Smoothing 3d patches, initialized with plane fittings, and optimized on patch normals and centroid
47 views
Skip to first unread message
Arindam Saha
Apr 24, 2018, 5:34:32 AM4/24/18
to Ceres Solver
Hello Ceres Team,
I have a 3D point cloud which is created through patch wise plane fitting. The assumption is, each patch is small enough to fit on a planner surface in 3D. The patch normal and the intersection point (centroid) between 3d patch and the normal are in parameter space for optimization. The cost is based on the continuity with neighbouring patches. Cost is high in the cases where the 3D boundary points between current patches and neighbouring patches are far. Initially I was getting convergence with "Parameter tolerance reached." within 20 iterations. I have changed the tolerance to 1e-51 but after few more iteration I got again "CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-51.)".
Now I have used normals and centroid in create function and use a scaling factor of those normals and centroids in parameter space. All scaling factors are set to 1 as initial values. In this case I am not getting desired output even after many iterations. The solver could not able to reduce the total cost. There are total 306 patches amd few patches are having high cost and rest of them are with low cost. I have logged the initial calculated costs in file which is attached.
I am very new to both optimization and ceres and not sure if I set right options or why it goes wrong.
The options for the optimization are
options.minimizer_progress_to_stdout = true;
options.num_threads = 1;
options.max_num_iterations = 300;
options.num_linear_solver_threads = 1;
options.linear_solver_type = ceres::ITERATIVE_SCHUR;
options.function_tolerance = 1e-31;
options.parameter_tolerance = 1e-51;
options.update_state_every_iteration = true;
And the full output report is
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.406735e+08 0.00e+00 8.56e+10 0.00e+00 0.00e+00 1.00e+04 0 2.01e-02 2.12e-02
1 9.177980e+49 -9.18e+49 0.00e+00 7.05e+03 -3.81e+41 5.00e+03 3 6.75e-03 2.80e-02
2 9.175212e+49 -9.18e+49 0.00e+00 7.05e+03 -3.81e+41 1.25e+03 3 4.74e-03 3.27e-02
3 9.158664e+49 -9.16e+49 0.00e+00 7.05e+03 -3.81e+41 1.56e+02 3 4.65e-03 3.74e-02
4 9.006539e+49 -9.01e+49 0.00e+00 7.04e+03 -3.74e+41 9.77e+00 3 4.63e-03 4.21e-02
5 9.405801e+49 -9.41e+49 0.00e+00 7.35e+03 -3.91e+41 3.05e-01 2 4.87e-03 4.70e-02
6 3.824394e+48 -3.82e+48 0.00e+00 4.32e+03 -1.82e+40 4.77e-03 2 6.21e-03 5.32e-02
7 7.320189e+31 -7.32e+31 0.00e+00 1.78e+02 -5.54e+24 3.73e-05 2 6.05e-03 5.93e-02
8 7.259535e+08 -4.85e+08 0.00e+00 1.43e+00 -4.51e+03 1.46e-07 2 4.85e-03 6.42e-02
9 2.406731e+08 4.20e+02 8.56e+10 5.58e-03 1.00e+00 4.37e-07 2 2.36e-02 8.79e-02
10 2.406714e+08 1.67e+03 8.56e+10 1.67e-02 1.33e+00 1.31e-06 2 2.24e-02 1.11e-01
11 2.406664e+08 5.02e+03 8.56e+10 4.98e-02 1.33e+00 3.93e-06 2 2.31e-02 1.34e-01
12 2.406513e+08 1.51e+04 8.56e+10 1.50e-01 1.33e+00 1.18e-05 2 2.38e-02 1.58e-01
13 2.406056e+08 4.57e+04 8.56e+10 4.26e-01 1.34e+00 3.54e-05 2 2.40e-02 1.82e-01
14 2.404704e+08 1.35e+05 8.55e+10 1.30e+00 1.32e+00 1.06e-04 2 2.27e-02 2.05e-01
15 2.634366e+08 -2.30e+07 0.00e+00 3.61e+00 -7.51e+01 5.30e-05 2 6.24e-03 2.11e-01
16 2.402167e+08 2.54e+05 8.55e+10 1.80e+00 1.66e+00 1.59e-04 2 2.29e-02 2.34e-01
17 2.443862e+08 -4.17e+06 0.00e+00 5.31e+00 -9.10e+00 7.96e-05 2 5.48e-03 2.39e-01
18 2.398440e+08 3.73e+05 8.53e+10 2.66e+00 1.63e+00 2.39e-04 2 2.34e-02 2.63e-01
19 2.266889e+13 -2.27e+13 0.00e+00 7.88e+00 -3.31e+07 1.19e-04 2 5.41e-03 2.68e-01
20 8.664456e+10 -8.64e+10 0.00e+00 3.94e+00 -2.52e+05 2.98e-05 2 5.93e-03 2.74e-01
21 2.396506e+08 1.93e+05 8.52e+10 9.86e-01 2.25e+00 8.95e-05 2 2.21e-02 2.97e-01
22 2.394628e+08 1.88e+05 8.51e+10 3.03e+00 7.30e-01 9.92e-05 2 2.53e-02 3.22e-01
23 2.389777e+08 4.85e+05 8.49e+10 3.08e+00 1.70e+00 2.98e-04 2 2.39e-02 3.46e-01
24 4.503898e+18 -4.50e+18 0.00e+00 2.27e+01 -5.29e+12 1.49e-04 2 4.70e-03 3.51e-01
25 1.506851e+16 -1.51e+16 0.00e+00 1.14e+01 -3.53e+10 3.72e-05 2 5.55e-03 3.56e-01
26 2.173213e+11 -2.17e+11 0.00e+00 2.85e+00 -2.03e+06 4.65e-06 2 5.38e-03 3.62e-01
27 2.386830e+08 2.95e+05 8.49e+10 3.56e-01 2.21e+01 1.40e-05 2 2.27e-02 3.84e-01
28 2.386303e+08 5.28e+04 8.48e+10 4.36e-01 1.32e+00 4.19e-05 2 2.39e-02 4.08e-01
29 2.384710e+08 1.59e+05 8.48e+10 1.33e+00 1.33e+00 1.26e-04 2 2.36e-02 4.32e-01
30 2.379935e+08 4.77e+05 8.46e+10 3.86e+00 1.33e+00 3.77e-04 2 2.36e-02 4.56e-01
31 2.545870e+15 -2.55e+15 0.00e+00 1.18e+01 -2.37e+09 1.88e-04 2 5.38e-03 4.61e-01
32 8.672371e+12 -8.67e+12 0.00e+00 5.90e+00 -1.61e+07 4.71e-05 2 4.74e-03 4.66e-01
33 3.733753e+08 -1.35e+08 0.00e+00 1.48e+00 -1.01e+03 5.89e-06 2 4.63e-03 4.71e-01
34 2.376223e+08 3.71e+05 8.45e+10 1.85e-01 2.21e+01 1.77e-05 2 2.34e-02 4.94e-01
35 2.375554e+08 6.69e+04 8.45e+10 5.58e-01 1.33e+00 5.30e-05 2 2.36e-02 5.18e-01
36 2.373547e+08 2.01e+05 8.44e+10 1.72e+00 1.33e+00 1.59e-04 2 2.22e-02 5.40e-01
37 2.742934e+08 -3.69e+07 0.00e+00 5.21e+00 -8.17e+01 7.95e-05 2 5.86e-03 5.46e-01
38 2.369798e+08 3.75e+05 8.43e+10 2.61e+00 1.66e+00 2.38e-04 2 2.33e-02 5.70e-01
39 5.833064e+16 -5.83e+16 0.00e+00 7.65e+00 -8.62e+10 1.19e-04 2 5.33e-03 5.75e-01
40 2.223595e+14 -2.22e+14 0.00e+00 3.83e+00 -6.57e+08 2.98e-05 2 6.02e-03 5.81e-01
41 3.906612e+09 -3.67e+09 0.00e+00 9.58e-01 -4.33e+04 3.73e-06 2 4.66e-03 5.86e-01
42 2.367460e+08 2.34e+05 8.42e+10 1.20e-01 2.21e+01 1.12e-05 2 2.35e-02 6.09e-01
43 2.367038e+08 4.22e+04 8.42e+10 3.60e-01 1.33e+00 3.35e-05 2 2.26e-02 6.32e-01
44 2.365773e+08 1.27e+05 8.41e+10 1.05e+00 1.33e+00 1.01e-04 2 2.29e-02 6.55e-01
45 2.361984e+08 3.79e+05 8.40e+10 3.02e+00 1.33e+00 3.02e-04 2 2.43e-02 6.79e-01
46 1.392380e+10 -1.37e+10 0.00e+00 9.79e+00 -1.60e+04 1.51e-04 2 4.68e-03 6.84e-01
47 2.355020e+08 6.96e+05 8.38e+10 4.90e+00 1.63e+00 4.53e-04 2 2.33e-02 7.08e-01
48 1.719117e+10 -1.70e+10 0.00e+00 1.43e+01 -1.33e+04 2.26e-04 2 4.84e-03 7.12e-01
49 6.737600e+11 -6.74e+11 0.00e+00 7.15e+00 -1.06e+06 5.66e-05 2 4.60e-03 7.17e-01
50 2.349292e+08 5.73e+05 8.36e+10 1.79e+00 3.58e+00 1.70e-04 2 2.33e-02 7.40e-01
51 2.343368e+08 5.92e+05 8.34e+10 4.87e+00 1.24e+00 5.09e-04 2 2.35e-02 7.64e-01
52 2.357331e+08 -1.40e+06 0.00e+00 1.44e+01 -9.80e-01 2.55e-04 2 4.73e-03 7.69e-01
53 2.331850e+08 1.15e+06 8.30e+10 7.22e+00 1.61e+00 7.64e-04 2 2.26e-02 7.91e-01
54 5.241379e+15 -5.24e+15 0.00e+00 1.97e+01 -2.47e+09 3.82e-04 2 6.11e-03 7.98e-01
55 2.013167e+13 -2.01e+13 0.00e+00 9.85e+00 -1.89e+07 9.55e-05 2 4.69e-03 8.02e-01
56 6.769897e+08 -4.44e+08 0.00e+00 2.47e+00 -1.66e+03 1.19e-05 2 4.68e-03 8.07e-01
57 2.325092e+08 6.76e+05 8.28e+10 3.08e-01 2.02e+01 3.58e-05 2 2.46e-02 8.32e-01
58 2.323764e+08 1.33e+05 8.28e+10 9.70e-01 1.33e+00 1.07e-04 2 2.33e-02 8.55e-01
59 2.319789e+08 3.98e+05 8.26e+10 2.88e+00 1.33e+00 3.22e-04 2 2.22e-02 8.77e-01
60 2.466335e+08 -1.47e+07 0.00e+00 8.56e+00 -1.64e+01 1.61e-04 2 6.18e-03 8.84e-01
61 2.312386e+08 7.40e+05 8.24e+10 4.28e+00 1.65e+00 4.83e-04 2 2.24e-02 9.06e-01
62 1.832520e+09 -1.60e+09 0.00e+00 1.25e+01 -1.20e+03 2.42e-04 2 5.41e-03 9.12e-01
63 2.390204e+08 -7.78e+06 0.00e+00 6.24e+00 -1.16e+01 6.04e-05 2 6.03e-03 9.18e-01
64 2.306336e+08 6.05e+05 8.22e+10 1.56e+00 3.61e+00 1.81e-04 2 2.23e-02 9.40e-01
65 2.299876e+08 6.46e+05 8.20e+10 4.74e+00 1.29e+00 5.44e-04 2 2.31e-02 9.63e-01
66 2.368140e+11 -2.37e+11 0.00e+00 1.54e+01 -1.58e+05 2.72e-04 2 5.78e-03 9.69e-01
67 1.947112e+10 -1.92e+10 0.00e+00 7.70e+00 -2.57e+04 6.80e-05 2 5.13e-03 9.74e-01
68 2.293626e+08 6.25e+05 8.18e+10 1.93e+00 3.33e+00 2.04e-04 2 2.30e-02 9.97e-01
69 2.286186e+08 7.44e+05 8.15e+10 5.29e+00 1.33e+00 6.12e-04 2 2.31e-02 1.02e+00
70 2.600663e+12 -2.60e+12 0.00e+00 1.53e+01 -1.56e+06 3.06e-04 2 4.91e-03 1.03e+00
71 5.165004e+09 -4.94e+09 0.00e+00 7.68e+00 -5.90e+03 7.65e-05 2 5.59e-03 1.03e+00
72 2.278579e+08 7.61e+05 8.13e+10 1.92e+00 3.63e+00 2.29e-04 2 2.30e-02 1.05e+00
73 3.103687e+15 -3.10e+15 0.00e+00 6.01e+00 -4.96e+09 1.15e-04 2 5.47e-03 1.06e+00
74 1.215508e+13 -1.22e+13 0.00e+00 3.01e+00 -3.88e+07 2.87e-05 2 5.91e-03 1.07e+00
75 5.793577e+08 -3.51e+08 0.00e+00 7.53e-01 -4.48e+03 3.58e-06 2 5.52e-03 1.07e+00
76 2.276406e+08 2.17e+05 8.12e+10 9.41e-02 2.22e+01 1.08e-05 2 2.24e-02 1.09e+00
77 2.276028e+08 3.78e+04 8.12e+10 2.80e-01 1.29e+00 3.23e-05 2 2.30e-02 1.12e+00
78 2.274846e+08 1.18e+05 8.12e+10 3.32e+00 1.34e+00 9.68e-05 2 2.33e-02 1.14e+00
79 2.271377e+08 3.47e+05 8.10e+10 2.50e+00 1.31e+00 2.90e-04 2 2.35e-02 1.16e+00
80 2.261458e+08 9.92e+05 8.07e+10 7.75e+00 1.26e+00 8.71e-04 2 2.22e-02 1.19e+00
81 4.269188e+09 -4.04e+09 0.00e+00 1.07e+02 -1.72e+03 4.35e-04 2 6.14e-03 1.19e+00
82 1.855852e+10 -1.83e+10 0.00e+00 5.39e+01 -1.56e+04 1.09e-04 2 4.83e-03 1.20e+00
83 2.249538e+08 1.19e+06 8.04e+10 1.35e+01 4.04e+00 3.27e-04 2 2.34e-02 1.22e+00
84 1.292998e+09 -1.07e+09 0.00e+00 7.87e+00 -1.21e+03 1.63e-04 2 4.77e-03 1.23e+00
85 2.315280e+08 -6.57e+06 0.00e+00 3.94e+00 -1.49e+01 4.08e-05 2 4.77e-03 1.23e+00
86 2.245682e+08 3.86e+05 8.03e+10 9.85e-01 3.50e+00 1.22e-04 2 2.30e-02 1.25e+00
87 2.241312e+08 4.37e+05 8.02e+10 3.38e+00 1.33e+00 3.67e-04 2 2.22e-02 1.28e+00
88 2.405859e+17 -2.41e+17 0.00e+00 9.23e+00 -2.44e+11 1.84e-04 2 6.22e-03 1.28e+00
89 5.875522e+08 -3.63e+08 0.00e+00 4.62e+00 -7.37e+02 4.59e-05 2 4.72e-03 1.29e+00
90 2.238041e+08 3.27e+05 8.00e+10 1.16e+00 2.65e+00 1.38e-04 2 2.31e-02 1.31e+00
91 2.239869e+08 -1.83e+05 0.00e+00 3.33e+00 -4.95e-01 6.89e-05 2 5.71e-03 1.32e+00
