[11/07/2020 12:45:30 INFO] Using device cuda
[11/07/2020 12:45:30 INFO] Creating dataset CMU
[11/07/2020 12:45:32 INFO] Sampling new images or pairs with seed 1

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[11/07/2020 12:45:33 INFO] Sampling new images or pairs with seed 1

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[11/07/2020 12:45:34 INFO] Training loader has 3000 batches
[11/07/2020 12:45:34 INFO] Validation loader has 80 batches
[11/07/2020 12:45:43 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/07/2020 12:45:43 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/07/2020 12:45:43 INFO] Starting epoch 0
{'params': [Parameter containing:
tensor([0., 0., 0., 0., 0., 0.], device='cuda:0', requires_grad=True), Parameter containing:
tensor([0., 0., 0., 0., 0., 0.], device='cuda:0', requires_grad=True), Parameter containing:
tensor([0., 0., 0., 0., 0., 0.], device='cuda:0', requires_grad=True)], 'lr': 0.001}
[11/07/2020 12:45:51 INFO] [E 0 | it 0] loss {total 1.313E+01, reprojection_error/0 2.831E+01, reprojection_error/1 2.585E+01, reprojection_error/2 2.581E+01, reprojection_error 2.581E+01, reprojection_error/init 6.259E+01}

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[11/07/2020 12:46:32 INFO] [Validation] {R_error/0 2.151E+00, t_error/0 8.791E-01, R_error/1 2.061E+00, t_error/1 8.593E-01, R_error/2 2.059E+00, t_error/2 8.580E-01, R_error 2.059E+00, t_error 8.580E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 1.621E+01, loss/reprojection_error/0 3.496E+01, loss/reprojection_error/1 3.410E+01, loss/reprojection_error/2 3.408E+01, loss/reprojection_error 3.408E+01, loss/reprojection_error_median 4.123E+01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 12:47:53 INFO] [E 0 | it 50] loss {total 1.307E+01, reprojection_error/0 3.558E+01, reprojection_error/1 3.514E+01, reprojection_error/2 3.516E+01, reprojection_error 3.516E+01, reprojection_error/init 7.756E+01}
[11/07/2020 12:49:13 INFO] [E 0 | it 100] loss {total 1.328E+01, reprojection_error/0 2.698E+01, reprojection_error/1 2.616E+01, reprojection_error/2 2.584E+01, reprojection_error 2.584E+01, reprojection_error/init 4.508E+01}
[11/07/2020 12:50:33 INFO] [E 0 | it 150] loss {total 1.855E+01, reprojection_error/0 3.556E+01, reprojection_error/1 3.480E+01, reprojection_error/2 3.463E+01, reprojection_error 3.463E+01, reprojection_error/init 7.888E+01}
[11/07/2020 12:51:52 INFO] [E 0 | it 200] loss {total 9.217E+00, reprojection_error/0 2.119E+01, reprojection_error/1 1.995E+01, reprojection_error/2 1.984E+01, reprojection_error 1.984E+01, reprojection_error/init 7.690E+01}
[11/07/2020 12:53:11 INFO] [E 0 | it 250] loss {total 9.526E+00, reprojection_error/0 1.515E+01, reprojection_error/1 1.307E+01, reprojection_error/2 1.316E+01, reprojection_error 1.316E+01, reprojection_error/init 2.551E+01}
[11/07/2020 12:54:31 INFO] [E 0 | it 300] loss {total 1.488E+01, reprojection_error/0 3.926E+01, reprojection_error/1 3.872E+01, reprojection_error/2 3.869E+01, reprojection_error 3.869E+01, reprojection_error/init 1.049E+02}
[11/07/2020 12:55:51 INFO] [E 0 | it 350] loss {total 9.456E+00, reprojection_error/0 2.222E+01, reprojection_error/1 1.975E+01, reprojection_error/2 1.973E+01, reprojection_error 1.973E+01, reprojection_error/init 5.345E+01}
[11/07/2020 12:57:12 INFO] [E 0 | it 400] loss {total 1.337E+01, reprojection_error/0 2.847E+01, reprojection_error/1 2.830E+01, reprojection_error/2 2.840E+01, reprojection_error 2.840E+01, reprojection_error/init 8.062E+01}
[11/07/2020 12:58:32 INFO] [E 0 | it 450] loss {total 1.450E+01, reprojection_error/0 2.986E+01, reprojection_error/1 2.801E+01, reprojection_error/2 2.784E+01, reprojection_error 2.784E+01, reprojection_error/init 1.173E+02}
[11/07/2020 12:59:53 INFO] [E 0 | it 500] loss {total 1.624E+01, reprojection_error/0 2.371E+01, reprojection_error/1 2.023E+01, reprojection_error/2 1.961E+01, reprojection_error 1.961E+01, reprojection_error/init 6.958E+01}

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Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.98it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.98it/s]
Evaluation:  74%|#######3  | 59/80 [00:31<00:10,  1.98it/s]
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Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.96it/s]
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Evaluation:  86%|########6 | 69/80 [00:36<00:05,  2.00it/s]
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Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.05it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.91it/s]
[11/07/2020 13:00:34 INFO] [Validation] {R_error/0 1.647E+00, t_error/0 5.743E-01, R_error/1 1.461E+00, t_error/1 5.184E-01, R_error/2 1.456E+00, t_error/2 5.133E-01, R_error 1.456E+00, t_error 5.133E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 1.153E+01, loss/reprojection_error/0 2.288E+01, loss/reprojection_error/1 2.090E+01, loss/reprojection_error/2 2.086E+01, loss/reprojection_error 2.086E+01, loss/reprojection_error_median 1.362E+01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 13:01:55 INFO] [E 0 | it 550] loss {total 1.660E+01, reprojection_error/0 3.216E+01, reprojection_error/1 3.121E+01, reprojection_error/2 3.131E+01, reprojection_error 3.131E+01, reprojection_error/init 1.112E+02}
[11/07/2020 13:03:15 INFO] [E 0 | it 600] loss {total 1.157E+01, reprojection_error/0 2.417E+01, reprojection_error/1 2.195E+01, reprojection_error/2 2.192E+01, reprojection_error 2.192E+01, reprojection_error/init 8.581E+01}
[11/07/2020 13:04:34 INFO] [E 0 | it 650] loss {total 9.428E+00, reprojection_error/0 2.138E+01, reprojection_error/1 2.016E+01, reprojection_error/2 2.008E+01, reprojection_error 2.008E+01, reprojection_error/init 1.074E+02}
[11/07/2020 13:05:53 INFO] [E 0 | it 700] loss {total 1.398E+01, reprojection_error/0 2.960E+01, reprojection_error/1 2.833E+01, reprojection_error/2 2.815E+01, reprojection_error 2.815E+01, reprojection_error/init 7.036E+01}
[11/07/2020 13:07:12 INFO] [E 0 | it 750] loss {total 1.209E+01, reprojection_error/0 2.664E+01, reprojection_error/1 2.505E+01, reprojection_error/2 2.460E+01, reprojection_error 2.460E+01, reprojection_error/init 8.897E+01}
[11/07/2020 13:08:33 INFO] [E 0 | it 800] loss {total 1.225E+01, reprojection_error/0 3.503E+01, reprojection_error/1 3.422E+01, reprojection_error/2 3.416E+01, reprojection_error 3.416E+01, reprojection_error/init 1.011E+02}
[11/07/2020 13:09:52 INFO] [E 0 | it 850] loss {total 1.180E+01, reprojection_error/0 3.452E+01, reprojection_error/1 3.376E+01, reprojection_error/2 3.378E+01, reprojection_error 3.378E+01, reprojection_error/init 1.243E+02}
[11/07/2020 13:11:12 INFO] [E 0 | it 900] loss {total 4.227E+00, reprojection_error/0 7.283E+00, reprojection_error/1 2.809E+00, reprojection_error/2 2.590E+00, reprojection_error 2.590E+00, reprojection_error/init 6.119E+01}
[11/07/2020 13:12:32 INFO] [E 0 | it 950] loss {total 1.179E+01, reprojection_error/0 2.650E+01, reprojection_error/1 2.484E+01, reprojection_error/2 2.458E+01, reprojection_error 2.458E+01, reprojection_error/init 9.518E+01}
[11/07/2020 13:13:52 INFO] [E 0 | it 1000] loss {total 9.066E+00, reprojection_error/0 1.485E+01, reprojection_error/1 1.181E+01, reprojection_error/2 1.175E+01, reprojection_error 1.175E+01, reprojection_error/init 7.181E+01}

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Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:34<00:08,  1.94it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  1.95it/s]
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Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:39<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.90it/s]
[11/07/2020 13:14:35 INFO] [Validation] {R_error/0 1.394E+00, t_error/0 5.352E-01, R_error/1 1.160E+00, t_error/1 4.339E-01, R_error/2 1.151E+00, t_error/2 4.289E-01, R_error 1.151E+00, t_error 4.289E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 9.507E+00, loss/reprojection_error/0 1.801E+01, loss/reprojection_error/1 1.507E+01, loss/reprojection_error/2 1.495E+01, loss/reprojection_error 1.495E+01, loss/reprojection_error_median 7.106E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 13:15:54 INFO] [E 0 | it 1050] loss {total 1.175E+01, reprojection_error/0 2.624E+01, reprojection_error/1 2.518E+01, reprojection_error/2 2.501E+01, reprojection_error 2.501E+01, reprojection_error/init 4.700E+01}
[11/07/2020 13:17:13 INFO] [E 0 | it 1100] loss {total 4.144E+00, reprojection_error/0 5.435E+00, reprojection_error/1 3.606E+00, reprojection_error/2 3.391E+00, reprojection_error 3.391E+00, reprojection_error/init 7.176E+01}
[11/07/2020 13:18:33 INFO] [E 0 | it 1150] loss {total 4.037E+00, reprojection_error/0 5.466E+00, reprojection_error/1 3.296E+00, reprojection_error/2 3.348E+00, reprojection_error 3.348E+00, reprojection_error/init 6.602E+01}
[11/07/2020 13:19:53 INFO] [E 0 | it 1200] loss {total 8.259E+00, reprojection_error/0 1.245E+01, reprojection_error/1 9.543E+00, reprojection_error/2 9.513E+00, reprojection_error 9.513E+00, reprojection_error/init 8.633E+01}
[11/07/2020 13:21:13 INFO] [E 0 | it 1250] loss {total 1.244E+01, reprojection_error/0 2.715E+01, reprojection_error/1 2.514E+01, reprojection_error/2 2.486E+01, reprojection_error 2.486E+01, reprojection_error/init 6.374E+01}
[11/07/2020 13:22:32 INFO] [E 0 | it 1300] loss {total 1.090E+01, reprojection_error/0 2.421E+01, reprojection_error/1 2.307E+01, reprojection_error/2 2.316E+01, reprojection_error 2.316E+01, reprojection_error/init 6.409E+01}
[11/07/2020 13:23:52 INFO] [E 0 | it 1350] loss {total 4.731E+00, reprojection_error/0 7.757E+00, reprojection_error/1 3.423E+00, reprojection_error/2 3.015E+00, reprojection_error 3.015E+00, reprojection_error/init 3.520E+01}
[11/07/2020 13:25:13 INFO] [E 0 | it 1400] loss {total 8.777E+00, reprojection_error/0 2.079E+01, reprojection_error/1 1.956E+01, reprojection_error/2 1.931E+01, reprojection_error 1.931E+01, reprojection_error/init 7.786E+01}
[11/07/2020 13:26:33 INFO] [E 0 | it 1450] loss {total 6.708E+00, reprojection_error/0 1.948E+01, reprojection_error/1 1.700E+01, reprojection_error/2 1.698E+01, reprojection_error 1.698E+01, reprojection_error/init 7.773E+01}
[11/07/2020 13:27:53 INFO] [E 0 | it 1500] loss {total 1.010E+01, reprojection_error/0 2.268E+01, reprojection_error/1 2.050E+01, reprojection_error/2 2.046E+01, reprojection_error 2.046E+01, reprojection_error/init 5.628E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:   9%|8         | 7/80 [00:04<00:49,  1.48it/s]
Evaluation:  10%|#         | 8/80 [00:05<00:47,  1.50it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:45,  1.58it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:41,  1.67it/s]
Evaluation:  14%|#3        | 11/80 [00:07<00:39,  1.75it/s]
Evaluation:  15%|#5        | 12/80 [00:07<00:37,  1.81it/s]
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Evaluation:  19%|#8        | 15/80 [00:09<00:34,  1.90it/s]
Evaluation:  20%|##        | 16/80 [00:09<00:33,  1.91it/s]
Evaluation:  21%|##1       | 17/80 [00:10<00:32,  1.93it/s]
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Evaluation:  31%|###1      | 25/80 [00:14<00:28,  1.96it/s]
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Evaluation:  39%|###8      | 31/80 [00:17<00:24,  1.97it/s]
Evaluation:  40%|####      | 32/80 [00:17<00:24,  1.97it/s]
Evaluation:  41%|####1     | 33/80 [00:18<00:23,  1.97it/s]
Evaluation:  42%|####2     | 34/80 [00:18<00:23,  1.96it/s]
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Evaluation:  50%|#####     | 40/80 [00:21<00:20,  1.97it/s]
Evaluation:  51%|#####1    | 41/80 [00:22<00:19,  1.97it/s]
Evaluation:  52%|#####2    | 42/80 [00:22<00:19,  1.96it/s]
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Evaluation:  60%|######    | 48/80 [00:25<00:16,  1.97it/s]
Evaluation:  61%|######1   | 49/80 [00:26<00:15,  1.97it/s]
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Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.97it/s]
Evaluation:  72%|#######2  | 58/80 [00:31<00:11,  1.97it/s]
Evaluation:  74%|#######3  | 59/80 [00:31<00:10,  1.97it/s]
Evaluation:  75%|#######5  | 60/80 [00:32<00:10,  1.96it/s]
Evaluation:  76%|#######6  | 61/80 [00:32<00:09,  1.97it/s]
Evaluation:  78%|#######7  | 62/80 [00:33<00:09,  1.94it/s]
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Evaluation:  80%|########  | 64/80 [00:34<00:08,  1.94it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  1.95it/s]
Evaluation:  82%|########2 | 66/80 [00:35<00:07,  1.95it/s]
Evaluation:  84%|########3 | 67/80 [00:35<00:06,  1.96it/s]
Evaluation:  85%|########5 | 68/80 [00:36<00:06,  1.96it/s]
Evaluation:  86%|########6 | 69/80 [00:36<00:05,  1.99it/s]
Evaluation:  88%|########7 | 70/80 [00:37<00:04,  2.01it/s]
Evaluation:  89%|########8 | 71/80 [00:37<00:04,  2.02it/s]
Evaluation:  90%|######### | 72/80 [00:38<00:03,  2.03it/s]
Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:39<00:02,  2.05it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  2.05it/s]
Evaluation:  95%|#########5| 76/80 [00:40<00:01,  2.05it/s]
Evaluation:  96%|#########6| 77/80 [00:40<00:01,  2.05it/s]
Evaluation:  98%|#########7| 78/80 [00:41<00:00,  2.05it/s]
Evaluation:  99%|#########8| 79/80 [00:41<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.89it/s]
[11/07/2020 13:28:35 INFO] [Validation] {R_error/0 1.361E+00, t_error/0 5.268E-01, R_error/1 1.078E+00, t_error/1 3.998E-01, R_error/2 1.068E+00, t_error/2 3.958E-01, R_error 1.068E+00, t_error 3.958E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 9.193E+00, loss/reprojection_error/0 1.760E+01, loss/reprojection_error/1 1.390E+01, loss/reprojection_error/2 1.377E+01, loss/reprojection_error 1.377E+01, loss/reprojection_error_median 5.978E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 13:29:55 INFO] [E 0 | it 1550] loss {total 1.180E+01, reprojection_error/0 2.657E+01, reprojection_error/1 2.530E+01, reprojection_error/2 2.544E+01, reprojection_error 2.544E+01, reprojection_error/init 5.883E+01}
[11/07/2020 13:31:14 INFO] [E 0 | it 1600] loss {total 1.053E+01, reprojection_error/0 2.468E+01, reprojection_error/1 2.269E+01, reprojection_error/2 2.273E+01, reprojection_error 2.273E+01, reprojection_error/init 1.076E+02}
[11/07/2020 13:32:33 INFO] [E 0 | it 1650] loss {total 1.167E+01, reprojection_error/0 2.424E+01, reprojection_error/1 2.211E+01, reprojection_error/2 2.199E+01, reprojection_error 2.199E+01, reprojection_error/init 9.444E+01}
[11/07/2020 13:33:53 INFO] [E 0 | it 1700] loss {total 1.077E+01, reprojection_error/0 2.440E+01, reprojection_error/1 2.354E+01, reprojection_error/2 2.405E+01, reprojection_error 2.405E+01, reprojection_error/init 6.889E+01}
[11/07/2020 13:35:12 INFO] [E 0 | it 1750] loss {total 9.052E+00, reprojection_error/0 2.255E+01, reprojection_error/1 1.890E+01, reprojection_error/2 1.904E+01, reprojection_error 1.904E+01, reprojection_error/init 9.456E+01}
[11/07/2020 13:36:32 INFO] [E 0 | it 1800] loss {total 1.247E+01, reprojection_error/0 1.994E+01, reprojection_error/1 1.539E+01, reprojection_error/2 1.466E+01, reprojection_error 1.466E+01, reprojection_error/init 7.647E+01}
[11/07/2020 13:37:52 INFO] [E 0 | it 1850] loss {total 1.281E+01, reprojection_error/0 1.893E+01, reprojection_error/1 1.632E+01, reprojection_error/2 1.644E+01, reprojection_error 1.644E+01, reprojection_error/init 4.849E+01}
[11/07/2020 13:39:12 INFO] [E 0 | it 1900] loss {total 1.191E+01, reprojection_error/0 3.461E+01, reprojection_error/1 3.395E+01, reprojection_error/2 3.383E+01, reprojection_error 3.383E+01, reprojection_error/init 1.175E+02}
[11/07/2020 13:40:33 INFO] [E 0 | it 1950] loss {total 9.990E+00, reprojection_error/0 2.133E+01, reprojection_error/1 2.092E+01, reprojection_error/2 2.105E+01, reprojection_error 2.105E+01, reprojection_error/init 8.049E+01}
[11/07/2020 13:41:53 INFO] [E 0 | it 2000] loss {total 1.260E+01, reprojection_error/0 3.607E+01, reprojection_error/1 3.426E+01, reprojection_error/2 3.414E+01, reprojection_error 3.414E+01, reprojection_error/init 1.458E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:58,  1.51s/it]
Evaluation:   2%|2         | 2/80 [00:02<01:33,  1.20s/it]
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Evaluation:  10%|#         | 8/80 [00:05<00:41,  1.72it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.79it/s]
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Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.89it/s]
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Evaluation:  20%|##        | 16/80 [00:09<00:32,  1.98it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  1.99it/s]
Evaluation:  22%|##2       | 18/80 [00:10<00:31,  1.99it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.00it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:27,  2.00it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  1.99it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.00it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.99it/s]
Evaluation:  42%|####2     | 34/80 [00:18<00:23,  1.99it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  1.99it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  1.98it/s]
Evaluation:  50%|#####     | 40/80 [00:21<00:20,  1.98it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.99it/s]
Evaluation:  52%|#####2    | 42/80 [00:22<00:19,  1.99it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.00it/s]
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Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.01it/s]
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Evaluation:  70%|#######   | 56/80 [00:29<00:12,  1.99it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  1.99it/s]
Evaluation:  75%|#######5  | 60/80 [00:31<00:10,  1.99it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:09,  2.00it/s]
Evaluation:  78%|#######7  | 62/80 [00:32<00:09,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.99it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.99it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  2.00it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.05it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.06it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.07it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.07it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.07it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.07it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.07it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.07it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.07it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.07it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.07it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.95it/s]
[11/07/2020 13:42:34 INFO] [Validation] {R_error/0 1.413E+00, t_error/0 4.538E-01, R_error/1 1.075E+00, t_error/1 3.352E-01, R_error/2 1.058E+00, t_error/2 3.287E-01, R_error 1.058E+00, t_error 3.287E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 8.547E+00, loss/reprojection_error/0 1.661E+01, loss/reprojection_error/1 1.276E+01, loss/reprojection_error/2 1.265E+01, loss/reprojection_error 1.265E+01, loss/reprojection_error_median 4.221E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 13:43:53 INFO] [E 0 | it 2050] loss {total 8.751E+00, reprojection_error/0 1.442E+01, reprojection_error/1 9.168E+00, reprojection_error/2 8.918E+00, reprojection_error 8.918E+00, reprojection_error/init 4.744E+01}
[11/07/2020 13:45:12 INFO] [E 0 | it 2100] loss {total 8.202E+00, reprojection_error/0 1.383E+01, reprojection_error/1 1.019E+01, reprojection_error/2 9.853E+00, reprojection_error 9.853E+00, reprojection_error/init 1.076E+02}
[11/07/2020 13:46:32 INFO] [E 0 | it 2150] loss {total 7.674E+00, reprojection_error/0 2.063E+01, reprojection_error/1 1.785E+01, reprojection_error/2 1.788E+01, reprojection_error 1.788E+01, reprojection_error/init 6.944E+01}
[11/07/2020 13:47:52 INFO] [E 0 | it 2200] loss {total 5.975E+00, reprojection_error/0 1.184E+01, reprojection_error/1 5.453E+00, reprojection_error/2 5.503E+00, reprojection_error 5.503E+00, reprojection_error/init 5.745E+01}
[11/07/2020 13:49:11 INFO] [E 0 | it 2250] loss {total 3.372E+00, reprojection_error/0 5.982E+00, reprojection_error/1 2.096E+00, reprojection_error/2 2.037E+00, reprojection_error 2.037E+00, reprojection_error/init 3.486E+01}
[11/07/2020 13:50:31 INFO] [E 0 | it 2300] loss {total 9.184E+00, reprojection_error/0 2.230E+01, reprojection_error/1 1.931E+01, reprojection_error/2 1.927E+01, reprojection_error 1.927E+01, reprojection_error/init 7.849E+01}
[11/07/2020 13:51:51 INFO] [E 0 | it 2350] loss {total 1.251E+01, reprojection_error/0 1.987E+01, reprojection_error/1 1.578E+01, reprojection_error/2 1.563E+01, reprojection_error 1.563E+01, reprojection_error/init 7.613E+01}
[11/07/2020 13:53:10 INFO] [E 0 | it 2400] loss {total 5.300E+00, reprojection_error/0 7.723E+00, reprojection_error/1 4.242E+00, reprojection_error/2 3.936E+00, reprojection_error 3.936E+00, reprojection_error/init 4.531E+01}
[11/07/2020 13:54:30 INFO] [E 0 | it 2450] loss {total 5.816E+00, reprojection_error/0 8.742E+00, reprojection_error/1 4.460E+00, reprojection_error/2 4.245E+00, reprojection_error 4.245E+00, reprojection_error/init 5.387E+01}
[11/07/2020 13:55:49 INFO] [E 0 | it 2500] loss {total 3.008E+00, reprojection_error/0 5.550E+00, reprojection_error/1 2.069E+00, reprojection_error/2 1.404E+00, reprojection_error 1.404E+00, reprojection_error/init 7.492E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:58,  1.50s/it]
Evaluation:   2%|2         | 2/80 [00:02<01:33,  1.20s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:16,  1.01it/s]
Evaluation:   5%|5         | 4/80 [00:03<01:04,  1.18it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:55,  1.35it/s]
Evaluation:   8%|7         | 6/80 [00:04<00:49,  1.49it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:45,  1.61it/s]
Evaluation:  10%|#         | 8/80 [00:05<00:42,  1.71it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.79it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:37,  1.85it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.88it/s]
Evaluation:  15%|#5        | 12/80 [00:07<00:35,  1.91it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:34,  1.93it/s]
Evaluation:  18%|#7        | 14/80 [00:08<00:33,  1.95it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.97it/s]
Evaluation:  20%|##        | 16/80 [00:09<00:32,  1.98it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  1.98it/s]
Evaluation:  22%|##2       | 18/80 [00:10<00:31,  1.98it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  1.99it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  1.98it/s]
Evaluation:  40%|####      | 32/80 [00:17<00:24,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.99it/s]
Evaluation:  42%|####2     | 34/80 [00:18<00:23,  1.99it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  1.99it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  1.99it/s]
Evaluation:  50%|#####     | 40/80 [00:21<00:20,  1.99it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.99it/s]
Evaluation:  52%|#####2    | 42/80 [00:22<00:19,  1.99it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.00it/s]
Evaluation:  55%|#####5    | 44/80 [00:23<00:18,  2.00it/s]
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Evaluation:  59%|#####8    | 47/80 [00:24<00:16,  2.00it/s]
Evaluation:  60%|######    | 48/80 [00:25<00:15,  2.00it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.00it/s]
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Evaluation:  70%|#######   | 56/80 [00:29<00:12,  1.99it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  1.98it/s]
Evaluation:  75%|#######5  | 60/80 [00:31<00:10,  2.00it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:09,  2.00it/s]
Evaluation:  78%|#######7  | 62/80 [00:32<00:09,  1.99it/s]
Evaluation:  79%|#######8  | 63/80 [00:32<00:08,  2.00it/s]
Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.98it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.98it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
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[11/07/2020 13:56:30 INFO] [Validation] {R_error/0 1.401E+00, t_error/0 4.188E-01, R_error/1 1.015E+00, t_error/1 2.960E-01, R_error/2 9.903E-01, t_error/2 2.898E-01, R_error 9.903E-01, t_error 2.898E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 8.147E+00, loss/reprojection_error/0 1.594E+01, loss/reprojection_error/1 1.152E+01, loss/reprojection_error/2 1.138E+01, loss/reprojection_error 1.138E+01, loss/reprojection_error_median 2.900E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 13:57:50 INFO] [E 0 | it 2550] loss {total 1.160E+01, reprojection_error/0 2.714E+01, reprojection_error/1 2.426E+01, reprojection_error/2 2.434E+01, reprojection_error 2.434E+01, reprojection_error/init 6.970E+01}
[11/07/2020 13:59:09 INFO] [E 0 | it 2600] loss {total 2.811E+00, reprojection_error/0 7.425E+00, reprojection_error/1 6.102E-01, reprojection_error/2 3.976E-01, reprojection_error 3.976E-01, reprojection_error/init 4.962E+01}
[11/07/2020 14:00:28 INFO] [E 0 | it 2650] loss {total 1.595E+01, reprojection_error/0 3.454E+01, reprojection_error/1 2.941E+01, reprojection_error/2 2.925E+01, reprojection_error 2.925E+01, reprojection_error/init 1.112E+02}
[11/07/2020 14:01:48 INFO] [E 0 | it 2700] loss {total 9.920E+00, reprojection_error/0 1.670E+01, reprojection_error/1 1.257E+01, reprojection_error/2 1.236E+01, reprojection_error 1.236E+01, reprojection_error/init 7.931E+01}
[11/07/2020 14:03:06 INFO] [E 0 | it 2750] loss {total 5.988E+00, reprojection_error/0 8.296E+00, reprojection_error/1 4.936E+00, reprojection_error/2 4.732E+00, reprojection_error 4.732E+00, reprojection_error/init 6.880E+01}
[11/07/2020 14:04:26 INFO] [E 0 | it 2800] loss {total 1.104E+01, reprojection_error/0 2.381E+01, reprojection_error/1 2.122E+01, reprojection_error/2 2.143E+01, reprojection_error 2.143E+01, reprojection_error/init 9.126E+01}
[11/07/2020 14:05:46 INFO] [E 0 | it 2850] loss {total 1.024E+01, reprojection_error/0 2.228E+01, reprojection_error/1 2.072E+01, reprojection_error/2 2.107E+01, reprojection_error 2.107E+01, reprojection_error/init 9.745E+01}
[11/07/2020 14:07:06 INFO] [E 0 | it 2900] loss {total 4.261E+00, reprojection_error/0 7.833E+00, reprojection_error/1 2.541E+00, reprojection_error/2 2.409E+00, reprojection_error 2.409E+00, reprojection_error/init 4.923E+01}
[11/07/2020 14:08:26 INFO] [E 0 | it 2950] loss {total 5.215E+00, reprojection_error/0 1.032E+01, reprojection_error/1 2.781E+00, reprojection_error/2 2.544E+00, reprojection_error 2.544E+00, reprojection_error/init 9.319E+01}

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[11/07/2020 14:10:25 INFO] [Validation] {R_error/0 1.349E+00, t_error/0 4.118E-01, R_error/1 9.362E-01, t_error/1 2.737E-01, R_error/2 9.082E-01, t_error/2 2.657E-01, R_error 9.082E-01, t_error 2.657E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.630E+00, loss/reprojection_error/0 1.560E+01, loss/reprojection_error/1 1.091E+01, loss/reprojection_error/2 1.075E+01, loss/reprojection_error 1.075E+01, loss/reprojection_error_median 2.055E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 14:10:26 INFO] Saving checkpoint checkpoint_0
[11/07/2020 14:10:26 INFO] New best checkpoint: loss/total=7.6295650998751325
[11/07/2020 14:10:27 INFO] Starting epoch 1
[11/07/2020 14:10:27 INFO] Sampling new images or pairs with seed 1

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[11/07/2020 14:10:30 INFO] [E 1 | it 0] loss {total 6.916E+00, reprojection_error/0 1.950E+01, reprojection_error/1 1.727E+01, reprojection_error/2 1.732E+01, reprojection_error 1.732E+01, reprojection_error/init 1.016E+02}

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[11/07/2020 14:11:11 INFO] [Validation] {R_error/0 1.348E+00, t_error/0 4.124E-01, R_error/1 9.394E-01, t_error/1 2.746E-01, R_error/2 9.141E-01, t_error/2 2.671E-01, R_error 9.141E-01, t_error 2.671E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.671E+00, loss/reprojection_error/0 1.554E+01, loss/reprojection_error/1 1.089E+01, loss/reprojection_error/2 1.075E+01, loss/reprojection_error 1.075E+01, loss/reprojection_error_median 2.152E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 14:12:30 INFO] [E 1 | it 50] loss {total 6.322E+00, reprojection_error/0 1.847E+01, reprojection_error/1 1.693E+01, reprojection_error/2 1.690E+01, reprojection_error 1.690E+01, reprojection_error/init 9.111E+01}
[11/07/2020 14:13:48 INFO] [E 1 | it 100] loss {total 9.284E+00, reprojection_error/0 2.252E+01, reprojection_error/1 2.143E+01, reprojection_error/2 2.162E+01, reprojection_error 2.162E+01, reprojection_error/init 7.175E+01}
[11/07/2020 14:15:08 INFO] [E 1 | it 150] loss {total 7.792E+00, reprojection_error/0 2.004E+01, reprojection_error/1 1.842E+01, reprojection_error/2 1.825E+01, reprojection_error 1.825E+01, reprojection_error/init 9.665E+01}
[11/07/2020 14:16:27 INFO] [E 1 | it 200] loss {total 2.944E+00, reprojection_error/0 5.314E+00, reprojection_error/1 1.865E+00, reprojection_error/2 1.654E+00, reprojection_error 1.654E+00, reprojection_error/init 5.393E+01}
[11/07/2020 14:17:46 INFO] [E 1 | it 250] loss {total 1.300E+01, reprojection_error/0 3.671E+01, reprojection_error/1 3.435E+01, reprojection_error/2 3.461E+01, reprojection_error 3.461E+01, reprojection_error/init 1.050E+02}
[11/07/2020 14:19:06 INFO] [E 1 | it 300] loss {total 1.175E+01, reprojection_error/0 2.781E+01, reprojection_error/1 2.349E+01, reprojection_error/2 2.331E+01, reprojection_error 2.331E+01, reprojection_error/init 1.341E+02}
[11/07/2020 14:20:25 INFO] [E 1 | it 350] loss {total 1.446E+01, reprojection_error/0 2.141E+01, reprojection_error/1 1.796E+01, reprojection_error/2 1.807E+01, reprojection_error 1.807E+01, reprojection_error/init 9.460E+01}
[11/07/2020 14:21:44 INFO] [E 1 | it 400] loss {total 4.029E+00, reprojection_error/0 9.923E+00, reprojection_error/1 1.100E+00, reprojection_error/2 1.065E+00, reprojection_error 1.065E+00, reprojection_error/init 6.451E+01}
[11/07/2020 14:23:04 INFO] [E 1 | it 450] loss {total 7.307E+00, reprojection_error/0 1.981E+01, reprojection_error/1 1.777E+01, reprojection_error/2 1.768E+01, reprojection_error 1.768E+01, reprojection_error/init 9.968E+01}
[11/07/2020 14:24:23 INFO] [E 1 | it 500] loss {total 1.184E+01, reprojection_error/0 1.979E+01, reprojection_error/1 1.462E+01, reprojection_error/2 1.469E+01, reprojection_error 1.469E+01, reprojection_error/init 7.378E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:49,  1.38s/it]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.99it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.98it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.98it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.98it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  1.82it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  1.89it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:05,  1.94it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  1.98it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.01it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.03it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.05it/s]
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Evaluation:  98%|#########7| 78/80 [00:40<00:00,  2.05it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.93it/s]
[11/07/2020 14:25:04 INFO] [Validation] {R_error/0 1.332E+00, t_error/0 4.346E-01, R_error/1 8.911E-01, t_error/1 2.779E-01, R_error/2 8.678E-01, t_error/2 2.675E-01, R_error 8.678E-01, t_error 2.675E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.459E+00, loss/reprojection_error/0 1.542E+01, loss/reprojection_error/1 1.035E+01, loss/reprojection_error/2 1.017E+01, loss/reprojection_error 1.017E+01, loss/reprojection_error_median 1.705E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 14:26:25 INFO] [E 1 | it 550] loss {total 1.279E+01, reprojection_error/0 3.628E+01, reprojection_error/1 3.440E+01, reprojection_error/2 3.437E+01, reprojection_error 3.437E+01, reprojection_error/init 1.311E+02}
[11/07/2020 14:27:44 INFO] [E 1 | it 600] loss {total 1.061E+01, reprojection_error/0 2.226E+01, reprojection_error/1 2.147E+01, reprojection_error/2 2.143E+01, reprojection_error 2.143E+01, reprojection_error/init 5.939E+01}
[11/07/2020 14:29:04 INFO] [E 1 | it 650] loss {total 1.058E+01, reprojection_error/0 1.664E+01, reprojection_error/1 1.388E+01, reprojection_error/2 1.366E+01, reprojection_error 1.366E+01, reprojection_error/init 4.213E+01}
[11/07/2020 14:30:24 INFO] [E 1 | it 700] loss {total 7.584E+00, reprojection_error/0 2.142E+01, reprojection_error/1 1.751E+01, reprojection_error/2 1.715E+01, reprojection_error 1.715E+01, reprojection_error/init 1.820E+02}
[11/07/2020 14:31:44 INFO] [E 1 | it 750] loss {total 7.718E+00, reprojection_error/0 2.037E+01, reprojection_error/1 1.814E+01, reprojection_error/2 1.798E+01, reprojection_error 1.798E+01, reprojection_error/init 8.685E+01}
[11/07/2020 14:33:04 INFO] [E 1 | it 800] loss {total 4.862E+00, reprojection_error/0 6.385E+00, reprojection_error/1 4.213E+00, reprojection_error/2 3.987E+00, reprojection_error 3.987E+00, reprojection_error/init 3.471E+01}
[11/07/2020 14:34:24 INFO] [E 1 | it 850] loss {total 1.294E+01, reprojection_error/0 2.928E+01, reprojection_error/1 2.620E+01, reprojection_error/2 2.652E+01, reprojection_error 2.652E+01, reprojection_error/init 9.028E+01}
[11/07/2020 14:35:43 INFO] [E 1 | it 900] loss {total 1.402E+01, reprojection_error/0 2.082E+01, reprojection_error/1 1.986E+01, reprojection_error/2 1.940E+01, reprojection_error 1.940E+01, reprojection_error/init 6.696E+01}
[11/07/2020 14:37:02 INFO] [E 1 | it 950] loss {total 5.855E+00, reprojection_error/0 9.972E+00, reprojection_error/1 4.125E+00, reprojection_error/2 3.469E+00, reprojection_error 3.469E+00, reprojection_error/init 7.139E+01}
[11/07/2020 14:38:22 INFO] [E 1 | it 1000] loss {total 7.277E+00, reprojection_error/0 1.256E+01, reprojection_error/1 9.002E+00, reprojection_error/2 8.895E+00, reprojection_error 8.895E+00, reprojection_error/init 6.820E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:55,  1.47s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:32,  1.18s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.78it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:38,  1.84it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.88it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.98it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.00it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:10,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  2.00it/s]
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Evaluation:  85%|########5 | 68/80 [00:35<00:05,  2.00it/s]
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Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.05it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.06it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.07it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.07it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.07it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.07it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.07it/s]
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Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.08it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.08it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.94it/s]
[11/07/2020 14:39:03 INFO] [Validation] {R_error/0 1.293E+00, t_error/0 3.948E-01, R_error/1 8.326E-01, t_error/1 2.477E-01, R_error/2 7.945E-01, t_error/2 2.357E-01, R_error 7.945E-01, t_error 2.357E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.267E+00, loss/reprojection_error/0 1.502E+01, loss/reprojection_error/1 9.820E+00, loss/reprojection_error/2 9.606E+00, loss/reprojection_error 9.606E+00, loss/reprojection_error_median 1.531E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 14:40:23 INFO] [E 1 | it 1050] loss {total 1.052E+01, reprojection_error/0 2.606E+01, reprojection_error/1 2.147E+01, reprojection_error/2 2.153E+01, reprojection_error 2.153E+01, reprojection_error/init 1.061E+02}
[11/07/2020 14:41:42 INFO] [E 1 | it 1100] loss {total 5.189E+00, reprojection_error/0 7.696E+00, reprojection_error/1 3.975E+00, reprojection_error/2 3.895E+00, reprojection_error 3.895E+00, reprojection_error/init 5.349E+01}
[11/07/2020 14:43:02 INFO] [E 1 | it 1150] loss {total 1.525E+01, reprojection_error/0 3.102E+01, reprojection_error/1 2.976E+01, reprojection_error/2 2.968E+01, reprojection_error 2.968E+01, reprojection_error/init 1.163E+02}
[11/07/2020 14:44:22 INFO] [E 1 | it 1200] loss {total 5.639E+00, reprojection_error/0 9.199E+00, reprojection_error/1 3.834E+00, reprojection_error/2 3.885E+00, reprojection_error 3.885E+00, reprojection_error/init 7.385E+01}
[11/07/2020 14:45:41 INFO] [E 1 | it 1250] loss {total 3.685E+00, reprojection_error/0 6.704E+00, reprojection_error/1 2.197E+00, reprojection_error/2 2.154E+00, reprojection_error 2.154E+00, reprojection_error/init 7.686E+01}
[11/07/2020 14:46:59 INFO] [E 1 | it 1300] loss {total 7.007E+00, reprojection_error/0 1.430E+01, reprojection_error/1 6.487E+00, reprojection_error/2 6.054E+00, reprojection_error 6.054E+00, reprojection_error/init 6.861E+01}
[11/07/2020 14:48:17 INFO] [E 1 | it 1350] loss {total 2.056E+00, reprojection_error/0 4.673E+00, reprojection_error/1 7.624E-01, reprojection_error/2 7.324E-01, reprojection_error 7.324E-01, reprojection_error/init 4.637E+01}
[11/07/2020 14:49:35 INFO] [E 1 | it 1400] loss {total 6.868E+00, reprojection_error/0 1.860E+01, reprojection_error/1 1.777E+01, reprojection_error/2 1.757E+01, reprojection_error 1.757E+01, reprojection_error/init 6.218E+01}
[11/07/2020 14:50:54 INFO] [E 1 | it 1450] loss {total 1.123E+01, reprojection_error/0 2.421E+01, reprojection_error/1 2.149E+01, reprojection_error/2 2.132E+01, reprojection_error 2.132E+01, reprojection_error/init 7.842E+01}
[11/07/2020 14:52:12 INFO] [E 1 | it 1500] loss {total 1.709E+01, reprojection_error/0 3.306E+01, reprojection_error/1 3.094E+01, reprojection_error/2 3.090E+01, reprojection_error 3.090E+01, reprojection_error/init 9.840E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:24,  1.95it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.99it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.99it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  1.99it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:04,  2.03it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.05it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.06it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.06it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.06it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.06it/s]
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Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.94it/s]
[11/07/2020 14:52:54 INFO] [Validation] {R_error/0 1.324E+00, t_error/0 3.966E-01, R_error/1 8.556E-01, t_error/1 2.508E-01, R_error/2 8.188E-01, t_error/2 2.400E-01, R_error 8.188E-01, t_error 2.400E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.064E+00, loss/reprojection_error/0 1.447E+01, loss/reprojection_error/1 9.221E+00, loss/reprojection_error/2 9.014E+00, loss/reprojection_error 9.014E+00, loss/reprojection_error_median 1.511E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 14:54:13 INFO] [E 1 | it 1550] loss {total 1.021E+01, reprojection_error/0 1.848E+01, reprojection_error/1 1.081E+01, reprojection_error/2 1.087E+01, reprojection_error 1.087E+01, reprojection_error/init 5.228E+01}
[11/07/2020 14:55:32 INFO] [E 1 | it 1600] loss {total 3.491E+00, reprojection_error/0 4.369E+00, reprojection_error/1 3.151E+00, reprojection_error/2 2.954E+00, reprojection_error 2.954E+00, reprojection_error/init 5.898E+01}
[11/07/2020 14:56:51 INFO] [E 1 | it 1650] loss {total 2.513E+00, reprojection_error/0 5.662E+00, reprojection_error/1 1.223E+00, reprojection_error/2 6.553E-01, reprojection_error 6.553E-01, reprojection_error/init 8.206E+01}
[11/07/2020 14:58:12 INFO] [E 1 | it 1700] loss {total 7.478E+00, reprojection_error/0 2.218E+01, reprojection_error/1 1.677E+01, reprojection_error/2 1.681E+01, reprojection_error 1.681E+01, reprojection_error/init 1.204E+02}
[11/07/2020 14:59:31 INFO] [E 1 | it 1750] loss {total 7.829E+00, reprojection_error/0 2.194E+01, reprojection_error/1 1.748E+01, reprojection_error/2 1.740E+01, reprojection_error 1.740E+01, reprojection_error/init 1.058E+02}
[11/07/2020 15:00:52 INFO] [E 1 | it 1800] loss {total 7.218E+00, reprojection_error/0 1.316E+01, reprojection_error/1 4.384E+00, reprojection_error/2 4.115E+00, reprojection_error 4.115E+00, reprojection_error/init 5.312E+01}
[11/07/2020 15:02:12 INFO] [E 1 | it 1850] loss {total 4.639E+00, reprojection_error/0 9.707E+00, reprojection_error/1 2.195E+00, reprojection_error/2 2.017E+00, reprojection_error 2.017E+00, reprojection_error/init 4.878E+01}
[11/07/2020 15:03:31 INFO] [E 1 | it 1900] loss {total 7.618E+00, reprojection_error/0 1.960E+01, reprojection_error/1 1.837E+01, reprojection_error/2 1.822E+01, reprojection_error 1.822E+01, reprojection_error/init 1.074E+02}
[11/07/2020 15:04:51 INFO] [E 1 | it 1950] loss {total 7.199E+00, reprojection_error/0 1.991E+01, reprojection_error/1 1.753E+01, reprojection_error/2 1.749E+01, reprojection_error 1.749E+01, reprojection_error/init 1.200E+02}
[11/07/2020 15:06:10 INFO] [E 1 | it 2000] loss {total 3.006E+00, reprojection_error/0 6.128E+00, reprojection_error/1 1.621E+00, reprojection_error/2 1.270E+00, reprojection_error 1.270E+00, reprojection_error/init 4.676E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:54,  1.45s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:30,  1.16s/it]
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Evaluation:   8%|7         | 6/80 [00:03<00:48,  1.52it/s]
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Evaluation:  10%|#         | 8/80 [00:04<00:41,  1.72it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.79it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:40,  1.73it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:39,  1.73it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:34,  1.91it/s]
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Evaluation:  21%|##1       | 17/80 [00:09<00:32,  1.94it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.97it/s]
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Evaluation:  70%|#######   | 56/80 [00:29<00:12,  1.97it/s]
Evaluation:  71%|#######1  | 57/80 [00:30<00:12,  1.81it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:12,  1.73it/s]
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Evaluation:  80%|########  | 64/80 [00:34<00:09,  1.61it/s]
Evaluation:  81%|########1 | 65/80 [00:35<00:08,  1.70it/s]
Evaluation:  82%|########2 | 66/80 [00:35<00:07,  1.77it/s]
Evaluation:  84%|########3 | 67/80 [00:36<00:07,  1.83it/s]
Evaluation:  85%|########5 | 68/80 [00:36<00:06,  1.87it/s]
Evaluation:  86%|########6 | 69/80 [00:37<00:05,  1.92it/s]
Evaluation:  88%|########7 | 70/80 [00:37<00:05,  1.97it/s]
Evaluation:  89%|########8 | 71/80 [00:38<00:04,  1.99it/s]
Evaluation:  90%|######### | 72/80 [00:38<00:03,  2.00it/s]
Evaluation:  91%|#########1| 73/80 [00:39<00:03,  2.02it/s]
Evaluation:  92%|#########2| 74/80 [00:39<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:40<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:40<00:01,  2.04it/s]
Evaluation:  96%|#########6| 77/80 [00:41<00:01,  2.05it/s]
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Evaluation:  99%|#########8| 79/80 [00:41<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:42<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.87it/s]
[11/07/2020 15:06:53 INFO] [Validation] {R_error/0 1.280E+00, t_error/0 4.558E-01, R_error/1 8.303E-01, t_error/1 2.654E-01, R_error/2 7.864E-01, t_error/2 2.518E-01, R_error 7.864E-01, t_error 2.518E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.884E+00, loss/reprojection_error/0 1.479E+01, loss/reprojection_error/1 9.027E+00, loss/reprojection_error/2 8.728E+00, loss/reprojection_error 8.728E+00, loss/reprojection_error_median 1.557E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 15:08:12 INFO] [E 1 | it 2050] loss {total 3.198E+00, reprojection_error/0 5.555E+00, reprojection_error/1 2.080E+00, reprojection_error/2 1.959E+00, reprojection_error 1.959E+00, reprojection_error/init 5.355E+01}
[11/07/2020 15:09:32 INFO] [E 1 | it 2100] loss {total 1.765E+01, reprojection_error/0 3.501E+01, reprojection_error/1 3.199E+01, reprojection_error/2 3.210E+01, reprojection_error 3.210E+01, reprojection_error/init 1.504E+02}
[11/07/2020 15:10:52 INFO] [E 1 | it 2150] loss {total 7.259E+00, reprojection_error/0 1.401E+01, reprojection_error/1 7.098E+00, reprojection_error/2 6.795E+00, reprojection_error 6.795E+00, reprojection_error/init 8.056E+01}
[11/07/2020 15:12:11 INFO] [E 1 | it 2200] loss {total 6.112E+00, reprojection_error/0 9.425E+00, reprojection_error/1 7.446E+00, reprojection_error/2 6.995E+00, reprojection_error 6.995E+00, reprojection_error/init 6.014E+01}
[11/07/2020 15:13:31 INFO] [E 1 | it 2250] loss {total 7.359E+00, reprojection_error/0 2.115E+01, reprojection_error/1 1.737E+01, reprojection_error/2 1.689E+01, reprojection_error 1.689E+01, reprojection_error/init 1.033E+02}
[11/07/2020 15:14:51 INFO] [E 1 | it 2300] loss {total 1.252E+01, reprojection_error/0 3.006E+01, reprojection_error/1 2.046E+01, reprojection_error/2 2.037E+01, reprojection_error 2.037E+01, reprojection_error/init 1.029E+02}
[11/07/2020 15:16:11 INFO] [E 1 | it 2350] loss {total 6.778E+00, reprojection_error/0 1.873E+01, reprojection_error/1 1.755E+01, reprojection_error/2 1.738E+01, reprojection_error 1.738E+01, reprojection_error/init 9.875E+01}
[11/07/2020 15:17:29 INFO] [E 1 | it 2400] loss {total 2.850E+00, reprojection_error/0 4.692E+00, reprojection_error/1 2.017E+00, reprojection_error/2 1.840E+00, reprojection_error 1.840E+00, reprojection_error/init 4.961E+01}
[11/07/2020 15:18:48 INFO] [E 1 | it 2450] loss {total 9.234E+00, reprojection_error/0 2.317E+01, reprojection_error/1 1.903E+01, reprojection_error/2 1.883E+01, reprojection_error 1.883E+01, reprojection_error/init 1.302E+02}
[11/07/2020 15:20:08 INFO] [E 1 | it 2500] loss {total 1.844E+00, reprojection_error/0 4.675E+00, reprojection_error/1 5.481E-01, reprojection_error/2 3.095E-01, reprojection_error 3.095E-01, reprojection_error/init 6.738E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:47,  1.36s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:26,  1.10s/it]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.93it/s]
[11/07/2020 15:20:49 INFO] [Validation] {R_error/0 1.241E+00, t_error/0 4.046E-01, R_error/1 8.013E-01, t_error/1 2.386E-01, R_error/2 7.630E-01, t_error/2 2.277E-01, R_error 7.630E-01, t_error 2.277E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.761E+00, loss/reprojection_error/0 1.428E+01, loss/reprojection_error/1 8.629E+00, loss/reprojection_error/2 8.341E+00, loss/reprojection_error 8.341E+00, loss/reprojection_error_median 1.546E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 15:22:08 INFO] [E 1 | it 2550] loss {total 9.821E+00, reprojection_error/0 2.319E+01, reprojection_error/1 2.189E+01, reprojection_error/2 2.214E+01, reprojection_error 2.214E+01, reprojection_error/init 8.899E+01}
[11/07/2020 15:23:28 INFO] [E 1 | it 2600] loss {total 1.494E+01, reprojection_error/0 3.194E+01, reprojection_error/1 2.771E+01, reprojection_error/2 2.768E+01, reprojection_error 2.768E+01, reprojection_error/init 9.191E+01}
[11/07/2020 15:24:50 INFO] [E 1 | it 2650] loss {total 7.385E+00, reprojection_error/0 1.251E+01, reprojection_error/1 8.114E+00, reprojection_error/2 7.592E+00, reprojection_error 7.592E+00, reprojection_error/init 7.232E+01}
[11/07/2020 15:26:08 INFO] [E 1 | it 2700] loss {total 1.632E+01, reprojection_error/0 2.345E+01, reprojection_error/1 2.117E+01, reprojection_error/2 2.100E+01, reprojection_error 2.100E+01, reprojection_error/init 1.243E+02}
[11/07/2020 15:27:28 INFO] [E 1 | it 2750] loss {total 6.933E+00, reprojection_error/0 1.198E+01, reprojection_error/1 8.206E+00, reprojection_error/2 8.244E+00, reprojection_error 8.244E+00, reprojection_error/init 9.677E+01}
[11/07/2020 15:28:47 INFO] [E 1 | it 2800] loss {total 7.520E+00, reprojection_error/0 2.001E+01, reprojection_error/1 1.344E+01, reprojection_error/2 1.274E+01, reprojection_error 1.274E+01, reprojection_error/init 4.779E+01}
[11/07/2020 15:30:07 INFO] [E 1 | it 2850] loss {total 8.909E+00, reprojection_error/0 1.341E+01, reprojection_error/1 1.145E+01, reprojection_error/2 1.141E+01, reprojection_error 1.141E+01, reprojection_error/init 4.423E+01}
[11/07/2020 15:31:28 INFO] [E 1 | it 2900] loss {total 2.483E+00, reprojection_error/0 5.867E+00, reprojection_error/1 8.632E-01, reprojection_error/2 7.181E-01, reprojection_error 7.181E-01, reprojection_error/init 4.241E+01}
[11/07/2020 15:32:48 INFO] [E 1 | it 2950] loss {total 4.706E+00, reprojection_error/0 8.928E+00, reprojection_error/1 2.769E+00, reprojection_error/2 2.420E+00, reprojection_error 2.420E+00, reprojection_error/init 7.899E+01}

