【视觉多模态】- 3D建模尝试 I （广场3D建模，失败）
背景
网上找了个广场7路监控作试水，尝试3D建模和人员轨迹识别问题。
失败小结
1.数据集名：Wildtrack Dataset
2.链接: https://www.epfl.ch/labs/cvlab/data/data-wildtrack/
3.场景: 一个宽敞的室外广场，但人流量和空间结构与机场大厅非常相似。
4.核心价值: 7个同步的、校准好的高清摄像头，覆盖360度全景。
提供了每个行人在世界坐标系下的精确3D定位标注（每帧的X， Y坐标）。
这是测试"坐标映射引擎"理想的数据集，可直接用它的标注来验证映射算法精度。
正常碰壁中：
（1）动态人物如果不剔除，会导致2张图匹配不上，匹配不上就没有初始点云，也没有后续的点云叠加，点云生成失败；
（2）动态人物剔除，会导致特征减少，导致无法有效建模；
（3）多图建模会导致时长很长；
（4）这个项目现在看起来不适合做初步建模，因为人流量太大，需找一个人少的多路监控开源视频流。
流程
步骤：2D视频帧 → （通过SfM）→ 稀疏点云 → （通过MVS）→ 稠密点云 → （表面重建）→ 3D网格模型（Mesh）
1. 2D视频帧 → （通过SfM）→ 稀疏点云
代码：
bash
import os
import subprocess
def generate_sparse_point_cloud(image_path, output_path):
"""从2D遮罩图像通过SfM生成稀疏点云"""
database_path = os.path.join(output_path, 'database.db')
sparse_path = os.path.join(output_path, 'sparse')
os.makedirs(output_path, exist_ok=True)
os.makedirs(sparse_path, exist_ok=True)
# 步骤1: 特征提取
print("步骤1: 特征提取")
subprocess.run([
'colmap', 'feature_extractor',
'--database_path', database_path,
'--image_path', image_path,
'--ImageReader.camera_model', 'SIMPLE_RADIAL', # 假设简单径向模型
'--SiftExtraction.use_gpu', '0' # 使用GPU加速，若无GPU设为0
], check=True)
# 步骤2: 特征匹配
xvfb_prefix = ['xvfb-run', '--auto-servernum', '--server-args', '-screen 0 1024x768x24 +extension GLX']
print("步骤2: 特征匹配")
subprocess.run(xvfb_prefix + [
'colmap', 'exhaustive_matcher',
'--database_path', database_path,
'--SiftMatching.use_gpu', '0', # 切换CPU
'--SiftMatching.num_threads', '8' # 多线程优化
], check=True
# 步骤3: 稀疏重建 (SfM)
print("步骤3: 稀疏重建")
subprocess.run([
'colmap', 'mapper',
'--database_path', database_path,
'--image_path', image_path,
'--output_path', sparse_path
], check=True)
print(f"稀疏点云生成完成，位于 {sparse_path}/0/points3D.bin")
# 使用示例
image_path = '/data1/projs/airport_human_trail/selected_masked_images' # 您的遮罩图像路径
output_path = '/data1/projs/airport_human_trail/colmap_output_t2'
generate_sparse_point_cloud(image_path, output_path)
bash
部分日志：
Registering image #265 (151)
==============================================================================
I20251230 09:11:22.576925 1861097 incremental_mapper.cc:495] => Image sees 164 / 8697 points
I20251230 09:11:22.645182 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.645206 1861097 misc.cc:198]
==============================================================================
Registering image #151 (151)
==============================================================================
I20251230 09:11:22.645215 1861097 incremental_mapper.cc:495] => Image sees 170 / 10838 points
I20251230 09:11:22.712122 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.712145 1861097 misc.cc:198]
==============================================================================
Registering image #112 (151)
==============================================================================
I20251230 09:11:22.712153 1861097 incremental_mapper.cc:495] => Image sees 165 / 8032 points
I20251230 09:11:22.786258 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.786283 1861097 misc.cc:198]
==============================================================================
Registering image #110 (151)
==============================================================================
I20251230 09:11:22.786290 1861097 incremental_mapper.cc:495] => Image sees 163 / 9612 points
I20251230 09:11:22.855542 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.855566 1861097 misc.cc:198]
==============================================================================
Registering image #144 (151)
==============================================================================
I20251230 09:11:22.855574 1861097 incremental_mapper.cc:495] => Image sees 164 / 12156 points
I20251230 09:11:22.928272 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.928296 1861097 misc.cc:198]
==============================================================================
Registering image #138 (151)
==============================================================================
I20251230 09:11:22.928304 1861097 incremental_mapper.cc:495] => Image sees 156 / 10352 points
I20251230 09:11:22.997988 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:22.998021 1861097 misc.cc:198]
==============================================================================
Registering image #129 (151)
==============================================================================
I20251230 09:11:22.998035 1861097 incremental_mapper.cc:495] => Image sees 162 / 10518 points
I20251230 09:11:23.071280 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.071305 1861097 misc.cc:198]
==============================================================================
Registering image #312 (151)
==============================================================================
I20251230 09:11:23.071312 1861097 incremental_mapper.cc:495] => Image sees 159 / 9235 points
I20251230 09:11:23.142711 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.142753 1861097 misc.cc:198]
==============================================================================
Registering image #118 (151)
==============================================================================
I20251230 09:11:23.142768 1861097 incremental_mapper.cc:495] => Image sees 155 / 11317 points
I20251230 09:11:23.218060 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.218083 1861097 misc.cc:198]
==============================================================================
Registering image #256 (151)
==============================================================================
I20251230 09:11:23.218091 1861097 incremental_mapper.cc:495] => Image sees 151 / 8420 points
I20251230 09:11:23.284127 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.284150 1861097 misc.cc:198]
==============================================================================
Registering image #288 (151)
==============================================================================
I20251230 09:11:23.284158 1861097 incremental_mapper.cc:495] => Image sees 147 / 9619 points
I20251230 09:11:23.348500 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.348531 1861097 misc.cc:198]
==============================================================================
Registering image #308 (151)
==============================================================================
I20251230 09:11:23.348539 1861097 incremental_mapper.cc:495] => Image sees 146 / 9415 points
I20251230 09:11:23.414108 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.414142 1861097 misc.cc:198]
==============================================================================
Registering image #135 (151)
==============================================================================
I20251230 09:11:23.414155 1861097 incremental_mapper.cc:495] => Image sees 168 / 10498 points
I20251230 09:11:23.485033 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.485066 1861097 misc.cc:198]
==============================================================================
Registering image #260 (151)
==============================================================================
I20251230 09:11:23.485078 1861097 incremental_mapper.cc:495] => Image sees 154 / 8519 points
I20251230 09:11:23.549638 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.549662 1861097 misc.cc:198]
==============================================================================
Registering image #55 (151)
==============================================================================
I20251230 09:11:23.549670 1861097 incremental_mapper.cc:495] => Image sees 165 / 5056 points
I20251230 09:11:23.617408 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.617440 1861097 misc.cc:198]
==============================================================================
Registering image #271 (151)
==============================================================================
I20251230 09:11:23.617451 1861097 incremental_mapper.cc:495] => Image sees 148 / 8331 points
I20251230 09:11:23.680565 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.680593 1861097 misc.cc:198]
==============================================================================
Registering image #285 (151)
==============================================================================
I20251230 09:11:23.680601 1861097 incremental_mapper.cc:495] => Image sees 154 / 9615 points
I20251230 09:11:23.747663 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.747694 1861097 misc.cc:198]
==============================================================================
Registering image #125 (151)
==============================================================================
I20251230 09:11:23.747705 1861097 incremental_mapper.cc:495] => Image sees 152 / 10227 points
I20251230 09:11:23.816999 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.817031 1861097 misc.cc:198]
==============================================================================
Registering image #290 (151)
==============================================================================
I20251230 09:11:23.817042 1861097 incremental_mapper.cc:495] => Image sees 145 / 9082 points
I20251230 09:11:23.886291 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.886313 1861097 misc.cc:198]
==============================================================================
Registering image #261 (151)
==============================================================================
I20251230 09:11:23.886322 1861097 incremental_mapper.cc:495] => Image sees 150 / 8379 points
I20251230 09:11:23.955096 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:23.955119 1861097 misc.cc:198]
==============================================================================