92 2.234959e+08 3.08e+05 7.99e+10 1.67e+00 1.67e+00 2.07e-04 2 2.27e-02 1.34e+00
93 2.235639e+08 -6.80e+04 0.00e+00 5.21e+00 -1.23e-01 1.03e-04 2 5.93e-03 1.34e+00
94 2.237230e+08 -2.27e+05 0.00e+00 2.61e+00 -8.20e-01 2.58e-05 2 4.64e-03 1.35e+00
95 2.232458e+08 2.50e+05 7.98e+10 6.53e-01 3.61e+00 7.75e-05 2 2.34e-02 1.37e+00
96 2.236444e+08 -3.99e+05 0.00e+00 1.93e+00 -1.92e+00 3.88e-05 2 4.71e-03 1.38e+00
97 2.230743e+08 1.72e+05 7.98e+10 9.64e-01 1.65e+00 1.16e-04 2 2.33e-02 1.40e+00
98 2.234036e+08 -3.29e+05 0.00e+00 2.85e+00 -1.06e+00 5.81e-05 2 5.73e-03 1.41e+00
99 2.234944e+08 -4.20e+05 0.00e+00 1.43e+00 -2.70e+00 1.45e-05 2 4.69e-03 1.41e+00
100 2.229339e+08 1.40e+05 7.97e+10 3.56e-01 3.61e+00 4.36e-05 2 2.32e-02 1.43e+00
101 2.234495e+08 -5.16e+05 0.00e+00 1.17e+00 -4.42e+00 2.18e-05 2 4.69e-03 1.44e+00
102 2.228375e+08 9.64e+04 7.97e+10 5.84e-01 1.65e+00 6.54e-05 2 2.33e-02 1.46e+00
103 2.233128e+08 -4.75e+05 0.00e+00 1.71e+00 -2.72e+00 3.27e-05 2 5.59e-03 1.47e+00
104 2.233643e+08 -5.27e+05 0.00e+00 8.54e-01 -6.03e+00 8.17e-06 2 4.61e-03 1.47e+00
105 2.227586e+08 7.89e+04 7.97e+10 2.14e-01 3.61e+00 2.45e-05 2 2.35e-02 1.50e+00
106 2.233388e+08 -5.80e+05 0.00e+00 6.28e-01 -8.85e+00 1.23e-05 2 4.71e-03 1.50e+00
107 2.233586e+08 -6.00e+05 0.00e+00 3.14e-01 -1.83e+01 3.07e-06 2 4.77e-03 1.51e+00
108 2.227290e+08 2.96e+04 7.96e+10 7.85e-02 3.61e+00 9.20e-06 2 2.32e-02 1.53e+00
109 2.233491e+08 -6.20e+05 0.00e+00 2.33e-01 -2.52e+01 4.60e-06 2 4.72e-03 1.53e+00
110 2.227087e+08 2.03e+04 7.96e+10 1.17e-01 1.65e+00 1.38e-05 2 2.33e-02 1.56e+00
111 2.233198e+08 -6.11e+05 0.00e+00 3.65e-01 -1.66e+01 6.90e-06 2 4.79e-03 1.56e+00
112 2.233309e+08 -6.22e+05 0.00e+00 1.82e-01 -3.38e+01 1.72e-06 2 4.64e-03 1.57e+00
113 2.226920e+08 1.66e+04 7.96e+10 4.56e-02 3.61e+00 5.17e-06 2 2.32e-02 1.59e+00
114 2.226737e+08 1.83e+04 7.96e+10 1.38e-01 1.33e+00 1.55e-05 2 2.29e-02 1.61e+00
115 2.232843e+08 -6.11e+05 0.00e+00 4.16e-01 -1.47e+01 7.76e-06 2 6.12e-03 1.62e+00
116 2.232967e+08 -6.23e+05 0.00e+00 2.08e-01 -3.01e+01 1.94e-06 2 4.73e-03 1.62e+00
117 2.226550e+08 1.87e+04 7.96e+10 5.20e-02 3.61e+00 5.82e-06 2 2.33e-02 1.65e+00
118 2.232907e+08 -6.36e+05 0.00e+00 1.49e-01 -4.09e+01 2.91e-06 2 5.48e-03 1.65e+00
119 2.232954e+08 -6.40e+05 0.00e+00 7.46e-02 -8.24e+01 7.27e-07 2 4.68e-03 1.66e+00
120 2.226480e+08 7.02e+03 7.96e+10 1.86e-02 3.61e+00 2.18e-06 2 2.31e-02 1.68e+00
121 2.232931e+08 -6.45e+05 0.00e+00 5.58e-02 -1.11e+02 1.09e-06 2 4.71e-03 1.69e+00
122 2.226431e+08 4.82e+03 7.96e+10 2.79e-02 1.65e+00 3.27e-06 2 2.35e-02 1.71e+00
123 2.232861e+08 -6.43e+05 0.00e+00 8.36e-02 -7.35e+01 1.64e-06 2 5.33e-03 1.71e+00
124 2.232888e+08 -6.46e+05 0.00e+00 4.18e-02 -1.48e+02 4.09e-07 2 4.61e-03 1.72e+00
125 2.226392e+08 3.95e+03 7.96e+10 1.05e-02 3.61e+00 1.23e-06 2 2.34e-02 1.74e+00
126 2.232875e+08 -6.48e+05 0.00e+00 3.16e-02 -1.98e+02 6.14e-07 2 4.82e-03 1.75e+00
127 2.226365e+08 2.71e+03 7.96e+10 1.58e-02 1.65e+00 1.84e-06 2 2.38e-02 1.77e+00
128 2.232836e+08 -6.47e+05 0.00e+00 4.74e-02 -1.32e+02 9.21e-07 2 4.74e-03 1.78e+00
129 2.232850e+08 -6.49e+05 0.00e+00 2.37e-02 -2.64e+02 2.30e-07 2 4.76e-03 1.78e+00
130 2.226343e+08 2.22e+03 7.96e+10 5.92e-03 3.61e+00 6.91e-07 2 2.38e-02 1.80e+00
131 2.232843e+08 -6.50e+05 0.00e+00 1.79e-02 -3.52e+02 3.45e-07 2 4.78e-03 1.81e+00
132 2.232849e+08 -6.51e+05 0.00e+00 8.95e-03 -7.05e+02 8.63e-08 2 4.79e-03 1.81e+00
133 2.226334e+08 8.33e+02 7.96e+10 2.24e-03 3.61e+00 2.59e-07 2 2.36e-02 1.84e+00
134 2.226325e+08 9.18e+02 7.96e+10 6.73e-03 1.33e+00 7.77e-07 2 2.37e-02 1.86e+00
135 2.232825e+08 -6.50e+05 0.00e+00 2.02e-02 -3.13e+02 3.88e-07 2 5.59e-03 1.87e+00
136 2.232832e+08 -6.51e+05 0.00e+00 1.01e-02 -6.27e+02 9.71e-08 2 4.73e-03 1.87e+00
137 2.226316e+08 9.37e+02 7.96e+10 2.53e-03 3.61e+00 2.91e-07 2 2.39e-02 1.90e+00
138 2.232829e+08 -6.51e+05 0.00e+00 7.55e-03 -8.37e+02 1.46e-07 2 4.73e-03 1.90e+00
139 2.232831e+08 -6.52e+05 0.00e+00 3.78e-03 -1.67e+03 3.64e-08 2 4.64e-03 1.91e+00
140 2.226312e+08 3.51e+02 7.96e+10 9.44e-04 3.61e+00 1.09e-07 2 2.34e-02 1.93e+00
141 2.232830e+08 -6.52e+05 0.00e+00 2.82e-03 -2.23e+03 5.46e-08 2 4.70e-03 1.93e+00
142 2.226310e+08 2.41e+02 7.96e+10 1.41e-03 1.65e+00 1.64e-07 2 2.34e-02 1.96e+00
143 2.232826e+08 -6.52e+05 0.00e+00 4.21e-03 -1.49e+03 8.19e-08 2 4.86e-03 1.96e+00
144 2.232828e+08 -6.52e+05 0.00e+00 2.10e-03 -2.98e+03 2.05e-08 2 4.67e-03 1.97e+00
145 2.226308e+08 1.98e+02 7.96e+10 5.26e-04 3.61e+00 6.14e-08 2 2.36e-02 1.99e+00
146 2.232827e+08 -6.52e+05 0.00e+00 1.58e-03 -3.97e+03 3.07e-08 2 4.96e-03 2.00e+00
147 2.226307e+08 1.36e+02 7.96e+10 7.88e-04 1.65e+00 9.22e-08 2 2.30e-02 2.02e+00
148 2.232825e+08 -6.52e+05 0.00e+00 2.36e-03 -2.65e+03 4.61e-08 2 4.79e-03 2.02e+00
149 2.232826e+08 -6.52e+05 0.00e+00 1.18e-03 -5.29e+03 1.15e-08 2 4.94e-03 2.03e+00
150 2.226305e+08 1.11e+02 7.96e+10 2.95e-04 3.61e+00 3.46e-08 2 2.33e-02 2.05e+00
151 2.232825e+08 -6.52e+05 0.00e+00 8.83e-04 -7.06e+03 1.73e-08 2 5.18e-03 2.06e+00
152 2.226305e+08 7.63e+01 7.96e+10 4.41e-04 1.65e+00 5.18e-08 2 2.50e-02 2.08e+00
153 2.232824e+08 -6.52e+05 0.00e+00 1.32e-03 -4.71e+03 2.59e-08 2 4.86e-03 2.09e+00
154 2.232825e+08 -6.52e+05 0.00e+00 6.61e-04 -9.41e+03 6.48e-09 2 4.70e-03 2.09e+00
155 2.226304e+08 6.25e+01 7.96e+10 1.65e-04 3.61e+00 1.94e-08 2 2.49e-02 2.12e+00
156 2.226303e+08 6.89e+01 7.96e+10 4.96e-04 1.33e+00 5.83e-08 2 2.34e-02 2.14e+00
157 2.232823e+08 -6.52e+05 0.00e+00 1.48e-03 -4.18e+03 2.92e-08 2 4.87e-03 2.15e+00
158 2.232823e+08 -6.52e+05 0.00e+00 7.42e-04 -8.37e+03 7.29e-09 2 4.64e-03 2.15e+00
159 2.226303e+08 7.04e+01 7.96e+10 1.86e-04 3.61e+00 2.19e-08 2 2.31e-02 2.17e+00
160 2.232823e+08 -6.52e+05 0.00e+00 5.56e-04 -1.12e+04 1.09e-08 2 4.78e-03 2.18e+00
161 2.232823e+08 -6.52e+05 0.00e+00 2.78e-04 -2.23e+04 2.73e-09 2 4.64e-03 2.18e+00
162 2.226302e+08 2.64e+01 7.96e+10 6.95e-05 3.61e+00 8.20e-09 2 2.30e-02 2.21e+00
163 2.232823e+08 -6.52e+05 0.00e+00 2.09e-04 -2.98e+04 4.10e-09 2 4.73e-03 2.21e+00
164 2.226302e+08 1.81e+01 7.96e+10 1.04e-04 1.65e+00 1.23e-08 2 2.36e-02 2.23e+00
165 2.232823e+08 -6.52e+05 0.00e+00 3.13e-04 -1.98e+04 6.15e-09 2 4.74e-03 2.24e+00
166 2.232823e+08 -6.52e+05 0.00e+00 1.56e-04 -3.97e+04 1.54e-09 2 4.63e-03 2.24e+00
167 2.226302e+08 1.48e+01 7.96e+10 3.91e-05 3.61e+00 4.61e-09 2 2.34e-02 2.27e+00
168 2.226302e+08 1.64e+01 7.96e+10 1.17e-04 1.33e+00 1.38e-08 2 2.27e-02 2.29e+00
169 2.232823e+08 -6.52e+05 0.00e+00 3.52e-04 -1.76e+04 6.92e-09 2 6.00e-03 2.30e+00
170 2.232823e+08 -6.52e+05 0.00e+00 1.76e-04 -3.53e+04 1.73e-09 2 4.67e-03 2.30e+00
171 2.226302e+08 1.67e+01 7.96e+10 4.40e-05 3.61e+00 5.19e-09 2 2.37e-02 2.32e+00
172 2.232823e+08 -6.52e+05 0.00e+00 1.32e-04 -4.70e+04 2.60e-09 2 4.86e-03 2.33e+00
173 2.232823e+08 -6.52e+05 0.00e+00 6.60e-05 -9.41e+04 6.49e-10 2 4.64e-03 2.33e+00
174 2.226302e+08 6.26e+00 7.96e+10 1.65e-05 3.61e+00 1.95e-09 2 2.35e-02 2.36e+00
175 2.232823e+08 -6.52e+05 0.00e+00 4.96e-05 -1.25e+05 9.73e-10 2 4.86e-03 2.36e+00
176 2.226302e+08 4.30e+00 7.96e+10 2.48e-05 1.65e+00 2.92e-09 2 2.35e-02 2.39e+00
177 2.232823e+08 -6.52e+05 0.00e+00 7.43e-05 -8.36e+04 1.46e-09 2 4.94e-03 2.39e+00
178 2.232823e+08 -6.52e+05 0.00e+00 3.72e-05 -1.67e+05 3.65e-10 2 4.77e-03 2.40e+00
179 2.226302e+08 3.52e+00 7.96e+10 9.29e-06 3.61e+00 1.09e-09 2 2.38e-02 2.42e+00
180 2.232823e+08 -6.52e+05 0.00e+00 2.80e-05 -2.23e+05 5.47e-10 2 4.80e-03 2.42e+00
181 2.226302e+08 2.42e+00 7.96e+10 1.40e-05 1.65e+00 1.64e-09 2 2.35e-02 2.45e+00
182 2.232823e+08 -6.52e+05 0.00e+00 4.18e-05 -1.49e+05 8.21e-10 2 4.74e-03 2.45e+00
183 2.232823e+08 -6.52e+05 0.00e+00 2.09e-05 -2.97e+05 2.05e-10 2 4.63e-03 2.46e+00
184 2.226302e+08 1.98e+00 7.96e+10 5.22e-06 3.61e+00 6.16e-10 2 2.40e-02 2.48e+00
185 2.232823e+08 -6.52e+05 0.00e+00 1.57e-05 -3.96e+05 3.08e-10 2 4.69e-03 2.49e+00
186 2.226302e+08 1.36e+00 7.96e+10 7.84e-06 1.65e+00 9.24e-10 2 2.35e-02 2.51e+00
187 2.232823e+08 -6.52e+05 0.00e+00 2.36e-05 -2.64e+05 4.62e-10 2 4.93e-03 2.51e+00
188 2.232823e+08 -6.52e+05 0.00e+00 1.18e-05 -5.28e+05 1.15e-10 2 4.63e-03 2.52e+00
189 2.226302e+08 1.11e+00 7.96e+10 2.95e-06 3.61e+00 3.46e-10 2 2.38e-02 2.54e+00
190 2.232823e+08 -6.52e+05 0.00e+00 8.81e-06 -7.05e+05 1.73e-10 2 4.81e-03 2.55e+00
191 2.232823e+08 -6.52e+05 0.00e+00 4.40e-06 -1.41e+06 4.33e-11 2 4.63e-03 2.55e+00
192 2.226302e+08 4.18e-01 7.96e+10 1.10e-06 3.61e+00 1.30e-10 2 2.39e-02 2.58e+00
193 2.232823e+08 -6.52e+05 0.00e+00 3.30e-06 -1.88e+06 6.50e-11 2 4.86e-03 2.58e+00
194 2.226302e+08 2.87e-01 7.96e+10 1.65e-06 1.65e+00 1.95e-10 2 2.40e-02 2.61e+00
195 2.232823e+08 -6.52e+05 0.00e+00 4.96e-06 -1.25e+06 9.74e-11 2 4.71e-03 2.61e+00
196 2.232823e+08 -6.52e+05 0.00e+00 2.48e-06 -2.51e+06 2.44e-11 2 4.84e-03 2.61e+00
197 2.226302e+08 2.35e-01 7.96e+10 6.20e-07 3.61e+00 7.31e-11 2 2.38e-02 2.64e+00
198 2.232823e+08 -6.52e+05 0.00e+00 1.86e-06 -3.34e+06 3.65e-11 2 4.70e-03 2.64e+00
199 2.226302e+08 1.61e-01 7.96e+10 9.29e-07 1.65e+00 1.10e-10 2 2.39e-02 2.67e+00
200 2.232823e+08 -6.52e+05 0.00e+00 2.79e-06 -2.23e+06 5.48e-11 2 4.72e-03 2.67e+00
201 2.232823e+08 -6.52e+05 0.00e+00 1.39e-06 -4.45e+06 1.37e-11 2 5.06e-03 2.68e+00
202 2.226302e+08 1.32e-01 7.96e+10 3.48e-07 3.61e+00 4.11e-11 2 2.34e-02 2.70e+00
203 2.232823e+08 -6.52e+05 0.00e+00 1.04e-06 -5.94e+06 2.06e-11 2 4.70e-03 2.71e+00
204 2.232823e+08 -6.52e+05 0.00e+00 5.22e-07 -1.19e+07 5.14e-12 2 6.26e-03 2.71e+00