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Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.04it/s]
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Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.90it/s]
[11/07/2020 15:34:47 INFO] [Validation] {R_error/0 1.263E+00, t_error/0 4.179E-01, R_error/1 8.065E-01, t_error/1 2.632E-01, R_error/2 7.582E-01, t_error/2 2.510E-01, R_error 7.582E-01, t_error 2.510E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.627E+00, loss/reprojection_error/0 1.416E+01, loss/reprojection_error/1 8.699E+00, loss/reprojection_error/2 8.377E+00, loss/reprojection_error 8.377E+00, loss/reprojection_error_median 1.382E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 15:34:47 INFO] Saving checkpoint checkpoint_1
[11/07/2020 15:34:48 INFO] New best checkpoint: loss/total=6.627251929044723
[11/07/2020 15:34:48 INFO] Starting epoch 2
[11/07/2020 15:34:48 INFO] Sampling new images or pairs with seed 2

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[11/07/2020 15:34:52 INFO] [E 2 | it 0] loss {total 1.251E+01, reprojection_error/0 2.888E+01, reprojection_error/1 2.507E+01, reprojection_error/2 2.514E+01, reprojection_error 2.514E+01, reprojection_error/init 8.365E+01}

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Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:31<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:34<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:35<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:35<00:06,  2.00it/s]
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Evaluation:  86%|########6 | 69/80 [00:36<00:05,  2.03it/s]
Evaluation:  88%|########7 | 70/80 [00:37<00:04,  2.05it/s]
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Evaluation:  90%|######### | 72/80 [00:38<00:03,  2.07it/s]
Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.07it/s]
Evaluation:  92%|#########2| 74/80 [00:39<00:02,  2.07it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  2.07it/s]
Evaluation:  95%|#########5| 76/80 [00:40<00:01,  2.07it/s]
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Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.90it/s]
[11/07/2020 15:35:34 INFO] [Validation] {R_error/0 1.262E+00, t_error/0 4.176E-01, R_error/1 8.053E-01, t_error/1 2.623E-01, R_error/2 7.580E-01, t_error/2 2.501E-01, R_error 7.580E-01, t_error 2.501E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.601E+00, loss/reprojection_error/0 1.416E+01, loss/reprojection_error/1 8.679E+00, loss/reprojection_error/2 8.358E+00, loss/reprojection_error 8.358E+00, loss/reprojection_error_median 1.381E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 15:36:53 INFO] [E 2 | it 50] loss {total 1.745E+01, reprojection_error/0 4.411E+01, reprojection_error/1 4.157E+01, reprojection_error/2 4.142E+01, reprojection_error 4.142E+01, reprojection_error/init 1.551E+02}
[11/07/2020 15:38:11 INFO] [E 2 | it 100] loss {total 1.133E+01, reprojection_error/0 2.598E+01, reprojection_error/1 2.464E+01, reprojection_error/2 2.453E+01, reprojection_error 2.453E+01, reprojection_error/init 5.272E+01}
[11/07/2020 15:39:31 INFO] [E 2 | it 150] loss {total 4.386E+00, reprojection_error/0 9.744E+00, reprojection_error/1 1.975E+00, reprojection_error/2 1.438E+00, reprojection_error 1.438E+00, reprojection_error/init 8.220E+01}
[11/07/2020 15:40:51 INFO] [E 2 | it 200] loss {total 1.103E+01, reprojection_error/0 2.568E+01, reprojection_error/1 2.312E+01, reprojection_error/2 2.329E+01, reprojection_error 2.329E+01, reprojection_error/init 1.013E+02}
[11/07/2020 15:42:11 INFO] [E 2 | it 250] loss {total 3.390E+00, reprojection_error/0 7.673E+00, reprojection_error/1 1.434E+00, reprojection_error/2 1.062E+00, reprojection_error 1.062E+00, reprojection_error/init 6.913E+01}
[11/07/2020 15:43:31 INFO] [E 2 | it 300] loss {total 9.830E+00, reprojection_error/0 2.278E+01, reprojection_error/1 1.995E+01, reprojection_error/2 2.009E+01, reprojection_error 2.009E+01, reprojection_error/init 9.231E+01}
[11/07/2020 15:44:51 INFO] [E 2 | it 350] loss {total 1.129E+01, reprojection_error/0 1.840E+01, reprojection_error/1 1.445E+01, reprojection_error/2 1.402E+01, reprojection_error 1.402E+01, reprojection_error/init 8.755E+01}
[11/07/2020 15:46:11 INFO] [E 2 | it 400] loss {total 7.969E+00, reprojection_error/0 2.281E+01, reprojection_error/1 1.740E+01, reprojection_error/2 1.703E+01, reprojection_error 1.703E+01, reprojection_error/init 1.101E+02}
[11/07/2020 15:47:30 INFO] [E 2 | it 450] loss {total 3.790E+00, reprojection_error/0 8.140E+00, reprojection_error/1 1.460E+00, reprojection_error/2 1.769E+00, reprojection_error 1.769E+00, reprojection_error/init 6.981E+01}
[11/07/2020 15:48:50 INFO] [E 2 | it 500] loss {total 3.020E+00, reprojection_error/0 7.313E+00, reprojection_error/1 9.594E-01, reprojection_error/2 7.882E-01, reprojection_error 7.882E-01, reprojection_error/init 5.596E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:46,  1.35s/it]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.99it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.96it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.98it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.97it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.97it/s]
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Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.00it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.94it/s]
[11/07/2020 15:49:31 INFO] [Validation] {R_error/0 1.254E+00, t_error/0 3.931E-01, R_error/1 7.856E-01, t_error/1 2.399E-01, R_error/2 7.373E-01, t_error/2 2.266E-01, R_error 7.373E-01, t_error 2.266E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.689E+00, loss/reprojection_error/0 1.431E+01, loss/reprojection_error/1 8.927E+00, loss/reprojection_error/2 8.660E+00, loss/reprojection_error 8.660E+00, loss/reprojection_error_median 1.368E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 15:50:50 INFO] [E 2 | it 550] loss {total 5.255E+00, reprojection_error/0 8.955E+00, reprojection_error/1 6.388E+00, reprojection_error/2 6.233E+00, reprojection_error 6.233E+00, reprojection_error/init 6.639E+01}
[11/07/2020 15:52:09 INFO] [E 2 | it 600] loss {total 4.629E+00, reprojection_error/0 8.399E+00, reprojection_error/1 2.775E+00, reprojection_error/2 2.712E+00, reprojection_error 2.712E+00, reprojection_error/init 1.048E+02}
[11/07/2020 15:53:29 INFO] [E 2 | it 650] loss {total 6.137E+00, reprojection_error/0 1.066E+01, reprojection_error/1 7.095E+00, reprojection_error/2 7.033E+00, reprojection_error 7.033E+00, reprojection_error/init 2.887E+01}
[11/07/2020 15:54:50 INFO] [E 2 | it 700] loss {total 5.576E+00, reprojection_error/0 9.793E+00, reprojection_error/1 3.567E+00, reprojection_error/2 3.368E+00, reprojection_error 3.368E+00, reprojection_error/init 7.307E+01}
[11/07/2020 15:56:10 INFO] [E 2 | it 750] loss {total 3.045E+00, reprojection_error/0 7.504E+00, reprojection_error/1 1.028E+00, reprojection_error/2 6.017E-01, reprojection_error 6.017E-01, reprojection_error/init 4.212E+01}
[11/07/2020 15:57:29 INFO] [E 2 | it 800] loss {total 6.127E+00, reprojection_error/0 1.003E+01, reprojection_error/1 7.199E+00, reprojection_error/2 6.707E+00, reprojection_error 6.707E+00, reprojection_error/init 5.930E+01}
[11/07/2020 15:58:50 INFO] [E 2 | it 850] loss {total 3.525E+00, reprojection_error/0 8.021E+00, reprojection_error/1 1.297E+00, reprojection_error/2 1.257E+00, reprojection_error 1.257E+00, reprojection_error/init 2.963E+01}
[11/07/2020 16:00:11 INFO] [E 2 | it 900] loss {total 1.129E+01, reprojection_error/0 1.774E+01, reprojection_error/1 1.433E+01, reprojection_error/2 1.422E+01, reprojection_error 1.422E+01, reprojection_error/init 6.203E+01}
[11/07/2020 16:01:35 INFO] [E 2 | it 950] loss {total 7.098E+00, reprojection_error/0 1.046E+01, reprojection_error/1 5.825E+00, reprojection_error/2 5.012E+00, reprojection_error 5.012E+00, reprojection_error/init 7.015E+01}
[11/07/2020 16:03:00 INFO] [E 2 | it 1000] loss {total 4.726E+00, reprojection_error/0 1.017E+01, reprojection_error/1 1.874E+00, reprojection_error/2 2.128E+00, reprojection_error 2.128E+00, reprojection_error/init 7.179E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:16,  1.73s/it]
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Evaluation:   9%|8         | 7/80 [00:05<00:56,  1.30it/s]
Evaluation:  10%|#         | 8/80 [00:06<00:52,  1.37it/s]
Evaluation:  11%|#1        | 9/80 [00:06<00:49,  1.42it/s]
Evaluation:  12%|#2        | 10/80 [00:07<00:47,  1.46it/s]
Evaluation:  14%|#3        | 11/80 [00:08<00:45,  1.50it/s]
Evaluation:  15%|#5        | 12/80 [00:08<00:43,  1.56it/s]
Evaluation:  16%|#6        | 13/80 [00:09<00:41,  1.60it/s]
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Evaluation:  19%|#8        | 15/80 [00:10<00:39,  1.63it/s]
Evaluation:  20%|##        | 16/80 [00:11<00:39,  1.61it/s]
Evaluation:  21%|##1       | 17/80 [00:11<00:39,  1.59it/s]
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Evaluation:  31%|###1      | 25/80 [00:16<00:35,  1.57it/s]
Evaluation:  32%|###2      | 26/80 [00:17<00:34,  1.56it/s]
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Evaluation:  39%|###8      | 31/80 [00:20<00:31,  1.56it/s]
Evaluation:  40%|####      | 32/80 [00:21<00:30,  1.56it/s]
Evaluation:  41%|####1     | 33/80 [00:22<00:30,  1.56it/s]
Evaluation:  42%|####2     | 34/80 [00:22<00:29,  1.56it/s]
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Evaluation:  50%|#####     | 40/80 [00:26<00:25,  1.56it/s]
Evaluation:  51%|#####1    | 41/80 [00:27<00:24,  1.56it/s]
Evaluation:  52%|#####2    | 42/80 [00:27<00:24,  1.56it/s]
Evaluation:  54%|#####3    | 43/80 [00:28<00:23,  1.57it/s]
Evaluation:  55%|#####5    | 44/80 [00:29<00:22,  1.57it/s]
Evaluation:  56%|#####6    | 45/80 [00:29<00:22,  1.58it/s]
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Evaluation:  59%|#####8    | 47/80 [00:30<00:20,  1.65it/s]
Evaluation:  60%|######    | 48/80 [00:31<00:19,  1.68it/s]
Evaluation:  61%|######1   | 49/80 [00:31<00:18,  1.70it/s]
Evaluation:  62%|######2   | 50/80 [00:32<00:17,  1.73it/s]
Evaluation:  64%|######3   | 51/80 [00:33<00:16,  1.73it/s]
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Evaluation:  70%|#######   | 56/80 [00:36<00:14,  1.70it/s]
Evaluation:  71%|#######1  | 57/80 [00:36<00:13,  1.66it/s]
Evaluation:  72%|#######2  | 58/80 [00:37<00:13,  1.63it/s]
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Evaluation:  80%|########  | 64/80 [00:40<00:09,  1.69it/s]
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Evaluation:  82%|########2 | 66/80 [00:42<00:08,  1.73it/s]
Evaluation:  84%|########3 | 67/80 [00:42<00:07,  1.75it/s]
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Evaluation:  86%|########6 | 69/80 [00:43<00:06,  1.78it/s]
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Evaluation:  89%|########8 | 71/80 [00:44<00:04,  1.81it/s]
Evaluation:  90%|######### | 72/80 [00:45<00:04,  1.81it/s]
Evaluation:  91%|#########1| 73/80 [00:45<00:03,  1.82it/s]
Evaluation:  92%|#########2| 74/80 [00:46<00:03,  1.82it/s]
Evaluation:  94%|#########3| 75/80 [00:47<00:02,  1.83it/s]
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Evaluation:  96%|#########6| 77/80 [00:48<00:01,  1.83it/s]
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Evaluation: 100%|##########| 80/80 [00:49<00:00,  1.60it/s]
[11/07/2020 16:03:50 INFO] [Validation] {R_error/0 1.244E+00, t_error/0 3.972E-01, R_error/1 7.902E-01, t_error/1 2.411E-01, R_error/2 7.471E-01, t_error/2 2.282E-01, R_error 7.471E-01, t_error 2.282E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.578E+00, loss/reprojection_error/0 1.384E+01, loss/reprojection_error/1 8.460E+00, loss/reprojection_error/2 8.173E+00, loss/reprojection_error 8.173E+00, loss/reprojection_error_median 1.339E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 16:05:14 INFO] [E 2 | it 1050] loss {total 2.402E+00, reprojection_error/0 5.041E+00, reprojection_error/1 1.227E+00, reprojection_error/2 9.398E-01, reprojection_error 9.398E-01, reprojection_error/init 6.275E+01}
[11/07/2020 16:06:36 INFO] [E 2 | it 1100] loss {total 6.161E+00, reprojection_error/0 1.347E+01, reprojection_error/1 2.632E+00, reprojection_error/2 2.383E+00, reprojection_error 2.383E+00, reprojection_error/init 7.426E+01}
[11/07/2020 16:07:56 INFO] [E 2 | it 1150] loss {total 8.592E+00, reprojection_error/0 2.158E+01, reprojection_error/1 1.661E+01, reprojection_error/2 1.659E+01, reprojection_error 1.659E+01, reprojection_error/init 7.760E+01}
[11/07/2020 16:09:15 INFO] [E 2 | it 1200] loss {total 8.712E+00, reprojection_error/0 1.371E+01, reprojection_error/1 9.410E+00, reprojection_error/2 9.635E+00, reprojection_error 9.635E+00, reprojection_error/init 9.367E+01}
[11/07/2020 16:10:34 INFO] [E 2 | it 1250] loss {total 2.130E+00, reprojection_error/0 3.248E+00, reprojection_error/1 1.424E+00, reprojection_error/2 1.717E+00, reprojection_error 1.717E+00, reprojection_error/init 3.857E+01}
[11/07/2020 16:11:54 INFO] [E 2 | it 1300] loss {total 7.526E+00, reprojection_error/0 2.001E+01, reprojection_error/1 1.803E+01, reprojection_error/2 1.787E+01, reprojection_error 1.787E+01, reprojection_error/init 1.164E+02}
[11/07/2020 16:13:14 INFO] [E 2 | it 1350] loss {total 2.964E+00, reprojection_error/0 7.324E+00, reprojection_error/1 8.907E-01, reprojection_error/2 6.771E-01, reprojection_error 6.771E-01, reprojection_error/init 9.389E+01}
[11/07/2020 16:14:33 INFO] [E 2 | it 1400] loss {total 7.299E+00, reprojection_error/0 2.038E+01, reprojection_error/1 1.743E+01, reprojection_error/2 1.743E+01, reprojection_error 1.743E+01, reprojection_error/init 6.198E+01}
[11/07/2020 16:15:51 INFO] [E 2 | it 1450] loss {total 1.168E+01, reprojection_error/0 3.451E+01, reprojection_error/1 2.148E+01, reprojection_error/2 2.109E+01, reprojection_error 2.109E+01, reprojection_error/init 1.250E+02}
[11/07/2020 16:17:10 INFO] [E 2 | it 1500] loss {total 3.730E+00, reprojection_error/0 8.513E+00, reprojection_error/1 1.650E+00, reprojection_error/2 1.029E+00, reprojection_error 1.029E+00, reprojection_error/init 1.019E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:40,  1.27s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.81it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:28,  1.96it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  1.98it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.97it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.97it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.96it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.97it/s]
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Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.04it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.93it/s]
[11/07/2020 16:17:51 INFO] [Validation] {R_error/0 1.229E+00, t_error/0 3.938E-01, R_error/1 7.575E-01, t_error/1 2.410E-01, R_error/2 7.073E-01, t_error/2 2.279E-01, R_error 7.073E-01, t_error 2.279E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.394E+00, loss/reprojection_error/0 1.339E+01, loss/reprojection_error/1 8.125E+00, loss/reprojection_error/2 7.842E+00, loss/reprojection_error 7.842E+00, loss/reprojection_error_median 1.304E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 16:19:11 INFO] [E 2 | it 1550] loss {total 2.603E+00, reprojection_error/0 4.921E+00, reprojection_error/1 1.443E+00, reprojection_error/2 1.444E+00, reprojection_error 1.444E+00, reprojection_error/init 7.084E+01}
[11/07/2020 16:20:31 INFO] [E 2 | it 1600] loss {total 9.467E+00, reprojection_error/0 1.650E+01, reprojection_error/1 1.121E+01, reprojection_error/2 1.109E+01, reprojection_error 1.109E+01, reprojection_error/init 8.787E+01}
[11/07/2020 16:21:50 INFO] [E 2 | it 1650] loss {total 8.466E+00, reprojection_error/0 1.481E+01, reprojection_error/1 9.550E+00, reprojection_error/2 8.912E+00, reprojection_error 8.912E+00, reprojection_error/init 5.606E+01}
[11/07/2020 16:23:09 INFO] [E 2 | it 1700] loss {total 2.767E+00, reprojection_error/0 5.805E+00, reprojection_error/1 1.608E+00, reprojection_error/2 8.872E-01, reprojection_error 8.872E-01, reprojection_error/init 4.777E+01}
[11/07/2020 16:24:29 INFO] [E 2 | it 1750] loss {total 1.025E+01, reprojection_error/0 1.334E+01, reprojection_error/1 1.321E+01, reprojection_error/2 1.382E+01, reprojection_error 1.382E+01, reprojection_error/init 5.502E+01}
[11/07/2020 16:25:47 INFO] [E 2 | it 1800] loss {total 5.212E+00, reprojection_error/0 9.111E+00, reprojection_error/1 3.401E+00, reprojection_error/2 3.123E+00, reprojection_error 3.123E+00, reprojection_error/init 5.687E+01}
[11/07/2020 16:27:07 INFO] [E 2 | it 1850] loss {total 5.129E+00, reprojection_error/0 7.100E+00, reprojection_error/1 4.225E+00, reprojection_error/2 4.064E+00, reprojection_error 4.064E+00, reprojection_error/init 8.419E+01}
[11/07/2020 16:28:27 INFO] [E 2 | it 1900] loss {total 5.278E+00, reprojection_error/0 9.483E+00, reprojection_error/1 3.789E+00, reprojection_error/2 2.561E+00, reprojection_error 2.561E+00, reprojection_error/init 6.684E+01}
[11/07/2020 16:29:47 INFO] [E 2 | it 1950] loss {total 9.361E+00, reprojection_error/0 2.246E+01, reprojection_error/1 2.177E+01, reprojection_error/2 2.172E+01, reprojection_error 2.172E+01, reprojection_error/init 1.045E+02}
[11/07/2020 16:30:59 WARNING] Few points in batch [(tensor(8, device='cuda:0'), 48, 1100)]
[11/07/2020 16:31:06 INFO] [E 2 | it 2000] loss {total 2.130E+00, reprojection_error/0 3.725E+00, reprojection_error/1 1.424E+00, reprojection_error/2 1.242E+00, reprojection_error 1.242E+00, reprojection_error/init 5.204E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:40,  1.77it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:38,  1.83it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.87it/s]
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Evaluation:  20%|##        | 16/80 [00:09<00:32,  1.96it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:24,  1.96it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.97it/s]
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Evaluation:  61%|######1   | 49/80 [00:26<00:15,  1.97it/s]
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Evaluation:  70%|#######   | 56/80 [00:29<00:12,  1.96it/s]
Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.96it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.96it/s]
Evaluation:  74%|#######3  | 59/80 [00:31<00:10,  1.98it/s]
Evaluation:  75%|#######5  | 60/80 [00:31<00:10,  1.97it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.98it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  1.98it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.99it/s]
Evaluation:  84%|########3 | 67/80 [00:35<00:06,  1.98it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  1.98it/s]
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[11/07/2020 16:31:48 INFO] [Validation] {R_error/0 1.282E+00, t_error/0 4.134E-01, R_error/1 7.717E-01, t_error/1 2.415E-01, R_error/2 7.166E-01, t_error/2 2.230E-01, R_error 7.166E-01, t_error 2.230E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.451E+00, loss/reprojection_error/0 1.388E+01, loss/reprojection_error/1 8.051E+00, loss/reprojection_error/2 7.677E+00, loss/reprojection_error 7.677E+00, loss/reprojection_error_median 1.298E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 16:33:08 INFO] [E 2 | it 2050] loss {total 3.694E+00, reprojection_error/0 8.185E+00, reprojection_error/1 1.596E+00, reprojection_error/2 1.301E+00, reprojection_error 1.301E+00, reprojection_error/init 6.842E+01}
[11/07/2020 16:34:27 INFO] [E 2 | it 2100] loss {total 4.983E+00, reprojection_error/0 7.615E+00, reprojection_error/1 3.971E+00, reprojection_error/2 3.362E+00, reprojection_error 3.362E+00, reprojection_error/init 8.670E+01}
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:25 INFO] Caught keyboard interrupt signal, will terminate
[11/07/2020 16:35:26 INFO] Caught keyboard interrupt signal, will terminate

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[11/07/2020 16:36:08 INFO] [Validation] {R_error/0 1.293E+00, t_error/0 4.081E-01, R_error/1 8.125E-01, t_error/1 2.486E-01, R_error/2 7.650E-01, t_error/2 2.334E-01, R_error 7.650E-01, t_error 2.334E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.667E+00, loss/reprojection_error/0 1.399E+01, loss/reprojection_error/1 8.657E+00, loss/reprojection_error/2 8.340E+00, loss/reprojection_error 8.340E+00, loss/reprojection_error_median 1.252E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/07/2020 16:36:08 INFO] Saving checkpoint checkpoint_2_interrupted
[11/07/2020 16:36:09 INFO] Finished training on process 0.
[11/09/2020 02:41:14 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/09/2020 02:41:14 INFO] Restoring from checkpoint checkpoint_1.tar
[11/09/2020 02:41:21 INFO] Using device cuda
[11/09/2020 02:41:21 INFO] Creating dataset CMU
[11/09/2020 02:41:24 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 02:41:25 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 02:41:25 INFO] Training loader has 3000 batches
[11/09/2020 02:41:25 INFO] Validation loader has 80 batches
[11/09/2020 02:41:33 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/09/2020 02:41:33 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/09/2020 02:41:33 INFO] Starting epoch 2
[11/09/2020 02:41:33 INFO] Sampling new images or pairs with seed 2

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100%|██████████| 9/9 [00:00<00:00, 19.25it/s]{'params': [Parameter containing:
tensor([-0.9730, -0.1463, -0.5251, -0.1549, -0.8300, -0.1255], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-1.1456,  0.2613, -0.9308, -0.4932, -1.0994,  0.2432], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-1.0295,  0.7410, -0.5067,  0.3796,  0.2792,  0.8094], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/09/2020 02:41:42 INFO] [E 2 | it 0] loss {total 1.251E+01, reprojection_error/0 2.888E+01, reprojection_error/1 2.507E+01, reprojection_error/2 2.514E+01, reprojection_error 2.514E+01, reprojection_error/init 8.365E+01}

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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.04it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.04it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.07it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.06it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:07,  1.93it/s]
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Evaluation:  86%|########6 | 69/80 [00:34<00:05,  1.97it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.02it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.05it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.07it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
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Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.12it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 02:42:22 INFO] [Validation] {R_error/0 1.262E+00, t_error/0 4.176E-01, R_error/1 8.053E-01, t_error/1 2.623E-01, R_error/2 7.580E-01, t_error/2 2.501E-01, R_error 7.580E-01, t_error 2.501E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.601E+00, loss/reprojection_error/0 1.416E+01, loss/reprojection_error/1 8.679E+00, loss/reprojection_error/2 8.358E+00, loss/reprojection_error 8.358E+00, loss/reprojection_error_median 1.381E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 02:43:41 INFO] [E 2 | it 50] loss {total 1.745E+01, reprojection_error/0 4.411E+01, reprojection_error/1 4.157E+01, reprojection_error/2 4.142E+01, reprojection_error 4.142E+01, reprojection_error/init 1.551E+02}
[11/09/2020 02:45:01 INFO] [E 2 | it 100] loss {total 1.133E+01, reprojection_error/0 2.598E+01, reprojection_error/1 2.464E+01, reprojection_error/2 2.453E+01, reprojection_error 2.453E+01, reprojection_error/init 5.272E+01}
[11/09/2020 02:46:23 INFO] [E 2 | it 150] loss {total 4.386E+00, reprojection_error/0 9.744E+00, reprojection_error/1 1.975E+00, reprojection_error/2 1.438E+00, reprojection_error 1.438E+00, reprojection_error/init 8.220E+01}
[11/09/2020 02:47:45 INFO] [E 2 | it 200] loss {total 1.096E+01, reprojection_error/0 2.556E+01, reprojection_error/1 2.304E+01, reprojection_error/2 2.326E+01, reprojection_error 2.326E+01, reprojection_error/init 1.013E+02}
[11/09/2020 02:49:07 INFO] [E 2 | it 250] loss {total 3.388E+00, reprojection_error/0 7.667E+00, reprojection_error/1 1.434E+00, reprojection_error/2 1.062E+00, reprojection_error 1.062E+00, reprojection_error/init 6.913E+01}
[11/09/2020 02:50:30 INFO] [E 2 | it 300] loss {total 9.822E+00, reprojection_error/0 2.276E+01, reprojection_error/1 1.995E+01, reprojection_error/2 2.009E+01, reprojection_error 2.009E+01, reprojection_error/init 9.231E+01}
[11/09/2020 02:51:53 INFO] [E 2 | it 350] loss {total 1.150E+01, reprojection_error/0 1.856E+01, reprojection_error/1 1.490E+01, reprojection_error/2 1.426E+01, reprojection_error 1.426E+01, reprojection_error/init 8.755E+01}
[11/09/2020 02:53:16 INFO] [E 2 | it 400] loss {total 7.974E+00, reprojection_error/0 2.282E+01, reprojection_error/1 1.740E+01, reprojection_error/2 1.703E+01, reprojection_error 1.703E+01, reprojection_error/init 1.101E+02}
[11/09/2020 02:54:37 INFO] [E 2 | it 450] loss {total 4.095E+00, reprojection_error/0 8.564E+00, reprojection_error/1 1.850E+00, reprojection_error/2 1.872E+00, reprojection_error 1.872E+00, reprojection_error/init 6.981E+01}
[11/09/2020 02:55:59 INFO] [E 2 | it 500] loss {total 3.190E+00, reprojection_error/0 7.800E+00, reprojection_error/1 9.691E-01, reprojection_error/2 8.027E-01, reprojection_error 8.027E-01, reprojection_error/init 5.596E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:55,  1.46s/it]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.03it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
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Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.09it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.11it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/09/2020 02:56:39 INFO] [Validation] {R_error/0 1.245E+00, t_error/0 3.822E-01, R_error/1 7.770E-01, t_error/1 2.275E-01, R_error/2 7.263E-01, t_error/2 2.120E-01, R_error 7.263E-01, t_error 2.120E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.565E+00, loss/reprojection_error/0 1.395E+01, loss/reprojection_error/1 8.500E+00, loss/reprojection_error/2 8.171E+00, loss/reprojection_error 8.171E+00, loss/reprojection_error_median 1.321E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 02:58:01 INFO] [E 2 | it 550] loss {total 4.760E+00, reprojection_error/0 7.774E+00, reprojection_error/1 6.082E+00, reprojection_error/2 6.065E+00, reprojection_error 6.065E+00, reprojection_error/init 6.639E+01}
[11/09/2020 02:59:21 INFO] [E 2 | it 600] loss {total 4.604E+00, reprojection_error/0 8.314E+00, reprojection_error/1 2.771E+00, reprojection_error/2 2.728E+00, reprojection_error 2.728E+00, reprojection_error/init 1.048E+02}
[11/09/2020 03:00:43 INFO] [E 2 | it 650] loss {total 5.212E+00, reprojection_error/0 9.659E+00, reprojection_error/1 5.294E+00, reprojection_error/2 5.374E+00, reprojection_error 5.374E+00, reprojection_error/init 2.887E+01}
[11/09/2020 03:02:06 INFO] [E 2 | it 700] loss {total 4.238E+00, reprojection_error/0 9.785E+00, reprojection_error/1 1.597E+00, reprojection_error/2 1.331E+00, reprojection_error 1.331E+00, reprojection_error/init 7.307E+01}
[11/09/2020 03:03:31 INFO] [E 2 | it 750] loss {total 2.932E+00, reprojection_error/0 7.358E+00, reprojection_error/1 9.367E-01, reprojection_error/2 5.006E-01, reprojection_error 5.006E-01, reprojection_error/init 4.212E+01}
[11/09/2020 03:04:54 INFO] [E 2 | it 800] loss {total 6.914E+00, reprojection_error/0 1.064E+01, reprojection_error/1 8.945E+00, reprojection_error/2 9.173E+00, reprojection_error 9.173E+00, reprojection_error/init 5.930E+01}
[11/09/2020 03:06:17 INFO] [E 2 | it 850] loss {total 3.781E+00, reprojection_error/0 8.127E+00, reprojection_error/1 1.540E+00, reprojection_error/2 1.677E+00, reprojection_error 1.677E+00, reprojection_error/init 2.963E+01}
[11/09/2020 03:07:42 INFO] [E 2 | it 900] loss {total 9.581E+00, reprojection_error/0 1.583E+01, reprojection_error/1 1.112E+01, reprojection_error/2 1.117E+01, reprojection_error 1.117E+01, reprojection_error/init 6.203E+01}
[11/09/2020 03:09:05 INFO] [E 2 | it 950] loss {total 5.688E+00, reprojection_error/0 8.460E+00, reprojection_error/1 4.504E+00, reprojection_error/2 4.100E+00, reprojection_error 4.100E+00, reprojection_error/init 7.015E+01}
[11/09/2020 03:10:25 INFO] [E 2 | it 1000] loss {total 4.750E+00, reprojection_error/0 1.019E+01, reprojection_error/1 1.912E+00, reprojection_error/2 2.153E+00, reprojection_error 2.153E+00, reprojection_error/init 7.179E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:49,  1.39s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:28,  1.14s/it]
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Evaluation:   5%|5         | 4/80 [00:03<01:03,  1.19it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:56,  1.33it/s]
Evaluation:   8%|7         | 6/80 [00:04<00:51,  1.45it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:47,  1.55it/s]
Evaluation:  10%|#         | 8/80 [00:05<00:44,  1.62it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:42,  1.68it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:40,  1.72it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:39,  1.75it/s]
Evaluation:  15%|#5        | 12/80 [00:07<00:38,  1.77it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:37,  1.79it/s]
Evaluation:  18%|#7        | 14/80 [00:08<00:36,  1.80it/s]
Evaluation:  19%|#8        | 15/80 [00:09<00:35,  1.81it/s]
Evaluation:  20%|##        | 16/80 [00:09<00:35,  1.82it/s]
Evaluation:  21%|##1       | 17/80 [00:10<00:34,  1.82it/s]
Evaluation:  22%|##2       | 18/80 [00:10<00:33,  1.82it/s]
Evaluation:  24%|##3       | 19/80 [00:11<00:33,  1.83it/s]
Evaluation:  25%|##5       | 20/80 [00:11<00:32,  1.83it/s]
Evaluation:  26%|##6       | 21/80 [00:12<00:32,  1.83it/s]
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Evaluation:  30%|###       | 24/80 [00:13<00:30,  1.84it/s]
Evaluation:  31%|###1      | 25/80 [00:14<00:29,  1.83it/s]
Evaluation:  32%|###2      | 26/80 [00:15<00:29,  1.83it/s]
Evaluation:  34%|###3      | 27/80 [00:15<00:28,  1.83it/s]
Evaluation:  35%|###5      | 28/80 [00:16<00:28,  1.83it/s]
Evaluation:  36%|###6      | 29/80 [00:16<00:27,  1.83it/s]
Evaluation:  38%|###7      | 30/80 [00:17<00:27,  1.84it/s]
Evaluation:  39%|###8      | 31/80 [00:17<00:26,  1.84it/s]
Evaluation:  40%|####      | 32/80 [00:18<00:26,  1.84it/s]
Evaluation:  41%|####1     | 33/80 [00:18<00:25,  1.83it/s]
Evaluation:  42%|####2     | 34/80 [00:19<00:25,  1.83it/s]
Evaluation:  44%|####3     | 35/80 [00:19<00:24,  1.83it/s]
Evaluation:  45%|####5     | 36/80 [00:20<00:23,  1.84it/s]
Evaluation:  46%|####6     | 37/80 [00:21<00:23,  1.84it/s]
Evaluation:  48%|####7     | 38/80 [00:21<00:22,  1.83it/s]
Evaluation:  49%|####8     | 39/80 [00:22<00:22,  1.83it/s]
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Evaluation:  61%|######1   | 49/80 [00:27<00:16,  1.84it/s]
Evaluation:  62%|######2   | 50/80 [00:28<00:16,  1.84it/s]
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Evaluation:  70%|#######   | 56/80 [00:31<00:13,  1.83it/s]
Evaluation:  71%|#######1  | 57/80 [00:31<00:12,  1.83it/s]
Evaluation:  72%|#######2  | 58/80 [00:32<00:12,  1.83it/s]
Evaluation:  74%|#######3  | 59/80 [00:33<00:11,  1.83it/s]
Evaluation:  75%|#######5  | 60/80 [00:33<00:10,  1.84it/s]
Evaluation:  76%|#######6  | 61/80 [00:34<00:10,  1.84it/s]
Evaluation:  78%|#######7  | 62/80 [00:34<00:09,  1.84it/s]
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Evaluation:  80%|########  | 64/80 [00:35<00:08,  1.84it/s]
Evaluation:  81%|########1 | 65/80 [00:36<00:08,  1.84it/s]
Evaluation:  82%|########2 | 66/80 [00:36<00:07,  1.85it/s]
Evaluation:  84%|########3 | 67/80 [00:37<00:07,  1.84it/s]
Evaluation:  85%|########5 | 68/80 [00:37<00:06,  1.84it/s]
Evaluation:  86%|########6 | 69/80 [00:38<00:05,  1.86it/s]
Evaluation:  88%|########7 | 70/80 [00:38<00:05,  1.87it/s]
Evaluation:  89%|########8 | 71/80 [00:39<00:04,  1.88it/s]
Evaluation:  90%|######### | 72/80 [00:40<00:04,  1.89it/s]
Evaluation:  91%|#########1| 73/80 [00:40<00:03,  1.89it/s]
Evaluation:  92%|#########2| 74/80 [00:41<00:03,  1.90it/s]
Evaluation:  94%|#########3| 75/80 [00:41<00:02,  1.90it/s]
Evaluation:  95%|#########5| 76/80 [00:42<00:02,  1.91it/s]
Evaluation:  96%|#########6| 77/80 [00:42<00:01,  1.91it/s]
Evaluation:  98%|#########7| 78/80 [00:43<00:01,  1.91it/s]
Evaluation:  99%|#########8| 79/80 [00:43<00:00,  1.91it/s]
Evaluation: 100%|##########| 80/80 [00:44<00:00,  1.91it/s]
Evaluation: 100%|##########| 80/80 [00:44<00:00,  1.80it/s]
[11/09/2020 03:11:09 INFO] [Validation] {R_error/0 1.214E+00, t_error/0 3.888E-01, R_error/1 7.422E-01, t_error/1 2.320E-01, R_error/2 6.907E-01, t_error/2 2.202E-01, R_error 6.907E-01, t_error 2.202E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.516E+00, loss/reprojection_error/0 1.342E+01, loss/reprojection_error/1 7.910E+00, loss/reprojection_error/2 7.651E+00, loss/reprojection_error 7.651E+00, loss/reprojection_error_median 1.235E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 03:12:33 INFO] [E 2 | it 1050] loss {total 2.577E+00, reprojection_error/0 5.556E+00, reprojection_error/1 1.302E+00, reprojection_error/2 8.731E-01, reprojection_error 8.731E-01, reprojection_error/init 6.275E+01}
[11/09/2020 03:13:57 INFO] [E 2 | it 1100] loss {total 6.365E+00, reprojection_error/0 1.294E+01, reprojection_error/1 3.008E+00, reprojection_error/2 3.146E+00, reprojection_error 3.146E+00, reprojection_error/init 7.426E+01}
[11/09/2020 03:15:20 INFO] [E 2 | it 1150] loss {total 8.431E+00, reprojection_error/0 2.113E+01, reprojection_error/1 1.714E+01, reprojection_error/2 1.702E+01, reprojection_error 1.702E+01, reprojection_error/init 7.760E+01}
[11/09/2020 03:16:41 INFO] [E 2 | it 1200] loss {total 9.490E+00, reprojection_error/0 1.538E+01, reprojection_error/1 1.003E+01, reprojection_error/2 1.028E+01, reprojection_error 1.028E+01, reprojection_error/init 9.367E+01}
[11/09/2020 03:18:02 INFO] [E 2 | it 1250] loss {total 2.291E+00, reprojection_error/0 3.730E+00, reprojection_error/1 1.429E+00, reprojection_error/2 1.714E+00, reprojection_error 1.714E+00, reprojection_error/init 3.857E+01}
[11/09/2020 03:19:23 INFO] [E 2 | it 1300] loss {total 7.406E+00, reprojection_error/0 1.971E+01, reprojection_error/1 1.796E+01, reprojection_error/2 1.788E+01, reprojection_error 1.788E+01, reprojection_error/init 1.164E+02}
[11/09/2020 03:20:45 INFO] [E 2 | it 1350] loss {total 4.466E+00, reprojection_error/0 8.623E+00, reprojection_error/1 2.557E+00, reprojection_error/2 2.216E+00, reprojection_error 2.216E+00, reprojection_error/init 9.389E+01}
[11/09/2020 03:22:05 INFO] [E 2 | it 1400] loss {total 7.253E+00, reprojection_error/0 2.027E+01, reprojection_error/1 1.740E+01, reprojection_error/2 1.742E+01, reprojection_error 1.742E+01, reprojection_error/init 6.198E+01}
[11/09/2020 03:23:26 INFO] [E 2 | it 1450] loss {total 1.159E+01, reprojection_error/0 3.426E+01, reprojection_error/1 2.418E+01, reprojection_error/2 2.323E+01, reprojection_error 2.323E+01, reprojection_error/init 1.250E+02}
[11/09/2020 03:24:46 INFO] [E 2 | it 1500] loss {total 5.114E+00, reprojection_error/0 1.029E+01, reprojection_error/1 4.577E+00, reprojection_error/2 4.280E+00, reprojection_error 4.280E+00, reprojection_error/init 1.019E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:48,  1.37s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:26,  1.11s/it]
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Evaluation:   8%|7         | 6/80 [00:03<00:47,  1.56it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.84it/s]
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Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.92it/s]
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Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.01it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.03it/s]
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Evaluation:  29%|##8       | 23/80 [00:12<00:28,  2.03it/s]
Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.03it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.03it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.03it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  2.02it/s]
Evaluation:  35%|###5      | 28/80 [00:14<00:25,  2.02it/s]
Evaluation:  36%|###6      | 29/80 [00:15<00:25,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.02it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.02it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.03it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.02it/s]
Evaluation:  45%|####5     | 36/80 [00:18<00:21,  2.02it/s]
Evaluation:  46%|####6     | 37/80 [00:19<00:21,  2.02it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.02it/s]
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Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.02it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.02it/s]
Evaluation:  76%|#######6  | 61/80 [00:30<00:09,  2.02it/s]
Evaluation:  78%|#######7  | 62/80 [00:31<00:08,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.08it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.09it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.12it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 03:25:26 INFO] [Validation] {R_error/0 1.231E+00, t_error/0 3.866E-01, R_error/1 7.342E-01, t_error/1 2.226E-01, R_error/2 6.837E-01, t_error/2 2.084E-01, R_error 6.837E-01, t_error 2.084E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.221E+00, loss/reprojection_error/0 1.325E+01, loss/reprojection_error/1 7.649E+00, loss/reprojection_error/2 7.323E+00, loss/reprojection_error 7.323E+00, loss/reprojection_error_median 1.190E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 03:26:47 INFO] [E 2 | it 1550] loss {total 2.116E+00, reprojection_error/0 3.461E+00, reprojection_error/1 1.447E+00, reprojection_error/2 1.439E+00, reprojection_error 1.439E+00, reprojection_error/init 7.084E+01}
[11/09/2020 03:28:07 INFO] [E 2 | it 1600] loss {total 9.281E+00, reprojection_error/0 1.698E+01, reprojection_error/1 1.019E+01, reprojection_error/2 1.018E+01, reprojection_error 1.018E+01, reprojection_error/init 8.787E+01}
[11/09/2020 03:29:27 INFO] [E 2 | it 1650] loss {total 8.480E+00, reprojection_error/0 1.459E+01, reprojection_error/1 9.599E+00, reprojection_error/2 9.388E+00, reprojection_error 9.388E+00, reprojection_error/init 5.606E+01}
[11/09/2020 03:30:47 INFO] [E 2 | it 1700] loss {total 2.525E+00, reprojection_error/0 5.118E+00, reprojection_error/1 1.574E+00, reprojection_error/2 8.820E-01, reprojection_error 8.820E-01, reprojection_error/init 4.777E+01}
[11/09/2020 03:32:08 INFO] [E 2 | it 1750] loss {total 1.006E+01, reprojection_error/0 1.530E+01, reprojection_error/1 1.234E+01, reprojection_error/2 1.246E+01, reprojection_error 1.246E+01, reprojection_error/init 5.502E+01}
[11/09/2020 03:33:28 INFO] [E 2 | it 1800] loss {total 6.064E+00, reprojection_error/0 9.765E+00, reprojection_error/1 4.447E+00, reprojection_error/2 3.978E+00, reprojection_error 3.978E+00, reprojection_error/init 5.687E+01}
[11/09/2020 03:34:46 INFO] [E 2 | it 1850] loss {total 1.329E+01, reprojection_error/0 2.012E+01, reprojection_error/1 1.661E+01, reprojection_error/2 1.637E+01, reprojection_error 1.637E+01, reprojection_error/init 8.419E+01}
[11/09/2020 03:36:06 INFO] [E 2 | it 1900] loss {total 5.688E+00, reprojection_error/0 1.083E+01, reprojection_error/1 3.672E+00, reprojection_error/2 2.559E+00, reprojection_error 2.559E+00, reprojection_error/init 6.684E+01}
[11/09/2020 03:37:27 INFO] [E 2 | it 1950] loss {total 9.315E+00, reprojection_error/0 2.237E+01, reprojection_error/1 2.171E+01, reprojection_error/2 2.171E+01, reprojection_error 2.171E+01, reprojection_error/init 1.045E+02}
[11/09/2020 03:38:40 WARNING] Few points in batch [(tensor(8, device='cuda:0'), 48, 1100)]
[11/09/2020 03:38:47 INFO] [E 2 | it 2000] loss {total 6.773E+00, reprojection_error/0 1.903E+01, reprojection_error/1 1.741E+01, reprojection_error/2 1.722E+01, reprojection_error 1.722E+01, reprojection_error/init 5.204E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:40,  1.28s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:21,  1.04s/it]
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Evaluation:   6%|6         | 5/80 [00:03<00:51,  1.46it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:46,  1.60it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:42,  1.70it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:40,  1.79it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.85it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.90it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.93it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.96it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:33,  1.97it/s]
Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.98it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.99it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  2.00it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.01it/s]
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Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.01it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.01it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  2.01it/s]
Evaluation:  35%|###5      | 28/80 [00:14<00:25,  2.01it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.01it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.01it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.01it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.02it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.02it/s]
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Evaluation:  48%|####7     | 38/80 [00:19<00:20,  2.02it/s]
Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.02it/s]
Evaluation:  55%|#####5    | 44/80 [00:22<00:17,  2.02it/s]
Evaluation:  56%|#####6    | 45/80 [00:23<00:17,  2.02it/s]
Evaluation:  57%|#####7    | 46/80 [00:23<00:16,  2.02it/s]
Evaluation:  59%|#####8    | 47/80 [00:24<00:16,  2.02it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.02it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.02it/s]
Evaluation:  62%|######2   | 50/80 [00:25<00:14,  2.02it/s]
Evaluation:  64%|######3   | 51/80 [00:26<00:14,  2.01it/s]
Evaluation:  65%|######5   | 52/80 [00:26<00:13,  2.02it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:12,  1.88it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:12,  1.83it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:11,  1.88it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  1.93it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.08it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.12it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.12it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 03:39:28 INFO] [Validation] {R_error/0 1.321E+00, t_error/0 3.954E-01, R_error/1 8.260E-01, t_error/1 2.473E-01, R_error/2 7.759E-01, t_error/2 2.330E-01, R_error 7.759E-01, t_error 2.330E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.737E+00, loss/reprojection_error/0 1.437E+01, loss/reprojection_error/1 8.872E+00, loss/reprojection_error/2 8.543E+00, loss/reprojection_error 8.543E+00, loss/reprojection_error_median 1.280E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 03:40:49 INFO] [E 2 | it 2050] loss {total 3.593E+00, reprojection_error/0 6.743E+00, reprojection_error/1 2.147E+00, reprojection_error/2 1.887E+00, reprojection_error 1.887E+00, reprojection_error/init 6.842E+01}
[11/09/2020 03:42:10 INFO] [E 2 | it 2100] loss {total 4.424E+00, reprojection_error/0 6.808E+00, reprojection_error/1 3.340E+00, reprojection_error/2 3.124E+00, reprojection_error 3.124E+00, reprojection_error/init 8.670E+01}
[11/09/2020 03:43:31 INFO] [E 2 | it 2150] loss {total 3.170E+00, reprojection_error/0 6.191E+00, reprojection_error/1 1.967E+00, reprojection_error/2 1.352E+00, reprojection_error 1.352E+00, reprojection_error/init 9.059E+01}
[11/09/2020 03:44:51 INFO] [E 2 | it 2200] loss {total 3.973E+00, reprojection_error/0 5.660E+00, reprojection_error/1 3.455E+00, reprojection_error/2 2.805E+00, reprojection_error 2.805E+00, reprojection_error/init 7.834E+01}
[11/09/2020 03:46:11 INFO] [E 2 | it 2250] loss {total 8.081E+00, reprojection_error/0 2.150E+01, reprojection_error/1 1.800E+01, reprojection_error/2 1.808E+01, reprojection_error 1.808E+01, reprojection_error/init 9.030E+01}
[11/09/2020 03:47:32 INFO] [E 2 | it 2300] loss {total 2.192E+00, reprojection_error/0 3.686E+00, reprojection_error/1 1.722E+00, reprojection_error/2 1.169E+00, reprojection_error 1.169E+00, reprojection_error/init 8.950E+01}
[11/09/2020 03:48:53 INFO] [E 2 | it 2350] loss {total 7.110E+00, reprojection_error/0 1.323E+01, reprojection_error/1 7.642E+00, reprojection_error/2 6.797E+00, reprojection_error 6.797E+00, reprojection_error/init 1.073E+02}
[11/09/2020 03:50:17 INFO] [E 2 | it 2400] loss {total 1.669E+00, reprojection_error/0 2.678E+00, reprojection_error/1 1.319E+00, reprojection_error/2 1.011E+00, reprojection_error 1.011E+00, reprojection_error/init 6.477E+01}
[11/09/2020 03:51:40 INFO] [E 2 | it 2450] loss {total 1.189E+01, reprojection_error/0 2.721E+01, reprojection_error/1 2.470E+01, reprojection_error/2 2.429E+01, reprojection_error 2.429E+01, reprojection_error/init 1.485E+02}
[11/09/2020 03:53:01 INFO] [E 2 | it 2500] loss {total 3.316E+00, reprojection_error/0 7.252E+00, reprojection_error/1 1.271E+00, reprojection_error/2 1.427E+00, reprojection_error 1.427E+00, reprojection_error/init 8.664E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:45,  1.34s/it]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  2.00it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:31,  2.01it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.01it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.02it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.03it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.02it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.02it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.02it/s]
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Evaluation:  46%|####6     | 37/80 [00:19<00:21,  2.01it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.01it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.08it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 03:53:41 INFO] [Validation] {R_error/0 1.302E+00, t_error/0 3.934E-01, R_error/1 8.280E-01, t_error/1 2.454E-01, R_error/2 7.768E-01, t_error/2 2.323E-01, R_error 7.768E-01, t_error 2.323E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.744E+00, loss/reprojection_error/0 1.394E+01, loss/reprojection_error/1 8.614E+00, loss/reprojection_error/2 8.285E+00, loss/reprojection_error 8.285E+00, loss/reprojection_error_median 1.325E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 03:55:03 INFO] [E 2 | it 2550] loss {total 1.075E+01, reprojection_error/0 2.020E+01, reprojection_error/1 9.061E+00, reprojection_error/2 8.520E+00, reprojection_error 8.520E+00, reprojection_error/init 1.094E+02}
[11/09/2020 03:56:26 INFO] [E 2 | it 2600] loss {total 6.933E+00, reprojection_error/0 1.208E+01, reprojection_error/1 7.706E+00, reprojection_error/2 7.247E+00, reprojection_error 7.247E+00, reprojection_error/init 7.061E+01}
[11/09/2020 03:57:49 INFO] [E 2 | it 2650] loss {total 2.843E+00, reprojection_error/0 4.955E+00, reprojection_error/1 1.837E+00, reprojection_error/2 1.736E+00, reprojection_error 1.736E+00, reprojection_error/init 7.495E+01}
[11/09/2020 03:59:11 INFO] [E 2 | it 2700] loss {total 4.101E+00, reprojection_error/0 7.752E+00, reprojection_error/1 2.330E+00, reprojection_error/2 2.221E+00, reprojection_error 2.221E+00, reprojection_error/init 5.366E+01}
[11/09/2020 04:00:32 INFO] [E 2 | it 2750] loss {total 7.318E+00, reprojection_error/0 1.101E+01, reprojection_error/1 5.422E+00, reprojection_error/2 5.527E+00, reprojection_error 5.527E+00, reprojection_error/init 6.843E+01}
[11/09/2020 04:01:52 INFO] [E 2 | it 2800] loss {total 6.007E+00, reprojection_error/0 1.008E+01, reprojection_error/1 6.918E+00, reprojection_error/2 7.284E+00, reprojection_error 7.284E+00, reprojection_error/init 5.062E+01}
[11/09/2020 04:03:13 INFO] [E 2 | it 2850] loss {total 4.130E+00, reprojection_error/0 8.071E+00, reprojection_error/1 2.332E+00, reprojection_error/2 1.986E+00, reprojection_error 1.986E+00, reprojection_error/init 9.248E+01}
[11/09/2020 04:04:34 INFO] [E 2 | it 2900] loss {total 6.332E+00, reprojection_error/0 1.042E+01, reprojection_error/1 7.904E+00, reprojection_error/2 7.690E+00, reprojection_error 7.690E+00, reprojection_error/init 8.371E+01}
[11/09/2020 04:05:55 INFO] [E 2 | it 2950] loss {total 4.404E+00, reprojection_error/0 7.826E+00, reprojection_error/1 2.733E+00, reprojection_error/2 2.652E+00, reprojection_error 2.652E+00, reprojection_error/init 4.690E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:55,  1.46s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:31,  1.17s/it]
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Evaluation:   8%|7         | 6/80 [00:03<00:48,  1.52it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:44,  1.64it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:41,  1.74it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.81it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.87it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.91it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:35,  1.94it/s]
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Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.98it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.99it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  1.99it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.02it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  59%|#####8    | 47/80 [00:24<00:16,  2.01it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.02it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.01it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.01it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.01it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.04it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.06it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.08it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.10it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/09/2020 04:07:55 INFO] [Validation] {R_error/0 1.269E+00, t_error/0 3.517E-01, R_error/1 7.717E-01, t_error/1 2.075E-01, R_error/2 7.218E-01, t_error/2 1.942E-01, R_error 7.218E-01, t_error 1.942E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.262E+00, loss/reprojection_error/0 1.304E+01, loss/reprojection_error/1 7.866E+00, loss/reprojection_error/2 7.539E+00, loss/reprojection_error 7.539E+00, loss/reprojection_error_median 1.263E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 04:07:55 INFO] Saving checkpoint checkpoint_2
[11/09/2020 04:07:56 INFO] New best checkpoint: loss/total=6.2624587198098505
[11/09/2020 04:07:56 INFO] Starting epoch 3
[11/09/2020 04:07:56 INFO] Sampling new images or pairs with seed 3

