 2 6.92e-001 1.84e+000
3 1.232239e+007 5.86e+006 5.45e+006 1.76e+001 1.46e+000 1.02e+004 3 7.20e-001 2.56e+000
4 1.203889e+007 2.84e+005 1.65e+006 9.91e+000 4.62e-001 1.02e+004 3 7.27e-001 3.29e+000
5 1.203889e+007 -1.96e+005 0.00e+000 2.50e+001 -1.76e+000 5.11e+003 4 3.76e-001 3.66e+000
6 1.203889e+007 -1.96e+005 0.00e+000 2.50e+001 -1.76e+000 1.28e+003 4 3.66e-001 4.03e+000
7 1.203889e+007 -1.97e+005 0.00e+000 2.50e+001 -1.76e+000 1.60e+002 4 3.69e-001 4.40e+000
8 1.203889e+007 -1.97e+005 0.00e+000 2.48e+001 -1.77e+000 9.99e+000 4 3.64e-001 4.76e+000
9 1.203889e+007 -1.63e+005 0.00e+000 2.27e+001 -1.48e+000 3.12e-001 3 3.32e-001 5.09e+000
10 1.203889e+007 -4.59e+004 0.00e+000 5.94e+000 -9.95e-001 4.88e-003 2 2.96e-001 5.39e+000
11 1.203782e+007 1.07e+003 1.64e+006 1.21e-001 1.00e+000 1.46e-002 2 6.74e-001 6.06e+000
12 1.203782e+007 -4.49e+004 0.00e+000 3.64e-001 -1.41e+001 7.31e-003 2 3.25e-001 6.39e+000
13 1.203621e+007 1.61e+003 1.63e+006 1.83e-001 1.00e+000 2.19e-002 2 6.79e-001 7.07e+000
14 1.203621e+007 -4.33e+004 0.00e+000 5.50e-001 -9.10e+000 1.10e-002 2 3.09e-001 7.38e+000
15 1.203621e+007 -4.56e+004 0.00e+000 2.78e-001 -1.89e+001 2.74e-003 2 2.96e-001 7.67e+000
16 1.203560e+007 6.12e+002 1.62e+006 7.01e-002 1.00e+000 8.23e-003 2 6.74e-001 8.35e+000
17 1.203560e+007 -4.62e+004 0.00e+000 2.10e-001 -2.53e+001 4.11e-003 2 3.09e-001 8.65e+000
18 1.203560e+007 -4.71e+004 0.00e+000 1.06e-001 -5.13e+001 1.03e-003 2 2.97e-001 8.95e+000
19 1.203537e+007 2.31e+002 1.62e+006 2.65e-002 1.00e+000 3.09e-003 2 6.76e-001 9.63e+000
20 1.203537e+007 -4.74e+004 0.00e+000 7.94e-002 -6.86e+001 1.54e-003 2 3.09e-001 9.94e+000
21 1.203502e+007 3.47e+002 1.62e+006 3.98e-002 1.00e+000 4.63e-003 2 6.72e-001 1.06e+001
22 1.203502e+007 -4.70e+004 0.00e+000 1.19e-001 -4.54e+001 2.31e-003 2 3.09e-001 1.09e+001
23 1.203502e+007 -4.75e+004 0.00e+000 5.98e-002 -9.15e+001 5.79e-004 2 2.95e-001 1.12e+001
24 1.203502e+007 -4.79e+004 0.00e+000 1.50e-002 -3.68e+002 7.23e-005 2 2.96e-001 1.15e+001
25 1.203500e+007 1.63e+001 1.62e+006 1.87e-003 1.00e+000 2.17e-004 2 6.75e-001 1.22e+001
26 1.203500e+007 -4.80e+004 0.00e+000 5.62e-003 -9.82e+002 1.08e-004 2 3.08e-001 1.25e+001
27 1.203500e+007 -4.80e+004 0.00e+000 2.81e-003 -1.96e+003 2.71e-005 2 2.96e-001 1.28e+001
Ceres Solver Report: Iterations: 27, Initial cost: 1.890877e+007, Final cost: 1.203500e+007, Termination: CONVERGENCE
Elapsed time is 13.727443 seconds.