205 2.226302e+08 4.96e-02 7.96e+10 1.31e-07 3.61e+00 1.54e-11 2 2.26e-02 2.73e+00
206 2.232823e+08 -6.52e+05 0.00e+00 3.92e-07 -1.58e+07 7.71e-12 2 5.92e-03 2.74e+00
207 2.226302e+08 3.40e-02 7.96e+10 1.96e-07 1.65e+00 2.31e-11 2 2.30e-02 2.76e+00
208 2.232823e+08 -6.52e+05 0.00e+00 5.88e-07 -1.06e+07 1.16e-11 2 4.67e-03 2.77e+00
209 2.232823e+08 -6.52e+05 0.00e+00 2.94e-07 -2.11e+07 2.89e-12 2 6.41e-03 2.77e+00
210 2.226302e+08 2.79e-02 7.96e+10 7.35e-08 3.62e+00 8.67e-12 2 2.30e-02 2.80e+00
211 2.232823e+08 -6.52e+05 0.00e+00 2.20e-07 -2.82e+07 4.34e-12 2 5.51e-03 2.80e+00
212 2.226302e+08 1.91e-02 7.96e+10 1.10e-07 1.65e+00 1.30e-11 2 2.33e-02 2.83e+00
213 2.232823e+08 -6.52e+05 0.00e+00 3.31e-07 -1.88e+07 6.50e-12 2 5.93e-03 2.83e+00
214 2.232823e+08 -6.52e+05 0.00e+00 1.65e-07 -3.75e+07 1.63e-12 2 5.35e-03 2.84e+00
215 2.226302e+08 1.57e-02 7.96e+10 4.13e-08 3.61e+00 4.88e-12 2 2.25e-02 2.86e+00
216 2.232823e+08 -6.52e+05 0.00e+00 1.24e-07 -5.00e+07 2.44e-12 2 5.61e-03 2.87e+00
217 2.226302e+08 1.08e-02 7.96e+10 6.20e-08 1.65e+00 7.32e-12 2 2.29e-02 2.89e+00
218 2.232823e+08 -6.52e+05 0.00e+00 1.86e-07 -3.34e+07 3.66e-12 2 5.39e-03 2.89e+00
219 2.232823e+08 -6.52e+05 0.00e+00 9.30e-08 -6.67e+07 9.14e-13 2 5.28e-03 2.90e+00
220 2.226302e+08 8.83e-03 7.96e+10 2.32e-08 3.61e+00 2.74e-12 2 2.26e-02 2.92e+00
221 2.232823e+08 -6.52e+05 0.00e+00 6.97e-08 -8.90e+07 1.37e-12 2 5.79e-03 2.93e+00
222 2.226302e+08 6.06e-03 7.96e+10 3.49e-08 1.65e+00 4.12e-12 2 2.29e-02 2.95e+00
223 2.232823e+08 -6.52e+05 0.00e+00 1.05e-07 -5.93e+07 2.06e-12 2 5.47e-03 2.96e+00
224 2.232823e+08 -6.52e+05 0.00e+00 5.23e-08 -1.19e+08 5.14e-13 2 5.57e-03 2.96e+00
225 2.226302e+08 4.97e-03 7.96e+10 1.31e-08 3.62e+00 1.54e-12 2 2.21e-02 2.98e+00
226 2.226302e+08 5.47e-03 7.96e+10 3.92e-08 1.33e+00 4.63e-12 2 2.30e-02 3.01e+00
227 2.232823e+08 -6.52e+05 0.00e+00 1.18e-07 -5.27e+07 2.31e-12 2 4.81e-03 3.01e+00
228 2.232823e+08 -6.52e+05 0.00e+00 5.88e-08 -1.05e+08 5.79e-13 2 5.41e-03 3.02e+00
229 2.226302e+08 5.59e-03 7.96e+10 1.47e-08 3.61e+00 1.74e-12 2 2.28e-02 3.04e+00
230 2.232823e+08 -6.52e+05 0.00e+00 4.41e-08 -1.41e+08 8.68e-13 2 4.85e-03 3.05e+00
231 2.232823e+08 -6.52e+05 0.00e+00 2.21e-08 -2.81e+08 2.17e-13 2 5.58e-03 3.05e+00
232 2.226302e+08 2.08e-03 7.96e+10 5.52e-09 3.60e+00 6.51e-13 2 2.25e-02 3.07e+00
233 2.232823e+08 -6.52e+05 0.00e+00 1.65e-08 -3.75e+08 3.26e-13 2 5.40e-03 3.08e+00
234 2.226302e+08 1.44e-03 7.96e+10 8.27e-09 1.66e+00 9.77e-13 2 2.29e-02 3.10e+00
235 2.232823e+08 -6.52e+05 0.00e+00 2.48e-08 -2.50e+08 4.88e-13 2 4.88e-03 3.11e+00
236 2.232823e+08 -6.52e+05 0.00e+00 1.24e-08 -5.00e+08 1.22e-13 2 5.58e-03 3.11e+00
237 2.226302e+08 1.17e-03 7.96e+10 3.10e-09 3.58e+00 3.66e-13 2 2.26e-02 3.14e+00
238 2.232823e+08 -6.52e+05 0.00e+00 9.31e-09 -6.67e+08 1.83e-13 2 5.72e-03 3.14e+00
239 2.226302e+08 8.18e-04 7.96e+10 4.65e-09 1.67e+00 5.49e-13 2 2.28e-02 3.16e+00
240 2.232823e+08 -6.52e+05 0.00e+00 1.40e-08 -4.44e+08 2.75e-13 2 5.31e-03 3.17e+00
241 2.232823e+08 -6.52e+05 0.00e+00 6.98e-09 -8.89e+08 6.87e-14 2 5.49e-03 3.17e+00
242 2.226302e+08 6.70e-04 7.96e+10 1.75e-09 3.65e+00 2.06e-13 2 2.23e-02 3.20e+00
243 2.232823e+08 -6.52e+05 0.00e+00 5.24e-09 -1.19e+09 1.03e-13 2 5.55e-03 3.20e+00
244 2.226302e+08 4.51e-04 7.96e+10 2.62e-09 1.64e+00 3.09e-13 2 2.27e-02 3.23e+00
245 2.232823e+08 -6.52e+05 0.00e+00 7.85e-09 -7.90e+08 1.54e-13 2 5.34e-03 3.23e+00
246 2.232823e+08 -6.52e+05 0.00e+00 3.93e-09 -1.58e+09 3.86e-14 2 5.17e-03 3.24e+00
247 2.226302e+08 3.83e-04 7.96e+10 9.82e-10 3.68e+00 1.16e-13 2 2.22e-02 3.26e+00
248 2.232823e+08 -6.52e+05 0.00e+00 2.95e-09 -2.11e+09 5.79e-14 2 5.70e-03 3.26e+00
249 2.232823e+08 -6.52e+05 0.00e+00 1.47e-09 -4.21e+09 1.45e-14 2 5.81e-03 3.27e+00
250 2.226302e+08 1.38e-04 7.96e+10 3.68e-10 3.48e+00 4.35e-14 2 2.25e-02 3.29e+00
251 2.232823e+08 -6.52e+05 0.00e+00 1.10e-09 -5.62e+09 2.17e-14 2 5.35e-03 3.30e+00
252 2.226302e+08 6.14e-05 7.96e+10 5.52e-10 1.07e+00 6.52e-14 2 2.24e-02 3.32e+00
253 2.232823e+08 -6.52e+05 0.00e+00 1.66e-09 -3.75e+09 3.26e-14 2 5.70e-03 3.33e+00
254 2.232823e+08 -6.52e+05 0.00e+00 8.28e-10 -7.49e+09 8.15e-15 2 5.22e-03 3.33e+00
255 2.226302e+08 7.84e-05 7.96e+10 2.07e-10 3.55e+00 2.44e-14 2 2.29e-02 3.35e+00
256 2.232823e+08 -6.52e+05 0.00e+00 6.21e-10 -9.99e+09 1.22e-14 2 5.22e-03 3.36e+00
257 2.226302e+08 4.54e-05 7.96e+10 3.11e-10 1.41e+00 3.67e-14 2 2.25e-02 3.38e+00
258 2.232823e+08 -6.52e+05 0.00e+00 9.32e-10 -6.66e+09 1.83e-14 2 5.44e-03 3.39e+00
259 2.232823e+08 -6.52e+05 0.00e+00 4.66e-10 -1.33e+10 4.58e-15 2 5.86e-03 3.39e+00
260 2.226302e+08 2.08e-05 7.96e+10 1.16e-10 1.57e+00 1.37e-14 2 2.21e-02 3.42e+00
261 2.226302e+08 3.28e-05 7.96e+10 3.49e-10 8.68e-01 2.29e-14 2 2.28e-02 3.44e+00
262 2.232823e+08 -6.52e+05 0.00e+00 5.82e-10 -1.07e+10 1.14e-14 2 4.87e-03 3.44e+00
263 2.232823e+08 -6.52e+05 0.00e+00 2.91e-10 -2.13e+10 2.86e-15 2 5.43e-03 3.45e+00
264 2.226302e+08 3.56e-05 7.96e+10 7.27e-11 5.28e+00 8.58e-15 2 2.26e-02 3.47e+00
265 2.232823e+08 -6.52e+05 0.00e+00 2.18e-10 -2.84e+10 4.29e-15 2 5.39e-03 3.48e+00
266 2.226302e+08 1.97e-05 7.96e+10 1.09e-10 2.03e+00 1.29e-14 2 2.27e-02 3.50e+00
267 2.232823e+08 -6.52e+05 0.00e+00 3.27e-10 -1.90e+10 6.44e-15 2 4.88e-03 3.50e+00
268 2.232823e+08 -6.52e+05 0.00e+00 1.64e-10 -3.79e+10 1.61e-15 2 5.54e-03 3.51e+00
269 2.226302e+08 1.25e-05 7.96e+10 4.09e-11 2.80e+00 4.83e-15 2 2.26e-02 3.53e+00
270 2.232823e+08 -6.52e+05 0.00e+00 1.23e-10 -5.06e+10 2.41e-15 2 5.71e-03 3.54e+00
271 2.226302e+08 1.01e-05 7.96e+10 6.14e-11 1.32e+00 7.24e-15 2 2.26e-02 3.56e+00
272 2.232823e+08 -6.52e+05 0.00e+00 1.84e-10 -3.37e+10 3.62e-15 2 5.32e-03 3.57e+00
273 2.232823e+08 -6.52e+05 0.00e+00 9.20e-11 -6.74e+10 9.05e-16 2 5.18e-03 3.57e+00
274 2.226302e+08 8.64e-07 7.96e+10 2.30e-11 2.18e+00 2.72e-15 2 2.24e-02 3.59e+00
275 2.232823e+08 -6.52e+05 0.00e+00 6.90e-11 -8.99e+10 1.36e-15 2 5.53e-03 3.60e+00
276 2.232823e+08 -6.52e+05 0.00e+00 3.45e-11 -1.80e+11 3.39e-16 2 5.80e-03 3.61e+00
277 2.226302e+08 2.18e-06 7.96e+10 8.63e-12 4.93e-01 3.39e-16 2 2.20e-02 3.63e+00
278 2.226302e+08 6.94e-06 7.96e+10 8.63e-12 9.20e+00 1.02e-15 2 2.33e-02 3.65e+00
279 2.232823e+08 -6.52e+05 0.00e+00 2.59e-11 -2.40e+11 5.09e-16 2 4.66e-03 3.66e+00
280 2.226302e+08 9.60e-06 7.96e+10 1.29e-11 6.62e+00 1.53e-15 2 2.35e-02 3.68e+00
281 2.232823e+08 -6.52e+05 0.00e+00 3.88e-11 -1.60e+11 7.64e-16 2 4.67e-03 3.68e+00
282 2.232823e+08 -6.52e+05 0.00e+00 1.94e-11 -3.20e+11 1.91e-16 2 5.16e-03 3.69e+00
283 2.226302e+08 6.26e-07 7.96e+10 4.85e-12 3.51e-01 1.86e-16 2 2.30e-02 3.71e+00
284 2.226302e+08 -6.56e-07 0.00e+00 4.73e-12 -3.72e+00 9.30e-17 2 4.71e-03 3.72e+00
285 2.226302e+08 -3.28e-07 0.00e+00 2.36e-12 -6.12e+00 2.32e-17 2 5.70e-03 3.72e+00
286 2.226302e+08 3.61e-06 7.96e+10 5.91e-13 3.89e+01 6.97e-17 2 2.27e-02 3.75e+00
287 2.226302e+08 5.16e-06 7.96e+10 1.77e-12 1.70e+01 2.09e-16 2 2.39e-02 3.77e+00
288 2.232823e+08 -6.52e+05 0.00e+00 5.32e-12 -1.17e+12 1.05e-16 2 4.70e-03 3.77e+00
289 2.226302e+08 1.79e-06 0.00e+00 2.66e-12 -1.07e+01 2.62e-17 2 5.03e-03 3.78e+00
290 2.226302e+08 -1.58e-06 0.00e+00 6.65e-13 -9.08e+01 3.27e-18 2 5.55e-03 3.79e+00
291 2.226302e+08 5.66e-07 0.00e+00 8.31e-14 -4.81e+02 2.04e-19 2 5.94e-03 3.79e+00
292 2.226302e+08 5.36e-07 0.00e+00 5.39e-15 -7.75e+03 6.39e-21 2 4.94e-03 3.80e+00
293 2.226302e+08 5.36e-07 0.00e+00 5.27e-17 -2.48e+05 9.98e-23 2 4.58e-03 3.80e+00
Solver Summary (v 1.12.0-eigen-(3.2.9)-lapack-suitesparse-(4.2.1)-eigensparse-openmp)
Original Reduced
Parameter blocks 612 612
Parameters 1836 1836
Residual blocks 306 306
Residual 306 306
Minimizer TRUST_REGION
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver ITERATIVE_SCHUR ITERATIVE_SCHUR
Preconditioner JACOBI JACOBI
Threads 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 306, 306
Cost:
Initial 2.406735e+08
Final 2.226302e+08
Change 1.804333e+07
Minimizer iterations 294
Successful steps 126
Unsuccessful steps 168
Time (in seconds):
Preprocessor 0.0010
Residual evaluation 1.3550
Jacobian evaluation 2.2552
Linear solver 0.1499
Minimizer 3.8045
Postprocessor 0.0000
Total 3.8055
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-51.)
I have a 3D point cloud which is created through patch wise plane fitting. The assumption is, each patch is small enough to fit on a planner surface in 3D. The patch normal and the intersection point (centroid) between 3d patch and the normal are in parameter space for optimization. The cost is based on the continuity with neighbouring patches. Cost is high in the cases where the 3D boundary points between current patches and neighbouring patches are far. Initially I was getting convergence with "Parameter tolerance reached." within 20 iterations. I have changed the tolerance to 1e-51 but after few more iteration I got again "CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-51.)".
Now I have used normals and centroid in create function and use a scaling factor of those normals and centroids in parameter space. All scaling factors are set to 1 as initial values. In this case I am not getting desired output even after many iterations. The solver could not able to reduce the total cost. There are total 306 patches amd few patches are having high cost and rest of them are with low cost. I have logged the initial calculated costs in file which is attached.
I am very new to both optimization and ceres and not sure if I set right options or why it goes wrong.