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100%|██████████| 9/9 [00:00<00:00, 12.57it/s]
[11/09/2020 04:07:59 INFO] [E 3 | it 0] loss {total 8.359E+00, reprojection_error/0 2.224E+01, reprojection_error/1 1.809E+01, reprojection_error/2 1.808E+01, reprojection_error 1.808E+01, reprojection_error/init 7.288E+01}

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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 04:08:40 INFO] [Validation] {R_error/0 1.269E+00, t_error/0 3.511E-01, R_error/1 7.743E-01, t_error/1 2.081E-01, R_error/2 7.261E-01, t_error/2 1.950E-01, R_error 7.261E-01, t_error 1.950E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.279E+00, loss/reprojection_error/0 1.304E+01, loss/reprojection_error/1 7.899E+00, loss/reprojection_error/2 7.565E+00, loss/reprojection_error 7.565E+00, loss/reprojection_error_median 1.308E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 04:09:40 WARNING] Few points in batch [(tensor(8, device='cuda:0'), 48, 4196)]
[11/09/2020 04:10:01 INFO] [E 3 | it 50] loss {total 9.301E+00, reprojection_error/0 1.575E+01, reprojection_error/1 1.121E+01, reprojection_error/2 1.103E+01, reprojection_error 1.103E+01, reprojection_error/init 6.116E+01}
[11/09/2020 04:11:25 INFO] [E 3 | it 100] loss {total 7.712E+00, reprojection_error/0 2.085E+01, reprojection_error/1 1.801E+01, reprojection_error/2 1.761E+01, reprojection_error 1.761E+01, reprojection_error/init 7.527E+01}
[11/09/2020 04:12:50 INFO] [E 3 | it 150] loss {total 3.195E+00, reprojection_error/0 5.322E+00, reprojection_error/1 2.045E+00, reprojection_error/2 2.216E+00, reprojection_error 2.216E+00, reprojection_error/init 7.305E+01}
[11/09/2020 04:14:14 INFO] [E 3 | it 200] loss {total 3.488E+00, reprojection_error/0 8.284E+00, reprojection_error/1 1.370E+00, reprojection_error/2 8.104E-01, reprojection_error 8.104E-01, reprojection_error/init 6.485E+01}
[11/09/2020 04:15:38 INFO] [E 3 | it 250] loss {total 6.150E+00, reprojection_error/0 1.240E+01, reprojection_error/1 5.963E+00, reprojection_error/2 5.997E+00, reprojection_error 5.997E+00, reprojection_error/init 7.317E+01}
[11/09/2020 04:17:02 INFO] [E 3 | it 300] loss {total 2.875E+00, reprojection_error/0 6.882E+00, reprojection_error/1 9.914E-01, reprojection_error/2 7.518E-01, reprojection_error 7.518E-01, reprojection_error/init 9.117E+01}
[11/09/2020 04:18:25 INFO] [E 3 | it 350] loss {total 8.212E+00, reprojection_error/0 2.237E+01, reprojection_error/1 1.774E+01, reprojection_error/2 1.786E+01, reprojection_error 1.786E+01, reprojection_error/init 6.170E+01}
[11/09/2020 04:19:48 INFO] [E 3 | it 400] loss {total 1.054E+01, reprojection_error/0 2.244E+01, reprojection_error/1 2.124E+01, reprojection_error/2 2.128E+01, reprojection_error 2.128E+01, reprojection_error/init 7.487E+01}
[11/09/2020 04:21:11 INFO] [E 3 | it 450] loss {total 9.234E+00, reprojection_error/0 2.000E+01, reprojection_error/1 2.042E+01, reprojection_error/2 2.062E+01, reprojection_error 2.062E+01, reprojection_error/init 7.049E+01}
[11/09/2020 04:22:32 INFO] [E 3 | it 500] loss {total 1.009E+01, reprojection_error/0 2.423E+01, reprojection_error/1 2.266E+01, reprojection_error/2 2.261E+01, reprojection_error 2.261E+01, reprojection_error/init 1.128E+02}

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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.02it/s]
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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.00it/s]
[11/09/2020 04:23:12 INFO] [Validation] {R_error/0 1.273E+00, t_error/0 3.605E-01, R_error/1 7.744E-01, t_error/1 2.050E-01, R_error/2 7.211E-01, t_error/2 1.898E-01, R_error 7.211E-01, t_error 1.898E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.346E+00, loss/reprojection_error/0 1.344E+01, loss/reprojection_error/1 7.836E+00, loss/reprojection_error/2 7.504E+00, loss/reprojection_error 7.504E+00, loss/reprojection_error_median 1.166E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 04:24:34 INFO] [E 3 | it 550] loss {total 4.341E+00, reprojection_error/0 7.022E+00, reprojection_error/1 3.182E+00, reprojection_error/2 2.817E+00, reprojection_error 2.817E+00, reprojection_error/init 5.728E+01}
[11/09/2020 04:25:56 INFO] [E 3 | it 600] loss {total 7.394E+00, reprojection_error/0 1.282E+01, reprojection_error/1 7.866E+00, reprojection_error/2 7.977E+00, reprojection_error 7.977E+00, reprojection_error/init 5.865E+01}
[11/09/2020 04:27:15 INFO] [E 3 | it 650] loss {total 4.680E+00, reprojection_error/0 8.495E+00, reprojection_error/1 5.087E+00, reprojection_error/2 5.163E+00, reprojection_error 5.163E+00, reprojection_error/init 7.996E+01}
[11/09/2020 04:27:50 WARNING] Few points in batch [(tensor(12, device='cuda:0'), 172, 3276)]
[11/09/2020 04:28:36 INFO] [E 3 | it 700] loss {total 7.027E+00, reprojection_error/0 1.158E+01, reprojection_error/1 9.164E+00, reprojection_error/2 9.023E+00, reprojection_error 9.023E+00, reprojection_error/init 5.144E+01}
[11/09/2020 04:29:56 INFO] [E 3 | it 750] loss {total 1.921E+01, reprojection_error/0 4.566E+01, reprojection_error/1 4.530E+01, reprojection_error/2 4.524E+01, reprojection_error 4.524E+01, reprojection_error/init 1.274E+02}
[11/09/2020 04:31:16 INFO] [E 3 | it 800] loss {total 8.395E+00, reprojection_error/0 2.090E+01, reprojection_error/1 1.881E+01, reprojection_error/2 1.881E+01, reprojection_error 1.881E+01, reprojection_error/init 1.075E+02}
[11/09/2020 04:32:38 INFO] [E 3 | it 850] loss {total 3.588E+00, reprojection_error/0 6.917E+00, reprojection_error/1 1.990E+00, reprojection_error/2 1.859E+00, reprojection_error 1.859E+00, reprojection_error/init 6.643E+01}
[11/09/2020 04:33:58 INFO] [E 3 | it 900] loss {total 1.148E+01, reprojection_error/0 1.654E+01, reprojection_error/1 1.374E+01, reprojection_error/2 1.380E+01, reprojection_error 1.380E+01, reprojection_error/init 9.364E+01}
[11/09/2020 04:35:19 INFO] [E 3 | it 950] loss {total 1.733E+00, reprojection_error/0 3.629E+00, reprojection_error/1 8.708E-01, reprojection_error/2 6.988E-01, reprojection_error 6.988E-01, reprojection_error/init 7.615E+01}
[11/09/2020 04:36:38 INFO] [E 3 | it 1000] loss {total 2.413E+00, reprojection_error/0 5.339E+00, reprojection_error/1 1.046E+00, reprojection_error/2 8.551E-01, reprojection_error 8.551E-01, reprojection_error/init 6.175E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  41%|####1     | 33/80 [00:19<00:26,  1.80it/s]
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Evaluation:  71%|#######1  | 57/80 [00:31<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:32<00:10,  2.03it/s]
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Evaluation:  80%|########  | 64/80 [00:34<00:07,  2.04it/s]
Evaluation:  81%|########1 | 65/80 [00:35<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:35<00:06,  2.04it/s]
Evaluation:  84%|########3 | 67/80 [00:36<00:06,  2.04it/s]
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Evaluation:  86%|########6 | 69/80 [00:37<00:05,  2.07it/s]
Evaluation:  88%|########7 | 70/80 [00:37<00:04,  2.09it/s]
Evaluation:  89%|########8 | 71/80 [00:38<00:04,  2.10it/s]
Evaluation:  90%|######### | 72/80 [00:38<00:03,  2.11it/s]
Evaluation:  91%|#########1| 73/80 [00:39<00:03,  2.12it/s]
Evaluation:  92%|#########2| 74/80 [00:39<00:02,  2.12it/s]
Evaluation:  94%|#########3| 75/80 [00:40<00:02,  2.12it/s]
Evaluation:  95%|#########5| 76/80 [00:40<00:01,  2.13it/s]
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Evaluation:  99%|#########8| 79/80 [00:42<00:00,  2.13it/s]
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Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.87it/s]
[11/09/2020 04:37:21 INFO] [Validation] {R_error/0 1.296E+00, t_error/0 3.542E-01, R_error/1 8.226E-01, t_error/1 2.213E-01, R_error/2 7.776E-01, t_error/2 2.079E-01, R_error 7.776E-01, t_error 2.079E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.693E+00, loss/reprojection_error/0 1.399E+01, loss/reprojection_error/1 9.040E+00, loss/reprojection_error/2 8.744E+00, loss/reprojection_error 8.744E+00, loss/reprojection_error_median 1.232E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 04:38:39 INFO] [E 3 | it 1050] loss {total 4.493E+00, reprojection_error/0 7.511E+00, reprojection_error/1 5.589E+00, reprojection_error/2 5.550E+00, reprojection_error 5.550E+00, reprojection_error/init 4.117E+01}
[11/09/2020 04:40:00 INFO] [E 3 | it 1100] loss {total 8.948E+00, reprojection_error/0 2.370E+01, reprojection_error/1 1.854E+01, reprojection_error/2 1.793E+01, reprojection_error 1.793E+01, reprojection_error/init 1.422E+02}
[11/09/2020 04:41:19 INFO] [E 3 | it 1150] loss {total 8.430E+00, reprojection_error/0 1.982E+01, reprojection_error/1 1.959E+01, reprojection_error/2 1.921E+01, reprojection_error 1.921E+01, reprojection_error/init 9.396E+01}
[11/09/2020 04:42:40 INFO] [E 3 | it 1200] loss {total 6.809E+00, reprojection_error/0 1.299E+01, reprojection_error/1 3.793E+00, reprojection_error/2 3.641E+00, reprojection_error 3.641E+00, reprojection_error/init 8.348E+01}
[11/09/2020 04:44:00 INFO] [E 3 | it 1250] loss {total 5.844E+00, reprojection_error/0 9.548E+00, reprojection_error/1 4.128E+00, reprojection_error/2 3.857E+00, reprojection_error 3.857E+00, reprojection_error/init 3.765E+01}
[11/09/2020 04:45:19 INFO] [E 3 | it 1300] loss {total 1.749E+00, reprojection_error/0 3.343E+00, reprojection_error/1 1.118E+00, reprojection_error/2 7.850E-01, reprojection_error 7.850E-01, reprojection_error/init 6.539E+01}
[11/09/2020 04:46:38 INFO] [E 3 | it 1350] loss {total 9.511E+00, reprojection_error/0 2.309E+01, reprojection_error/1 1.942E+01, reprojection_error/2 1.935E+01, reprojection_error 1.935E+01, reprojection_error/init 8.108E+01}
[11/09/2020 04:47:58 INFO] [E 3 | it 1400] loss {total 8.463E+00, reprojection_error/0 2.389E+01, reprojection_error/1 1.761E+01, reprojection_error/2 1.722E+01, reprojection_error 1.722E+01, reprojection_error/init 8.817E+01}
[11/09/2020 04:49:18 INFO] [E 3 | it 1450] loss {total 9.026E+00, reprojection_error/0 1.481E+01, reprojection_error/1 1.113E+01, reprojection_error/2 1.133E+01, reprojection_error 1.133E+01, reprojection_error/init 4.960E+01}
[11/09/2020 04:50:39 INFO] [E 3 | it 1500] loss {total 4.521E+00, reprojection_error/0 9.398E+00, reprojection_error/1 2.567E+00, reprojection_error/2 1.597E+00, reprojection_error 1.597E+00, reprojection_error/init 6.077E+01}

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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.84it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.03it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.06it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.08it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.09it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/09/2020 04:51:19 INFO] [Validation] {R_error/0 1.238E+00, t_error/0 3.553E-01, R_error/1 7.303E-01, t_error/1 2.098E-01, R_error/2 6.924E-01, t_error/2 1.985E-01, R_error 6.924E-01, t_error 1.985E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.399E+00, loss/reprojection_error/0 1.322E+01, loss/reprojection_error/1 8.000E+00, loss/reprojection_error/2 7.688E+00, loss/reprojection_error 7.688E+00, loss/reprojection_error_median 1.224E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 04:52:40 INFO] [E 3 | it 1550] loss {total 2.992E+00, reprojection_error/0 5.083E+00, reprojection_error/1 2.200E+00, reprojection_error/2 1.693E+00, reprojection_error 1.693E+00, reprojection_error/init 6.010E+01}
[11/09/2020 04:54:00 INFO] [E 3 | it 1600] loss {total 1.237E+01, reprojection_error/0 2.777E+01, reprojection_error/1 2.427E+01, reprojection_error/2 2.407E+01, reprojection_error 2.407E+01, reprojection_error/init 1.345E+02}
[11/09/2020 04:55:19 INFO] [E 3 | it 1650] loss {total 1.463E+00, reprojection_error/0 2.745E+00, reprojection_error/1 7.396E-01, reprojection_error/2 9.053E-01, reprojection_error 9.053E-01, reprojection_error/init 7.679E+01}
[11/09/2020 04:56:39 INFO] [E 3 | it 1700] loss {total 9.642E+00, reprojection_error/0 2.420E+01, reprojection_error/1 1.879E+01, reprojection_error/2 1.926E+01, reprojection_error 1.926E+01, reprojection_error/init 8.070E+01}
[11/09/2020 04:58:00 INFO] [E 3 | it 1750] loss {total 5.615E+00, reprojection_error/0 1.009E+01, reprojection_error/1 3.499E+00, reprojection_error/2 3.254E+00, reprojection_error 3.254E+00, reprojection_error/init 7.322E+01}
[11/09/2020 04:59:21 INFO] [E 3 | it 1800] loss {total 6.481E+00, reprojection_error/0 1.072E+01, reprojection_error/1 8.029E+00, reprojection_error/2 7.382E+00, reprojection_error 7.382E+00, reprojection_error/init 9.291E+01}
[11/09/2020 05:00:42 INFO] [E 3 | it 1850] loss {total 5.788E+00, reprojection_error/0 1.018E+01, reprojection_error/1 6.892E+00, reprojection_error/2 6.161E+00, reprojection_error 6.161E+00, reprojection_error/init 6.328E+01}
[11/09/2020 05:02:02 INFO] [E 3 | it 1900] loss {total 6.525E+00, reprojection_error/0 9.709E+00, reprojection_error/1 8.442E+00, reprojection_error/2 8.916E+00, reprojection_error 8.916E+00, reprojection_error/init 1.067E+02}
[11/09/2020 05:03:22 INFO] [E 3 | it 1950] loss {total 3.526E+00, reprojection_error/0 6.554E+00, reprojection_error/1 1.982E+00, reprojection_error/2 2.041E+00, reprojection_error 2.041E+00, reprojection_error/init 4.731E+01}
[11/09/2020 05:04:42 INFO] [E 3 | it 2000] loss {total 8.458E+00, reprojection_error/0 1.456E+01, reprojection_error/1 1.028E+01, reprojection_error/2 9.787E+00, reprojection_error 9.787E+00, reprojection_error/init 7.625E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:52,  1.42s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:29,  1.14s/it]
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Evaluation:   6%|6         | 5/80 [00:03<00:53,  1.40it/s]
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Evaluation:  10%|#         | 8/80 [00:04<00:40,  1.76it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.84it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.89it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.93it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.96it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:33,  1.98it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  2.00it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:31,  2.02it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.03it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.03it/s]
Evaluation:  24%|##3       | 19/80 [00:10<00:30,  2.03it/s]
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Evaluation:  26%|##6       | 21/80 [00:11<00:28,  2.04it/s]
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Evaluation:  29%|##8       | 23/80 [00:12<00:27,  2.05it/s]
Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.04it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:26,  2.04it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.04it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  2.03it/s]
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Evaluation:  36%|###6      | 29/80 [00:15<00:24,  2.04it/s]
Evaluation:  38%|###7      | 30/80 [00:15<00:24,  2.04it/s]
Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.04it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.04it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.04it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.05it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.04it/s]
Evaluation:  45%|####5     | 36/80 [00:18<00:21,  2.04it/s]
Evaluation:  46%|####6     | 37/80 [00:19<00:21,  2.04it/s]
Evaluation:  48%|####7     | 38/80 [00:19<00:20,  2.03it/s]
Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.03it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.03it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.03it/s]
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Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.03it/s]
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Evaluation:  59%|#####8    | 47/80 [00:23<00:16,  2.04it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.04it/s]
Evaluation:  61%|######1   | 49/80 [00:24<00:15,  2.04it/s]
Evaluation:  62%|######2   | 50/80 [00:25<00:14,  2.05it/s]
Evaluation:  64%|######3   | 51/80 [00:25<00:14,  2.05it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.05it/s]
Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.05it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.05it/s]
Evaluation:  74%|#######3  | 59/80 [00:29<00:10,  2.04it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.05it/s]
Evaluation:  76%|#######6  | 61/80 [00:30<00:09,  2.05it/s]
Evaluation:  78%|#######7  | 62/80 [00:31<00:08,  2.05it/s]
Evaluation:  79%|#######8  | 63/80 [00:31<00:08,  2.05it/s]
Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.04it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.04it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.05it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.07it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.09it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.10it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.11it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.12it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.12it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.12it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.13it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.13it/s]
Evaluation:  98%|#########7| 78/80 [00:38<00:00,  2.13it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.13it/s]
Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.13it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.00it/s]
[11/09/2020 05:05:22 INFO] [Validation] {R_error/0 1.300E+00, t_error/0 3.872E-01, R_error/1 7.955E-01, t_error/1 2.374E-01, R_error/2 7.416E-01, t_error/2 2.231E-01, R_error 7.416E-01, t_error 2.231E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.527E+00, loss/reprojection_error/0 1.398E+01, loss/reprojection_error/1 8.680E+00, loss/reprojection_error/2 8.299E+00, loss/reprojection_error 8.299E+00, loss/reprojection_error_median 1.178E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 05:06:42 INFO] [E 3 | it 2050] loss {total 2.966E+00, reprojection_error/0 4.725E+00, reprojection_error/1 2.242E+00, reprojection_error/2 1.932E+00, reprojection_error 1.932E+00, reprojection_error/init 7.676E+01}
[11/09/2020 05:08:04 INFO] [E 3 | it 2100] loss {total 4.082E+00, reprojection_error/0 6.283E+00, reprojection_error/1 3.188E+00, reprojection_error/2 2.777E+00, reprojection_error 2.777E+00, reprojection_error/init 6.313E+01}
[11/09/2020 05:09:24 INFO] [E 3 | it 2150] loss {total 9.228E+00, reprojection_error/0 2.418E+01, reprojection_error/1 1.882E+01, reprojection_error/2 1.802E+01, reprojection_error 1.802E+01, reprojection_error/init 1.016E+02}
[11/09/2020 05:10:44 INFO] [E 3 | it 2200] loss {total 5.347E+00, reprojection_error/0 8.447E+00, reprojection_error/1 6.300E+00, reprojection_error/2 5.839E+00, reprojection_error 5.839E+00, reprojection_error/init 6.357E+01}
[11/09/2020 05:12:04 INFO] [E 3 | it 2250] loss {total 2.279E+00, reprojection_error/0 5.354E+00, reprojection_error/1 8.548E-01, reprojection_error/2 6.279E-01, reprojection_error 6.279E-01, reprojection_error/init 5.858E+01}
[11/09/2020 05:13:24 INFO] [E 3 | it 2300] loss {total 2.779E+00, reprojection_error/0 7.325E+00, reprojection_error/1 5.651E-01, reprojection_error/2 4.456E-01, reprojection_error 4.456E-01, reprojection_error/init 7.796E+01}
[11/09/2020 05:14:45 INFO] [E 3 | it 2350] loss {total 1.530E+01, reprojection_error/0 3.081E+01, reprojection_error/1 2.977E+01, reprojection_error/2 2.967E+01, reprojection_error 2.967E+01, reprojection_error/init 7.767E+01}
[11/09/2020 05:16:05 INFO] [E 3 | it 2400] loss {total 1.682E+01, reprojection_error/0 2.715E+01, reprojection_error/1 2.273E+01, reprojection_error/2 2.318E+01, reprojection_error 2.318E+01, reprojection_error/init 7.738E+01}
[11/09/2020 05:17:24 INFO] [E 3 | it 2450] loss {total 8.301E+00, reprojection_error/0 2.326E+01, reprojection_error/1 1.774E+01, reprojection_error/2 1.724E+01, reprojection_error 1.724E+01, reprojection_error/init 1.259E+02}
[11/09/2020 05:18:44 INFO] [E 3 | it 2500] loss {total 8.817E+00, reprojection_error/0 1.369E+01, reprojection_error/1 6.723E+00, reprojection_error/2 6.036E+00, reprojection_error 6.036E+00, reprojection_error/init 6.150E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:46,  1.35s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:24,  1.09s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:10,  1.10it/s]
Evaluation:   5%|5         | 4/80 [00:02<00:59,  1.27it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:52,  1.44it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:47,  1.57it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:43,  1.69it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:40,  1.78it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.84it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.90it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.94it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.96it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:33,  1.98it/s]
Evaluation:  18%|#7        | 14/80 [00:07<00:32,  2.01it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  2.01it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:31,  2.03it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.02it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.02it/s]
Evaluation:  24%|##3       | 19/80 [00:10<00:30,  2.02it/s]
Evaluation:  25%|##5       | 20/80 [00:10<00:29,  2.03it/s]
Evaluation:  26%|##6       | 21/80 [00:11<00:29,  2.03it/s]
Evaluation:  28%|##7       | 22/80 [00:11<00:28,  2.04it/s]
Evaluation:  29%|##8       | 23/80 [00:12<00:28,  2.03it/s]
Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.03it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.02it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  2.01it/s]
Evaluation:  35%|###5      | 28/80 [00:14<00:25,  2.01it/s]
Evaluation:  36%|###6      | 29/80 [00:15<00:25,  2.01it/s]
Evaluation:  38%|###7      | 30/80 [00:15<00:24,  2.00it/s]
Evaluation:  39%|###8      | 31/80 [00:16<00:24,  1.99it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.01it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.02it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.02it/s]
Evaluation:  45%|####5     | 36/80 [00:18<00:21,  2.02it/s]
Evaluation:  46%|####6     | 37/80 [00:19<00:21,  2.02it/s]
Evaluation:  48%|####7     | 38/80 [00:19<00:20,  2.02it/s]
Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.02it/s]
Evaluation:  55%|#####5    | 44/80 [00:22<00:17,  2.02it/s]
Evaluation:  56%|#####6    | 45/80 [00:23<00:17,  2.02it/s]
Evaluation:  57%|#####7    | 46/80 [00:23<00:16,  2.02it/s]
Evaluation:  59%|#####8    | 47/80 [00:24<00:17,  1.89it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:17,  1.84it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:16,  1.90it/s]
Evaluation:  62%|######2   | 50/80 [00:25<00:15,  1.93it/s]
Evaluation:  64%|######3   | 51/80 [00:26<00:14,  1.96it/s]
Evaluation:  65%|######5   | 52/80 [00:26<00:14,  1.99it/s]
Evaluation:  66%|######6   | 53/80 [00:27<00:13,  2.00it/s]
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Evaluation:  69%|######8   | 55/80 [00:28<00:13,  1.88it/s]
Evaluation:  70%|#######   | 56/80 [00:28<00:13,  1.83it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:12,  1.88it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:11,  1.92it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:11,  1.84it/s]
Evaluation:  75%|#######5  | 60/80 [00:31<00:11,  1.79it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:10,  1.84it/s]
Evaluation:  78%|#######7  | 62/80 [00:32<00:09,  1.89it/s]
Evaluation:  79%|#######8  | 63/80 [00:32<00:08,  1.93it/s]
Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.95it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.96it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:05,  2.00it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.03it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:04,  2.06it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.07it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.09it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.11it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/09/2020 05:19:25 INFO] [Validation] {R_error/0 1.268E+00, t_error/0 3.501E-01, R_error/1 7.762E-01, t_error/1 2.173E-01, R_error/2 7.280E-01, t_error/2 2.047E-01, R_error 7.280E-01, t_error 2.047E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.480E+00, loss/reprojection_error/0 1.336E+01, loss/reprojection_error/1 8.371E+00, loss/reprojection_error/2 8.055E+00, loss/reprojection_error 8.055E+00, loss/reprojection_error_median 1.065E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 05:20:44 INFO] [E 3 | it 2550] loss {total 1.192E+01, reprojection_error/0 3.410E+01, reprojection_error/1 3.391E+01, reprojection_error/2 3.442E+01, reprojection_error 3.442E+01, reprojection_error/init 1.694E+02}
[11/09/2020 05:22:03 INFO] [E 3 | it 2600] loss {total 6.781E+00, reprojection_error/0 1.975E+01, reprojection_error/1 1.688E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 8.752E+01}
[11/09/2020 05:23:23 INFO] [E 3 | it 2650] loss {total 3.402E+00, reprojection_error/0 7.809E+00, reprojection_error/1 1.517E+00, reprojection_error/2 8.806E-01, reprojection_error 8.806E-01, reprojection_error/init 6.602E+01}
[11/09/2020 05:24:43 INFO] [E 3 | it 2700] loss {total 3.042E+00, reprojection_error/0 4.455E+00, reprojection_error/1 2.331E+00, reprojection_error/2 2.339E+00, reprojection_error 2.339E+00, reprojection_error/init 4.227E+01}
[11/09/2020 05:26:03 INFO] [E 3 | it 2750] loss {total 2.767E+00, reprojection_error/0 5.571E+00, reprojection_error/1 1.275E+00, reprojection_error/2 1.456E+00, reprojection_error 1.456E+00, reprojection_error/init 9.447E+01}
[11/09/2020 05:27:22 INFO] [E 3 | it 2800] loss {total 1.266E+01, reprojection_error/0 2.189E+01, reprojection_error/1 1.506E+01, reprojection_error/2 1.488E+01, reprojection_error 1.488E+01, reprojection_error/init 1.035E+02}
[11/09/2020 05:28:42 INFO] [E 3 | it 2850] loss {total 8.884E+00, reprojection_error/0 2.467E+01, reprojection_error/1 1.791E+01, reprojection_error/2 1.740E+01, reprojection_error 1.740E+01, reprojection_error/init 1.268E+02}
[11/09/2020 05:30:03 INFO] [E 3 | it 2900] loss {total 6.188E+00, reprojection_error/0 1.773E+01, reprojection_error/1 1.716E+01, reprojection_error/2 1.700E+01, reprojection_error 1.700E+01, reprojection_error/init 9.436E+01}
[11/09/2020 05:31:25 INFO] [E 3 | it 2950] loss {total 2.810E+00, reprojection_error/0 6.715E+00, reprojection_error/1 8.399E-01, reprojection_error/2 8.757E-01, reprojection_error 8.757E-01, reprojection_error/init 7.872E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:45,  1.34s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:24,  1.09s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:09,  1.10it/s]
Evaluation:   5%|5         | 4/80 [00:02<00:59,  1.28it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:52,  1.44it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:47,  1.57it/s]
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[11/09/2020 05:33:26 INFO] [Validation] {R_error/0 1.321E+00, t_error/0 3.659E-01, R_error/1 8.217E-01, t_error/1 2.182E-01, R_error/2 7.800E-01, t_error/2 2.030E-01, R_error 7.800E-01, t_error 2.030E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.808E+00, loss/reprojection_error/0 1.417E+01, loss/reprojection_error/1 8.794E+00, loss/reprojection_error/2 8.462E+00, loss/reprojection_error 8.462E+00, loss/reprojection_error_median 1.047E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 05:33:27 INFO] Saving checkpoint checkpoint_3
[11/09/2020 05:33:27 INFO] Deleting checkpoint checkpoint_2_interrupted.tar
[11/09/2020 05:33:27 INFO] Starting epoch 4
[11/09/2020 05:33:27 INFO] Sampling new images or pairs with seed 4

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[11/09/2020 05:33:30 INFO] [E 4 | it 0] loss {total 4.564E+00, reprojection_error/0 5.761E+00, reprojection_error/1 4.126E+00, reprojection_error/2 3.804E+00, reprojection_error 3.804E+00, reprojection_error/init 5.524E+01}

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[11/09/2020 05:34:10 INFO] [Validation] {R_error/0 1.322E+00, t_error/0 3.662E-01, R_error/1 8.257E-01, t_error/1 2.198E-01, R_error/2 7.845E-01, t_error/2 2.055E-01, R_error 7.845E-01, t_error 2.055E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.843E+00, loss/reprojection_error/0 1.419E+01, loss/reprojection_error/1 8.872E+00, loss/reprojection_error/2 8.546E+00, loss/reprojection_error 8.546E+00, loss/reprojection_error_median 1.039E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 05:35:33 INFO] [E 4 | it 50] loss {total 2.101E+00, reprojection_error/0 4.914E+00, reprojection_error/1 6.966E-01, reprojection_error/2 6.936E-01, reprojection_error 6.936E-01, reprojection_error/init 6.447E+01}
[11/09/2020 05:36:56 INFO] [E 4 | it 100] loss {total 6.233E+00, reprojection_error/0 1.029E+01, reprojection_error/1 6.780E+00, reprojection_error/2 7.172E+00, reprojection_error 7.172E+00, reprojection_error/init 5.468E+01}
[11/09/2020 05:38:19 INFO] [E 4 | it 150] loss {total 4.916E+00, reprojection_error/0 1.081E+01, reprojection_error/1 1.967E+00, reprojection_error/2 1.972E+00, reprojection_error 1.972E+00, reprojection_error/init 9.672E+01}
[11/09/2020 05:39:40 INFO] [E 4 | it 200] loss {total 4.582E+00, reprojection_error/0 8.883E+00, reprojection_error/1 4.636E+00, reprojection_error/2 4.533E+00, reprojection_error 4.533E+00, reprojection_error/init 6.092E+01}
[11/09/2020 05:41:00 INFO] [E 4 | it 250] loss {total 7.148E+00, reprojection_error/0 1.241E+01, reprojection_error/1 8.009E+00, reprojection_error/2 8.061E+00, reprojection_error 8.061E+00, reprojection_error/init 7.066E+01}
[11/09/2020 05:42:20 INFO] [E 4 | it 300] loss {total 4.408E+00, reprojection_error/0 6.436E+00, reprojection_error/1 3.561E+00, reprojection_error/2 3.227E+00, reprojection_error 3.227E+00, reprojection_error/init 4.352E+01}
[11/09/2020 05:43:40 INFO] [E 4 | it 350] loss {total 7.468E+00, reprojection_error/0 2.136E+01, reprojection_error/1 1.738E+01, reprojection_error/2 1.700E+01, reprojection_error 1.700E+01, reprojection_error/init 1.181E+02}
[11/09/2020 05:44:59 INFO] [E 4 | it 400] loss {total 6.061E+00, reprojection_error/0 9.721E+00, reprojection_error/1 4.561E+00, reprojection_error/2 3.902E+00, reprojection_error 3.902E+00, reprojection_error/init 5.966E+01}
[11/09/2020 05:46:19 INFO] [E 4 | it 450] loss {total 5.041E+00, reprojection_error/0 7.784E+00, reprojection_error/1 6.602E+00, reprojection_error/2 6.608E+00, reprojection_error 6.608E+00, reprojection_error/init 4.365E+01}
[11/09/2020 05:47:42 INFO] [E 4 | it 500] loss {total 2.520E+00, reprojection_error/0 4.967E+00, reprojection_error/1 1.278E+00, reprojection_error/2 1.314E+00, reprojection_error 1.314E+00, reprojection_error/init 4.464E+01}

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Evaluation:  71%|#######1  | 57/80 [00:29<00:12,  1.78it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:12,  1.80it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.87it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.91it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.95it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.98it/s]
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Evaluation:  88%|########7 | 70/80 [00:36<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.09it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.11it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.12it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.12it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.13it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.95it/s]
[11/09/2020 05:48:23 INFO] [Validation] {R_error/0 1.226E+00, t_error/0 3.697E-01, R_error/1 7.301E-01, t_error/1 2.163E-01, R_error/2 6.815E-01, t_error/2 2.013E-01, R_error 6.815E-01, t_error 2.013E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.026E+00, loss/reprojection_error/0 1.300E+01, loss/reprojection_error/1 7.633E+00, loss/reprojection_error/2 7.307E+00, loss/reprojection_error 7.307E+00, loss/reprojection_error_median 9.675E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 05:49:42 INFO] [E 4 | it 550] loss {total 2.457E+00, reprojection_error/0 5.182E+00, reprojection_error/1 1.354E+00, reprojection_error/2 8.355E-01, reprojection_error 8.355E-01, reprojection_error/init 1.065E+02}
[11/09/2020 05:51:02 INFO] [E 4 | it 600] loss {total 7.529E+00, reprojection_error/0 1.167E+01, reprojection_error/1 5.528E+00, reprojection_error/2 5.393E+00, reprojection_error 5.393E+00, reprojection_error/init 5.080E+01}
[11/09/2020 05:52:22 INFO] [E 4 | it 650] loss {total 6.539E+00, reprojection_error/0 1.471E+01, reprojection_error/1 2.794E+00, reprojection_error/2 2.116E+00, reprojection_error 2.116E+00, reprojection_error/init 3.365E+01}
[11/09/2020 05:53:45 INFO] [E 4 | it 700] loss {total 3.757E+00, reprojection_error/0 7.777E+00, reprojection_error/1 1.766E+00, reprojection_error/2 1.730E+00, reprojection_error 1.730E+00, reprojection_error/init 3.706E+01}
[11/09/2020 05:55:05 INFO] [E 4 | it 750] loss {total 5.363E+00, reprojection_error/0 1.069E+01, reprojection_error/1 4.993E+00, reprojection_error/2 4.497E+00, reprojection_error 4.497E+00, reprojection_error/init 7.611E+01}
[11/09/2020 05:56:25 INFO] [E 4 | it 800] loss {total 2.947E+00, reprojection_error/0 4.436E+00, reprojection_error/1 2.353E+00, reprojection_error/2 2.052E+00, reprojection_error 2.052E+00, reprojection_error/init 7.504E+01}
[11/09/2020 05:57:44 INFO] [E 4 | it 850] loss {total 8.360E+00, reprojection_error/0 2.036E+01, reprojection_error/1 1.934E+01, reprojection_error/2 1.871E+01, reprojection_error 1.871E+01, reprojection_error/init 1.228E+02}
[11/09/2020 05:59:04 INFO] [E 4 | it 900] loss {total 9.510E+00, reprojection_error/0 2.472E+01, reprojection_error/1 1.889E+01, reprojection_error/2 1.825E+01, reprojection_error 1.825E+01, reprojection_error/init 1.633E+02}
[11/09/2020 06:00:24 INFO] [E 4 | it 950] loss {total 8.899E+00, reprojection_error/0 2.168E+01, reprojection_error/1 1.699E+01, reprojection_error/2 1.682E+01, reprojection_error 1.682E+01, reprojection_error/init 9.280E+01}
[11/09/2020 06:01:43 INFO] [E 4 | it 1000] loss {total 7.194E+00, reprojection_error/0 2.065E+01, reprojection_error/1 1.723E+01, reprojection_error/2 1.704E+01, reprojection_error 1.704E+01, reprojection_error/init 7.591E+01}

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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.11it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.12it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.13it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 06:02:23 INFO] [Validation] {R_error/0 1.184E+00, t_error/0 3.589E-01, R_error/1 7.098E-01, t_error/1 2.007E-01, R_error/2 6.648E-01, t_error/2 1.873E-01, R_error 6.648E-01, t_error 1.873E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.928E+00, loss/reprojection_error/0 1.256E+01, loss/reprojection_error/1 7.141E+00, loss/reprojection_error/2 6.809E+00, loss/reprojection_error 6.809E+00, loss/reprojection_error_median 9.741E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 06:03:43 INFO] [E 4 | it 1050] loss {total 3.363E+00, reprojection_error/0 5.354E+00, reprojection_error/1 2.405E+00, reprojection_error/2 2.330E+00, reprojection_error 2.330E+00, reprojection_error/init 2.953E+01}
[11/09/2020 06:05:05 INFO] [E 4 | it 1100] loss {total 4.742E+00, reprojection_error/0 9.451E+00, reprojection_error/1 3.195E+00, reprojection_error/2 1.579E+00, reprojection_error 1.579E+00, reprojection_error/init 6.834E+01}
[11/09/2020 06:06:29 INFO] [E 4 | it 1150] loss {total 6.135E+00, reprojection_error/0 1.154E+01, reprojection_error/1 3.611E+00, reprojection_error/2 3.258E+00, reprojection_error 3.258E+00, reprojection_error/init 9.634E+01}
[11/09/2020 06:07:52 INFO] [E 4 | it 1200] loss {total 1.054E+01, reprojection_error/0 1.631E+01, reprojection_error/1 1.337E+01, reprojection_error/2 1.332E+01, reprojection_error 1.332E+01, reprojection_error/init 5.630E+01}
[11/09/2020 06:09:13 INFO] [E 4 | it 1250] loss {total 4.734E+00, reprojection_error/0 5.706E+00, reprojection_error/1 4.001E+00, reprojection_error/2 4.495E+00, reprojection_error 4.495E+00, reprojection_error/init 4.875E+01}
[11/09/2020 06:10:34 INFO] [E 4 | it 1300] loss {total 3.418E+00, reprojection_error/0 4.625E+00, reprojection_error/1 3.133E+00, reprojection_error/2 2.497E+00, reprojection_error 2.497E+00, reprojection_error/init 4.436E+01}
[11/09/2020 06:11:53 INFO] [E 4 | it 1350] loss {total 4.363E+00, reprojection_error/0 8.441E+00, reprojection_error/1 2.478E+00, reprojection_error/2 2.171E+00, reprojection_error 2.171E+00, reprojection_error/init 5.411E+01}
[11/09/2020 06:13:14 INFO] [E 4 | it 1400] loss {total 1.463E+01, reprojection_error/0 3.070E+01, reprojection_error/1 1.982E+01, reprojection_error/2 1.841E+01, reprojection_error 1.841E+01, reprojection_error/init 7.350E+01}
[11/09/2020 06:14:35 INFO] [E 4 | it 1450] loss {total 2.775E+00, reprojection_error/0 5.136E+00, reprojection_error/1 1.824E+00, reprojection_error/2 1.363E+00, reprojection_error 1.363E+00, reprojection_error/init 2.889E+01}
[11/09/2020 06:15:57 INFO] [E 4 | it 1500] loss {total 8.213E+00, reprojection_error/0 1.426E+01, reprojection_error/1 8.102E+00, reprojection_error/2 8.224E+00, reprojection_error 8.224E+00, reprojection_error/init 4.216E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.82it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.87it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.92it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.94it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.97it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  1.97it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  1.99it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.01it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.02it/s]
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Evaluation:  59%|#####8    | 47/80 [00:24<00:16,  2.02it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.02it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.03it/s]
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Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 06:16:37 INFO] [Validation] {R_error/0 1.232E+00, t_error/0 3.585E-01, R_error/1 7.700E-01, t_error/1 2.255E-01, R_error/2 7.260E-01, t_error/2 2.117E-01, R_error 7.260E-01, t_error 2.117E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.214E+00, loss/reprojection_error/0 1.297E+01, loss/reprojection_error/1 8.168E+00, loss/reprojection_error/2 7.826E+00, loss/reprojection_error 7.826E+00, loss/reprojection_error_median 9.534E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 06:17:58 INFO] [E 4 | it 1550] loss {total 2.477E+00, reprojection_error/0 6.526E+00, reprojection_error/1 4.661E-01, reprojection_error/2 4.400E-01, reprojection_error 4.400E-01, reprojection_error/init 6.032E+01}
[11/09/2020 06:19:19 INFO] [E 4 | it 1600] loss {total 1.045E+01, reprojection_error/0 2.695E+01, reprojection_error/1 2.103E+01, reprojection_error/2 2.078E+01, reprojection_error 2.078E+01, reprojection_error/init 8.173E+01}
[11/09/2020 06:20:38 INFO] [E 4 | it 1650] loss {total 1.642E+01, reprojection_error/0 4.506E+01, reprojection_error/1 3.753E+01, reprojection_error/2 3.695E+01, reprojection_error 3.695E+01, reprojection_error/init 1.524E+02}
[11/09/2020 06:21:58 INFO] [E 4 | it 1700] loss {total 8.611E+00, reprojection_error/0 1.695E+01, reprojection_error/1 8.532E+00, reprojection_error/2 8.348E+00, reprojection_error 8.348E+00, reprojection_error/init 6.973E+01}
[11/09/2020 06:23:17 INFO] [E 4 | it 1750] loss {total 7.325E+00, reprojection_error/0 1.914E+01, reprojection_error/1 1.810E+01, reprojection_error/2 1.807E+01, reprojection_error 1.807E+01, reprojection_error/init 6.804E+01}
[11/09/2020 06:24:37 INFO] [E 4 | it 1800] loss {total 5.733E+00, reprojection_error/0 8.547E+00, reprojection_error/1 7.681E+00, reprojection_error/2 7.168E+00, reprojection_error 7.168E+00, reprojection_error/init 2.576E+01}
[11/09/2020 06:25:56 INFO] [E 4 | it 1850] loss {total 2.727E+00, reprojection_error/0 6.387E+00, reprojection_error/1 9.745E-01, reprojection_error/2 8.206E-01, reprojection_error 8.206E-01, reprojection_error/init 7.132E+01}
[11/09/2020 06:27:16 INFO] [E 4 | it 1900] loss {total 1.057E+01, reprojection_error/0 1.609E+01, reprojection_error/1 1.463E+01, reprojection_error/2 1.437E+01, reprojection_error 1.437E+01, reprojection_error/init 1.045E+02}
[11/09/2020 06:28:36 INFO] [E 4 | it 1950] loss {total 7.168E+00, reprojection_error/0 2.071E+01, reprojection_error/1 1.710E+01, reprojection_error/2 1.702E+01, reprojection_error 1.702E+01, reprojection_error/init 5.632E+01}
[11/09/2020 06:29:56 INFO] [E 4 | it 2000] loss {total 5.447E+00, reprojection_error/0 9.922E+00, reprojection_error/1 5.771E+00, reprojection_error/2 5.018E+00, reprojection_error 5.018E+00, reprojection_error/init 8.760E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:40,  1.27s/it]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.06it/s]
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Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.11it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.12it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.12it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.12it/s]
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Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.00it/s]
[11/09/2020 06:30:36 INFO] [Validation] {R_error/0 1.219E+00, t_error/0 3.553E-01, R_error/1 7.188E-01, t_error/1 1.985E-01, R_error/2 6.758E-01, t_error/2 1.846E-01, R_error 6.758E-01, t_error 1.846E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.250E+00, loss/reprojection_error/0 1.305E+01, loss/reprojection_error/1 7.356E+00, loss/reprojection_error/2 6.992E+00, loss/reprojection_error 6.992E+00, loss/reprojection_error_median 9.761E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 06:30:58 INFO] Caught keyboard interrupt signal, will terminate

