Device 0: "GeForce GTX 950M" 4096Mb, sm_50, 640 cores, Driver/Runtime ver.7.50 /4.20 Volume size is set to 4.00 meters Volume will shift when the camera target point is farther than 10.00 meters from the volume center The target point is located at [0, 0, 2.40] in camera coordinates [CUDA] Allocating memory 2048 x 262144 = 536870912 bytes. [CUDA] Allocating memory 1280 x 480 = 614400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 480 = 1228800 bytes. [CUDA] Allocating memory 640 x 240 = 153600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 720 = 921600 bytes. [CUDA] Allocating memory 1280 x 240 = 307200 bytes. [CUDA] Allocating memory 320 x 120 = 38400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 360 = 230400 bytes. [CUDA] Allocating memory 640 x 120 = 76800 bytes. [CUDA] Allocating memory 2560 x 480 = 1228800 bytes. [CUDA] Allocating memory 1228800 x 27 = 33177600 bytes. [CUDA] Allocating memory 108 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. [CUDA] Allocating memory 2560 x 1440 = 3686400 bytes. Registration mode: On [CUDA] Allocating memory 2048 x 262144 = 536870912 bytes. Color integration: On Log record: On Using RGBDOdometry. Capture mode: triggered [CUDA] Allocating memory 1280 x 480 = 614400 bytes. [CUDA] Allocating memory 1920 x 480 = 921600 bytes. [pcl::visualization::ImageViewer::addRGBImage] No layer with ID='short_image' fo und. Creating new one... [pcl::visualization::ImageViewer::addRGBImage] No layer with ID='short_image' fo und. Creating new one... [CUDA] Allocating memory 1920 x 480 = 921600 bytes. [pcl::visualization::ImageViewer::addRGBImage] No layer with ID='rgb_image' foun d. Creating new one... [CUDA] Allocating memory 1280 x 480 = 614400 bytes. [pcl::visualization::ImageViewer::addRGBImage] No layer with ID='short_image' fo und. Creating new one... [pcl::visualization::ImageViewer::addRGBImage] No layer with ID='short_image' fo und. Creating new one... Average frame time = 148ms ( 6.7402fps ) Getting cloud... [CUDA] Allocating memory 160000000 bytes. [CUDA] Allocating memory 354860 bytes. Done. Cloud size: 88K --- CURRENT SETTINGS --- ------------------------ PointCloud Extraction took 115ms. Saving point cloud to 'cloud_bin_0.pcd' (binary)... Done Average frame time = 116ms ( 8.59375fps ) Average frame time = 120ms ( 8.27275fps ) Getting cloud... [CUDA] Allocating memory 199276 bytes. Done. Cloud size: 49K Reset PointCloud Extraction took 37ms. Saving point cloud to 'cloud_bin_1.pcd' (binary)... Done Average frame time = 148ms ( 6.72509fps ) Getting cloud... [CUDA] Allocating memory 441564 bytes. Done. Cloud size: 110K Reset PointCloud Extraction took 53ms. Saving point cloud to 'cloud_bin_2.pcd' (binary)... Done Average frame time = 151ms ( 6.60396fps ) Average frame time = 141ms ( 7.06336fps ) Getting cloud... [CUDA] Allocating memory 546948 bytes. Done. Cloud size: 136K Reset PointCloud Extraction took 62ms. Saving point cloud to 'cloud_bin_3.pcd' (binary)... Done Average frame time = 123ms ( 8.07241fps ) Getting cloud... [CUDA] Allocating memory 525532 bytes. Done. Cloud size: 131K Reset PointCloud Extraction took 46ms. Saving point cloud to 'cloud_bin_4.pcd' (binary)... Done Average frame time = 114ms ( 8.76494fps ) Average frame time = 124ms ( 8.05467fps ) Getting cloud... [CUDA] Allocating memory 482616 bytes. Done. Cloud size: 120K Reset PointCloud Extraction took 53ms. Saving point cloud to 'cloud_bin_5.pcd' (binary)... Done Average frame time = 134ms ( 7.4224fps ) Getting cloud... [CUDA] Allocating memory 476836 bytes. Done. Cloud size: 119K Reset PointCloud Extraction took 53ms. Saving point cloud to 'cloud_bin_6.pcd' (binary)... Done Average frame time = 132ms ( 7.56534fps ) Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Average frame time = 91ms ( 10.9163fps ) Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Getting cloud... [CUDA] Allocating memory 484944 bytes. Done. Cloud size: 121K Reset LOST ... @36 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset PointCloud Extraction took 46ms. Saving point cloud to 'cloud_bin_7.pcd' (binary)... Done Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Average frame time = 77ms ( 12.987fps ) Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Getting cloud... [CUDA] Allocating memory 762904 bytes. Done. Cloud size: 190K Reset LOST ... @1 frame.0 level.2 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.5 iteration, matrices are Reset LOST ... @6 frame.1 level.3 iteration, matrices are Reset LOST ... @2 frame.2 level.6 iteration, matrices are Reset LOST ... @2 frame.0 level.2 iteration, matrices are Reset LOST ... @5 frame.2 level.5 iteration, matrices are Reset LOST ... @1 frame.0 level.1 iteration, matrices are Reset LOST ... @3 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.2 level.6 iteration, matrices are Reset LOST ... @1 frame.0 level.4 iteration, matrices are Reset LOST ... @7 frame.1 level.3 iteration, matrices are Reset PointCloud Extraction took 53ms. Saving point cloud to 'cloud_bin_8.pcd' (binary)... Done Average frame time = 93ms ( 10.6589fps ) Average frame time = 112ms ( 8.91892fps ) Getting cloud... [CUDA] Allocating memory 1192540 bytes. Done. Cloud size: 298K Reset PointCloud Extraction took 84ms. Saving point cloud to 'cloud_bin_9.pcd' (binary)... Done Average frame time = 119ms ( 8.38841fps ) Getting cloud... [CUDA] Allocating memory 827724 bytes. Done. Cloud size: 206K Reset PointCloud Extraction took 83ms. Saving point cloud to 'cloud_bin_10.pcd' (binary)... Done Average frame time = 116ms ( 8.55587fps ) Average frame time = 104ms ( 9.53206fps ) Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Determinant : 0 Singular matrix : 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Corresponding b : 0 0 0 0 0 0 Getting cloud... [CUDA] Allocating memory 493512 bytes. Done. Cloud size: 123K Reset LOST ... @45 frame.0 level.0 iteration, matrices are Reset