The options for the optimization are
options.minimizer_progress_to_stdout = true;
options.num_threads = 1;
options.max_num_iterations = 300;
options.num_linear_solver_threads = 1;
options.linear_solver_type = ceres::ITERATIVE_SCHUR;
options.function_tolerance = 1e-31;
options.parameter_tolerance = 1e-51;
options.update_state_every_iteration = true;
And the full output report is
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.406735e+08 0.00e+00 8.56e+10 0.00e+00 0.00e+00 1.00e+04 0 2.01e-02 2.12e-02
1 9.177980e+49 -9.18e+49 0.00e+00 7.05e+03 -3.81e+41 5.00e+03 3 6.75e-03 2.80e-02
2 9.175212e+49 -9.18e+49 0.00e+00 7.05e+03 -3.81e+41 1.25e+03 3 4.74e-03 3.27e-02
3 9.158664e+49 -9.16e+49 0.00e+00 7.05e+03 -3.81e+41 1.56e+02 3 4.65e-03 3.74e-02
4 9.006539e+49 -9.01e+49 0.00e+00 7.04e+03 -3.74e+41 9.77e+00 3 4.63e-03 4.21e-02
5 9.405801e+49 -9.41e+49 0.00e+00 7.35e+03 -3.91e+41 3.05e-01 2 4.87e-03 4.70e-02
6 3.824394e+48 -3.82e+48 0.00e+00 4.32e+03 -1.82e+40 4.77e-03 2 6.21e-03 5.32e-02
7 7.320189e+31 -7.32e+31 0.00e+00 1.78e+02 -5.54e+24 3.73e-05 2 6.05e-03 5.93e-02
8 7.259535e+08 -4.85e+08 0.00e+00 1.43e+00 -4.51e+03 1.46e-07 2 4.85e-03 6.42e-02
9 2.406731e+08 4.20e+02 8.56e+10 5.58e-03 1.00e+00 4.37e-07 2 2.36e-02 8.79e-02
10 2.406714e+08 1.67e+03 8.56e+10 1.67e-02 1.33e+00 1.31e-06 2 2.24e-02 1.11e-01
11 2.406664e+08 5.02e+03 8.56e+10 4.98e-02 1.33e+00 3.93e-06 2 2.31e-02 1.34e-01
12 2.406513e+08 1.51e+04 8.56e+10 1.50e-01 1.33e+00 1.18e-05 2 2.38e-02 1.58e-01
13 2.406056e+08 4.57e+04 8.56e+10 4.26e-01 1.34e+00 3.54e-05 2 2.40e-02 1.82e-01
14 2.404704e+08 1.35e+05 8.55e+10 1.30e+00 1.32e+00 1.06e-04 2 2.27e-02 2.05e-01
15 2.634366e+08 -2.30e+07 0.00e+00 3.61e+00 -7.51e+01 5.30e-05 2 6.24e-03 2.11e-01
16 2.402167e+08 2.54e+05 8.55e+10 1.80e+00 1.66e+00 1.59e-04 2 2.29e-02 2.34e-01
17 2.443862e+08 -4.17e+06 0.00e+00 5.31e+00 -9.10e+00 7.96e-05 2 5.48e-03 2.39e-01
18 2.398440e+08 3.73e+05 8.53e+10 2.66e+00 1.63e+00 2.39e-04 2 2.34e-02 2.63e-01
19 2.266889e+13 -2.27e+13 0.00e+00 7.88e+00 -3.31e+07 1.19e-04 2 5.41e-03 2.68e-01
20 8.664456e+10 -8.64e+10 0.00e+00 3.94e+00 -2.52e+05 2.98e-05 2 5.93e-03 2.74e-01
21 2.396506e+08 1.93e+05 8.52e+10 9.86e-01 2.25e+00 8.95e-05 2 2.21e-02 2.97e-01
22 2.394628e+08 1.88e+05 8.51e+10 3.03e+00 7.30e-01 9.92e-05 2 2.53e-02 3.22e-01
23 2.389777e+08 4.85e+05 8.49e+10 3.08e+00 1.70e+00 2.98e-04 2 2.39e-02 3.46e-01
24 4.503898e+18 -4.50e+18 0.00e+00 2.27e+01 -5.29e+12 1.49e-04 2 4.70e-03 3.51e-01
25 1.506851e+16 -1.51e+16 0.00e+00 1.14e+01 -3.53e+10 3.72e-05 2 5.55e-03 3.56e-01
26 2.173213e+11 -2.17e+11 0.00e+00 2.85e+00 -2.03e+06 4.65e-06 2 5.38e-03 3.62e-01
27 2.386830e+08 2.95e+05 8.49e+10 3.56e-01 2.21e+01 1.40e-05 2 2.27e-02 3.84e-01
28 2.386303e+08 5.28e+04 8.48e+10 4.36e-01 1.32e+00 4.19e-05 2 2.39e-02 4.08e-01
29 2.384710e+08 1.59e+05 8.48e+10 1.33e+00 1.33e+00 1.26e-04 2 2.36e-02 4.32e-01
30 2.379935e+08 4.77e+05 8.46e+10 3.86e+00 1.33e+00 3.77e-04 2 2.36e-02 4.56e-01
31 2.545870e+15 -2.55e+15 0.00e+00 1.18e+01 -2.37e+09 1.88e-04 2 5.38e-03 4.61e-01
32 8.672371e+12 -8.67e+12 0.00e+00 5.90e+00 -1.61e+07 4.71e-05 2 4.74e-03 4.66e-01
33 3.733753e+08 -1.35e+08 0.00e+00 1.48e+00 -1.01e+03 5.89e-06 2 4.63e-03 4.71e-01
34 2.376223e+08 3.71e+05 8.45e+10 1.85e-01 2.21e+01 1.77e-05 2 2.34e-02 4.94e-01
35 2.375554e+08 6.69e+04 8.45e+10 5.58e-01 1.33e+00 5.30e-05 2 2.36e-02 5.18e-01
36 2.373547e+08 2.01e+05 8.44e+10 1.72e+00 1.33e+00 1.59e-04 2 2.22e-02 5.40e-01
37 2.742934e+08 -3.69e+07 0.00e+00 5.21e+00 -8.17e+01 7.95e-05 2 5.86e-03 5.46e-01
38 2.369798e+08 3.75e+05 8.43e+10 2.61e+00 1.66e+00 2.38e-04 2 2.33e-02 5.70e-01
39 5.833064e+16 -5.83e+16 0.00e+00 7.65e+00 -8.62e+10 1.19e-04 2 5.33e-03 5.75e-01
40 2.223595e+14 -2.22e+14 0.00e+00 3.83e+00 -6.57e+08 2.98e-05 2 6.02e-03 5.81e-01
41 3.906612e+09 -3.67e+09 0.00e+00 9.58e-01 -4.33e+04 3.73e-06 2 4.66e-03 5.86e-01
42 2.367460e+08 2.34e+05 8.42e+10 1.20e-01 2.21e+01 1.12e-05 2 2.35e-02 6.09e-01
43 2.367038e+08 4.22e+04 8.42e+10 3.60e-01 1.33e+00 3.35e-05 2 2.26e-02 6.32e-01
44 2.365773e+08 1.27e+05 8.41e+10 1.05e+00 1.33e+00 1.01e-04 2 2.29e-02 6.55e-01
45 2.361984e+08 3.79e+05 8.40e+10 3.02e+00 1.33e+00 3.02e-04 2 2.43e-02 6.79e-01
46 1.392380e+10 -1.37e+10 0.00e+00 9.79e+00 -1.60e+04 1.51e-04 2 4.68e-03 6.84e-01
47 2.355020e+08 6.96e+05 8.38e+10 4.90e+00 1.63e+00 4.53e-04 2 2.33e-02 7.08e-01
48 1.719117e+10 -1.70e+10 0.00e+00 1.43e+01 -1.33e+04 2.26e-04 2 4.84e-03 7.12e-01
49 6.737600e+11 -6.74e+11 0.00e+00 7.15e+00 -1.06e+06 5.66e-05 2 4.60e-03 7.17e-01
50 2.349292e+08 5.73e+05 8.36e+10 1.79e+00 3.58e+00 1.70e-04 2 2.33e-02 7.40e-01
51 2.343368e+08 5.92e+05 8.34e+10 4.87e+00 1.24e+00 5.09e-04 2 2.35e-02 7.64e-01
52 2.357331e+08 -1.40e+06 0.00e+00 1.44e+01 -9.80e-01 2.55e-04 2 4.73e-03 7.69e-01
53 2.331850e+08 1.15e+06 8.30e+10 7.22e+00 1.61e+00 7.64e-04 2 2.26e-02 7.91e-01
54 5.241379e+15 -5.24e+15 0.00e+00 1.97e+01 -2.47e+09 3.82e-04 2 6.11e-03 7.98e-01
55 2.013167e+13 -2.01e+13 0.00e+00 9.85e+00 -1.89e+07 9.55e-05 2 4.69e-03 8.02e-01
56 6.769897e+08 -4.44e+08 0.00e+00 2.47e+00 -1.66e+03 1.19e-05 2 4.68e-03 8.07e-01
57 2.325092e+08 6.76e+05 8.28e+10 3.08e-01 2.02e+01 3.58e-05 2 2.46e-02 8.32e-01
58 2.323764e+08 1.33e+05 8.28e+10 9.70e-01 1.33e+00 1.07e-04 2 2.33e-02 8.55e-01
59 2.319789e+08 3.98e+05 8.26e+10 2.88e+00 1.33e+00 3.22e-04 2 2.22e-02 8.77e-01
60 2.466335e+08 -1.47e+07 0.00e+00 8.56e+00 -1.64e+01 1.61e-04 2 6.18e-03 8.84e-01
61 2.312386e+08 7.40e+05 8.24e+10 4.28e+00 1.65e+00 4.83e-04 2 2.24e-02 9.06e-01
62 1.832520e+09 -1.60e+09 0.00e+00 1.25e+01 -1.20e+03 2.42e-04 2 5.41e-03 9.12e-01
63 2.390204e+08 -7.78e+06 0.00e+00 6.24e+00 -1.16e+01 6.04e-05 2 6.03e-03 9.18e-01
64 2.306336e+08 6.05e+05 8.22e+10 1.56e+00 3.61e+00 1.81e-04 2 2.23e-02 9.40e-01
65 2.299876e+08 6.46e+05 8.20e+10 4.74e+00 1.29e+00 5.44e-04 2 2.31e-02 9.63e-01
66 2.368140e+11 -2.37e+11 0.00e+00 1.54e+01 -1.58e+05 2.72e-04 2 5.78e-03 9.69e-01
67 1.947112e+10 -1.92e+10 0.00e+00 7.70e+00 -2.57e+04 6.80e-05 2 5.13e-03 9.74e-01
68 2.293626e+08 6.25e+05 8.18e+10 1.93e+00 3.33e+00 2.04e-04 2 2.30e-02 9.97e-01
69 2.286186e+08 7.44e+05 8.15e+10 5.29e+00 1.33e+00 6.12e-04 2 2.31e-02 1.02e+00
70 2.600663e+12 -2.60e+12 0.00e+00 1.53e+01 -1.56e+06 3.06e-04 2 4.91e-03 1.03e+00
71 5.165004e+09 -4.94e+09 0.00e+00 7.68e+00 -5.90e+03 7.65e-05 2 5.59e-03 1.03e+00
72 2.278579e+08 7.61e+05 8.13e+10 1.92e+00 3.63e+00 2.29e-04 2 2.30e-02 1.05e+00
73 3.103687e+15 -3.10e+15 0.00e+00 6.01e+00 -4.96e+09 1.15e-04 2 5.47e-03 1.06e+00
74 1.215508e+13 -1.22e+13 0.00e+00 3.01e+00 -3.88e+07 2.87e-05 2 5.91e-03 1.07e+00
75 5.793577e+08 -3.51e+08 0.00e+00 7.53e-01 -4.48e+03 3.58e-06 2 5.52e-03 1.07e+00
76 2.276406e+08 2.17e+05 8.12e+10 9.41e-02 2.22e+01 1.08e-05 2 2.24e-02 1.09e+00
77 2.276028e+08 3.78e+04 8.12e+10 2.80e-01 1.29e+00 3.23e-05 2 2.30e-02 1.12e+00
78 2.274846e+08 1.18e+05 8.12e+10 3.32e+00 1.34e+00 9.68e-05 2 2.33e-02 1.14e+00
79 2.271377e+08 3.47e+05 8.10e+10 2.50e+00 1.31e+00 2.90e-04 2 2.35e-02 1.16e+00
80 2.261458e+08 9.92e+05 8.07e+10 7.75e+00 1.26e+00 8.71e-04 2 2.22e-02 1.19e+00
81 4.269188e+09 -4.04e+09 0.00e+00 1.07e+02 -1.72e+03 4.35e-04 2 6.14e-03 1.19e+00
82 1.855852e+10 -1.83e+10 0.00e+00 5.39e+01 -1.56e+04 1.09e-04 2 4.83e-03 1.20e+00
83 2.249538e+08 1.19e+06 8.04e+10 1.35e+01 4.04e+00 3.27e-04 2 2.34e-02 1.22e+00
84 1.292998e+09 -1.07e+09 0.00e+00 7.87e+00 -1.21e+03 1.63e-04 2 4.77e-03 1.23e+00
85 2.315280e+08 -6.57e+06 0.00e+00 3.94e+00 -1.49e+01 4.08e-05 2 4.77e-03 1.23e+00
86 2.245682e+08 3.86e+05 8.03e+10 9.85e-01 3.50e+00 1.22e-04 2 2.30e-02 1.25e+00
87 2.241312e+08 4.37e+05 8.02e+10 3.38e+00 1.33e+00 3.67e-04 2 2.22e-02 1.28e+00
88 2.405859e+17 -2.41e+17 0.00e+00 9.23e+00 -2.44e+11 1.84e-04 2 6.22e-03 1.28e+00
89 5.875522e+08 -3.63e+08 0.00e+00 4.62e+00 -7.37e+02 4.59e-05 2 4.72e-03 1.29e+00
90 2.238041e+08 3.27e+05 8.00e+10 1.16e+00 2.65e+00 1.38e-04 2 2.31e-02 1.31e+00
91 2.239869e+08 -1.83e+05 0.00e+00 3.33e+00 -4.95e-01 6.89e-05 2 5.71e-03 1.32e+00
92 2.234959e+08 3.08e+05 7.99e+10 1.67e+00 1.67e+00 2.07e-04 2 2.27e-02 1.34e+00
93 2.235639e+08 -6.80e+04 0.00e+00 5.21e+00 -1.23e-01 1.03e-04 2 5.93e-03 1.34e+00
94 2.237230e+08 -2.27e+05 0.00e+00 2.61e+00 -8.20e-01 2.58e-05 2 4.64e-03 1.35e+00
95 2.232458e+08 2.50e+05 7.98e+10 6.53e-01 3.61e+00 7.75e-05 2 2.34e-02 1.37e+00
96 2.236444e+08 -3.99e+05 0.00e+00 1.93e+00 -1.92e+00 3.88e-05 2 4.71e-03 1.38e+00
97 2.230743e+08 1.72e+05 7.98e+10 9.64e-01 1.65e+00 1.16e-04 2 2.33e-02 1.40e+00
98 2.234036e+08 -3.29e+05 0.00e+00 2.85e+00 -1.06e+00 5.81e-05 2 5.73e-03 1.41e+00
99 2.234944e+08 -4.20e+05 0.00e+00 1.43e+00 -2.70e+00 1.45e-05 2 4.69e-03 1.41e+00
100 2.229339e+08 1.40e+05 7.97e+10 3.56e-01 3.61e+00 4.36e-05 2 2.32e-02 1.43e+00
101 2.234495e+08 -5.16e+05 0.00e+00 1.17e+00 -4.42e+00 2.18e-05 2 4.69e-03 1.44e+00
102 2.228375e+08 9.64e+04 7.97e+10 5.84e-01 1.65e+00 6.54e-05 2 2.33e-02 1.46e+00
103 2.233128e+08 -4.75e+05 0.00e+00 1.71e+00 -2.72e+00 3.27e-05 2 5.59e-03 1.47e+00
104 2.233643e+08 -5.27e+05 0.00e+00 8.54e-01 -6.03e+00 8.17e-06 2 4.61e-03 1.47e+00
105 2.227586e+08 7.89e+04 7.97e+10 2.14e-01 3.61e+00 2.45e-05 2 2.35e-02 1.50e+00
106 2.233388e+08 -5.80e+05 0.00e+00 6.28e-01 -8.85e+00 1.23e-05 2 4.71e-03 1.50e+00
107 2.233586e+08 -6.00e+05 0.00e+00 3.14e-01 -1.83e+01 3.07e-06 2 4.77e-03 1.51e+00
108 2.227290e+08 2.96e+04 7.96e+10 7.85e-02 3.61e+00 9.20e-06 2 2.32e-02 1.53e+00
109 2.233491e+08 -6.20e+05 0.00e+00 2.33e-01 -2.52e+01 4.60e-06 2 4.72e-03 1.53e+00
110 2.227087e+08 2.03e+04 7.96e+10 1.17e-01 1.65e+00 1.38e-05 2 2.33e-02 1.56e+00
111 2.233198e+08 -6.11e+05 0.00e+00 3.65e-01 -1.66e+01 6.90e-06 2 4.79e-03 1.56e+00
112 2.233309e+08 -6.22e+05 0.00e+00 1.82e-01 -3.38e+01 1.72e-06 2 4.64e-03 1.57e+00
