Task03 Игорь Логинов SPbU #24
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Все хорошо, задача зачтена, 10/10 баллов 👍 |
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Будут проблемы с масштабом, как обсуждалось на лекции.
Смотреть на точки, которые есть на всех трёх камерах, чтобы сразу решить проблемы с масштабом.
CI
Running main() from /home/runner/work/PhotogrammetryTasks2024/PhotogrammetryTasks2024/libs/3rdparty/libgtest/googletest/src/gtest_main.cc [==========] Running 9 tests from 1 test suite. [----------] Global test environment set-up. [----------] 9 tests from SFM [ RUN ] SFM.EpipolarDist [ OK ] SFM.EpipolarDist (0 ms) [ RUN ] SFM.FmatrixSimple 28524 estimateFMatrixRANSAC : support: 7/15 F info: F: 0.000298681 0.00118115 -0.0[8](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:9)67859 0.000292934 -0.000654975 0.0323289 -0.0268147 -0.0604167 4.8365[9](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:10) U: -0.0179404 -0.360273 -0.932674 0.00668311 0.93276 -0.360435 0.999817 -0.0126995 -0.0143263 s: 4.83793 0.000573301 4.17125e-20 V: -0.00554228 0.882892 0.469544 -0.0124911 -0.469576 0.882804 0.999907 -0.000972381 0.0136308 estimateFMatrixRANSAC : support: 8/15 F info: F: -0.00030536 -0.000707279 0.0521992 5.98234e-05 0.00111424 -0.0442769 0.0189633 0.0156275 -2.25415 U: 0.0231468 -0.392874 0.919301 -0.0196347 0.919191 0.393322 -0.999539 -0.0271543 0.0135624 s: 2.25532 0.000941271 9.94606e-20 V: -0.00840802 -0.36119 0.932454 -0.00694292 0.932486 0.361139 0.999941 0.00343749 0.0[10](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:11)3481 estimateFMatrixRANSAC : support: 9/15 F info: F: -0.00024467 0.000632109 -0.0409988 -0.000105104 -0.000666823 0.0604289 0.0188323 -0.02[11](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:12)988 0.872356 U: -0.0468084 0.411166 0.910358 0.0689731 -0.907851 0.413581 0.99652 0.0821493 0.0141357 s: 0.875865 0.00177427 2.43927e-20 V: 0.0214313 0.869019 0.494314 -0.0242054 -0.493832 0.869221 0.999477 -0.0305936 0.0104515 estimateFMatrixRANSAC : best support: 9/15 checkFmatrixSpectralProperty: s: 0.875865 0.00177427 2.43927e-20 checkFmatrixSpectralProperty: s: 1.00161 0.000306345 3.75972e-20 [ OK ] SFM.FmatrixSimple (944 ms) [ RUN ] SFM.EmatrixSimple EmatrixSimple: calib: [500, 0, 180; 0, 500, [12](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:13)0; 0, 0, 1] 28524 estimateFMatrixRANSAC : support: 7/8 F info: F: -3.44612e-05 5.34097e-05 -0.00489463 -2.14372e-05 0.000110474 -0.0[13](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:14)6354 0.0117002 -0.0190094 1.7819 U: -0.00274679 -0.0341063 -0.9994[14](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:15) -0.00765145 0.99939 -0.0340845 0.999967 0.00755335 -0.00300608 s: 1.7821 7.6596e-05 2.77409e-20 V: 0.00656534 0.889432 0.45702 -0.0106671 -0.456941 0.889433 0.999922 -0.0107145 0.00648769 estimateFMatrixRANSAC : best support: 7/8 checkEmatrixSpectralProperty: s: 32.0579 32.0579 1.72966e-16 [ OK ] SFM.EmatrixSimple (781 ms) [ RUN ] SFM.EmatrixDecomposeSimple EmatrixSimple: calib: [500, 0, 180; 0, 500, 120; 0, 0, 1] 28524 estimateFMatrixRANSAC : support: 7/8 F info: F: -3.44612e-05 5.34097e-05 -0.00489463 -2.14372e-05 0.000110474 -0.0136354 0.0117002 -0.0190094 1.7819 U: -0.00274679 -0.0341063 -0.999414 -0.00765145 0.99939 -0.0340845 0.999967 0.00755335 -0.00300608 s: 1.7821 7.6596e-05 2.77409e-20 V: 0.00656534 0.889432 0.45702 -0.0106671 -0.456941 0.889433 0.999922 -0.0107145 0.00648769 estimateFMatrixRANSAC : best support: 7/8 U: -0.923566 -0.255888 -0.285566 -0.319359 0.925521 0.203523 0.212218 0.279165 -0.936499 s: 32.0579 32.0579 1.72966e-16 V: 0.852469 0.477009 -0.2139[15](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:16) -0.481648 0.875729 0.0333801 0.203254 0.0745761 0.976282 R0: 0.283499 0.922509 -0.261927 0.897778 -0.15931 0.410628 0.33708 -0.351565 -0.873372 R1: -0.[16](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:17)1326 -0.941573 -0.295659 -0.984851 0.