LOST ... @1 frame.0 level.0 iteration, matrices are Reset PointCloud Extraction took 46ms. Saving point cloud to 'cloud_bin_11.pcd' (binary)... Done Average frame time = 104ms ( 9.53206fps ) Getting cloud... [CUDA] Allocating memory 516536 bytes. Done. Cloud size: 129K Reset PointCloud Extraction took 46ms. Saving point cloud to 'cloud_bin_12.pcd' (binary)... Done Average frame time = 114ms ( 8.74172fps ) Average frame time = 118ms ( 8.41407fps ) Getting cloud... [CUDA] Allocating memory 644092 bytes. Done. Cloud size: 161K Reset PointCloud Extraction took 53ms. Saving point cloud to 'cloud_bin_13.pcd' (binary)... Done Average frame time = 99ms ( 10.0152fps ) Getting cloud... [CUDA] Allocating memory 806636 bytes. Done. Cloud size: 201K Reset PointCloud Extraction took 62ms. Saving point cloud to 'cloud_bin_14.pcd' (binary)... Done Average frame time = 117ms ( 8.52053fps ) Average frame time = 107ms ( 9.27748fps ) Total 797 frames processed. pcl_kinfu_largeScale exiting Reset mkdir: cannot create directory ‘../sandbox/pcds/’: File exists 15 detected. visualization = 0 estimate_normal = 1 aux_data = 0 smart_swap = 1 pcl_verbose = 3 normal_radius = 0.1 feature_radius = 0.25 max_iteration = 4000000 num_of_samples = 4 correspondence_randomness = 2 edge_similarity = 0.9 resample_leaf = 0.05 max_correspondence_distance = 0.075 inlier_fraction = 0.33 inlier_number = 30000 angle_difference = 0.523599 > Betweeen fragments 0 and 1. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 0ms. > Betweeen fragments 1 and 2. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 3ms. > Betweeen fragments 2 and 3. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 4ms. > Betweeen fragments 3 and 4. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 4ms. > Betweeen fragments 4 and 5. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 5ms. > Betweeen fragments 5 and 6. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 6ms. > Betweeen fragments 6 and 7. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 11ms. > Betweeen fragments 7 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 7ms. > Betweeen fragments 8 and 9. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 19ms. > Betweeen fragments 9 and 10. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 15ms. > Betweeen fragments 10 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 5ms. > Betweeen fragments 11 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13ms. > Betweeen fragments 12 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 30ms. > Betweeen fragments 13 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 15ms. visualization = 0 estimate_normal = 1 aux_data = 0 smart_swap = 1 pcl_verbose = 3 normal_radius = 0.1 feature_radius = 0.25 max_iteration = 4000000 num_of_samples = 4 correspondence_randomness = 2 edge_similarity = 0.9 resample_leaf = 0.05 max_correspondence_distance = 0.075 inlier_fraction = 0.33 inlier_number = 30000 angle_difference = 0.523599 > Betweeen fragments 0 and 1. > Loading point clouds... > Betweeen fragments 2 and 3. > Loading point clouds... > Betweeen fragments 3 and 4. > Loading point clouds... > Betweeen fragments 4 and 5. > Loading point clouds... > Betweeen fragments 7 and 8. > Loading point clouds... > Betweeen fragments 1 and 2. > Loading point clouds... > Betweeen fragments 6 and 7. > Loading point clouds... > Betweeen fragments 5 and 6. > Loading point clouds... > Downsampling... > Downsampling... > Downsampling... > Downsampling... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating object normals... > Downsampling... > Estimating features... > Estimating scene normals... > Estimating scene normals... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating scene normals... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating object normals... > Estimating features... > Estimating features... > Estimating object normals... > Estimating features... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 12344ms. | 0.929 0.041 0.368 | R = | -0.031 0.999 -0.034 | | -0.369 0.020 0.929 | t = < -0.030, -0.536, 0.577 > Inliers: 464/1114 > Betweeen fragments 0 and 2. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 12421ms. > Betweeen fragments 6 and 8. > Loading point clouds... > Downsampling... Alignment failed! Alignment took 12894ms. | 0.959 -0.030 -0.282 | R = | 0.022 0.999 -0.029 | | 0.283 0.021 0.959 | t = < -0.176, -0.029, -0.669 > Inliers: 882/1114 > Betweeen fragments 1 and 3. > Loading point clouds... Alignment took 12504ms. | -0.982 0.173 -0.079 | R = | -0.117 -0.877 -0.465 | | -0.150 -0.448 0.882 | t = < 2.887, 4.950, 1.354 > Inliers: 1158/2669 > Betweeen fragments 7 and 9. > Loading point clouds... Alignment took 12695ms. | 0.992 -0.025 -0.120 | R = | 0.077 0.887 0.455 | | 0.095 -0.460 0.883 | t = < 0.030, 0.373, 0.658 > Inliers: 1310/2737 > Betweeen fragments 5 and 7. > Loading point clouds... > Estimating scene normals... > Starting alignment... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... Alignment took 12733ms. | -0.808 -0.137 -0.573 | R = | -0.061 -0.948 0.313 | | -0.586 0.288 0.757 | t = < 5.464, 4.722, 1.127 > Inliers: 1093/2737 > Betweeen fragments 4 and 6. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... > Downsampling... > Estimating scene normals... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 15554ms. | 0.900 0.001 -0.435 | R = | 0.001 1.000 0.005 | | 0.435 -0.005 0.900 | t = < -0.045, -0.060, -0.924 > Inliers: 1946/2592 > Betweeen fragments 2 and 4. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13841ms. | -0.987 -0.035 -0.158 | R = | 0.047 -0.996 -0.073 | | -0.155 -0.080 0.985 | t = < 3.802, 4.194, -0.068 > Inliers: 1576/2869 > Betweeen fragments 6 and 9. > Loading point clouds... Alignment took 13961ms. > Downsampling... | 0.335 -0.302 -0.893 | R = | 0.934 0.232 0.272 | | 0.125 -0.925 0.359 | t = < 3.104, -0.386, 1.997 > Inliers: 1414/2669 > Betweeen fragments 5 and 8. > Loading point clouds... Alignment took 13760ms. > Betweeen fragments 4 and 7. > Loading point clouds... Alignment failed! Alignment took 15010ms. | 0.998 0.061 -0.026 | R = | -0.066 0.957 -0.281 | | 0.008 0.282 0.959 | t = < -0.392, -0.026, -0.683 > Inliers: 1034/1999 > Betweeen fragments 0 and 3. > Loading point clouds... > Downsampling... > Estimating scene normals... > Downsampling... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating scene normals... > Estimating scene normals... > Estimating features... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating features... Alignment took 13756ms. | 0.147 -0.930 0.336 | R = | 0.526 -0.214 -0.823 | | 0.838 0.298 0.457 | t = < 3.094, 2.269, -2.089 > Inliers: 1036/2669 > Betweeen fragments 7 and 10. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 14012ms. | 0.673 -0.266 -0.690 | R = | 0.002 0.934 -0.358 | | 0.740 0.240 0.629 | t = < 0.901, -0.013, -2.154 > Inliers: 1270/2592 > Betweeen fragments 2 and 5. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13714ms. | -0.301 0.947 -0.115 | R = | -0.721 -0.147 0.677 | | 0.624 0.287 0.727 | t = < 0.595, 3.051, -0.917 > Inliers: 957/1999 > Betweeen fragments 0 and 4. > Loading point clouds... Alignment took 13702ms. > Betweeen fragments 5 and 9. > Loading point clouds... Alignment failed! Alignment took 13680ms. > Betweeen fragments 4 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... > Downsampling... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating scene normals... > Estimating features... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 13698ms. | -0.413 -0.889 0.198 | R = | 0.539 -0.063 0.840 | | -0.734 0.453 0.505 | t = < 4.074, 0.258, 0.285 > Inliers: 1146/2869 > Betweeen fragments 6 and 10. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13596ms. > Betweeen fragments 7 and 11. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 13724ms. | -0.056 0.258 -0.965 | R = | -0.625 -0.762 -0.167 | | -0.778 0.594 0.203 | t = < 1.743, 5.410, 1.567 > Inliers: 1539/2592 > Betweeen fragments 2 and 6. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 32563ms. | 0.714 -0.024 -0.700 | R = | 0.014 1.000 -0.021 | | 0.700 0.005 0.714 | t = < 0.146, -0.093, -1.583 > Inliers: 882/1114 > Betweeen fragments 1 and 4. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment took 53119ms. | 0.934 -0.145 -0.326 | R = | 0.033 0.945 -0.327 | | 0.355 0.294 0.887 | t = < 0.278, -0.117, -1.415 > Inliers: 2576/3204 > Betweeen fragments 3 and 5. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13918ms. | 0.572 -0.545 0.613 | R = | -0.366 0.499 0.786 | | -0.734 -0.674 0.085 | t = < 1.790, 1.364, 3.593 > Inliers: 720/1999 > Betweeen fragments 0 and 5. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 14015ms. > Betweeen fragments 4 and 9. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... Alignment failed! Alignment took 13819ms. > Betweeen fragments 7 and 12. > Loading point clouds... > Estimating features... > Downsampling... > Estimating scene normals... Alignment failed! Alignment took 14127ms. > Betweeen fragments 5 and 10. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... Alignment failed! Alignment took 14134ms. | 0.600 -0.263 0.756 | R = | 0.351 0.935 0.047 | | -0.719 0.237 0.653 | t = < 0.616, -0.618, 1.327 > Inliers: 1091/2869 > Betweeen fragments 6 and 11. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Downsampling... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 14017ms. | 0.539 0.262 -0.801 | R = | 0.224 0.872 0.436 | | 0.812 -0.414 0.411 | t = < 0.744, 0.304, 0.739 > Inliers: 1032/2592 > Betweeen fragments 2 and 7. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13835ms. > Betweeen fragments 1 and 5. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 13839ms. | -0.416 -0.010 -0.909 | R = | -0.048 -0.998 0.033 | | -0.908 0.057 0.415 | t = < 3.930, 3.969, 2.971 > Inliers: 1371/2737 > Betweeen fragments 3 and 6. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13736ms. | -0.959 0.019 -0.282 | R = | -0.027 0.987 0.157 | | 0.281 0.158 -0.947 | t = < 4.702, -0.633, 1.000 > Inliers: 677/1999 > Betweeen fragments 0 and 6. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 14036ms. | 0.905 0.421 -0.060 | R = | -0.167 0.223 -0.960 | | -0.391 0.879 0.273 | t = < -0.369, 2.684, 0.204 > Inliers: 1019/2669 > Betweeen fragments 7 and 13. > Loading point clouds... > Downsampling... Alignment took 13885ms. > Betweeen fragments 6 and 12. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Estimating features... > Downsampling... > Estimating scene normals... Alignment failed! Alignment took 14088ms. | -0.744 -0.635 -0.208 | R = | 0.485 -0.726 0.487 | | -0.460 0.262 0.848 | t = < 5.164, 2.242, -0.041 > Inliers: 1284/3280 > Betweeen fragments 4 and 10. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... Alignment took 14072ms. | 0.658 -0.751 0.049 | R = | 0.381 0.389 0.839 | | -0.649 -0.533 0.543 | t = < 2.310, 0.381, 1.964 > Inliers: 1104/2737 > Betweeen fragments 5 and 11. > Loading point clouds... > Estimating scene normals... > Downsampling... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment took 13735ms. > Betweeen fragments 1 and 6. > Loading point clouds... Alignment failed! Alignment took 13793ms. > Betweeen fragments 2 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... > Starting alignment... > Estimating object normals... > Estimating features... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 14401ms. > Betweeen fragments 3 and 7. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 14406ms. > Betweeen fragments 0 and 7. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 14522ms. > Betweeen fragments 7 and 14. > Loading point clouds... Alignment failed! Alignment took 14407ms. | -0.727 0.505 -0.465 | R = | -0.417 -0.863 -0.285 | | -0.546 -0.013 0.838 | t = < 2.497, 4.736, 1.240 > Inliers: 1126/2869 > Betweeen fragments 6 and 13. > Loading point clouds... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating features... Alignment took 14440ms. | -0.764 -0.313 -0.564 | R = | 0.222 -0.948 0.227 | | -0.606 0.048 0.794 | t = < 5.086, 2.950, 1.325 > Inliers: 1320/2144 > Betweeen fragments 5 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 14391ms. | 0.947 -0.309 -0.085 | R = | 0.065 0.446 -0.893 | | 0.313 0.840 0.443 | t = < 0.510, 0.970, -0.886 > Inliers: 409/1114 > Betweeen fragments 1 and 7. > Loading point clouds... > Downsampling... Alignment took 14591ms. > Betweeen fragments 4 and 11. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Estimating features... > Downsampling... > Starting alignment... > Starting alignment... > Estimating scene normals... Alignment failed! Alignment took 14283ms. > Betweeen fragments 2 and 9. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... > Starting alignment... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 13750ms. > Betweeen fragments 3 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13788ms. > Betweeen fragments 0 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13970ms. | -0.880 0.440 0.178 | R = | -0.455 -0.675 -0.580 | | -0.135 -0.592 0.795 | t = < 2.156, 4.317, 1.595 > Inliers: 1507/2669 > Betweeen fragments 8 and 9. > Loading point clouds... Alignment took 13720ms. > Betweeen fragments 1 and 8. > Loading point clouds... > Downsampling... > Estimating scene normals... Alignment failed! Alignment took 14250ms. | -0.934 0.357 -0.029 | R = | -0.110 -0.361 -0.926 | | -0.340 -0.862 0.376 | t = < 2.577, 2.697, 2.148 > Inliers: 995/2869 > Betweeen fragments 6 and 14. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... Alignment took 14157ms. | 0.914 -0.405 0.012 | R = | 0.395 0.882 -0.257 | | 0.093 0.240 0.966 | t = < 1.009, -0.430, -0.628 > Inliers: 1026/2737 > Betweeen fragments 5 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... > Downsampling... > Estimating object normals... > Estimating scene normals... > Estimating features... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13928ms. | 0.968 0.090 -0.235 | R = | -0.087 0.996 0.023 | | 0.236 -0.002 0.972 | t = < -0.041, 0.374, -0.567 > Inliers: 1724/2144 > Betweeen fragments 4 and 12. > Loading point clouds... > Starting alignment... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 14045ms. > Betweeen fragments 2 and 10. > Loading point clouds... > Starting alignment... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 14216ms. > Betweeen fragments 3 and 9. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 14154ms. | 0.999 0.041 -0.008 | R = | -0.022 0.676 0.736 | | 0.035 -0.736 0.677 | t = < 0.778, -0.413, 2.114 > Inliers: 1034/1999 > Betweeen fragments 0 and 9. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 14047ms. | -0.043 -0.444 -0.895 | R = | -0.411 0.824 -0.389 | | 0.911 0.351 -0.218 | t = < 3.057, 1.953, -1.308 > Inliers: 530/1114 > Betweeen fragments 1 and 9. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 14390ms. > Betweeen fragments 9 and 10. > Loading point clouds... Alignment failed! Alignment took 14394ms. > Betweeen fragments 5 and 14. > Loading point clouds... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 14308ms. | 0.926 0.331 -0.183 | R = | -0.330 0.943 0.040 | | 0.186 0.023 0.982 | t = < -0.394, 0.706, -0.299 > Inliers: 1645/3088 > Betweeen fragments 8 and 10. > Loading point clouds... Alignment took 14495ms. > Estimating scene normals... | 0.762 0.439 -0.476 | R = | -0.556 0.820 -0.136 | | 0.330 0.368 0.869 | t = < -0.414, 2.048, -1.549 > Inliers: 1317/3169 > Betweeen fragments 4 and 13. > Loading point clouds... > Starting alignment... > Estimating object normals... > Estimating features... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment took 14529ms. | 0.727 -0.379 -0.573 | R = | 0.686 0.457 0.567 | | 0.047 -0.805 0.592 | t = < 1.219, -0.096, 1.655 > Inliers: 919/2592 > Betweeen fragments 2 and 11. > Loading point clouds... > Starting alignment... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment took 14069ms. > Betweeen fragments 3 and 10. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13621ms. > Betweeen fragments 0 and 10. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13408ms. > Betweeen fragments 1 and 10. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 13618ms. > Betweeen fragments 10 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Starting alignment... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 13886ms. | 0.806 0.533 -0.257 | R = | -0.293 0.737 0.609 | | 0.514 -0.416 0.750 | t = < 0.314, 1.344, 0.637 > Inliers: 1101/3280 > Betweeen fragments 4 and 14. > Loading point clouds... > Downsampling... Alignment took 13786ms. > Betweeen fragments 8 and 11. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Estimating features... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13717ms. | 0.221 0.118 -0.968 | R = | -0.975 0.006 -0.222 | | -0.021 0.993 0.117 | t = < 1.527, 4.575, -0.645 > Inliers: 1330/2144 > Betweeen fragments 2 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 19789ms. | 0.920 0.246 -0.305 | R = | 0.064 0.673 0.737 | | 0.386 -0.697 0.604 | t = < -0.480, 0.980, 0.197 > Inliers: 3737/5189 > Betweeen fragments 9 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13773ms. > Betweeen fragments 3 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13521ms. | -0.068 -0.946 -0.316 | R = | -0.652 -0.198 0.732 | | -0.755 0.256 -0.604 | t = < 3.600, 2.754, 2.827 > Inliers: 807/1999 > Betweeen fragments 0 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13647ms. | 0.853 0.258 -0.454 | R = | -0.229 -0.596 -0.769 | | -0.469 0.760 -0.449 | t = < -0.422, 4.049, 1.271 > Inliers: 565/1114 > Betweeen fragments 1 and 11. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13809ms. | -0.262 -0.458 -0.849 | R = | 0.311 -0.873 0.375 | | -0.914 -0.166 0.371 | t = < 4.012, 1.413, 3.138 > Inliers: 816/2144 > Betweeen fragments 10 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13912ms. > Betweeen fragments 8 and 12. > Loading point clouds... Alignment failed! Alignment took 13995ms. | -0.828 -0.533 -0.171 | R = | 0.515 -0.845 0.140 | | -0.219 0.028 0.975 | t = < 4.141, 3.134, -0.033 > Inliers: 1902/3280 > Betweeen fragments 11 and 12. > Loading point clouds... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating features... Alignment took 14048ms. > Betweeen fragments 2 and 13. > Loading point clouds... > Starting alignment... > Downsampling... > Estimating scene normals... > Starting alignment... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 13822ms. > Betweeen fragments 9 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 14183ms. > Betweeen fragments 3 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 13813ms. | -0.941 -0.275 -0.196 | R = | -0.202 -0.007 0.979 | | -0.271 0.961 -0.049 | t = < 4.609, 1.685, 0.324 > Inliers: 1201/1999 > Betweeen fragments 0 and 12. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13377ms. | 0.254 -0.136 -0.958 | R = | -0.711 -0.697 -0.090 | | -0.655 0.704 -0.274 | t = < 1.433, 5.659, 2.216 > Inliers: 541/1114 > Betweeen fragments 1 and 12. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 13807ms. | -0.749 0.227 -0.622 | R = | -0.509 -0.798 0.322 | | -0.423 0.558 0.714 | t = < 3.986, 3.947, 0.290 > Inliers: 1624/2144 > Betweeen fragments 11 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... Alignment took 13979ms. | 0.543 -0.736 0.404 | R = | 0.531 0.673 0.514 | | -0.651 -0.064 0.757 | t = < 1.941, -0.604, 2.242 > Inliers: 1164/3088 > Betweeen fragments 8 and 13. > Loading point clouds... > Estimating object normals... > Estimating features... > Downsampling... Alignment took 14435ms. | 0.694 -0.265 -0.669 | R = | -0.218 0.808 -0.547 | | 0.686 0.525 0.504 | t = < 0.820, 0.396, -2.691 > Inliers: 1056/3169 > Betweeen fragments 10 and 13. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Estimating features... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13973ms. | 0.487 0.384 -0.784 | R = | 0.485 0.628 0.609 | | 0.726 -0.677 0.120 | t = < 0.403, 0.348, 0.940 > Inliers: 1530/2592 > Betweeen fragments 2 and 14. > Loading point clouds... > Starting alignment... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 14001ms. | 0.919 -0.109 0.378 | R = | 0.011 0.968 0.252 | | -0.394 -0.228 0.891 | t = < -0.180, 0.219, 1.809 > Inliers: 2306/3169 > Betweeen fragments 9 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13806ms. | 0.152 0.066 -0.986 | R = | -0.978 -0.133 -0.160 | | -0.142 0.989 0.044 | t = < 1.826, 3.761, -0.967 > Inliers: 1076/3169 > Betweeen fragments 3 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13802ms. | 0.930 0.049 0.365 | R = | -0.345 0.464 0.816 | | -0.129 -0.884 0.449 | t = < -0.084, 1.308, 2.980 > Inliers: 1280/1999 > Betweeen fragments 0 and 13. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment took 13428ms. > Betweeen fragments 1 and 13. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13538ms. | -0.873 0.475 -0.116 | R = | -0.385 -0.814 -0.435 | | -0.301 -0.335 0.893 | t = < 2.591, 3.177, 1.546 > Inliers: 1387/2144 > Betweeen fragments 11 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13662ms. > Betweeen fragments 8 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment failed! Alignment took 13734ms. > Betweeen fragments 12 and 13. > Loading point clouds... > Downsampling... Alignment failed! Alignment took 13949ms. > Betweeen fragments 10 and 14. > Loading point clouds... > Estimating scene normals... > Estimating object normals... > Estimating features... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... Alignment failed! Alignment took 13777ms. | 0.682 0.011 -0.732 | R = | 0.630 0.499 0.595 | | 0.372 -0.866 0.333 | t = < 1.145, 0.371, 1.561 > Inliers: 1310/3204 > Betweeen fragments 3 and 14. > Loading point clouds... Alignment took 14180ms. | 0.911 -0.408 -0.052 | R = | 0.228 0.397 0.889 | | -0.342 -0.822 0.455 | t = < 1.032, 1.394, 2.497 > Inliers: 1761/3466 > Betweeen fragments 9 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment took 13626ms. | 0.969 -0.109 0.220 | R = | -0.246 -0.449 0.859 | | 0.005 -0.887 -0.462 | t = < 1.094, 2.827, 2.527 > Inliers: 1225/1999 > Betweeen fragments 0 and 14. > Loading point clouds... > Downsampling... > Downsampling... > Estimating scene normals... > Estimating scene normals... > Estimating object normals... > Estimating object normals... > Estimating features... > Estimating features... Alignment took 13436ms. | 0.201 0.535 -0.821 | R = | 0.393 0.723 0.568 | | 0.897 -0.437 -0.065 | t = < 0.004, 0.493, -0.083 > Inliers: 711/1114 > Betweeen fragments 1 and 14. > Loading point clouds... > Downsampling... > Starting alignment... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... > Starting alignment... > Starting alignment... Alignment took 13614ms. > Betweeen fragments 13 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... Alignment failed! Alignment took 13736ms. | 0.408 0.878 -0.252 | R = | -0.615 0.468 0.634 | | 0.674 -0.104 0.731 | t = < 0.022, 1.834, -0.147 > Inliers: 1260/3088 > Starting alignment... Alignment took 13546ms. Alignment failed! Alignment took 11700ms. Alignment failed! Alignment took 11598ms. | 0.486 0.836 -0.255 | R = | 0.116 0.228 0.967 | | 0.866 -0.500 0.014 | t = < 0.095, 0.560, 1.517 > Inliers: 1609/1999 Alignment took 11178ms. | -0.270 -0.204 -0.941 | R = | 0.685 -0.728 -0.039 | | -0.677 -0.655 0.336 | t = < 2.321, 2.234, 3.973 > Inliers: 500/1114 Alignment took 11321ms. | 0.901 0.287 -0.324 | R = | -0.152 0.911 0.383 | | 0.405 -0.296 0.865 | t = < 0.485, 0.482, 0.431 > Inliers: 2450/4250 Alignment took 8397ms. Alignment failed! Alignment took 28005ms. | 0.976 0.206 -0.071 | R = | -0.061 0.573 0.818 | | 0.209 -0.794 0.572 | t = < -0.435, 1.368, 0.967 > Inliers: 2134/3169 > Betweeen fragments 12 and 14. > Loading point clouds... > Downsampling... > Estimating scene normals... > Estimating object normals... > Estimating features... > Starting alignment... Alignment took 2645ms. | 0.763 -0.351 -0.542 | R = | 0.398 0.917 -0.033 | | 0.509 -0.191 0.840 | t = < 2.144, -0.316, -0.330 > Inliers: 1947/3169 iteration= 0 chi2= 6016.316438 time= 0 cumTime= 0 edges= 140 schur= 0 lambda= 1.784674 levenbergIter= 1 iteration= 1 chi2= 5742.702218 time= 0 cumTime= 0 edges= 140 schur= 0 lambda= 76.146106 levenbergIter= 4 iteration= 2 chi2= 5208.035073 time= 0.015625 cumTime= 0.015625 edges= 140 schur= 0 lambda= 29.196181 levenbergIter= 1 iteration= 3 chi2= 5107.718684 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 9.732060 levenbergIter= 1 iteration= 4 chi2= 5008.646440 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 3.244020 levenbergIter= 1 iteration= 5 chi2= 4945.393977 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 1.081340 levenbergIter= 1 iteration= 6 chi2= 4913.041126 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 0.360447 levenbergIter= 1 iteration= 7 chi2= 4864.620126 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 0.205894 levenbergIter= 1 iteration= 8 chi2= 4735.417551 time= 0 cumTime= 0.015625 edges= 140 schur= 0 lambda= 7418118211031999.000000 levenbe rgIter= 10 Load file : ../sandbox/pcds/cloud_bin_0.pcd Load file : ../sandbox/pcds/cloud_bin_3.pcd Load file : ../sandbox/pcds/cloud_bin_1.pcd Load file : ../sandbox/pcds/cloud_bin_2.pcd Load file : ../sandbox/pcds/cloud_bin_4.pcd Load file : ../sandbox/pcds/cloud_bin_5.pcd Load file : ../sandbox/pcds/cloud_bin_6.pcd Load file : ../sandbox/pcds/cloud_bin_7.pcd Load file : ../sandbox/pcds/cloud_bin_8.pcd Load file : ../sandbox/pcds/cloud_bin_9.pcd Load file : ../sandbox/pcds/cloud_bin_10.pcd Load file : ../sandbox/pcds/cloud_bin_11.pcd Load file : ../sandbox/pcds/cloud_bin_12.pcd Load file : ../sandbox/pcds/cloud_bin_13.pcd Load file : ../sandbox/pcds/cloud_bin_14.pcd Align pair <0, 1> ... Align pair <1, 2> ... Align pair <3, 4> ... Align pair <2, 3> ... Align pair <4, 5> ... Align pair <5, 6> ... Align pair <7, 8> ... Align pair <6, 7> ... <3, 4> : 98437 inliers with ratio 0.72(136737) and 0.75(131383) ... accept. <4, 5> : 64787 inliers with ratio 0.49(131383) and 0.54(120654) ... accept. <2, 3> : 49822 inliers with ratio 0.45(110391) and 0.36(136737) ... accept. <5, 6> : 56258 inliers with ratio 0.47(120654) and 0.47(119209) ... accept. <1, 2> : 21850 inliers with ratio 0.44(49819) and 0.20(110391) ... accept. <0, 1> : 18812 inliers with ratio 0.21(88715) and 0.38(49819) ... accept. <7, 8> : 90098 inliers with ratio 0.74(121236) and 0.47(190726) ... accept. <6, 7> : 5857 inliers with ratio 0.05(119209) and 0.05(121236) ... accept. <3, 4> : ICP fitness score is 0.013517 Matrix from : 0.927905 -0.144667 -0.343609 0.356341 0.0328598 0.949796 -0.311147 -0.113896 0.371371 0.277423 0.886072 -1.39909 0 0 0 1 To : 0.934241 -0.144121 -0.326228 0.278615 0.0298364 0.943093 -0.331193 -0.114708 0.355395 0.29968 0.885375 -1.42246 0 0 0 1 Align pair <8, 9> ... <2, 3> : ICP fitness score is 0.089556 Matrix from : 0.910074 -0.0265563 -0.413601 0.0480943 0.0243372 0.99965 -0.0106343 -0.0397947 0.413737 -0.00038808 0.910398 -0.847931 0 0 0 1 To : 0.900219 0.0104632 -0.435317 -0.0478564 -0.0205269 0.999622 -0.0184222 0.023931 0.434958 0.0255195 0.900091 -0.965364 0 0 0 1 Align pair <9, 10> ... <4, 5> : ICP fitness score is 0.093146 Matrix from : 0.958581 -0.0153765 -0.284412 -0.0164126 0.104164 0.9483 0.299806 0.0435138 0.265097 -0.317013 0.910622 -0.0119794 0 0 0 1 To : 0.955216 0.0571796 -0.290341 -0.169623 0.0401119 0.947082 0.318486 0.21649 0.293186 -0.315868 0.902372 -0.125586 0 0 0 1 Align pair <10, 11> ... <8, 9> : 7040 inliers with ratio 0.04(190726) and 0.02(297394) ... accept. <10, 11> : 10681 inliers with ratio 0.05(206931) and 0.09(123378) ... accept . <5, 6> : ICP fitness score is 0.228207 Matrix from : 0.995537 -0.0609515 -0.0720599 0.156921 0.0879735 0.875791 0.474609 0.332584 0.0341809 -0.478831 0.877241 0.874996 0 0 0 1 To : 0.994715 -0.0367157 -0.0958947 0.0533768 0.0772359 0.882927 0.463117 0.358504 0.0676639 -0.468077 0.881093 0.746464 0 0 0 1 Align pair <11, 12> ... <9, 10> : 7181 inliers with ratio 0.02(297394) and 0.03(206931) ... accept. <11, 12> : 0 inliers with ratio 0.00(123378) and 0.00(128551) ... accept. <1, 2> : ICP fitness score is 0.198875 Matrix from : 0.954729 -0.0318468 -0.295778 -0.0855478 0.0338507 0.999428 0.00165563 -0.0927407 0.295555 -0.0115928 0.955258 -0.60572 0 0 0 1 To : 0.948015 -0.027027 -0.317085 -0.11394 0.031322 0.999476 0.00845513 -0.0898162 0.316689 -0.0179471 0.948362 -0.63542 0 0 0 1 Align pair <12, 13> ... <11, 12> : ICP fitness score is 1.393448 Matrix from : 0.997411 0.0716759 -0.0057634 -0.105692 -0.0452494 0.687918 0.724373 1.09132 0.0558849 -0.722239 0.689382 1.17895 0 0 0 1 To : 0.997411 0.0716759 -0.0057634 -0.105692 -0.0452494 0.687918 0.724373 1.09132 0.0558849 -0.722238 0.689382 1.17895 0 0 0 1 Align pair <13, 14> ... <13, 14> : 2775 inliers with ratio 0.02(159494) and 0.01(201203) ... accept. <8, 9> : ICP fitness score is 7.968908 Matrix from : 0.991944 0.0435934 -0.118955 -0.0455909 0.00930551 0.911329 0.411572 0.385249 0.126349 -0.409363 0.903581 0.522023 0 0 0 1 To : 0.968369 -0.201754 -0.146836 -0.575485 0.0892901 -0.269316 0.958904 -1.56543 -0.233008 -0.941681 -0.242782 3.88625 0 0 0 1 Align pair <0, 2> ... <0, 2> : 46955 inliers with ratio 0.53(88715) and 0.43(110391) ... accept. <10, 11> : ICP fitness score is 0.117169 Matrix from : 0.995458 -0.0948072 -0.00867481 0.169484 0.072403 0.813075 -0.577639 -0.0826762 0.061818 0.574388 0.816246 -1.39656 0 0 0 1 To : 0.809516 -0.062231 0.583791 -0.147854 0.399843 0.786551 -0.470599 -0.837127 -0.429895 0.614383 0.661608 -0.153209 0 0 0 1 Align pair <2, 4> ... <2, 4> : 52160 inliers with ratio 0.47(110391) and 