ASP 3.4.0-alpha
Build ID: 491f12c9
Build date: 2024-02-18

/swbuild/bpurint1/asp/dev/libexec/bundle_adjust -t dg --weight-image /nobackup/bpurint1/data/utqiagvik/WV/utqiagvik_wv_EE/2022/utqiagvik_10m_UTM4N_seaice_mask_0and1.tif --datum WGS84 --individually-normalize --normalize-ip-tiles --ip-per-tile 50 --matches-per-tile 10 --min-triangulation-angle 10 --mapproj-dem /nobackup/bpurint1/data/utqiagvik/COP/COP30_utqiagvik_lzw-adj_proj.tif --propagate-errors --tri-weight 0.1 --tri-robust-threshold 0.1 --camera-weight 0 10300100D12D7400.r100.tif 10300100D0772D00.r100.tif 10300100D12D7400.r100.xml 10300100D0772D00.r100.xml -o ba/ba_50ips_10matches_dg_weight_image --threads 28 

uname -a
Linux r605i6n15 4.18.0-477.27.1.1toss.t4.x86_64 #1 SMP Tue Sep 19 15:17:56 PDT 2023 x86_64 x86_64 x86_64 GNU/Linux

cat /proc/meminfo 2>/dev/null | grep MemTotal
MemTotal:       131458532 kB

cat /proc/cpuinfo 2>/dev/null | tail -n 25
cpu family	: 6
model		: 79
model name	: Intel(R) Xeon(R) CPU E5-2680 v4 @ 2.40GHz
stepping	: 1
microcode	: 0xb000010
cpu MHz		: 3300.000
cache size	: 35840 KB
physical id	: 1
siblings	: 28
core id		: 14
cpu cores	: 14
apicid		: 61
initial apicid	: 61
fpu		: yes
fpu_exception	: yes
cpuid level	: 20
wp		: yes
flags		: fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx pdpe1gb rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc cpuid aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx smx est tm2 ssse3 sdbg fma cx16 xtpr pdcm pcid dca sse4_1 sse4_2 x2apic movbe popcnt aes xsave avx f16c rdrand lahf_lm abm 3dnowprefetch cpuid_fault epb cat_l3 cdp_l3 invpcid_single pti intel_ppin tpr_shadow vnmi flexpriority ept vpid ept_ad fsgsbase tsc_adjust bmi1 hle avx2 smep bmi2 erms invpcid rtm cqm rdt_a rdseed adx smap intel_pt xsaveopt cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local dtherm ida arat pln pts
bugs		: cpu_meltdown spectre_v1 spectre_v2 spec_store_bypass l1tf mds swapgs taa itlb_multihit mmio_stale_data
bogomips	: 4800.09
clflush size	: 64
cache_alignment	: 64
address sizes	: 46 bits physical, 48 bits virtual
power management:


sysctl -a hw 2>/dev/null | grep -E "ncpu|byteorder|memsize|cpufamily|cachesize|mmx|sse|machine|model" | grep -v ipv6



Vision Workbench log started at 2024-04-14 16:29:14.