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.782261e+005 0.00e+000 1.67e+006 0.00e+000 0.00e+000 1.00e+004 0 3.88e-001 8.04e-001
1 2.686532e+005 9.57e+003 3.34e+005 1.72e-001 1.31e+000 3.00e+004 4 7.59e-001 1.56e+000
2 2.675551e+005 1.10e+003 1.66e+005 5.73e-002 1.40e+000 9.00e+004 4 7.09e-001 2.27e+000
3 2.673785e+005 1.77e+002 8.63e+004 2.14e-002 1.41e+000 2.70e+005 4 7.14e-001 2.99e+000
4 2.673477e+005 3.09e+001 4.25e+004 8.34e-003 1.43e+000 8.10e+005 4 7.20e-001 3.71e+000
5 2.673420e+005 5.70e+000 2.05e+004 3.38e-003 1.44e+000 2.43e+006 4 7.05e-001 4.41e+000
6 2.673409e+005 1.08e+000 1.06e+004 1.30e-003 1.45e+000 7.29e+006 2 6.38e-001 5.05e+000
7 2.673409e+005 -5.68e+006 0.00e+000 1.70e+001 -2.34e+004 3.65e+006 9 5.15e-001 5.56e+000
8 2.673409e+005 -3.78e+006 0.00e+000 1.41e+001 -1.69e+004 9.11e+005 9 5.05e-001 6.07e+000
9 2.673409e+005 -7.05e+005 0.00e+000 6.93e+000 -5.13e+003 1.14e+005 9 5.04e-001 6.57e+000
10 2.673409e+005 -1.66e+003 0.00e+000 1.21e+000 -5.96e+001 7.12e+003 8 4.73e-001 7.05e+000
11 2.673388e+005 2.10e+000 4.97e+003 7.97e-002 1.02e+000 2.14e+004 8 8.27e-001 7.87e+000
12 2.673357e+005 3.12e+000 8.18e+003 2.38e-001 5.52e-001 2.14e+004 8 8.36e-001 8.71e+000
13 2.673303e+005 5.39e+000 8.67e+003 2.41e-001 6.71e-001 2.23e+004 8 8.33e-001 9.54e+000
14 2.673249e+005 5.34e+000 9.53e+003 2.53e-001 6.32e-001 2.27e+004 7 8.24e-001 1.04e+001
15 2.673192e+005 5.68e+000 1.00e+004 2.61e-001 6.29e-001 2.31e+004 7 8.06e-001 1.12e+001
16 2.673135e+005 5.79e+000 1.05e+004 2.67e-001 6.18e-001 2.34e+004 7 8.01e-001 1.20e+001
17 2.673076e+005 5.91e+000 1.08e+004 2.73e-001 6.12e-001 2.37e+004 7 8.03e-001 1.28e+001
18 2.673016e+005 5.99e+000 1.12e+004 2.79e-001 6.06e-001 2.39e+004 7 8.43e-001 1.36e+001
19 2.672955e+005 6.06e+000 1.16e+004 2.84e-001 6.01e-001 2.41e+004 6 8.08e-001 1.44e+001
20 2.672894e+005 6.11e+000 1.17e+004 2.89e-001 5.97e-001 2.43e+004 8 8.47e-001 1.53e+001
21 2.672832e+005 6.15e+000 1.20e+004 2.93e-001 5.94e-001 2.44e+004 7 8.05e-001 1.61e+001
22 2.672770e+005 6.20e+000 1.22e+004 2.97e-001 5.95e-001 2.46e+004 6 7.84e-001 1.69e+001
23 2.672709e+005 6.15e+000 1.24e+004 3.02e-001 5.86e-001 2.47e+004 8 8.39e-001 1.77e+001
24 2.672647e+005 6.22e+000 1.26e+004 3.06e-001 5.87e-001 2.48e+004 8 8.50e-001 1.86e+001
25 2.672585e+005 6.21e+000 1.28e+004 3.09e-001 5.85e-001 2.50e+004 8 8.44e-001 1.94e+001