[17](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:18)2897 -0.0132366 0.0635818 0.289044 -0.955202 t0: -0.285566 0.203523 -0.936499 decomposeEMatrix: count: 0 decomposeEMatrix: count: 5 decomposeEMatrix: count: 0 decomposeEMatrix: count: 3 best idx: 1 P0: [1, 0, 0, 0; 0, 1, 0, 0; 0, 0, 1, 0] P1: [0.2834992561387712, 0.9225087241615739, -0.2619271379879297, 0.2855659814638785; 0.8977779005357897, -0.1593099337915578, 0.4106277953388922, -0.2035227617842773; 0.337080128572292, -0.351565070564631, -0.8733721933291515, 0.9364990953899912] E: [-14.21933137335547, 3.451666541372301, -3.233637324985565; 2.64628[18](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:19)54726244, 15.07858382773438, 0.064279[19](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:20)347971539; 4.910988097656023, 2.224408428259856, 1] E1: [-14.21933137335547, 3.451666541372302, -3.233637324985566; 2.646281854726242, 15.07858382773439, 0.06427919347971466; 4.910988097656024, 2.224408428259858, 1] E2: [-14.21933137335547, 3.451666541372302, -3.233637324985566; 2.646281854726242, 15.07858382773439, 0.06427919347971466; 4.910988097656024, 2.224408428259858, 1] RMS1: 2.86942e-15 RMS2: 2.86942e-15 RMS3: 0 [ OK ] SFM.EmatrixDecomposeSimple (780 ms) [ RUN ] SFM.TriangulationSimple P1: [0.7071067811865476, 0, 0.7071067811865475, -1.414213562373095; 0, 1, 0, 0; -0.7071067811865475, 0, 0.7071067811865476, 1.414213562373095] x2: [0, 0, 2] x3: [-2.2[20](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:21)45e-16, 0, 2.82843] X1: [-5.55112e-17, 6.25241e-17, 0.894427, 0.447[21](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:22)4] |X - X1| = 9.07642e-16 [ OK ] SFM.TriangulationSimple (0 ms) [ RUN ] SFM.FmatrixMatchFiltering detecting points... matching points... filtering matches GMS... Get total 4728 matches. filtering matches F... 28524 estimateFMatrixRANSAC : support: 32/16740 F info: F: -2.15837e-06 -3.28524e-07 0.00290713 -3.60439e-06 1.2377e-06 0.00155979 0.0076324 -0.00164691 -5.09943 U: 0.000570088 0.86537 -0.501133 0.000305876 -0.501133 -0.86537 -1 0.000340052 -0.000550386 s: 5.09944 2.92673e-06 4.00313e-[22](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:23) V: -0.00149671 0.865783 0.500418 0.00032296 -0.500418 0.865784 0.999999 0.00145745 0.000469369 estimateFMatrixRANSAC : support: 41/16740 F info: F: 5.94872e-06 -2.4303e-06 -2.78719e-05 -1.54498e-06 6.89621e-07 -6.3624e-05 -0.00281793 0.000803179 0.435307 U: -6.41241e-05 0.946992 -0.321259 -0.000146126 -0.321259 -0.946991 1 1.37806e-05 -0.000158981 s: 0.435317 6.58869e-06 1.35256e-22 V: -0.00647329 0.924447 0.381256 0.00184504 -0.381252 0.924469 0.999977 0.00668779 0.00076[23](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:24)12 estimateFMatrixRANSAC : support: 345/16740 F info: F: -1.93928e-07 3.4459e-06 -0.00572168 -2.31633e-06 -9.82351e-07 0.0027769 0.00398073 -0.000290277 -1.4333 U: -0.00399191 -0.948065 0.318052 0.0019374 0.318047 0.948073 -0.99999 0.00440081 0.000567164 s: 1.43332 1.76472e-05 2.20283e-22 V: -0.00277726 0.961378 0.275218 0.000202508 -0.275218 0.961382 0.999996 0.00272574 0.000569666 estimateFMatrixRANSAC : support: 657/16740 F info: F: -1.29685e-06 -2.09817e-06 0.00[24](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:25)6598 3.43[25](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:26)1e-06 6.88588e-09 -0.00196625 -0.00311083 0.00146007 0.57629 U: 0.00427884 -0.858344 0.513057 -0.00341177 0.513046 0.858354 0.999985 0.0054232 0.00073323 s: 0.576309 1.70424e-05 8.52043e-22 V: -0.00539781 -0.821274 0.570508 0.00253344 0.570503 0.821291 0.999982 -0.00587852 0.000998821 estimateFMatrixRANSAC : support: 664/16740 F info: F: -9.82e-07 -2.31491e-06 0.00298271 3.64376e-06 1.19778e-07 -0.00199253 -0.00405041 0.00124081 0.742772 U: 0.00401547 0.904132 -0.427233 -0.00[26](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:27)8246 -0.4[27](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:28)226 -0.904141 0.999988 -0.00477659 -0.000709786 s: 0.742793 1.8731e-05 3.70052e-22 V: -0.0054529 0.902387 0.430892 0.00167043 -0.43089 0.902403 0.999984 0.00564049 0.000842226 estimateFMatrixRANSAC : support: 948/16740 F info: F: -7.24997e-09 1.19661e-07 -0.000176738 -1.64858e-07 -1.17418e-07 -0.00101529 0.000180129 0.00141741 -0.254783 U: -0.000693657 -0.148123 -0.988969 -0.00398478 -0.988961 0.148124 -0.999992 0.00404357 9.57616e-05 s: 0.254789 5.89781e-06 3.68373e-22 V: -0.000706967 0.151324 0.988484 -0.00556303 0.988468 -0.151325 0.999984 0.00560595 -0.000143004 estimateFMatrixRANSAC : support: 1194/16740 F info: F: -1.01495e-07 2.88623e-06 -0.005319[28](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:29) -2.89085e-06 -2.2407e-07 0.00237648 0.00555121 -0.00190539 -0.203251 U: -0.0261384 -0.919439 -0.392364 0.0116782 0.39219 -0.91981 -0.99959 0.0286244 -0.000486175 s: 0.203419 0.000168001 4.98779e-21 V: -0.0272785 0.939634 0.341091 0.0093626 -0.340963 0.94003 0.999584 0.0288361 0.000503551 estimateFMatrixRANSAC : support: 1379/16740 F