Registering image #119 (151)
==============================================================================
I20251230 09:11:23.955127 1861097 incremental_mapper.cc:495] => Image sees 158 / 10739 points
I20251230 09:11:24.026218 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.026242 1861097 misc.cc:198]
==============================================================================
Registering image #254 (151)
==============================================================================
I20251230 09:11:24.026249 1861097 incremental_mapper.cc:495] => Image sees 145 / 8663 points
I20251230 09:11:24.089191 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.089213 1861097 misc.cc:198]
==============================================================================
Registering image #286 (151)
==============================================================================
I20251230 09:11:24.089221 1861097 incremental_mapper.cc:495] => Image sees 146 / 9663 points
I20251230 09:11:24.152190 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.152212 1861097 misc.cc:198]
==============================================================================
Registering image #251 (151)
==============================================================================
I20251230 09:11:24.152220 1861097 incremental_mapper.cc:495] => Image sees 139 / 8289 points
I20251230 09:11:24.212757 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.212790 1861097 misc.cc:198]
==============================================================================
Registering image #264 (151)
==============================================================================
I20251230 09:11:24.212801 1861097 incremental_mapper.cc:495] => Image sees 141 / 8409 points
I20251230 09:11:24.274590 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.274612 1861097 misc.cc:198]
==============================================================================
Registering image #259 (151)
==============================================================================
I20251230 09:11:24.274621 1861097 incremental_mapper.cc:495] => Image sees 133 / 8371 points
I20251230 09:11:24.336618 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.336651 1861097 misc.cc:198]
==============================================================================
Registering image #276 (151)
==============================================================================
I20251230 09:11:24.336671 1861097 incremental_mapper.cc:495] => Image sees 135 / 9927 points
I20251230 09:11:24.399085 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.399117 1861097 misc.cc:198]
==============================================================================
Registering image #116 (151)
==============================================================================
I20251230 09:11:24.399137 1861097 incremental_mapper.cc:495] => Image sees 154 / 10616 points
I20251230 09:11:24.473811 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.473845 1861097 misc.cc:198]
==============================================================================
Registering image #275 (151)
==============================================================================
I20251230 09:11:24.473856 1861097 incremental_mapper.cc:495] => Image sees 142 / 9611 points
I20251230 09:11:24.541213 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.541240 1861097 misc.cc:198]
==============================================================================
Registering image #134 (151)
==============================================================================
I20251230 09:11:24.541251 1861097 incremental_mapper.cc:495] => Image sees 144 / 10509 points
I20251230 09:11:24.604540 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.604570 1861097 misc.cc:198]
==============================================================================
Registering image #291 (151)
==============================================================================
I20251230 09:11:24.604581 1861097 incremental_mapper.cc:495] => Image sees 135 / 9155 points
I20251230 09:11:24.665719 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.665751 1861097 misc.cc:198]
==============================================================================
Registering image #293 (151)
==============================================================================
I20251230 09:11:24.665763 1861097 incremental_mapper.cc:495] => Image sees 143 / 9257 points
I20251230 09:11:24.729528 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.729552 1861097 misc.cc:198]
==============================================================================
Registering image #284 (151)
==============================================================================
I20251230 09:11:24.729559 1861097 incremental_mapper.cc:495] => Image sees 143 / 9799 points
I20251230 09:11:24.792474 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.792497 1861097 misc.cc:198]
==============================================================================
Registering image #139 (151)
==============================================================================
I20251230 09:11:24.792505 1861097 incremental_mapper.cc:495] => Image sees 141 / 11282 points
I20251230 09:11:24.857856 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.857894 1861097 misc.cc:198]
==============================================================================
Registering image #270 (151)
==============================================================================
I20251230 09:11:24.857924 1861097 incremental_mapper.cc:495] => Image sees 148 / 8857 points
I20251230 09:11:24.929729 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.929754 1861097 misc.cc:198]
==============================================================================
Registering image #300 (151)
==============================================================================
I20251230 09:11:24.929762 1861097 incremental_mapper.cc:495] => Image sees 139 / 9508 points
I20251230 09:11:24.993997 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:24.994029 1861097 misc.cc:198]
==============================================================================
Registering image #107 (151)
==============================================================================
I20251230 09:11:24.994041 1861097 incremental_mapper.cc:495] => Image sees 151 / 7818 points
I20251230 09:11:25.063198 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.063230 1861097 misc.cc:198]
==============================================================================
Registering image #128 (151)
==============================================================================
I20251230 09:11:25.063242 1861097 incremental_mapper.cc:495] => Image sees 145 / 11268 points
I20251230 09:11:25.137826 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.137846 1861097 misc.cc:198]
==============================================================================
Registering image #102 (151)
==============================================================================
I20251230 09:11:25.137854 1861097 incremental_mapper.cc:495] => Image sees 145 / 9609 points
I20251230 09:11:25.202342 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.202365 1861097 misc.cc:198]
==============================================================================
Registering image #262 (151)
==============================================================================
I20251230 09:11:25.202373 1861097 incremental_mapper.cc:495] => Image sees 136 / 8403 points
I20251230 09:11:25.268137 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.268168 1861097 misc.cc:198]
==============================================================================
Registering image #280 (151)
==============================================================================
I20251230 09:11:25.268179 1861097 incremental_mapper.cc:495] => Image sees 133 / 9425 points
I20251230 09:11:25.337605 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.337636 1861097 misc.cc:198]
==============================================================================
Registering image #146 (151)
==============================================================================
I20251230 09:11:25.337653 1861097 incremental_mapper.cc:495] => Image sees 132 / 10299 points
I20251230 09:11:25.404554 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.404587 1861097 misc.cc:198]
==============================================================================
Registering image #95 (151)
==============================================================================
I20251230 09:11:25.404597 1861097 incremental_mapper.cc:495] => Image sees 130 / 8085 points
I20251230 09:11:25.472400 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.472432 1861097 misc.cc:198]
==============================================================================
Registering image #258 (151)
==============================================================================
I20251230 09:11:25.472445 1861097 incremental_mapper.cc:495] => Image sees 132 / 8606 points
I20251230 09:11:25.534893 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.534927 1861097 misc.cc:198]
==============================================================================
Registering image #267 (151)
==============================================================================
I20251230 09:11:25.534936 1861097 incremental_mapper.cc:495] => Image sees 136 / 8474 points
I20251230 09:11:25.603745 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.603786 1861097 misc.cc:198]