0.40(131383) ... accept. <12, 13> : 0 inliers with ratio 0.00(128551) and 0.00(159494) ... accept. <0, 2> : ICP fitness score is 0.227459 Matrix from : 0.997786 0.0611822 -0.0260761 -0.392137 -0.0660544 0.957326 -0.281359 -0.0260254 0.00774916 0.282459 0.959248 -0.682633 -0 0 -0 1 To : 0.997748 0.0660225 -0.0117741 -0.412399 -0.0667495 0.960653 -0.269612 -0.0444901 -0.00648964 0.269791 0.962897 -0.638601 0 0 0 1 Align pair <1, 3> ... <1, 3> : 41981 inliers with ratio 0.84(49819) and 0.31(136737) ... accept. <0, 1> : ICP fitness score is 0.704485 Matrix from : 0.943309 0.115387 0.311223 -0.181905 -0.0236906 0.958648 -0.283617 -0.11286 -0.331079 0.260164 0.90703 -0.030684 0 0 0 1 To : 0.949021 0.107901 0.296178 -0.111714 -0.00771378 0.94726 -0.320381 -0.107387 -0.315127 0.301762 0.899798 -0.108471 0 0 0 1 Align pair <4, 11> ... <4, 11> : 93018 inliers with ratio 0.71(131383) and 0.75(123378) ... accept. <2, 4> : ICP fitness score is 0.210610 Matrix from : 0.672894 -0.266003 -0.690257 0.90142 0.00162633 0.933639 -0.358209 -0.0134481 0.739737 0.239914 0.628673 -2.15436 -0 0 -0 1 To : 0.689175 -0.240695 -0.683449 0.792302 -0.00225771 0.942497 -0.334203 -0.0593408 0.724591 0.231867 0.649003 -2.12595 0 0 0 1 Align pair <4, 12> ... <4, 12> : 42723 inliers with ratio 0.33(131383) and 0.33(128551) ... accept. <1, 3> : ICP fitness score is 0.428480 Matrix from : 0.71396 -0.0243566 -0.699763 0.145827 0.0138796 0.99969 -0.0206351 -0.092907 0.700049 0.00502018 0.714077 -1.58321 -0 0 -0 1 To : 0.718121 -0.0211352 -0.695597 0.122888 0.0151159 0.999776 -0.0147721 -0.0907567 0.695754 9.3555e-005 0.71828 -1.56756 0 0 0 1 Align pair <4, 13> ... <4, 13> : 44627 inliers with ratio 0.34(131383) and 0.28(159494) ... accept. <7, 8> : ICP fitness score is 0.023410 Matrix from : 0.999972 -0.00379734 0.00634741 -0.0237351 0.00386083 0.999942 -0.0100209 -0.0242519 -0.006309 0.0100451 0.999929 -0.0409355 0 0 0 1 To : 0.998315 0.0579912 -0.00163769 -0.16811 -0.0576699 0.995065 0.0807456 -0.00609627 0.00631214 -0.0805152 0.996733 0.0595183 0 0 0 1 Align pair <9, 12> ... <4, 11> : ICP fitness score is 0.001778 Matrix from : 0.967729 0.0900432 -0.235357 -0.0409663 -0.0870742 0.995936 0.0230002 0.37406 0.236471 -0.00176442 0.971637 -0.567423 0 0 0 1 To : 0.973963 0.0231367 -0.225524 0.014043 -0.0204936 0.999691 0.0140553 0.248096 0.225779 -0.00906746 0.974136 -0.569063 0 0 0 1 Align pair <12, 14> ... <9, 12> : 82515 inliers with ratio 0.28(297394) and 0.64(128551) ... accept. <12, 14> : 85693 inliers with ratio 0.67(128551) and 0.43(201203) ... accept . <6, 7> : ICP fitness score is 0.159774 Matrix from : 0.687692 0.241835 -0.684542 0.0778434 -0.289168 0.956111 0.0472765 0.696677 0.665932 0.165436 0.727438 -1.63944 0 0 0 1 To : 0.874883 0.317282 -0.365944 -0.871963 -0.238525 0.939829 0.244599 0.432569 0.421532 -0.126709 0.897917 -0.906317 0 0 0 1 <9, 12> : ICP fitness score is 0.005123 Matrix from : 0.919224 -0.109104 0.378317 -0.179804 0.0109687 0.967564 0.252389 0.219227 -0.393583 -0.227852 0.890604 1.80899 0 0 0 1 To : 0.89461 -0.196988 0.401085 0.0789677 0.0770622 0.952151 0.295753 0.0597335 -0.440153 -0.233675 0.866984 1.93087 0 0 0 1 <4, 12> : ICP fitness score is 0.086621 Matrix from : 0.76247 0.438702 -0.475584 -0.413588 -0.556296 0.819846 -0.135603 2.04765 0.330416 0.367959 0.869156 -1.54856 0 0 0 1 To : 0.760141 0.416501 -0.498711 -0.295323 -0.536964 0.834851 -0.121215 1.89018 0.365863 0.359931 0.858251 -1.54892 0 0 0 1 <12, 14> : ICP fitness score is 0.097522 Matrix from : 0.763139 -0.351467 -0.5423 2.14445 0.398383 0.916609 -0.0334427 -0.315589 0.508832 -0.190522 0.839519 -0.329594 -0 0 -0 1 To : 0.750508 -0.351998 -0.559316 2.1589 0.386843 0.92019 -0.0600309 -0.284288 0.535808 -0.171314 0.826778 -0.40493 0 0 0 1 <12, 13> : ICP fitness score is 2.067084 Matrix from : 0.999043 0.0115009 0.0422457 -0.0457323 0.0182457 0.767743 -0.640503 0.136072 -0.0397995 0.64066 0.766795 -1.27701 0 0 0 1 To : 0.999043 0.0115009 0.0422457 -0.0457322 0.0182457 0.767743 -0.640503 0.136072 -0.0397995 0.64066 0.766795 -1.27701 0 0 0 1 <4, 13> : ICP fitness score is 0.025621 Matrix from : 0.806124 0.53295 -0.257155 0.313612 -0.293014 0.737057 0.609007 1.34351 0.514108 -0.415585 0.750321 0.636505 -0 -0 -0 1 To : 0.774498 0.572597 -0.26886 0.279425 -0.338341 0.73409 0.588759 1.398 0.534489 -0.365026 0.762284 0.523344 0 0 0 1 <13, 14> : ICP fitness score is 0.792443 Matrix from : 0.991597 -0.0998084 -0.0822723 0.0496246 0.117945 0.958821 0.258354 -0.0397076 0.0530987 -0.265887 0.962539 0.353763 0 0 0 1 To : 0.898471 -0.129108 -0.419616 0.671637 0.364255 0.752766 0.548322 -0.491096 0.24508 -0.645499 0.723369 0.760668 0 0 0 1 <9, 10> : ICP fitness score is 0.322991 Matrix from : 0.997577 0.044863 0.0531626 -0.0880468 -0.0330488 0.978143 -0.205296 -0.0088751 -0.0612108 0.203042 0.977255 -0.261598 0 0 0 1 To : 0.978111 0.208075 -0.00148497 -0.247224 -0.207666 0.976595 0.0560387 0.0875076 0.0131104 -0.0545042 0.998428 0.0868655 0 0 0 1 Registration with dist 0.050000, num 0 and ratio 0.250000 1 / 22 2 / 22 3 / 22 4 / 22 [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences f ound. Relax your threshold parameters. 5 / 22 6 / 22 [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences f ound. Relax your threshold parameters. 7 / 22 8 / 22 9 / 22 10 / 22 11 / 22 12 / 22 13 / 22 14 / 22 15 / 22 16 / 22 17 / 22 [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences f ound. Relax your threshold parameters. 