info: F: 1.59678e-08 -5.604[29](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:30)e-07 0.000870918 6.55446e-07 1.47297e-07 0.000598884 -0.00102242 -0.0011256 0.425932 U: 0.00204471 0.709377 0.704827 0.00140603 0.704825 -0.709379 0.999997 -0.00244148 -0.000443758 s: 0.425936 3.85256e-06 1.19599e-22 V: -0.00240039 0.770788 -0.637087 -0.00264265 0.637082 0.770792 0.999994 0.0035338 0.000507679 estimateFMatrixRANSAC : support: 2526/16740 F info: F: 8.56098e-09 3.21897e-07 -0.000427329 -1.90365e-07 -1.24435e-08 0.001462 0.000213587 -0.00154205 0.110539 U: -0.00386475 -0.26663 0.963791 0.0132222 0.963701 0.266658 0.999905 -0.013774 0.000199035 s: 0.110561 2.13746e-05 8.54813e-23 V: 0.00193164 -0.146327 0.989234 -0.0139462 0.989136 0.146339 0.999901 0.0140788 0.0001[30](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:31)052 estimateFMatrixRANSAC : support: 2797/16740 F info: F: -1.1833e-08 -5.32986e-08 -6.86794e-05 1.73852e-07 -6.01851e-08 0.001[31](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:32)016 -7.39494e-05 -0.0011576 -0.134786 U: -0.000509485 0.0473743 -0.998877 0.0097191 -0.99883 -0.047377 -0.999953 -0.0097[32](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:33)32 4.84537e-05 s: 0.134797 1.13373e-05 3.78652e-23 V: 0.000548583 0.0481146 0.998842 0.00858732 0.998805 -0.0481175 0.999963 -0.00860377 -0.000134752 estimateFMatrixRANSAC : support: 3489/16740 F info: F: 1.17023e-09 -1.43991e-07 0.000224329 -8.09197e-09 2.76886e-08 -0.00135685 1.27391e-06 0.00138184 -0.0647103 U: 0.00346435 0.158448 0.987361 -0.0209538 -0.987139 0.158486 -0.999774 0.021238 9.97095e-05 s: 0.0647396 2.93041e-05 3.2174e-23 V: -1.96703e-05 0.00120217 0.999999 -0.021[33](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:34)99 0.999772 -0.00120232 0.999772 0.0213399 -5.98833e-06 estimateFMatrixRANSAC : best support: [34](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:35)89/16740 28524 estimateFMatrixRANSAC : support: 1603/4728 F info: F: 1.05897e-07 -1.67164e-06 0.00326882 1.59838e-06 4.1705e-07 -0.00304319 -0.00340146 0.00172922 1.13193 U: 0.00288776 0.796134 0.605113 -0.00268844 -0.605107 0.796139 0.999992 -0.00392587 0.000392953 s: 1.13195 1.50204e-05 6.72678e-23 V: -0.00300494 0.830259 0.55737 0.00152763 -0.557368 0.830264 0.999994 0.003346[35](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:36) 0.000406532 estimateFMatrixRANSAC : support: 2401/4728 F info: F: -2.01332e-08 4.05243e-07 -0.000767161 -3.54617e-07 -9.19511e-08 0.00181823 0.000778812 -0.0015578 -0.26167 U: -0.00293157 -0.414509 0.910041 0.00694807 0.910014 0.414519 -0.999972 0.00753822 0.000212269 s: 0.261683 1.32195e-05 9.74927e-22 V: -0.00297609 0.420326 0.907[36](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:37)8 0.00595282 -0.907349 0.4203[37](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:38) 0.999978 0.00665236 0.000198225 estimateFMatrixRANSAC : support: 2447/4728 F info: F: -3.1391e-08 1.52326e-07 -0.000439396 4.74023e-08 -8.43677e-08 0.00155879 0.000191998 -0.001[38](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:39)679 -0.109862 U: -0.00[39](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:40)9844 0.277066 0.960843 0.0141848 -0.960738 0.277095 -0.999891 -0.0147373 8.86824e-05 s: 0.109883 2.07638e-05 5.79442e-23 V: -0.00174711 -0.138885 0.990307 0.0126193 0.990227 0.138896 0.999919 -0.0127396 -2.25973e-05 estimateFMatrixRANSAC : support: 3230/4728 F info: F: -2.5142e-09 -1.66118e-08 -4.14962e-06 -1.08842e-07 -3.69392e-08 -0.00130224 0.000183851 0.00152935 -0.214267 U: -1.93646e-05 -0.00495395 0.999988 -0.00607722 -0.999969 -0.00495398 -0.999982 0.00607724 1.07422e-05 s: 0.214277 9.41171e-06 9.29336e-23 V: -0.000857989 0.13028 0.991477 -0.00713713 0.991451 -0.130283 0.999974 0.00718808 -7.91723e-05 estimateFMatrixRANSAC : support: 3749/4728 F info: F: -1.49084e-09 5.18999e-08 -8.65591e-05 7.22919e-08 6.05949e-09 0.00137992 -8.10819e-05 -0.00149829 0.118 U: -0.000733389 -0.0596339 0.99822 0.0116916 0.998152 0.0596384 0.999931 -0.0117145 3.4819e-05 s: 0.118017 1.75858e-05 9.08898e-24 V: -0.000686979 0.0581196 0.998309 -0.0126946 0.998229 -0.0581236 0.999919 0.0127131 -5.20446e-05 estimateFMatrixRANSAC : support: [40](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:41)75/4728 F info: F: 1.81447e-09 -5.8519e-08 9.96577e-05 -7.38024e-08 -4.71215e-10 -0.0013893 8.29012e-05 0.00149195 -0.108465 U: 0.000918555 0.0685012 0.997651 -0.0128052 -0.997568 0.0685073 -0.999918 0.012838 3.91526e-05 s: 0.108485 