113 2.226920e+08 1.66e+04 7.96e+10 4.56e-02 3.61e+00 5.17e-06 2 2.32e-02 1.59e+00
114 2.226737e+08 1.83e+04 7.96e+10 1.38e-01 1.33e+00 1.55e-05 2 2.29e-02 1.61e+00
115 2.232843e+08 -6.11e+05 0.00e+00 4.16e-01 -1.47e+01 7.76e-06 2 6.12e-03 1.62e+00
116 2.232967e+08 -6.23e+05 0.00e+00 2.08e-01 -3.01e+01 1.94e-06 2 4.73e-03 1.62e+00
117 2.226550e+08 1.87e+04 7.96e+10 5.20e-02 3.61e+00 5.82e-06 2 2.33e-02 1.65e+00
118 2.232907e+08 -6.36e+05 0.00e+00 1.49e-01 -4.09e+01 2.91e-06 2 5.48e-03 1.65e+00
119 2.232954e+08 -6.40e+05 0.00e+00 7.46e-02 -8.24e+01 7.27e-07 2 4.68e-03 1.66e+00
120 2.226480e+08 7.02e+03 7.96e+10 1.86e-02 3.61e+00 2.18e-06 2 2.31e-02 1.68e+00
121 2.232931e+08 -6.45e+05 0.00e+00 5.58e-02 -1.11e+02 1.09e-06 2 4.71e-03 1.69e+00
122 2.226431e+08 4.82e+03 7.96e+10 2.79e-02 1.65e+00 3.27e-06 2 2.35e-02 1.71e+00
123 2.232861e+08 -6.43e+05 0.00e+00 8.36e-02 -7.35e+01 1.64e-06 2 5.33e-03 1.71e+00
124 2.232888e+08 -6.46e+05 0.00e+00 4.18e-02 -1.48e+02 4.09e-07 2 4.61e-03 1.72e+00
125 2.226392e+08 3.95e+03 7.96e+10 1.05e-02 3.61e+00 1.23e-06 2 2.34e-02 1.74e+00
126 2.232875e+08 -6.48e+05 0.00e+00 3.16e-02 -1.98e+02 6.14e-07 2 4.82e-03 1.75e+00
127 2.226365e+08 2.71e+03 7.96e+10 1.58e-02 1.65e+00 1.84e-06 2 2.38e-02 1.77e+00
128 2.232836e+08 -6.47e+05 0.00e+00 4.74e-02 -1.32e+02 9.21e-07 2 4.74e-03 1.78e+00
129 2.232850e+08 -6.49e+05 0.00e+00 2.37e-02 -2.64e+02 2.30e-07 2 4.76e-03 1.78e+00
130 2.226343e+08 2.22e+03 7.96e+10 5.92e-03 3.61e+00 6.91e-07 2 2.38e-02 1.80e+00
131 2.232843e+08 -6.50e+05 0.00e+00 1.79e-02 -3.52e+02 3.45e-07 2 4.78e-03 1.81e+00
132 2.232849e+08 -6.51e+05 0.00e+00 8.95e-03 -7.05e+02 8.63e-08 2 4.79e-03 1.81e+00
133 2.226334e+08 8.33e+02 7.96e+10 2.24e-03 3.61e+00 2.59e-07 2 2.36e-02 1.84e+00
134 2.226325e+08 9.18e+02 7.96e+10 6.73e-03 1.33e+00 7.77e-07 2 2.37e-02 1.86e+00
135 2.232825e+08 -6.50e+05 0.00e+00 2.02e-02 -3.13e+02 3.88e-07 2 5.59e-03 1.87e+00
136 2.232832e+08 -6.51e+05 0.00e+00 1.01e-02 -6.27e+02 9.71e-08 2 4.73e-03 1.87e+00
137 2.226316e+08 9.37e+02 7.96e+10 2.53e-03 3.61e+00 2.91e-07 2 2.39e-02 1.90e+00
138 2.232829e+08 -6.51e+05 0.00e+00 7.55e-03 -8.37e+02 1.46e-07 2 4.73e-03 1.90e+00
139 2.232831e+08 -6.52e+05 0.00e+00 3.78e-03 -1.67e+03 3.64e-08 2 4.64e-03 1.91e+00
140 2.226312e+08 3.51e+02 7.96e+10 9.44e-04 3.61e+00 1.09e-07 2 2.34e-02 1.93e+00
141 2.232830e+08 -6.52e+05 0.00e+00 2.82e-03 -2.23e+03 5.46e-08 2 4.70e-03 1.93e+00
142 2.226310e+08 2.41e+02 7.96e+10 1.41e-03 1.65e+00 1.64e-07 2 2.34e-02 1.96e+00
143 2.232826e+08 -6.52e+05 0.00e+00 4.21e-03 -1.49e+03 8.19e-08 2 4.86e-03 1.96e+00
144 2.232828e+08 -6.52e+05 0.00e+00 2.10e-03 -2.98e+03 2.05e-08 2 4.67e-03 1.97e+00
145 2.226308e+08 1.98e+02 7.96e+10 5.26e-04 3.61e+00 6.14e-08 2 2.36e-02 1.99e+00
146 2.232827e+08 -6.52e+05 0.00e+00 1.58e-03 -3.97e+03 3.07e-08 2 4.96e-03 2.00e+00
147 2.226307e+08 1.36e+02 7.96e+10 7.88e-04 1.65e+00 9.22e-08 2 2.30e-02 2.02e+00
148 2.232825e+08 -6.52e+05 0.00e+00 2.36e-03 -2.65e+03 4.61e-08 2 4.79e-03 2.02e+00
149 2.232826e+08 -6.52e+05 0.00e+00 1.18e-03 -5.29e+03 1.15e-08 2 4.94e-03 2.03e+00
150 2.226305e+08 1.11e+02 7.96e+10 2.95e-04 3.61e+00 3.46e-08 2 2.33e-02 2.05e+00
151 2.232825e+08 -6.52e+05 0.00e+00 8.83e-04 -7.06e+03 1.73e-08 2 5.18e-03 2.06e+00
152 2.226305e+08 7.63e+01 7.96e+10 4.41e-04 1.65e+00 5.18e-08 2 2.50e-02 2.08e+00
153 2.232824e+08 -6.52e+05 0.00e+00 1.32e-03 -4.71e+03 2.59e-08 2 4.86e-03 2.09e+00
154 2.232825e+08 -6.52e+05 0.00e+00 6.61e-04 -9.41e+03 6.48e-09 2 4.70e-03 2.09e+00
155 2.226304e+08 6.25e+01 7.96e+10 1.65e-04 3.61e+00 1.94e-08 2 2.49e-02 2.12e+00
156 2.226303e+08 6.89e+01 7.96e+10 4.96e-04 1.33e+00 5.83e-08 2 2.34e-02 2.14e+00
157 2.232823e+08 -6.52e+05 0.00e+00 1.48e-03 -4.18e+03 2.92e-08 2 4.87e-03 2.15e+00
158 2.232823e+08 -6.52e+05 0.00e+00 7.42e-04 -8.37e+03 7.29e-09 2 4.64e-03 2.15e+00
159 2.226303e+08 7.04e+01 7.96e+10 1.86e-04 3.61e+00 2.19e-08 2 2.31e-02 2.17e+00
160 2.232823e+08 -6.52e+05 0.00e+00 5.56e-04 -1.12e+04 1.09e-08 2 4.78e-03 2.18e+00
161 2.232823e+08 -6.52e+05 0.00e+00 2.78e-04 -2.23e+04 2.73e-09 2 4.64e-03 2.18e+00
162 2.226302e+08 2.64e+01 7.96e+10 6.95e-05 3.61e+00 8.20e-09 2 2.30e-02 2.21e+00
163 2.232823e+08 -6.52e+05 0.00e+00 2.09e-04 -2.98e+04 4.10e-09 2 4.73e-03 2.21e+00
164 2.226302e+08 1.81e+01 7.96e+10 1.04e-04 1.65e+00 1.23e-08 2 2.36e-02 2.23e+00
165 2.232823e+08 -6.52e+05 0.00e+00 3.13e-04 -1.98e+04 6.15e-09 2 4.74e-03 2.24e+00
166 2.232823e+08 -6.52e+05 0.00e+00 1.56e-04 -3.97e+04 1.54e-09 2 4.63e-03 2.24e+00
167 2.226302e+08 1.48e+01 7.96e+10 3.91e-05 3.61e+00 4.61e-09 2 2.34e-02 2.27e+00
168 2.226302e+08 1.64e+01 7.96e+10 1.17e-04 1.33e+00 1.38e-08 2 2.27e-02 2.29e+00
169 2.232823e+08 -6.52e+05 0.00e+00 3.52e-04 -1.76e+04 6.92e-09 2 6.00e-03 2.30e+00
170 2.232823e+08 -6.52e+05 0.00e+00 1.76e-04 -3.53e+04 1.73e-09 2 4.67e-03 2.30e+00
171 2.226302e+08 1.67e+01 7.96e+10 4.40e-05 3.61e+00 5.19e-09 2 2.37e-02 2.32e+00
172 2.232823e+08 -6.52e+05 0.00e+00 1.32e-04 -4.70e+04 2.60e-09 2 4.86e-03 2.33e+00
173 2.232823e+08 -6.52e+05 0.00e+00 6.60e-05 -9.41e+04 6.49e-10 2 4.64e-03 2.33e+00
174 2.226302e+08 6.26e+00 7.96e+10 1.65e-05 3.61e+00 1.95e-09 2 2.35e-02 2.36e+00
175 2.232823e+08 -6.52e+05 0.00e+00 4.96e-05 -1.25e+05 9.73e-10 2 4.86e-03 2.36e+00
176 2.226302e+08 4.30e+00 7.96e+10 2.48e-05 1.65e+00 2.92e-09 2 2.35e-02 2.39e+00
177 2.232823e+08 -6.52e+05 0.00e+00 7.43e-05 -8.36e+04 1.46e-09 2 4.94e-03 2.39e+00
178 2.232823e+08 -6.52e+05 0.00e+00 3.72e-05 -1.67e+05 3.65e-10 2 4.77e-03 2.40e+00
179 2.226302e+08 3.52e+00 7.96e+10 9.29e-06 3.61e+00 1.09e-09 2 2.38e-02 2.42e+00
180 2.232823e+08 -6.52e+05 0.00e+00 2.80e-05 -2.23e+05 5.47e-10 2 4.80e-03 2.42e+00
181 2.226302e+08 2.42e+00 7.96e+10 1.40e-05 1.65e+00 1.64e-09 2 2.35e-02 2.45e+00
182 2.232823e+08 -6.52e+05 0.00e+00 4.18e-05 -1.49e+05 8.21e-10 2 4.74e-03 2.45e+00
183 2.232823e+08 -6.52e+05 0.00e+00 2.09e-05 -2.97e+05 2.05e-10 2 4.63e-03 2.46e+00
184 2.226302e+08 1.98e+00 7.96e+10 5.22e-06 3.61e+00 6.16e-10 2 2.40e-02 2.48e+00
185 2.232823e+08 -6.52e+05 0.00e+00 1.57e-05 -3.96e+05 3.08e-10 2 4.69e-03 2.49e+00
186 2.226302e+08 1.36e+00 7.96e+10 7.84e-06 1.65e+00 9.24e-10 2 2.35e-02 2.51e+00
187 2.232823e+08 -6.52e+05 0.00e+00 2.36e-05 -2.64e+05 4.62e-10 2 4.93e-03 2.51e+00
188 2.232823e+08 -6.52e+05 0.00e+00 1.18e-05 -5.28e+05 1.15e-10 2 4.63e-03 2.52e+00
189 2.226302e+08 1.11e+00 7.96e+10 2.95e-06 3.61e+00 3.46e-10 2 2.38e-02 2.54e+00
190 2.232823e+08 -6.52e+05 0.00e+00 8.81e-06 -7.05e+05 1.73e-10 2 4.81e-03 2.55e+00
191 2.232823e+08 -6.52e+05 0.00e+00 4.40e-06 -1.41e+06 4.33e-11 2 4.63e-03 2.55e+00
192 2.226302e+08 4.18e-01 7.96e+10 1.10e-06 3.61e+00 1.30e-10 2 2.39e-02 2.58e+00
193 2.232823e+08 -6.52e+05 0.00e+00 3.30e-06 -1.88e+06 6.50e-11 2 4.86e-03 2.58e+00
194 2.226302e+08 2.87e-01 7.96e+10 1.65e-06 1.65e+00 1.95e-10 2 2.40e-02 2.61e+00
195 2.232823e+08 -6.52e+05 0.00e+00 4.96e-06 -1.25e+06 9.74e-11 2 4.71e-03 2.61e+00
196 2.232823e+08 -6.52e+05 0.00e+00 2.48e-06 -2.51e+06 2.44e-11 2 4.84e-03 2.61e+00
197 2.226302e+08 2.35e-01 7.96e+10 6.20e-07 3.61e+00 7.31e-11 2 2.38e-02 2.64e+00
198 2.232823e+08 -6.52e+05 0.00e+00 1.86e-06 -3.34e+06 3.65e-11 2 4.70e-03 2.64e+00
199 2.226302e+08 1.61e-01 7.96e+10 9.29e-07 1.65e+00 1.10e-10 2 2.39e-02 2.67e+00
200 2.232823e+08 -6.52e+05 0.00e+00 2.79e-06 -2.23e+06 5.48e-11 2 4.72e-03 2.67e+00
201 2.232823e+08 -6.52e+05 0.00e+00 1.39e-06 -4.45e+06 1.37e-11 2 5.06e-03 2.68e+00
202 2.226302e+08 1.32e-01 7.96e+10 3.48e-07 3.61e+00 4.11e-11 2 2.34e-02 2.70e+00
203 2.232823e+08 -6.52e+05 0.00e+00 1.04e-06 -5.94e+06 2.06e-11 2 4.70e-03 2.71e+00
204 2.232823e+08 -6.52e+05 0.00e+00 5.22e-07 -1.19e+07 5.14e-12 2 6.26e-03 2.71e+00
205 2.226302e+08 4.96e-02 7.96e+10 1.31e-07 3.61e+00 1.54e-11 2 2.26e-02 2.73e+00
206 2.232823e+08 -6.52e+05 0.00e+00 3.92e-07 -1.58e+07 7.71e-12 2 5.92e-03 2.74e+00
207 2.226302e+08 3.40e-02 7.96e+10 1.96e-07 1.65e+00 2.31e-11 2 2.30e-02 2.76e+00
208 2.232823e+08 -6.52e+05 0.00e+00 5.88e-07 -1.06e+07 1.16e-11 2 4.67e-03 2.77e+00
209 2.232823e+08 -6.52e+05 0.00e+00 2.94e-07 -2.11e+07 2.89e-12 2 6.41e-03 2.77e+00
210 2.226302e+08 2.79e-02 7.96e+10 7.35e-08 3.62e+00 8.67e-12 2 2.30e-02 2.80e+00
211 2.232823e+08 -6.52e+05 0.00e+00 2.20e-07 -2.82e+07 4.34e-12 2 5.51e-03 2.80e+00
212 2.226302e+08 1.91e-02 7.96e+10 1.10e-07 1.65e+00 1.30e-11 2 2.33e-02 2.83e+00
213 2.232823e+08 -6.52e+05 0.00e+00 3.31e-07 -1.88e+07 6.50e-12 2 5.93e-03 2.83e+00
214 2.232823e+08 -6.52e+05 0.00e+00 1.65e-07 -3.75e+07 1.63e-12 2 5.35e-03 2.84e+00
215 2.226302e+08 1.57e-02 7.96e+10 4.13e-08 3.61e+00 4.88e-12 2 2.25e-02 2.86e+00
216 2.232823e+08 -6.52e+05 0.00e+00 1.24e-07 -5.00e+07 2.44e-12 2 5.61e-03 2.87e+00
217 2.226302e+08 1.08e-02 7.96e+10 6.20e-08 1.65e+00 7.32e-12 2 2.29e-02 2.89e+00
218 2.232823e+08 -6.52e+05 0.00e+00 1.86e-07 -3.34e+07 3.66e-12 2 5.39e-03 2.89e+00
219 2.232823e+08 -6.52e+05 0.00e+00 9.30e-08 -6.67e+07 9.14e-13 2 5.28e-03 2.90e+00
220 2.226302e+08 8.83e-03 7.96e+10 2.32e-08 3.61e+00 2.74e-12 2 2.26e-02 2.92e+00
221 2.232823e+08 -6.52e+05 0.00e+00 6.97e-08 -8.90e+07 1.37e-12 2 5.79e-03 2.93e+00
222 2.226302e+08 6.06e-03 7.96e+10 3.49e-08 1.65e+00 4.12e-12 2 2.29e-02 2.95e+00
223 2.232823e+08 -6.52e+05 0.00e+00 1.05e-07 -5.93e+07 2.06e-12 2 5.47e-03 2.96e+00
224 2.232823e+08 -6.52e+05 0.00e+00 5.23e-08 -1.19e+08 5.14e-13 2 5.57e-03 2.96e+00
225 2.226302e+08 4.97e-03 7.96e+10 1.31e-08 3.62e+00 1.54e-12 2 2.21e-02 2.98e+00
226 2.226302e+08 5.47e-03 7.96e+10 3.92e-08 1.33e+00 4.63e-12 2 2.30e-02 3.01e+00
227 2.232823e+08 -6.52e+05 0.00e+00 1.18e-07 -5.27e+07 2.31e-12 2 4.81e-03 3.01e+00
228 2.232823e+08 -6.52e+05 0.00e+00 5.88e-08 -1.05e+08 5.79e-13 2 5.41e-03 3.02e+00
229 2.226302e+08 5.59e-03 7.96e+10 1.47e-08 3.61e+00 1.74e-12 2 2.28e-02 3.04e+00
230 2.232823e+08 -6.52e+05 0.00e+00 4.41e-08 -1.41e+08 8.68e-13 2 4.85e-03 3.05e+00
