ly@pc:~/iKalibr_ws$ glomap mapper --database_path /home/ly/iKalibr_ws/src/ikalibr/data/real-world/iKalibr-data-2024-06-25-14-52-11/images/cam_gs/image_compressed/sfm_ws/database.db --image_path /home/ly/iKalibr_ws/src/ikalibr/data/real-world/iKalibr-data-2024-06-25-14-52-11/images/cam_gs/image_compressed/images --output_path /home/ly/iKalibr_ws/src/ikalibr/data/real-world/iKalibr-data-2024-06-25-14-52-11/images/cam_gs/image_compressed/sfm_ws
Loading Images 511 / 511
Loading Image Pair 130066 / 130066
I20251127 17:07:44.391889 81680 colmap_converter.cc:424] Pairs read done. 36 / 130066 are invalid
I20251127 17:07:44.401203 81680 global_mapper.cc:84] Loaded database
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Running preprocessing ...
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I20251127 17:07:44.451273 81680 view_graph_manipulation.cc:255] Decompose relative pose for 130030 pairs
I20251127 17:07:44.670928 81680 view_graph_manipulation.cc:309] Decompose relative pose done. 0 pairs are pure rotation
I20251127 17:07:44.671414 81680 timer.cc:86] Elapsed time: 0.27019 [seconds]
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Running view graph calibration ...
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I20251127 17:07:44.671453 81680 view_graph_calibration.cc:16] Start ViewGraphCalibrator
I20251127 17:07:44.720314 81680 view_graph_calibration.cc:33] No cameras to optimize
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Running relative pose estimation ...
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I20251127 17:07:44.743391 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:07:44.750968 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:07:44.766491 81680 relpose_estimation.cc:26] Estimating relative pose for 130030 pairs
Estimating relative pose: 100%
I20251127 17:13:05.174070 81680 relpose_estimation.cc:122] Estimating relative pose done
I20251127 17:13:09.500998 81680 relpose_filter.cc:46] Filtered 1606 relative poses with inlier number < 30
I20251127 17:13:09.514606 81680 relpose_filter.cc:63] Filtered 3694 relative poses with inlier ratio < 0.25
I20251127 17:13:09.587735 81680 timer.cc:86] Elapsed time: 324.84672 [seconds]
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Running rotation averaging ...
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I20251127 17:13:09.681190 81680 rotation_averager.cc:44] Total image pairs: 0, gravity image pairs: 0
I20251127 17:13:10.478991 81680 relpose_filter.cc:31] Filtered 39 relative rotation with angle > 10 degrees
I20251127 17:13:10.662130 81680 rotation_averager.cc:44] Total image pairs: 0, gravity image pairs: 0
I20251127 17:13:11.413311 81680 relpose_filter.cc:31] Filtered 0 relative rotation with angle > 10 degrees
I20251127 17:13:11.503225 81680 global_mapper.cc:113] 1022 / 511 images are within the connected component.
I20251127 17:13:11.503260 81680 timer.cc:86] Elapsed time: 1.91548 [seconds]
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Running track establishment ...
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Initializing pairs 130066 / 130066
Establishing pairs 130066 / 130066
Establishing tracks 100729 / 100729
I20251127 17:13:28.925784 81680 track_establishment.cc:149] Discarded 3472 tracks due to inconsistency
I20251127 17:13:29.429548 81680 global_mapper.cc:133] Before filtering: 100729, after filtering: 47843
I20251127 17:13:29.429576 81680 timer.cc:86] Elapsed time: 17.92631 [seconds]
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Running global positioning ...
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I20251127 17:13:29.534780 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:13:29.534806 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:13:29.535917 81680 global_positioning.cc:52] Setting up the global positioner problem
W20251127 17:13:30.083793 81680 global_positioning.cc:529] Requested to use GPU for bundle adjustment, but Ceres was compiled without cuDSS support. Falling back to CPU-based sparse solvers.