1.91858e-05 6.05746e-25 V: -0.00076[41](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:42)04 0.0593166 0.998239 -0.0137515 0.998144 -0.0593215 0.999905 0.0137726 -5.30085e-05 estimateFMatrixRANSAC : support: 4112/4728 F info: F: -1.57769e-09 6.20288e-08 -0.00010154 6.80306e-08 -1.82709e-09 0.00139623 -7.62483e-05 -0.00149112 0.101105 U: -0.001004 -0.0695[42](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:43)8 -0.997578 0.0138054 0.997483 -0.06955 0.999904 -0.0138418 -4.14129e-05 s: 0.101125 2.06664e-05 5.65018e-23 V: -0.000753916 0.05[43](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:44)578 0.998521 -0.0147438 0.998412 -0.054363 0.999891 0.014763 -4.87237e-05 estimateFMatrixRANSAC : support: 4131/4728 F info: F: -1.77835e-09 4.63981e-08 -8.29137e-05 7.58318e-08 1.1366e-09 0.00138716 -8.26167e-05 -0.00148499 0.0989787 U: -0.000837428 -0.0574384 -0.998349 0.0140102 0.99825 -0.057[44](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:45)45 0.999902 -0.0140352 -3.12371e-05 s: 0.0989996 2.08795e-05 4.88951e-24 V: -0.000834422 0.0591653 0.998248 -0.0149985 0.998135 -0.0591712 0.999887 0.0150216 -5.[45](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:46)225e-05 estimateFMatrixRANSAC : support: 4151/4728 F info: F: 1.57425e-09 -5.56825e-08 9.28322e-05 -6.82443e-08 1.33367e-09 -0.00139512 7.[46](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:47)718e-05 0.00148804 -0.096751 U: 0.000959177 0.0638118 0.997961 -0.0144148 -0.997857 0.063819 -0.999896 0.0144466 3.72864e-05 s: 0.0967726 2.15255e-05 4.5901e-23 V: -0.000771531 0.0532836 0.998579 -0.0153751 0.998461 -0.0532892 0.999881 0.0153944 -4.88977e-05 estimateFMatrixRANSAC : support: 4152/[47](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:48)28 F info: F: 1.75161e-09 -5.49508e-08 9.36472e-05 -6.936[48](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:49)e-08 8.83557e-10 -0.00139384 7.4006e-05 0.0014881 -0.0974072 U: 0.000961084 0.0644672 -0.997919 -0.0143046 -0.997817 -0.0644743 -0.999897 0.0143368 -3.68116e-05 s: 0.0974287 2.13626e-05 1.05861e-23 V: -0.000759504 0.0529118 0.998599 -0.0152722 0.998482 -0.0529172 0.999883 0.015291 -4.97292e-05 estimateFMatrixRANSAC : best support: 4152/4728 n matches gms: 4728 n matches F: 3[49](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:50)8 n matches gms + F: 4152 [ OK ] SFM.FmatrixMatchFiltering (534416 ms) [ RUN ] SFM.RelativePosition2View detecting points... matching points... filtering matches GMS... Get total 4747 matches. 28524 estimateFMatrixRANSAC : support: 3964/4747 F info: F: -1.97453e-09 6.04687e-08 -0.000103909 8.23917e-08 -4.41079e-10 0.0014388 -9.[50](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:51)159e-05 -0.00154565 0.11631 U: -0.000893167 -0.0688887 0.997624 0.0123673 0.997547 0.0688945 0.999923 -0.0123994 3.90092e-05 s: 0.116329 1.92038e-05 2.88628e-24 V: -0.000816716 0.0656366 0.997843 -0.0132859 0.997755 -0.0656417 0.999911 0.0133109 -5.71608e-05 estimateFMatrixRANSAC : support: 4083/4747 F info: F: 1.93996e-09 -6.1827e-08 0.000106089 -7.21642e-08 6.26612e-10 -0.00144539 7.86595e-05 0.00154686 -0.107835 U: 0.000983524 0.0702375 0.99753 -0.0133997 -0.99744 0.0702444 -0.99991 0.0134357 3.98421e-05 s: 0.107856 2.0811e-05 1.67257e-23 V: -0.000729226 0.0542484 0.998527 -0.0143406 0.998424 -0.0542532 0.999897 0.014359 -4.98771e-05 estimateFMatrixRANSAC : support: 4085/4747 F info: F: 1.75[51](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:52)2e-09 -5.87685e-08 9.84688e-05 -7.32919e-08 1.10335e-09 -0.00144519 7.99647e-05 0.00154431 -0.103431 U: 0.000951723 0.06[52](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:53)689 0.997867 -0.013968 -0.997769 0.0652758 -0.999902 0.0140003 3.7927e-05 s: 0.1034[53](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:54) 2.16512e-05 7.49056e-24 V: -0.00077287 0.0550903 0.998481 -0.0149262 0.99837 -0.0550957 0.999888 0.0149461 -5.06794e-05 estimateFMatrixRANSAC : support: 4091/4747 F info: F: -1.79431e-09 5.76877e-08 -9.82017e-05 7.30975e-08 3.72418e-10 0.00144328 -7.98047e-05 -0.001[54](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:55)568 0.105529 U: -0.000930291 -0.0651649 -0.997874 0.0136725 0.99778 -0.0651716 0.999906 -0.0137041 -3.72583e-05 s: 0.10[55](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:56)5 2.12131e-05 8.54268e-25 V: -0.0007[56](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:57)005 0.0549991 0.998486 -0.0146427 0.998379 -0.0550043 0.999893 0.0146621 -5.055[57](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:58)e-05 estimateFMatrixRANSAC : support: 4092/4747 F info: F: 1.39524e-09 -5.15705e-08 8.66867e-05 -6.63061e-08 6.54764e-10 -0.0014488 7.26715e-05 0.00154079 -0.0924718 U: 0.000937073 0.0575953 0.99834 -0.0156612 -0.998217 0.0576029 -0.999877 0.0156892 3.339e-05 s: 0.0924961 2.42036e-05 1.96994e-24 V: -0.000785564 0.0498449 0.998757 -0.0166559 0.998618 -0.049851 0.999861 0.0166743 -4.57319e-05 estimateFMatrixRANSAC : best support: 4092/4747 U: -0.104196 0.017349 0.994405 0.0396478 -0.998981 0.021[58](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:59)32 0.993766 0.0416749 0.103402 s: 4.