==============================================================================
Registering image #311 (151)
==============================================================================
I20251230 09:11:25.603802 1861097 incremental_mapper.cc:495] => Image sees 133 / 9315 points
I20251230 09:11:25.676976 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.677007 1861097 misc.cc:198]
==============================================================================
Registering image #104 (151)
==============================================================================
I20251230 09:11:25.677019 1861097 incremental_mapper.cc:495] => Image sees 134 / 7801 points
I20251230 09:11:25.749091 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.749122 1861097 misc.cc:198]
==============================================================================
Registering image #108 (151)
==============================================================================
I20251230 09:11:25.749135 1861097 incremental_mapper.cc:495] => Image sees 135 / 9284 points
I20251230 09:11:25.817975 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.818011 1861097 misc.cc:198]
==============================================================================
Registering image #105 (151)
==============================================================================
I20251230 09:11:25.818027 1861097 incremental_mapper.cc:495] => Image sees 135 / 8833 points
I20251230 09:11:25.882323 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.882345 1861097 misc.cc:198]
==============================================================================
Registering image #51 (151)
==============================================================================
I20251230 09:11:25.882354 1861097 incremental_mapper.cc:495] => Image sees 132 / 5342 points
I20251230 09:11:25.951253 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:25.951275 1861097 misc.cc:198]
==============================================================================
Registering image #287 (151)
==============================================================================
I20251230 09:11:25.951283 1861097 incremental_mapper.cc:495] => Image sees 122 / 9426 points
I20251230 09:11:26.015770 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.015792 1861097 misc.cc:198]
==============================================================================
Registering image #272 (151)
==============================================================================
I20251230 09:11:26.015800 1861097 incremental_mapper.cc:495] => Image sees 121 / 8862 points
I20251230 09:11:26.073699 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.073722 1861097 misc.cc:198]
==============================================================================
Registering image #113 (151)
==============================================================================
I20251230 09:11:26.073730 1861097 incremental_mapper.cc:495] => Image sees 125 / 7340 points
I20251230 09:11:26.132546 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.132568 1861097 misc.cc:198]
==============================================================================
Registering image #252 (151)
==============================================================================
I20251230 09:11:26.132575 1861097 incremental_mapper.cc:495] => Image sees 126 / 8258 points
I20251230 09:11:26.198253 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.198282 1861097 misc.cc:198]
==============================================================================
Registering image #292 (151)
==============================================================================
I20251230 09:11:26.198292 1861097 incremental_mapper.cc:495] => Image sees 126 / 9262 points
I20251230 09:11:26.262111 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.262136 1861097 misc.cc:198]
==============================================================================
Registering image #255 (151)
==============================================================================
I20251230 09:11:26.262147 1861097 incremental_mapper.cc:495] => Image sees 121 / 8261 points
I20251230 09:11:26.322388 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.322412 1861097 misc.cc:198]
==============================================================================
Registering image #263 (151)
==============================================================================
I20251230 09:11:26.322422 1861097 incremental_mapper.cc:495] => Image sees 117 / 8370 points
I20251230 09:11:26.389204 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.389231 1861097 misc.cc:198]
==============================================================================
Registering image #62 (151)
==============================================================================
I20251230 09:11:26.389245 1861097 incremental_mapper.cc:495] => Image sees 133 / 4301 points
I20251230 09:11:26.456920 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.456943 1861097 misc.cc:198]
==============================================================================
Registering image #56 (151)
==============================================================================
I20251230 09:11:26.456955 1861097 incremental_mapper.cc:495] => Image sees 123 / 4994 points
I20251230 09:11:26.519515 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.519543 1861097 misc.cc:198]
==============================================================================
Registering image #109 (151)
==============================================================================
I20251230 09:11:26.519554 1861097 incremental_mapper.cc:495] => Image sees 120 / 7641 points
I20251230 09:11:26.579056 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.579087 1861097 misc.cc:198]
==============================================================================
Registering image #198 (151)
==============================================================================
I20251230 09:11:26.579098 1861097 incremental_mapper.cc:495] => Image sees 120 / 6897 points
I20251230 09:11:26.639295 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.639328 1861097 misc.cc:198]
==============================================================================
Registering image #143 (151)
==============================================================================
I20251230 09:11:26.639339 1861097 incremental_mapper.cc:495] => Image sees 113 / 10813 points
I20251230 09:11:26.696707 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.696732 1861097 misc.cc:198]
==============================================================================
Registering image #247 (151)
==============================================================================
I20251230 09:11:26.696741 1861097 incremental_mapper.cc:495] => Image sees 111 / 8785 points
I20251230 09:11:26.752615 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.752647 1861097 misc.cc:198]
==============================================================================
Registering image #225 (151)
==============================================================================
I20251230 09:11:26.752658 1861097 incremental_mapper.cc:495] => Image sees 118 / 8355 points
I20251230 09:11:26.810177 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.810202 1861097 misc.cc:198]
==============================================================================
Registering image #106 (151)
==============================================================================
I20251230 09:11:26.810211 1861097 incremental_mapper.cc:495] => Image sees 112 / 7979 points
I20251230 09:11:26.870450 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.870486 1861097 misc.cc:198]
==============================================================================
Registering image #133 (151)
==============================================================================
I20251230 09:11:26.870504 1861097 incremental_mapper.cc:495] => Image sees 117 / 11104 points
I20251230 09:11:26.925601 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.925631 1861097 misc.cc:198]
==============================================================================
Registering image #310 (151)
==============================================================================
I20251230 09:11:26.925642 1861097 incremental_mapper.cc:495] => Image sees 111 / 9302 points
I20251230 09:11:26.982836 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:26.982858 1861097 misc.cc:198]
==============================================================================
Registering image #208 (151)
==============================================================================
I20251230 09:11:26.982869 1861097 incremental_mapper.cc:495] => Image sees 119 / 7517 points
I20251230 09:11:27.040364 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.040388 1861097 misc.cc:198]
==============================================================================
Registering image #295 (151)
==============================================================================
I20251230 09:11:27.040400 1861097 incremental_mapper.cc:495] => Image sees 115 / 9328 points
I20251230 09:11:27.099586 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.099613 1861097 misc.cc:198]
==============================================================================
Registering image #52 (151)
==============================================================================
I20251230 09:11:27.099623 1861097 incremental_mapper.cc:495] => Image sees 123 / 5297 points