2024-04-14 16:29:14 {0} [ console ] : Using session: dg
2024-04-14 16:29:14 {0} [ console ] : Loading camera model: 10300100D12D7400.r100.tif 10300100D12D7400.r100.xml
2024-04-14 16:29:17 {0} [ console ] : Using session: dg
2024-04-14 16:29:17 {0} [ console ] : Loading camera model: 10300100D0772D00.r100.tif 10300100D0772D00.r100.xml
2024-04-14 16:29:19 {0} [ console ] : Computing statistics for 10300100D12D7400.r100.tif
2024-04-14 16:29:19 {0} [ console ] : Using downsample scale: 32
2024-04-14 16:29:54 {0} [ console ] : 	    Writing stats file: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100-stats.tif
2024-04-14 16:29:54 {0} [ console ] : 	    10300100D12D7400.r100.tif: [ lo: 122 hi: 1912.79 mean: 900.291 std_dev: 384.606 ]
2024-04-14 16:29:54 {0} [ console ] : Computing statistics for 10300100D0772D00.r100.tif
2024-04-14 16:29:54 {0} [ console ] : Using downsample scale: 32
2024-04-14 16:30:26 {0} [ console ] : 	    Writing stats file: ba/ba_50ips_10matches_dg_weight_image-10300100D0772D00.r100-stats.tif
2024-04-14 16:30:26 {0} [ console ] : 	    10300100D0772D00.r100.tif: [ lo: 144.203 hi: 1709.76 mean: 866.825 std_dev: 392.312 ]
2024-04-14 16:30:26 {0} [ console ] : Using session: dg
2024-04-14 16:30:26 {0} [ console ] : Computing statistics for 10300100D12D7400.r100.tif
2024-04-14 16:30:26 {0} [ console ] : 	--> Reading statistics from file ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100-stats.tif
2024-04-14 16:30:26 {0} [ console ] : 	    10300100D12D7400.r100.tif: [ lo: 122 hi: 1912.79 mean: 900.291 std_dev: 384.606 ]
2024-04-14 16:30:26 {0} [ console ] : Computing statistics for 10300100D0772D00.r100.tif
2024-04-14 16:30:26 {0} [ console ] : 	--> Reading statistics from file ba/ba_50ips_10matches_dg_weight_image-10300100D0772D00.r100-stats.tif
2024-04-14 16:30:26 {0} [ console ] : 	    10300100D0772D00.r100.tif: [ lo: 144.203 hi: 1709.76 mean: 866.825 std_dev: 392.312 ]
2024-04-14 16:30:26 {0} [ console ] : 	--> Matching interest points in StereoSession.
2024-04-14 16:30:26 {0} [ console ] : 	    Using epipolar threshold = 3017.66
2024-04-14 16:30:26 {0} [ console ] : 	    IP uniqueness threshold  = 0.8
2024-04-14 16:30:26 {0} [ console ] : 	    Datum:                     Geodetic Datum --> Name: WGS_1984  Spheroid: WGS 84  Semi-major axis: 6378137  Semi-minor axis: 6356752.3142451793  Meridian: Greenwich at 0  Proj4 Str: +proj=longlat +datum=WGS84 +no_defs
2024-04-14 16:30:26 {0} [ console ] : 	    Skipping rough homography.
2024-04-14 16:30:26 {0} [ console ] : 	    Looking for IP in left image.
2024-04-14 16:30:26 {0} [ console ] : 	    Using 50 interest points per tile (1024^2 px).
2024-04-14 16:30:26 {0} [ console ] : 	    Detecting IP
2024-04-14 16:31:03 {0} [ console ] : 	    Removing IP near nodata with radius 4
2024-04-14 16:31:07 {0} [ console ] : 	    Building descriptors
2024-04-14 16:31:14 {0} [ console ] : 	    Found interest points: 46314
2024-04-14 16:31:14 {0} [ console ] : 	    Looking for IP in right image.
2024-04-14 16:31:14 {0} [ console ] : 	    Using 50 interest points per tile (1024^2 px).
2024-04-14 16:31:14 {0} [ console ] : 	    Detecting IP
2024-04-14 16:31:51 {0} [ console ] : 	    Removing IP near nodata with radius 4
2024-04-14 16:31:54 {0} [ console ] : 	    Building descriptors
2024-04-14 16:32:01 {0} [ console ] : 	    Found interest points: 46241