I20251127 17:13:30.182782 81680 global_positioning.cc:79] Solving the global positioner problem
I20251127 17:15:02.141112 81680 global_positioning.cc:88] Ceres Solver Report: Iterations: 39, Initial cost: 6.911204e+06, Final cost: 2.367399e+01, Termination: CONVERGENCE
I20251127 17:15:02.170977 81680 track_filter.cc:87] Filtered 1034 / 47843 tracks by angle error
I20251127 17:15:02.197654 81680 track_filter.cc:124] Filtered 11110 / 47843 tracks by too small triangulation angle
I20251127 17:15:02.220880 81680 track_filter.cc:49] Filtered 0 / 47843 tracks by reprojection error
I20251127 17:15:02.221988 81680 timer.cc:86] Elapsed time: 92.68907 [seconds]
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Running bundle adjustment ...
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I20251127 17:15:02.402475 81680 global_mapper.cc:196] Bundle adjustment start
W20251127 17:15:02.645507 81680 bundle_adjustment.cc:72] Requested to use GPU for bundle adjustment, but Ceres was compiled without cuDSS support. Falling back to CPU-based sparse solvers.
I20251127 17:15:11.423357 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 20, Initial cost: 8.017251e+05, Final cost: 5.683297e+05, Termination: CONVERGENCE
I20251127 17:15:11.423406 81680 global_mapper.cc:212] Global bundle adjustment iteration 1 / 3, stage 1 finished (position only)
I20251127 17:15:11.423414 81680 timer.cc:86] Elapsed time: 9.02092 [seconds]
I20251127 17:15:21.275437 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 7, Initial cost: 5.683297e+05, Final cost: 5.465221e+05, Termination: CONVERGENCE
I20251127 17:15:21.275691 81680 global_mapper.cc:224] Global bundle adjustment iteration 1 / 3, stage 2 finished
I20251127 17:15:21.275760 81680 timer.cc:86] Elapsed time: 18.87326 [seconds]
I20251127 17:15:21.279238 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:15:21.289302 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:15:21.291913 81680 global_mapper.cc:238] Filtering tracks by reprojection ...
I20251127 17:15:21.320232 81680 track_filter.cc:49] Filtered 77 / 47843 tracks by reprojection error
I20251127 17:15:25.203474 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 5, Initial cost: 5.408821e+05, Final cost: 5.407059e+05, Termination: CONVERGENCE
I20251127 17:15:25.203560 81680 global_mapper.cc:212] Global bundle adjustment iteration 2 / 3, stage 1 finished (position only)
I20251127 17:15:25.203572 81680 timer.cc:86] Elapsed time: 22.80107 [seconds]
I20251127 17:15:31.438064 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 2, Initial cost: 5.407059e+05, Final cost: 5.406636e+05, Termination: CONVERGENCE
I20251127 17:15:31.438112 81680 global_mapper.cc:224] Global bundle adjustment iteration 2 / 3, stage 2 finished
I20251127 17:15:31.438115 81680 timer.cc:86] Elapsed time: 29.03562 [seconds]
I20251127 17:15:31.440896 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:15:31.444357 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:15:31.444885 81680 global_mapper.cc:238] Filtering tracks by reprojection ...
I20251127 17:15:31.470563 81680 track_filter.cc:49] Filtered 277 / 47843 tracks by reprojection error
I20251127 17:15:36.032356 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 7, Initial cost: 5.227108e+05, Final cost: 5.221277e+05, Termination: CONVERGENCE
I20251127 17:15:36.032454 81680 global_mapper.cc:212] Global bundle adjustment iteration 3 / 3, stage 1 finished (position only)
I20251127 17:15:36.032465 81680 timer.cc:86] Elapsed time: 33.62997 [seconds]
I20251127 17:15:42.257611 81680 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 2, Initial cost: 5.221277e+05, Final cost: 5.221178e+05, Termination: CONVERGENCE
I20251127 17:15:42.257659 81680 global_mapper.cc:224] Global bundle adjustment iteration 3 / 3, stage 2 finished
I20251127 17:15:42.260980 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:15:42.271441 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:15:42.276473 81680 global_mapper.cc:238] Filtering tracks by reprojection ...