I20251230 09:11:27.160959 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.160983 1861097 misc.cc:198]
==============================================================================
Registering image #85 (151)
==============================================================================
I20251230 09:11:27.160992 1861097 incremental_mapper.cc:495] => Image sees 129 / 5163 points
I20251230 09:11:27.226272 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.226295 1861097 misc.cc:198]
==============================================================================
Registering image #50 (151)
==============================================================================
I20251230 09:11:27.226303 1861097 incremental_mapper.cc:495] => Image sees 117 / 5768 points
I20251230 09:11:27.293257 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.293282 1861097 misc.cc:198]
==============================================================================
Registering image #277 (151)
==============================================================================
I20251230 09:11:27.293291 1861097 incremental_mapper.cc:495] => Image sees 110 / 9878 points
I20251230 09:11:27.357074 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.357100 1861097 misc.cc:198]
==============================================================================
Registering image #266 (151)
==============================================================================
I20251230 09:11:27.357108 1861097 incremental_mapper.cc:495] => Image sees 112 / 8563 points
I20251230 09:11:27.415266 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.415293 1861097 misc.cc:198]
==============================================================================
Registering image #269 (151)
==============================================================================
I20251230 09:11:27.415306 1861097 incremental_mapper.cc:495] => Image sees 104 / 9227 points
I20251230 09:11:27.470407 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.470439 1861097 misc.cc:198]
==============================================================================
Registering image #78 (151)
==============================================================================
I20251230 09:11:27.470451 1861097 incremental_mapper.cc:495] => Image sees 120 / 5468 points
I20251230 09:11:27.530010 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.530032 1861097 misc.cc:198]
==============================================================================
Registering image #218 (151)
==============================================================================
I20251230 09:11:27.530040 1861097 incremental_mapper.cc:495] => Image sees 108 / 8124 points
I20251230 09:11:27.588660 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.588683 1861097 misc.cc:198]
==============================================================================
Registering image #87 (151)
==============================================================================
I20251230 09:11:27.588691 1861097 incremental_mapper.cc:495] => Image sees 113 / 4754 points
I20251230 09:11:27.652100 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.652124 1861097 misc.cc:198]
==============================================================================
Registering image #54 (151)
==============================================================================
I20251230 09:11:27.652132 1861097 incremental_mapper.cc:495] => Image sees 118 / 4106 points
I20251230 09:11:27.711067 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.711092 1861097 misc.cc:198]
==============================================================================
Registering image #197 (151)
==============================================================================
I20251230 09:11:27.711102 1861097 incremental_mapper.cc:495] => Image sees 105 / 6732 points
I20251230 09:11:27.767252 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.767278 1861097 misc.cc:198]
==============================================================================
Registering image #98 (151)
==============================================================================
I20251230 09:11:27.767287 1861097 incremental_mapper.cc:495] => Image sees 105 / 4649 points
I20251230 09:11:27.825767 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.825799 1861097 misc.cc:198]
==============================================================================
Registering image #136 (151)
==============================================================================
I20251230 09:11:27.825811 1861097 incremental_mapper.cc:495] => Image sees 107 / 10969 points
I20251230 09:11:27.882867 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.882900 1861097 misc.cc:198]
==============================================================================
Registering image #246 (151)
==============================================================================
I20251230 09:11:27.882925 1861097 incremental_mapper.cc:495] => Image sees 98 / 8286 points
I20251230 09:11:27.938680 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.938705 1861097 misc.cc:198]
==============================================================================
Registering image #147 (151)
==============================================================================
I20251230 09:11:27.938714 1861097 incremental_mapper.cc:495] => Image sees 109 / 9493 points
I20251230 09:11:27.998675 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:27.998705 1861097 misc.cc:198]
==============================================================================
Registering image #244 (151)
==============================================================================
I20251230 09:11:27.998716 1861097 incremental_mapper.cc:495] => Image sees 105 / 8591 points
I20251230 09:11:28.059110 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.059134 1861097 misc.cc:198]
==============================================================================
Registering image #237 (151)
==============================================================================
I20251230 09:11:28.059141 1861097 incremental_mapper.cc:495] => Image sees 102 / 7969 points
I20251230 09:11:28.114365 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.114391 1861097 misc.cc:198]
==============================================================================
Registering image #83 (151)
==============================================================================
I20251230 09:11:28.114400 1861097 incremental_mapper.cc:495] => Image sees 110 / 5449 points
I20251230 09:11:28.171135 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.171160 1861097 misc.cc:198]
==============================================================================
Registering image #100 (151)
==============================================================================
I20251230 09:11:28.171169 1861097 incremental_mapper.cc:495] => Image sees 105 / 4925 points
I20251230 09:11:28.235350 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.235383 1861097 misc.cc:198]
==============================================================================
Registering image #84 (151)
==============================================================================
I20251230 09:11:28.235394 1861097 incremental_mapper.cc:495] => Image sees 110 / 5644 points
I20251230 09:11:28.296758 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.296783 1861097 misc.cc:198]
==============================================================================
Registering image #59 (151)
==============================================================================
I20251230 09:11:28.296792 1861097 incremental_mapper.cc:495] => Image sees 110 / 4210 points
I20251230 09:11:28.358414 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.358450 1861097 misc.cc:198]
==============================================================================
Registering image #209 (151)
==============================================================================
I20251230 09:11:28.358462 1861097 incremental_mapper.cc:495] => Image sees 101 / 7648 points
I20251230 09:11:28.421418 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.421452 1861097 misc.cc:198]
==============================================================================
Registering image #279 (151)
==============================================================================
I20251230 09:11:28.421464 1861097 incremental_mapper.cc:495] => Image sees 100 / 9748 points
I20251230 09:11:28.481053 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.481077 1861097 misc.cc:198]
==============================================================================
Registering image #103 (151)
==============================================================================
I20251230 09:11:28.481086 1861097 incremental_mapper.cc:495] => Image sees 102 / 9225 points
I20251230 09:11:28.536828 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.536851 1861097 misc.cc:198]
==============================================================================
Registering image #212 (151)
==============================================================================
I20251230 09:11:28.536859 1861097 incremental_mapper.cc:495] => Image sees 95 / 6276 points
I20251230 09:11:28.590181 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.590212 1861097 misc.cc:198]
==============================================================================
Registering image #86 (151)
==============================================================================
I20251230 09:11:28.590226 1861097 incremental_mapper.cc:495] => Image sees 102 / 5893 points