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Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.02it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.06it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.07it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.95it/s]
[11/09/2020 06:31:39 INFO] [Validation] {R_error/0 1.235E+00, t_error/0 3.818E-01, R_error/1 7.163E-01, t_error/1 2.063E-01, R_error/2 6.764E-01, t_error/2 1.922E-01, R_error 6.764E-01, t_error 1.922E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.168E+00, loss/reprojection_error/0 1.335E+01, loss/reprojection_error/1 7.305E+00, loss/reprojection_error/2 6.957E+00, loss/reprojection_error 6.957E+00, loss/reprojection_error_median 9.722E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 06:31:40 INFO] Saving checkpoint checkpoint_4_interrupted
[11/09/2020 06:31:40 INFO] New best checkpoint: loss/total=6.168481934070587
[11/09/2020 06:31:41 INFO] Finished training on process 0.
[11/09/2020 09:08:53 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/09/2020 09:08:53 INFO] Restoring from checkpoint checkpoint_3.tar
[11/09/2020 09:08:59 INFO] Using device cuda
[11/09/2020 09:09:00 INFO] Creating dataset CMU
[11/09/2020 09:09:02 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 09:09:03 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 09:09:03 INFO] Training loader has 3000 batches
[11/09/2020 09:09:03 INFO] Validation loader has 80 batches
[11/09/2020 09:09:12 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/09/2020 09:09:12 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/09/2020 09:09:12 INFO] Starting epoch 4
[11/09/2020 09:09:12 INFO] Sampling new images or pairs with seed 4

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100%|██████████| 9/9 [00:00<00:00, 20.02it/s]{'params': [Parameter containing:
tensor([-1.5362, -0.1239, -0.8253, -0.1730, -1.3517, -0.0555], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-1.3966,  0.2799, -1.3108, -0.5143, -1.4313,  0.2312], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-1.6055,  0.8308, -0.9482,  0.3340,  0.3248,  0.7817], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/09/2020 09:09:19 INFO] [E 4 | it 0] loss {total 4.564E+00, reprojection_error/0 5.761E+00, reprojection_error/1 4.126E+00, reprojection_error/2 3.804E+00, reprojection_error 3.804E+00, reprojection_error/init 5.524E+01}

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[11/09/2020 09:09:59 INFO] [Validation] {R_error/0 1.322E+00, t_error/0 3.662E-01, R_error/1 8.258E-01, t_error/1 2.198E-01, R_error/2 7.845E-01, t_error/2 2.055E-01, R_error 7.845E-01, t_error 2.055E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.843E+00, loss/reprojection_error/0 1.419E+01, loss/reprojection_error/1 8.872E+00, loss/reprojection_error/2 8.546E+00, loss/reprojection_error 8.546E+00, loss/reprojection_error_median 1.039E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 09:11:11 INFO] [E 4 | it 50] loss {total 2.103E+00, reprojection_error/0 4.919E+00, reprojection_error/1 6.968E-01, reprojection_error/2 6.936E-01, reprojection_error 6.936E-01, reprojection_error/init 6.447E+01}
[11/09/2020 09:12:24 INFO] [E 4 | it 100] loss {total 6.208E+00, reprojection_error/0 1.022E+01, reprojection_error/1 6.775E+00, reprojection_error/2 7.059E+00, reprojection_error 7.059E+00, reprojection_error/init 5.468E+01}
[11/09/2020 09:13:36 INFO] [E 4 | it 150] loss {total 8.769E+00, reprojection_error/0 2.423E+01, reprojection_error/1 1.758E+01, reprojection_error/2 1.783E+01, reprojection_error 1.783E+01, reprojection_error/init 9.672E+01}
[11/09/2020 09:14:49 INFO] [E 4 | it 200] loss {total 5.264E+00, reprojection_error/0 8.693E+00, reprojection_error/1 3.759E+00, reprojection_error/2 3.341E+00, reprojection_error 3.341E+00, reprojection_error/init 6.092E+01}
[11/09/2020 09:16:01 INFO] [E 4 | it 250] loss {total 7.538E+00, reprojection_error/0 1.305E+01, reprojection_error/1 8.490E+00, reprojection_error/2 8.235E+00, reprojection_error 8.235E+00, reprojection_error/init 7.066E+01}
[11/09/2020 09:17:14 INFO] [E 4 | it 300] loss {total 6.908E+00, reprojection_error/0 1.105E+01, reprojection_error/1 8.463E+00, reprojection_error/2 8.666E+00, reprojection_error 8.666E+00, reprojection_error/init 4.352E+01}
[11/09/2020 09:18:27 INFO] [E 4 | it 350] loss {total 7.431E+00, reprojection_error/0 2.117E+01, reprojection_error/1 1.746E+01, reprojection_error/2 1.700E+01, reprojection_error 1.700E+01, reprojection_error/init 1.181E+02}
[11/09/2020 09:19:40 INFO] [E 4 | it 400] loss {total 6.210E+00, reprojection_error/0 9.849E+00, reprojection_error/1 4.726E+00, reprojection_error/2 4.054E+00, reprojection_error 4.054E+00, reprojection_error/init 5.966E+01}
[11/09/2020 09:20:52 INFO] [E 4 | it 450] loss {total 4.642E+00, reprojection_error/0 6.146E+00, reprojection_error/1 4.163E+00, reprojection_error/2 3.617E+00, reprojection_error 3.617E+00, reprojection_error/init 4.365E+01}
[11/09/2020 09:22:05 INFO] [E 4 | it 500] loss {total 2.456E+00, reprojection_error/0 4.775E+00, reprojection_error/1 1.275E+00, reprojection_error/2 1.320E+00, reprojection_error 1.320E+00, reprojection_error/init 4.464E+01}

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Evaluation:  71%|#######1  | 57/80 [00:27<00:11,  2.07it/s]
Evaluation:  72%|#######2  | 58/80 [00:28<00:10,  2.08it/s]
Evaluation:  74%|#######3  | 59/80 [00:28<00:10,  2.07it/s]
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Evaluation:  80%|########  | 64/80 [00:31<00:07,  2.10it/s]
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Evaluation:  82%|########2 | 66/80 [00:32<00:06,  2.10it/s]
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Evaluation:  86%|########6 | 69/80 [00:33<00:05,  2.09it/s]
Evaluation:  88%|########7 | 70/80 [00:34<00:04,  2.10it/s]
Evaluation:  89%|########8 | 71/80 [00:34<00:04,  2.11it/s]
Evaluation:  90%|######### | 72/80 [00:35<00:03,  2.12it/s]
Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.13it/s]
Evaluation:  92%|#########2| 74/80 [00:36<00:02,  2.13it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.13it/s]
Evaluation:  95%|#########5| 76/80 [00:36<00:01,  2.14it/s]
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Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.05it/s]
[11/09/2020 09:22:44 INFO] [Validation] {R_error/0 1.244E+00, t_error/0 3.551E-01, R_error/1 7.397E-01, t_error/1 2.093E-01, R_error/2 6.863E-01, t_error/2 1.951E-01, R_error 6.863E-01, t_error 1.951E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.246E+00, loss/reprojection_error/0 1.323E+01, loss/reprojection_error/1 7.883E+00, loss/reprojection_error/2 7.542E+00, loss/reprojection_error 7.542E+00, loss/reprojection_error_median 9.879E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 09:23:57 INFO] [E 4 | it 550] loss {total 2.929E+00, reprojection_error/0 6.080E+00, reprojection_error/1 1.835E+00, reprojection_error/2 8.729E-01, reprojection_error 8.729E-01, reprojection_error/init 1.065E+02}
[11/09/2020 09:25:10 INFO] [E 4 | it 600] loss {total 8.484E+00, reprojection_error/0 1.353E+01, reprojection_error/1 6.187E+00, reprojection_error/2 5.734E+00, reprojection_error 5.734E+00, reprojection_error/init 5.080E+01}
[11/09/2020 09:26:22 INFO] [E 4 | it 650] loss {total 7.090E+00, reprojection_error/0 1.537E+01, reprojection_error/1 3.262E+00, reprojection_error/2 2.635E+00, reprojection_error 2.635E+00, reprojection_error/init 3.365E+01}
[11/09/2020 09:27:35 INFO] [E 4 | it 700] loss {total 3.751E+00, reprojection_error/0 7.631E+00, reprojection_error/1 1.773E+00, reprojection_error/2 1.850E+00, reprojection_error 1.850E+00, reprojection_error/init 3.706E+01}
[11/09/2020 09:28:49 INFO] [E 4 | it 750] loss {total 3.960E+00, reprojection_error/0 8.940E+00, reprojection_error/1 1.632E+00, reprojection_error/2 1.307E+00, reprojection_error 1.307E+00, reprojection_error/init 7.611E+01}
[11/09/2020 09:30:03 INFO] [E 4 | it 800] loss {total 3.014E+00, reprojection_error/0 4.335E+00, reprojection_error/1 2.509E+00, reprojection_error/2 2.198E+00, reprojection_error 2.198E+00, reprojection_error/init 7.504E+01}
[11/09/2020 09:31:18 INFO] [E 4 | it 850] loss {total 8.693E+00, reprojection_error/0 2.127E+01, reprojection_error/1 1.942E+01, reprojection_error/2 1.873E+01, reprojection_error 1.873E+01, reprojection_error/init 1.228E+02}
[11/09/2020 09:32:32 INFO] [E 4 | it 900] loss {total 9.935E+00, reprojection_error/0 2.577E+01, reprojection_error/1 1.899E+01, reprojection_error/2 1.838E+01, reprojection_error 1.838E+01, reprojection_error/init 1.633E+02}
[11/09/2020 09:33:45 INFO] [E 4 | it 950] loss {total 1.168E+01, reprojection_error/0 1.886E+01, reprojection_error/1 1.429E+01, reprojection_error/2 1.411E+01, reprojection_error 1.411E+01, reprojection_error/init 9.280E+01}
[11/09/2020 09:35:00 INFO] [E 4 | it 1000] loss {total 7.231E+00, reprojection_error/0 2.078E+01, reprojection_error/1 1.728E+01, reprojection_error/2 1.697E+01, reprojection_error 1.697E+01, reprojection_error/init 7.591E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:31,  1.16s/it]
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Evaluation:  41%|####1     | 33/80 [00:16<00:23,  2.04it/s]
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Evaluation:  51%|#####1    | 41/80 [00:20<00:19,  2.04it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.03it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.04it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.05it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.07it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.07it/s]
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Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.10it/s]
Evaluation:  88%|########7 | 70/80 [00:34<00:04,  2.11it/s]
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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.11it/s]
Evaluation:  92%|#########2| 74/80 [00:36<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.12it/s]
Evaluation:  95%|#########5| 76/80 [00:37<00:01,  2.13it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.14it/s]
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Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.01it/s]
[11/09/2020 09:35:40 INFO] [Validation] {R_error/0 1.160E+00, t_error/0 3.375E-01, R_error/1 7.117E-01, t_error/1 1.865E-01, R_error/2 6.694E-01, t_error/2 1.737E-01, R_error 6.694E-01, t_error 1.737E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.926E+00, loss/reprojection_error/0 1.267E+01, loss/reprojection_error/1 7.579E+00, loss/reprojection_error/2 7.237E+00, loss/reprojection_error 7.237E+00, loss/reprojection_error_median 9.572E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 09:36:53 INFO] [E 4 | it 1050] loss {total 3.179E+00, reprojection_error/0 5.345E+00, reprojection_error/1 2.032E+00, reprojection_error/2 2.160E+00, reprojection_error 2.160E+00, reprojection_error/init 2.953E+01}
[11/09/2020 09:38:07 INFO] [E 4 | it 1100] loss {total 3.827E+00, reprojection_error/0 9.618E+00, reprojection_error/1 1.097E+00, reprojection_error/2 7.674E-01, reprojection_error 7.674E-01, reprojection_error/init 6.834E+01}
[11/09/2020 09:39:19 INFO] [E 4 | it 1150] loss {total 5.988E+00, reprojection_error/0 1.045E+01, reprojection_error/1 4.252E+00, reprojection_error/2 3.260E+00, reprojection_error 3.260E+00, reprojection_error/init 9.634E+01}
[11/09/2020 09:40:32 INFO] [E 4 | it 1200] loss {total 3.300E+00, reprojection_error/0 5.733E+00, reprojection_error/1 2.043E+00, reprojection_error/2 2.123E+00, reprojection_error 2.123E+00, reprojection_error/init 5.630E+01}
[11/09/2020 09:41:45 INFO] [E 4 | it 1250] loss {total 2.537E+00, reprojection_error/0 3.163E+00, reprojection_error/1 2.217E+00, reprojection_error/2 2.231E+00, reprojection_error 2.231E+00, reprojection_error/init 4.875E+01}
[11/09/2020 09:42:58 INFO] [E 4 | it 1300] loss {total 4.265E+00, reprojection_error/0 6.004E+00, reprojection_error/1 3.462E+00, reprojection_error/2 3.329E+00, reprojection_error 3.329E+00, reprojection_error/init 4.436E+01}
[11/09/2020 09:44:11 INFO] [E 4 | it 1350] loss {total 4.271E+00, reprojection_error/0 8.177E+00, reprojection_error/1 2.522E+00, reprojection_error/2 2.115E+00, reprojection_error 2.115E+00, reprojection_error/init 5.411E+01}
[11/09/2020 09:45:23 INFO] [E 4 | it 1400] loss {total 1.529E+01, reprojection_error/0 3.108E+01, reprojection_error/1 2.077E+01, reprojection_error/2 1.951E+01, reprojection_error 1.951E+01, reprojection_error/init 7.350E+01}
[11/09/2020 09:46:36 INFO] [E 4 | it 1450] loss {total 2.446E+00, reprojection_error/0 4.124E+00, reprojection_error/1 1.855E+00, reprojection_error/2 1.360E+00, reprojection_error 1.360E+00, reprojection_error/init 2.889E+01}
[11/09/2020 09:47:49 INFO] [E 4 | it 1500] loss {total 8.236E+00, reprojection_error/0 1.421E+01, reprojection_error/1 8.142E+00, reprojection_error/2 8.192E+00, reprojection_error 8.192E+00, reprojection_error/init 4.216E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:31,  1.16s/it]
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Evaluation:   8%|7         | 6/80 [00:03<00:44,  1.67it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:41,  1.77it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:39,  1.84it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:37,  1.89it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.93it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.97it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.99it/s]
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Evaluation:  19%|#8        | 15/80 [00:07<00:32,  2.01it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:31,  2.01it/s]
Evaluation:  21%|##1       | 17/80 [00:08<00:31,  2.01it/s]
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Evaluation:  30%|###       | 24/80 [00:12<00:28,  1.99it/s]
Evaluation:  31%|###1      | 25/80 [00:12<00:27,  2.00it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.01it/s]
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Evaluation:  35%|###5      | 28/80 [00:14<00:26,  1.98it/s]
Evaluation:  36%|###6      | 29/80 [00:14<00:25,  2.00it/s]
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Evaluation:  39%|###8      | 31/80 [00:15<00:24,  2.00it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:16<00:23,  2.01it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.01it/s]
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Evaluation:  45%|####5     | 36/80 [00:18<00:22,  1.99it/s]
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Evaluation:  49%|####8     | 39/80 [00:19<00:20,  2.00it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.00it/s]
Evaluation:  51%|#####1    | 41/80 [00:20<00:19,  2.00it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:19,  1.99it/s]
Evaluation:  54%|#####3    | 43/80 [00:21<00:18,  2.00it/s]
Evaluation:  55%|#####5    | 44/80 [00:22<00:17,  2.01it/s]
Evaluation:  56%|#####6    | 45/80 [00:22<00:17,  2.02it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.03it/s]
Evaluation:  74%|#######3  | 59/80 [00:29<00:10,  2.05it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.03it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.03it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.04it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.04it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.05it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.04it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 09:48:29 INFO] [Validation] {R_error/0 1.211E+00, t_error/0 3.239E-01, R_error/1 7.376E-01, t_error/1 1.851E-01, R_error/2 6.929E-01, t_error/2 1.716E-01, R_error 6.929E-01, t_error 1.716E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.179E+00, loss/reprojection_error/0 1.326E+01, loss/reprojection_error/1 8.217E+00, loss/reprojection_error/2 7.852E+00, loss/reprojection_error 7.852E+00, loss/reprojection_error_median 1.000E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 09:49:43 INFO] [E 4 | it 1550] loss {total 3.411E+00, reprojection_error/0 7.732E+00, reprojection_error/1 1.586E+00, reprojection_error/2 9.162E-01, reprojection_error 9.162E-01, reprojection_error/init 6.032E+01}
[11/09/2020 09:50:56 INFO] [E 4 | it 1600] loss {total 1.066E+01, reprojection_error/0 2.712E+01, reprojection_error/1 2.149E+01, reprojection_error/2 2.128E+01, reprojection_error 2.128E+01, reprojection_error/init 8.173E+01}
[11/09/2020 09:52:09 INFO] [E 4 | it 1650] loss {total 1.610E+01, reprojection_error/0 4.422E+01, reprojection_error/1 3.577E+01, reprojection_error/2 3.499E+01, reprojection_error 3.499E+01, reprojection_error/init 1.524E+02}
[11/09/2020 09:53:22 INFO] [E 4 | it 1700] loss {total 4.943E+00, reprojection_error/0 9.911E+00, reprojection_error/1 4.534E+00, reprojection_error/2 4.295E+00, reprojection_error 4.295E+00, reprojection_error/init 6.973E+01}
[11/09/2020 09:54:36 INFO] [E 4 | it 1750] loss {total 2.893E+00, reprojection_error/0 3.146E+00, reprojection_error/1 2.897E+00, reprojection_error/2 2.636E+00, reprojection_error 2.636E+00, reprojection_error/init 6.804E+01}
[11/09/2020 09:55:48 INFO] [E 4 | it 1800] loss {total 4.503E+00, reprojection_error/0 5.335E+00, reprojection_error/1 4.197E+00, reprojection_error/2 3.976E+00, reprojection_error 3.976E+00, reprojection_error/init 2.576E+01}
[11/09/2020 09:57:02 INFO] [E 4 | it 1850] loss {total 2.270E+00, reprojection_error/0 5.049E+00, reprojection_error/1 9.562E-01, reprojection_error/2 8.042E-01, reprojection_error 8.042E-01, reprojection_error/init 7.132E+01}
[11/09/2020 09:58:16 INFO] [E 4 | it 1900] loss {total 1.454E+01, reprojection_error/0 3.046E+01, reprojection_error/1 2.964E+01, reprojection_error/2 2.921E+01, reprojection_error 2.921E+01, reprojection_error/init 1.045E+02}
[11/09/2020 09:59:29 INFO] [E 4 | it 1950] loss {total 7.477E+00, reprojection_error/0 2.160E+01, reprojection_error/1 1.706E+01, reprojection_error/2 1.710E+01, reprojection_error 1.710E+01, reprojection_error/init 5.632E+01}
[11/09/2020 10:00:41 INFO] [E 4 | it 2000] loss {total 7.678E+00, reprojection_error/0 1.140E+01, reprojection_error/1 5.827E+00, reprojection_error/2 5.810E+00, reprojection_error 5.810E+00, reprojection_error/init 8.760E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:34,  1.19s/it]
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Evaluation:  31%|###1      | 25/80 [00:12<00:27,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:15<00:23,  2.06it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.07it/s]
Evaluation:  41%|####1     | 33/80 [00:16<00:22,  2.09it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:21,  2.10it/s]
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Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.09it/s]
Evaluation:  51%|#####1    | 41/80 [00:20<00:18,  2.09it/s]
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Evaluation:  70%|#######   | 56/80 [00:27<00:11,  2.09it/s]
Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.09it/s]
Evaluation:  72%|#######2  | 58/80 [00:28<00:10,  2.09it/s]
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Evaluation:  80%|########  | 64/80 [00:31<00:07,  2.09it/s]
Evaluation:  81%|########1 | 65/80 [00:31<00:07,  2.09it/s]
Evaluation:  82%|########2 | 66/80 [00:32<00:06,  2.10it/s]
Evaluation:  84%|########3 | 67/80 [00:32<00:06,  2.10it/s]
Evaluation:  85%|########5 | 68/80 [00:33<00:05,  2.10it/s]
Evaluation:  86%|########6 | 69/80 [00:33<00:05,  2.10it/s]
Evaluation:  88%|########7 | 70/80 [00:34<00:04,  2.11it/s]
Evaluation:  89%|########8 | 71/80 [00:34<00:04,  2.11it/s]
Evaluation:  90%|######### | 72/80 [00:35<00:03,  2.11it/s]
Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.11it/s]
Evaluation:  92%|#########2| 74/80 [00:36<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:37<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:37<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:38<00:00,  2.11it/s]
Evaluation:  99%|#########8| 79/80 [00:38<00:00,  2.13it/s]
Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.13it/s]
Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.04it/s]
[11/09/2020 10:01:20 INFO] [Validation] {R_error/0 1.204E+00, t_error/0 3.203E-01, R_error/1 7.084E-01, t_error/1 1.862E-01, R_error/2 6.647E-01, t_error/2 1.726E-01, R_error 6.647E-01, t_error 1.726E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.953E+00, loss/reprojection_error/0 1.253E+01, loss/reprojection_error/1 7.688E+00, loss/reprojection_error/2 7.332E+00, loss/reprojection_error 7.332E+00, loss/reprojection_error_median 9.208E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:02:34 INFO] [E 4 | it 2050] loss {total 1.327E+01, reprojection_error/0 2.339E+01, reprojection_error/1 1.552E+01, reprojection_error/2 1.553E+01, reprojection_error 1.553E+01, reprojection_error/init 8.531E+01}
[11/09/2020 10:03:46 INFO] [E 4 | it 2100] loss {total 6.758E+00, reprojection_error/0 7.773E+00, reprojection_error/1 6.196E+00, reprojection_error/2 6.306E+00, reprojection_error 6.306E+00, reprojection_error/init 6.375E+01}
[11/09/2020 10:04:59 INFO] [E 4 | it 2150] loss {total 2.593E+00, reprojection_error/0 4.731E+00, reprojection_error/1 1.521E+00, reprojection_error/2 1.527E+00, reprojection_error 1.527E+00, reprojection_error/init 3.366E+01}
[11/09/2020 10:06:11 INFO] [E 4 | it 2200] loss {total 4.444E+00, reprojection_error/0 9.421E+00, reprojection_error/1 2.025E+00, reprojection_error/2 1.888E+00, reprojection_error 1.888E+00, reprojection_error/init 7.655E+01}
[11/09/2020 10:07:25 INFO] [E 4 | it 2250] loss {total 2.988E+00, reprojection_error/0 3.690E+00, reprojection_error/1 2.766E+00, reprojection_error/2 2.507E+00, reprojection_error 2.507E+00, reprojection_error/init 3.333E+01}
[11/09/2020 10:08:39 INFO] [E 4 | it 2300] loss {total 7.869E+00, reprojection_error/0 2.257E+01, reprojection_error/1 1.731E+01, reprojection_error/2 1.706E+01, reprojection_error 1.706E+01, reprojection_error/init 1.100E+02}
[11/09/2020 10:09:52 INFO] [E 4 | it 2350] loss {total 2.792E+00, reprojection_error/0 6.296E+00, reprojection_error/1 1.426E+00, reprojection_error/2 6.538E-01, reprojection_error 6.538E-01, reprojection_error/init 4.282E+01}
[11/09/2020 10:11:07 INFO] [E 4 | it 2400] loss {total 1.247E+01, reprojection_error/0 3.705E+01, reprojection_error/1 3.346E+01, reprojection_error/2 3.357E+01, reprojection_error 3.357E+01, reprojection_error/init 1.487E+02}
[11/09/2020 10:12:20 INFO] [E 4 | it 2450] loss {total 1.005E+01, reprojection_error/0 2.437E+01, reprojection_error/1 2.210E+01, reprojection_error/2 2.139E+01, reprojection_error 2.139E+01, reprojection_error/init 1.377E+02}
[11/09/2020 10:13:34 INFO] [E 4 | it 2500] loss {total 1.437E+01, reprojection_error/0 2.986E+01, reprojection_error/1 2.885E+01, reprojection_error/2 2.873E+01, reprojection_error 2.873E+01, reprojection_error/init 7.658E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:35,  1.21s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:17,  1.00it/s]
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Evaluation:   8%|7         | 6/80 [00:03<00:45,  1.63it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:42,  1.73it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:39,  1.81it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:37,  1.87it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.92it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.94it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.96it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:33,  1.99it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  2.01it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:31,  2.01it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.02it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.03it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.03it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.03it/s]
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Evaluation:  49%|####8     | 39/80 [00:19<00:20,  2.03it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.03it/s]
Evaluation:  51%|#####1    | 41/80 [00:20<00:19,  2.03it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.03it/s]
Evaluation:  54%|#####3    | 43/80 [00:21<00:18,  2.02it/s]
Evaluation:  55%|#####5    | 44/80 [00:22<00:17,  2.02it/s]
Evaluation:  56%|#####6    | 45/80 [00:22<00:17,  2.02it/s]
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Evaluation:  59%|#####8    | 47/80 [00:23<00:16,  2.02it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.02it/s]
Evaluation:  61%|######1   | 49/80 [00:24<00:15,  2.02it/s]
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Evaluation:  64%|######3   | 51/80 [00:25<00:14,  2.02it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.02it/s]
Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:29<00:10,  2.02it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 10:14:14 INFO] [Validation] {R_error/0 1.217E+00, t_error/0 3.329E-01, R_error/1 7.091E-01, t_error/1 1.821E-01, R_error/2 6.630E-01, t_error/2 1.666E-01, R_error 6.630E-01, t_error 1.666E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.012E+00, loss/reprojection_error/0 1.273E+01, loss/reprojection_error/1 7.057E+00, loss/reprojection_error/2 6.669E+00, loss/reprojection_error 6.669E+00, loss/reprojection_error_median 8.521E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:15:28 INFO] [E 4 | it 2550] loss {total 3.094E+00, reprojection_error/0 7.455E+00, reprojection_error/1 8.997E-01, reprojection_error/2 9.271E-01, reprojection_error 9.271E-01, reprojection_error/init 7.832E+01}
[11/09/2020 10:16:43 INFO] [E 4 | it 2600] loss {total 3.953E+00, reprojection_error/0 7.591E+00, reprojection_error/1 2.464E+00, reprojection_error/2 1.806E+00, reprojection_error 1.806E+00, reprojection_error/init 6.380E+01}
[11/09/2020 10:17:57 INFO] [E 4 | it 2650] loss {total 2.449E+00, reprojection_error/0 5.392E+00, reprojection_error/1 9.607E-01, reprojection_error/2 9.929E-01, reprojection_error 9.929E-01, reprojection_error/init 6.185E+01}
[11/09/2020 10:19:12 INFO] [E 4 | it 2700] loss {total 7.439E+00, reprojection_error/0 2.052E+01, reprojection_error/1 1.752E+01, reprojection_error/2 1.760E+01, reprojection_error 1.760E+01, reprojection_error/init 9.995E+01}
[11/09/2020 10:20:26 INFO] [E 4 | it 2750] loss {total 5.420E+00, reprojection_error/0 7.809E+00, reprojection_error/1 4.458E+00, reprojection_error/2 3.993E+00, reprojection_error 3.993E+00, reprojection_error/init 5.929E+01}
[11/09/2020 10:21:40 INFO] [E 4 | it 2800] loss {total 2.336E+00, reprojection_error/0 5.167E+00, reprojection_error/1 9.791E-01, reprojection_error/2 8.611E-01, reprojection_error 8.611E-01, reprojection_error/init 7.358E+01}
[11/09/2020 10:22:54 INFO] [E 4 | it 2850] loss {total 2.984E+00, reprojection_error/0 5.746E+00, reprojection_error/1 1.791E+00, reprojection_error/2 1.414E+00, reprojection_error 1.414E+00, reprojection_error/init 6.446E+01}
[11/09/2020 10:24:07 INFO] [E 4 | it 2900] loss {total 9.465E+00, reprojection_error/0 1.774E+01, reprojection_error/1 8.806E+00, reprojection_error/2 7.796E+00, reprojection_error 7.796E+00, reprojection_error/init 9.436E+01}
[11/09/2020 10:25:21 INFO] [E 4 | it 2950] loss {total 7.132E+00, reprojection_error/0 2.019E+01, reprojection_error/1 1.741E+01, reprojection_error/2 1.713E+01, reprojection_error 1.713E+01, reprojection_error/init 1.168E+02}

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Evaluation: 100%|##########| 80/80 [00:39<00:00,  2.05it/s]
[11/09/2020 10:27:10 INFO] [Validation] {R_error/0 1.252E+00, t_error/0 3.667E-01, R_error/1 7.300E-01, t_error/1 2.084E-01, R_error/2 6.920E-01, t_error/2 1.942E-01, R_error 6.920E-01, t_error 1.942E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.316E+00, loss/reprojection_error/0 1.338E+01, loss/reprojection_error/1 7.739E+00, loss/reprojection_error/2 7.375E+00, loss/reprojection_error 7.375E+00, loss/reprojection_error_median 1.010E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:27:11 INFO] Saving checkpoint checkpoint_4
[11/09/2020 10:27:11 INFO] Starting epoch 5
[11/09/2020 10:27:11 INFO] Sampling new images or pairs with seed 5

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100%|██████████| 9/9 [00:00<00:00, 19.58it/s]
[11/09/2020 10:27:14 INFO] [E 5 | it 0] loss {total 9.567E+00, reprojection_error/0 1.575E+01, reprojection_error/1 1.221E+01, reprojection_error/2 1.192E+01, reprojection_error 1.192E+01, reprojection_error/init 9.524E+01}

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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 10:27:54 INFO] [Validation] {R_error/0 1.253E+00, t_error/0 3.669E-01, R_error/1 7.335E-01, t_error/1 2.074E-01, R_error/2 6.976E-01, t_error/2 1.934E-01, R_error 6.976E-01, t_error 1.934E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.359E+00, loss/reprojection_error/0 1.330E+01, loss/reprojection_error/1 7.624E+00, loss/reprojection_error/2 7.263E+00, loss/reprojection_error 7.263E+00, loss/reprojection_error_median 1.022E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:29:08 INFO] [E 5 | it 50] loss {total 8.769E+00, reprojection_error/0 1.762E+01, reprojection_error/1 7.383E+00, reprojection_error/2 7.346E+00, reprojection_error 7.346E+00, reprojection_error/init 6.564E+01}
[11/09/2020 10:30:20 INFO] [E 5 | it 100] loss {total 3.104E+00, reprojection_error/0 5.763E+00, reprojection_error/1 1.888E+00, reprojection_error/2 1.662E+00, reprojection_error 1.662E+00, reprojection_error/init 6.990E+01}
[11/09/2020 10:31:33 INFO] [E 5 | it 150] loss {total 1.146E+01, reprojection_error/0 3.151E+01, reprojection_error/1 1.867E+01, reprojection_error/2 1.755E+01, reprojection_error 1.755E+01, reprojection_error/init 1.237E+02}
[11/09/2020 10:32:46 INFO] [E 5 | it 200] loss {total 7.837E+00, reprojection_error/0 2.051E+01, reprojection_error/1 1.856E+01, reprojection_error/2 1.777E+01, reprojection_error 1.777E+01, reprojection_error/init 1.107E+02}
[11/09/2020 10:33:59 INFO] [E 5 | it 250] loss {total 6.925E+00, reprojection_error/0 1.910E+01, reprojection_error/1 1.785E+01, reprojection_error/2 1.716E+01, reprojection_error 1.716E+01, reprojection_error/init 5.627E+01}
[11/09/2020 10:35:12 INFO] [E 5 | it 300] loss {total 8.571E+00, reprojection_error/0 2.144E+01, reprojection_error/1 1.896E+01, reprojection_error/2 1.865E+01, reprojection_error 1.865E+01, reprojection_error/init 9.709E+01}
[11/09/2020 10:36:26 INFO] [E 5 | it 350] loss {total 3.938E+00, reprojection_error/0 9.188E+00, reprojection_error/1 1.769E+00, reprojection_error/2 8.565E-01, reprojection_error 8.565E-01, reprojection_error/init 7.558E+01}
[11/09/2020 10:37:40 INFO] [E 5 | it 400] loss {total 3.616E+00, reprojection_error/0 4.822E+00, reprojection_error/1 2.921E+00, reprojection_error/2 3.105E+00, reprojection_error 3.105E+00, reprojection_error/init 3.836E+01}
[11/09/2020 10:38:53 INFO] [E 5 | it 450] loss {total 4.460E+00, reprojection_error/0 7.282E+00, reprojection_error/1 3.190E+00, reprojection_error/2 2.907E+00, reprojection_error 2.907E+00, reprojection_error/init 7.263E+01}
[11/09/2020 10:40:07 INFO] [E 5 | it 500] loss {total 1.688E+01, reprojection_error/0 3.381E+01, reprojection_error/1 3.045E+01, reprojection_error/2 3.052E+01, reprojection_error 3.052E+01, reprojection_error/init 9.131E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:34,  1.20s/it]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.01it/s]
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Evaluation:  41%|####1     | 33/80 [00:16<00:23,  2.02it/s]
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Evaluation:  61%|######1   | 49/80 [00:24<00:15,  2.02it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:29<00:10,  2.01it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.04it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.05it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.05it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.05it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.05it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.05it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.05it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 10:40:48 INFO] [Validation] {R_error/0 1.215E+00, t_error/0 3.525E-01, R_error/1 6.952E-01, t_error/1 1.881E-01, R_error/2 6.486E-01, t_error/2 1.753E-01, R_error 6.486E-01, t_error 1.753E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.905E+00, loss/reprojection_error/0 1.252E+01, loss/reprojection_error/1 6.910E+00, loss/reprojection_error/2 6.543E+00, loss/reprojection_error 6.543E+00, loss/reprojection_error_median 9.241E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:42:02 INFO] [E 5 | it 550] loss {total 1.532E+01, reprojection_error/0 2.264E+01, reprojection_error/1 2.318E+01, reprojection_error/2 2.342E+01, reprojection_error 2.342E+01, reprojection_error/init 9.729E+01}
[11/09/2020 10:43:15 INFO] [E 5 | it 600] loss {total 1.243E+01, reprojection_error/0 3.494E+01, reprojection_error/1 3.461E+01, reprojection_error/2 3.441E+01, reprojection_error 3.441E+01, reprojection_error/init 9.080E+01}
[11/09/2020 10:44:29 INFO] [E 5 | it 650] loss {total 3.037E+00, reprojection_error/0 5.183E+00, reprojection_error/1 2.129E+00, reprojection_error/2 1.799E+00, reprojection_error 1.799E+00, reprojection_error/init 3.484E+01}
[11/09/2020 10:45:43 INFO] [E 5 | it 700] loss {total 7.311E+00, reprojection_error/0 1.993E+01, reprojection_error/1 1.753E+01, reprojection_error/2 1.780E+01, reprojection_error 1.780E+01, reprojection_error/init 8.455E+01}
[11/09/2020 10:46:57 INFO] [E 5 | it 750] loss {total 9.537E+00, reprojection_error/0 1.560E+01, reprojection_error/1 1.189E+01, reprojection_error/2 1.165E+01, reprojection_error 1.165E+01, reprojection_error/init 1.052E+02}
[11/09/2020 10:48:11 INFO] [E 5 | it 800] loss {total 4.854E+00, reprojection_error/0 1.138E+01, reprojection_error/1 1.553E+00, reprojection_error/2 1.628E+00, reprojection_error 1.628E+00, reprojection_error/init 5.055E+01}
[11/09/2020 10:49:24 INFO] [E 5 | it 850] loss {total 4.312E+00, reprojection_error/0 7.485E+00, reprojection_error/1 2.902E+00, reprojection_error/2 2.551E+00, reprojection_error 2.551E+00, reprojection_error/init 5.192E+01}
[11/09/2020 10:50:39 INFO] [E 5 | it 900] loss {total 7.542E+00, reprojection_error/0 2.145E+01, reprojection_error/1 1.725E+01, reprojection_error/2 1.652E+01, reprojection_error 1.652E+01, reprojection_error/init 7.824E+01}
[11/09/2020 10:51:53 INFO] [E 5 | it 950] loss {total 6.964E+00, reprojection_error/0 1.881E+01, reprojection_error/1 1.759E+01, reprojection_error/2 1.768E+01, reprojection_error 1.768E+01, reprojection_error/init 6.746E+01}
[11/09/2020 10:53:06 INFO] [E 5 | it 1000] loss {total 3.928E+00, reprojection_error/0 8.256E+00, reprojection_error/1 2.148E+00, reprojection_error/2 1.382E+00, reprojection_error 1.382E+00, reprojection_error/init 6.915E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:36,  1.23s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:37,  1.87it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.92it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  51%|#####1    | 41/80 [00:20<00:19,  2.02it/s]
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Evaluation:  61%|######1   | 49/80 [00:24<00:15,  2.02it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.03it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.03it/s]
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Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.05it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.05it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.06it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.06it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.06it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.06it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/09/2020 10:53:46 INFO] [Validation] {R_error/0 1.175E+00, t_error/0 3.081E-01, R_error/1 6.839E-01, t_error/1 1.727E-01, R_error/2 6.369E-01, t_error/2 1.622E-01, R_error 6.369E-01, t_error 1.622E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.370E+00, loss/reprojection_error/0 1.155E+01, loss/reprojection_error/1 6.538E+00, loss/reprojection_error/2 6.206E+00, loss/reprojection_error 6.206E+00, loss/reprojection_error_median 9.048E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 10:55:00 INFO] [E 5 | it 1050] loss {total 8.278E+00, reprojection_error/0 1.585E+01, reprojection_error/1 8.575E+00, reprojection_error/2 7.722E+00, reprojection_error 7.722E+00, reprojection_error/init 6.777E+01}
[11/09/2020 10:56:13 INFO] [E 5 | it 1100] loss {total 7.167E+00, reprojection_error/0 1.540E+01, reprojection_error/1 5.424E+00, reprojection_error/2 5.394E+00, reprojection_error 5.394E+00, reprojection_error/init 4.213E+01}
[11/09/2020 10:57:27 INFO] [E 5 | it 1150] loss {total 9.225E+00, reprojection_error/0 2.478E+01, reprojection_error/1 1.445E+01, reprojection_error/2 1.315E+01, reprojection_error 1.315E+01, reprojection_error/init 7.744E+01}
[11/09/2020 10:58:41 INFO] [E 5 | it 1200] loss {total 8.671E+00, reprojection_error/0 1.553E+01, reprojection_error/1 9.248E+00, reprojection_error/2 9.373E+00, reprojection_error 9.373E+00, reprojection_error/init 8.455E+01}
[11/09/2020 10:59:54 INFO] [E 5 | it 1250] loss {total 9.629E+00, reprojection_error/0 1.670E+01, reprojection_error/1 6.408E+00, reprojection_error/2 5.782E+00, reprojection_error 5.782E+00, reprojection_error/init 9.093E+01}
[11/09/2020 11:01:08 INFO] [E 5 | it 1300] loss {total 2.154E+00, reprojection_error/0 3.145E+00, reprojection_error/1 2.020E+00, reprojection_error/2 1.296E+00, reprojection_error 1.296E+00, reprojection_error/init 6.479E+01}
[11/09/2020 11:02:22 INFO] [E 5 | it 1350] loss {total 2.926E+00, reprojection_error/0 5.945E+00, reprojection_error/1 1.694E+00, reprojection_error/2 1.140E+00, reprojection_error 1.140E+00, reprojection_error/init 5.547E+01}
[11/09/2020 11:03:36 INFO] [E 5 | it 1400] loss {total 3.676E+00, reprojection_error/0 5.841E+00, reprojection_error/1 3.002E+00, reprojection_error/2 2.184E+00, reprojection_error 2.184E+00, reprojection_error/init 7.478E+01}
[11/09/2020 11:04:50 INFO] [E 5 | it 1450] loss {total 5.423E+00, reprojection_error/0 9.300E+00, reprojection_error/1 3.735E+00, reprojection_error/2 3.234E+00, reprojection_error 3.234E+00, reprojection_error/init 5.774E+01}
[11/09/2020 11:06:04 INFO] [E 5 | it 1500] loss {total 7.502E+00, reprojection_error/0 2.009E+01, reprojection_error/1 1.785E+01, reprojection_error/2 1.790E+01, reprojection_error 1.790E+01, reprojection_error/init 5.684E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:39,  1.26s/it]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.01it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.01it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.04it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.04it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.05it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.06it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.06it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.06it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.06it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.06it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.06it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.06it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.06it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 11:06:45 INFO] [Validation] {R_error/0 1.216E+00, t_error/0 4.306E-01, R_error/1 7.006E-01, t_error/1 2.476E-01, R_error/2 6.487E-01, t_error/2 2.334E-01, R_error 6.487E-01, t_error 2.334E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.000E+00, loss/reprojection_error/0 1.324E+01, loss/reprojection_error/1 7.221E+00, loss/reprojection_error/2 6.839E+00, loss/reprojection_error 6.839E+00, loss/reprojection_error_median 8.947E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 11:07:59 INFO] [E 5 | it 1550] loss {total 7.009E+00, reprojection_error/0 1.403E+01, reprojection_error/1 6.455E+00, reprojection_error/2 6.442E+00, reprojection_error 6.442E+00, reprojection_error/init 5.496E+01}
[11/09/2020 11:09:14 INFO] [E 5 | it 1600] loss {total 1.195E+01, reprojection_error/0 3.527E+01, reprojection_error/1 3.267E+01, reprojection_error/2 3.246E+01, reprojection_error 3.246E+01, reprojection_error/init 1.589E+02}
[11/09/2020 11:10:28 INFO] [E 5 | it 1650] loss {total 3.237E+00, reprojection_error/0 7.924E+00, reprojection_error/1 1.164E+00, reprojection_error/2 6.233E-01, reprojection_error 6.233E-01, reprojection_error/init 6.023E+01}
[11/09/2020 11:11:43 INFO] [E 5 | it 1700] loss {total 1.335E+01, reprojection_error/0 2.123E+01, reprojection_error/1 1.866E+01, reprojection_error/2 1.806E+01, reprojection_error 1.806E+01, reprojection_error/init 1.062E+02}
[11/09/2020 11:12:57 INFO] [E 5 | it 1750] loss {total 5.421E+00, reprojection_error/0 7.545E+00, reprojection_error/1 4.250E+00, reprojection_error/2 4.469E+00, reprojection_error 4.469E+00, reprojection_error/init 8.275E+01}
[11/09/2020 11:14:11 INFO] [E 5 | it 1800] loss {total 2.986E+00, reprojection_error/0 6.495E+00, reprojection_error/1 1.516E+00, reprojection_error/2 9.453E-01, reprojection_error 9.453E-01, reprojection_error/init 8.177E+01}
[11/09/2020 11:15:25 INFO] [E 5 | it 1850] loss {total 7.457E+00, reprojection_error/0 1.555E+01, reprojection_error/1 3.745E+00, reprojection_error/2 3.080E+00, reprojection_error 3.080E+00, reprojection_error/init 6.030E+01}
[11/09/2020 11:16:40 INFO] [E 5 | it 1900] loss {total 1.441E+01, reprojection_error/0 2.290E+01, reprojection_error/1 1.717E+01, reprojection_error/2 1.599E+01, reprojection_error 1.599E+01, reprojection_error/init 6.371E+01}
[11/09/2020 11:17:55 INFO] [E 5 | it 1950] loss {total 1.389E+01, reprojection_error/0 2.385E+01, reprojection_error/1 1.730E+01, reprojection_error/2 1.718E+01, reprojection_error 1.718E+01, reprojection_error/init 8.023E+01}
[11/09/2020 11:19:10 INFO] [E 5 | it 2000] loss {total 3.271E+00, reprojection_error/0 8.059E+00, reprojection_error/1 9.149E-01, reprojection_error/2 8.378E-01, reprojection_error 8.378E-01, reprojection_error/init 5.851E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:37,  1.24s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:19,  1.02s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.85it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.89it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.93it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.00it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.00it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:12,  2.00it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.00it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.00it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.02it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.02it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.02it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.03it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.03it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.03it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.03it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.03it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.03it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/09/2020 11:19:50 INFO] [Validation] {R_error/0 1.173E+00, t_error/0 3.541E-01, R_error/1 6.668E-01, t_error/1 2.077E-01, R_error/2 6.238E-01, t_error/2 1.953E-01, R_error 6.238E-01, t_error 1.953E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.779E+00, loss/reprojection_error/0 1.231E+01, loss/reprojection_error/1 7.071E+00, loss/reprojection_error/2 6.678E+00, loss/reprojection_error 6.678E+00, loss/reprojection_error_median 9.264E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 11:21:05 INFO] [E 5 | it 2050] loss {total 1.288E+01, reprojection_error/0 2.020E+01, reprojection_error/1 1.308E+01, reprojection_error/2 1.251E+01, reprojection_error 1.251E+01, reprojection_error/init 5.814E+01}
[11/09/2020 11:22:20 INFO] [E 5 | it 2100] loss {total 3.715E+00, reprojection_error/0 7.896E+00, reprojection_error/1 1.481E+00, reprojection_error/2 1.769E+00, reprojection_error 1.769E+00, reprojection_error/init 5.670E+01}
[11/09/2020 11:23:34 INFO] [E 5 | it 2150] loss {total 3.497E+00, reprojection_error/0 5.838E+00, reprojection_error/1 2.893E+00, reprojection_error/2 1.759E+00, reprojection_error 1.759E+00, reprojection_error/init 6.398E+01}
[11/09/2020 11:24:49 INFO] [E 5 | it 2200] loss {total 9.081E+00, reprojection_error/0 2.457E+01, reprojection_error/1 1.839E+01, reprojection_error/2 1.762E+01, reprojection_error 1.762E+01, reprojection_error/init 1.031E+02}
[11/09/2020 11:26:04 INFO] [E 5 | it 2250] loss {total 7.758E+00, reprojection_error/0 1.156E+01, reprojection_error/1 6.290E+00, reprojection_error/2 5.427E+00, reprojection_error 5.427E+00, reprojection_error/init 1.017E+02}
[11/09/2020 11:27:19 INFO] [E 5 | it 2300] loss {total 5.221E+00, reprojection_error/0 9.651E+00, reprojection_error/1 3.138E+00, reprojection_error/2 2.875E+00, reprojection_error 2.875E+00, reprojection_error/init 4.759E+01}
[11/09/2020 11:28:33 INFO] [E 5 | it 2350] loss {total 3.367E+00, reprojection_error/0 6.780E+00, reprojection_error/1 1.926E+00, reprojection_error/2 1.395E+00, reprojection_error 1.395E+00, reprojection_error/init 7.279E+01}
[11/09/2020 11:29:48 INFO] [E 5 | it 2400] loss {total 1.640E+01, reprojection_error/0 4.345E+01, reprojection_error/1 3.908E+01, reprojection_error/2 3.911E+01, reprojection_error 3.911E+01, reprojection_error/init 8.504E+01}
[11/09/2020 11:31:03 INFO] [E 5 | it 2450] loss {total 6.930E+00, reprojection_error/0 1.951E+01, reprojection_error/1 1.729E+01, reprojection_error/2 1.732E+01, reprojection_error 1.732E+01, reprojection_error/init 6.010E+01}
[11/09/2020 11:32:18 INFO] [E 5 | it 2500] loss {total 6.714E+00, reprojection_error/0 1.236E+01, reprojection_error/1 7.447E+00, reprojection_error/2 7.210E+00, reprojection_error 7.210E+00, reprojection_error/init 7.732E+01}