231 2.232823e+08 -6.52e+05 0.00e+00 2.21e-08 -2.81e+08 2.17e-13 2 5.58e-03 3.05e+00
232 2.226302e+08 2.08e-03 7.96e+10 5.52e-09 3.60e+00 6.51e-13 2 2.25e-02 3.07e+00
233 2.232823e+08 -6.52e+05 0.00e+00 1.65e-08 -3.75e+08 3.26e-13 2 5.40e-03 3.08e+00
234 2.226302e+08 1.44e-03 7.96e+10 8.27e-09 1.66e+00 9.77e-13 2 2.29e-02 3.10e+00
235 2.232823e+08 -6.52e+05 0.00e+00 2.48e-08 -2.50e+08 4.88e-13 2 4.88e-03 3.11e+00
236 2.232823e+08 -6.52e+05 0.00e+00 1.24e-08 -5.00e+08 1.22e-13 2 5.58e-03 3.11e+00
237 2.226302e+08 1.17e-03 7.96e+10 3.10e-09 3.58e+00 3.66e-13 2 2.26e-02 3.14e+00
238 2.232823e+08 -6.52e+05 0.00e+00 9.31e-09 -6.67e+08 1.83e-13 2 5.72e-03 3.14e+00
239 2.226302e+08 8.18e-04 7.96e+10 4.65e-09 1.67e+00 5.49e-13 2 2.28e-02 3.16e+00
240 2.232823e+08 -6.52e+05 0.00e+00 1.40e-08 -4.44e+08 2.75e-13 2 5.31e-03 3.17e+00
241 2.232823e+08 -6.52e+05 0.00e+00 6.98e-09 -8.89e+08 6.87e-14 2 5.49e-03 3.17e+00
242 2.226302e+08 6.70e-04 7.96e+10 1.75e-09 3.65e+00 2.06e-13 2 2.23e-02 3.20e+00
243 2.232823e+08 -6.52e+05 0.00e+00 5.24e-09 -1.19e+09 1.03e-13 2 5.55e-03 3.20e+00
244 2.226302e+08 4.51e-04 7.96e+10 2.62e-09 1.64e+00 3.09e-13 2 2.27e-02 3.23e+00
245 2.232823e+08 -6.52e+05 0.00e+00 7.85e-09 -7.90e+08 1.54e-13 2 5.34e-03 3.23e+00
246 2.232823e+08 -6.52e+05 0.00e+00 3.93e-09 -1.58e+09 3.86e-14 2 5.17e-03 3.24e+00
247 2.226302e+08 3.83e-04 7.96e+10 9.82e-10 3.68e+00 1.16e-13 2 2.22e-02 3.26e+00
248 2.232823e+08 -6.52e+05 0.00e+00 2.95e-09 -2.11e+09 5.79e-14 2 5.70e-03 3.26e+00
249 2.232823e+08 -6.52e+05 0.00e+00 1.47e-09 -4.21e+09 1.45e-14 2 5.81e-03 3.27e+00
250 2.226302e+08 1.38e-04 7.96e+10 3.68e-10 3.48e+00 4.35e-14 2 2.25e-02 3.29e+00
251 2.232823e+08 -6.52e+05 0.00e+00 1.10e-09 -5.62e+09 2.17e-14 2 5.35e-03 3.30e+00
252 2.226302e+08 6.14e-05 7.96e+10 5.52e-10 1.07e+00 6.52e-14 2 2.24e-02 3.32e+00
253 2.232823e+08 -6.52e+05 0.00e+00 1.66e-09 -3.75e+09 3.26e-14 2 5.70e-03 3.33e+00
254 2.232823e+08 -6.52e+05 0.00e+00 8.28e-10 -7.49e+09 8.15e-15 2 5.22e-03 3.33e+00
255 2.226302e+08 7.84e-05 7.96e+10 2.07e-10 3.55e+00 2.44e-14 2 2.29e-02 3.35e+00
256 2.232823e+08 -6.52e+05 0.00e+00 6.21e-10 -9.99e+09 1.22e-14 2 5.22e-03 3.36e+00
257 2.226302e+08 4.54e-05 7.96e+10 3.11e-10 1.41e+00 3.67e-14 2 2.25e-02 3.38e+00
258 2.232823e+08 -6.52e+05 0.00e+00 9.32e-10 -6.66e+09 1.83e-14 2 5.44e-03 3.39e+00
259 2.232823e+08 -6.52e+05 0.00e+00 4.66e-10 -1.33e+10 4.58e-15 2 5.86e-03 3.39e+00
260 2.226302e+08 2.08e-05 7.96e+10 1.16e-10 1.57e+00 1.37e-14 2 2.21e-02 3.42e+00
261 2.226302e+08 3.28e-05 7.96e+10 3.49e-10 8.68e-01 2.29e-14 2 2.28e-02 3.44e+00
262 2.232823e+08 -6.52e+05 0.00e+00 5.82e-10 -1.07e+10 1.14e-14 2 4.87e-03 3.44e+00
263 2.232823e+08 -6.52e+05 0.00e+00 2.91e-10 -2.13e+10 2.86e-15 2 5.43e-03 3.45e+00
264 2.226302e+08 3.56e-05 7.96e+10 7.27e-11 5.28e+00 8.58e-15 2 2.26e-02 3.47e+00
265 2.232823e+08 -6.52e+05 0.00e+00 2.18e-10 -2.84e+10 4.29e-15 2 5.39e-03 3.48e+00
266 2.226302e+08 1.97e-05 7.96e+10 1.09e-10 2.03e+00 1.29e-14 2 2.27e-02 3.50e+00
267 2.232823e+08 -6.52e+05 0.00e+00 3.27e-10 -1.90e+10 6.44e-15 2 4.88e-03 3.50e+00
268 2.232823e+08 -6.52e+05 0.00e+00 1.64e-10 -3.79e+10 1.61e-15 2 5.54e-03 3.51e+00
269 2.226302e+08 1.25e-05 7.96e+10 4.09e-11 2.80e+00 4.83e-15 2 2.26e-02 3.53e+00
270 2.232823e+08 -6.52e+05 0.00e+00 1.23e-10 -5.06e+10 2.41e-15 2 5.71e-03 3.54e+00
271 2.226302e+08 1.01e-05 7.96e+10 6.14e-11 1.32e+00 7.24e-15 2 2.26e-02 3.56e+00
272 2.232823e+08 -6.52e+05 0.00e+00 1.84e-10 -3.37e+10 3.62e-15 2 5.32e-03 3.57e+00
273 2.232823e+08 -6.52e+05 0.00e+00 9.20e-11 -6.74e+10 9.05e-16 2 5.18e-03 3.57e+00
274 2.226302e+08 8.64e-07 7.96e+10 2.30e-11 2.18e+00 2.72e-15 2 2.24e-02 3.59e+00
275 2.232823e+08 -6.52e+05 0.00e+00 6.90e-11 -8.99e+10 1.36e-15 2 5.53e-03 3.60e+00
276 2.232823e+08 -6.52e+05 0.00e+00 3.45e-11 -1.80e+11 3.39e-16 2 5.80e-03 3.61e+00
277 2.226302e+08 2.18e-06 7.96e+10 8.63e-12 4.93e-01 3.39e-16 2 2.20e-02 3.63e+00
278 2.226302e+08 6.94e-06 7.96e+10 8.63e-12 9.20e+00 1.02e-15 2 2.33e-02 3.65e+00
279 2.232823e+08 -6.52e+05 0.00e+00 2.59e-11 -2.40e+11 5.09e-16 2 4.66e-03 3.66e+00
280 2.226302e+08 9.60e-06 7.96e+10 1.29e-11 6.62e+00 1.53e-15 2 2.35e-02 3.68e+00
281 2.232823e+08 -6.52e+05 0.00e+00 3.88e-11 -1.60e+11 7.64e-16 2 4.67e-03 3.68e+00
282 2.232823e+08 -6.52e+05 0.00e+00 1.94e-11 -3.20e+11 1.91e-16 2 5.16e-03 3.69e+00
283 2.226302e+08 6.26e-07 7.96e+10 4.85e-12 3.51e-01 1.86e-16 2 2.30e-02 3.71e+00
284 2.226302e+08 -6.56e-07 0.00e+00 4.73e-12 -3.72e+00 9.30e-17 2 4.71e-03 3.72e+00
285 2.226302e+08 -3.28e-07 0.00e+00 2.36e-12 -6.12e+00 2.32e-17 2 5.70e-03 3.72e+00
286 2.226302e+08 3.61e-06 7.96e+10 5.91e-13 3.89e+01 6.97e-17 2 2.27e-02 3.75e+00
287 2.226302e+08 5.16e-06 7.96e+10 1.77e-12 1.70e+01 2.09e-16 2 2.39e-02 3.77e+00
288 2.232823e+08 -6.52e+05 0.00e+00 5.32e-12 -1.17e+12 1.05e-16 2 4.70e-03 3.77e+00
289 2.226302e+08 1.79e-06 0.00e+00 2.66e-12 -1.07e+01 2.62e-17 2 5.03e-03 3.78e+00
290 2.226302e+08 -1.58e-06 0.00e+00 6.65e-13 -9.08e+01 3.27e-18 2 5.55e-03 3.79e+00
291 2.226302e+08 5.66e-07 0.00e+00 8.31e-14 -4.81e+02 2.04e-19 2 5.94e-03 3.79e+00
292 2.226302e+08 5.36e-07 0.00e+00 5.39e-15 -7.75e+03 6.39e-21 2 4.94e-03 3.80e+00
293 2.226302e+08 5.36e-07 0.00e+00 5.27e-17 -2.48e+05 9.98e-23 2 4.58e-03 3.80e+00
Solver Summary (v 1.12.0-eigen-(3.2.9)-lapack-suitesparse-(4.2.1)-eigensparse-openmp)
Original Reduced
Parameter blocks 612 612
Parameters 1836 1836
Residual blocks 306 306
Residual 306 306
Minimizer TRUST_REGION
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver ITERATIVE_SCHUR ITERATIVE_SCHUR
Preconditioner JACOBI JACOBI
Threads 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 306, 306
Cost:
Initial 2.406735e+08
Final 2.226302e+08
Change 1.804333e+07
Minimizer iterations 294
Successful steps 126
Unsuccessful steps 168
Time (in seconds):
Preprocessor 0.0010
Residual evaluation 1.3550
Jacobian evaluation 2.2552
Linear solver 0.1499
Minimizer 3.8045
Postprocessor 0.0000
Total 3.8055
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-51.)
Sameer Agarwal
Apr 25, 2018, 12:57:10 AM4/25/18
to ceres-...@googlegroups.com
Arindam,
Why are you using ITERATIVE_SCHUR as your linear solver? I would start by using SPARSE_NORMAL_CHOLESKY as your linear solver. And see how that does and report back.
Sameer
--
You received this message because you are subscribed to the Google Groups "Ceres Solver" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/61dbeb3e-4923-40c5-96fc-a88f80429f00%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.
Arindam Saha
Apr 25, 2018, 1:11:51 AM4/25/18
to ceres-...@googlegroups.com
Below is the result with SPARSE_NORMAL_CHOLESKY
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.406735e+08 0.00e+00 8.56e+10 0.00e+00 0.00e+00 1.00e+04 0 3.71e-02 9.02e-02
1 6.212725e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 5.00e+03 1 4.93e-03 9.52e-02
2 6.211878e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 1.25e+03 1 4.59e-03 9.98e-02
3 6.206799e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 1.56e+02 1 5.66e-03 1.05e-01
4 6.159635e+49 -6.16e+49 0.00e+00 6.87e+03 -2.56e+41 9.77e+00 1 5.53e-03 1.11e-01
5 5.415006e+49 -5.42e+49 0.00e+00 6.75e+03 -2.25e+41 3.05e-01 1 4.77e-03 1.16e-01
6 3.800462e+48 -3.80e+48 0.00e+00 4.32e+03 -1.80e+40 4.77e-03 1 4.67e-03 1.21e-01
7 7.320189e+31 -7.32e+31 0.00e+00 1.78e+02 -5.54e+24 3.73e-05 1 4.57e-03 1.25e-01
8 7.259535e+08 -4.85e+08 0.00e+00 1.43e+00 -4.51e+03 1.46e-07 1 4.54e-03 1.30e-01
9 2.406731e+08 4.20e+02 8.56e+10 5.58e-03 1.00e+00 4.37e-07 1 2.24e-02 1.52e-01
10 2.406714e+08 1.67e+03 8.56e+10 1.67e-02 1.33e+00 1.31e-06 1 2.10e-02 1.73e-01
11 2.406664e+08 5.02e+03 8.56e+10 4.98e-02 1.33e+00 3.93e-06 1 2.12e-02 1.94e-01
12 2.406513e+08 1.51e+04 8.56e+10 1.50e-01 1.33e+00 1.18e-05 1 2.10e-02 2.15e-01
13 2.406056e+08 4.57e+04 8.56e+10 4.26e-01 1.34e+00 3.54e-05 1 2.11e-02 2.36e-01
14 2.404704e+08 1.35e+05 8.55e+10 1.30e+00 1.32e+00 1.06e-04 1 2.35e-02 2.60e-01
15 2.634366e+08 -2.30e+07 0.00e+00 3.61e+00 -7.51e+01 5.30e-05 1 4.73e-03 2.65e-01
16 2.402167e+08 2.54e+05 8.55e+10 1.80e+00 1.66e+00 1.59e-04 1 2.31e-02 2.88e-01
17 2.443862e+08 -4.17e+06 0.00e+00 5.31e+00 -9.10e+00 7.96e-05 1 5.40e-03 2.93e-01
18 2.398440e+08 3.73e+05 8.53e+10 2.66e+00 1.63e+00 2.39e-04 1 2.32e-02 3.17e-01
19 2.266889e+13 -2.27e+13 0.00e+00 7.88e+00 -3.31e+07 1.19e-04 1 5.88e-03 3.23e-01
20 8.664456e+10 -8.64e+10 0.00e+00 3.94e+00 -2.52e+05 2.98e-05 1 5.11e-03 3.28e-01
21 2.396506e+08 1.93e+05 8.52e+10 9.86e-01 2.25e+00 8.95e-05 1 2.17e-02 3.49e-01
22 2.394628e+08 1.88e+05 8.51e+10 3.03e+00 7.30e-01 9.92e-05 1 2.16e-02 3.71e-01
23 2.389777e+08 4.85e+05 8.49e+10 3.08e+00 1.70e+00 2.98e-04 1 2.14e-02 3.93e-01
24 4.503898e+18 -4.50e+18 0.00e+00 2.27e+01 -5.29e+12 1.49e-04 1 4.69e-03 3.97e-01
25 1.506851e+16 -1.51e+16 0.00e+00 1.14e+01 -3.53e+10 3.72e-05 1 4.96e-03 4.02e-01
26 2.173213e+11 -2.17e+11 0.00e+00 2.85e+00 -2.03e+06 4.65e-06 1 4.90e-03 4.07e-01
27 2.386830e+08 2.95e+05 8.49e+10 3.56e-01 2.21e+01 1.40e-05 1 2.23e-02 4.29e-01
28 2.386303e+08 5.28e+04 8.48e+10 4.36e-01 1.32e+00 4.19e-05 1 2.21e-02 4.52e-01
29 2.384710e+08 1.59e+05 8.48e+10 1.33e+00 1.33e+00 1.26e-04 1 2.49e-02 4.77e-01
30 2.379935e+08 4.77e+05 8.46e+10 3.86e+00 1.33e+00 3.77e-04 1 2.46e-02 5.01e-01
31 2.545870e+15 -2.55e+15 0.00e+00 1.18e+01 -2.37e+09 1.88e-04 1 6.03e-03 5.07e-01
32 8.672371e+12 -8.67e+12 0.00e+00 5.90e+00 -1.61e+07 4.71e-05 1 4.65e-03 5.12e-01
33 3.733753e+08 -1.35e+08 0.00e+00 1.48e+00 -1.01e+03 5.89e-06 1 4.86e-03 5.17e-01
34 2.376223e+08 3.71e+05 8.45e+10 1.85e-01 2.21e+01 1.77e-05 1 2.34e-02 5.40e-01
35 2.375554e+08 6.69e+04 8.45e+10 5.58e-01 1.33e+00 5.30e-05 1 2.33e-02 5.64e-01
36 2.373547e+08 2.01e+05 8.44e+10 1.72e+00 1.33e+00 1.59e-04 1 2.18e-02 5.86e-01