26 2.672522e+005 6.21e+000 1.30e+004 3.13e-001 5.84e-001 2.51e+004 7 8.01e-001 2.02e+001
27 2.672461e+005 6.20e+000 1.31e+004 3.16e-001 5.83e-001 2.52e+004 7 8.48e-001 2.10e+001
28 2.672399e+005 6.18e+000 1.32e+004 3.20e-001 5.83e-001 2.53e+004 6 7.85e-001 2.18e+001
29 2.672337e+005 6.15e+000 1.34e+004 3.23e-001 5.82e-001 2.54e+004 8 8.41e-001 2.27e+001
30 2.672276e+005 6.13e+000 1.35e+004 3.26e-001 5.82e-001 2.55e+004 7 8.23e-001 2.35e+001
31 2.672215e+005 6.09e+000 1.36e+004 3.29e-001 5.82e-001 2.56e+004 7 8.16e-001 2.43e+001
32 2.672154e+005 6.05e+000 1.36e+004 3.32e-001 5.82e-001 2.58e+004 6 8.13e-001 2.51e+001
33 2.672094e+005 6.01e+000 1.38e+004 3.35e-001 5.82e-001 2.59e+004 7 8.02e-001 2.59e+001
34 2.672035e+005 5.96e+000 1.39e+004 3.37e-001 5.83e-001 2.60e+004 7 8.16e-001 2.67e+001
35 2.671976e+005 5.91e+000 1.38e+004 3.39e-001 5.85e-001 2.61e+004 6 7.87e-001 2.75e+001
36 2.671917e+005 5.83e+000 1.39e+004 3.42e-001 5.84e-001 2.62e+004 8 8.52e-001 2.84e+001
37 2.671859e+005 5.78e+000 1.40e+004 3.44e-001 5.86e-001 2.64e+004 8 8.38e-001 2.92e+001
38 2.671802e+005 5.71e+000 1.40e+004 3.47e-001 5.87e-001 2.65e+004 7 8.26e-001 3.00e+001
39 2.671746e+005 5.64e+000 1.41e+004 3.48e-001 5.89e-001 2.67e+004 6 8.07e-001 3.09e+001
40 2.671690e+005 5.56e+000 1.41e+004 3.50e-001 5.89e-001 2.68e+004 7 8.49e-001 3.17e+001
41 2.671636e+005 5.48e+000 1.41e+004 3.52e-001 5.91e-001 2.70e+004 7 8.20e-001 3.25e+001
42 2.671582e+005 5.40e+000 1.41e+004 3.54e-001 5.92e-001 2.72e+004 7 8.43e-001 3.34e+001
43 2.671529e+005 5.31e+000 1.40e+004 3.55e-001 5.94e-001 2.73e+004 7 8.46e-001 3.42e+001
44 2.671476e+005 5.21e+000 1.40e+004 3.57e-001 5.96e-001 2.75e+004 7 8.46e-001 3.51e+001
45 2.671425e+005 5.12e+000 1.40e+004 3.58e-001 5.99e-001 2.77e+004 6 8.73e-001 3.59e+001
46 2.671375e+005 5.01e+000 1.39e+004 3.59e-001 5.98e-001 2.80e+004 8 8.58e-001 3.68e+001
47 2.671326e+005 4.92e+000 1.39e+004 3.60e-001 6.01e-001 2.82e+004 8 8.73e-001 3.77e+001
48 2.671278e+005 4.81e+000 1.38e+004 3.61e-001 6.03e-001 2.84e+004 7 8.47e-001 3.85e+001
49 2.671231e+005 4.70e+000 1.37e+004 3.62e-001 6.05e-001 2.87e+004 7 8.30e-001 3.93e+001
50 2.671185e+005 4.59e+000 1.36e+004 3.62e-001 6.07e-001 2.90e+004 6 8.24e-001 4.02e+001
Ceres Solver Report: Iterations: 50, Initial cost: 2.782261e+005, Final cost: 2.671185e+005, Termination: NO_CONVERGENCE
Elapsed time is 40.825904 seconds.