[59](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:60)222 4.59222 4.98433e-18 V: -0.0049[60](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:61)74 0.133122 0.991087 0.99933 0.0366094 8.46684e-05 -0.0362718 0.990423 -0.133214 R0: 0.999327 0.02123[61](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:62) -0.0299003 0.0210686 -0.999761 -0.00590845 -0.0300186 0.00527452 -0.999535 R1: 0.971758 -0.0210677 -0.235037 0.0217132 0.999764 0.000158071 0.234979 -0.00525701 0.971986 t0: 0.994405 0.0215832 0.103402 decomposeEMatrix: count: 0 decomposeEMatrix: count: 0 decomposeEMatrix: count: 4727 decomposeEMatrix: count: 20 best idx: 2 P0: [1, 0, 0, 0; 0, 1, 0, 0; 0, 0, 1, 0] P1: [0.9717579580423102, -0.02106774705029195, -0.2350374885325009, 0.9944054815367304; 0.0217131563087521, 0.9997642291344271, 0.0001580707322228177, 0.02158322405[62](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:63)0752; 0.234978743346185, -0.005257012218893813, 0.9719862931121906, 0.1034016572838344] Camera positions: R0: [1, 0, 0; 0, 1, 0; 0, 0, 1] O0: [0, 0, 0] R1: [0.9717579580423102, -0.02106774705029195, -0.2350374885325009; 0.02171315[63](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:64)087521, 0.9997[64](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:65)2291344271, 0.0001580707322228177; 0.234978743346185, -0.005257012218893813, 0.9719862931121906] O1: [-0.9910872716102609, -8.466843455534937e-05, 0.1332141617223437] relative_cos_vals: [0.971986, -0.133214, -0.362425] exporting point cloud... exporting 4751 points... [ OK ] SFM.RelativePosition2View (144263 ms) [ RUN ] SFM.Resection detecting points... matching points... filtering matches GMS... Get total 4784 matches. 28524 estimateFMatrixRANSAC : support: 36/4784 F info: F: -1.04775e-06 4.97307e-06 -0.00870291 -2.84446e-06 -2.03719e-06 0.00531366 0.00671732 -0.000135767 -3.33504 U: -0.00260951 -0.920987 0.389585 0.00159327 0.389582 0.92099 -0.999995 0.00302405 0.000450761 s: 3.33506 2.09834e-05 2.27289e-22 V: -0.00201414 0.961252 0.275663 4.0704e-05 -0.275663 0.961254 0.999998 0.00194732 0.000516098 estimateFMatrixRANSAC : support: 954/4784 F info: F: -3.03888e-07 3.18718e-06 -0.00541428 -2.34323e-06 -7.75137e-07 0.00145462 0.00428743 0.000393058 -0.914356 U: -0.00592116 -0.985133 -0.171692 0.00159082 0.171686 -0.98515 -0.999981 0.00610637 -0.000550587 s: 0.914384 2.60926e-05 3.89283e-22 V: -0.00468879 0.99943 0.0334446 -0.000429875 -0.033447 0.99944 0.999989 0.00467179 0.000586456 estimateFMatrixRANSAC : support: 2849/4784 F info: F: 1.32539e-09 -6.94404e-08 8.92417e-05 -7.09607e-09 -6.19331e-09 -0.00148477 -2.04747e-05 0.00157231 -0.0476367 U: 0.00187048 0.0585496 0.998283 -0.0311196 -0.997798 0.0585794 -0.999514 0.0311758 4.43195e-05 s: 0.0476858 4.90508e-05 1.34892e-26 V: 0.000429163 -0.0128674 0.999917 -0.0329562 0.999374 0.0128746 0.999457 0.032959 -4.83253e-06 estimateFMatrixRANSAC : support: 3500/4784 F info: F: 4.27597e-09 -7.19977e-08 0.000141998 -7.05869e-08 5.51478e-09 -0.0014[65](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:66)14 5.11678e-05 0.00154998 -0.092473 U: 0.00153495 0.0935816 0.99561 -0.0158375 -0.995484 0.0935942 -0.999873 0.0159117 4.59139e-05 s: 0.0924977 2.4[66](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:67)98e-05 2.10923e-21 V: -0.000553097 0.0358[67](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:68)1 0.999356 -0.0167548 0.999216 -0.0358713 0.999859 0.0167638 -4.82815e-05 estimateFMatrixRANSAC : support: 3692/4784 F info: F: -1.97758e-09 9.74719e-08 -0.000154239 7.29223e-08 -1.29611e-08 0.00146927 -8.61113e-05 -0.00156104 0.121702 U: -0.00126706 -0.0993708 -0.99505 0.0120698 0.994976 -0.0993788 0.999926 -0.012136 -6.1306e-05 s: 0.121721 1.895[68](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:69)e-05 6.49149e-22 V: -0.000707391 0.0589657 0.99826 -0.0128238 0.998177 -0.0589[69](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:70)9 0.999918 0.0128432 -5.00655e-05 estimateFMatrixRANSAC : support: 3821/4784 F info: F: -2.39683e-09 4.06942e-08 -7.89619e-05 1.16184e-07 3.28239e-10 0.00142392 -0.000142464 -0.00154011 0.129846 U: -0.000608002 -0.0529654 -0.998596 0.010964 0.998536 -0.0529689 0.99994 -0.0109809 -2.63971e-05 s: 0.129863 1.69944e-05 1.23603e-23 V: -0.00109696 0.0988869 0.995098 -0.0118588 0.995027 -0.0988929 0.999929 0.0119092 -8.11715e-05 estimateFMatrixRANSAC : support: 4098/4784 F info: F: 1.30789e-09 -6.5303e-08 9.96059e-05 -6.55993e-08 1.3269e-09 -0.00145803 7.13178e-05 0.00155653 -0.0983801 U: 0.00101211 0.0653405 -0.997863 -0.014815 -0.997753 -0.0653483 -0.99989 0.0148495 -4.18088e-05 s: 0.0984033 2.31384e-05 1.96523e-21 V: -0.00072466 0.0486019 0.998818 -0.0158161 0.998693 -0.0486073 0.999875 0.0158327 -4.49827e-05 estimateFMatrixRANSAC : support: 4114/4784 F info: F: -1.55477e-09 6.28416e-08 -0.000102846 7.1249e-08 -1.4919e-09 0.00145455 -8.1076e-05 -0.00155457 0.106666 U: -0.000963903 -0.0675851 -0.997713 0.0136323 0.99762 -0.067592 0.999907 -0.0136663 -4.02665e-05 s: 0.106687 2.12744e-05 1.1133e-22 V: -0.00075986 0.0554278 0.998462 -0.0145699 0.998356 -0.0554329 0.999894 0.0145896 -4.8965e-05 estimateFMatrixRANSAC : support: 4119/4784 F info: F: -1.89346e-09 6.56449e-08 -0.000110659 6.97341e-08 -2.2512e-09 0.00145744 -7.57521e-05 -0.00155449 0.104336 U: -0.00106027 -0.0727106 -0.997353 0.0139642 0.997255 -0.0727183 0.999902 -0.0140043 -4.2012e-05 s: 0.104358 2.17944e-05 5.02613e-22 V: -0.000725805 0.0518729 0.998653 -0.0148943 0.998542 -0.0518779 0.999889 0.0149119 -4.78627e-05 estimateFMatrixRANSAC : support: 4129/4784 F info: F: -1.95455e-09 5.79657e-08 -0.000100298 7.25147e-08 1.35776e-09 0.0014504 -7.66636e-05 -0.00155469 0.105615 U: -0.000949369 -0.06628 -0.997801 0.0137286 0.997[70](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:71)6 -0.0662867 0.999905 -0.0137613 -3.72603e-05 s: 0.105637 2.14241e-05 8.28[71](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:72)3e-24 V: -0.000725651 0.0526262 0.998614 -0.0147159 0.998506 -0.0526312 0.999891 0.0147337 -4.98777e-05 estimateFMatrixRANSAC : support: 4132/4784 F info: F: -1.83323e-09 4.97115e-08 -8.[72](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:73)022e-05 7.52613e-08 1.75948e-09 0.0014482 -7.8818e-05 -0.00154963 0.0987222 U: -0.000883003 -0.0579187 0.998321 0.0146643 0.998213 0.0579254 0.999892 -0.0146908 3.20915e-05 s: 0.098745 2.28003e-05 1.8663e-24 V: -0.0007981 0.0540838 0.998536 -0.0156916 0.998413 -0.0540897 0.999877 0.0157118 -5.1827e-05 estimateFMatrixRANSAC : support: 4133/4784 F info: F: -1.55856e-09 6.37407e-08 -0.000104035 6.94012e-08 -1.57972e-09 0.00145601 -7.80952e-05 -0.00155495 0.104824 U: -0.000992169 -0.0683389 -0.997662 0.0138856 0.997565 -0.0683461 0.999903 -0.0139209 -4.08268e-05 s: 0.104846 2.16[73](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:74)7e-05 1.85229e-22 V: -0.000[74](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:75)4776 0.0533594 0.9985[75](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:76) -0.0148294 0.998465 -0.0533646 0.99989 0.014848 -4.[76](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:77)554e-05 estimateFMatrixRANSAC : support: 4134/4784 F info: F: 1.85659e-09 -5.97075e-08 0.000101396 -7.30606e-08 -4.0865e-10 -0.0014511 7.91603e-05 0.00155476 -0.107093 U: 0.000946527 0.0668834 -0.99[77](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:78)6 -0.0135458 -0.997668 -0.0668901 -0.999908 0.0135[78](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:79)7 -3.83347e-05 s: 0.107114 2.11414e-05 1.15819e-24 V: -0.000738949 0.0542967 0.998525 -0.0145136 0.998419 -0.0543017 0.999894 0.0145323 -5.02589e-05 estimateFMatrixRANSAC : support: 4135/4784 F info: F: -1.57574e-09 6.29598e-08 -0.000103096 6.78333e-08 -7.85251e-10 0.00145602 -7.49787e-05 -0.0015555 0.10354 U: -0.0009954 -0.0677672 -0.997701 0.01405[79](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:80) 0.997602 -0.0677745 0.999901 -0.014093 -4.03482e-05 s: 0.103562 2.1948e-05 9.72739e-23 V: -0.000723919 0.0512326 0.998686 -0.0150186 0.998574 -0.0512377 0.999887 0.015036 -4.65545e-05 estimateFMatrixRANSAC : support: 4136/4784 F info: F: 1.64404e-09 -5.55786e-08 9.35373e-05 -7.15563e-08 -5.76036e-10 -0.00145167 7.77973e-05 0.00155252 -0.101825 U: 0.000918306 0.0617964 -0.99[80](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:81)88 -0.0142517 -0.997987 -0.0618032 -0.999898 0.0142[81](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:82)2 -3.57534e-05 s: 0.101848 2.22031e-05 2.04492e-24 V: -0.000763772 0.0532606 0.99858 -0.015242 0.998464 -0.053266 0.999884 0.0152611 -4.92013e-05 estimateFMatrixRANSAC : best support: 4136/4784 U: 0.0197674 -0.111528 -0.993565 -0.999275 0.0301391 -0.0232641 0.0325397 0.993304 -0.110851 s: 4.62535 4.62535 1.18549e-17 V: -0.142732 0.00450[82](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:83)7 -0.989751 -0.0285086 -0.999593 -0.0004418[83](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:84) -0.989351 0.0281534 0.142802 R0: 0.999211 0.0233779 -0.0320996 0.0232289 -0.999718 -0.00500734 -0.0322076 0.00425775 -0.999472 R1: 0.967552 -0.0224998 -0.251667 0.0228225 0.999738 -0.00163698 0.251638 -0.00415979 0.967813 t0: -0.993565 -0.0232641 -0.110851 decomposeEMatrix: count: 0 decomposeEMatrix: count: 0 decomposeEMatrix: count: 1 decomposeEMatrix: count: 4783 best idx: 3 P0: [1, 0, 0, 0; 0, 1, 0, 0; 0, 0, 1, 0] P1: [0.9675523603963404, -0.0224997[84](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:85)23211937, -0.2516668226067529, 0.9935646950084944; 0.02282245401826667, 0.9997381936678199, -0.001636983319679018, 0.02326408252583989; 0.2516377664104791, -0.004159787411981005, 0.967812549352731, 0.110[85](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:86)11583020615] Camera positions: R0: [1, 0, 0; 0, 1, 0; 0, 0, 1] O0: [0, 0, 0] R1: [0.9675523603963404, -0.02249978423211937, -0.2516668226067529; 0.02282245401826667, 0.9997381936678199, -0.001636983319679018; 0.2516377664104791, -0.004159787411981005, 0.967812549352731] O1: [-0.9897511471948072, -0.0004418833304712221, 0.1428022106470564] 5021 estimateCameraMatrixRANSAC : support: 32/4784 estimateCameraMatrixRANSAC : support: 511/4784 estimateCameraMatrixRANSAC : support: 1[86](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:87)1/4784 estimateCameraMatrixRANSAC : support: 4168/4784 estimateCameraMatrixRANSAC : support: 4172/4784 estimateCameraMatrixRANSAC : support: 4175/4784 estimateCameraMatrixRANSAC : best support: 4175/4784 5021 estimateCameraMatrixRANSAC : support: 21/4784 estimateCameraMatrixRANSAC : support: 298/4784 estimateCameraMatrixRANSAC : support: 757/4784 estimateCameraMatrixRANSAC : support: 1762/4784 estimateCameraMatrixRANSAC : support: 2294/4784 estimateCameraMatrixRANSAC : support: 4168/4784 estimateCameraMatrixRANSAC : support: 4170/4784 estimateCameraMatrixRANSAC : best support: 4170/4784 [ OK ] SFM.Resection (147095 ms) [ RUN ] SFM.ReconstructNViews detecting points... matching points... flann matching... filtering matches GMS... Get total 4747 matches. flann matching... filtering matches GMS... Get total 2110 matches. flann matching... filtering matches GMS... Get total 4514 matches. flann matching... filtering matches GMS... Get total 4881 matches. flann matching... filtering matches GMS... Get total 2458 matches. flann matching... filtering matches GMS... Get total 5105 matches. 28524 estimateFMatrixRANSAC : support: 3960/4747 F info: F: -2.7233e-09 6.51458e-08 -0.000116819 8.99724e-08 2.4434e-10 0.00143472 -0.000101386 -0.00155126 0.130407 U: -0.000895633 -0.077367 0.997002 0.0109997 0.996942 0.0773721 0.999939 -0.011036 4.18818e-05 s: 0.130424 1.715[87](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:88)e-05 2.54623e-24 V: -0.000777302 0.0704483 0.997515 -0.0118932 0.997444 -0.0704526 0.999929 0.0119184 -6.25428e-05 estimateFMatrixRANSAC : support: 4053/4747 F info: F: -1.68781e-09 5.95239e-08 -9.89154e-05 7.20764e-08 8.87714e-10 0.0014445 -7.90847e-05 -0.00155007 0.108392 U: -0.000912308 -0.065446 -0.997856 0.0133227 0.997767 -0.0654523 0.999911 -0.0133538 -3.8356e-05 s: 0.108413 2.07291e-05 4.4444e-24 V: -0.000729402 0.0544213 0.998518 -0.0142965 0.998415 -0.0544262 0.999898 0.014315 -4.97897e-05 estimateFMatrixRANSAC : support: 4079/4747 F info: F: 2.06971e-09 -4.54204e-08 8.40773e-05 -8.20126e-08 -1.50486e-09 -0.00143831 8.64302e-05 0.00154023 -0.101428 U: 0.000828671 0.0562768 -0.998415 -0.0141759 -0.998314 -0.0562829 -0.999899 0.0142001 -2.94975e-05 s: 0.10145 2.19121e-05 1.0242e-23 V: -0.000851855 0.0597527 0.998213 -0.0151807 0.998097 -0.05975[88](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:89) 0.999884 0.0152045 -5.68558e-05 estimateFMatrixRANSAC : support: 4108/4747 F info: F: -2.2125e-09 5.44508e-08 -9.81[89](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:90)1e-05 7.69435e-08 1.00547e-09 0.00144231 -8.01503e-05 -0.00154557 0.105485 U: -0.000930558 -0.0653512 -0.997862 0.013669 0.997768 -0.0653578 0.999[90](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:91)6 -0.0137006 -3.51974e-05 s: 0.105506 2.12075e-05 2.92544e-24 V: -0.000759595 0.055406 0.998464 -0.0146477 0.998356 -0.0554112 0.999892 0.0146673 -5.32267e-05 estimateFMatrixRANSAC : support: 4117/4747 F info: F: 1.90005e-09 -6.16286e-08 0.000104173 -7.12657e-08 1.25887e-10 -0.00144744 7.602e-05 0.001549 -0.104603 U: 0.000995585 0.0689242 -0.997621 -0.0138331 -0.997525 -0.0689313 -0.999904 0.0138688 -3.96857e-05 s: 0.104624 2.15103e-05 4.25723e-24 V: -0.000726522 0.052325 0.99863 -0.014804 0.99852 -0.0523301 0.99989 0.0148217 -4.[91](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:92)729e-05 estimateFMatrixRANSAC : support: 4118/4747 F info: F: 1.73036e-09 -6.05288e-08 0.000101819 -6.90011e-08 1.79758e-09 -0.0014512 7.48828e-05 0.00154604 -0.0996141 U: 0.00102179 0.0673193 -0.997731 -0.0145631 -0.997625 -0.067327 -0.999893 0.0145989 -3.89837e-05 s: 0.0996367 2.25973e-05 6.0527e-23 V: -0.000751468 0.05142[92](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:93) 0.998676 -0.0155152 0.998556 -0.0514346 0.999879 0.0155333 -4.75485e-05 estimateFMatrixRANSAC : support: 4120/4747 F info: F: -1.65677e-09 5.80349e-08 -9.80912e-05 6.87409e-08 -1.05582e-09 0.0014502 -7.50863e-05 -0.00154561 0.0994634 U: -0.000985869 -0.0649226 -0.99789 0.0145752 0.997783 -0.064[93](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:94)01 0.999893 -0.0146084 -3.74246e-05 s: 0.09[94](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:95)861 2.26069e-05 1.14712e-23 V: -0.000754652 0.051559 0.99867 -0.0155343 0.998549 -0.0515645 0.999879 0.0155525 -4.73754e-05 estimateFMatrixRANSAC : support: 4122/4747 F info: F: -1.53622e-09 5.82751e-08 -9.57964e-05 7.21266e-08 2.55064e-10 0.00144573 -8.08846e-05 -0.00154798 0.104962 U: -0.000912399 -0.0633934 0.997988 0.01376[95](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:96) 0.997893 0.0633999 0.999905 -0.0137997 3.75807e-05 s: 0.104983 2.13935e-05 1.51749e-24 V: -0.000770368 0.0555427 0.998456 -0.0147436 0.998347 -0.0555481 0.999891 0.0147636 -4.98026e-05 estimateFMatrixRANSAC : support: 4123/4747 F info: F: 1.68769e-09 -5.86168e-08 9.75448e-05 -7.14344e-08 2.61947e-10 -0.00144669 7.75064e-05 0.0015477 -0.103912 U: 0.000938432 0.064565 -0.997913 -0.0139177 -0.997816 -0.0645718 -0.999903 0.0139493 -3.77836e-05 s: 0.103934 2.16184e-05 1.46209e-24 V: -0.000745646 0.0533133 0.998578 -0.0148897 0.998467 -0.0533185 0.999889 0.0149083 -4.93174e-05 estimateFMatrixRANSAC : best support: 4123/4747 U: 0.0274[96](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:97)4 -0.116456 -0.992815 -0.999184 -0.0325874 -0.0238504 -0.0295758 0.992661 -0.117257 s: 4.60431 4.60431 1.64366e-17 V: -0.143052 -0.00448993 -0.98[97](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:98)05 0.0349159 -0.99939 -0.000512863 -0.989099 -0.03462[98](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:99) 0.143121 R0: 0.999377 0.0239227 -0.0259542 0.0237803 -0.[99](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:100)97 -0.00578283 -0.0260847 0.00516203 -0.999646 R1: 0.965812 -0.0229043 -0.258231 0.0234294 0.999725 -0.00[104](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:105)415 0.258184 -0.00504176 0.966083 t0: -0.992815 -0.0238504 -0.117257 decomposeEMatrix: count: 0 decomposeEMatrix: count: 0 decomposeEMatrix: count: 1 decomposeEMatrix: count: 4746 best idx: 3 P0: [1, 0, 0, 0; 0, 1, 0, 0; 0, 0, 1, 0] P1: [0.9658115324559123, -0.0229043393[107](https://github.com/I-7/PhotogrammetryTasks2024/actions/runs/9486536037/job/26141094513#step:10:108)1438, -0.258231436924133, 0.9928151723747808; 0.02342942187491222, 0.9997249481389596, -0.001044154759806713, 0.02385037937598527; 0.2581843255617393, -0.005041756568370214, 0.9660825196249724, 0.1172569524849445] 5021 estimateCameraMatrixRANSAC : support: 7/3960 estimateCameraMatrixRANSAC : support: 726/3960 estimateCameraMatrixRANSAC : support: 945/3960 estimateCameraMatrixRANSAC : support: 1685/3960 estimateCameraMatrixRANSAC : best support: 1685/3960 relative_cos_vals: [0.966083, -0.143121, -0.39384] relative_cos_vals: [0.972615, -0.507284, -0.693229] exporting 8176 points... [ OK ] SFM.ReconstructNViews (149824 ms) [----------] 9 tests from SFM (978104 ms total) [----------] Global test environment tear-down [==========] 9 tests from 1 test suite ran. (978104 ms total) [ PASSED ] 9 tests.