I20251230 09:11:28.648187 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.648211 1861097 misc.cc:198]
==============================================================================
Registering image #71 (151)
==============================================================================
I20251230 09:11:28.648219 1861097 incremental_mapper.cc:495] => Image sees 101 / 4468 points
I20251230 09:11:28.703187 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.703213 1861097 misc.cc:198]
==============================================================================
Registering image #215 (151)
==============================================================================
I20251230 09:11:28.703222 1861097 incremental_mapper.cc:495] => Image sees 97 / 7718 points
I20251230 09:11:28.759891 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.759927 1861097 misc.cc:198]
==============================================================================
Registering image #99 (151)
==============================================================================
I20251230 09:11:28.759935 1861097 incremental_mapper.cc:495] => Image sees 101 / 4775 points
I20251230 09:11:28.814496 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.814520 1861097 misc.cc:198]
==============================================================================
Registering image #97 (151)
==============================================================================
I20251230 09:11:28.814529 1861097 incremental_mapper.cc:495] => Image sees 95 / 4431 points
I20251230 09:11:28.870025 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.870057 1861097 misc.cc:198]
==============================================================================
Registering image #131 (151)
==============================================================================
I20251230 09:11:28.870069 1861097 incremental_mapper.cc:495] => Image sees 95 / 9530 points
I20251230 09:11:28.928565 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.928591 1861097 misc.cc:198]
==============================================================================
Registering image #53 (151)
==============================================================================
I20251230 09:11:28.928599 1861097 incremental_mapper.cc:495] => Image sees 93 / 5130 points
I20251230 09:11:28.984370 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:28.984395 1861097 misc.cc:198]
==============================================================================
Registering image #72 (151)
==============================================================================
I20251230 09:11:28.984403 1861097 incremental_mapper.cc:495] => Image sees 93 / 4488 points
I20251230 09:11:29.040187 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.040217 1861097 misc.cc:198]
==============================================================================
Registering image #221 (151)
==============================================================================
I20251230 09:11:29.040228 1861097 incremental_mapper.cc:495] => Image sees 91 / 8300 points
I20251230 09:11:29.094571 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.094594 1861097 misc.cc:198]
==============================================================================
Registering image #70 (151)
==============================================================================
I20251230 09:11:29.094602 1861097 incremental_mapper.cc:495] => Image sees 108 / 4372 points
I20251230 09:11:29.150619 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.150642 1861097 misc.cc:198]
==============================================================================
Registering image #63 (151)
==============================================================================
I20251230 09:11:29.150650 1861097 incremental_mapper.cc:495] => Image sees 94 / 5055 points
I20251230 09:11:29.210975 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.211007 1861097 misc.cc:198]
==============================================================================
Registering image #199 (151)
==============================================================================
I20251230 09:11:29.211025 1861097 incremental_mapper.cc:495] => Image sees 84 / 6803 points
I20251230 09:11:29.265507 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.265529 1861097 misc.cc:198]
==============================================================================
Registering image #232 (151)
==============================================================================
I20251230 09:11:29.265537 1861097 incremental_mapper.cc:495] => Image sees 89 / 8148 points
I20251230 09:11:29.319182 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.319203 1861097 misc.cc:198]
==============================================================================
Registering image #60 (151)
==============================================================================
I20251230 09:11:29.319211 1861097 incremental_mapper.cc:495] => Image sees 92 / 4643 points
I20251230 09:11:29.376570 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.376596 1861097 misc.cc:198]
==============================================================================
Registering image #79 (151)
==============================================================================
I20251230 09:11:29.376605 1861097 incremental_mapper.cc:495] => Image sees 94 / 5465 points
I20251230 09:11:29.432173 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.432199 1861097 misc.cc:198]
==============================================================================
Registering image #250 (151)
==============================================================================
I20251230 09:11:29.432212 1861097 incremental_mapper.cc:495] => Image sees 88 / 7654 points
I20251230 09:11:29.484751 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.484784 1861097 misc.cc:198]
==============================================================================
Registering image #58 (151)
==============================================================================
I20251230 09:11:29.484795 1861097 incremental_mapper.cc:495] => Image sees 96 / 4215 points
I20251230 09:11:29.541409 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.541431 1861097 misc.cc:198]
==============================================================================
Registering image #77 (151)
==============================================================================
I20251230 09:11:29.541440 1861097 incremental_mapper.cc:495] => Image sees 90 / 5167 points
I20251230 09:11:29.599360 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.599392 1861097 misc.cc:198]
==============================================================================
Registering image #66 (151)
==============================================================================
I20251230 09:11:29.599403 1861097 incremental_mapper.cc:495] => Image sees 93 / 4652 points
I20251230 09:11:29.662070 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.662093 1861097 misc.cc:198]
==============================================================================
Registering image #223 (151)
==============================================================================
I20251230 09:11:29.662101 1861097 incremental_mapper.cc:495] => Image sees 84 / 8118 points
I20251230 09:11:29.716720 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.716742 1861097 misc.cc:198]
==============================================================================
Registering image #205 (151)
==============================================================================
I20251230 09:11:29.716750 1861097 incremental_mapper.cc:495] => Image sees 80 / 6608 points
I20251230 09:11:29.767575 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.767597 1861097 misc.cc:198]
==============================================================================
Registering image #61 (151)
==============================================================================
I20251230 09:11:29.767606 1861097 incremental_mapper.cc:495] => Image sees 88 / 5155 points
I20251230 09:11:29.819033 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.819056 1861097 misc.cc:198]
==============================================================================
Registering image #101 (151)
==============================================================================
I20251230 09:11:29.819064 1861097 incremental_mapper.cc:495] => Image sees 95 / 4190 points
I20251230 09:11:29.870878 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.870901 1861097 misc.cc:198]
==============================================================================
Registering image #226 (151)
==============================================================================
I20251230 09:11:29.870921 1861097 incremental_mapper.cc:495] => Image sees 90 / 7829 points
I20251230 09:11:29.922827 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.922850 1861097 misc.cc:198]
==============================================================================
Registering image #224 (151)
==============================================================================
I20251230 09:11:29.922858 1861097 incremental_mapper.cc:495] => Image sees 87 / 8224 points
I20251230 09:11:29.975776 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:29.975801 1861097 misc.cc:198]
==============================================================================
Registering image #216 (151)
==============================================================================
I20251230 09:11:29.975811 1861097 incremental_mapper.cc:495] => Image sees 88 / 8230 points