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.044090e+005 0.00e+000 2.38e+005 0.00e+000 0.00e+000 1.00e+004 0 5.32e-001 9.51e-001
1 2.041570e+005 2.52e+002 7.72e+004 1.88e-002 1.28e+000 3.00e+004 2 6.54e-001 1.61e+000
2 2.041238e+005 3.32e+001 2.78e+004 1.66e-002 1.36e+000 9.00e+004 4 6.87e-001 2.29e+000
3 2.041191e+005 4.67e+000 1.12e+004 5.78e-003 1.40e+000 2.70e+005 4 6.83e-001 2.98e+000
4 2.041183e+005 7.80e-001 5.25e+003 2.17e-003 1.42e+000 8.10e+005 4 7.48e-001 3.72e+000
Ceres Solver Report: Iterations: 4, Initial cost: 2.044090e+005, Final cost: 2.041183e+005, Termination: CONVERGENCE
Elapsed time is 4.661538 seconds.
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.651492e+005 0.00e+000 1.60e+005 0.00e+000 0.00e+000 1.00e+004 0 3.44e-001 7.19e-001
1 1.650398e+005 1.09e+002 3.95e+004 7.40e-003 1.23e+000 3.00e+004 2 5.64e-001 1.28e+000
2 1.650311e+005 8.74e+000 1.46e+004 3.62e-003 1.35e+000 9.00e+004 2 5.55e-001 1.84e+000
3 1.650298e+005 1.31e+000 5.03e+003 2.82e-003 1.35e+000 2.70e+005 4 6.05e-001 2.44e+000
4 1.650296e+005 1.76e-001 2.05e+003 9.74e-004 1.38e+000 8.10e+005 4 6.10e-001 3.05e+000
5 1.650296e+005 -3.26e+004 0.00e+000 3.46e+000 -1.38e+003 4.05e+005 8 4.14e-001 3.47e+000
6 1.650296e+005 -6.39e+003 0.00e+000 2.24e+000 -3.78e+002 1.01e+005 8 4.07e-001 3.87e+000
7 1.650296e+005 -6.49e+001 0.00e+000 7.24e-001 -1.06e+001 1.27e+004 8 4.06e-001 4.28e+000
8 1.650287e+005 8.71e-001 1.06e+003 9.88e-002 9.82e-001 3.80e+004 8 7.31e-001 5.01e+000
9 1.650280e+005 7.47e-001 9.86e+003 2.87e-001 3.00e-001 3.57e+004 8 7.22e-001 5.73e+000
10 1.650254e+005 2.61e+000 8.78e+003 2.67e-001 6.69e-001 3.71e+004 8 7.24e-001 6.46e+000
11 1.650232e+005 2.13e+000 9.08e+003 2.73e-001 6.10e-001 3.75e+004 7 6.92e-001 7.15e+000
12 1.650210e+005 2.19e+000 8.90e+003 2.71e-001 6.31e-001 3.82e+004 8 7.17e-001 7.87e+000
13 1.650190e+005 2.09e+000 8.80e+003 2.71e-001 6.29e-001 3.89e+004 8 7.36e-001 8.60e+000
14 1.650169e+005 2.02e+000 8.67e+003 2.70e-001 6.32e-001 3.96e+004 8 7.25e-001 9.33e+000
15 1.650150e+005 1.94e+000 8.54e+003 2.69e-001 6.33e-001 4.04e+004 8 7.21e-001 1.00e+001
16 1.650131e+005 1.86e+000 8.39e+003 2.67e-001 6.36e-001 4.12e+004 8 7.29e-001 1.08e+001
17 1.650114e+005 1.78e+000 8.24e+003 2.66e-001 6.38e-001 4.21e+004 8 7.39e-001 1.15e+001
18 1.650097e+005 1.70e+000 8.07e+003 2.64e-001 6.40e-001 4.30e+004 8 7.31e-001 1.22e+001
19 1.650081e+005 1.62e+000 7.90e+003 2.62e-001 6.42e-001 4.40e+004 8 7.49e-001 1.30e+001
20 1.650065e+005 1.54e+000 7.72e+003 2.60e-001 6.44e-001 4.51e+004 8 8.45e-001 1.38e+001