2024-04-14 16:32:01 {0} [ console ] : Elapsed time in ip detection: 95.1707 s.
2024-04-14 16:32:01 {0} [ console ] : 	--> Matching interest points using the epipolar line.
2024-04-14 16:32:01 {0} [ console ] : 	    Uniqueness threshold: 0.8
2024-04-14 16:32:01 {0} [ console ] : 	    Epipolar threshold:   3017.66
2024-04-14 16:32:01 {0} [ console ] : 	    Matching forward
2024-04-14 16:32:11 {0} [ console ] : 	    ---> Obtained 46314 matches.
2024-04-14 16:32:11 {0} [ console ] : 	    Matching backward
2024-04-14 16:32:18 {0} [ console ] : 	    ---> Obtained 46241 matches.
2024-04-14 16:32:18 {0} [ console ] : 	    Matched 1014 points.
2024-04-14 16:32:19 {0} [ console ] : 	      Removed 77 points in stddev filtering.
2024-04-14 16:32:19 {0} [ console ] : 	    Reduced matches to 937
2024-04-14 16:32:19 {0} [ console ] : Elapsed time in ip matching: 17.9393 s.
2024-04-14 16:32:19 {0} [ console ] : 	    Computing homography transform.
2024-04-14 16:32:19 {0} [ console ] : 	    Homography rectification inlier threshold: 1000
2024-04-14 16:32:19 {0} [ console ] : 	    RANSAC iterations:                         1000
2024-04-14 16:32:20 {0} [ console ] : Homography matrix:
Matrix3x3((1.33088,-0.0017607,-5912.69)(-0.237014,1.02118,3719.27)(-2.38643e-07,9.33625e-08,1))
2024-04-14 16:32:20 {0} [ console ] : Number of inliers: 804.
2024-04-14 16:32:20 {0} [ console ] : Elapsed time in homography computation: 1.41571 s.
2024-04-14 16:32:21 {0} [ console ] : 	--> Performing matching per tile.
2024-04-14 16:32:21 {0} [ console ] : Tile size used in matching: 1024
2024-04-14 16:32:21 {0} [ console ] : Expanded tile size:         1280
2024-04-14 16:32:21 {0} [ console ] : 	    Matched 3778 points.
2024-04-14 16:32:25 {0} [ console ] : 	      Removed 81 points in stddev filtering.
2024-04-14 16:32:25 {0} [ console ] : 	    Reduced matches to 3697
2024-04-14 16:32:25 {0} [ console ] : Elapsed time in ip matching when using tiles: 4.3133 s.
2024-04-14 16:32:25 {0} [ console ] : 	    * Writing match file: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100__10300100D0772D00.r100.match
2024-04-14 16:32:25 {0} [ console ] : IP coverage fraction = 0.538624
2024-04-14 16:32:25 {0} [ console ] : Match file ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100__10300100D0772D00.r100.match has 3697 matches.
2024-04-14 16:32:25 {0} [ console ] : Loaded 3697 matches.
2024-04-14 16:32:25 {0} [ console ] : Building the control network took 0.015936 seconds.
2024-04-14 16:32:25 {0} [ console ] : --> Bundle adjust pass: 0
2024-04-14 16:32:25 {0} [ console ] : Reading: /nobackup/bpurint1/data/utqiagvik/WV/utqiagvik_wv_EE/2022/utqiagvik_10m_UTM4N_seaice_mask_0and1.tif
2024-04-14 16:32:25 {0} [ console ] : Writing initial condition files.
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_residuals_stats.txt
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_residuals_raw_pixels.txt
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_residuals_raw_gcp.txt
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_residuals_raw_cameras.txt
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_residuals_pointmap.csv
2024-04-14 16:32:25 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-initial_points.kml
2024-04-14 16:32:25 {0} [ console ] : Starting the Ceres optimizer.
2024-04-14 16:32:26 {0} [ console ] : 
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-metis-(5.1.0)-eigensparse)