I20251230 09:11:30.028676 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.028700 1861097 misc.cc:198]
==============================================================================
Registering image #81 (151)
==============================================================================
I20251230 09:11:30.028708 1861097 incremental_mapper.cc:495] => Image sees 86 / 5916 points
I20251230 09:11:30.083595 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.083618 1861097 misc.cc:198]
==============================================================================
Registering image #96 (151)
==============================================================================
I20251230 09:11:30.083626 1861097 incremental_mapper.cc:495] => Image sees 84 / 3825 points
I20251230 09:11:30.141310 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.141332 1861097 misc.cc:198]
==============================================================================
Registering image #57 (151)
==============================================================================
I20251230 09:11:30.141340 1861097 incremental_mapper.cc:495] => Image sees 93 / 4338 points
I20251230 09:11:30.196110 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.196133 1861097 misc.cc:198]
==============================================================================
Registering image #227 (151)
==============================================================================
I20251230 09:11:30.196141 1861097 incremental_mapper.cc:495] => Image sees 75 / 8139 points
I20251230 09:11:30.247517 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.247540 1861097 misc.cc:198]
==============================================================================
Registering image #74 (151)
==============================================================================
I20251230 09:11:30.247548 1861097 incremental_mapper.cc:495] => Image sees 84 / 3991 points
I20251230 09:11:30.298556 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.298581 1861097 misc.cc:198]
==============================================================================
Registering image #245 (151)
==============================================================================
I20251230 09:11:30.298589 1861097 incremental_mapper.cc:495] => Image sees 75 / 8826 points
I20251230 09:11:30.350811 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.350842 1861097 misc.cc:198]
==============================================================================
Registering image #90 (151)
==============================================================================
I20251230 09:11:30.350855 1861097 incremental_mapper.cc:495] => Image sees 83 / 5107 points
I20251230 09:11:30.408402 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.408427 1861097 misc.cc:198]
==============================================================================
Registering image #240 (151)
==============================================================================
I20251230 09:11:30.408433 1861097 incremental_mapper.cc:495] => Image sees 76 / 7287 points
I20251230 09:11:30.460108 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.460134 1861097 misc.cc:198]
==============================================================================
Registering image #231 (151)
==============================================================================
I20251230 09:11:30.460142 1861097 incremental_mapper.cc:495] => Image sees 80 / 7852 points
I20251230 09:11:30.510933 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.510957 1861097 misc.cc:198]
==============================================================================
Registering image #217 (151)
==============================================================================
I20251230 09:11:30.510965 1861097 incremental_mapper.cc:495] => Image sees 77 / 8224 points
I20251230 09:11:30.560732 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.560757 1861097 misc.cc:198]
==============================================================================
Registering image #75 (151)
==============================================================================
I20251230 09:11:30.560765 1861097 incremental_mapper.cc:495] => Image sees 72 / 4552 points
I20251230 09:11:30.617224 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.617246 1861097 misc.cc:198]
==============================================================================
Registering image #211 (151)
==============================================================================
I20251230 09:11:30.617254 1861097 incremental_mapper.cc:495] => Image sees 74 / 7490 points
I20251230 09:11:30.674453 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.674479 1861097 misc.cc:198]
==============================================================================
Registering image #65 (151)
==============================================================================
I20251230 09:11:30.674487 1861097 incremental_mapper.cc:495] => Image sees 76 / 4470 points
I20251230 09:11:30.730101 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.730124 1861097 misc.cc:198]
==============================================================================
Registering image #249 (151)
==============================================================================
I20251230 09:11:30.730132 1861097 incremental_mapper.cc:495] => Image sees 74 / 7804 points
I20251230 09:11:30.783921 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.783955 1861097 misc.cc:198]
==============================================================================
Registering image #68 (151)
==============================================================================
I20251230 09:11:30.783967 1861097 incremental_mapper.cc:495] => Image sees 80 / 4641 points
I20251230 09:11:30.841290 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.841315 1861097 misc.cc:198]
==============================================================================
Registering image #243 (151)
==============================================================================
I20251230 09:11:30.841323 1861097 incremental_mapper.cc:495] => Image sees 72 / 7796 points
I20251230 09:11:30.892570 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.892596 1861097 misc.cc:198]
==============================================================================
Registering image #93 (151)
==============================================================================
I20251230 09:11:30.892604 1861097 incremental_mapper.cc:495] => Image sees 80 / 4001 points
I20251230 09:11:30.943784 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.943809 1861097 misc.cc:198]
==============================================================================
Registering image #234 (151)
==============================================================================
I20251230 09:11:30.943822 1861097 incremental_mapper.cc:495] => Image sees 67 / 8020 points
I20251230 09:11:30.994899 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:30.994935 1861097 misc.cc:198]
==============================================================================
Registering image #49 (151)
==============================================================================
I20251230 09:11:30.994951 1861097 incremental_mapper.cc:495] => Image sees 75 / 5679 points
I20251230 09:11:31.046437 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.046463 1861097 misc.cc:198]
==============================================================================
Registering image #219 (151)
==============================================================================
I20251230 09:11:31.046478 1861097 incremental_mapper.cc:495] => Image sees 76 / 8521 points
I20251230 09:11:31.097945 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.097970 1861097 misc.cc:198]
==============================================================================
Registering image #220 (151)
==============================================================================
I20251230 09:11:31.097980 1861097 incremental_mapper.cc:495] => Image sees 71 / 8485 points
I20251230 09:11:31.148568 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.148593 1861097 misc.cc:198]
==============================================================================
Registering image #137 (151)
==============================================================================
I20251230 09:11:31.148602 1861097 incremental_mapper.cc:495] => Image sees 68 / 10005 points
I20251230 09:11:31.198773 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.198800 1861097 misc.cc:198]
==============================================================================
Registering image #229 (151)
==============================================================================
I20251230 09:11:31.198814 1861097 incremental_mapper.cc:495] => Image sees 71 / 8298 points
I20251230 09:11:31.249722 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.249752 1861097 misc.cc:198]
==============================================================================
Registering image #73 (151)
==============================================================================
I20251230 09:11:31.249769 1861097 incremental_mapper.cc:495] => Image sees 76 / 3725 points
I20251230 09:11:31.303710 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.303735 1861097 misc.cc:198]
==============================================================================
Registering image #91 (151)
==============================================================================