21 1.650051e+005 1.46e+000 7.54e+003 2.58e-001 6.47e-001 4.63e+004 8 7.52e-001 1.46e+001
22 1.650037e+005 1.38e+000 7.34e+003 2.56e-001 6.49e-001 4.75e+004 8 7.22e-001 1.53e+001
23 1.650024e+005 1.30e+000 7.14e+003 2.53e-001 6.52e-001 4.89e+004 8 7.23e-001 1.60e+001
24 1.650012e+005 1.22e+000 6.93e+003 2.50e-001 6.54e-001 5.04e+004 8 7.18e-001 1.68e+001
25 1.650000e+005 1.15e+000 6.72e+003 2.47e-001 6.57e-001 5.20e+004 8 7.31e-001 1.75e+001
26 1.649990e+005 1.07e+000 6.50e+003 2.44e-001 6.60e-001 5.37e+004 8 7.30e-001 1.82e+001
27 1.649980e+005 9.97e-001 6.27e+003 2.40e-001 6.63e-001 5.56e+004 8 7.35e-001 1.90e+001
28 1.649970e+005 9.25e-001 6.04e+003 2.36e-001 6.66e-001 5.77e+004 8 7.34e-001 1.97e+001
29 1.649962e+005 8.54e-001 5.80e+003 2.32e-001 6.69e-001 6.00e+004 8 7.18e-001 2.04e+001
30 1.649954e+005 7.86e-001 5.56e+003 2.28e-001 6.72e-001 6.26e+004 8 7.20e-001 2.11e+001
31 1.649947e+005 7.19e-001 5.31e+003 2.24e-001 6.76e-001 6.54e+004 8 7.23e-001 2.18e+001
32 1.649940e+005 6.55e-001 5.06e+003 2.19e-001 6.79e-001 6.86e+004 8 7.24e-001 2.26e+001
33 1.649934e+005 5.93e-001 4.80e+003 2.14e-001 6.83e-001 7.22e+004 8 7.44e-001 2.33e+001
34 1.649929e+005 5.34e-001 4.54e+003 2.08e-001 6.88e-001 7.62e+004 8 7.56e-001 2.41e+001
35 1.649924e+005 4.77e-001 4.27e+003 2.03e-001 6.92e-001 8.08e+004 8 7.43e-001 2.48e+001
36 1.649920e+005 4.23e-001 4.00e+003 1.97e-001 6.97e-001 8.60e+004 8 7.45e-001 2.56e+001
37 1.649916e+005 3.72e-001 3.73e+003 1.90e-001 7.02e-001 9.21e+004 8 7.72e-001 2.63e+001
38 1.649913e+005 3.23e-001 3.45e+003 1.84e-001 7.07e-001 9.91e+004 8 8.55e-001 2.72e+001
39 1.649910e+005 2.78e-001 3.18e+003 1.76e-001 7.13e-001 1.08e+005 8 8.74e-001 2.81e+001
40 1.649908e+005 2.36e-001 2.90e+003 1.69e-001 7.20e-001 1.18e+005 8 9.20e-001 2.90e+001
41 1.649906e+005 1.98e-001 2.62e+003 1.61e-001 7.27e-001 1.30e+005 8 8.19e-001 2.98e+001
Ceres Solver Report: Iterations: 41, Initial cost: 1.651492e+005, Final cost: 1.649906e+005, Termination: CONVERGENCE
Elapsed time is 30.847782 seconds.
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.375071e+005 0.00e+000 1.44e+005 0.00e+000 0.00e+000 1.00e+004 0 3.37e-001 7.13e-001
1 1.374299e+005 7.72e+001 3.39e+004 1.02e-002 1.23e+000 3.00e+004 2 5.86e-001 1.30e+000
2 1.374227e+005 7.23e+000 1.14e+004 8.70e-003 1.33e+000 9.00e+004 4 6.09e-001 1.91e+000
3 1.374218e+005 8.48e-001 4.36e+003 2.69e-003 1.36e+000 2.70e+005 4 6.29e-001 2.54e+000
Ceres Solver Report: Iterations: 3, Initial cost: 1.375071e+005, Final cost: 1.374218e+005, Termination: CONVERGENCE
Elapsed time is 3.454340 seconds.