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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/09/2020 11:32:59 INFO] [Validation] {R_error/0 1.182E+00, t_error/0 3.589E-01, R_error/1 7.063E-01, t_error/1 2.052E-01, R_error/2 6.554E-01, t_error/2 1.901E-01, R_error 6.554E-01, t_error 1.901E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.746E+00, loss/reprojection_error/0 1.238E+01, loss/reprojection_error/1 7.025E+00, loss/reprojection_error/2 6.606E+00, loss/reprojection_error 6.606E+00, loss/reprojection_error_median 9.308E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 11:34:14 INFO] [E 5 | it 2550] loss {total 8.059E+00, reprojection_error/0 1.878E+01, reprojection_error/1 5.130E+00, reprojection_error/2 2.833E+00, reprojection_error 2.833E+00, reprojection_error/init 6.240E+01}
[11/09/2020 11:35:28 INFO] [E 5 | it 2600] loss {total 3.215E+00, reprojection_error/0 6.306E+00, reprojection_error/1 1.792E+00, reprojection_error/2 1.547E+00, reprojection_error 1.547E+00, reprojection_error/init 5.348E+01}
[11/09/2020 11:36:43 INFO] [E 5 | it 2650] loss {total 7.909E+00, reprojection_error/0 2.210E+01, reprojection_error/1 1.756E+01, reprojection_error/2 1.739E+01, reprojection_error 1.739E+01, reprojection_error/init 1.060E+02}
[11/09/2020 11:37:58 INFO] [E 5 | it 2700] loss {total 3.242E+00, reprojection_error/0 4.396E+00, reprojection_error/1 2.954E+00, reprojection_error/2 2.376E+00, reprojection_error 2.376E+00, reprojection_error/init 4.171E+01}
[11/09/2020 11:39:13 INFO] [E 5 | it 2750] loss {total 5.522E+00, reprojection_error/0 1.308E+01, reprojection_error/1 2.095E+00, reprojection_error/2 1.386E+00, reprojection_error 1.386E+00, reprojection_error/init 6.749E+01}
[11/09/2020 11:40:28 INFO] [E 5 | it 2800] loss {total 4.128E+00, reprojection_error/0 7.921E+00, reprojection_error/1 2.542E+00, reprojection_error/2 1.921E+00, reprojection_error 1.921E+00, reprojection_error/init 5.536E+01}
[11/09/2020 11:41:43 INFO] [E 5 | it 2850] loss {total 9.166E+00, reprojection_error/0 1.699E+01, reprojection_error/1 8.899E+00, reprojection_error/2 8.248E+00, reprojection_error 8.248E+00, reprojection_error/init 6.173E+01}
[11/09/2020 11:42:58 INFO] [E 5 | it 2900] loss {total 5.683E+00, reprojection_error/0 1.135E+01, reprojection_error/1 3.139E+00, reprojection_error/2 2.558E+00, reprojection_error 2.558E+00, reprojection_error/init 9.634E+01}
[11/09/2020 11:44:13 INFO] [E 5 | it 2950] loss {total 7.727E+00, reprojection_error/0 1.594E+01, reprojection_error/1 4.101E+00, reprojection_error/2 3.143E+00, reprojection_error 3.143E+00, reprojection_error/init 1.246E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.83it/s]
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Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.91it/s]
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Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  1.99it/s]
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Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.00it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.01it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.01it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.01it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.01it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.01it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/09/2020 11:46:06 INFO] [Validation] {R_error/0 1.125E+00, t_error/0 3.579E-01, R_error/1 6.660E-01, t_error/1 2.057E-01, R_error/2 6.249E-01, t_error/2 1.884E-01, R_error 6.249E-01, t_error 1.884E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.601E+00, loss/reprojection_error/0 1.210E+01, loss/reprojection_error/1 6.888E+00, loss/reprojection_error/2 6.476E+00, loss/reprojection_error 6.476E+00, loss/reprojection_error_median 8.334E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 11:46:06 INFO] Saving checkpoint checkpoint_5
[11/09/2020 11:46:07 INFO] New best checkpoint: loss/total=5.600826891263326
[11/09/2020 11:46:08 INFO] Deleting checkpoint checkpoint_4_interrupted.tar
[11/09/2020 11:46:08 INFO] Starting epoch 6
[11/09/2020 11:46:08 INFO] Sampling new images or pairs with seed 6

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100%|██████████| 9/9 [00:00<00:00, 18.81it/s]
[11/09/2020 11:46:10 INFO] [E 6 | it 0] loss {total 3.983E+00, reprojection_error/0 7.225E+00, reprojection_error/1 2.626E+00, reprojection_error/2 2.098E+00, reprojection_error 2.098E+00, reprojection_error/init 8.361E+01}

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Evaluation:  71%|#######1  | 57/80 [00:28<00:10,  2.10it/s]
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Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.14it/s]
Evaluation:  92%|#########2| 74/80 [00:36<00:02,  2.14it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.13it/s]
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Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.05it/s]
[11/09/2020 11:46:49 INFO] [Validation] {R_error/0 1.125E+00, t_error/0 3.576E-01, R_error/1 6.700E-01, t_error/1 2.060E-01, R_error/2 6.303E-01, t_error/2 1.887E-01, R_error 6.303E-01, t_error 1.887E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.606E+00, loss/reprojection_error/0 1.210E+01, loss/reprojection_error/1 6.899E+00, loss/reprojection_error/2 6.487E+00, loss/reprojection_error 6.487E+00, loss/reprojection_error_median 8.357E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 11:48:02 INFO] [E 6 | it 50] loss {total 7.472E+00, reprojection_error/0 2.003E+01, reprojection_error/1 1.782E+01, reprojection_error/2 1.790E+01, reprojection_error 1.790E+01, reprojection_error/init 1.198E+02}
[11/09/2020 11:49:14 INFO] [E 6 | it 100] loss {total 1.555E+01, reprojection_error/0 3.186E+01, reprojection_error/1 3.065E+01, reprojection_error/2 3.056E+01, reprojection_error 3.056E+01, reprojection_error/init 8.759E+01}
[11/09/2020 11:50:26 INFO] [E 6 | it 150] loss {total 3.695E+00, reprojection_error/0 6.037E+00, reprojection_error/1 2.686E+00, reprojection_error/2 2.361E+00, reprojection_error 2.361E+00, reprojection_error/init 9.388E+01}
[11/09/2020 11:51:38 INFO] [E 6 | it 200] loss {total 7.651E+00, reprojection_error/0 2.179E+01, reprojection_error/1 1.737E+01, reprojection_error/2 1.712E+01, reprojection_error 1.712E+01, reprojection_error/init 1.581E+02}
[11/09/2020 11:52:50 INFO] [E 6 | it 250] loss {total 8.939E-01, reprojection_error/0 1.423E+00, reprojection_error/1 5.648E-01, reprojection_error/2 6.938E-01, reprojection_error 6.938E-01, reprojection_error/init 7.113E+01}
[11/09/2020 11:54:03 INFO] [E 6 | it 300] loss {total 1.526E+00, reprojection_error/0 3.341E+00, reprojection_error/1 7.610E-01, reprojection_error/2 4.759E-01, reprojection_error 4.759E-01, reprojection_error/init 5.089E+01}
[11/09/2020 11:55:15 INFO] [E 6 | it 350] loss {total 3.469E+00, reprojection_error/0 5.853E+00, reprojection_error/1 2.595E+00, reprojection_error/2 1.958E+00, reprojection_error 1.958E+00, reprojection_error/init 4.219E+01}
[11/09/2020 11:56:27 INFO] [E 6 | it 400] loss {total 4.178E+00, reprojection_error/0 6.284E+00, reprojection_error/1 3.150E+00, reprojection_error/2 3.102E+00, reprojection_error 3.102E+00, reprojection_error/init 9.391E+01}
[11/09/2020 11:57:39 INFO] [E 6 | it 450] loss {total 7.214E+00, reprojection_error/0 2.079E+01, reprojection_error/1 1.713E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 1.205E+02}
[11/09/2020 11:58:51 INFO] [E 6 | it 500] loss {total 5.525E+00, reprojection_error/0 8.856E+00, reprojection_error/1 4.121E+00, reprojection_error/2 3.597E+00, reprojection_error 3.597E+00, reprojection_error/init 5.493E+01}

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Evaluation:  41%|####1     | 33/80 [00:16<00:22,  2.12it/s]
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Evaluation:  71%|#######1  | 57/80 [00:27<00:10,  2.11it/s]
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Evaluation:  80%|########  | 64/80 [00:31<00:07,  2.11it/s]
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Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.14it/s]
Evaluation:  92%|#########2| 74/80 [00:35<00:02,  2.14it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.14it/s]
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Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.07it/s]
[11/09/2020 11:59:30 INFO] [Validation] {R_error/0 1.195E+00, t_error/0 3.398E-01, R_error/1 6.992E-01, t_error/1 1.805E-01, R_error/2 6.550E-01, t_error/2 1.680E-01, R_error 6.550E-01, t_error 1.680E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.730E+00, loss/reprojection_error/0 1.249E+01, loss/reprojection_error/1 6.668E+00, loss/reprojection_error/2 6.227E+00, loss/reprojection_error 6.227E+00, loss/reprojection_error_median 8.998E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:00:42 INFO] [E 6 | it 550] loss {total 6.954E+00, reprojection_error/0 1.869E+01, reprojection_error/1 1.792E+01, reprojection_error/2 1.759E+01, reprojection_error 1.759E+01, reprojection_error/init 1.138E+02}
[11/09/2020 12:01:55 INFO] [E 6 | it 600] loss {total 1.964E+00, reprojection_error/0 3.392E+00, reprojection_error/1 1.600E+00, reprojection_error/2 8.996E-01, reprojection_error 8.996E-01, reprojection_error/init 1.272E+02}
[11/09/2020 12:03:07 INFO] [E 6 | it 650] loss {total 5.565E+00, reprojection_error/0 1.240E+01, reprojection_error/1 2.342E+00, reprojection_error/2 1.952E+00, reprojection_error 1.952E+00, reprojection_error/init 6.797E+01}
[11/09/2020 12:04:19 INFO] [E 6 | it 700] loss {total 5.029E+00, reprojection_error/0 9.194E+00, reprojection_error/1 2.861E+00, reprojection_error/2 3.033E+00, reprojection_error 3.033E+00, reprojection_error/init 7.159E+01}
[11/09/2020 12:05:32 INFO] [E 6 | it 750] loss {total 2.358E+00, reprojection_error/0 4.083E+00, reprojection_error/1 1.715E+00, reprojection_error/2 1.277E+00, reprojection_error 1.277E+00, reprojection_error/init 6.151E+01}
[11/09/2020 12:06:44 INFO] [E 6 | it 800] loss {total 1.063E+01, reprojection_error/0 2.604E+01, reprojection_error/1 2.171E+01, reprojection_error/2 2.187E+01, reprojection_error 2.187E+01, reprojection_error/init 1.165E+02}
[11/09/2020 12:07:56 INFO] [E 6 | it 850] loss {total 4.157E+00, reprojection_error/0 6.170E+00, reprojection_error/1 3.404E+00, reprojection_error/2 2.896E+00, reprojection_error 2.896E+00, reprojection_error/init 5.932E+01}
[11/09/2020 12:09:08 INFO] [E 6 | it 900] loss {total 1.768E+00, reprojection_error/0 3.181E+00, reprojection_error/1 1.284E+00, reprojection_error/2 8.379E-01, reprojection_error 8.379E-01, reprojection_error/init 8.873E+01}
[11/09/2020 12:10:20 INFO] [E 6 | it 950] loss {total 1.097E+01, reprojection_error/0 2.497E+01, reprojection_error/1 1.822E+01, reprojection_error/2 1.737E+01, reprojection_error 1.737E+01, reprojection_error/init 7.589E+01}
[11/09/2020 12:11:32 INFO] [E 6 | it 1000] loss {total 3.168E+00, reprojection_error/0 7.375E+00, reprojection_error/1 1.192E+00, reprojection_error/2 9.381E-01, reprojection_error 9.381E-01, reprojection_error/init 8.524E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:04<00:36,  1.95it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:35,  2.00it/s]
Evaluation:  14%|#3        | 11/80 [00:05<00:34,  2.03it/s]
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Evaluation:  21%|##1       | 17/80 [00:08<00:30,  2.09it/s]
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Evaluation:  31%|###1      | 25/80 [00:12<00:26,  2.09it/s]
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Evaluation:  40%|####      | 32/80 [00:15<00:22,  2.10it/s]
Evaluation:  41%|####1     | 33/80 [00:16<00:22,  2.10it/s]
Evaluation:  42%|####2     | 34/80 [00:16<00:21,  2.10it/s]
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Evaluation:  50%|#####     | 40/80 [00:19<00:19,  2.10it/s]
Evaluation:  51%|#####1    | 41/80 [00:20<00:18,  2.10it/s]
Evaluation:  52%|#####2    | 42/80 [00:20<00:18,  2.10it/s]
Evaluation:  54%|#####3    | 43/80 [00:21<00:17,  2.10it/s]
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Evaluation:  71%|#######1  | 57/80 [00:27<00:11,  2.09it/s]
Evaluation:  72%|#######2  | 58/80 [00:28<00:10,  2.09it/s]
Evaluation:  74%|#######3  | 59/80 [00:28<00:10,  2.09it/s]
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Evaluation:  76%|#######6  | 61/80 [00:29<00:09,  2.10it/s]
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Evaluation:  80%|########  | 64/80 [00:31<00:07,  2.10it/s]
Evaluation:  81%|########1 | 65/80 [00:31<00:07,  2.10it/s]
Evaluation:  82%|########2 | 66/80 [00:32<00:06,  2.10it/s]
Evaluation:  84%|########3 | 67/80 [00:32<00:06,  2.09it/s]
Evaluation:  85%|########5 | 68/80 [00:33<00:05,  2.10it/s]
Evaluation:  86%|########6 | 69/80 [00:33<00:05,  2.10it/s]
Evaluation:  88%|########7 | 70/80 [00:33<00:04,  2.11it/s]
Evaluation:  89%|########8 | 71/80 [00:34<00:04,  2.12it/s]
Evaluation:  90%|######### | 72/80 [00:34<00:03,  2.12it/s]
Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.13it/s]
Evaluation:  92%|#########2| 74/80 [00:35<00:02,  2.12it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.13it/s]
Evaluation:  95%|#########5| 76/80 [00:36<00:01,  2.13it/s]
Evaluation:  96%|#########6| 77/80 [00:37<00:01,  2.13it/s]
Evaluation:  98%|#########7| 78/80 [00:37<00:00,  2.14it/s]
Evaluation:  99%|#########8| 79/80 [00:38<00:00,  2.14it/s]
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Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.06it/s]
[11/09/2020 12:12:11 INFO] [Validation] {R_error/0 1.131E+00, t_error/0 3.082E-01, R_error/1 6.586E-01, t_error/1 1.675E-01, R_error/2 6.171E-01, t_error/2 1.563E-01, R_error 6.171E-01, t_error 1.563E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.605E+00, loss/reprojection_error/0 1.172E+01, loss/reprojection_error/1 6.696E+00, loss/reprojection_error/2 6.381E+00, loss/reprojection_error 6.381E+00, loss/reprojection_error_median 9.250E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:13:23 INFO] [E 6 | it 1050] loss {total 4.134E+00, reprojection_error/0 8.340E+00, reprojection_error/1 2.064E+00, reprojection_error/2 1.997E+00, reprojection_error 1.997E+00, reprojection_error/init 7.052E+01}
[11/09/2020 12:14:35 INFO] [E 6 | it 1100] loss {total 5.038E+00, reprojection_error/0 6.856E+00, reprojection_error/1 4.536E+00, reprojection_error/2 3.721E+00, reprojection_error 3.721E+00, reprojection_error/init 4.503E+01}
[11/09/2020 12:15:48 INFO] [E 6 | it 1150] loss {total 1.022E+01, reprojection_error/0 1.554E+01, reprojection_error/1 1.245E+01, reprojection_error/2 1.221E+01, reprojection_error 1.221E+01, reprojection_error/init 1.100E+02}
[11/09/2020 12:17:00 INFO] [E 6 | it 1200] loss {total 2.662E+00, reprojection_error/0 5.430E+00, reprojection_error/1 1.331E+00, reprojection_error/2 1.225E+00, reprojection_error 1.225E+00, reprojection_error/init 6.860E+01}
[11/09/2020 12:18:12 INFO] [E 6 | it 1250] loss {total 2.684E+00, reprojection_error/0 6.117E+00, reprojection_error/1 1.250E+00, reprojection_error/2 6.840E-01, reprojection_error 6.840E-01, reprojection_error/init 5.091E+01}
[11/09/2020 12:19:24 INFO] [E 6 | it 1300] loss {total 5.218E+00, reprojection_error/0 8.435E+00, reprojection_error/1 3.687E+00, reprojection_error/2 3.531E+00, reprojection_error 3.531E+00, reprojection_error/init 4.563E+01}
[11/09/2020 12:20:36 INFO] [E 6 | it 1350] loss {total 3.172E+00, reprojection_error/0 4.791E+00, reprojection_error/1 2.302E+00, reprojection_error/2 2.424E+00, reprojection_error 2.424E+00, reprojection_error/init 7.560E+01}
[11/09/2020 12:21:48 INFO] [E 6 | it 1400] loss {total 5.068E+00, reprojection_error/0 9.436E+00, reprojection_error/1 2.865E+00, reprojection_error/2 2.904E+00, reprojection_error 2.904E+00, reprojection_error/init 1.213E+02}
[11/09/2020 12:23:00 INFO] [E 6 | it 1450] loss {total 9.612E+00, reprojection_error/0 2.151E+01, reprojection_error/1 2.073E+01, reprojection_error/2 1.992E+01, reprojection_error 1.992E+01, reprojection_error/init 8.741E+01}
[11/09/2020 12:24:13 INFO] [E 6 | it 1500] loss {total 3.669E+00, reprojection_error/0 5.664E+00, reprojection_error/1 2.966E+00, reprojection_error/2 2.377E+00, reprojection_error 2.377E+00, reprojection_error/init 9.520E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:33,  1.18s/it]
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Evaluation:  31%|###1      | 25/80 [00:12<00:26,  2.09it/s]
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Evaluation:  39%|###8      | 31/80 [00:15<00:23,  2.10it/s]
Evaluation:  40%|####      | 32/80 [00:15<00:22,  2.10it/s]
Evaluation:  41%|####1     | 33/80 [00:16<00:22,  2.11it/s]
Evaluation:  42%|####2     | 34/80 [00:16<00:21,  2.11it/s]
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Evaluation:  49%|####8     | 39/80 [00:19<00:19,  2.10it/s]
Evaluation:  50%|#####     | 40/80 [00:19<00:19,  2.10it/s]
Evaluation:  51%|#####1    | 41/80 [00:20<00:18,  2.10it/s]
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Evaluation:  71%|#######1  | 57/80 [00:27<00:10,  2.10it/s]
Evaluation:  72%|#######2  | 58/80 [00:28<00:10,  2.10it/s]
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Evaluation:  80%|########  | 64/80 [00:31<00:07,  2.11it/s]
Evaluation:  81%|########1 | 65/80 [00:31<00:07,  2.10it/s]
Evaluation:  82%|########2 | 66/80 [00:32<00:06,  2.11it/s]
Evaluation:  84%|########3 | 67/80 [00:32<00:06,  2.11it/s]
Evaluation:  85%|########5 | 68/80 [00:33<00:05,  2.11it/s]
Evaluation:  86%|########6 | 69/80 [00:33<00:05,  2.12it/s]
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Evaluation:  89%|########8 | 71/80 [00:34<00:04,  2.13it/s]
Evaluation:  90%|######### | 72/80 [00:34<00:03,  2.13it/s]
Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.13it/s]
Evaluation:  92%|#########2| 74/80 [00:35<00:02,  2.14it/s]
Evaluation:  94%|#########3| 75/80 [00:36<00:02,  2.14it/s]
Evaluation:  95%|#########5| 76/80 [00:36<00:01,  2.14it/s]
Evaluation:  96%|#########6| 77/80 [00:37<00:01,  2.14it/s]
Evaluation:  98%|#########7| 78/80 [00:37<00:00,  2.13it/s]
Evaluation:  99%|#########8| 79/80 [00:38<00:00,  2.13it/s]
Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.14it/s]
Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.06it/s]
[11/09/2020 12:24:51 INFO] [Validation] {R_error/0 1.119E+00, t_error/0 3.016E-01, R_error/1 6.660E-01, t_error/1 1.685E-01, R_error/2 6.246E-01, t_error/2 1.557E-01, R_error 6.246E-01, t_error 1.557E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.630E+00, loss/reprojection_error/0 1.176E+01, loss/reprojection_error/1 6.846E+00, loss/reprojection_error/2 6.503E+00, loss/reprojection_error 6.503E+00, loss/reprojection_error_median 8.909E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:26:03 INFO] [E 6 | it 1550] loss {total 3.834E+00, reprojection_error/0 9.599E+00, reprojection_error/1 1.100E+00, reprojection_error/2 8.039E-01, reprojection_error 8.039E-01, reprojection_error/init 6.158E+01}
[11/09/2020 12:27:15 INFO] [E 6 | it 1600] loss {total 3.310E+00, reprojection_error/0 8.501E+00, reprojection_error/1 8.725E-01, reprojection_error/2 5.568E-01, reprojection_error 5.568E-01, reprojection_error/init 1.096E+02}
[11/09/2020 12:28:27 INFO] [E 6 | it 1650] loss {total 2.614E+00, reprojection_error/0 5.351E+00, reprojection_error/1 1.579E+00, reprojection_error/2 9.114E-01, reprojection_error 9.114E-01, reprojection_error/init 8.956E+01}
[11/09/2020 12:29:40 INFO] [E 6 | it 1700] loss {total 3.498E+00, reprojection_error/0 8.582E+00, reprojection_error/1 1.059E+00, reprojection_error/2 8.531E-01, reprojection_error 8.531E-01, reprojection_error/init 5.049E+01}
[11/09/2020 12:30:51 INFO] [E 6 | it 1750] loss {total 4.100E+00, reprojection_error/0 9.176E+00, reprojection_error/1 1.700E+00, reprojection_error/2 1.425E+00, reprojection_error 1.425E+00, reprojection_error/init 7.687E+01}
[11/09/2020 12:32:03 INFO] [E 6 | it 1800] loss {total 3.850E+00, reprojection_error/0 4.712E+00, reprojection_error/1 3.345E+00, reprojection_error/2 3.494E+00, reprojection_error 3.494E+00, reprojection_error/init 6.773E+01}
[11/09/2020 12:33:15 INFO] [E 6 | it 1850] loss {total 2.499E+00, reprojection_error/0 6.341E+00, reprojection_error/1 5.604E-01, reprojection_error/2 5.943E-01, reprojection_error 5.943E-01, reprojection_error/init 4.841E+01}
[11/09/2020 12:34:27 INFO] [E 6 | it 1900] loss {total 7.706E+00, reprojection_error/0 2.211E+01, reprojection_error/1 1.720E+01, reprojection_error/2 1.714E+01, reprojection_error 1.714E+01, reprojection_error/init 8.912E+01}
[11/09/2020 12:35:40 INFO] [E 6 | it 1950] loss {total 1.201E+01, reprojection_error/0 2.850E+01, reprojection_error/1 2.283E+01, reprojection_error/2 2.287E+01, reprojection_error 2.287E+01, reprojection_error/init 8.875E+01}
[11/09/2020 12:36:53 INFO] [E 6 | it 2000] loss {total 3.938E+00, reprojection_error/0 8.540E+00, reprojection_error/1 1.829E+00, reprojection_error/2 1.446E+00, reprojection_error 1.446E+00, reprojection_error/init 5.297E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:   8%|7         | 6/80 [00:03<00:42,  1.72it/s]
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Evaluation:  11%|#1        | 9/80 [00:04<00:36,  1.97it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:34,  2.01it/s]
Evaluation:  14%|#3        | 11/80 [00:05<00:33,  2.04it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:32,  2.07it/s]
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Evaluation:  19%|#8        | 15/80 [00:07<00:30,  2.10it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:30,  2.10it/s]
Evaluation:  21%|##1       | 17/80 [00:08<00:29,  2.10it/s]
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Evaluation:  31%|###1      | 25/80 [00:12<00:25,  2.12it/s]
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Evaluation:  35%|###5      | 28/80 [00:13<00:24,  2.12it/s]
Evaluation:  36%|###6      | 29/80 [00:14<00:24,  2.12it/s]
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Evaluation:  39%|###8      | 31/80 [00:15<00:23,  2.12it/s]
Evaluation:  40%|####      | 32/80 [00:15<00:22,  2.12it/s]
Evaluation:  41%|####1     | 33/80 [00:16<00:22,  2.12it/s]
Evaluation:  42%|####2     | 34/80 [00:16<00:21,  2.12it/s]
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Evaluation:  49%|####8     | 39/80 [00:19<00:19,  2.12it/s]
Evaluation:  50%|#####     | 40/80 [00:19<00:18,  2.12it/s]
Evaluation:  51%|#####1    | 41/80 [00:19<00:18,  2.12it/s]
Evaluation:  52%|#####2    | 42/80 [00:20<00:17,  2.12it/s]
Evaluation:  54%|#####3    | 43/80 [00:20<00:17,  2.12it/s]
Evaluation:  55%|#####5    | 44/80 [00:21<00:16,  2.12it/s]
Evaluation:  56%|#####6    | 45/80 [00:21<00:16,  2.12it/s]
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Evaluation:  59%|#####8    | 47/80 [00:22<00:15,  2.11it/s]
Evaluation:  60%|######    | 48/80 [00:23<00:15,  2.11it/s]
Evaluation:  61%|######1   | 49/80 [00:23<00:14,  2.11it/s]
Evaluation:  62%|######2   | 50/80 [00:24<00:14,  2.12it/s]
Evaluation:  64%|######3   | 51/80 [00:24<00:13,  2.12it/s]
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Evaluation:  70%|#######   | 56/80 [00:27<00:11,  2.11it/s]
Evaluation:  71%|#######1  | 57/80 [00:27<00:10,  2.11it/s]
Evaluation:  72%|#######2  | 58/80 [00:28<00:10,  2.12it/s]
Evaluation:  74%|#######3  | 59/80 [00:28<00:09,  2.12it/s]
Evaluation:  75%|#######5  | 60/80 [00:28<00:09,  2.12it/s]
Evaluation:  76%|#######6  | 61/80 [00:29<00:08,  2.13it/s]
Evaluation:  78%|#######7  | 62/80 [00:29<00:08,  2.12it/s]
Evaluation:  79%|#######8  | 63/80 [00:30<00:08,  2.12it/s]
Evaluation:  80%|########  | 64/80 [00:30<00:07,  2.12it/s]
Evaluation:  81%|########1 | 65/80 [00:31<00:07,  2.12it/s]
Evaluation:  82%|########2 | 66/80 [00:31<00:06,  2.12it/s]
Evaluation:  84%|########3 | 67/80 [00:32<00:06,  2.12it/s]
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Evaluation:  86%|########6 | 69/80 [00:33<00:05,  2.13it/s]
Evaluation:  88%|########7 | 70/80 [00:33<00:04,  2.14it/s]
Evaluation:  89%|########8 | 71/80 [00:34<00:04,  2.14it/s]
Evaluation:  90%|######### | 72/80 [00:34<00:03,  2.15it/s]
Evaluation:  91%|#########1| 73/80 [00:35<00:03,  2.15it/s]
Evaluation:  92%|#########2| 74/80 [00:35<00:02,  2.15it/s]
Evaluation:  94%|#########3| 75/80 [00:35<00:02,  2.15it/s]
Evaluation:  95%|#########5| 76/80 [00:36<00:01,  2.16it/s]
Evaluation:  96%|#########6| 77/80 [00:36<00:01,  2.16it/s]
Evaluation:  98%|#########7| 78/80 [00:37<00:00,  2.16it/s]
Evaluation:  99%|#########8| 79/80 [00:37<00:00,  2.16it/s]
Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.16it/s]
Evaluation: 100%|##########| 80/80 [00:38<00:00,  2.08it/s]
[11/09/2020 12:37:31 INFO] [Validation] {R_error/0 1.070E+00, t_error/0 2.946E-01, R_error/1 5.994E-01, t_error/1 1.586E-01, R_error/2 5.655E-01, t_error/2 1.491E-01, R_error 5.655E-01, t_error 1.491E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.109E+00, loss/reprojection_error/0 1.077E+01, loss/reprojection_error/1 5.764E+00, loss/reprojection_error/2 5.419E+00, loss/reprojection_error 5.419E+00, loss/reprojection_error_median 8.331E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:38:43 INFO] [E 6 | it 2050] loss {total 7.587E+00, reprojection_error/0 1.227E+01, reprojection_error/1 8.194E+00, reprojection_error/2 7.448E+00, reprojection_error 7.448E+00, reprojection_error/init 8.277E+01}
[11/09/2020 12:39:55 INFO] [E 6 | it 2100] loss {total 4.864E+00, reprojection_error/0 7.368E+00, reprojection_error/1 3.948E+00, reprojection_error/2 3.275E+00, reprojection_error 3.275E+00, reprojection_error/init 2.587E+01}
[11/09/2020 12:41:07 INFO] [E 6 | it 2150] loss {total 1.743E+01, reprojection_error/0 4.233E+01, reprojection_error/1 4.328E+01, reprojection_error/2 4.361E+01, reprojection_error 4.361E+01, reprojection_error/init 1.253E+02}
[11/09/2020 12:42:20 INFO] [E 6 | it 2200] loss {total 3.872E+00, reprojection_error/0 8.900E+00, reprojection_error/1 1.520E+00, reprojection_error/2 1.195E+00, reprojection_error 1.195E+00, reprojection_error/init 5.660E+01}
[11/09/2020 12:43:34 INFO] [E 6 | it 2250] loss {total 7.461E+00, reprojection_error/0 1.132E+01, reprojection_error/1 9.186E+00, reprojection_error/2 8.861E+00, reprojection_error 8.861E+00, reprojection_error/init 1.373E+02}
[11/09/2020 12:44:49 INFO] [E 6 | it 2300] loss {total 7.586E+00, reprojection_error/0 2.185E+01, reprojection_error/1 1.719E+01, reprojection_error/2 1.704E+01, reprojection_error 1.704E+01, reprojection_error/init 7.901E+01}
[11/09/2020 12:46:04 INFO] [E 6 | it 2350] loss {total 3.635E+00, reprojection_error/0 8.087E+00, reprojection_error/1 1.310E+00, reprojection_error/2 1.508E+00, reprojection_error 1.508E+00, reprojection_error/init 1.049E+02}
[11/09/2020 12:47:18 INFO] [E 6 | it 2400] loss {total 6.759E+00, reprojection_error/0 1.082E+01, reprojection_error/1 8.483E+00, reprojection_error/2 8.321E+00, reprojection_error 8.321E+00, reprojection_error/init 5.720E+01}
[11/09/2020 12:48:33 INFO] [E 6 | it 2450] loss {total 8.294E+00, reprojection_error/0 2.085E+01, reprojection_error/1 1.869E+01, reprojection_error/2 1.867E+01, reprojection_error 1.867E+01, reprojection_error/init 9.103E+01}
[11/09/2020 12:49:47 INFO] [E 6 | it 2500] loss {total 1.541E+01, reprojection_error/0 2.303E+01, reprojection_error/1 1.920E+01, reprojection_error/2 1.925E+01, reprojection_error 1.925E+01, reprojection_error/init 8.766E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:36,  1.23s/it]
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Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.98it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.98it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  1.99it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:31,  2.00it/s]
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Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.00it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.01it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:27,  1.99it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  1.99it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:24,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.00it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.00it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:22,  1.86it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:20,  1.91it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:20,  1.93it/s]
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Evaluation:  60%|######    | 48/80 [00:24<00:16,  2.00it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  1.99it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:12,  1.99it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  2.00it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.00it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  2.00it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.00it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.02it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.02it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.03it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.03it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.03it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.03it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.04it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.04it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.95it/s]
[11/09/2020 12:50:28 INFO] [Validation] {R_error/0 1.129E+00, t_error/0 2.862E-01, R_error/1 6.553E-01, t_error/1 1.552E-01, R_error/2 6.191E-01, t_error/2 1.436E-01, R_error 6.191E-01, t_error 1.436E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.368E+00, loss/reprojection_error/0 1.109E+01, loss/reprojection_error/1 6.290E+00, loss/reprojection_error/2 5.951E+00, loss/reprojection_error 5.951E+00, loss/reprojection_error_median 8.338E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:51:43 INFO] [E 6 | it 2550] loss {total 1.953E+00, reprojection_error/0 4.084E+00, reprojection_error/1 1.015E+00, reprojection_error/2 7.584E-01, reprojection_error 7.584E-01, reprojection_error/init 3.323E+01}
[11/09/2020 12:52:56 INFO] [E 6 | it 2600] loss {total 6.604E+00, reprojection_error/0 1.630E+01, reprojection_error/1 1.786E+00, reprojection_error/2 1.726E+00, reprojection_error 1.726E+00, reprojection_error/init 9.049E+01}
[11/09/2020 12:54:11 INFO] [E 6 | it 2650] loss {total 4.149E+00, reprojection_error/0 5.687E+00, reprojection_error/1 3.647E+00, reprojection_error/2 3.112E+00, reprojection_error 3.112E+00, reprojection_error/init 5.172E+01}
[11/09/2020 12:55:26 INFO] [E 6 | it 2700] loss {total 3.541E+00, reprojection_error/0 5.016E+00, reprojection_error/1 2.941E+00, reprojection_error/2 2.665E+00, reprojection_error 2.665E+00, reprojection_error/init 6.096E+01}
[11/09/2020 12:56:41 INFO] [E 6 | it 2750] loss {total 6.781E+00, reprojection_error/0 1.926E+01, reprojection_error/1 1.721E+01, reprojection_error/2 1.720E+01, reprojection_error 1.720E+01, reprojection_error/init 7.410E+01}
[11/09/2020 12:57:56 INFO] [E 6 | it 2800] loss {total 1.009E+01, reprojection_error/0 2.514E+01, reprojection_error/1 2.171E+01, reprojection_error/2 2.151E+01, reprojection_error 2.151E+01, reprojection_error/init 8.478E+01}
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 12:58:27 INFO] Caught keyboard interrupt signal, will terminate

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:43,  1.31s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:23,  1.07s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.83it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.88it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.91it/s]
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Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.97it/s]
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Evaluation:  20%|##        | 16/80 [00:08<00:32,  1.98it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  1.98it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:31,  1.99it/s]
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Evaluation:  40%|####      | 32/80 [00:16<00:24,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.00it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.99it/s]
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Evaluation:  60%|######    | 48/80 [00:24<00:16,  2.00it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.00it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:12,  1.99it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.00it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:08,  2.00it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.00it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:07,  2.00it/s]
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Evaluation:  85%|########5 | 68/80 [00:34<00:06,  1.99it/s]
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Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.01it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.02it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.02it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.03it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.03it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.03it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/09/2020 12:59:08 INFO] [Validation] {R_error/0 1.094E+00, t_error/0 2.864E-01, R_error/1 6.216E-01, t_error/1 1.529E-01, R_error/2 5.842E-01, t_error/2 1.391E-01, R_error 5.842E-01, t_error 1.391E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.114E+00, loss/reprojection_error/0 1.089E+01, loss/reprojection_error/1 5.936E+00, loss/reprojection_error/2 5.616E+00, loss/reprojection_error 5.616E+00, loss/reprojection_error_median 7.863E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 12:59:08 INFO] Saving checkpoint checkpoint_6_interrupted
[11/09/2020 12:59:09 INFO] New best checkpoint: loss/total=5.114397463202477
[11/09/2020 12:59:09 INFO] Finished training on process 0.
[11/09/2020 14:11:54 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/09/2020 14:11:54 INFO] Restoring from checkpoint checkpoint_5.tar
[11/09/2020 14:12:02 INFO] Using device cuda
[11/09/2020 14:12:03 INFO] Creating dataset CMU
[11/09/2020 14:12:06 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 14:12:07 INFO] Sampling new images or pairs with seed 1

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[11/09/2020 14:12:07 INFO] Training loader has 3000 batches
[11/09/2020 14:12:07 INFO] Validation loader has 80 batches
[11/09/2020 14:12:18 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/09/2020 14:12:18 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/09/2020 14:12:18 INFO] Starting epoch 6
[11/09/2020 14:12:18 INFO] Sampling new images or pairs with seed 6

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100%|██████████| 9/9 [00:00<00:00, 16.64it/s]{'params': [Parameter containing:
tensor([-2.1367, -0.2236, -1.2383, -0.2606, -1.8709, -0.0291], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-1.6736,  0.2938, -1.8155, -0.6825, -1.7060,  0.2020], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-2.2960,  0.8352, -1.4002,  0.3036,  0.2491,  0.7979], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/09/2020 14:12:29 INFO] [E 6 | it 0] loss {total 3.983E+00, reprojection_error/0 7.225E+00, reprojection_error/1 2.626E+00, reprojection_error/2 2.098E+00, reprojection_error 2.098E+00, reprojection_error/init 8.361E+01}

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[11/09/2020 14:13:26 INFO] [Validation] {R_error/0 1.125E+00, t_error/0 3.576E-01, R_error/1 6.699E-01, t_error/1 2.060E-01, R_error/2 6.305E-01, t_error/2 1.887E-01, R_error 6.305E-01, t_error 1.887E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.606E+00, loss/reprojection_error/0 1.210E+01, loss/reprojection_error/1 6.899E+00, loss/reprojection_error/2 6.487E+00, loss/reprojection_error 6.487E+00, loss/reprojection_error_median 8.357E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 14:15:14 INFO] [E 6 | it 50] loss {total 7.474E+00, reprojection_error/0 2.004E+01, reprojection_error/1 1.782E+01, reprojection_error/2 1.790E+01, reprojection_error 1.790E+01, reprojection_error/init 1.198E+02}
[11/09/2020 14:16:59 INFO] [E 6 | it 100] loss {total 1.452E+01, reprojection_error/0 3.062E+01, reprojection_error/1 2.881E+01, reprojection_error/2 2.847E+01, reprojection_error 2.847E+01, reprojection_error/init 8.759E+01}
[11/09/2020 14:18:44 INFO] [E 6 | it 150] loss {total 3.679E+00, reprojection_error/0 5.958E+00, reprojection_error/1 2.704E+00, reprojection_error/2 2.374E+00, reprojection_error 2.374E+00, reprojection_error/init 9.388E+01}
[11/09/2020 14:20:30 INFO] [E 6 | it 200] loss {total 7.567E+00, reprojection_error/0 2.163E+01, reprojection_error/1 1.734E+01, reprojection_error/2 1.706E+01, reprojection_error 1.706E+01, reprojection_error/init 1.581E+02}
[11/09/2020 14:22:14 INFO] [E 6 | it 250] loss {total 9.350E-01, reprojection_error/0 1.529E+00, reprojection_error/1 5.970E-01, reprojection_error/2 6.784E-01, reprojection_error 6.784E-01, reprojection_error/init 7.113E+01}
[11/09/2020 14:24:02 INFO] [E 6 | it 300] loss {total 1.602E+00, reprojection_error/0 3.557E+00, reprojection_error/1 7.682E-01, reprojection_error/2 4.812E-01, reprojection_error 4.812E-01, reprojection_error/init 5.089E+01}
[11/09/2020 14:25:47 INFO] [E 6 | it 350] loss {total 3.631E+00, reprojection_error/0 6.306E+00, reprojection_error/1 2.564E+00, reprojection_error/2 2.023E+00, reprojection_error 2.023E+00, reprojection_error/init 4.219E+01}
[11/09/2020 14:27:33 INFO] [E 6 | it 400] loss {total 4.795E+00, reprojection_error/0 8.075E+00, reprojection_error/1 3.159E+00, reprojection_error/2 3.149E+00, reprojection_error 3.149E+00, reprojection_error/init 9.391E+01}
[11/09/2020 14:29:18 INFO] [E 6 | it 450] loss {total 7.190E+00, reprojection_error/0 2.071E+01, reprojection_error/1 1.713E+01, reprojection_error/2 1.707E+01, reprojection_error 1.707E+01, reprojection_error/init 1.205E+02}
[11/09/2020 14:31:04 INFO] [E 6 | it 500] loss {total 5.200E+00, reprojection_error/0 1.051E+01, reprojection_error/1 3.029E+00, reprojection_error/2 2.061E+00, reprojection_error 2.061E+00, reprojection_error/init 5.493E+01}

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Evaluation:  91%|#########1| 73/80 [00:54<00:04,  1.57it/s]
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Evaluation: 100%|##########| 80/80 [00:58<00:00,  1.36it/s]
[11/09/2020 14:32:03 INFO] [Validation] {R_error/0 1.158E+00, t_error/0 3.419E-01, R_error/1 6.636E-01, t_error/1 1.661E-01, R_error/2 6.203E-01, t_error/2 1.536E-01, R_error 6.203E-01, t_error 1.536E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.597E+00, loss/reprojection_error/0 1.257E+01, loss/reprojection_error/1 6.424E+00, loss/reprojection_error/2 6.027E+00, loss/reprojection_error 6.027E+00, loss/reprojection_error_median 8.485E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 14:33:49 INFO] [E 6 | it 550] loss {total 7.158E+00, reprojection_error/0 1.936E+01, reprojection_error/1 1.721E+01, reprojection_error/2 1.752E+01, reprojection_error 1.752E+01, reprojection_error/init 1.138E+02}
[11/09/2020 14:35:34 INFO] [E 6 | it 600] loss {total 1.878E+00, reprojection_error/0 3.742E+00, reprojection_error/1 1.175E+00, reprojection_error/2 7.183E-01, reprojection_error 7.183E-01, reprojection_error/init 1.272E+02}
[11/09/2020 14:37:19 INFO] [E 6 | it 650] loss {total 6.454E+00, reprojection_error/0 1.208E+01, reprojection_error/1 3.894E+00, reprojection_error/2 3.385E+00, reprojection_error 3.385E+00, reprojection_error/init 6.797E+01}
[11/09/2020 14:39:04 INFO] [E 6 | it 700] loss {total 3.849E+00, reprojection_error/0 6.891E+00, reprojection_error/1 2.383E+00, reprojection_error/2 2.272E+00, reprojection_error 2.272E+00, reprojection_error/init 7.159E+01}
[11/09/2020 14:40:50 INFO] [E 6 | it 750] loss {total 1.808E+00, reprojection_error/0 2.970E+00, reprojection_error/1 1.371E+00, reprojection_error/2 1.082E+00, reprojection_error 1.082E+00, reprojection_error/init 6.151E+01}
[11/09/2020 14:42:39 INFO] [E 6 | it 800] loss {total 1.124E+01, reprojection_error/0 2.583E+01, reprojection_error/1 2.069E+01, reprojection_error/2 2.054E+01, reprojection_error 2.054E+01, reprojection_error/init 1.165E+02}
[11/09/2020 14:44:27 INFO] [E 6 | it 850] loss {total 3.390E+00, reprojection_error/0 4.637E+00, reprojection_error/1 3.027E+00, reprojection_error/2 2.506E+00, reprojection_error 2.506E+00, reprojection_error/init 5.932E+01}
[11/09/2020 14:46:14 INFO] [E 6 | it 900] loss {total 1.635E+00, reprojection_error/0 2.807E+00, reprojection_error/1 1.260E+00, reprojection_error/2 8.380E-01, reprojection_error 8.380E-01, reprojection_error/init 8.873E+01}
[11/09/2020 14:48:02 INFO] [E 6 | it 950] loss {total 1.043E+01, reprojection_error/0 2.386E+01, reprojection_error/1 1.878E+01, reprojection_error/2 1.794E+01, reprojection_error 1.794E+01, reprojection_error/init 7.589E+01}
[11/09/2020 14:49:48 INFO] [E 6 | it 1000] loss {total 2.444E+00, reprojection_error/0 4.973E+00, reprojection_error/1 1.286E+00, reprojection_error/2 1.074E+00, reprojection_error 1.074E+00, reprojection_error/init 8.524E+01}