I20251230 09:11:31.303742 1861097 incremental_mapper.cc:495] => Image sees 72 / 4826 points
I20251230 09:11:31.354223 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.354245 1861097 misc.cc:198]
==============================================================================
Registering image #242 (151)
==============================================================================
I20251230 09:11:31.354254 1861097 incremental_mapper.cc:495] => Image sees 71 / 7853 points
I20251230 09:11:31.407047 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.407070 1861097 misc.cc:198]
==============================================================================
Registering image #69 (151)
==============================================================================
I20251230 09:11:31.407078 1861097 incremental_mapper.cc:495] => Image sees 65 / 4371 points
I20251230 09:11:31.454900 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.454941 1861097 misc.cc:198]
==============================================================================
Registering image #80 (151)
==============================================================================
I20251230 09:11:31.454952 1861097 incremental_mapper.cc:495] => Image sees 77 / 5991 points
I20251230 09:11:31.507871 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.507896 1861097 misc.cc:198]
==============================================================================
Registering image #88 (151)
==============================================================================
I20251230 09:11:31.507905 1861097 incremental_mapper.cc:495] => Image sees 69 / 4144 points
I20251230 09:11:31.556834 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.556859 1861097 misc.cc:198]
==============================================================================
Registering image #89 (151)
==============================================================================
I20251230 09:11:31.556869 1861097 incremental_mapper.cc:495] => Image sees 70 / 3618 points
I20251230 09:11:31.609217 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.609247 1861097 misc.cc:198]
==============================================================================
Registering image #94 (151)
==============================================================================
I20251230 09:11:31.609265 1861097 incremental_mapper.cc:495] => Image sees 70 / 4374 points
I20251230 09:11:31.661757 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.661780 1861097 misc.cc:198]
==============================================================================
Registering image #248 (151)
==============================================================================
I20251230 09:11:31.661793 1861097 incremental_mapper.cc:495] => Image sees 64 / 7968 points
I20251230 09:11:31.714676 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.714701 1861097 misc.cc:198]
==============================================================================
Registering image #230 (151)
==============================================================================
I20251230 09:11:31.714710 1861097 incremental_mapper.cc:495] => Image sees 67 / 7323 points
I20251230 09:11:31.766116 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.766141 1861097 misc.cc:198]
==============================================================================
Registering image #207 (151)
==============================================================================
I20251230 09:11:31.766150 1861097 incremental_mapper.cc:495] => Image sees 60 / 7141 points
I20251230 09:11:31.814980 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.815004 1861097 misc.cc:198]
==============================================================================
Registering image #201 (151)
==============================================================================
I20251230 09:11:31.815013 1861097 incremental_mapper.cc:495] => Image sees 56 / 6359 points
I20251230 09:11:31.866164 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.866194 1861097 misc.cc:198]
==============================================================================
Registering image #228 (151)
==============================================================================
I20251230 09:11:31.866205 1861097 incremental_mapper.cc:495] => Image sees 65 / 8358 points
I20251230 09:11:31.918828 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.918851 1861097 misc.cc:198]
==============================================================================
Registering image #200 (151)
==============================================================================
I20251230 09:11:31.918859 1861097 incremental_mapper.cc:495] => Image sees 52 / 6768 points
I20251230 09:11:31.966457 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:31.966485 1861097 misc.cc:198]
==============================================================================
Registering image #238 (151)
==============================================================================
I20251230 09:11:31.966495 1861097 incremental_mapper.cc:495] => Image sees 52 / 7589 points
I20251230 09:11:32.013934 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.013957 1861097 misc.cc:198]
==============================================================================
Registering image #222 (151)
==============================================================================
I20251230 09:11:32.013964 1861097 incremental_mapper.cc:495] => Image sees 53 / 7948 points
I20251230 09:11:32.060043 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.060066 1861097 misc.cc:198]
==============================================================================
Registering image #233 (151)
==============================================================================
I20251230 09:11:32.060074 1861097 incremental_mapper.cc:495] => Image sees 52 / 7530 points
I20251230 09:11:32.107829 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.107860 1861097 misc.cc:198]
==============================================================================
Registering image #239 (151)
==============================================================================
I20251230 09:11:32.107872 1861097 incremental_mapper.cc:495] => Image sees 50 / 7372 points
I20251230 09:11:32.163305 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.163334 1861097 misc.cc:198]
==============================================================================
Registering image #214 (151)
==============================================================================
I20251230 09:11:32.163347 1861097 incremental_mapper.cc:495] => Image sees 49 / 6707 points
I20251230 09:11:32.213316 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.213339 1861097 misc.cc:198]
==============================================================================
Registering image #76 (151)
==============================================================================
I20251230 09:11:32.213347 1861097 incremental_mapper.cc:495] => Image sees 49 / 3895 points
I20251230 09:11:32.260620 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.260651 1861097 misc.cc:198]
==============================================================================
Registering image #92 (151)
==============================================================================
I20251230 09:11:32.260663 1861097 incremental_mapper.cc:495] => Image sees 48 / 4873 points
I20251230 09:11:32.307232 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.307257 1861097 misc.cc:198]
==============================================================================
Registering image #235 (151)
==============================================================================
I20251230 09:11:32.307265 1861097 incremental_mapper.cc:495] => Image sees 47 / 7562 points
I20251230 09:11:32.354985 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.355020 1861097 misc.cc:198]
==============================================================================
Registering image #213 (151)
==============================================================================
I20251230 09:11:32.355037 1861097 incremental_mapper.cc:495] => Image sees 48 / 7118 points
I20251230 09:11:32.401417 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.401439 1861097 misc.cc:198]
==============================================================================
Registering image #210 (151)
==============================================================================
I20251230 09:11:32.401448 1861097 incremental_mapper.cc:495] => Image sees 41 / 7717 points
I20251230 09:11:32.446355 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.446378 1861097 misc.cc:198]
==============================================================================
Registering image #241 (151)
==============================================================================
I20251230 09:11:32.446386 1861097 incremental_mapper.cc:495] => Image sees 36 / 8031 points
I20251230 09:11:32.491482 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.491505 1861097 misc.cc:198]
==============================================================================
Registering image #82 (151)
==============================================================================
I20251230 09:11:32.491518 1861097 incremental_mapper.cc:495] => Image sees 40 / 3784 points
I20251230 09:11:32.543812 1861097 incremental_mapper.cc:535] => Could not register, trying another image.
I20251230 09:11:32.764627 1861097 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20251230 09:13:07.687354 1861097 incremental_mapper.cc:404] => No good initial image pair found.
