[log] Sequential SfM reconstruction

Dataset info:Views count: 8

Essential Matrix.

Robust Essential matrix:
-> View I:
id: 134980739
image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000325_image.jpg
-> View J:
id: 1932156552
image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000143_image.jpg

- Threshold: 1.88929
- Resection status: OK
- # points used for robust Essential matrix estimation: 3543
- # points validated by robust estimation: 3537
- % points validated: 0.998307

Initial triangulation - Residual of the robust estimation.
Thresholded at: 1.88929

Histogram of residuals

Robust resection of view 1927857946:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000204_image.jpg
- Threshold (error max): 5.86036
- Resection status: OK
- # points used for Resection: 2762
- # points validated by robust estimation: 2759
- % points validated: 0.998914

Robust resection of view 142699262:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000070_image.jpg
- Threshold (error max): 1.37283
- Resection status: OK
- # points used for Resection: 4423
- # points validated by robust estimation: 4325
- % points validated: 0.977843

Robust resection of view 156432845:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000270_image.jpg
- Threshold (error max): 1.77133
- Resection status: OK
- # points used for Resection: 4860
- # points validated by robust estimation: 4764
- % points validated: 0.980247

Robust resection of view 177981136:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000381_image.jpg
- Threshold (error max): 1.83105
- Resection status: OK
- # points used for Resection: 4667
- # points validated by robust estimation: 4486
- % points validated: 0.961217

Robust resection of view 1619191024:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000441_image.jpg
- Threshold (error max): 1.70436
- Resection status: OK
- # points used for Resection: 3526
- # points validated by robust estimation: 3389
- % points validated: 0.961146

Robust resection of view 1716542913:

- Image path: /home/remmel/workspace/dataset/2021-07-20_pcchess8/00000559_image.jpg
- Threshold (error max): 1.60983
- Resection status: OK
- # points used for Resection: 3247
- # points validated by robust estimation: 3135
- % points validated: 0.965507

Structure from Motion process finished.

Structure from Motion statistics:
- # input images: 8
- # camera calibrated: 8
- # poses: 8
- # landmarks: 17564
- elapsed time: 20.671
- residual RMSE: 0.247818