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Evaluation:  71%|#######1  | 57/80 [00:40<00:15,  1.47it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:11,  1.44it/s]
Evaluation:  81%|########1 | 65/80 [00:45<00:10,  1.47it/s]
Evaluation:  82%|########2 | 66/80 [00:46<00:09,  1.49it/s]
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Evaluation:  91%|#########1| 73/80 [00:50<00:04,  1.57it/s]
Evaluation:  92%|#########2| 74/80 [00:51<00:03,  1.58it/s]
Evaluation:  94%|#########3| 75/80 [00:52<00:03,  1.58it/s]
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Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.44it/s]
[11/09/2020 14:50:43 INFO] [Validation] {R_error/0 1.136E+00, t_error/0 3.013E-01, R_error/1 6.728E-01, t_error/1 1.729E-01, R_error/2 6.325E-01, t_error/2 1.614E-01, R_error 6.325E-01, t_error 1.614E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.792E+00, loss/reprojection_error/0 1.220E+01, loss/reprojection_error/1 7.201E+00, loss/reprojection_error/2 6.893E+00, loss/reprojection_error 6.893E+00, loss/reprojection_error_median 8.961E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 14:52:28 INFO] [E 6 | it 1050] loss {total 4.266E+00, reprojection_error/0 8.513E+00, reprojection_error/1 2.257E+00, reprojection_error/2 2.027E+00, reprojection_error 2.027E+00, reprojection_error/init 7.052E+01}
[11/09/2020 14:54:12 INFO] [E 6 | it 1100] loss {total 5.086E+00, reprojection_error/0 7.487E+00, reprojection_error/1 4.243E+00, reprojection_error/2 3.527E+00, reprojection_error 3.527E+00, reprojection_error/init 4.503E+01}
[11/09/2020 14:55:59 INFO] [E 6 | it 1150] loss {total 6.879E+00, reprojection_error/0 1.074E+01, reprojection_error/1 5.424E+00, reprojection_error/2 4.469E+00, reprojection_error 4.469E+00, reprojection_error/init 1.100E+02}
[11/09/2020 14:57:45 INFO] [E 6 | it 1200] loss {total 3.561E+00, reprojection_error/0 8.052E+00, reprojection_error/1 1.509E+00, reprojection_error/2 1.122E+00, reprojection_error 1.122E+00, reprojection_error/init 6.860E+01}
[11/09/2020 14:59:29 INFO] [E 6 | it 1250] loss {total 2.075E+00, reprojection_error/0 4.440E+00, reprojection_error/1 1.177E+00, reprojection_error/2 6.080E-01, reprojection_error 6.080E-01, reprojection_error/init 5.091E+01}
[11/09/2020 15:01:17 INFO] [E 6 | it 1300] loss {total 5.843E+00, reprojection_error/0 1.045E+01, reprojection_error/1 4.003E+00, reprojection_error/2 3.078E+00, reprojection_error 3.078E+00, reprojection_error/init 4.563E+01}
[11/09/2020 15:03:03 INFO] [E 6 | it 1350] loss {total 6.752E+00, reprojection_error/0 1.817E+01, reprojection_error/1 1.775E+01, reprojection_error/2 1.767E+01, reprojection_error 1.767E+01, reprojection_error/init 7.560E+01}
[11/09/2020 15:04:49 INFO] [E 6 | it 1400] loss {total 4.113E+00, reprojection_error/0 8.054E+00, reprojection_error/1 2.200E+00, reprojection_error/2 2.083E+00, reprojection_error 2.083E+00, reprojection_error/init 1.213E+02}
[11/09/2020 15:06:35 INFO] [E 6 | it 1450] loss {total 1.195E+01, reprojection_error/0 2.574E+01, reprojection_error/1 2.624E+01, reprojection_error/2 2.563E+01, reprojection_error 2.563E+01, reprojection_error/init 8.741E+01}
[11/09/2020 15:08:22 INFO] [E 6 | it 1500] loss {total 3.604E+00, reprojection_error/0 6.022E+00, reprojection_error/1 2.563E+00, reprojection_error/2 2.225E+00, reprojection_error 2.225E+00, reprojection_error/init 9.520E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:27,  1.87s/it]
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Evaluation:   5%|5         | 4/80 [00:03<01:22,  1.09s/it]
Evaluation:   6%|6         | 5/80 [00:04<01:11,  1.05it/s]
Evaluation:   8%|7         | 6/80 [00:05<01:05,  1.13it/s]
Evaluation:   9%|8         | 7/80 [00:05<00:59,  1.22it/s]
Evaluation:  10%|#         | 8/80 [00:06<00:55,  1.30it/s]
Evaluation:  11%|#1        | 9/80 [00:07<00:53,  1.32it/s]
Evaluation:  12%|#2        | 10/80 [00:07<00:50,  1.38it/s]
Evaluation:  14%|#3        | 11/80 [00:08<00:48,  1.43it/s]
Evaluation:  15%|#5        | 12/80 [00:09<00:48,  1.41it/s]
Evaluation:  16%|#6        | 13/80 [00:09<00:46,  1.45it/s]
Evaluation:  18%|#7        | 14/80 [00:10<00:44,  1.47it/s]
Evaluation:  19%|#8        | 15/80 [00:11<00:46,  1.40it/s]
Evaluation:  20%|##        | 16/80 [00:12<00:47,  1.35it/s]
Evaluation:  21%|##1       | 17/80 [00:13<00:47,  1.32it/s]
Evaluation:  22%|##2       | 18/80 [00:13<00:45,  1.38it/s]
Evaluation:  24%|##3       | 19/80 [00:14<00:42,  1.42it/s]
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Evaluation:  30%|###       | 24/80 [00:17<00:39,  1.43it/s]
Evaluation:  31%|###1      | 25/80 [00:18<00:39,  1.38it/s]
Evaluation:  32%|###2      | 26/80 [00:19<00:38,  1.42it/s]
Evaluation:  34%|###3      | 27/80 [00:19<00:36,  1.45it/s]
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Evaluation:  71%|#######1  | 57/80 [00:40<00:15,  1.46it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:15,  1.43it/s]
Evaluation:  74%|#######3  | 59/80 [00:42<00:14,  1.40it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:10,  1.48it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.50it/s]
Evaluation:  82%|########2 | 66/80 [00:46<00:09,  1.45it/s]
Evaluation:  84%|########3 | 67/80 [00:47<00:08,  1.48it/s]
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Evaluation:  86%|########6 | 69/80 [00:48<00:07,  1.52it/s]
Evaluation:  88%|########7 | 70/80 [00:49<00:06,  1.54it/s]
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Evaluation:  90%|######### | 72/80 [00:50<00:05,  1.51it/s]
Evaluation:  91%|#########1| 73/80 [00:51<00:04,  1.53it/s]
Evaluation:  92%|#########2| 74/80 [00:52<00:03,  1.55it/s]
Evaluation:  94%|#########3| 75/80 [00:52<00:03,  1.56it/s]
Evaluation:  95%|#########5| 76/80 [00:53<00:02,  1.57it/s]
Evaluation:  96%|#########6| 77/80 [00:54<00:01,  1.58it/s]
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Evaluation: 100%|##########| 80/80 [00:56<00:00,  1.43it/s]
[11/09/2020 15:09:18 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 3.128E-01, R_error/1 6.576E-01, t_error/1 1.684E-01, R_error/2 6.139E-01, t_error/2 1.551E-01, R_error 6.139E-01, t_error 1.551E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.664E+00, loss/reprojection_error/0 1.227E+01, loss/reprojection_error/1 6.826E+00, loss/reprojection_error/2 6.469E+00, loss/reprojection_error 6.469E+00, loss/reprojection_error_median 8.877E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 15:11:03 INFO] [E 6 | it 1550] loss {total 3.979E+00, reprojection_error/0 9.888E+00, reprojection_error/1 1.180E+00, reprojection_error/2 8.704E-01, reprojection_error 8.704E-01, reprojection_error/init 6.158E+01}
[11/09/2020 15:12:49 INFO] [E 6 | it 1600] loss {total 3.913E+00, reprojection_error/0 9.575E+00, reprojection_error/1 1.539E+00, reprojection_error/2 6.246E-01, reprojection_error 6.246E-01, reprojection_error/init 1.096E+02}
[11/09/2020 15:14:35 INFO] [E 6 | it 1650] loss {total 3.559E+00, reprojection_error/0 6.551E+00, reprojection_error/1 2.494E+00, reprojection_error/2 1.632E+00, reprojection_error 1.632E+00, reprojection_error/init 8.956E+01}
[11/09/2020 15:16:20 INFO] [E 6 | it 1700] loss {total 3.420E+00, reprojection_error/0 8.370E+00, reprojection_error/1 1.043E+00, reprojection_error/2 8.473E-01, reprojection_error 8.473E-01, reprojection_error/init 5.049E+01}
[11/09/2020 15:18:08 INFO] [E 6 | it 1750] loss {total 3.917E+00, reprojection_error/0 8.642E+00, reprojection_error/1 1.682E+00, reprojection_error/2 1.426E+00, reprojection_error 1.426E+00, reprojection_error/init 7.687E+01}
[11/09/2020 15:19:55 INFO] [E 6 | it 1800] loss {total 3.270E+00, reprojection_error/0 3.866E+00, reprojection_error/1 2.819E+00, reprojection_error/2 3.127E+00, reprojection_error 3.127E+00, reprojection_error/init 6.773E+01}
[11/09/2020 15:21:40 INFO] [E 6 | it 1850] loss {total 3.287E+00, reprojection_error/0 8.663E+00, reprojection_error/1 6.019E-01, reprojection_error/2 5.952E-01, reprojection_error 5.952E-01, reprojection_error/init 4.841E+01}
[11/09/2020 15:23:26 INFO] [E 6 | it 1900] loss {total 7.574E+00, reprojection_error/0 2.100E+01, reprojection_error/1 1.640E+01, reprojection_error/2 1.592E+01, reprojection_error 1.592E+01, reprojection_error/init 8.912E+01}
[11/09/2020 15:25:11 INFO] [E 6 | it 1950] loss {total 1.194E+01, reprojection_error/0 2.685E+01, reprojection_error/1 2.125E+01, reprojection_error/2 2.106E+01, reprojection_error 2.106E+01, reprojection_error/init 8.875E+01}
[11/09/2020 15:26:59 INFO] [E 6 | it 2000] loss {total 4.006E+00, reprojection_error/0 8.502E+00, reprojection_error/1 2.045E+00, reprojection_error/2 1.470E+00, reprojection_error 1.470E+00, reprojection_error/init 5.297E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  30%|###       | 24/80 [00:17<00:36,  1.52it/s]
Evaluation:  31%|###1      | 25/80 [00:17<00:36,  1.52it/s]
Evaluation:  32%|###2      | 26/80 [00:18<00:35,  1.52it/s]
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Evaluation:  40%|####      | 32/80 [00:22<00:32,  1.48it/s]
Evaluation:  41%|####1     | 33/80 [00:23<00:31,  1.50it/s]
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Evaluation:  51%|#####1    | 41/80 [00:28<00:25,  1.53it/s]
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Evaluation:  71%|#######1  | 57/80 [00:38<00:15,  1.46it/s]
Evaluation:  72%|#######2  | 58/80 [00:39<00:14,  1.49it/s]
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Evaluation:  80%|########  | 64/80 [00:43<00:10,  1.53it/s]
Evaluation:  81%|########1 | 65/80 [00:44<00:09,  1.53it/s]
Evaluation:  82%|########2 | 66/80 [00:44<00:09,  1.53it/s]
Evaluation:  84%|########3 | 67/80 [00:45<00:08,  1.54it/s]
Evaluation:  85%|########5 | 68/80 [00:46<00:07,  1.54it/s]
Evaluation:  86%|########6 | 69/80 [00:46<00:07,  1.55it/s]
Evaluation:  88%|########7 | 70/80 [00:47<00:06,  1.56it/s]
Evaluation:  89%|########8 | 71/80 [00:48<00:05,  1.56it/s]
Evaluation:  90%|######### | 72/80 [00:48<00:05,  1.56it/s]
Evaluation:  91%|#########1| 73/80 [00:49<00:04,  1.57it/s]
Evaluation:  92%|#########2| 74/80 [00:49<00:03,  1.58it/s]
Evaluation:  94%|#########3| 75/80 [00:50<00:03,  1.58it/s]
Evaluation:  95%|#########5| 76/80 [00:51<00:02,  1.58it/s]
Evaluation:  96%|#########6| 77/80 [00:51<00:01,  1.58it/s]
Evaluation:  98%|#########7| 78/80 [00:52<00:01,  1.58it/s]
Evaluation:  99%|#########8| 79/80 [00:53<00:00,  1.58it/s]
Evaluation: 100%|##########| 80/80 [00:53<00:00,  1.58it/s]
Evaluation: 100%|##########| 80/80 [00:53<00:00,  1.49it/s]
[11/09/2020 15:27:52 INFO] [Validation] {R_error/0 1.022E+00, t_error/0 2.721E-01, R_error/1 5.572E-01, t_error/1 1.433E-01, R_error/2 5.171E-01, t_error/2 1.315E-01, R_error 5.171E-01, t_error 1.315E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.028E+00, loss/reprojection_error/0 1.060E+01, loss/reprojection_error/1 5.532E+00, loss/reprojection_error/2 5.188E+00, loss/reprojection_error 5.188E+00, loss/reprojection_error_median 8.646E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 15:29:41 INFO] [E 6 | it 2050] loss {total 6.496E+00, reprojection_error/0 9.580E+00, reprojection_error/1 7.672E+00, reprojection_error/2 7.167E+00, reprojection_error 7.167E+00, reprojection_error/init 8.277E+01}
[11/09/2020 15:31:27 INFO] [E 6 | it 2100] loss {total 5.829E+00, reprojection_error/0 7.426E+00, reprojection_error/1 5.057E+00, reprojection_error/2 5.003E+00, reprojection_error 5.003E+00, reprojection_error/init 2.587E+01}
[11/09/2020 15:33:15 INFO] [E 6 | it 2150] loss {total 1.680E+01, reprojection_error/0 4.191E+01, reprojection_error/1 4.183E+01, reprojection_error/2 4.192E+01, reprojection_error 4.192E+01, reprojection_error/init 1.253E+02}
[11/09/2020 15:35:01 INFO] [E 6 | it 2200] loss {total 3.618E+00, reprojection_error/0 7.726E+00, reprojection_error/1 1.748E+00, reprojection_error/2 1.378E+00, reprojection_error 1.378E+00, reprojection_error/init 5.660E+01}
[11/09/2020 15:36:48 INFO] [E 6 | it 2250] loss {total 7.862E+00, reprojection_error/0 1.471E+01, reprojection_error/1 8.171E+00, reprojection_error/2 7.457E+00, reprojection_error 7.457E+00, reprojection_error/init 1.373E+02}
[11/09/2020 15:38:37 INFO] [E 6 | it 2300] loss {total 7.433E+00, reprojection_error/0 2.086E+01, reprojection_error/1 1.771E+01, reprojection_error/2 1.706E+01, reprojection_error 1.706E+01, reprojection_error/init 7.901E+01}
[11/09/2020 15:40:25 INFO] [E 6 | it 2350] loss {total 2.725E+00, reprojection_error/0 5.454E+00, reprojection_error/1 1.320E+00, reprojection_error/2 1.401E+00, reprojection_error 1.401E+00, reprojection_error/init 1.049E+02}
[11/09/2020 15:42:10 INFO] [E 6 | it 2400] loss {total 2.821E+00, reprojection_error/0 6.548E+00, reprojection_error/1 8.884E-01, reprojection_error/2 1.026E+00, reprojection_error 1.026E+00, reprojection_error/init 5.720E+01}
[11/09/2020 15:43:56 INFO] [E 6 | it 2450] loss {total 4.185E+00, reprojection_error/0 6.161E+00, reprojection_error/1 3.228E+00, reprojection_error/2 3.167E+00, reprojection_error 3.167E+00, reprojection_error/init 9.103E+01}
[11/09/2020 15:45:43 INFO] [E 6 | it 2500] loss {total 1.105E+01, reprojection_error/0 1.843E+01, reprojection_error/1 1.303E+01, reprojection_error/2 1.239E+01, reprojection_error 1.239E+01, reprojection_error/init 8.766E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:37,  2.00s/it]
Evaluation:   2%|2         | 2/80 [00:02<02:04,  1.59s/it]
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Evaluation:   5%|5         | 4/80 [00:04<01:28,  1.16s/it]
Evaluation:   6%|6         | 5/80 [00:04<01:15,  1.01s/it]
Evaluation:   8%|7         | 6/80 [00:05<01:06,  1.11it/s]
Evaluation:   9%|8         | 7/80 [00:06<01:00,  1.21it/s]
Evaluation:  10%|#         | 8/80 [00:06<00:56,  1.29it/s]
Evaluation:  11%|#1        | 9/80 [00:07<00:52,  1.35it/s]
Evaluation:  12%|#2        | 10/80 [00:08<00:50,  1.39it/s]
Evaluation:  14%|#3        | 11/80 [00:08<00:50,  1.37it/s]
Evaluation:  15%|#5        | 12/80 [00:09<00:49,  1.36it/s]
Evaluation:  16%|#6        | 13/80 [00:10<00:47,  1.40it/s]
Evaluation:  18%|#7        | 14/80 [00:10<00:46,  1.43it/s]
Evaluation:  19%|#8        | 15/80 [00:11<00:44,  1.46it/s]
Evaluation:  20%|##        | 16/80 [00:12<00:45,  1.42it/s]
Evaluation:  21%|##1       | 17/80 [00:13<00:44,  1.40it/s]
Evaluation:  22%|##2       | 18/80 [00:13<00:44,  1.39it/s]
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Evaluation:  30%|###       | 24/80 [00:18<00:40,  1.39it/s]
Evaluation:  31%|###1      | 25/80 [00:18<00:38,  1.42it/s]
Evaluation:  32%|###2      | 26/80 [00:19<00:37,  1.45it/s]
Evaluation:  34%|###3      | 27/80 [00:19<00:36,  1.47it/s]
Evaluation:  35%|###5      | 28/80 [00:20<00:35,  1.48it/s]
Evaluation:  36%|###6      | 29/80 [00:21<00:34,  1.50it/s]
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Evaluation:  39%|###8      | 31/80 [00:22<00:32,  1.51it/s]
Evaluation:  40%|####      | 32/80 [00:23<00:31,  1.51it/s]
Evaluation:  41%|####1     | 33/80 [00:24<00:32,  1.46it/s]
Evaluation:  42%|####2     | 34/80 [00:24<00:32,  1.43it/s]
Evaluation:  44%|####3     | 35/80 [00:25<00:31,  1.41it/s]
Evaluation:  45%|####5     | 36/80 [00:26<00:31,  1.39it/s]
Evaluation:  46%|####6     | 37/80 [00:26<00:30,  1.43it/s]
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Evaluation:  49%|####8     | 39/80 [00:28<00:28,  1.43it/s]
Evaluation:  50%|#####     | 40/80 [00:28<00:28,  1.42it/s]
Evaluation:  51%|#####1    | 41/80 [00:29<00:27,  1.40it/s]
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[11/09/2020 15:46:40 INFO] [Validation] {R_error/0 1.077E+00, t_error/0 2.870E-01, R_error/1 6.215E-01, t_error/1 1.505E-01, R_error/2 5.800E-01, t_error/2 1.389E-01, R_error 5.800E-01, t_error 1.389E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.141E+00, loss/reprojection_error/0 1.093E+01, loss/reprojection_error/1 5.882E+00, loss/reprojection_error/2 5.539E+00, loss/reprojection_error 5.539E+00, loss/reprojection_error_median 8.009E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 15:48:28 INFO] [E 6 | it 2550] loss {total 1.953E+00, reprojection_error/0 4.185E+00, reprojection_error/1 9.637E-01, reprojection_error/2 7.106E-01, reprojection_error 7.106E-01, reprojection_error/init 3.323E+01}
[11/09/2020 15:50:15 INFO] [E 6 | it 2600] loss {total 4.461E+00, reprojection_error/0 6.888E+00, reprojection_error/1 5.836E+00, reprojection_error/2 4.963E+00, reprojection_error 4.963E+00, reprojection_error/init 9.049E+01}
[11/09/2020 15:52:01 INFO] [E 6 | it 2650] loss {total 3.834E+00, reprojection_error/0 5.349E+00, reprojection_error/1 3.085E+00, reprojection_error/2 3.069E+00, reprojection_error 3.069E+00, reprojection_error/init 5.172E+01}
[11/09/2020 15:53:47 INFO] [E 6 | it 2700] loss {total 4.192E+00, reprojection_error/0 5.655E+00, reprojection_error/1 3.369E+00, reprojection_error/2 3.552E+00, reprojection_error 3.552E+00, reprojection_error/init 6.096E+01}
[11/09/2020 15:55:35 INFO] [E 6 | it 2750] loss {total 6.877E+00, reprojection_error/0 1.925E+01, reprojection_error/1 1.738E+01, reprojection_error/2 1.734E+01, reprojection_error 1.734E+01, reprojection_error/init 7.410E+01}
[11/09/2020 15:57:24 INFO] [E 6 | it 2800] loss {total 9.877E+00, reprojection_error/0 2.483E+01, reprojection_error/1 2.139E+01, reprojection_error/2 2.138E+01, reprojection_error 2.138E+01, reprojection_error/init 8.478E+01}
[11/09/2020 15:59:10 INFO] [E 6 | it 2850] loss {total 3.542E+00, reprojection_error/0 8.893E+00, reprojection_error/1 1.009E+00, reprojection_error/2 7.260E-01, reprojection_error 7.260E-01, reprojection_error/init 9.089E+01}
[11/09/2020 16:00:56 INFO] [E 6 | it 2900] loss {total 5.209E+00, reprojection_error/0 8.135E+00, reprojection_error/1 3.961E+00, reprojection_error/2 3.531E+00, reprojection_error 3.531E+00, reprojection_error/init 7.264E+01}
[11/09/2020 16:02:43 INFO] [E 6 | it 2950] loss {total 1.076E+01, reprojection_error/0 1.770E+01, reprojection_error/1 1.121E+01, reprojection_error/2 1.067E+01, reprojection_error 1.067E+01, reprojection_error/init 1.040E+02}

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Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.44it/s]
[11/09/2020 16:05:23 INFO] [Validation] {R_error/0 1.118E+00, t_error/0 3.098E-01, R_error/1 6.480E-01, t_error/1 1.777E-01, R_error/2 6.094E-01, t_error/2 1.665E-01, R_error 6.094E-01, t_error 1.665E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.529E+00, loss/reprojection_error/0 1.202E+01, loss/reprojection_error/1 6.891E+00, loss/reprojection_error/2 6.542E+00, loss/reprojection_error 6.542E+00, loss/reprojection_error_median 8.293E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 16:05:24 INFO] Saving checkpoint checkpoint_6
[11/09/2020 16:05:24 INFO] Starting epoch 7
[11/09/2020 16:05:24 INFO] Sampling new images or pairs with seed 7

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100%|██████████| 9/9 [00:00<00:00, 11.99it/s]
[11/09/2020 16:05:28 INFO] [E 7 | it 0] loss {total 8.901E+00, reprojection_error/0 1.524E+01, reprojection_error/1 1.099E+01, reprojection_error/2 1.061E+01, reprojection_error 1.061E+01, reprojection_error/init 9.412E+01}

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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.40it/s]
[11/09/2020 16:06:25 INFO] [Validation] {R_error/0 1.118E+00, t_error/0 3.097E-01, R_error/1 6.486E-01, t_error/1 1.782E-01, R_error/2 6.126E-01, t_error/2 1.671E-01, R_error 6.126E-01, t_error 1.671E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.566E+00, loss/reprojection_error/0 1.201E+01, loss/reprojection_error/1 6.924E+00, loss/reprojection_error/2 6.588E+00, loss/reprojection_error 6.588E+00, loss/reprojection_error_median 8.167E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 16:08:13 INFO] [E 7 | it 50] loss {total 9.806E+00, reprojection_error/0 1.837E+01, reprojection_error/1 1.003E+01, reprojection_error/2 9.543E+00, reprojection_error 9.543E+00, reprojection_error/init 7.859E+01}
[11/09/2020 16:10:02 INFO] [E 7 | it 100] loss {total 3.098E+00, reprojection_error/0 7.941E+00, reprojection_error/1 7.080E-01, reprojection_error/2 6.440E-01, reprojection_error 6.440E-01, reprojection_error/init 1.258E+02}
[11/09/2020 16:11:49 INFO] [E 7 | it 150] loss {total 3.624E+00, reprojection_error/0 5.296E+00, reprojection_error/1 2.962E+00, reprojection_error/2 2.615E+00, reprojection_error 2.615E+00, reprojection_error/init 8.603E+01}
[11/09/2020 16:13:34 INFO] [E 7 | it 200] loss {total 1.679E+01, reprojection_error/0 2.646E+01, reprojection_error/1 2.328E+01, reprojection_error/2 2.389E+01, reprojection_error 2.389E+01, reprojection_error/init 5.883E+01}
[11/09/2020 16:15:20 INFO] [E 7 | it 250] loss {total 4.550E+00, reprojection_error/0 1.019E+01, reprojection_error/1 1.897E+00, reprojection_error/2 1.564E+00, reprojection_error 1.564E+00, reprojection_error/init 9.267E+01}
[11/09/2020 16:17:06 INFO] [E 7 | it 300] loss {total 3.336E+00, reprojection_error/0 6.862E+00, reprojection_error/1 2.026E+00, reprojection_error/2 1.121E+00, reprojection_error 1.121E+00, reprojection_error/init 6.604E+01}
[11/09/2020 16:18:52 INFO] [E 7 | it 350] loss {total 3.263E+00, reprojection_error/0 6.874E+00, reprojection_error/1 1.546E+00, reprojection_error/2 1.370E+00, reprojection_error 1.370E+00, reprojection_error/init 6.410E+01}
[11/09/2020 16:20:41 INFO] [E 7 | it 400] loss {total 5.155E+00, reprojection_error/0 9.271E+00, reprojection_error/1 5.417E+00, reprojection_error/2 5.080E+00, reprojection_error 5.080E+00, reprojection_error/init 8.040E+01}
[11/09/2020 16:22:27 INFO] [E 7 | it 450] loss {total 2.191E+00, reprojection_error/0 4.977E+00, reprojection_error/1 7.805E-01, reprojection_error/2 8.158E-01, reprojection_error 8.158E-01, reprojection_error/init 3.252E+01}
[11/09/2020 16:24:16 INFO] [E 7 | it 500] loss {total 3.959E+00, reprojection_error/0 9.163E+00, reprojection_error/1 1.188E+00, reprojection_error/2 1.524E+00, reprojection_error 1.524E+00, reprojection_error/init 1.223E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:17,  1.74s/it]
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Evaluation:  31%|###1      | 25/80 [00:18<00:36,  1.52it/s]
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Evaluation:  51%|#####1    | 41/80 [00:28<00:26,  1.48it/s]
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Evaluation:  71%|#######1  | 57/80 [00:40<00:17,  1.35it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:16,  1.35it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:11,  1.37it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.41it/s]
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Evaluation:  91%|#########1| 73/80 [00:51<00:04,  1.56it/s]
Evaluation:  92%|#########2| 74/80 [00:51<00:03,  1.57it/s]
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Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.43it/s]
[11/09/2020 16:25:11 INFO] [Validation] {R_error/0 1.082E+00, t_error/0 2.975E-01, R_error/1 6.172E-01, t_error/1 1.576E-01, R_error/2 5.771E-01, t_error/2 1.426E-01, R_error 5.771E-01, t_error 1.426E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.226E+00, loss/reprojection_error/0 1.113E+01, loss/reprojection_error/1 6.085E+00, loss/reprojection_error/2 5.734E+00, loss/reprojection_error 5.734E+00, loss/reprojection_error_median 8.093E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 16:26:57 INFO] [E 7 | it 550] loss {total 2.141E+00, reprojection_error/0 5.057E+00, reprojection_error/1 8.166E-01, reprojection_error/2 5.502E-01, reprojection_error 5.502E-01, reprojection_error/init 4.838E+01}
[11/09/2020 16:28:46 INFO] [E 7 | it 600] loss {total 1.084E+01, reprojection_error/0 1.879E+01, reprojection_error/1 1.163E+01, reprojection_error/2 1.165E+01, reprojection_error 1.165E+01, reprojection_error/init 8.547E+01}
[11/09/2020 16:30:33 INFO] [E 7 | it 650] loss {total 2.323E+00, reprojection_error/0 4.420E+00, reprojection_error/1 1.145E+00, reprojection_error/2 1.406E+00, reprojection_error 1.406E+00, reprojection_error/init 5.578E+01}
[11/09/2020 16:32:24 INFO] [E 7 | it 700] loss {total 2.552E+00, reprojection_error/0 4.589E+00, reprojection_error/1 1.646E+00, reprojection_error/2 1.423E+00, reprojection_error 1.423E+00, reprojection_error/init 5.340E+01}
[11/09/2020 16:34:10 INFO] [E 7 | it 750] loss {total 4.734E+00, reprojection_error/0 8.088E+00, reprojection_error/1 3.546E+00, reprojection_error/2 2.568E+00, reprojection_error 2.568E+00, reprojection_error/init 8.202E+01}
[11/09/2020 16:35:57 INFO] [E 7 | it 800] loss {total 4.416E+00, reprojection_error/0 7.420E+00, reprojection_error/1 2.991E+00, reprojection_error/2 2.837E+00, reprojection_error 2.837E+00, reprojection_error/init 3.956E+01}
[11/09/2020 16:37:45 INFO] [E 7 | it 850] loss {total 4.640E+00, reprojection_error/0 7.952E+00, reprojection_error/1 3.423E+00, reprojection_error/2 2.545E+00, reprojection_error 2.545E+00, reprojection_error/init 7.050E+01}
[11/09/2020 16:38:11 WARNING] Few points in batch [(tensor(8, device='cuda:0'), 48, 1100)]
[11/09/2020 16:39:30 INFO] [E 7 | it 900] loss {total 6.234E+00, reprojection_error/0 1.147E+01, reprojection_error/1 4.166E+00, reprojection_error/2 3.071E+00, reprojection_error 3.071E+00, reprojection_error/init 7.345E+01}
[11/09/2020 16:41:17 INFO] [E 7 | it 950] loss {total 6.720E+00, reprojection_error/0 1.263E+01, reprojection_error/1 4.044E+00, reprojection_error/2 3.491E+00, reprojection_error 3.491E+00, reprojection_error/init 7.598E+01}
[11/09/2020 16:43:05 INFO] [E 7 | it 1000] loss {total 5.642E+00, reprojection_error/0 9.363E+00, reprojection_error/1 3.689E+00, reprojection_error/2 3.875E+00, reprojection_error 3.875E+00, reprojection_error/init 9.381E+01}

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Evaluation:  41%|####1     | 33/80 [00:23<00:31,  1.50it/s]
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Evaluation:  71%|#######1  | 57/80 [00:39<00:15,  1.50it/s]
Evaluation:  72%|#######2  | 58/80 [00:40<00:14,  1.51it/s]
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Evaluation:  80%|########  | 64/80 [00:44<00:10,  1.52it/s]
Evaluation:  81%|########1 | 65/80 [00:45<00:09,  1.52it/s]
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Evaluation:  91%|#########1| 73/80 [00:50<00:04,  1.49it/s]
Evaluation:  92%|#########2| 74/80 [00:51<00:04,  1.45it/s]
Evaluation:  94%|#########3| 75/80 [00:51<00:03,  1.49it/s]
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Evaluation:  99%|#########8| 79/80 [00:54<00:00,  1.53it/s]
Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.54it/s]
Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.45it/s]
[11/09/2020 16:44:00 INFO] [Validation] {R_error/0 1.113E+00, t_error/0 3.539E-01, R_error/1 6.015E-01, t_error/1 1.643E-01, R_error/2 5.559E-01, t_error/2 1.484E-01, R_error 5.559E-01, t_error 1.484E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.192E+00, loss/reprojection_error/0 1.157E+01, loss/reprojection_error/1 5.418E+00, loss/reprojection_error/2 4.978E+00, loss/reprojection_error 4.978E+00, loss/reprojection_error_median 8.317E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 16:45:47 INFO] [E 7 | it 1050] loss {total 7.666E+00, reprojection_error/0 1.212E+01, reprojection_error/1 9.497E+00, reprojection_error/2 8.844E+00, reprojection_error 8.844E+00, reprojection_error/init 7.420E+01}
[11/09/2020 16:47:33 INFO] [E 7 | it 1100] loss {total 1.205E+01, reprojection_error/0 3.464E+01, reprojection_error/1 3.412E+01, reprojection_error/2 3.406E+01, reprojection_error 3.406E+01, reprojection_error/init 1.637E+02}
[11/09/2020 16:49:17 INFO] [E 7 | it 1150] loss {total 9.183E+00, reprojection_error/0 2.129E+01, reprojection_error/1 1.979E+01, reprojection_error/2 1.980E+01, reprojection_error 1.980E+01, reprojection_error/init 1.858E+02}
[11/09/2020 16:51:04 INFO] [E 7 | it 1200] loss {total 6.769E+00, reprojection_error/0 1.902E+01, reprojection_error/1 1.737E+01, reprojection_error/2 1.725E+01, reprojection_error 1.725E+01, reprojection_error/init 6.403E+01}
[11/09/2020 16:52:51 INFO] [E 7 | it 1250] loss {total 3.029E+00, reprojection_error/0 7.653E+00, reprojection_error/1 7.549E-01, reprojection_error/2 6.797E-01, reprojection_error 6.797E-01, reprojection_error/init 6.037E+01}
[11/09/2020 16:54:36 INFO] [E 7 | it 1300] loss {total 8.623E+00, reprojection_error/0 2.100E+01, reprojection_error/1 1.976E+01, reprojection_error/2 1.845E+01, reprojection_error 1.845E+01, reprojection_error/init 1.250E+02}
[11/09/2020 16:56:21 INFO] [E 7 | it 1350] loss {total 9.061E+00, reprojection_error/0 2.051E+01, reprojection_error/1 2.021E+01, reprojection_error/2 1.980E+01, reprojection_error 1.980E+01, reprojection_error/init 8.859E+01}
[11/09/2020 16:58:08 INFO] [E 7 | it 1400] loss {total 6.547E+00, reprojection_error/0 1.126E+01, reprojection_error/1 4.575E+00, reprojection_error/2 3.803E+00, reprojection_error 3.803E+00, reprojection_error/init 8.592E+01}
[11/09/2020 16:59:55 INFO] [E 7 | it 1450] loss {total 4.305E+00, reprojection_error/0 9.588E+00, reprojection_error/1 1.820E+00, reprojection_error/2 1.507E+00, reprojection_error 1.507E+00, reprojection_error/init 5.822E+01}
[11/09/2020 17:01:43 INFO] [E 7 | it 1500] loss {total 7.506E+00, reprojection_error/0 1.974E+01, reprojection_error/1 1.804E+01, reprojection_error/2 1.808E+01, reprojection_error 1.808E+01, reprojection_error/init 1.059E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  41%|####1     | 33/80 [00:24<00:34,  1.37it/s]
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Evaluation:  51%|#####1    | 41/80 [00:29<00:26,  1.46it/s]
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Evaluation:  71%|#######1  | 57/80 [00:41<00:16,  1.44it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:15,  1.41it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:10,  1.47it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.49it/s]
Evaluation:  82%|########2 | 66/80 [00:47<00:09,  1.51it/s]
Evaluation:  84%|########3 | 67/80 [00:47<00:08,  1.52it/s]
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Evaluation:  86%|########6 | 69/80 [00:49<00:07,  1.54it/s]
Evaluation:  88%|########7 | 70/80 [00:49<00:06,  1.55it/s]
Evaluation:  89%|########8 | 71/80 [00:50<00:05,  1.56it/s]
Evaluation:  90%|######### | 72/80 [00:51<00:05,  1.57it/s]
Evaluation:  91%|#########1| 73/80 [00:51<00:04,  1.57it/s]
Evaluation:  92%|#########2| 74/80 [00:52<00:03,  1.58it/s]
Evaluation:  94%|#########3| 75/80 [00:52<00:03,  1.57it/s]
Evaluation:  95%|#########5| 76/80 [00:53<00:02,  1.48it/s]
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Evaluation:  99%|#########8| 79/80 [00:55<00:00,  1.55it/s]
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Evaluation: 100%|##########| 80/80 [00:56<00:00,  1.42it/s]
[11/09/2020 17:02:39 INFO] [Validation] {R_error/0 1.094E+00, t_error/0 2.886E-01, R_error/1 5.999E-01, t_error/1 1.496E-01, R_error/2 5.677E-01, t_error/2 1.394E-01, R_error 5.677E-01, t_error 1.394E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.115E+00, loss/reprojection_error/0 1.116E+01, loss/reprojection_error/1 6.064E+00, loss/reprojection_error/2 5.754E+00, loss/reprojection_error 5.754E+00, loss/reprojection_error_median 8.052E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 17:04:27 INFO] [E 7 | it 1550] loss {total 5.492E+00, reprojection_error/0 1.045E+01, reprojection_error/1 5.749E+00, reprojection_error/2 5.188E+00, reprojection_error 5.188E+00, reprojection_error/init 8.004E+01}
[11/09/2020 17:06:14 INFO] [E 7 | it 1600] loss {total 2.561E+00, reprojection_error/0 4.846E+00, reprojection_error/1 1.527E+00, reprojection_error/2 1.311E+00, reprojection_error 1.311E+00, reprojection_error/init 5.071E+01}
[11/09/2020 17:08:00 INFO] [E 7 | it 1650] loss {total 5.508E+00, reprojection_error/0 9.733E+00, reprojection_error/1 3.521E+00, reprojection_error/2 3.269E+00, reprojection_error 3.269E+00, reprojection_error/init 6.662E+01}
[11/09/2020 17:09:48 INFO] [E 7 | it 1700] loss {total 5.712E+00, reprojection_error/0 9.448E+00, reprojection_error/1 3.859E+00, reprojection_error/2 3.828E+00, reprojection_error 3.828E+00, reprojection_error/init 7.558E+01}
[11/09/2020 17:11:35 INFO] [E 7 | it 1750] loss {total 5.252E+00, reprojection_error/0 8.605E+00, reprojection_error/1 3.953E+00, reprojection_error/2 3.198E+00, reprojection_error 3.198E+00, reprojection_error/init 7.644E+01}
[11/09/2020 17:13:20 INFO] [E 7 | it 1800] loss {total 8.137E+00, reprojection_error/0 1.514E+01, reprojection_error/1 8.443E+00, reprojection_error/2 8.553E+00, reprojection_error 8.553E+00, reprojection_error/init 7.941E+01}
[11/09/2020 17:15:07 INFO] [E 7 | it 1850] loss {total 5.719E+00, reprojection_error/0 9.216E+00, reprojection_error/1 6.628E+00, reprojection_error/2 5.421E+00, reprojection_error 5.421E+00, reprojection_error/init 7.830E+01}
[11/09/2020 17:16:55 INFO] [E 7 | it 1900] loss {total 7.945E+00, reprojection_error/0 2.314E+01, reprojection_error/1 1.716E+01, reprojection_error/2 1.687E+01, reprojection_error 1.687E+01, reprojection_error/init 1.117E+02}
[11/09/2020 17:18:42 INFO] [E 7 | it 1950] loss {total 1.065E+01, reprojection_error/0 2.518E+01, reprojection_error/1 2.052E+01, reprojection_error/2 1.959E+01, reprojection_error 1.959E+01, reprojection_error/init 1.220E+02}
[11/09/2020 17:20:27 INFO] [E 7 | it 2000] loss {total 3.367E+00, reprojection_error/0 6.486E+00, reprojection_error/1 1.804E+00, reprojection_error/2 1.812E+00, reprojection_error 1.812E+00, reprojection_error/init 6.416E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  71%|#######1  | 57/80 [00:40<00:17,  1.32it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:16,  1.33it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:10,  1.46it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.48it/s]
Evaluation:  82%|########2 | 66/80 [00:46<00:09,  1.45it/s]
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Evaluation:  85%|########5 | 68/80 [00:48<00:08,  1.49it/s]
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Evaluation:  90%|######### | 72/80 [00:50<00:05,  1.54it/s]
Evaluation:  91%|#########1| 73/80 [00:51<00:04,  1.54it/s]
Evaluation:  92%|#########2| 74/80 [00:51<00:03,  1.55it/s]
Evaluation:  94%|#########3| 75/80 [00:52<00:03,  1.55it/s]
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Evaluation:  96%|#########6| 77/80 [00:53<00:01,  1.56it/s]
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Evaluation:  99%|#########8| 79/80 [00:55<00:00,  1.57it/s]
Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.57it/s]
Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.43it/s]
[11/09/2020 17:21:23 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 2.962E-01, R_error/1 6.378E-01, t_error/1 1.657E-01, R_error/2 6.004E-01, t_error/2 1.556E-01, R_error 6.004E-01, t_error 1.556E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.516E+00, loss/reprojection_error/0 1.183E+01, loss/reprojection_error/1 6.856E+00, loss/reprojection_error/2 6.597E+00, loss/reprojection_error 6.597E+00, loss/reprojection_error_median 8.080E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 17:23:11 INFO] [E 7 | it 2050] loss {total 8.475E+00, reprojection_error/0 2.300E+01, reprojection_error/1 1.816E+01, reprojection_error/2 1.760E+01, reprojection_error 1.760E+01, reprojection_error/init 1.331E+02}
[11/09/2020 17:24:59 INFO] [E 7 | it 2100] loss {total 1.975E+00, reprojection_error/0 3.422E+00, reprojection_error/1 1.329E+00, reprojection_error/2 1.174E+00, reprojection_error 1.174E+00, reprojection_error/init 4.957E+01}
[11/09/2020 17:26:44 INFO] [E 7 | it 2150] loss {total 3.546E+00, reprojection_error/0 5.096E+00, reprojection_error/1 3.042E+00, reprojection_error/2 2.499E+00, reprojection_error 2.499E+00, reprojection_error/init 6.985E+01}
[11/09/2020 17:28:31 INFO] [E 7 | it 2200] loss {total 8.368E+00, reprojection_error/0 2.157E+01, reprojection_error/1 1.843E+01, reprojection_error/2 1.844E+01, reprojection_error 1.844E+01, reprojection_error/init 7.791E+01}
[11/09/2020 17:30:17 INFO] [E 7 | it 2250] loss {total 4.662E+00, reprojection_error/0 8.769E+00, reprojection_error/1 2.811E+00, reprojection_error/2 2.405E+00, reprojection_error 2.405E+00, reprojection_error/init 4.259E+01}
[11/09/2020 17:32:06 INFO] [E 7 | it 2300] loss {total 8.944E+00, reprojection_error/0 1.736E+01, reprojection_error/1 8.257E+00, reprojection_error/2 7.732E+00, reprojection_error 7.732E+00, reprojection_error/init 9.722E+01}
[11/09/2020 17:33:54 INFO] [E 7 | it 2350] loss {total 4.952E+00, reprojection_error/0 8.542E+00, reprojection_error/1 5.373E+00, reprojection_error/2 5.002E+00, reprojection_error 5.002E+00, reprojection_error/init 8.084E+01}
[11/09/2020 17:35:40 INFO] [E 7 | it 2400] loss {total 4.113E+00, reprojection_error/0 9.700E+00, reprojection_error/1 1.376E+00, reprojection_error/2 1.264E+00, reprojection_error 1.264E+00, reprojection_error/init 1.020E+02}
[11/09/2020 17:37:26 INFO] [E 7 | it 2450] loss {total 1.287E+01, reprojection_error/0 3.751E+01, reprojection_error/1 3.393E+01, reprojection_error/2 3.385E+01, reprojection_error 3.385E+01, reprojection_error/init 1.685E+02}
[11/09/2020 17:39:12 INFO] [E 7 | it 2500] loss {total 5.956E+00, reprojection_error/0 1.016E+01, reprojection_error/1 7.244E+00, reprojection_error/2 7.192E+00, reprojection_error 7.192E+00, reprojection_error/init 3.458E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  71%|#######1  | 57/80 [00:40<00:16,  1.43it/s]
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Evaluation:  82%|########2 | 66/80 [00:46<00:09,  1.45it/s]
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Evaluation:  91%|#########1| 73/80 [00:51<00:04,  1.52it/s]
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Evaluation: 100%|##########| 80/80 [00:56<00:00,  1.42it/s]
[11/09/2020 17:40:08 INFO] [Validation] {R_error/0 1.181E+00, t_error/0 3.238E-01, R_error/1 6.513E-01, t_error/1 1.785E-01, R_error/2 6.146E-01, t_error/2 1.672E-01, R_error 6.146E-01, t_error 1.672E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.501E+00, loss/reprojection_error/0 1.221E+01, loss/reprojection_error/1 6.996E+00, loss/reprojection_error/2 6.716E+00, loss/reprojection_error 6.716E+00, loss/reprojection_error_median 8.294E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 17:41:54 INFO] [E 7 | it 2550] loss {total 8.568E+00, reprojection_error/0 2.268E+01, reprojection_error/1 1.828E+01, reprojection_error/2 1.807E+01, reprojection_error 1.807E+01, reprojection_error/init 1.139E+02}
[11/09/2020 17:43:40 INFO] [E 7 | it 2600] loss {total 6.422E+00, reprojection_error/0 9.943E+00, reprojection_error/1 7.743E+00, reprojection_error/2 7.897E+00, reprojection_error 7.897E+00, reprojection_error/init 4.277E+01}
[11/09/2020 17:45:26 INFO] [E 7 | it 2650] loss {total 3.259E+00, reprojection_error/0 8.192E+00, reprojection_error/1 7.914E-01, reprojection_error/2 7.929E-01, reprojection_error 7.929E-01, reprojection_error/init 5.656E+01}
[11/09/2020 17:47:13 INFO] [E 7 | it 2700] loss {total 8.141E+00, reprojection_error/0 2.150E+01, reprojection_error/1 1.828E+01, reprojection_error/2 1.797E+01, reprojection_error 1.797E+01, reprojection_error/init 1.052E+02}
[11/09/2020 17:49:00 INFO] [E 7 | it 2750] loss {total 2.609E+00, reprojection_error/0 5.339E+00, reprojection_error/1 1.277E+00, reprojection_error/2 1.212E+00, reprojection_error 1.212E+00, reprojection_error/init 5.360E+01}
[11/09/2020 17:50:46 INFO] [E 7 | it 2800] loss {total 7.946E+00, reprojection_error/0 2.216E+01, reprojection_error/1 1.757E+01, reprojection_error/2 1.744E+01, reprojection_error 1.744E+01, reprojection_error/init 8.618E+01}
[11/09/2020 17:52:33 INFO] [E 7 | it 2850] loss {total 6.935E+00, reprojection_error/0 1.965E+01, reprojection_error/1 1.726E+01, reprojection_error/2 1.723E+01, reprojection_error 1.723E+01, reprojection_error/init 8.520E+01}
[11/09/2020 17:54:22 INFO] [E 7 | it 2900] loss {total 1.516E+01, reprojection_error/0 3.245E+01, reprojection_error/1 2.921E+01, reprojection_error/2 2.935E+01, reprojection_error 2.935E+01, reprojection_error/init 7.305E+01}
[11/09/2020 17:56:07 INFO] [E 7 | it 2950] loss {total 1.842E+00, reprojection_error/0 4.138E+00, reprojection_error/1 8.164E-01, reprojection_error/2 5.706E-01, reprojection_error 5.706E-01, reprojection_error/init 1.003E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  60%|######    | 48/80 [00:32<00:20,  1.53it/s]
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Evaluation:  71%|#######1  | 57/80 [00:38<00:15,  1.53it/s]
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Evaluation:  80%|########  | 64/80 [00:43<00:10,  1.50it/s]
Evaluation:  81%|########1 | 65/80 [00:43<00:09,  1.51it/s]
Evaluation:  82%|########2 | 66/80 [00:44<00:09,  1.51it/s]
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Evaluation:  85%|########5 | 68/80 [00:45<00:07,  1.52it/s]
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Evaluation:  88%|########7 | 70/80 [00:46<00:06,  1.56it/s]
Evaluation:  89%|########8 | 71/80 [00:47<00:05,  1.56it/s]
Evaluation:  90%|######### | 72/80 [00:48<00:05,  1.57it/s]
Evaluation:  91%|#########1| 73/80 [00:48<00:04,  1.57it/s]
Evaluation:  92%|#########2| 74/80 [00:49<00:03,  1.57it/s]
Evaluation:  94%|#########3| 75/80 [00:50<00:03,  1.57it/s]
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Evaluation:  98%|#########7| 78/80 [00:52<00:01,  1.40it/s]
Evaluation:  99%|#########8| 79/80 [00:53<00:00,  1.40it/s]
Evaluation: 100%|##########| 80/80 [00:53<00:00,  1.40it/s]
Evaluation: 100%|##########| 80/80 [00:53<00:00,  1.48it/s]
[11/09/2020 17:58:45 INFO] [Validation] {R_error/0 1.122E+00, t_error/0 3.002E-01, R_error/1 6.221E-01, t_error/1 1.665E-01, R_error/2 5.828E-01, t_error/2 1.552E-01, R_error 5.828E-01, t_error 1.552E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.158E+00, loss/reprojection_error/0 1.134E+01, loss/reprojection_error/1 6.377E+00, loss/reprojection_error/2 6.087E+00, loss/reprojection_error 6.087E+00, loss/reprojection_error_median 8.426E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 17:58:45 INFO] Saving checkpoint checkpoint_7
[11/09/2020 17:58:46 INFO] Deleting checkpoint checkpoint_6_interrupted.tar
[11/09/2020 17:58:46 INFO] Starting epoch 8
[11/09/2020 17:58:46 INFO] Sampling new images or pairs with seed 8