I20251127 17:15:42.309600 81680 track_filter.cc:49] Filtered 738 / 47843 tracks by reprojection error
I20251127 17:15:42.384815 81680 image_undistorter.cc:20] Undistorting images..
I20251127 17:15:42.388716 81680 image_undistorter.cc:44] Image undistortion done
I20251127 17:15:42.389612 81680 global_mapper.cc:264] Filtering tracks by reprojection ...
I20251127 17:15:42.415688 81680 track_filter.cc:49] Filtered 0 / 47843 tracks by reprojection error
I20251127 17:15:42.440542 81680 track_filter.cc:124] Filtered 11502 / 47843 tracks by too small triangulation angle
I20251127 17:15:42.440573 81680 timer.cc:86] Elapsed time: 40.03807 [seconds]
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Running retriangulation ...
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I20251127 17:15:42.440640 81680 database_cache.cc:67] Loading rigs...
I20251127 17:15:42.440649 81680 database_cache.cc:77] 0 in 0.000s
I20251127 17:15:42.440654 81680 database_cache.cc:85] Loading cameras...
I20251127 17:15:42.440711 81680 database_cache.cc:103] 1 in 0.000s
I20251127 17:15:42.440716 81680 database_cache.cc:111] Loading frames...
I20251127 17:15:42.440721 81680 database_cache.cc:126] 0 in 0.000s
I20251127 17:15:42.440725 81680 database_cache.cc:134] Loading matches...
I20251127 17:15:42.732461 81680 database_cache.cc:139] 130030 in 0.292s
I20251127 17:15:42.732497 81680 database_cache.cc:155] Loading images...
I20251127 17:15:42.785781 81680 database_cache.cc:239] 511 in 0.053s (connected 511)
I20251127 17:15:42.785900 81680 database_cache.cc:250] Building correspondence graph...
I20251127 17:16:01.025197 81680 database_cache.cc:277] in 18.239s (ignored 0)
E20251127 17:16:01.077963 81680 reconstruction.cc:166] Check failed: existing_frame.DataIds() == frame.DataIds()
terminate called after throwing an instance of 'std::invalid_argument'
what(): [reconstruction.cc:166] Check failed: existing_frame.DataIds() == frame.DataIds()
*** Aborted at 1764234961 (unix time) try "date -d @1764234961" if you are using GNU date ***
PC: @ 0x0 (unknown)
*** SIGABRT (@0x3e800013f10) received by PID 81680 (TID 0x7f5cacc51000) from PID 81680; stack trace: ***
@ 0x7f5cf76deb66 google::(anonymous namespace)::FailureSignalHandler()
@ 0x7f5cf75cd420 (unknown)
@ 0x7f5cf6fd500b gsignal
@ 0x7f5cf6fb4859 abort
@ 0x7f5cf739cee6 (unknown)
@ 0x7f5cf73aef8c (unknown)
@ 0x7f5cf73aeff7 std::terminate()
@ 0x7f5cf73af258 __cxa_throw
@ 0x55e662d6869f colmap::LogMessageFatalThrow<>::~LogMessageFatalThrow()
@ 0x55e66302396d colmap::Reconstruction::Load()
@ 0x55e662e843f4 colmap::IncrementalMapper::BeginReconstruction()
@ 0x55e662d71ea1 glomap::RetriangulateTracks()
@ 0x55e662d50ca0 glomap::GlobalMapper::Solve()
@ 0x55e662d463af glomap::RunMapper()
@ 0x55e662d3f4cf main
@ 0x7f5cf6fb6083 __libc_start_main
@ 0x55e662d4120e _start
Aborted (core dumped)