37 2.742934e+08 -3.69e+07 0.00e+00 5.21e+00 -8.17e+01 7.95e-05 1 4.58e-03 5.90e-01
38 2.369798e+08 3.75e+05 8.43e+10 2.61e+00 1.66e+00 2.38e-04 1 2.11e-02 6.12e-01
39 5.833024e+16 -5.83e+16 0.00e+00 7.65e+00 -8.62e+10 1.19e-04 1 4.70e-03 6.16e-01
40 2.223580e+14 -2.22e+14 0.00e+00 3.83e+00 -6.57e+08 2.98e-05 1 4.53e-03 6.21e-01
41 3.906587e+09 -3.67e+09 0.00e+00 9.58e-01 -4.33e+04 3.73e-06 1 4.53e-03 6.25e-01
42 2.367460e+08 2.34e+05 8.42e+10 1.20e-01 2.21e+01 1.12e-05 1 2.20e-02 6.47e-01
43 2.367038e+08 4.22e+04 8.42e+10 3.60e-01 1.33e+00 3.35e-05 1 2.60e-02 6.73e-01
44 2.365773e+08 1.27e+05 8.41e+10 1.05e+00 1.33e+00 1.01e-04 1 2.34e-02 6.97e-01
45 2.361984e+08 3.79e+05 8.40e+10 3.02e+00 1.33e+00 3.02e-04 1 2.20e-02 7.19e-01
46 1.392380e+10 -1.37e+10 0.00e+00 9.79e+00 -1.60e+04 1.51e-04 1 5.87e-03 7.25e-01
47 2.355020e+08 6.96e+05 8.38e+10 4.90e+00 1.63e+00 4.53e-04 1 2.19e-02 7.47e-01
48 1.719600e+10 -1.70e+10 0.00e+00 1.43e+01 -1.33e+04 2.26e-04 1 5.27e-03 7.52e-01
49 7.348210e+11 -7.35e+11 0.00e+00 7.15e+00 -1.15e+06 5.66e-05 1 5.58e-03 7.58e-01
50 2.349292e+08 5.73e+05 8.36e+10 1.79e+00 3.58e+00 1.70e-04 1 2.23e-02 7.80e-01
51 2.343368e+08 5.92e+05 8.34e+10 4.87e+00 1.24e+00 5.09e-04 1 2.31e-02 8.03e-01
52 2.357212e+08 -1.38e+06 0.00e+00 1.44e+01 -9.71e-01 2.55e-04 1 5.47e-03 8.09e-01
53 2.331850e+08 1.15e+06 8.30e+10 7.22e+00 1.61e+00 7.64e-04 1 2.24e-02 8.31e-01
54 5.241797e+15 -5.24e+15 0.00e+00 1.97e+01 -2.47e+09 3.82e-04 1 5.32e-03 8.37e-01
55 2.013325e+13 -2.01e+13 0.00e+00 9.85e+00 -1.89e+07 9.55e-05 1 5.17e-03 8.42e-01
56 6.770217e+08 -4.44e+08 0.00e+00 2.47e+00 -1.66e+03 1.19e-05 1 5.65e-03 8.48e-01
57 2.325092e+08 6.76e+05 8.28e+10 3.08e-01 2.02e+01 3.58e-05 1 2.21e-02 8.70e-01
58 2.323764e+08 1.33e+05 8.28e+10 9.70e-01 1.33e+00 1.07e-04 1 2.25e-02 8.92e-01
59 2.319789e+08 3.98e+05 8.26e+10 2.89e+00 1.33e+00 3.22e-04 1 2.32e-02 9.15e-01
60 1.406141e+11 -1.40e+11 0.00e+00 8.48e+00 -1.57e+05 1.61e-04 1 4.65e-03 9.20e-01
61 2.312386e+08 7.40e+05 8.24e+10 4.24e+00 1.65e+00 4.83e-04 1 2.31e-02 9.43e-01
62 1.997258e+09 -1.77e+09 0.00e+00 1.25e+01 -1.32e+03 2.42e-04 1 4.78e-03 9.48e-01
63 2.409637e+08 -9.73e+06 0.00e+00 6.25e+00 -1.45e+01 6.04e-05 1 4.55e-03 9.53e-01
64 2.306336e+08 6.05e+05 8.22e+10 1.56e+00 3.61e+00 1.81e-04 1 2.31e-02 9.76e-01
65 2.299876e+08 6.46e+05 8.20e+10 4.81e+00 1.29e+00 5.44e-04 1 2.34e-02 9.99e-01
66 4.124701e+08 -1.82e+08 0.00e+00 1.50e+01 -1.22e+02 2.72e-04 1 5.04e-03 1.00e+00
67 2.291055e+08 8.82e+05 8.16e+10 7.54e+00 1.18e+00 8.16e-04 1 2.24e-02 1.03e+00
68 2.547535e+08 -2.56e+07 0.00e+00 1.92e+01 -1.15e+01 4.08e-04 1 5.63e-03 1.03e+00
69 1.501997e+09 -1.27e+09 0.00e+00 9.63e+00 -1.14e+03 1.02e-04 1 4.66e-03 1.04e+00
70 2.283542e+08 7.51e+05 8.13e+10 2.41e+00 2.68e+00 3.06e-04 1 2.40e-02 1.06e+00
71 2.273135e+08 1.04e+06 8.09e+10 7.43e+00 1.25e+00 9.18e-04 1 2.25e-02 1.08e+00
72 6.049000e+08 -3.78e+08 0.00e+00 2.56e+01 -1.52e+02 4.59e-04 1 5.60e-03 1.09e+00
73 5.985239e+08 -3.71e+08 0.00e+00 1.28e+01 -2.98e+02 1.15e-04 1 5.22e-03 1.09e+00
74 2.263401e+08 9.73e+05 8.05e+10 3.21e+00 3.11e+00 3.44e-04 1 2.25e-02 1.12e+00
75 2.256032e+08 7.37e+05 8.01e+10 9.18e+00 7.91e-01 4.29e-04 1 2.24e-02 1.14e+00
76 3.538890e+08 -1.28e+08 0.00e+00 1.05e+01 -1.11e+02 2.14e-04 1 5.51e-03 1.15e+00
77 2.247030e+08 9.00e+05 7.97e+10 5.27e+00 1.55e+00 6.43e-04 1 2.27e-02 1.17e+00
78 8.723303e+14 -8.72e+14 0.00e+00 1.57e+01 -5.06e+08 3.21e-04 1 5.51e-03 1.17e+00
79 9.457990e+12 -9.46e+12 0.00e+00 7.86e+00 -1.09e+07 8.04e-05 1 5.18e-03 1.18e+00
80 4.028293e+08 -1.78e+08 0.00e+00 1.97e+00 -8.23e+02 1.00e-05 1 5.37e-03 1.18e+00
81 2.241002e+08 6.03e+05 7.95e+10 2.46e-01 2.23e+01 3.01e-05 1 2.21e-02 1.21e+00
82 2.239925e+08 1.08e+05 7.95e+10 7.70e-01 1.33e+00 9.04e-05 1 2.24e-02 1.23e+00
83 2.236705e+08 3.22e+05 7.93e+10 3.59e+00 1.33e+00 2.71e-04 1 2.38e-02 1.25e+00
84 2.227437e+08 9.27e+05 7.90e+10 6.52e+00 1.28e+00 8.14e-04 1 2.33e-02 1.28e+00
85 2.450510e+08 -2.23e+07 0.00e+00 1.87e+01 -1.03e+01 4.07e-04 1 4.79e-03 1.28e+00
86 2.209735e+08 1.77e+06 7.85e+10 9.37e+00 1.63e+00 1.22e-03 1 2.33e-02 1.30e+00
87 2.213997e+12 -2.21e+12 0.00e+00 3.22e+01 -6.92e+05 6.10e-04 1 4.99e-03 1.31e+00
88 5.604447e+08 -3.39e+08 0.00e+00 1.61e+01 -2.11e+02 1.53e-04 1 4.77e-03 1.31e+00
89 2.195103e+08 1.46e+06 7.80e+10 4.05e+00 3.62e+00 4.58e-04 1 2.37e-02 1.34e+00
90 4.348114e+11 -4.35e+11 0.00e+00 8.81e+00 -3.62e+05 2.29e-04 1 4.66e-03 1.34e+00
91 2.693227e+09 -2.47e+09 0.00e+00 4.41e+00 -4.11e+03 5.72e-05 1 4.74e-03 1.35e+00
92 2.189641e+08 5.46e+05 7.79e+10 1.10e+00 3.63e+00 1.72e-04 1 2.35e-02 1.37e+00
93 3.178692e+10 -3.16e+10 0.00e+00 4.10e+00 -7.01e+04 8.58e-05 1 4.68e-03 1.38e+00
94 2.192409e+08 -2.77e+05 0.00e+00 2.05e+00 -1.23e+00 2.15e-05 1 4.74e-03 1.38e+00
95 2.187605e+08 2.04e+05 7.78e+10 5.13e-01 3.61e+00 6.44e-05 1 2.33e-02 1.40e+00
96 2.198650e+08 -1.10e+06 0.00e+00 1.45e+00 -6.54e+00 3.22e-05 1 4.64e-03 1.41e+00
97 2.186203e+08 1.40e+05 7.77e+10 7.23e-01 1.66e+00 9.65e-05 1 2.33e-02 1.43e+00
98 3.053274e+08 -8.67e+07 0.00e+00 2.06e+00 -3.43e+02 4.83e-05 1 4.64e-03 1.44e+00
99 2.201361e+08 -1.52e+06 0.00e+00 1.03e+00 -1.20e+01 1.21e-05 1 4.58e-03 1.44e+00
100 2.185050e+08 1.15e+05 7.77e+10 2.57e-01 3.64e+00 3.62e-05 1 2.34e-02 1.46e+00
101 2.190141e+08 -5.09e+05 0.00e+00 7.84e-01 -5.37e+00 1.81e-05 1 4.65e-03 1.47e+00
102 2.184261e+08 7.88e+04 7.77e+10 3.92e-01 1.66e+00 5.43e-05 1 2.33e-02 1.49e+00
103 2.182370e+08 1.89e+05 7.76e+10 1.21e+00 1.33e+00 1.63e-04 1 2.31e-02 1.52e+00
104 2.176718e+08 5.65e+05 7.74e+10 4.98e+00 1.33e+00 4.89e-04 1 2.34e-02 1.54e+00
105 9.760719e+11 -9.76e+11 0.00e+00 1.12e+01 -7.68e+05 2.44e-04 1 5.17e-03 1.54e+00
106 3.304467e+09 -3.09e+09 0.00e+00 5.60e+00 -4.85e+03 6.11e-05 1 5.70e-03 1.55e+00
107 2.170978e+08 5.74e+05 7.72e+10 1.40e+00 3.60e+00 1.83e-04 1 2.22e-02 1.57e+00
108 2.173847e+08 -2.87e+05 0.00e+00 3.94e+00 -6.02e-01 9.16e-05 1 5.64e-03 1.58e+00
109 2.175038e+08 -4.06e+05 0.00e+00 1.97e+00 -1.70e+00 2.29e-05 1 5.45e-03 1.58e+00
110 2.176062e+08 -5.08e+05 0.00e+00 4.93e-01 -8.52e+00 2.86e-06 1 4.58e-03 1.59e+00
111 2.176380e+08 -5.40e+05 0.00e+00 6.16e-02 -7.24e+01 1.79e-07 1 4.61e-03 1.59e+00
112 2.176424e+08 -5.45e+05 0.00e+00 3.85e-03 -1.17e+03 5.59e-09 1 4.73e-03 1.60e+00
113 2.176427e+08 -5.45e+05 0.00e+00 1.20e-04 -3.74e+04 8.74e-11 1 5.64e-03 1.60e+00
114 2.176427e+08 -5.45e+05 0.00e+00 1.88e-06 -2.39e+06 6.83e-13 1 5.76e-03 1.61e+00
115 2.176427e+08 -5.45e+05 0.00e+00 1.47e-08 -3.06e+08 2.67e-15 1 5.24e-03 1.61e+00
116 2.176427e+08 -5.45e+05 0.00e+00 5.73e-11 -7.84e+10 5.21e-18 1 4.64e-03 1.62e+00
117 2.176427e+08 -5.45e+05 0.00e+00 1.12e-13 -4.02e+13 5.09e-21 1 4.57e-03 1.62e+00
118 2.176427e+08 -5.45e+05 0.00e+00 2.53e-17 -4.11e+16 2.48e-24 1 4.62e-03 1.63e+00
1 6.212725e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 5.00e+03 1 4.93e-03 9.52e-02
2 6.211878e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 1.25e+03 1 4.59e-03 9.98e-02
3 6.206799e+49 -6.21e+49 0.00e+00 6.88e+03 -2.58e+41 1.56e+02 1 5.66e-03 1.05e-01
4 6.159635e+49 -6.16e+49 0.00e+00 6.87e+03 -2.56e+41 9.77e+00 1 5.53e-03 1.11e-01
5 5.415006e+49 -5.42e+49 0.00e+00 6.75e+03 -2.25e+41 3.05e-01 1 4.77e-03 1.16e-01
6 3.800462e+48 -3.80e+48 0.00e+00 4.32e+03 -1.80e+40 4.77e-03 1 4.67e-03 1.21e-01
7 7.320189e+31 -7.32e+31 0.00e+00 1.78e+02 -5.54e+24 3.73e-05 1 4.57e-03 1.25e-01
8 7.259535e+08 -4.85e+08 0.00e+00 1.43e+00 -4.51e+03 1.46e-07 1 4.54e-03 1.30e-01
9 2.406731e+08 4.20e+02 8.56e+10 5.58e-03 1.00e+00 4.37e-07 1 2.24e-02 1.52e-01
10 2.406714e+08 1.67e+03 8.56e+10 1.67e-02 1.33e+00 1.31e-06 1 2.10e-02 1.73e-01
11 2.406664e+08 5.02e+03 8.56e+10 4.98e-02 1.33e+00 3.93e-06 1 2.12e-02 1.94e-01
12 2.406513e+08 1.51e+04 8.56e+10 1.50e-01 1.33e+00 1.18e-05 1 2.10e-02 2.15e-01
13 2.406056e+08 4.57e+04 8.56e+10 4.26e-01 1.34e+00 3.54e-05 1 2.11e-02 2.36e-01
14 2.404704e+08 1.35e+05 8.55e+10 1.30e+00 1.32e+00 1.06e-04 1 2.35e-02 2.60e-01
15 2.634366e+08 -2.30e+07 0.00e+00 3.61e+00 -7.51e+01 5.30e-05 1 4.73e-03 2.65e-01
16 2.402167e+08 2.54e+05 8.55e+10 1.80e+00 1.66e+00 1.59e-04 1 2.31e-02 2.88e-01
17 2.443862e+08 -4.17e+06 0.00e+00 5.31e+00 -9.10e+00 7.96e-05 1 5.40e-03 2.93e-01
18 2.398440e+08 3.73e+05 8.53e+10 2.66e+00 1.63e+00 2.39e-04 1 2.32e-02 3.17e-01
19 2.266889e+13 -2.27e+13 0.00e+00 7.88e+00 -3.31e+07 1.19e-04 1 5.88e-03 3.23e-01
20 8.664456e+10 -8.64e+10 0.00e+00 3.94e+00 -2.52e+05 2.98e-05 1 5.11e-03 3.28e-01
21 2.396506e+08 1.93e+05 8.52e+10 9.86e-01 2.25e+00 8.95e-05 1 2.17e-02 3.49e-01
22 2.394628e+08 1.88e+05 8.51e+10 3.03e+00 7.30e-01 9.92e-05 1 2.16e-02 3.71e-01
23 2.389777e+08 4.85e+05 8.49e+10 3.08e+00 1.70e+00 2.98e-04 1 2.14e-02 3.93e-01
24 4.503898e+18 -4.50e+18 0.00e+00 2.27e+01 -5.29e+12 1.49e-04 1 4.69e-03 3.97e-01
25 1.506851e+16 -1.51e+16 0.00e+00 1.14e+01 -3.53e+10 3.72e-05 1 4.96e-03 4.02e-01
26 2.173213e+11 -2.17e+11 0.00e+00 2.85e+00 -2.03e+06 4.65e-06 1 4.90e-03 4.07e-01
27 2.386830e+08 2.95e+05 8.49e+10 3.56e-01 2.21e+01 1.40e-05 1 2.23e-02 4.29e-01
28 2.386303e+08 5.28e+04 8.48e+10 4.36e-01 1.32e+00 4.19e-05 1 2.21e-02 4.52e-01
29 2.384710e+08 1.59e+05 8.48e+10 1.33e+00 1.33e+00 1.26e-04 1 2.49e-02 4.77e-01
30 2.379935e+08 4.77e+05 8.46e+10 3.86e+00 1.33e+00 3.77e-04 1 2.46e-02 5.01e-01
31 2.545870e+15 -2.55e+15 0.00e+00 1.18e+01 -2.37e+09 1.88e-04 1 6.03e-03 5.07e-01
32 8.672371e+12 -8.67e+12 0.00e+00 5.90e+00 -1.61e+07 4.71e-05 1 4.65e-03 5.12e-01
33 3.733753e+08 -1.35e+08 0.00e+00 1.48e+00 -1.01e+03 5.89e-06 1 4.86e-03 5.17e-01
34 2.376223e+08 3.71e+05 8.45e+10 1.85e-01 2.21e+01 1.77e-05 1 2.34e-02 5.40e-01
35 2.375554e+08 6.69e+04 8.45e+10 5.58e-01 1.33e+00 5.30e-05 1 2.33e-02 5.64e-01
36 2.373547e+08 2.01e+05 8.44e+10 1.72e+00 1.33e+00 1.59e-04 1 2.18e-02 5.86e-01