                                     Original                  Reduced
Parameter blocks                         2612                     2612
Parameters                               7842                     7842
Residual blocks                          7830                     7830
Residuals                               18270                    18270

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN 
Trust region strategy     LEVENBERG_MARQUARDT
                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                    28                       28
Linear solver ordering              AUTOMATIC                   2610,2
Schur structure                         d,3,6                    d,d,d

Cost:
Initial                          1.512839e+03
Final                            9.775107e+02
Change                           5.353280e+02

Minimizer iterations                        3
Successful steps                            3
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                         0.021825

  Residual only evaluation           0.004252 (3)
  Jacobian & residual evaluation     0.045012 (3)
  Linear solver                      0.020210 (3)
Minimizer                            0.073523

Postprocessor                        0.000352
Total                                0.095701

Termination:                      CONVERGENCE (Parameter tolerance reached. Relative step_norm: 7.524243e-09 <= 1.000000e-08.)

2024-04-14 16:32:26 {0} [ console ] : Writing final condition log files.
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_stats.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_pixels.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_gcp.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_cameras.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_pointmap.csv
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_points.kml
2024-04-14 16:32:26 {0} [ console ] : Removing pixel outliers in preparation for another solver attempt.
2024-04-14 16:32:26 {0} [ console ] : Outlier statistics: b = -0.412053, e = 0.657268.
2024-04-14 16:32:26 {0} [ console ] : Removing as outliers points with mean reprojection error > 2.
2024-04-14 16:32:26 {0} [ console ] : Removed 362 outliers out of 7394 by reprojection error. Ratio: 0.0489586.
2024-04-14 16:32:26 {0} [ console ] : Removed 0 outlier(s) based on spatial distribution of triangulated points.
2024-04-14 16:32:26 {0} [ console ] : Filtering outliers and creating reports.
2024-04-14 16:32:26 {0} [ console ] : Loading DEM: /nobackup/bpurint1/data/utqiagvik/COP/COP30_utqiagvik_lzw-adj_proj.tif
2024-04-14 16:32:26 {0} [ console ] : Found DEM nodata value: -32768
2024-04-14 16:32:26 {0} [ console ] : IP coverage fraction after cleaning = 0.339683
2024-04-14 16:32:26 {0} [ console ] : Saving 2248 filtered interest points.
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100__10300100D0772D00.r100-clean.match
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-convergence_angles.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-mapproj_match_offset_stats.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-mapproj_match_offsets.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-triangulation_uncertainty.txt
2024-04-14 16:32:26 {0} [ console ] : --> Bundle adjust pass: 1
2024-04-14 16:32:26 {0} [ console ] : Reading: /nobackup/bpurint1/data/utqiagvik/WV/utqiagvik_wv_EE/2022/utqiagvik_10m_UTM4N_seaice_mask_0and1.tif
2024-04-14 16:32:26 {0} [ console ] : Starting the Ceres optimizer.
2024-04-14 16:32:26 {0} [ console ] : 
Solver Summary (v 2.2.0-eigen-(3.4.0)-lapack-suitesparse-(5.10.1)-metis-(5.1.0)-eigensparse)

                                     Original                  Reduced
Parameter blocks                         2250                     2250
Parameters                               6756                     6756
Residual blocks                          6744                     6744
Residuals                               15736                    15736

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN 
Trust region strategy     LEVENBERG_MARQUARDT
                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                    28                       28
Linear solver ordering              AUTOMATIC                   2248,2
Schur structure                         d,3,6                    d,d,d

Cost:
Initial                          7.645720e+01
Final                            7.573613e+01
Change                           7.210646e-01

Minimizer iterations                        2
Successful steps                            2
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                         0.009048

  Residual only evaluation           0.002175 (2)
  Jacobian & residual evaluation     0.025483 (2)
  Linear solver                      0.008736 (2)
Minimizer                            0.039461

Postprocessor                        0.000401
Total                                0.048910

Termination:                      CONVERGENCE (Parameter tolerance reached. Relative step_norm: 4.955378e-09 <= 1.000000e-08.)

2024-04-14 16:32:26 {0} [ console ] : Writing final condition log files.
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_stats.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_pixels.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_gcp.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_raw_cameras.txt
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_residuals_pointmap.csv
2024-04-14 16:32:26 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-final_points.kml
2024-04-14 16:32:26 {0} [ console ] : Removing pixel outliers in preparation for another solver attempt.
2024-04-14 16:32:26 {0} [ console ] : Outlier statistics: b = -0.273779, e = 0.458093.
2024-04-14 16:32:26 {0} [ console ] : Removing as outliers points with mean reprojection error > 2.
2024-04-14 16:32:26 {0} [ console ] : Removed 0 outliers out of 7394 by reprojection error. Ratio: 0.
2024-04-14 16:32:26 {0} [ console ] : Removed 0 outlier(s) based on spatial distribution of triangulated points.
2024-04-14 16:32:27 {0} [ console ] : Filtering outliers and creating reports.
2024-04-14 16:32:27 {0} [ console ] : Loading DEM: /nobackup/bpurint1/data/utqiagvik/COP/COP30_utqiagvik_lzw-adj_proj.tif
2024-04-14 16:32:27 {0} [ console ] : Found DEM nodata value: -32768
2024-04-14 16:32:27 {0} [ console ] : IP coverage fraction after cleaning = 0.339683
2024-04-14 16:32:27 {0} [ console ] : Saving 2248 filtered interest points.
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100__10300100D0772D00.r100-clean.match
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-convergence_angles.txt
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-mapproj_match_offset_stats.txt
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-mapproj_match_offsets.txt
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-triangulation_uncertainty.txt
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100.adjust
2024-04-14 16:32:27 {0} [ console ] : Writing model state: ba/ba_50ips_10matches_dg_weight_image-10300100D12D7400.r100.adjusted_state.json
2024-04-14 16:32:27 {0} [ console ] : Writing: ba/ba_50ips_10matches_dg_weight_image-10300100D0772D00.r100.adjust
2024-04-14 16:32:27 {0} [ console ] : Writing model state: ba/ba_50ips_10matches_dg_weight_image-10300100D0772D00.r100.adjusted_state.json