I20251230 09:13:07.691200 1861097 timer.cc:91] Elapsed time: 44.876 [minutes]
稀疏点云生成完成，位于 /data1/projs/airport_human_trail/colmap_output_t2/sparse/0/points3D.bin日志分析
稀疏点云建立结果评价
核心结论
这份日志显示稀疏点云建立失败 ，最终生成的 points3D.bin 文件为无效 文件（空文件或无有效 3D 点云数据 ），整个增量式重建流程未完成正常推进，不存在可用的稀疏点云结果 。
日志关键信息拆解与问题分析
从日志内容（可判断为 COLMAP 增量式重建流程，对应 incremental_mapper.cc 核心模块）中，能提取到多个关键失败信号，逐一分析如下：
- 图像配准全面失败
日志中反复出现 Could not register, trying another image，这是核心错误信号：
含义：系统逐个尝试多张图像（#200、#238、#222 等），试图将图像与已初步构建的地图 / 点云进行空间对齐（相机位姿配准），但所有尝试均失败，只能不断切换下一张图像重试，最终无有效配准结果。
本质：图像无法与现有场景建立稳定的空间关联，后续点云构建失去基础。 - 图像共视 3D 点比例极低（配准失败的直接原因）
日志中 Image sees X / Y points 表示「当前图像能观测到的已有 3D 点云数量为 X，总已有 3D 点云数量为 Y」，通过计算可发现：
最高比例仅为 53 / 7948 ≈ 0.66%，绝大部分图像的可见点比例低于 1%（如 36/8031≈0.45%、41/7717≈0.53%）；
正常有效的相机位姿配准，需要足够多的共视 3D 点提供约束（一般至少需要几十到上百个有效共视点，且比例需显著高于 1%），如此低的共视比例，无法支撑准确的位姿计算，直接导致配准失败。 - 致命错误：无法找到有效初始图像对
日志末尾出现 No good initial image pair found，这是 COLMAP 稀疏重建的「卡脖子」问题：
COLMAP 增量式重建的第一步，是找到一对重叠度高、特征匹配质量好的初始图像对，通过本质矩阵 / 基础矩阵恢复这对图像的相机位姿，并生成首批 3D 点云，后续所有图像都基于这个初始地图进行配准和扩展；
无法找到有效初始图像对，意味着整个重建流程从源头无法启动，后续的图像配准重试均为无效操作。 - 额外问题：无效耗时过长，文件存在不代表有效
耗时 44.876 分钟，全部消耗在无效的图像配准重试中，未产生任何可用的 3D 点云数据；
日志中提示「稀疏点云生成完成」并给出 points3D.bin 路径，仅代表文件被创建，不代表文件内有有效数据（该文件大概率为空或仅包含无效的头信息，无实际 3D 点云坐标、颜色等关键数据）。
导致重建失败的核心原因
结合 COLMAP 重建的常见问题，本次失败的根源主要集中在以下 4 点：
图像重叠度不足（最可能原因）采集图像时，相邻图像（或非相邻图像）的场景重叠区域过少（一般要求相邻图像重叠度≥60%），导致特征匹配对不足，既无法筛选出有效初始图像对，也无法让后续图像找到足够共视 3D 点完成配准。可能是相机移动过快、视角变化过大、场景跨度太广等采集操作导致。
特征提取 / 匹配质量过低
场景本身缺乏纹理（如纯色墙面、空旷地面、天空等），导致 SIFT/AKAZE 等特征点提取数量少、重复性差；
光照变化剧烈（强光阴影、逆光、早晚光线差异大），导致同一物体在不同图像中特征外观差异大，匹配错误率高；
特征匹配参数不合理（如匹配距离阈值过严 / 过松、未启用交叉匹配 / RANSAC 几何验证等），过滤掉有效匹配对或保留大量错误匹配对。
相机内参设置错误未提供准确的相机内参（焦距、主点坐标、畸变系数等），或错误选择相机模型（如将针孔相机误设为鱼眼相机），导致系统无法正确计算相机投影关系，进而无法恢复相机位姿和 3D 点云。
输入图像质量不佳图像存在严重运动模糊（相机抖动 / 移动过快）、过曝 / 欠曝、镜头畸变未校正等问题，影响特征提取的准确性，进一步导致匹配和配准失败。
针对性解决方案 - 优化图像采集（若可重新采集）
提高重叠度：相邻图像重叠区域≥60%，非相邻图像保留一定重叠，避免场景断裂；
平稳采集：缓慢移动相机，减小视角旋转幅度，保持场景在视野内的稳定性；
补充纹理：若场景无纹理，人工放置棋盘格、特征贴纸等标记物，增加特征提取的有效性。 - 提升特征提取与匹配质量
调整 COLMAP 参数：调大特征点数量（--max_num_features 从 20000 增至 40000）、降低特征检测阈值；放宽初始匹配距离阈值，提高 RANSAC 迭代次数，启用对称匹配、交叉匹配过滤错误匹配；
更换特征算法：若 SIFT 效果不佳，尝试 AKAZE 算法（对模糊和畸变更鲁棒）。 - 修正相机内参设置
导入标定数据：若有相机标定结果，直接在 COLMAP 中导入准确的内参文件（包含相机模型、焦距、畸变系数等）；
选择正确相机模型：根据镜头类型，准确选择针孔相机（Pinhole）、鱼眼相机（Fish-eye）等，为系统自动估计内参提供正确约束。 - 预处理输入图像与调整重建模式
图像筛选：手动删除运动模糊、过曝 / 欠曝的无效图像；
畸变校正：使用相机标定数据对图像进行预畸变校正；
切换重建模式：增量式模式失败后，尝试 COLMAP 全局重建模式（对图像重叠度要求相对宽松，可先构建全局地图再优化）；
调整配准阈值：谨慎降低配准所需的最小共视点数阈值（避免引入错误配准的前提下，提高配准成功率）。
总结
本次稀疏点云重建未成功，产出的 points3D.bin 无实际使用价值，核心问题是「有效初始图像对缺失」和「图像配准全面失败」，根源在于图像重叠度不足或特征匹配质量过低。需通过优化图像采集、提升特征质量、修正相机内参等方式解决问题后，重新执行稀疏重建流程。
小结
-
动态的人/物多会造成难以匹配初始图对，无法构建初始点云；（应找动态遮挡少的场景图，所谓动态是相对于你想构建的3D模型的原型而言的）
-
黑框遮罩导致特征流失，造成特征不足；（用精细遮罩，代替过度的方型遮罩）
-
没想到还有增加图像 这一招，差点就投降了。
Grok-4：
在3D重建领域，SfM和MVS依赖静态假设。用户数据集为7路同步相机拍摄，理论上捕捉静态瞬间，但广场人群若有微动，仍需遮罩；黑框过多导致特征不足，初始化对难找。找人少图像有效：减少动态点，保留纹理，提高匹配率（如SIFT点>1000/图像）。实验显示，静态场景重建成功率>90%，而动态降至<50%。优化：用语义分割精炼掩码，避免过度黑框；或增图像数。