37 2.742934e+08 -3.69e+07 0.00e+00 5.21e+00 -8.17e+01 7.95e-05 1 4.58e-03 5.90e-01
38 2.369798e+08 3.75e+05 8.43e+10 2.61e+00 1.66e+00 2.38e-04 1 2.11e-02 6.12e-01
39 5.833024e+16 -5.83e+16 0.00e+00 7.65e+00 -8.62e+10 1.19e-04 1 4.70e-03 6.16e-01
40 2.223580e+14 -2.22e+14 0.00e+00 3.83e+00 -6.57e+08 2.98e-05 1 4.53e-03 6.21e-01
41 3.906587e+09 -3.67e+09 0.00e+00 9.58e-01 -4.33e+04 3.73e-06 1 4.53e-03 6.25e-01
42 2.367460e+08 2.34e+05 8.42e+10 1.20e-01 2.21e+01 1.12e-05 1 2.20e-02 6.47e-01
43 2.367038e+08 4.22e+04 8.42e+10 3.60e-01 1.33e+00 3.35e-05 1 2.60e-02 6.73e-01
44 2.365773e+08 1.27e+05 8.41e+10 1.05e+00 1.33e+00 1.01e-04 1 2.34e-02 6.97e-01
45 2.361984e+08 3.79e+05 8.40e+10 3.02e+00 1.33e+00 3.02e-04 1 2.20e-02 7.19e-01
46 1.392380e+10 -1.37e+10 0.00e+00 9.79e+00 -1.60e+04 1.51e-04 1 5.87e-03 7.25e-01
47 2.355020e+08 6.96e+05 8.38e+10 4.90e+00 1.63e+00 4.53e-04 1 2.19e-02 7.47e-01
48 1.719600e+10 -1.70e+10 0.00e+00 1.43e+01 -1.33e+04 2.26e-04 1 5.27e-03 7.52e-01
49 7.348210e+11 -7.35e+11 0.00e+00 7.15e+00 -1.15e+06 5.66e-05 1 5.58e-03 7.58e-01
50 2.349292e+08 5.73e+05 8.36e+10 1.79e+00 3.58e+00 1.70e-04 1 2.23e-02 7.80e-01
51 2.343368e+08 5.92e+05 8.34e+10 4.87e+00 1.24e+00 5.09e-04 1 2.31e-02 8.03e-01
52 2.357212e+08 -1.38e+06 0.00e+00 1.44e+01 -9.71e-01 2.55e-04 1 5.47e-03 8.09e-01
53 2.331850e+08 1.15e+06 8.30e+10 7.22e+00 1.61e+00 7.64e-04 1 2.24e-02 8.31e-01
54 5.241797e+15 -5.24e+15 0.00e+00 1.97e+01 -2.47e+09 3.82e-04 1 5.32e-03 8.37e-01
55 2.013325e+13 -2.01e+13 0.00e+00 9.85e+00 -1.89e+07 9.55e-05 1 5.17e-03 8.42e-01
56 6.770217e+08 -4.44e+08 0.00e+00 2.47e+00 -1.66e+03 1.19e-05 1 5.65e-03 8.48e-01
57 2.325092e+08 6.76e+05 8.28e+10 3.08e-01 2.02e+01 3.58e-05 1 2.21e-02 8.70e-01
58 2.323764e+08 1.33e+05 8.28e+10 9.70e-01 1.33e+00 1.07e-04 1 2.25e-02 8.92e-01
59 2.319789e+08 3.98e+05 8.26e+10 2.89e+00 1.33e+00 3.22e-04 1 2.32e-02 9.15e-01
60 1.406141e+11 -1.40e+11 0.00e+00 8.48e+00 -1.57e+05 1.61e-04 1 4.65e-03 9.20e-01
61 2.312386e+08 7.40e+05 8.24e+10 4.24e+00 1.65e+00 4.83e-04 1 2.31e-02 9.43e-01
62 1.997258e+09 -1.77e+09 0.00e+00 1.25e+01 -1.32e+03 2.42e-04 1 4.78e-03 9.48e-01
63 2.409637e+08 -9.73e+06 0.00e+00 6.25e+00 -1.45e+01 6.04e-05 1 4.55e-03 9.53e-01
64 2.306336e+08 6.05e+05 8.22e+10 1.56e+00 3.61e+00 1.81e-04 1 2.31e-02 9.76e-01
65 2.299876e+08 6.46e+05 8.20e+10 4.81e+00 1.29e+00 5.44e-04 1 2.34e-02 9.99e-01
66 4.124701e+08 -1.82e+08 0.00e+00 1.50e+01 -1.22e+02 2.72e-04 1 5.04e-03 1.00e+00
67 2.291055e+08 8.82e+05 8.16e+10 7.54e+00 1.18e+00 8.16e-04 1 2.24e-02 1.03e+00
68 2.547535e+08 -2.56e+07 0.00e+00 1.92e+01 -1.15e+01 4.08e-04 1 5.63e-03 1.03e+00
69 1.501997e+09 -1.27e+09 0.00e+00 9.63e+00 -1.14e+03 1.02e-04 1 4.66e-03 1.04e+00
70 2.283542e+08 7.51e+05 8.13e+10 2.41e+00 2.68e+00 3.06e-04 1 2.40e-02 1.06e+00
71 2.273135e+08 1.04e+06 8.09e+10 7.43e+00 1.25e+00 9.18e-04 1 2.25e-02 1.08e+00
72 6.049000e+08 -3.78e+08 0.00e+00 2.56e+01 -1.52e+02 4.59e-04 1 5.60e-03 1.09e+00
73 5.985239e+08 -3.71e+08 0.00e+00 1.28e+01 -2.98e+02 1.15e-04 1 5.22e-03 1.09e+00
74 2.263401e+08 9.73e+05 8.05e+10 3.21e+00 3.11e+00 3.44e-04 1 2.25e-02 1.12e+00
75 2.256032e+08 7.37e+05 8.01e+10 9.18e+00 7.91e-01 4.29e-04 1 2.24e-02 1.14e+00
76 3.538890e+08 -1.28e+08 0.00e+00 1.05e+01 -1.11e+02 2.14e-04 1 5.51e-03 1.15e+00
77 2.247030e+08 9.00e+05 7.97e+10 5.27e+00 1.55e+00 6.43e-04 1 2.27e-02 1.17e+00
78 8.723303e+14 -8.72e+14 0.00e+00 1.57e+01 -5.06e+08 3.21e-04 1 5.51e-03 1.17e+00
79 9.457990e+12 -9.46e+12 0.00e+00 7.86e+00 -1.09e+07 8.04e-05 1 5.18e-03 1.18e+00
80 4.028293e+08 -1.78e+08 0.00e+00 1.97e+00 -8.23e+02 1.00e-05 1 5.37e-03 1.18e+00
81 2.241002e+08 6.03e+05 7.95e+10 2.46e-01 2.23e+01 3.01e-05 1 2.21e-02 1.21e+00
82 2.239925e+08 1.08e+05 7.95e+10 7.70e-01 1.33e+00 9.04e-05 1 2.24e-02 1.23e+00
83 2.236705e+08 3.22e+05 7.93e+10 3.59e+00 1.33e+00 2.71e-04 1 2.38e-02 1.25e+00
84 2.227437e+08 9.27e+05 7.90e+10 6.52e+00 1.28e+00 8.14e-04 1 2.33e-02 1.28e+00
85 2.450510e+08 -2.23e+07 0.00e+00 1.87e+01 -1.03e+01 4.07e-04 1 4.79e-03 1.28e+00
86 2.209735e+08 1.77e+06 7.85e+10 9.37e+00 1.63e+00 1.22e-03 1 2.33e-02 1.30e+00
87 2.213997e+12 -2.21e+12 0.00e+00 3.22e+01 -6.92e+05 6.10e-04 1 4.99e-03 1.31e+00
88 5.604447e+08 -3.39e+08 0.00e+00 1.61e+01 -2.11e+02 1.53e-04 1 4.77e-03 1.31e+00
89 2.195103e+08 1.46e+06 7.80e+10 4.05e+00 3.62e+00 4.58e-04 1 2.37e-02 1.34e+00
90 4.348114e+11 -4.35e+11 0.00e+00 8.81e+00 -3.62e+05 2.29e-04 1 4.66e-03 1.34e+00
91 2.693227e+09 -2.47e+09 0.00e+00 4.41e+00 -4.11e+03 5.72e-05 1 4.74e-03 1.35e+00
92 2.189641e+08 5.46e+05 7.79e+10 1.10e+00 3.63e+00 1.72e-04 1 2.35e-02 1.37e+00
93 3.178692e+10 -3.16e+10 0.00e+00 4.10e+00 -7.01e+04 8.58e-05 1 4.68e-03 1.38e+00
94 2.192409e+08 -2.77e+05 0.00e+00 2.05e+00 -1.23e+00 2.15e-05 1 4.74e-03 1.38e+00
95 2.187605e+08 2.04e+05 7.78e+10 5.13e-01 3.61e+00 6.44e-05 1 2.33e-02 1.40e+00
96 2.198650e+08 -1.10e+06 0.00e+00 1.45e+00 -6.54e+00 3.22e-05 1 4.64e-03 1.41e+00
97 2.186203e+08 1.40e+05 7.77e+10 7.23e-01 1.66e+00 9.65e-05 1 2.33e-02 1.43e+00
98 3.053274e+08 -8.67e+07 0.00e+00 2.06e+00 -3.43e+02 4.83e-05 1 4.64e-03 1.44e+00
99 2.201361e+08 -1.52e+06 0.00e+00 1.03e+00 -1.20e+01 1.21e-05 1 4.58e-03 1.44e+00
100 2.185050e+08 1.15e+05 7.77e+10 2.57e-01 3.64e+00 3.62e-05 1 2.34e-02 1.46e+00
101 2.190141e+08 -5.09e+05 0.00e+00 7.84e-01 -5.37e+00 1.81e-05 1 4.65e-03 1.47e+00
102 2.184261e+08 7.88e+04 7.77e+10 3.92e-01 1.66e+00 5.43e-05 1 2.33e-02 1.49e+00
103 2.182370e+08 1.89e+05 7.76e+10 1.21e+00 1.33e+00 1.63e-04 1 2.31e-02 1.52e+00
104 2.176718e+08 5.65e+05 7.74e+10 4.98e+00 1.33e+00 4.89e-04 1 2.34e-02 1.54e+00
105 9.760719e+11 -9.76e+11 0.00e+00 1.12e+01 -7.68e+05 2.44e-04 1 5.17e-03 1.54e+00
106 3.304467e+09 -3.09e+09 0.00e+00 5.60e+00 -4.85e+03 6.11e-05 1 5.70e-03 1.55e+00
107 2.170978e+08 5.74e+05 7.72e+10 1.40e+00 3.60e+00 1.83e-04 1 2.22e-02 1.57e+00
108 2.173847e+08 -2.87e+05 0.00e+00 3.94e+00 -6.02e-01 9.16e-05 1 5.64e-03 1.58e+00
109 2.175038e+08 -4.06e+05 0.00e+00 1.97e+00 -1.70e+00 2.29e-05 1 5.45e-03 1.58e+00
110 2.176062e+08 -5.08e+05 0.00e+00 4.93e-01 -8.52e+00 2.86e-06 1 4.58e-03 1.59e+00
111 2.176380e+08 -5.40e+05 0.00e+00 6.16e-02 -7.24e+01 1.79e-07 1 4.61e-03 1.59e+00
112 2.176424e+08 -5.45e+05 0.00e+00 3.85e-03 -1.17e+03 5.59e-09 1 4.73e-03 1.60e+00
113 2.176427e+08 -5.45e+05 0.00e+00 1.20e-04 -3.74e+04 8.74e-11 1 5.64e-03 1.60e+00
114 2.176427e+08 -5.45e+05 0.00e+00 1.88e-06 -2.39e+06 6.83e-13 1 5.76e-03 1.61e+00
115 2.176427e+08 -5.45e+05 0.00e+00 1.47e-08 -3.06e+08 2.67e-15 1 5.24e-03 1.61e+00
116 2.176427e+08 -5.45e+05 0.00e+00 5.73e-11 -7.84e+10 5.21e-18 1 4.64e-03 1.62e+00
117 2.176427e+08 -5.45e+05 0.00e+00 1.12e-13 -4.02e+13 5.09e-21 1 4.57e-03 1.62e+00
118 2.176427e+08 -5.45e+05 0.00e+00 2.53e-17 -4.11e+16 2.48e-24 1 4.62e-03 1.63e+00
Solver Summary (v 1.12.0-eigen-(3.2.9)-lapack-suitesparse-(4.2.1)-eigensparse-openmp)
Original Reduced
Parameter blocks 612 612
Parameters 1836 1836
Residual blocks 306 306
Residual 306 306
Minimizer TRUST_REGION
Sparse linear algebra library SUITE_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_NORMAL_CHOLESKY SPARSE_NORMAL_CHOLESKY
Threads 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 612
Cost:
Initial 2.406735e+08
Final 2.170978e+08
Change 2.357571e+07
Minimizer iterations 119
Successful steps 54
Unsuccessful steps 65
Time (in seconds):
Preprocessor 0.0531
Residual evaluation 0.5493
Jacobian evaluation 0.9783
Linear solver 0.0390
Minimizer 1.5809
Postprocessor 0.0000
Total 1.6340
Cost:
Initial 2.406735e+08
Final 2.170978e+08
Change 2.357571e+07
Minimizer iterations 119
Successful steps 54
Unsuccessful steps 65
Time (in seconds):
Preprocessor 0.0531
Residual evaluation 0.5493
Jacobian evaluation 0.9783
Linear solver 0.0390
Minimizer 1.5809
Postprocessor 0.0000
Total 1.6340
Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-51.)
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver+unsubscribe@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/61dbeb3e-4923-40c5-96fc-a88f80429f00%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.
--
You received this message because you are subscribed to a topic in the Google Groups "Ceres Solver" group.
To unsubscribe from this topic, visit https://groups.google.com/d/topic/ceres-solver/dSCQXbijNVo/unsubscribe.
To unsubscribe from this group and all its topics, send an email to ceres-solver+unsubscribe@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/CABqdRUCOCtLM_r8hXjM%2BTwoyaE%3DbJARkVJk1JxcadaUiwQNbnQ%40mail.gmail.com.
Sameer Agarwal
Apr 25, 2018, 10:12:45 AM4/25/18
to ceres-...@googlegroups.com
Arindam,
Looks like the algorithm is having a hard time optimizing the objective.
One thing to check is if your objective function is differentiable, or does it have discontinuities? The other is that it is possible that your problem formulation is poorly conditioned. In that there is a very narrow region in which the solver must move to make progress.
Sameer
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/61dbeb3e-4923-40c5-96fc-a88f80429f00%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.
--
You received this message because you are subscribed to a topic in the Google Groups "Ceres Solver" group.
To unsubscribe from this topic, visit https://groups.google.com/d/topic/ceres-solver/dSCQXbijNVo/unsubscribe.
To unsubscribe from this group and all its topics, send an email to ceres-solver...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/CABqdRUCOCtLM_r8hXjM%2BTwoyaE%3DbJARkVJk1JxcadaUiwQNbnQ%40mail.gmail.com.
--
You received this message because you are subscribed to the Google Groups "Ceres Solver" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/CAG4OdVR-fkbSZdd-oTC_H7OqZpGjqk%2BdhJE7o6go-aaD0OgfRg%40mail.gmail.com.
Reply all
Reply to author
Forward
0 new messages