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100%|██████████| 9/9 [00:00<00:00, 12.28it/s]
[11/09/2020 17:58:50 INFO] [E 8 | it 0] loss {total 1.071E+01, reprojection_error/0 1.662E+01, reprojection_error/1 1.260E+01, reprojection_error/2 1.315E+01, reprojection_error 1.315E+01, reprojection_error/init 1.099E+02}

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[11/09/2020 17:59:44 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 3.001E-01, R_error/1 6.223E-01, t_error/1 1.672E-01, R_error/2 5.836E-01, t_error/2 1.556E-01, R_error 5.836E-01, t_error 1.556E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.190E+00, loss/reprojection_error/0 1.135E+01, loss/reprojection_error/1 6.393E+00, loss/reprojection_error/2 6.109E+00, loss/reprojection_error 6.109E+00, loss/reprojection_error_median 8.519E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 18:01:31 INFO] [E 8 | it 50] loss {total 3.152E+00, reprojection_error/0 7.958E+00, reprojection_error/1 8.523E-01, reprojection_error/2 6.460E-01, reprojection_error 6.460E-01, reprojection_error/init 3.418E+01}
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:10 INFO] Caught keyboard interrupt signal, will terminate
[11/09/2020 18:02:11 INFO] Caught keyboard interrupt signal, will terminate

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[11/09/2020 18:03:06 INFO] [Validation] {R_error/0 1.119E+00, t_error/0 2.922E-01, R_error/1 6.065E-01, t_error/1 1.597E-01, R_error/2 5.638E-01, t_error/2 1.492E-01, R_error 5.638E-01, t_error 1.492E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.310E+00, loss/reprojection_error/0 1.145E+01, loss/reprojection_error/1 6.201E+00, loss/reprojection_error/2 5.934E+00, loss/reprojection_error 5.934E+00, loss/reprojection_error_median 8.465E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/09/2020 18:03:07 INFO] Saving checkpoint checkpoint_8_interrupted
[11/09/2020 18:03:07 INFO] Finished training on process 0.
[11/10/2020 01:18:52 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/10/2020 01:18:52 INFO] Restoring from checkpoint checkpoint_7.tar
[11/10/2020 01:18:57 INFO] Using device cuda
[11/10/2020 01:18:57 INFO] Creating dataset CMU
[11/10/2020 01:19:00 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 01:19:01 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 01:19:01 INFO] Training loader has 3000 batches
[11/10/2020 01:19:01 INFO] Validation loader has 80 batches
[11/10/2020 01:19:09 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/10/2020 01:19:09 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/10/2020 01:19:09 INFO] Starting epoch 8
[11/10/2020 01:19:09 INFO] Sampling new images or pairs with seed 8

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100%|██████████| 9/9 [00:00<00:00, 18.83it/s]{'params': [Parameter containing:
tensor([-2.7402, -0.1463, -1.6043, -0.2254, -2.4254, -0.1103], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-2.0843,  0.2370, -2.2243, -0.8062, -2.0888,  0.2376], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-3.2011,  0.9946, -1.9008,  0.3179,  0.2557,  0.7836], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/10/2020 01:19:17 INFO] [E 8 | it 0] loss {total 1.071E+01, reprojection_error/0 1.662E+01, reprojection_error/1 1.260E+01, reprojection_error/2 1.315E+01, reprojection_error 1.315E+01, reprojection_error/init 1.099E+02}

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[11/10/2020 01:20:00 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 3.001E-01, R_error/1 6.223E-01, t_error/1 1.672E-01, R_error/2 5.837E-01, t_error/2 1.556E-01, R_error 5.837E-01, t_error 1.556E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.190E+00, loss/reprojection_error/0 1.135E+01, loss/reprojection_error/1 6.393E+00, loss/reprojection_error/2 6.109E+00, loss/reprojection_error 6.109E+00, loss/reprojection_error_median 8.519E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 01:21:25 INFO] [E 8 | it 50] loss {total 3.152E+00, reprojection_error/0 7.958E+00, reprojection_error/1 8.523E-01, reprojection_error/2 6.460E-01, reprojection_error 6.460E-01, reprojection_error/init 3.418E+01}
[11/10/2020 01:22:51 INFO] [E 8 | it 100] loss {total 1.481E+00, reprojection_error/0 3.133E+00, reprojection_error/1 6.643E-01, reprojection_error/2 6.475E-01, reprojection_error 6.475E-01, reprojection_error/init 5.336E+01}
[11/10/2020 01:24:17 INFO] [E 8 | it 150] loss {total 2.818E+00, reprojection_error/0 6.913E+00, reprojection_error/1 8.927E-01, reprojection_error/2 6.465E-01, reprojection_error 6.465E-01, reprojection_error/init 4.192E+01}
[11/10/2020 01:25:43 INFO] [E 8 | it 200] loss {total 1.879E+00, reprojection_error/0 2.812E+00, reprojection_error/1 2.165E+00, reprojection_error/2 6.601E-01, reprojection_error 6.601E-01, reprojection_error/init 6.817E+01}
[11/10/2020 01:27:08 INFO] [E 8 | it 250] loss {total 4.412E+00, reprojection_error/0 9.736E+00, reprojection_error/1 1.894E+00, reprojection_error/2 1.606E+00, reprojection_error 1.606E+00, reprojection_error/init 7.721E+01}
[11/10/2020 01:28:33 INFO] [E 8 | it 300] loss {total 3.916E+00, reprojection_error/0 8.972E+00, reprojection_error/1 1.566E+00, reprojection_error/2 1.210E+00, reprojection_error 1.210E+00, reprojection_error/init 6.014E+01}
[11/10/2020 01:29:58 INFO] [E 8 | it 350] loss {total 3.196E+00, reprojection_error/0 7.196E+00, reprojection_error/1 1.211E+00, reprojection_error/2 1.181E+00, reprojection_error 1.181E+00, reprojection_error/init 7.008E+01}
[11/10/2020 01:31:23 INFO] [E 8 | it 400] loss {total 6.671E+00, reprojection_error/0 1.931E+01, reprojection_error/1 1.691E+01, reprojection_error/2 1.713E+01, reprojection_error 1.713E+01, reprojection_error/init 5.391E+01}
[11/10/2020 01:32:47 INFO] [E 8 | it 450] loss {total 1.015E+01, reprojection_error/0 1.609E+01, reprojection_error/1 1.347E+01, reprojection_error/2 1.365E+01, reprojection_error 1.365E+01, reprojection_error/init 8.907E+01}
[11/10/2020 01:34:11 INFO] [E 8 | it 500] loss {total 5.665E+00, reprojection_error/0 1.004E+01, reprojection_error/1 6.443E+00, reprojection_error/2 6.138E+00, reprojection_error 6.138E+00, reprojection_error/init 1.373E+02}

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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/10/2020 01:34:52 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 3.073E-01, R_error/1 6.253E-01, t_error/1 1.678E-01, R_error/2 5.857E-01, t_error/2 1.556E-01, R_error 5.857E-01, t_error 1.556E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.305E+00, loss/reprojection_error/0 1.151E+01, loss/reprojection_error/1 6.278E+00, loss/reprojection_error/2 5.944E+00, loss/reprojection_error 5.944E+00, loss/reprojection_error_median 7.879E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 01:36:12 INFO] [E 8 | it 550] loss {total 3.647E+00, reprojection_error/0 6.624E+00, reprojection_error/1 2.263E+00, reprojection_error/2 2.054E+00, reprojection_error 2.054E+00, reprojection_error/init 6.321E+01}
[11/10/2020 01:37:32 INFO] [E 8 | it 600] loss {total 9.584E+00, reprojection_error/0 1.441E+01, reprojection_error/1 1.324E+01, reprojection_error/2 1.240E+01, reprojection_error 1.240E+01, reprojection_error/init 3.694E+01}
[11/10/2020 01:38:52 INFO] [E 8 | it 650] loss {total 2.717E+00, reprojection_error/0 5.729E+00, reprojection_error/1 1.217E+00, reprojection_error/2 1.206E+00, reprojection_error 1.206E+00, reprojection_error/init 8.992E+01}
[11/10/2020 01:40:14 INFO] [E 8 | it 700] loss {total 3.469E+00, reprojection_error/0 6.346E+00, reprojection_error/1 2.213E+00, reprojection_error/2 1.848E+00, reprojection_error 1.848E+00, reprojection_error/init 5.850E+01}
[11/10/2020 01:41:34 INFO] [E 8 | it 750] loss {total 3.725E+00, reprojection_error/0 6.947E+00, reprojection_error/1 2.589E+00, reprojection_error/2 1.639E+00, reprojection_error 1.639E+00, reprojection_error/init 4.527E+01}
[11/10/2020 01:42:54 INFO] [E 8 | it 800] loss {total 4.048E+00, reprojection_error/0 9.651E+00, reprojection_error/1 1.579E+00, reprojection_error/2 9.150E-01, reprojection_error 9.150E-01, reprojection_error/init 6.785E+01}
[11/10/2020 01:44:13 INFO] [E 8 | it 850] loss {total 5.325E+00, reprojection_error/0 8.016E+00, reprojection_error/1 3.867E+00, reprojection_error/2 4.093E+00, reprojection_error 4.093E+00, reprojection_error/init 8.558E+01}
[11/10/2020 01:45:33 INFO] [E 8 | it 900] loss {total 1.612E+00, reprojection_error/0 2.029E+00, reprojection_error/1 1.462E+00, reprojection_error/2 1.344E+00, reprojection_error 1.344E+00, reprojection_error/init 3.173E+01}
[11/10/2020 01:46:54 INFO] [E 8 | it 950] loss {total 1.780E+00, reprojection_error/0 3.470E+00, reprojection_error/1 9.840E-01, reprojection_error/2 8.874E-01, reprojection_error 8.874E-01, reprojection_error/init 5.284E+01}
[11/10/2020 01:48:16 INFO] [E 8 | it 1000] loss {total 7.728E+00, reprojection_error/0 1.896E+01, reprojection_error/1 1.886E+01, reprojection_error/2 1.870E+01, reprojection_error 1.870E+01, reprojection_error/init 7.127E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.03it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.06it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.08it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.08it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
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Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.11it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/10/2020 01:48:56 INFO] [Validation] {R_error/0 1.064E+00, t_error/0 2.838E-01, R_error/1 6.118E-01, t_error/1 1.541E-01, R_error/2 5.750E-01, t_error/2 1.419E-01, R_error 5.750E-01, t_error 1.419E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.139E+00, loss/reprojection_error/0 1.085E+01, loss/reprojection_error/1 6.041E+00, loss/reprojection_error/2 5.708E+00, loss/reprojection_error 5.708E+00, loss/reprojection_error_median 7.792E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 01:50:17 INFO] [E 8 | it 1050] loss {total 1.970E+00, reprojection_error/0 4.031E+00, reprojection_error/1 1.084E+00, reprojection_error/2 7.945E-01, reprojection_error 7.945E-01, reprojection_error/init 5.145E+01}
[11/10/2020 01:51:38 INFO] [E 8 | it 1100] loss {total 3.309E+00, reprojection_error/0 6.474E+00, reprojection_error/1 2.500E+00, reprojection_error/2 9.526E-01, reprojection_error 9.526E-01, reprojection_error/init 2.930E+01}
[11/10/2020 01:52:59 INFO] [E 8 | it 1150] loss {total 2.187E+00, reprojection_error/0 5.040E+00, reprojection_error/1 7.420E-01, reprojection_error/2 7.796E-01, reprojection_error 7.796E-01, reprojection_error/init 4.731E+01}
[11/10/2020 01:54:20 INFO] [E 8 | it 1200] loss {total 1.804E+00, reprojection_error/0 2.592E+00, reprojection_error/1 1.274E+00, reprojection_error/2 1.548E+00, reprojection_error 1.548E+00, reprojection_error/init 5.051E+01}
[11/10/2020 01:55:40 INFO] [E 8 | it 1250] loss {total 6.508E+00, reprojection_error/0 1.487E+01, reprojection_error/1 2.712E+00, reprojection_error/2 1.938E+00, reprojection_error 1.938E+00, reprojection_error/init 6.610E+01}
[11/10/2020 01:57:01 INFO] [E 8 | it 1300] loss {total 5.607E+00, reprojection_error/0 7.328E+00, reprojection_error/1 4.952E+00, reprojection_error/2 4.541E+00, reprojection_error 4.541E+00, reprojection_error/init 6.533E+01}
[11/10/2020 01:58:22 INFO] [E 8 | it 1350] loss {total 2.010E+00, reprojection_error/0 4.595E+00, reprojection_error/1 6.857E-01, reprojection_error/2 7.481E-01, reprojection_error 7.481E-01, reprojection_error/init 7.226E+01}
[11/10/2020 01:59:42 INFO] [E 8 | it 1400] loss {total 2.671E+00, reprojection_error/0 5.139E+00, reprojection_error/1 1.406E+00, reprojection_error/2 1.467E+00, reprojection_error 1.467E+00, reprojection_error/init 3.569E+01}
[11/10/2020 02:01:02 INFO] [E 8 | it 1450] loss {total 6.884E+00, reprojection_error/0 1.949E+01, reprojection_error/1 1.745E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 9.296E+01}
[11/10/2020 02:02:24 INFO] [E 8 | it 1500] loss {total 5.778E+00, reprojection_error/0 9.537E+00, reprojection_error/1 4.344E+00, reprojection_error/2 3.452E+00, reprojection_error 3.452E+00, reprojection_error/init 9.395E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:43,  1.31s/it]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.85it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:36,  1.90it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.94it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.95it/s]
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Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.01it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.02it/s]
Evaluation:  71%|#######1  | 57/80 [00:28<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:29<00:10,  2.02it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.09it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.11it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/10/2020 02:03:04 INFO] [Validation] {R_error/0 1.064E+00, t_error/0 2.928E-01, R_error/1 5.735E-01, t_error/1 1.523E-01, R_error/2 5.310E-01, t_error/2 1.402E-01, R_error 5.310E-01, t_error 1.402E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.723E+00, loss/reprojection_error/0 1.055E+01, loss/reprojection_error/1 5.298E+00, loss/reprojection_error/2 4.947E+00, loss/reprojection_error 4.947E+00, loss/reprojection_error_median 7.480E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 02:04:24 INFO] [E 8 | it 1550] loss {total 2.750E+00, reprojection_error/0 4.583E+00, reprojection_error/1 2.032E+00, reprojection_error/2 1.635E+00, reprojection_error 1.635E+00, reprojection_error/init 4.393E+01}
[11/10/2020 02:05:47 INFO] [E 8 | it 1600] loss {total 5.407E+00, reprojection_error/0 1.091E+01, reprojection_error/1 2.927E+00, reprojection_error/2 2.380E+00, reprojection_error 2.380E+00, reprojection_error/init 5.928E+01}
[11/10/2020 02:07:11 INFO] [E 8 | it 1650] loss {total 1.517E+00, reprojection_error/0 2.122E+00, reprojection_error/1 1.026E+00, reprojection_error/2 1.403E+00, reprojection_error 1.403E+00, reprojection_error/init 5.763E+01}
[11/10/2020 02:08:34 INFO] [E 8 | it 1700] loss {total 9.685E+00, reprojection_error/0 1.485E+01, reprojection_error/1 7.654E+00, reprojection_error/2 6.554E+00, reprojection_error 6.554E+00, reprojection_error/init 1.172E+02}
[11/10/2020 02:09:55 INFO] [E 8 | it 1750] loss {total 8.623E+00, reprojection_error/0 2.291E+01, reprojection_error/1 1.821E+01, reprojection_error/2 1.808E+01, reprojection_error 1.808E+01, reprojection_error/init 7.568E+01}
[11/10/2020 02:11:16 INFO] [E 8 | it 1800] loss {total 9.036E+00, reprojection_error/0 2.189E+01, reprojection_error/1 1.943E+01, reprojection_error/2 1.913E+01, reprojection_error 1.913E+01, reprojection_error/init 1.046E+02}
[11/10/2020 02:12:37 INFO] [E 8 | it 1850] loss {total 1.667E+01, reprojection_error/0 5.000E+01, reprojection_error/1 5.000E+01, reprojection_error/2 5.000E+01, reprojection_error 5.000E+01, reprojection_error/init 1.068E+02}
[11/10/2020 02:13:58 INFO] [E 8 | it 1900] loss {total 9.394E+00, reprojection_error/0 2.054E+01, reprojection_error/1 2.074E+01, reprojection_error/2 2.010E+01, reprojection_error 2.010E+01, reprojection_error/init 6.827E+01}
[11/10/2020 02:15:19 INFO] [E 8 | it 1950] loss {total 8.004E+00, reprojection_error/0 1.296E+01, reprojection_error/1 1.079E+01, reprojection_error/2 9.320E+00, reprojection_error 9.320E+00, reprojection_error/init 5.988E+01}
[11/10/2020 02:16:39 INFO] [E 8 | it 2000] loss {total 7.116E+00, reprojection_error/0 1.126E+01, reprojection_error/1 9.351E+00, reprojection_error/2 9.842E+00, reprojection_error 9.842E+00, reprojection_error/init 4.444E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:43,  1.31s/it]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.03it/s]
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Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.02it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.02it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.02it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.02it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:32<00:07,  2.02it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.02it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.02it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.05it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.07it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.08it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.09it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.10it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.11it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.11it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.11it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/10/2020 02:17:19 INFO] [Validation] {R_error/0 1.085E+00, t_error/0 2.806E-01, R_error/1 6.142E-01, t_error/1 1.536E-01, R_error/2 5.763E-01, t_error/2 1.443E-01, R_error 5.763E-01, t_error 1.443E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.165E+00, loss/reprojection_error/0 1.085E+01, loss/reprojection_error/1 6.140E+00, loss/reprojection_error/2 5.844E+00, loss/reprojection_error 5.844E+00, loss/reprojection_error_median 8.607E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 02:18:39 INFO] [E 8 | it 2050] loss {total 1.346E+01, reprojection_error/0 3.001E+01, reprojection_error/1 2.579E+01, reprojection_error/2 2.670E+01, reprojection_error 2.670E+01, reprojection_error/init 1.015E+02}
[11/10/2020 02:20:00 INFO] [E 8 | it 2100] loss {total 2.987E+00, reprojection_error/0 6.761E+00, reprojection_error/1 1.125E+00, reprojection_error/2 1.075E+00, reprojection_error 1.075E+00, reprojection_error/init 5.223E+01}
[11/10/2020 02:21:20 INFO] [E 8 | it 2150] loss {total 7.831E+00, reprojection_error/0 1.506E+01, reprojection_error/1 7.401E+00, reprojection_error/2 6.711E+00, reprojection_error 6.711E+00, reprojection_error/init 9.649E+01}
[11/10/2020 02:22:40 INFO] [E 8 | it 2200] loss {total 2.536E+00, reprojection_error/0 5.793E+00, reprojection_error/1 9.086E-01, reprojection_error/2 9.064E-01, reprojection_error 9.064E-01, reprojection_error/init 8.451E+01}
[11/10/2020 02:24:00 INFO] [E 8 | it 2250] loss {total 3.232E+00, reprojection_error/0 5.060E+00, reprojection_error/1 2.662E+00, reprojection_error/2 1.974E+00, reprojection_error 1.974E+00, reprojection_error/init 4.937E+01}
[11/10/2020 02:25:21 INFO] [E 8 | it 2300] loss {total 1.238E+01, reprojection_error/0 3.590E+01, reprojection_error/1 3.399E+01, reprojection_error/2 3.393E+01, reprojection_error 3.393E+01, reprojection_error/init 9.137E+01}
[11/10/2020 02:26:42 INFO] [E 8 | it 2350] loss {total 1.921E+00, reprojection_error/0 4.042E+00, reprojection_error/1 8.676E-01, reprojection_error/2 8.530E-01, reprojection_error 8.530E-01, reprojection_error/init 9.132E+01}
[11/10/2020 02:28:03 INFO] [E 8 | it 2400] loss {total 1.039E+01, reprojection_error/0 1.509E+01, reprojection_error/1 1.268E+01, reprojection_error/2 1.288E+01, reprojection_error 1.288E+01, reprojection_error/init 5.657E+01}
[11/10/2020 02:29:27 INFO] [E 8 | it 2450] loss {total 1.500E+00, reprojection_error/0 2.967E+00, reprojection_error/1 6.426E-01, reprojection_error/2 8.908E-01, reprojection_error 8.908E-01, reprojection_error/init 7.588E+01}
[11/10/2020 02:30:52 INFO] [E 8 | it 2500] loss {total 4.700E+00, reprojection_error/0 1.107E+01, reprojection_error/1 1.820E+00, reprojection_error/2 1.207E+00, reprojection_error 1.207E+00, reprojection_error/init 6.756E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:47,  1.36s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:25,  1.10s/it]
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Evaluation:   5%|5         | 4/80 [00:02<01:00,  1.26it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:52,  1.42it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:47,  1.56it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:43,  1.67it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:40,  1.76it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.83it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.88it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.92it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.95it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:33,  1.97it/s]
Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.99it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  2.00it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  2.00it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:30,  2.01it/s]
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Evaluation:  25%|##5       | 20/80 [00:10<00:29,  2.01it/s]
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Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.01it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.00it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.00it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:25,  1.89it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:25,  1.90it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:24,  1.93it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:23,  1.96it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  1.97it/s]
Evaluation:  45%|####5     | 36/80 [00:18<00:22,  1.98it/s]
Evaluation:  46%|####6     | 37/80 [00:19<00:21,  1.99it/s]
Evaluation:  48%|####7     | 38/80 [00:19<00:21,  2.00it/s]
Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.00it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.01it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.01it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.01it/s]
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Evaluation:  59%|#####8    | 47/80 [00:24<00:16,  2.01it/s]
Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.01it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.02it/s]
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Evaluation:  64%|######3   | 51/80 [00:26<00:14,  2.01it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.01it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.01it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.01it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:09,  2.02it/s]
Evaluation:  78%|#######7  | 62/80 [00:31<00:08,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.02it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.04it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.06it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.07it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.09it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.10it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.10it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.10it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.10it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.10it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.10it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 02:31:32 INFO] [Validation] {R_error/0 1.244E+00, t_error/0 5.410E-01, R_error/1 7.404E-01, t_error/1 2.909E-01, R_error/2 6.951E-01, t_error/2 2.704E-01, R_error 6.951E-01, t_error 2.704E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 7.456E+00, loss/reprojection_error/0 1.646E+01, loss/reprojection_error/1 8.676E+00, loss/reprojection_error/2 8.162E+00, loss/reprojection_error 8.162E+00, loss/reprojection_error_median 1.102E+00, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 02:32:53 INFO] [E 8 | it 2550] loss {total 7.867E+00, reprojection_error/0 1.585E+01, reprojection_error/1 7.238E+00, reprojection_error/2 6.724E+00, reprojection_error 6.724E+00, reprojection_error/init 9.319E+01}
[11/10/2020 02:34:12 INFO] [E 8 | it 2600] loss {total 6.358E+00, reprojection_error/0 1.254E+01, reprojection_error/1 3.297E+00, reprojection_error/2 3.238E+00, reprojection_error 3.238E+00, reprojection_error/init 7.403E+01}
[11/10/2020 02:35:36 INFO] [E 8 | it 2650] loss {total 8.645E+00, reprojection_error/0 2.458E+01, reprojection_error/1 1.756E+01, reprojection_error/2 1.714E+01, reprojection_error 1.714E+01, reprojection_error/init 1.234E+02}
[11/10/2020 02:36:58 INFO] [E 8 | it 2700] loss {total 8.329E+00, reprojection_error/0 2.438E+01, reprojection_error/1 1.689E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 1.183E+02}
[11/10/2020 02:38:21 INFO] [E 8 | it 2750] loss {total 4.064E+00, reprojection_error/0 8.447E+00, reprojection_error/1 2.205E+00, reprojection_error/2 1.540E+00, reprojection_error 1.540E+00, reprojection_error/init 5.760E+01}
[11/10/2020 02:39:45 INFO] [E 8 | it 2800] loss {total 1.264E+01, reprojection_error/0 2.834E+01, reprojection_error/1 2.603E+01, reprojection_error/2 2.602E+01, reprojection_error 2.602E+01, reprojection_error/init 1.013E+02}
[11/10/2020 02:41:08 INFO] [E 8 | it 2850] loss {total 6.341E+00, reprojection_error/0 9.851E+00, reprojection_error/1 4.779E+00, reprojection_error/2 4.394E+00, reprojection_error 4.394E+00, reprojection_error/init 4.095E+01}
[11/10/2020 02:42:31 INFO] [E 8 | it 2900] loss {total 7.629E+00, reprojection_error/0 2.124E+01, reprojection_error/1 1.768E+01, reprojection_error/2 1.730E+01, reprojection_error 1.730E+01, reprojection_error/init 9.567E+01}
[11/10/2020 02:43:54 INFO] [E 8 | it 2950] loss {total 5.775E+00, reprojection_error/0 8.506E+00, reprojection_error/1 4.551E+00, reprojection_error/2 4.267E+00, reprojection_error 4.267E+00, reprojection_error/init 7.125E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:53,  1.44s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:30,  1.16s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:13,  1.04it/s]
Evaluation:   5%|5         | 4/80 [00:02<01:02,  1.22it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:54,  1.39it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:48,  1.53it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:44,  1.65it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/10/2020 02:45:55 INFO] [Validation] {R_error/0 1.181E+00, t_error/0 3.773E-01, R_error/1 6.510E-01, t_error/1 2.047E-01, R_error/2 6.090E-01, t_error/2 1.904E-01, R_error 6.090E-01, t_error 1.904E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.024E+00, loss/reprojection_error/0 1.318E+01, loss/reprojection_error/1 7.122E+00, loss/reprojection_error/2 6.706E+00, loss/reprojection_error 6.706E+00, loss/reprojection_error_median 9.297E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 02:45:55 INFO] Saving checkpoint checkpoint_8
[11/10/2020 02:45:56 INFO] Starting epoch 9
[11/10/2020 02:45:56 INFO] Sampling new images or pairs with seed 9

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100%|██████████| 9/9 [00:00<00:00, 15.36it/s]
[11/10/2020 02:45:59 INFO] [E 9 | it 0] loss {total 1.090E+01, reprojection_error/0 1.624E+01, reprojection_error/1 1.592E+01, reprojection_error/2 1.578E+01, reprojection_error 1.578E+01, reprojection_error/init 9.621E+01}

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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/10/2020 02:46:39 INFO] [Validation] {R_error/0 1.181E+00, t_error/0 3.774E-01, R_error/1 6.523E-01, t_error/1 2.046E-01, R_error/2 6.106E-01, t_error/2 1.906E-01, R_error 6.106E-01, t_error 1.906E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.028E+00, loss/reprojection_error/0 1.318E+01, loss/reprojection_error/1 7.128E+00, loss/reprojection_error/2 6.711E+00, loss/reprojection_error 6.711E+00, loss/reprojection_error_median 9.422E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 02:48:01 INFO] [E 9 | it 50] loss {total 1.091E+01, reprojection_error/0 1.955E+01, reprojection_error/1 1.042E+01, reprojection_error/2 1.005E+01, reprojection_error 1.005E+01, reprojection_error/init 8.100E+01}
[11/10/2020 02:49:23 INFO] [E 9 | it 100] loss {total 7.572E+00, reprojection_error/0 1.497E+01, reprojection_error/1 6.777E+00, reprojection_error/2 6.229E+00, reprojection_error 6.229E+00, reprojection_error/init 8.044E+01}
[11/10/2020 02:50:44 INFO] [E 9 | it 150] loss {total 3.204E+00, reprojection_error/0 5.009E+00, reprojection_error/1 2.231E+00, reprojection_error/2 2.371E+00, reprojection_error 2.371E+00, reprojection_error/init 6.969E+01}
[11/10/2020 02:52:04 INFO] [E 9 | it 200] loss {total 9.890E+00, reprojection_error/0 1.833E+01, reprojection_error/1 9.223E+00, reprojection_error/2 8.105E+00, reprojection_error 8.105E+00, reprojection_error/init 9.102E+01}
[11/10/2020 02:53:28 INFO] [E 9 | it 250] loss {total 8.790E+00, reprojection_error/0 1.346E+01, reprojection_error/1 1.012E+01, reprojection_error/2 9.375E+00, reprojection_error 9.375E+00, reprojection_error/init 7.097E+01}
[11/10/2020 02:54:53 INFO] [E 9 | it 300] loss {total 9.078E+00, reprojection_error/0 2.181E+01, reprojection_error/1 1.960E+01, reprojection_error/2 1.915E+01, reprojection_error 1.915E+01, reprojection_error/init 1.120E+02}
[11/10/2020 02:56:16 INFO] [E 9 | it 350] loss {total 8.534E+00, reprojection_error/0 2.332E+01, reprojection_error/1 1.795E+01, reprojection_error/2 1.767E+01, reprojection_error 1.767E+01, reprojection_error/init 9.929E+01}
[11/10/2020 02:57:41 INFO] [E 9 | it 400] loss {total 4.806E+00, reprojection_error/0 6.894E+00, reprojection_error/1 4.124E+00, reprojection_error/2 3.399E+00, reprojection_error 3.399E+00, reprojection_error/init 5.098E+01}
[11/10/2020 02:59:06 INFO] [E 9 | it 450] loss {total 6.860E+00, reprojection_error/0 1.379E+01, reprojection_error/1 6.255E+00, reprojection_error/2 6.258E+00, reprojection_error 6.258E+00, reprojection_error/init 1.021E+02}
[11/10/2020 03:00:28 INFO] [E 9 | it 500] loss {total 6.616E+00, reprojection_error/0 9.363E+00, reprojection_error/1 7.344E+00, reprojection_error/2 6.918E+00, reprojection_error 6.918E+00, reprojection_error/init 6.608E+01}

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Evaluation:  49%|####8     | 39/80 [00:21<00:24,  1.70it/s]
Evaluation:  50%|#####     | 40/80 [00:22<00:22,  1.78it/s]
Evaluation:  51%|#####1    | 41/80 [00:22<00:21,  1.84it/s]
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Evaluation:  71%|#######1  | 57/80 [00:31<00:12,  1.78it/s]
Evaluation:  72%|#######2  | 58/80 [00:32<00:13,  1.68it/s]
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Evaluation:  80%|########  | 64/80 [00:35<00:08,  1.79it/s]
Evaluation:  81%|########1 | 65/80 [00:36<00:09,  1.63it/s]
Evaluation:  82%|########2 | 66/80 [00:36<00:08,  1.65it/s]
Evaluation:  84%|########3 | 67/80 [00:37<00:07,  1.73it/s]
Evaluation:  85%|########5 | 68/80 [00:37<00:06,  1.77it/s]
Evaluation:  86%|########6 | 69/80 [00:38<00:05,  1.84it/s]
Evaluation:  88%|########7 | 70/80 [00:39<00:05,  1.70it/s]
Evaluation:  89%|########8 | 71/80 [00:39<00:05,  1.72it/s]
Evaluation:  90%|######### | 72/80 [00:40<00:04,  1.77it/s]
Evaluation:  91%|#########1| 73/80 [00:40<00:03,  1.80it/s]
Evaluation:  92%|#########2| 74/80 [00:41<00:03,  1.83it/s]
Evaluation:  94%|#########3| 75/80 [00:41<00:02,  1.85it/s]
Evaluation:  95%|#########5| 76/80 [00:42<00:02,  1.86it/s]
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Evaluation: 100%|##########| 80/80 [00:44<00:00,  1.79it/s]
[11/10/2020 03:01:13 INFO] [Validation] {R_error/0 1.184E+00, t_error/0 3.474E-01, R_error/1 6.609E-01, t_error/1 2.006E-01, R_error/2 6.249E-01, t_error/2 1.872E-01, R_error 6.249E-01, t_error 1.872E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.006E+00, loss/reprojection_error/0 1.284E+01, loss/reprojection_error/1 7.293E+00, loss/reprojection_error/2 6.959E+00, loss/reprojection_error 6.959E+00, loss/reprojection_error_median 8.915E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 03:02:37 INFO] [E 9 | it 550] loss {total 1.312E+01, reprojection_error/0 1.970E+01, reprojection_error/1 1.822E+01, reprojection_error/2 1.810E+01, reprojection_error 1.810E+01, reprojection_error/init 7.036E+01}
[11/10/2020 03:03:59 INFO] [E 9 | it 600] loss {total 6.160E+00, reprojection_error/0 1.134E+01, reprojection_error/1 5.702E+00, reprojection_error/2 5.430E+00, reprojection_error 5.430E+00, reprojection_error/init 7.674E+01}
[11/10/2020 03:05:21 INFO] [E 9 | it 650] loss {total 5.776E+00, reprojection_error/0 1.048E+01, reprojection_error/1 3.578E+00, reprojection_error/2 3.265E+00, reprojection_error 3.265E+00, reprojection_error/init 8.950E+01}
[11/10/2020 03:06:43 INFO] [E 9 | it 700] loss {total 4.980E+00, reprojection_error/0 9.674E+00, reprojection_error/1 2.905E+00, reprojection_error/2 2.363E+00, reprojection_error 2.363E+00, reprojection_error/init 4.766E+01}
[11/10/2020 03:08:04 INFO] [E 9 | it 750] loss {total 3.794E+00, reprojection_error/0 7.694E+00, reprojection_error/1 2.055E+00, reprojection_error/2 1.634E+00, reprojection_error 1.634E+00, reprojection_error/init 5.833E+01}
[11/10/2020 03:09:26 INFO] [E 9 | it 800] loss {total 2.829E+00, reprojection_error/0 4.573E+00, reprojection_error/1 1.951E+00, reprojection_error/2 1.964E+00, reprojection_error 1.964E+00, reprojection_error/init 6.220E+01}
[11/10/2020 03:10:48 INFO] [E 9 | it 850] loss {total 3.191E+00, reprojection_error/0 7.188E+00, reprojection_error/1 1.739E+00, reprojection_error/2 6.457E-01, reprojection_error 6.457E-01, reprojection_error/init 4.176E+01}
[11/10/2020 03:12:10 INFO] [E 9 | it 900] loss {total 2.015E+01, reprojection_error/0 4.802E+01, reprojection_error/1 4.577E+01, reprojection_error/2 4.571E+01, reprojection_error 4.571E+01, reprojection_error/init 1.928E+02}
[11/10/2020 03:13:31 INFO] [E 9 | it 950] loss {total 2.645E+00, reprojection_error/0 5.686E+00, reprojection_error/1 1.339E+00, reprojection_error/2 9.096E-01, reprojection_error 9.096E-01, reprojection_error/init 2.941E+01}
[11/10/2020 03:14:53 INFO] [E 9 | it 1000] loss {total 4.916E+00, reprojection_error/0 8.189E+00, reprojection_error/1 3.251E+00, reprojection_error/2 3.307E+00, reprojection_error 3.307E+00, reprojection_error/init 7.788E+01}

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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.01it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.80it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:08,  1.87it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.92it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.09it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.10it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.11it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/10/2020 03:15:34 INFO] [Validation] {R_error/0 1.197E+00, t_error/0 3.375E-01, R_error/1 6.804E-01, t_error/1 2.092E-01, R_error/2 6.372E-01, t_error/2 1.954E-01, R_error 6.372E-01, t_error 1.954E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.242E+00, loss/reprojection_error/0 1.309E+01, loss/reprojection_error/1 7.796E+00, loss/reprojection_error/2 7.459E+00, loss/reprojection_error 7.459E+00, loss/reprojection_error_median 8.605E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 03:16:56 INFO] [E 9 | it 1050] loss {total 7.534E+00, reprojection_error/0 1.906E+01, reprojection_error/1 1.816E+01, reprojection_error/2 1.672E+01, reprojection_error 1.672E+01, reprojection_error/init 1.051E+02}
[11/10/2020 03:18:17 INFO] [E 9 | it 1100] loss {total 2.973E+00, reprojection_error/0 5.587E+00, reprojection_error/1 1.689E+00, reprojection_error/2 1.641E+00, reprojection_error 1.641E+00, reprojection_error/init 7.169E+01}
[11/10/2020 03:19:38 INFO] [E 9 | it 1150] loss {total 8.870E+00, reprojection_error/0 1.731E+01, reprojection_error/1 8.624E+00, reprojection_error/2 8.494E+00, reprojection_error 8.494E+00, reprojection_error/init 8.393E+01}
[11/10/2020 03:20:59 INFO] [E 9 | it 1200] loss {total 4.227E+00, reprojection_error/0 8.119E+00, reprojection_error/1 2.251E+00, reprojection_error/2 2.312E+00, reprojection_error 2.312E+00, reprojection_error/init 1.151E+02}
[11/10/2020 03:22:22 INFO] [E 9 | it 1250] loss {total 2.860E+00, reprojection_error/0 6.613E+00, reprojection_error/1 1.089E+00, reprojection_error/2 8.779E-01, reprojection_error 8.779E-01, reprojection_error/init 7.464E+01}
[11/10/2020 03:23:46 INFO] [E 9 | it 1300] loss {total 1.916E+00, reprojection_error/0 4.858E+00, reprojection_error/1 7.064E-01, reprojection_error/2 1.843E-01, reprojection_error 1.843E-01, reprojection_error/init 8.351E+01}
[11/10/2020 03:25:09 INFO] [E 9 | it 1350] loss {total 7.933E+00, reprojection_error/0 2.160E+01, reprojection_error/1 1.790E+01, reprojection_error/2 1.763E+01, reprojection_error 1.763E+01, reprojection_error/init 9.725E+01}
[11/10/2020 03:26:33 INFO] [E 9 | it 1400] loss {total 6.838E+00, reprojection_error/0 1.290E+01, reprojection_error/1 4.334E+00, reprojection_error/2 3.280E+00, reprojection_error 3.280E+00, reprojection_error/init 8.606E+01}
[11/10/2020 03:27:56 INFO] [E 9 | it 1450] loss {total 3.949E+00, reprojection_error/0 7.948E+00, reprojection_error/1 1.924E+00, reprojection_error/2 1.976E+00, reprojection_error 1.976E+00, reprojection_error/init 5.202E+01}
[11/10/2020 03:29:20 INFO] [E 9 | it 1500] loss {total 1.998E+01, reprojection_error/0 3.410E+01, reprojection_error/1 2.571E+01, reprojection_error/2 2.508E+01, reprojection_error 2.508E+01, reprojection_error/init 7.600E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.83it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.88it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.99it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.01it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.00it/s]
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Evaluation:  60%|######    | 48/80 [00:24<00:15,  2.00it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.00it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.00it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.00it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.01it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:09,  2.00it/s]
Evaluation:  78%|#######7  | 62/80 [00:31<00:08,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.04it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.06it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.07it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.08it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.08it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.09it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.09it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.10it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.10it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.10it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.10it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 03:30:01 INFO] [Validation] {R_error/0 1.159E+00, t_error/0 3.341E-01, R_error/1 6.533E-01, t_error/1 1.964E-01, R_error/2 6.154E-01, t_error/2 1.829E-01, R_error 6.154E-01, t_error 1.829E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.713E+00, loss/reprojection_error/0 1.215E+01, loss/reprojection_error/1 6.883E+00, loss/reprojection_error/2 6.533E+00, loss/reprojection_error 6.533E+00, loss/reprojection_error_median 9.231E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 03:31:21 INFO] [E 9 | it 1550] loss {total 1.195E+01, reprojection_error/0 3.461E+01, reprojection_error/1 3.384E+01, reprojection_error/2 3.405E+01, reprojection_error 3.405E+01, reprojection_error/init 1.002E+02}
[11/10/2020 03:32:42 INFO] [E 9 | it 1600] loss {total 7.995E+00, reprojection_error/0 2.177E+01, reprojection_error/1 1.785E+01, reprojection_error/2 1.770E+01, reprojection_error 1.770E+01, reprojection_error/init 1.986E+02}
[11/10/2020 03:34:03 INFO] [E 9 | it 1650] loss {total 2.982E+00, reprojection_error/0 4.937E+00, reprojection_error/1 2.089E+00, reprojection_error/2 1.921E+00, reprojection_error 1.921E+00, reprojection_error/init 5.689E+01}
[11/10/2020 03:35:25 INFO] [E 9 | it 1700] loss {total 1.305E+01, reprojection_error/0 3.698E+01, reprojection_error/1 3.459E+01, reprojection_error/2 3.426E+01, reprojection_error 3.426E+01, reprojection_error/init 8.597E+01}
[11/10/2020 03:36:49 INFO] [E 9 | it 1750] loss {total 4.003E+00, reprojection_error/0 9.331E+00, reprojection_error/1 1.732E+00, reprojection_error/2 9.481E-01, reprojection_error 9.481E-01, reprojection_error/init 4.565E+01}
[11/10/2020 03:38:11 INFO] [E 9 | it 1800] loss {total 4.516E+00, reprojection_error/0 6.875E+00, reprojection_error/1 3.821E+00, reprojection_error/2 2.852E+00, reprojection_error 2.852E+00, reprojection_error/init 4.739E+01}
[11/10/2020 03:39:33 INFO] [E 9 | it 1850] loss {total 8.705E+00, reprojection_error/0 2.202E+01, reprojection_error/1 1.903E+01, reprojection_error/2 1.839E+01, reprojection_error 1.839E+01, reprojection_error/init 1.707E+02}
[11/10/2020 03:40:55 INFO] [E 9 | it 1900] loss {total 5.149E+00, reprojection_error/0 7.739E+00, reprojection_error/1 3.917E+00, reprojection_error/2 3.792E+00, reprojection_error 3.792E+00, reprojection_error/init 5.487E+01}
[11/10/2020 03:42:18 INFO] [E 9 | it 1950] loss {total 2.636E+00, reprojection_error/0 5.826E+00, reprojection_error/1 1.166E+00, reprojection_error/2 9.184E-01, reprojection_error 9.184E-01, reprojection_error/init 5.255E+01}
[11/10/2020 03:43:42 INFO] [E 9 | it 2000] loss {total 8.014E+00, reprojection_error/0 2.195E+01, reprojection_error/1 1.778E+01, reprojection_error/2 1.765E+01, reprojection_error 1.765E+01, reprojection_error/init 8.721E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  21%|##1       | 17/80 [00:10<00:34,  1.81it/s]
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Evaluation:  31%|###1      | 25/80 [00:14<00:29,  1.84it/s]
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Evaluation:  41%|####1     | 33/80 [00:18<00:25,  1.83it/s]
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Evaluation:  49%|####8     | 39/80 [00:22<00:22,  1.82it/s]
Evaluation:  50%|#####     | 40/80 [00:22<00:21,  1.83it/s]
Evaluation:  51%|#####1    | 41/80 [00:23<00:21,  1.83it/s]
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Evaluation:  61%|######1   | 49/80 [00:27<00:16,  1.83it/s]
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Evaluation:  70%|#######   | 56/80 [00:31<00:13,  1.82it/s]
Evaluation:  71%|#######1  | 57/80 [00:32<00:12,  1.83it/s]
Evaluation:  72%|#######2  | 58/80 [00:32<00:12,  1.83it/s]
Evaluation:  74%|#######3  | 59/80 [00:33<00:11,  1.83it/s]
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Evaluation:  80%|########  | 64/80 [00:35<00:08,  1.83it/s]
Evaluation:  81%|########1 | 65/80 [00:36<00:08,  1.83it/s]
Evaluation:  82%|########2 | 66/80 [00:37<00:07,  1.83it/s]
Evaluation:  84%|########3 | 67/80 [00:37<00:07,  1.83it/s]
Evaluation:  85%|########5 | 68/80 [00:38<00:06,  1.83it/s]
Evaluation:  86%|########6 | 69/80 [00:38<00:05,  1.85it/s]
Evaluation:  88%|########7 | 70/80 [00:39<00:05,  1.86it/s]
Evaluation:  89%|########8 | 71/80 [00:39<00:04,  1.87it/s]
Evaluation:  90%|######### | 72/80 [00:40<00:04,  1.88it/s]
Evaluation:  91%|#########1| 73/80 [00:40<00:03,  1.89it/s]
Evaluation:  92%|#########2| 74/80 [00:41<00:03,  1.89it/s]
Evaluation:  94%|#########3| 75/80 [00:41<00:02,  1.89it/s]
Evaluation:  95%|#########5| 76/80 [00:42<00:02,  1.90it/s]
Evaluation:  96%|#########6| 77/80 [00:42<00:01,  1.90it/s]
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Evaluation:  99%|#########8| 79/80 [00:43<00:00,  1.90it/s]
Evaluation: 100%|##########| 80/80 [00:44<00:00,  1.90it/s]
Evaluation: 100%|##########| 80/80 [00:44<00:00,  1.80it/s]
[11/10/2020 03:44:26 INFO] [Validation] {R_error/0 1.123E+00, t_error/0 3.342E-01, R_error/1 6.438E-01, t_error/1 1.900E-01, R_error/2 6.015E-01, t_error/2 1.766E-01, R_error 6.015E-01, t_error 1.766E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.329E+00, loss/reprojection_error/0 1.166E+01, loss/reprojection_error/1 6.479E+00, loss/reprojection_error/2 6.132E+00, loss/reprojection_error 6.132E+00, loss/reprojection_error_median 8.907E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 03:45:48 INFO] [E 9 | it 2050] loss {total 5.622E+00, reprojection_error/0 1.130E+01, reprojection_error/1 2.820E+00, reprojection_error/2 2.744E+00, reprojection_error 2.744E+00, reprojection_error/init 5.776E+01}
[11/10/2020 03:47:09 INFO] [E 9 | it 2100] loss {total 3.160E+00, reprojection_error/0 6.009E+00, reprojection_error/1 1.986E+00, reprojection_error/2 1.485E+00, reprojection_error 1.485E+00, reprojection_error/init 5.287E+01}
[11/10/2020 03:48:31 INFO] [E 9 | it 2150] loss {total 2.103E+00, reprojection_error/0 4.078E+00, reprojection_error/1 1.386E+00, reprojection_error/2 8.454E-01, reprojection_error 8.454E-01, reprojection_error/init 4.599E+01}
[11/10/2020 03:49:52 INFO] [E 9 | it 2200] loss {total 4.484E+00, reprojection_error/0 7.940E+00, reprojection_error/1 2.842E+00, reprojection_error/2 2.669E+00, reprojection_error 2.669E+00, reprojection_error/init 5.122E+01}
[11/10/2020 03:51:14 INFO] [E 9 | it 2250] loss {total 1.580E+00, reprojection_error/0 3.623E+00, reprojection_error/1 6.217E-01, reprojection_error/2 4.956E-01, reprojection_error 4.956E-01, reprojection_error/init 3.876E+01}
[11/10/2020 03:52:35 INFO] [E 9 | it 2300] loss {total 6.602E+00, reprojection_error/0 1.925E+01, reprojection_error/1 1.697E+01, reprojection_error/2 1.692E+01, reprojection_error 1.692E+01, reprojection_error/init 7.056E+01}
[11/10/2020 03:53:56 INFO] [E 9 | it 2350] loss {total 7.530E+00, reprojection_error/0 1.990E+01, reprojection_error/1 1.789E+01, reprojection_error/2 1.814E+01, reprojection_error 1.814E+01, reprojection_error/init 9.631E+01}
[11/10/2020 03:55:19 INFO] [E 9 | it 2400] loss {total 5.188E+00, reprojection_error/0 9.786E+00, reprojection_error/1 2.981E+00, reprojection_error/2 2.798E+00, reprojection_error 2.798E+00, reprojection_error/init 5.713E+01}
[11/10/2020 03:56:42 INFO] [E 9 | it 2450] loss {total 9.309E+00, reprojection_error/0 2.497E+01, reprojection_error/1 1.821E+01, reprojection_error/2 1.808E+01, reprojection_error 1.808E+01, reprojection_error/init 1.252E+02}
[11/10/2020 03:58:06 INFO] [E 9 | it 2500] loss {total 3.058E+00, reprojection_error/0 7.243E+00, reprojection_error/1 1.183E+00, reprojection_error/2 7.469E-01, reprojection_error 7.469E-01, reprojection_error/init 6.855E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:   2%|2         | 2/80 [00:01<01:27,  1.12s/it]
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Evaluation:   6%|6         | 5/80 [00:03<00:59,  1.26it/s]
Evaluation:   8%|7         | 6/80 [00:04<00:53,  1.38it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:49,  1.49it/s]
Evaluation:  10%|#         | 8/80 [00:05<00:46,  1.56it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:43,  1.62it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:41,  1.67it/s]
Evaluation:  14%|#3        | 11/80 [00:07<00:40,  1.71it/s]
Evaluation:  15%|#5        | 12/80 [00:07<00:39,  1.74it/s]
Evaluation:  16%|#6        | 13/80 [00:08<00:38,  1.76it/s]
Evaluation:  18%|#7        | 14/80 [00:08<00:37,  1.77it/s]
Evaluation:  19%|#8        | 15/80 [00:09<00:36,  1.78it/s]
Evaluation:  20%|##        | 16/80 [00:09<00:35,  1.79it/s]
Evaluation:  21%|##1       | 17/80 [00:10<00:36,  1.72it/s]
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Evaluation:  31%|###1      | 25/80 [00:14<00:27,  1.98it/s]
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Evaluation:  39%|###8      | 31/80 [00:17<00:24,  2.01it/s]
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Evaluation:  41%|####1     | 33/80 [00:18<00:23,  2.02it/s]
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Evaluation:  51%|#####1    | 41/80 [00:22<00:19,  2.01it/s]
Evaluation:  52%|#####2    | 42/80 [00:23<00:18,  2.01it/s]
Evaluation:  54%|#####3    | 43/80 [00:23<00:18,  2.01it/s]
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Evaluation:  60%|######    | 48/80 [00:25<00:15,  2.02it/s]
Evaluation:  61%|######1   | 49/80 [00:26<00:15,  2.02it/s]
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Evaluation:  70%|#######   | 56/80 [00:29<00:11,  2.01it/s]
Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:31<00:10,  2.01it/s]
Evaluation:  75%|#######5  | 60/80 [00:31<00:09,  2.01it/s]
Evaluation:  76%|#######6  | 61/80 [00:32<00:09,  2.01it/s]
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Evaluation:  79%|#######8  | 63/80 [00:33<00:08,  2.00it/s]
Evaluation:  80%|########  | 64/80 [00:33<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:35<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:36<00:05,  2.04it/s]
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[11/10/2020 03:58:48 INFO] [Validation] {R_error/0 1.088E+00, t_error/0 3.195E-01, R_error/1 5.880E-01, t_error/1 1.779E-01, R_error/2 5.453E-01, t_error/2 1.636E-01, R_error 5.453E-01, t_error 1.636E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.158E+00, loss/reprojection_error/0 1.124E+01, loss/reprojection_error/1 5.819E+00, loss/reprojection_error/2 5.458E+00, loss/reprojection_error 5.458E+00, loss/reprojection_error_median 8.532E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:00:09 INFO] [E 9 | it 2550] loss {total 3.387E+00, reprojection_error/0 8.603E+00, reprojection_error/1 1.032E+00, reprojection_error/2 5.246E-01, reprojection_error 5.246E-01, reprojection_error/init 1.243E+02}
[11/10/2020 04:01:31 INFO] [E 9 | it 2600] loss {total 1.868E+00, reprojection_error/0 2.474E+00, reprojection_error/1 1.664E+00, reprojection_error/2 1.466E+00, reprojection_error 1.466E+00, reprojection_error/init 1.014E+02}
[11/10/2020 04:02:52 INFO] [E 9 | it 2650] loss {total 2.049E+00, reprojection_error/0 4.043E+00, reprojection_error/1 8.349E-01, reprojection_error/2 1.270E+00, reprojection_error 1.270E+00, reprojection_error/init 6.111E+01}
[11/10/2020 04:04:14 INFO] [E 9 | it 2700] loss {total 9.937E+00, reprojection_error/0 2.329E+01, reprojection_error/1 2.292E+01, reprojection_error/2 2.354E+01, reprojection_error 2.354E+01, reprojection_error/init 8.433E+01}
[11/10/2020 04:05:35 INFO] [E 9 | it 2750] loss {total 2.001E+00, reprojection_error/0 4.395E+00, reprojection_error/1 8.301E-01, reprojection_error/2 7.775E-01, reprojection_error 7.775E-01, reprojection_error/init 5.313E+01}
[11/10/2020 04:06:57 INFO] [E 9 | it 2800] loss {total 2.014E+00, reprojection_error/0 3.447E+00, reprojection_error/1 1.432E+00, reprojection_error/2 1.163E+00, reprojection_error 1.163E+00, reprojection_error/init 5.826E+01}
[11/10/2020 04:08:19 INFO] [E 9 | it 2850] loss {total 4.264E+00, reprojection_error/0 9.299E+00, reprojection_error/1 2.013E+00, reprojection_error/2 1.480E+00, reprojection_error 1.480E+00, reprojection_error/init 1.143E+02}
[11/10/2020 04:09:42 INFO] [E 9 | it 2900] loss {total 2.190E+00, reprojection_error/0 5.048E+00, reprojection_error/1 8.287E-01, reprojection_error/2 6.951E-01, reprojection_error 6.951E-01, reprojection_error/init 5.689E+01}
[11/10/2020 04:11:03 INFO] [E 9 | it 2950] loss {total 7.159E+00, reprojection_error/0 2.011E+01, reprojection_error/1 1.737E+01, reprojection_error/2 1.733E+01, reprojection_error 1.733E+01, reprojection_error/init 1.077E+02}