18 / 22 19 / 22 20 / 22 21 / 22 22 / 22 Neat Registration took 640490ms. Processing pair <1, 2> Processing pair <2, 3> Processing pair <0, 1> Processing pair <4, 5> Processing pair <3, 4> Processing pair <5, 6> Processing pair <7, 8> Processing pair <6, 7> <3, 4> : Corresponce number is 86715, ratio is 0.88(98437) Processing pair <8, 9> <2, 3> : Corresponce number is 53208, ratio is 1.07(49822) Processing pair <9, 10> <4, 5> : Corresponce number is 38076, ratio is 0.59(64787) Processing pair <10, 11> <5, 6> : Corresponce number is 45502, ratio is 0.81(56258) Processing pair <11, 12> <1, 2> : Corresponce number is 29773, ratio is 1.36(21850) Processing pair <12, 13> <10, 11> : Corresponce number is 1467, ratio is 0.14(10681) Processing pair <13, 14> <0, 1> : Corresponce number is 13804, ratio is 0.73(18812) Processing pair <0, 2> <6, 7> : Corresponce number is 939, ratio is 0.16(5857) Processing pair <2, 4> <7, 8> : Corresponce number is 50857, ratio is 0.56(90098) Processing pair <1, 3> <0, 2> : Corresponce number is 31493, ratio is 0.67(46955) Processing pair <4, 11> <1, 3> : Corresponce number is 29904, ratio is 0.71(41981) Processing pair <4, 12> <2, 4> : Corresponce number is 36696, ratio is 0.70(52160) Processing pair <4, 13> <4, 11> : Corresponce number is 37217, ratio is 0.40(93018) Processing pair <9, 12> <9, 12> : Corresponce number is 54950, ratio is 0.67(82515) Processing pair <12, 14> <4, 12> : Corresponce number is 23034, ratio is 0.54(42723) <12, 14> : Corresponce number is 51762, ratio is 0.60(85693) <4, 13> : Corresponce number is 7692, ratio is 0.17(44627) <11, 12> : Corresponce number is 0, ratio is -1.#J(0) <13, 14> : Corresponce number is 14469, ratio is 5.21(2775) <8, 9> : Corresponce number is 0, ratio is 0.00(7040) <9, 10> : Corresponce number is 207, ratio is 0.03(7181) <12, 13> : Corresponce number is 0, ratio is -1.#J(0) <10, 11> : Reduced too much!! <6, 7> : Reduced too much!! <4, 11> : Reduced too much!! <4, 13> : Reduced too much!! <8, 9> : Reduced too much!! <9, 10> : Reduced too much!! Registration All took 700998ms. Parameters: weight 1.00000, resolution 12, piece number 15, max iteration 10 IPose initialized. Read ../sandbox/pcds/cloud_bin_1.pcd ... get 49819 points. Read ../sandbox/pcds/cloud_bin_2.pcd ... get 110391 points. Read ../sandbox/pcds/cloud_bin_4.pcd ... get 131383 points. Read ../sandbox/pcds/cloud_bin_5.pcd ... get 120654 points. Read ../sandbox/pcds/cloud_bin_0.pcd ... get 88715 points. Read ../sandbox/pcds/cloud_bin_3.pcd ... get 136737 points. Read ../sandbox/pcds/cloud_bin_6.pcd ... get 119209 points. Read ../sandbox/pcds/cloud_bin_7.pcd ... get 121236 points. Read ../sandbox/pcds/cloud_bin_12.pcd ... get 128551 points. Read ../sandbox/pcds/cloud_bin_11.pcd ... get 123378 points. Read ../sandbox/pcds/cloud_bin_8.pcd ... get 190726 points. Read ../sandbox/pcds/cloud_bin_13.pcd ... get 159494 points. Read ../sandbox/pcds/cloud_bin_10.pcd ... get 206931 points. Read ../sandbox/pcds/cloud_bin_14.pcd ... get 201203 points. Read ../sandbox/pcds/cloud_bin_9.pcd ... get 297394 points. Read ../sandbox/pcds/corres_0_1.txt, get 13804 correspondences. Read ../sandbox/pcds/corres_1_2.txt, get 29773 correspondences. Read ../sandbox/pcds/corres_2_3.txt, get 53208 correspondences. Read ../sandbox/pcds/corres_3_4.txt, get 86715 correspondences. Read ../sandbox/pcds/corres_4_5.txt, get 38076 correspondences. Read ../sandbox/pcds/corres_5_6.txt, get 45502 correspondences. Read ../sandbox/pcds/corres_7_8.txt, get 50857 correspondences. Read ../sandbox/pcds/corres_13_14.txt, get 14469 correspondences. Read ../sandbox/pcds/corres_0_2.txt, get 31493 correspondences. Read ../sandbox/pcds/corres_2_4.txt, get 36696 correspondences. Read ../sandbox/pcds/corres_1_3.txt, get 29904 correspondences. Read ../sandbox/pcds/corres_4_11.txt, get 37217 correspondences. Read ../sandbox/pcds/corres_4_12.txt, get 23034 correspondences. Read ../sandbox/pcds/corres_9_12.txt, get 54950 correspondences. Read ../sandbox/pcds/corres_12_14.txt, get 51762 correspondences. Processing 15 : 15 ... Done. Data error score is : 465621.43 CHOLMOD warning: matrix not positive definite SLAC optimization. Regularization error score is : 0.00 Processing 15 : 15 ... Done. Data error score is : 1.#R CHOLMOD warning: matrix not positive definite Regularization error score is : 1.#R Processing 15 : 15 ... Done. Data error score is : -1.#J CHOLMOD warning: matrix not positive definite Regularization error score is : -1.#J Processing 15 : 15 ... Done. Data error score is : 1.#R CHOLMOD warning: matrix not positive definite Regularization error score is : 1.#R Processing 15 : 15 ... Done. Data error score is : -1.#J CHOLMOD warning: matrix not positive definite Regularization error score is : -1.#J Processing 15 : 15 ... Done. Data error score is : 1.#R CHOLMOD warning: matrix not positive definite Regularization error score is : 1.#R Processing 15 : 15 ... Done. Data error score is : -1.#J CHOLMOD warning: matrix not positive definite Regularization error score is : -1.#J Processing 15 : 15 ... Done. Data error score is : 1.#R CHOLMOD warning: matrix not positive definite Regularization error score is : 1.#R Processing 15 : 15 ... Done. Data error score is : -1.#J CHOLMOD warning: matrix not positive definite Regularization error score is : -1.#J Processing 15 : 15 ... Done. Data error score is : 1.#R CHOLMOD warning: matrix not positive definite Regularization error score is : 1.#R Neat Optimization took 40859ms. Save ctr to file output.ctr ... Done. Save sample pcd into sample.pcd ... Optimize All took 41917ms. Registration mode: On PCLException Trajectory created from pose and segment trajectories. Frames processed : 100 / 750 Frames processed : 200 / 750 Frames processed : 300 / 750 Frames processed : 400 / 750 Frames processed : 500 / 750 Frames processed : 600 / 750 Frames processed : 700 / 750 Integrate All took 48702ms. Usage: pcl_kinfu_largeScale_mesh_output [options] Available options: --help, -h : print this message --volume_size : define integration volume size. MUST match the size used when scanning. [pcl::PCDReader::readHeader] Could not find file 'world.pcd'. Couldn't read file world.pcd mkdir: cannot create directory ‘../sandbox/ply/’: File exists mv: cannot stat '*.ply': No such file or directory rm: cannot remove 'world.pcd': No such file or directory