Done SfSM
Final : 5980 and 5345 number of features are extracted
Start Dense Matching
SphereSweep360.exe
Ricoh_db\01
bmp
Plane Sweeping : 0 / 64 (0.0371016)
Plane Sweeping : 1 / 64 (0.0722662)
Plane Sweeping : 2 / 64 (0.107431)
Plane Sweeping : 3 / 64 (0.142595)
Plane Sweeping : 4 / 64 (0.17776)
Plane Sweeping : 5 / 64 (0.212925)
Plane Sweeping : 6 / 64 (0.248089)
Plane Sweeping : 7 / 64 (0.283254)
Plane Sweeping : 8 / 64 (0.318419)
Plane Sweeping : 9 / 64 (0.353583)
Plane Sweeping : 10 / 64 (0.388748)
Plane Sweeping : 11 / 64 (0.423912)
Plane Sweeping : 12 / 64 (0.459077)
Plane Sweeping : 13 / 64 (0.494242)
Plane Sweeping : 14 / 64 (0.529406)
Plane Sweeping : 15 / 64 (0.564571)
Plane Sweeping : 16 / 64 (0.599735)
Plane Sweeping : 17 / 64 (0.6349)
Plane Sweeping : 18 / 64 (0.670065)
Plane Sweeping : 19 / 64 (0.705229)
Plane Sweeping : 20 / 64 (0.740394)
Plane Sweeping : 21 / 64 (0.775559)
Plane Sweeping : 22 / 64 (0.810723)
Plane Sweeping : 23 / 64 (0.845888)
Plane Sweeping : 24 / 64 (0.881052)
Plane Sweeping : 25 / 64 (0.916217)
Plane Sweeping : 26 / 64 (0.951382)
Plane Sweeping : 27 / 64 (0.986546)
Plane Sweeping : 28 / 64 (1.02171)
Plane Sweeping : 29 / 64 (1.05688)
Plane Sweeping : 30 / 64 (1.09204)
Plane Sweeping : 31 / 64 (1.1272)
Plane Sweeping : 32 / 64 (1.16237)
Plane Sweeping : 33 / 64 (1.19753)
Plane Sweeping : 34 / 64 (1.2327)
Plane Sweeping : 35 / 64 (1.26786)
Plane Sweeping : 36 / 64 (1.30303)
Plane Sweeping : 37 / 64 (1.33819)
Plane Sweeping : 38 / 64 (1.37336)
Plane Sweeping : 39 / 64 (1.40852)
Plane Sweeping : 40 / 64 (1.44369)
Plane Sweeping : 41 / 64 (1.47885)
Plane Sweeping : 42 / 64 (1.51402)
Plane Sweeping : 43 / 64 (1.54918)
Plane Sweeping : 44 / 64 (1.58434)
Plane Sweeping : 45 / 64 (1.61951)
Plane Sweeping : 46 / 64 (1.65467)
Plane Sweeping : 47 / 64 (1.68984)
Plane Sweeping : 48 / 64 (1.725)
Plane Sweeping : 49 / 64 (1.76017)
Plane Sweeping : 50 / 64 (1.79533)
Plane Sweeping : 51 / 64 (1.8305)
Plane Sweeping : 52 / 64 (1.86566)
Plane Sweeping : 53 / 64 (1.90083)
Plane Sweeping : 54 / 64 (1.93599)
Plane Sweeping : 55 / 64 (1.97116)
Plane Sweeping : 56 / 64 (2.00632)
Plane Sweeping : 57 / 64 (2.04148)
Plane Sweeping : 58 / 64 (2.07665)
Plane Sweeping : 59 / 64 (2.11181)
Plane Sweeping : 60 / 64 (2.14698)
Plane Sweeping : 61 / 64 (2.18214)
Plane Sweeping : 62 / 64 (2.21731)
Plane Sweeping : 63 / 64 (2.25247)
Elapsed time is 152.084431 seconds.
Done Dense Matching

Invalid MEX-file 'C:\Users\glebd\Desktop\CALIBRATION\ADfSM-master\tree_upsampling.mexw64': The specified module was not found.

Error in ADfSM/SphereSweep360 (line 353)
labelLR_tree=tree_upsampling(IrefLR,uint8(labelLR_tree_hole),256,0.01,1);

Error in main (line 25)
A.SphereSweep360();