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Evaluation:  91%|#########1| 73/80 [00:39<00:03,  1.89it/s]
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Evaluation: 100%|##########| 80/80 [00:43<00:00,  1.84it/s]
[11/10/2020 04:13:06 INFO] [Validation] {R_error/0 1.105E+00, t_error/0 3.126E-01, R_error/1 6.072E-01, t_error/1 1.739E-01, R_error/2 5.647E-01, t_error/2 1.609E-01, R_error 5.647E-01, t_error 1.609E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.212E+00, loss/reprojection_error/0 1.128E+01, loss/reprojection_error/1 6.281E+00, loss/reprojection_error/2 5.900E+00, loss/reprojection_error 5.900E+00, loss/reprojection_error_median 8.505E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:13:07 INFO] Saving checkpoint checkpoint_9
[11/10/2020 04:13:07 INFO] Deleting checkpoint checkpoint_8_interrupted.tar
[11/10/2020 04:13:07 INFO] Starting epoch 10
[11/10/2020 04:13:07 INFO] Sampling new images or pairs with seed 10

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[11/10/2020 04:13:10 INFO] [E 10 | it 0] loss {total 1.234E+01, reprojection_error/0 2.050E+01, reprojection_error/1 1.527E+01, reprojection_error/2 1.369E+01, reprojection_error 1.369E+01, reprojection_error/init 7.070E+01}

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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 04:13:51 INFO] [Validation] {R_error/0 1.105E+00, t_error/0 3.125E-01, R_error/1 6.095E-01, t_error/1 1.745E-01, R_error/2 5.648E-01, t_error/2 1.610E-01, R_error 5.648E-01, t_error 1.610E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.219E+00, loss/reprojection_error/0 1.128E+01, loss/reprojection_error/1 6.300E+00, loss/reprojection_error/2 5.929E+00, loss/reprojection_error 5.929E+00, loss/reprojection_error_median 8.665E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:15:12 INFO] [E 10 | it 50] loss {total 9.147E+00, reprojection_error/0 2.537E+01, reprojection_error/1 1.781E+01, reprojection_error/2 1.759E+01, reprojection_error 1.759E+01, reprojection_error/init 1.837E+02}
[11/10/2020 04:16:35 INFO] [E 10 | it 100] loss {total 6.645E+00, reprojection_error/0 1.000E+01, reprojection_error/1 4.888E+00, reprojection_error/2 5.044E+00, reprojection_error 5.044E+00, reprojection_error/init 2.205E+01}
[11/10/2020 04:17:56 INFO] [E 10 | it 150] loss {total 3.150E+00, reprojection_error/0 7.195E+00, reprojection_error/1 1.046E+00, reprojection_error/2 1.208E+00, reprojection_error 1.208E+00, reprojection_error/init 3.922E+01}
[11/10/2020 04:19:18 INFO] [E 10 | it 200] loss {total 3.821E+00, reprojection_error/0 8.932E+00, reprojection_error/1 1.585E+00, reprojection_error/2 9.448E-01, reprojection_error 9.448E-01, reprojection_error/init 9.409E+01}
[11/10/2020 04:20:39 INFO] [E 10 | it 250] loss {total 9.998E+00, reprojection_error/0 1.696E+01, reprojection_error/1 1.097E+01, reprojection_error/2 1.099E+01, reprojection_error 1.099E+01, reprojection_error/init 7.131E+01}
[11/10/2020 04:22:01 INFO] [E 10 | it 300] loss {total 6.928E+00, reprojection_error/0 1.511E+01, reprojection_error/1 3.668E+00, reprojection_error/2 2.006E+00, reprojection_error 2.006E+00, reprojection_error/init 6.665E+01}
[11/10/2020 04:23:23 INFO] [E 10 | it 350] loss {total 6.593E+00, reprojection_error/0 1.143E+01, reprojection_error/1 4.179E+00, reprojection_error/2 4.173E+00, reprojection_error 4.173E+00, reprojection_error/init 3.777E+01}
[11/10/2020 04:24:45 INFO] [E 10 | it 400] loss {total 6.680E+00, reprojection_error/0 1.184E+01, reprojection_error/1 4.214E+00, reprojection_error/2 3.987E+00, reprojection_error 3.987E+00, reprojection_error/init 7.621E+01}
[11/10/2020 04:26:06 INFO] [E 10 | it 450] loss {total 2.173E+00, reprojection_error/0 4.141E+00, reprojection_error/1 1.489E+00, reprojection_error/2 8.885E-01, reprojection_error 8.885E-01, reprojection_error/init 6.355E+01}
[11/10/2020 04:27:27 INFO] [E 10 | it 500] loss {total 5.339E+00, reprojection_error/0 9.601E+00, reprojection_error/1 3.538E+00, reprojection_error/2 2.876E+00, reprojection_error 2.876E+00, reprojection_error/init 5.457E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.03it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.03it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:33<00:06,  2.03it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.03it/s]
Evaluation:  86%|########6 | 69/80 [00:34<00:05,  2.06it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.08it/s]
Evaluation:  89%|########8 | 71/80 [00:35<00:04,  2.09it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.10it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.11it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.11it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.11it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.12it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.12it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.12it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.12it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.99it/s]
[11/10/2020 04:28:07 INFO] [Validation] {R_error/0 1.048E+00, t_error/0 3.117E-01, R_error/1 5.627E-01, t_error/1 1.736E-01, R_error/2 5.224E-01, t_error/2 1.606E-01, R_error 5.224E-01, t_error 1.606E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.934E+00, loss/reprojection_error/0 1.065E+01, loss/reprojection_error/1 5.509E+00, loss/reprojection_error/2 5.164E+00, loss/reprojection_error 5.164E+00, loss/reprojection_error_median 8.542E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:29:29 INFO] [E 10 | it 550] loss {total 1.232E+01, reprojection_error/0 2.788E+01, reprojection_error/1 2.518E+01, reprojection_error/2 2.531E+01, reprojection_error 2.531E+01, reprojection_error/init 1.398E+02}
[11/10/2020 04:30:50 INFO] [E 10 | it 600] loss {total 1.192E+01, reprojection_error/0 3.558E+01, reprojection_error/1 3.339E+01, reprojection_error/2 3.345E+01, reprojection_error 3.345E+01, reprojection_error/init 1.241E+02}
[11/10/2020 04:32:12 INFO] [E 10 | it 650] loss {total 4.623E+00, reprojection_error/0 1.001E+01, reprojection_error/1 2.194E+00, reprojection_error/2 1.669E+00, reprojection_error 1.669E+00, reprojection_error/init 4.877E+01}
[11/10/2020 04:33:34 INFO] [E 10 | it 700] loss {total 6.621E+00, reprojection_error/0 1.841E+01, reprojection_error/1 1.754E+01, reprojection_error/2 1.724E+01, reprojection_error 1.724E+01, reprojection_error/init 6.774E+01}
[11/10/2020 04:34:58 INFO] [E 10 | it 750] loss {total 2.824E+00, reprojection_error/0 5.104E+00, reprojection_error/1 1.782E+00, reprojection_error/2 1.586E+00, reprojection_error 1.586E+00, reprojection_error/init 7.420E+01}
[11/10/2020 04:36:19 INFO] [E 10 | it 800] loss {total 1.187E+00, reprojection_error/0 2.028E+00, reprojection_error/1 7.961E-01, reprojection_error/2 7.381E-01, reprojection_error 7.381E-01, reprojection_error/init 2.528E+01}
[11/10/2020 04:37:41 INFO] [E 10 | it 850] loss {total 2.536E+00, reprojection_error/0 5.011E+00, reprojection_error/1 1.402E+00, reprojection_error/2 1.196E+00, reprojection_error 1.196E+00, reprojection_error/init 3.867E+01}
[11/10/2020 04:39:02 INFO] [E 10 | it 900] loss {total 1.845E+00, reprojection_error/0 4.187E+00, reprojection_error/1 6.954E-01, reprojection_error/2 6.525E-01, reprojection_error 6.525E-01, reprojection_error/init 4.688E+01}
[11/10/2020 04:40:23 INFO] [E 10 | it 950] loss {total 7.771E+00, reprojection_error/0 1.193E+01, reprojection_error/1 1.036E+01, reprojection_error/2 1.051E+01, reprojection_error 1.051E+01, reprojection_error/init 4.670E+01}
[11/10/2020 04:41:44 INFO] [E 10 | it 1000] loss {total 3.682E+00, reprojection_error/0 8.272E+00, reprojection_error/1 1.608E+00, reprojection_error/2 1.166E+00, reprojection_error 1.166E+00, reprojection_error/init 6.374E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:45,  1.33s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:24,  1.08s/it]
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Evaluation:   8%|7         | 6/80 [00:03<00:47,  1.57it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:43,  1.68it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:40,  1.77it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.84it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.89it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:35,  1.92it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:34,  1.95it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.99it/s]
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Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.01it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.01it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.01it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:21,  1.94it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:20,  1.97it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.98it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:19,  1.99it/s]
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Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.03it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:12,  2.00it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.01it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.89it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.88it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.90it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  1.92it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  1.95it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:05,  1.98it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  1.99it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.00it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.01it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.02it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.02it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.02it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.02it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.03it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.03it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.03it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.95it/s]
[11/10/2020 04:42:25 INFO] [Validation] {R_error/0 1.067E+00, t_error/0 3.025E-01, R_error/1 5.917E-01, t_error/1 1.685E-01, R_error/2 5.536E-01, t_error/2 1.576E-01, R_error 5.536E-01, t_error 1.576E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.097E+00, loss/reprojection_error/0 1.087E+01, loss/reprojection_error/1 5.719E+00, loss/reprojection_error/2 5.349E+00, loss/reprojection_error 5.349E+00, loss/reprojection_error_median 8.653E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:43:46 INFO] [E 10 | it 1050] loss {total 3.315E+00, reprojection_error/0 3.626E+00, reprojection_error/1 3.101E+00, reprojection_error/2 3.219E+00, reprojection_error 3.219E+00, reprojection_error/init 5.685E+01}
[11/10/2020 04:45:07 INFO] [E 10 | it 1100] loss {total 5.643E+00, reprojection_error/0 1.288E+01, reprojection_error/1 1.983E+00, reprojection_error/2 2.061E+00, reprojection_error 2.061E+00, reprojection_error/init 6.720E+01}
[11/10/2020 04:46:28 INFO] [E 10 | it 1150] loss {total 5.896E+00, reprojection_error/0 8.491E+00, reprojection_error/1 4.996E+00, reprojection_error/2 4.199E+00, reprojection_error 4.199E+00, reprojection_error/init 9.946E+01}
[11/10/2020 04:47:49 INFO] [E 10 | it 1200] loss {total 7.974E+00, reprojection_error/0 2.194E+01, reprojection_error/1 1.706E+01, reprojection_error/2 1.643E+01, reprojection_error 1.643E+01, reprojection_error/init 7.638E+01}
[11/10/2020 04:49:12 INFO] [E 10 | it 1250] loss {total 4.946E+00, reprojection_error/0 9.210E+00, reprojection_error/1 2.817E+00, reprojection_error/2 2.811E+00, reprojection_error 2.811E+00, reprojection_error/init 6.878E+01}
[11/10/2020 04:50:36 INFO] [E 10 | it 1300] loss {total 1.932E+00, reprojection_error/0 3.688E+00, reprojection_error/1 1.016E+00, reprojection_error/2 1.092E+00, reprojection_error 1.092E+00, reprojection_error/init 6.914E+01}
[11/10/2020 04:51:57 INFO] [E 10 | it 1350] loss {total 7.423E+00, reprojection_error/0 2.033E+01, reprojection_error/1 1.762E+01, reprojection_error/2 1.766E+01, reprojection_error 1.766E+01, reprojection_error/init 9.837E+01}
[11/10/2020 04:53:20 INFO] [E 10 | it 1400] loss {total 6.313E+00, reprojection_error/0 9.791E+00, reprojection_error/1 4.753E+00, reprojection_error/2 4.395E+00, reprojection_error 4.395E+00, reprojection_error/init 5.273E+01}
[11/10/2020 04:54:40 INFO] [E 10 | it 1450] loss {total 1.032E+01, reprojection_error/0 2.360E+01, reprojection_error/1 2.023E+01, reprojection_error/2 2.046E+01, reprojection_error 2.046E+01, reprojection_error/init 1.832E+02}
[11/10/2020 04:56:00 INFO] [E 10 | it 1500] loss {total 1.520E+00, reprojection_error/0 3.095E+00, reprojection_error/1 7.204E-01, reprojection_error/2 7.437E-01, reprojection_error 7.437E-01, reprojection_error/init 4.146E+01}

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[11/10/2020 04:56:41 INFO] [Validation] {R_error/0 1.088E+00, t_error/0 3.244E-01, R_error/1 6.062E-01, t_error/1 1.794E-01, R_error/2 5.620E-01, t_error/2 1.660E-01, R_error 5.620E-01, t_error 1.660E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.020E+00, loss/reprojection_error/0 1.059E+01, loss/reprojection_error/1 5.136E+00, loss/reprojection_error/2 4.752E+00, loss/reprojection_error 4.752E+00, loss/reprojection_error_median 7.878E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 04:58:04 INFO] [E 10 | it 1550] loss {total 8.027E+00, reprojection_error/0 1.520E+01, reprojection_error/1 7.971E+00, reprojection_error/2 7.630E+00, reprojection_error 7.630E+00, reprojection_error/init 5.631E+01}
[11/10/2020 04:59:26 INFO] [E 10 | it 1600] loss {total 1.174E+01, reprojection_error/0 3.488E+01, reprojection_error/1 3.350E+01, reprojection_error/2 3.350E+01, reprojection_error 3.350E+01, reprojection_error/init 1.057E+02}
[11/10/2020 05:00:48 INFO] [E 10 | it 1650] loss {total 6.790E+00, reprojection_error/0 1.062E+01, reprojection_error/1 4.825E+00, reprojection_error/2 4.922E+00, reprojection_error 4.922E+00, reprojection_error/init 5.904E+01}
[11/10/2020 05:02:08 INFO] [E 10 | it 1700] loss {total 3.313E+00, reprojection_error/0 7.277E+00, reprojection_error/1 1.373E+00, reprojection_error/2 1.291E+00, reprojection_error 1.291E+00, reprojection_error/init 7.148E+01}
[11/10/2020 05:03:30 INFO] [E 10 | it 1750] loss {total 3.489E+00, reprojection_error/0 6.081E+00, reprojection_error/1 2.794E+00, reprojection_error/2 1.592E+00, reprojection_error 1.592E+00, reprojection_error/init 4.020E+01}
[11/10/2020 05:04:51 INFO] [E 10 | it 1800] loss {total 1.479E+00, reprojection_error/0 3.003E+00, reprojection_error/1 8.910E-01, reprojection_error/2 5.425E-01, reprojection_error 5.425E-01, reprojection_error/init 4.813E+01}
[11/10/2020 05:06:13 INFO] [E 10 | it 1850] loss {total 7.532E+00, reprojection_error/0 1.205E+01, reprojection_error/1 8.921E+00, reprojection_error/2 9.040E+00, reprojection_error 9.040E+00, reprojection_error/init 4.582E+01}
[11/10/2020 05:07:34 INFO] [E 10 | it 1900] loss {total 1.145E+01, reprojection_error/0 3.392E+01, reprojection_error/1 3.361E+01, reprojection_error/2 3.348E+01, reprojection_error 3.348E+01, reprojection_error/init 1.488E+02}
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 05:08:49 INFO] Caught keyboard interrupt signal, will terminate

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[11/10/2020 05:09:31 INFO] [Validation] {R_error/0 1.064E+00, t_error/0 3.029E-01, R_error/1 6.072E-01, t_error/1 1.709E-01, R_error/2 5.581E-01, t_error/2 1.575E-01, R_error 5.581E-01, t_error 1.575E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.976E+00, loss/reprojection_error/0 1.048E+01, loss/reprojection_error/1 5.430E+00, loss/reprojection_error/2 5.070E+00, loss/reprojection_error 5.070E+00, loss/reprojection_error_median 8.257E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 05:09:31 INFO] Saving checkpoint checkpoint_10_interrupted
[11/10/2020 05:09:32 INFO] New best checkpoint: loss/total=4.975570270419121
[11/10/2020 05:09:33 INFO] Deleting checkpoint checkpoint_0.tar
[11/10/2020 05:09:33 INFO] Finished training on process 0.
[11/10/2020 07:26:38 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/10/2020 07:26:38 INFO] Restoring from checkpoint checkpoint_9.tar
[11/10/2020 07:26:46 INFO] Using device cuda
[11/10/2020 07:26:46 INFO] Creating dataset CMU
[11/10/2020 07:26:49 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 07:26:50 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 07:26:50 INFO] Training loader has 3000 batches
[11/10/2020 07:26:50 INFO] Validation loader has 80 batches
[11/10/2020 07:27:00 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/10/2020 07:27:00 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/10/2020 07:27:00 INFO] Starting epoch 10
[11/10/2020 07:27:00 INFO] Sampling new images or pairs with seed 10

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100%|██████████| 9/9 [00:00<00:00, 17.01it/s]
100%|██████████| 9/9 [00:00<00:00, 17.47it/s]{'params': [Parameter containing:
tensor([-2.8773e+00, -1.1546e-01, -1.6940e+00, -1.9336e-01, -2.5780e+00,
        -1.3360e-03], device='cuda:0', requires_grad=True), Parameter containing:
tensor([-2.4857,  0.2478, -2.7880, -0.8706, -2.4599,  0.2354], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-3.6196,  0.9632, -2.1249,  0.3277,  0.2088,  0.7653], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/10/2020 07:27:08 INFO] [E 10 | it 0] loss {total 1.234E+01, reprojection_error/0 2.050E+01, reprojection_error/1 1.527E+01, reprojection_error/2 1.369E+01, reprojection_error 1.369E+01, reprojection_error/init 7.070E+01}

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[11/10/2020 07:27:50 INFO] [Validation] {R_error/0 1.105E+00, t_error/0 3.125E-01, R_error/1 6.095E-01, t_error/1 1.745E-01, R_error/2 5.648E-01, t_error/2 1.610E-01, R_error 5.648E-01, t_error 1.610E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.219E+00, loss/reprojection_error/0 1.128E+01, loss/reprojection_error/1 6.300E+00, loss/reprojection_error/2 5.929E+00, loss/reprojection_error 5.929E+00, loss/reprojection_error_median 8.665E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 07:29:06 INFO] [E 10 | it 50] loss {total 9.147E+00, reprojection_error/0 2.537E+01, reprojection_error/1 1.781E+01, reprojection_error/2 1.759E+01, reprojection_error 1.759E+01, reprojection_error/init 1.837E+02}
[11/10/2020 07:30:21 INFO] [E 10 | it 100] loss {total 6.612E+00, reprojection_error/0 9.971E+00, reprojection_error/1 4.826E+00, reprojection_error/2 5.040E+00, reprojection_error 5.040E+00, reprojection_error/init 2.205E+01}
[11/10/2020 07:31:35 INFO] [E 10 | it 150] loss {total 3.160E+00, reprojection_error/0 7.229E+00, reprojection_error/1 1.040E+00, reprojection_error/2 1.211E+00, reprojection_error 1.211E+00, reprojection_error/init 3.922E+01}
[11/10/2020 07:32:50 INFO] [E 10 | it 200] loss {total 3.807E+00, reprojection_error/0 8.889E+00, reprojection_error/1 1.581E+00, reprojection_error/2 9.513E-01, reprojection_error 9.513E-01, reprojection_error/init 9.409E+01}
[11/10/2020 07:34:04 INFO] [E 10 | it 250] loss {total 1.019E+01, reprojection_error/0 1.704E+01, reprojection_error/1 1.145E+01, reprojection_error/2 1.135E+01, reprojection_error 1.135E+01, reprojection_error/init 7.131E+01}
[11/10/2020 07:35:19 INFO] [E 10 | it 300] loss {total 6.407E+00, reprojection_error/0 1.456E+01, reprojection_error/1 3.168E+00, reprojection_error/2 1.492E+00, reprojection_error 1.492E+00, reprojection_error/init 6.665E+01}
[11/10/2020 07:36:33 INFO] [E 10 | it 350] loss {total 6.404E+00, reprojection_error/0 1.083E+01, reprojection_error/1 4.202E+00, reprojection_error/2 4.180E+00, reprojection_error 4.180E+00, reprojection_error/init 3.777E+01}
[11/10/2020 07:37:47 INFO] [E 10 | it 400] loss {total 6.388E+00, reprojection_error/0 1.118E+01, reprojection_error/1 4.078E+00, reprojection_error/2 3.905E+00, reprojection_error 3.905E+00, reprojection_error/init 7.621E+01}
[11/10/2020 07:39:04 INFO] [E 10 | it 450] loss {total 2.102E+00, reprojection_error/0 3.975E+00, reprojection_error/1 1.438E+00, reprojection_error/2 8.937E-01, reprojection_error 8.937E-01, reprojection_error/init 6.355E+01}
[11/10/2020 07:40:21 INFO] [E 10 | it 500] loss {total 4.746E+00, reprojection_error/0 9.167E+00, reprojection_error/1 3.350E+00, reprojection_error/2 1.722E+00, reprojection_error 1.722E+00, reprojection_error/init 5.457E+01}

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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
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Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
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Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.04it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.05it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.95it/s]
[11/10/2020 07:41:03 INFO] [Validation] {R_error/0 1.047E+00, t_error/0 3.126E-01, R_error/1 5.843E-01, t_error/1 1.729E-01, R_error/2 5.463E-01, t_error/2 1.578E-01, R_error 5.463E-01, t_error 1.578E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.901E+00, loss/reprojection_error/0 1.059E+01, loss/reprojection_error/1 5.384E+00, loss/reprojection_error/2 5.014E+00, loss/reprojection_error 5.014E+00, loss/reprojection_error_median 8.495E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 07:42:17 INFO] [E 10 | it 550] loss {total 8.411E+00, reprojection_error/0 2.218E+01, reprojection_error/1 1.807E+01, reprojection_error/2 1.832E+01, reprojection_error 1.832E+01, reprojection_error/init 1.398E+02}
[11/10/2020 07:43:33 INFO] [E 10 | it 600] loss {total 1.204E+01, reprojection_error/0 3.596E+01, reprojection_error/1 3.336E+01, reprojection_error/2 3.345E+01, reprojection_error 3.345E+01, reprojection_error/init 1.241E+02}
[11/10/2020 07:44:51 INFO] [E 10 | it 650] loss {total 5.252E+00, reprojection_error/0 1.178E+01, reprojection_error/1 2.220E+00, reprojection_error/2 1.751E+00, reprojection_error 1.751E+00, reprojection_error/init 4.877E+01}
[11/10/2020 07:46:07 INFO] [E 10 | it 700] loss {total 6.733E+00, reprojection_error/0 1.860E+01, reprojection_error/1 1.757E+01, reprojection_error/2 1.736E+01, reprojection_error 1.736E+01, reprojection_error/init 6.774E+01}
[11/10/2020 07:47:21 INFO] [E 10 | it 750] loss {total 3.063E+00, reprojection_error/0 5.666E+00, reprojection_error/1 1.898E+00, reprojection_error/2 1.625E+00, reprojection_error 1.625E+00, reprojection_error/init 7.420E+01}
[11/10/2020 07:48:38 INFO] [E 10 | it 800] loss {total 1.223E+00, reprojection_error/0 2.104E+00, reprojection_error/1 8.015E-01, reprojection_error/2 7.635E-01, reprojection_error 7.635E-01, reprojection_error/init 2.528E+01}
[11/10/2020 07:49:55 INFO] [E 10 | it 850] loss {total 2.411E+00, reprojection_error/0 4.707E+00, reprojection_error/1 1.343E+00, reprojection_error/2 1.183E+00, reprojection_error 1.183E+00, reprojection_error/init 3.867E+01}
[11/10/2020 07:51:11 INFO] [E 10 | it 900] loss {total 2.074E+00, reprojection_error/0 4.757E+00, reprojection_error/1 8.106E-01, reprojection_error/2 6.554E-01, reprojection_error 6.554E-01, reprojection_error/init 4.688E+01}
[11/10/2020 07:52:25 INFO] [E 10 | it 950] loss {total 7.824E+00, reprojection_error/0 1.215E+01, reprojection_error/1 1.033E+01, reprojection_error/2 1.036E+01, reprojection_error 1.036E+01, reprojection_error/init 4.670E+01}
[11/10/2020 07:53:41 INFO] [E 10 | it 1000] loss {total 3.652E+00, reprojection_error/0 8.010E+00, reprojection_error/1 1.748E+00, reprojection_error/2 1.197E+00, reprojection_error 1.197E+00, reprojection_error/init 6.374E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:11,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.06it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.05it/s]
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Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.06it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/10/2020 07:54:22 INFO] [Validation] {R_error/0 1.088E+00, t_error/0 3.022E-01, R_error/1 6.142E-01, t_error/1 1.728E-01, R_error/2 5.787E-01, t_error/2 1.615E-01, R_error 5.787E-01, t_error 1.615E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.258E+00, loss/reprojection_error/0 1.108E+01, loss/reprojection_error/1 6.063E+00, loss/reprojection_error/2 5.723E+00, loss/reprojection_error 5.723E+00, loss/reprojection_error_median 8.548E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 07:55:37 INFO] [E 10 | it 1050] loss {total 2.974E+00, reprojection_error/0 3.456E+00, reprojection_error/1 2.646E+00, reprojection_error/2 2.820E+00, reprojection_error 2.820E+00, reprojection_error/init 5.685E+01}
[11/10/2020 07:56:54 INFO] [E 10 | it 1100] loss {total 5.742E+00, reprojection_error/0 1.292E+01, reprojection_error/1 2.270E+00, reprojection_error/2 2.039E+00, reprojection_error 2.039E+00, reprojection_error/init 6.720E+01}
[11/10/2020 07:58:10 INFO] [E 10 | it 1150] loss {total 6.057E+00, reprojection_error/0 8.777E+00, reprojection_error/1 5.153E+00, reprojection_error/2 4.240E+00, reprojection_error 4.240E+00, reprojection_error/init 9.946E+01}
[11/10/2020 07:59:28 INFO] [E 10 | it 1200] loss {total 1.069E+01, reprojection_error/0 1.790E+01, reprojection_error/1 1.333E+01, reprojection_error/2 1.314E+01, reprojection_error 1.314E+01, reprojection_error/init 7.638E+01}
[11/10/2020 08:00:44 INFO] [E 10 | it 1250] loss {total 4.672E+00, reprojection_error/0 8.190E+00, reprojection_error/1 2.998E+00, reprojection_error/2 2.827E+00, reprojection_error 2.827E+00, reprojection_error/init 6.878E+01}
[11/10/2020 08:02:00 INFO] [E 10 | it 1300] loss {total 2.141E+00, reprojection_error/0 4.236E+00, reprojection_error/1 1.069E+00, reprojection_error/2 1.119E+00, reprojection_error 1.119E+00, reprojection_error/init 6.914E+01}
[11/10/2020 08:03:16 INFO] [E 10 | it 1350] loss {total 7.075E+00, reprojection_error/0 1.918E+01, reprojection_error/1 1.771E+01, reprojection_error/2 1.767E+01, reprojection_error 1.767E+01, reprojection_error/init 9.837E+01}
[11/10/2020 08:04:31 INFO] [E 10 | it 1400] loss {total 5.545E+00, reprojection_error/0 8.607E+00, reprojection_error/1 4.412E+00, reprojection_error/2 3.617E+00, reprojection_error 3.617E+00, reprojection_error/init 5.273E+01}
[11/10/2020 08:05:47 INFO] [E 10 | it 1450] loss {total 1.025E+01, reprojection_error/0 2.340E+01, reprojection_error/1 2.021E+01, reprojection_error/2 2.046E+01, reprojection_error 2.046E+01, reprojection_error/init 1.832E+02}
[11/10/2020 08:07:02 INFO] [E 10 | it 1500] loss {total 1.264E+00, reprojection_error/0 2.289E+00, reprojection_error/1 7.606E-01, reprojection_error/2 7.425E-01, reprojection_error 7.425E-01, reprojection_error/init 4.146E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.81it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.87it/s]
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Evaluation:  41%|####1     | 33/80 [00:17<00:24,  1.95it/s]
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Evaluation:  61%|######1   | 49/80 [00:25<00:16,  1.89it/s]
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Evaluation:  71%|#######1  | 57/80 [00:30<00:11,  1.97it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.98it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  2.00it/s]
Evaluation:  81%|########1 | 65/80 [00:34<00:07,  2.00it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:06,  2.00it/s]
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Evaluation:  91%|#########1| 73/80 [00:38<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  2.03it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.03it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.04it/s]
Evaluation:  98%|#########7| 78/80 [00:40<00:00,  2.04it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.92it/s]
[11/10/2020 08:07:44 INFO] [Validation] {R_error/0 1.141E+00, t_error/0 3.147E-01, R_error/1 6.368E-01, t_error/1 1.741E-01, R_error/2 5.941E-01, t_error/2 1.627E-01, R_error 5.941E-01, t_error 1.627E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.243E+00, loss/reprojection_error/0 1.123E+01, loss/reprojection_error/1 5.997E+00, loss/reprojection_error/2 5.699E+00, loss/reprojection_error 5.699E+00, loss/reprojection_error_median 8.527E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 08:09:00 INFO] [E 10 | it 1550] loss {total 9.621E+00, reprojection_error/0 1.703E+01, reprojection_error/1 1.089E+01, reprojection_error/2 1.090E+01, reprojection_error 1.090E+01, reprojection_error/init 5.631E+01}
[11/10/2020 08:10:17 INFO] [E 10 | it 1600] loss {total 1.206E+01, reprojection_error/0 3.579E+01, reprojection_error/1 3.354E+01, reprojection_error/2 3.351E+01, reprojection_error 3.351E+01, reprojection_error/init 1.057E+02}
[11/10/2020 08:11:31 INFO] [E 10 | it 1650] loss {total 5.979E+00, reprojection_error/0 8.333E+00, reprojection_error/1 4.704E+00, reprojection_error/2 4.899E+00, reprojection_error 4.899E+00, reprojection_error/init 5.904E+01}
[11/10/2020 08:12:47 INFO] [E 10 | it 1700] loss {total 2.989E+00, reprojection_error/0 6.281E+00, reprojection_error/1 1.347E+00, reprojection_error/2 1.339E+00, reprojection_error 1.339E+00, reprojection_error/init 7.148E+01}
[11/10/2020 08:14:03 INFO] [E 10 | it 1750] loss {total 4.185E+00, reprojection_error/0 7.363E+00, reprojection_error/1 3.011E+00, reprojection_error/2 2.180E+00, reprojection_error 2.180E+00, reprojection_error/init 4.020E+01}
[11/10/2020 08:15:19 INFO] [E 10 | it 1800] loss {total 1.348E+00, reprojection_error/0 2.665E+00, reprojection_error/1 8.539E-01, reprojection_error/2 5.257E-01, reprojection_error 5.257E-01, reprojection_error/init 4.813E+01}
[11/10/2020 08:16:34 INFO] [E 10 | it 1850] loss {total 9.268E+00, reprojection_error/0 1.376E+01, reprojection_error/1 1.246E+01, reprojection_error/2 1.258E+01, reprojection_error 1.258E+01, reprojection_error/init 4.582E+01}
[11/10/2020 08:17:50 INFO] [E 10 | it 1900] loss {total 1.151E+01, reprojection_error/0 3.410E+01, reprojection_error/1 3.363E+01, reprojection_error/2 3.348E+01, reprojection_error 3.348E+01, reprojection_error/init 1.488E+02}
[11/10/2020 08:19:05 INFO] [E 10 | it 1950] loss {total 7.034E+00, reprojection_error/0 1.962E+01, reprojection_error/1 1.755E+01, reprojection_error/2 1.726E+01, reprojection_error 1.726E+01, reprojection_error/init 7.327E+01}
[11/10/2020 08:20:22 INFO] [E 10 | it 2000] loss {total 7.222E+00, reprojection_error/0 2.090E+01, reprojection_error/1 1.698E+01, reprojection_error/2 1.712E+01, reprojection_error 1.712E+01, reprojection_error/init 9.142E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:58,  1.50s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:33,  1.20s/it]
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Evaluation:  10%|#         | 8/80 [00:04<00:41,  1.72it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.80it/s]
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Evaluation:  30%|###       | 24/80 [00:12<00:27,  2.03it/s]
Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.02it/s]
Evaluation:  32%|###2      | 26/80 [00:13<00:26,  2.03it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  2.02it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.03it/s]
Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.03it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.04it/s]
Evaluation:  42%|####2     | 34/80 [00:17<00:22,  2.04it/s]
Evaluation:  44%|####3     | 35/80 [00:18<00:22,  2.04it/s]
Evaluation:  45%|####5     | 36/80 [00:18<00:21,  2.03it/s]
Evaluation:  46%|####6     | 37/80 [00:19<00:21,  2.03it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  2.02it/s]
Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.03it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.03it/s]
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Evaluation:  60%|######    | 48/80 [00:24<00:16,  1.99it/s]
Evaluation:  61%|######1   | 49/80 [00:25<00:15,  2.01it/s]
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Evaluation:  70%|#######   | 56/80 [00:28<00:11,  2.03it/s]
Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.03it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.03it/s]
Evaluation:  75%|#######5  | 60/80 [00:30<00:09,  2.01it/s]
Evaluation:  76%|#######6  | 61/80 [00:31<00:09,  2.01it/s]
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Evaluation:  79%|#######8  | 63/80 [00:32<00:08,  2.00it/s]
Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.99it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:07,  2.00it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.00it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.03it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.04it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.04it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.05it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.05it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.05it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 08:21:02 INFO] [Validation] {R_error/0 1.126E+00, t_error/0 3.080E-01, R_error/1 6.314E-01, t_error/1 1.771E-01, R_error/2 5.932E-01, t_error/2 1.658E-01, R_error 5.932E-01, t_error 1.658E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.069E+00, loss/reprojection_error/0 1.087E+01, loss/reprojection_error/1 5.781E+00, loss/reprojection_error/2 5.472E+00, loss/reprojection_error 5.472E+00, loss/reprojection_error_median 8.075E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 08:22:17 INFO] [E 10 | it 2050] loss {total 4.173E+00, reprojection_error/0 6.110E+00, reprojection_error/1 3.471E+00, reprojection_error/2 2.938E+00, reprojection_error 2.938E+00, reprojection_error/init 4.751E+01}
[11/10/2020 08:23:34 INFO] [E 10 | it 2100] loss {total 9.839E+00, reprojection_error/0 2.831E+01, reprojection_error/1 1.750E+01, reprojection_error/2 1.703E+01, reprojection_error 1.703E+01, reprojection_error/init 8.186E+01}
[11/10/2020 08:24:50 INFO] [E 10 | it 2150] loss {total 5.703E+00, reprojection_error/0 9.783E+00, reprojection_error/1 3.688E+00, reprojection_error/2 3.639E+00, reprojection_error 3.639E+00, reprojection_error/init 3.734E+01}
[11/10/2020 08:26:06 INFO] [E 10 | it 2200] loss {total 2.817E+00, reprojection_error/0 5.966E+00, reprojection_error/1 1.431E+00, reprojection_error/2 1.053E+00, reprojection_error 1.053E+00, reprojection_error/init 3.869E+01}
[11/10/2020 08:27:21 INFO] [E 10 | it 2250] loss {total 1.108E+01, reprojection_error/0 2.508E+01, reprojection_error/1 2.097E+01, reprojection_error/2 2.054E+01, reprojection_error 2.054E+01, reprojection_error/init 1.133E+02}
[11/10/2020 08:28:37 INFO] [E 10 | it 2300] loss {total 2.235E+00, reprojection_error/0 5.401E+00, reprojection_error/1 7.287E-01, reprojection_error/2 5.757E-01, reprojection_error 5.757E-01, reprojection_error/init 7.090E+01}
[11/10/2020 08:29:52 INFO] [E 10 | it 2350] loss {total 1.766E+01, reprojection_error/0 3.676E+01, reprojection_error/1 3.248E+01, reprojection_error/2 3.262E+01, reprojection_error 3.262E+01, reprojection_error/init 9.678E+01}
[11/10/2020 08:31:08 INFO] [E 10 | it 2400] loss {total 6.331E+00, reprojection_error/0 1.191E+01, reprojection_error/1 5.536E+00, reprojection_error/2 6.012E+00, reprojection_error 6.012E+00, reprojection_error/init 1.033E+02}
[11/10/2020 08:32:23 INFO] [E 10 | it 2450] loss {total 2.931E+00, reprojection_error/0 3.408E+00, reprojection_error/1 2.942E+00, reprojection_error/2 2.444E+00, reprojection_error 2.444E+00, reprojection_error/init 5.813E+01}
[11/10/2020 08:33:39 INFO] [E 10 | it 2500] loss {total 2.108E+00, reprojection_error/0 4.416E+00, reprojection_error/1 8.980E-01, reprojection_error/2 1.009E+00, reprojection_error 1.009E+00, reprojection_error/init 6.548E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:02,  1.56s/it]
Evaluation:   2%|2         | 2/80 [00:02<01:36,  1.24s/it]
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Evaluation:   6%|6         | 5/80 [00:03<00:56,  1.32it/s]
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Evaluation:   9%|8         | 7/80 [00:04<00:46,  1.59it/s]
Evaluation:  10%|#         | 8/80 [00:05<00:42,  1.69it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:40,  1.77it/s]
Evaluation:  12%|#2        | 10/80 [00:06<00:38,  1.83it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.88it/s]
Evaluation:  15%|#5        | 12/80 [00:07<00:35,  1.91it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:34,  1.93it/s]
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Evaluation:  19%|#8        | 15/80 [00:08<00:33,  1.96it/s]
Evaluation:  20%|##        | 16/80 [00:09<00:32,  1.97it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  1.98it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.00it/s]
Evaluation:  32%|###2      | 26/80 [00:14<00:27,  2.00it/s]
Evaluation:  34%|###3      | 27/80 [00:14<00:26,  1.99it/s]
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Evaluation:  39%|###8      | 31/80 [00:16<00:24,  2.00it/s]
Evaluation:  40%|####      | 32/80 [00:17<00:23,  2.00it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.01it/s]
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Evaluation:  49%|####8     | 39/80 [00:20<00:20,  1.95it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  1.97it/s]
Evaluation:  52%|#####2    | 42/80 [00:22<00:19,  1.98it/s]
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Evaluation:  61%|######1   | 49/80 [00:25<00:15,  1.99it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.99it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  1.99it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  1.98it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.98it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
Evaluation:  85%|########5 | 68/80 [00:35<00:06,  1.99it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.01it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:04,  2.02it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  1.94it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:04,  1.91it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  1.88it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:03,  1.87it/s]
Evaluation:  94%|#########3| 75/80 [00:39<00:02,  1.86it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:02,  1.85it/s]
Evaluation:  96%|#########6| 77/80 [00:40<00:01,  1.90it/s]
Evaluation:  98%|#########7| 78/80 [00:40<00:01,  1.95it/s]
Evaluation:  99%|#########8| 79/80 [00:41<00:00,  1.98it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  2.00it/s]
Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.92it/s]
[11/10/2020 08:34:21 INFO] [Validation] {R_error/0 1.069E+00, t_error/0 3.103E-01, R_error/1 6.127E-01, t_error/1 1.756E-01, R_error/2 5.641E-01, t_error/2 1.618E-01, R_error 5.641E-01, t_error 1.618E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.852E+00, loss/reprojection_error/0 1.029E+01, loss/reprojection_error/1 5.245E+00, loss/reprojection_error/2 4.881E+00, loss/reprojection_error 4.881E+00, loss/reprojection_error_median 8.212E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 08:35:37 INFO] [E 10 | it 2550] loss {total 8.827E+00, reprojection_error/0 2.139E+01, reprojection_error/1 1.926E+01, reprojection_error/2 1.916E+01, reprojection_error 1.916E+01, reprojection_error/init 8.337E+01}
[11/10/2020 08:36:52 INFO] [E 10 | it 2600] loss {total 9.585E+00, reprojection_error/0 2.323E+01, reprojection_error/1 1.965E+01, reprojection_error/2 1.921E+01, reprojection_error 1.921E+01, reprojection_error/init 1.077E+02}
[11/10/2020 08:38:07 INFO] [E 10 | it 2650] loss {total 7.904E+00, reprojection_error/0 2.101E+01, reprojection_error/1 1.360E+01, reprojection_error/2 1.341E+01, reprojection_error 1.341E+01, reprojection_error/init 1.004E+02}
[11/10/2020 08:39:22 INFO] [E 10 | it 2700] loss {total 8.292E+00, reprojection_error/0 1.624E+01, reprojection_error/1 8.348E+00, reprojection_error/2 7.962E+00, reprojection_error 7.962E+00, reprojection_error/init 1.260E+02}
[11/10/2020 08:40:38 INFO] [E 10 | it 2750] loss {total 1.192E+01, reprojection_error/0 2.369E+01, reprojection_error/1 1.149E+01, reprojection_error/2 1.084E+01, reprojection_error 1.084E+01, reprojection_error/init 1.157E+02}
[11/10/2020 08:41:54 INFO] [E 10 | it 2800] loss {total 3.787E+00, reprojection_error/0 9.717E+00, reprojection_error/1 9.943E-01, reprojection_error/2 6.502E-01, reprojection_error 6.502E-01, reprojection_error/init 4.123E+01}
[11/10/2020 08:43:10 INFO] [E 10 | it 2850] loss {total 8.370E+00, reprojection_error/0 2.359E+01, reprojection_error/1 1.757E+01, reprojection_error/2 1.728E+01, reprojection_error 1.728E+01, reprojection_error/init 7.995E+01}
[11/10/2020 08:44:26 INFO] [E 10 | it 2900] loss {total 2.545E+00, reprojection_error/0 5.942E+00, reprojection_error/1 8.413E-01, reprojection_error/2 8.518E-01, reprojection_error 8.518E-01, reprojection_error/init 7.542E+01}
[11/10/2020 08:45:41 INFO] [E 10 | it 2950] loss {total 8.707E+00, reprojection_error/0 1.601E+01, reprojection_error/1 9.353E+00, reprojection_error/2 9.427E+00, reprojection_error 9.427E+00, reprojection_error/init 7.086E+01}

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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 08:47:37 INFO] [Validation] {R_error/0 1.078E+00, t_error/0 3.136E-01, R_error/1 6.172E-01, t_error/1 1.857E-01, R_error/2 5.811E-01, t_error/2 1.748E-01, R_error 5.811E-01, t_error 1.748E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.005E+00, loss/reprojection_error/0 1.062E+01, loss/reprojection_error/1 5.815E+00, loss/reprojection_error/2 5.519E+00, loss/reprojection_error 5.519E+00, loss/reprojection_error_median 7.720E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 08:47:37 INFO] Saving checkpoint checkpoint_10
[11/10/2020 08:47:37 INFO] Deleting checkpoint checkpoint_1.tar
[11/10/2020 08:47:37 INFO] Starting epoch 11
[11/10/2020 08:47:37 INFO] Sampling new images or pairs with seed 11

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100%|██████████| 9/9 [00:00<00:00, 16.53it/s]
[11/10/2020 08:47:40 INFO] [E 11 | it 0] loss {total 6.656E+00, reprojection_error/0 1.872E+01, reprojection_error/1 1.731E+01, reprojection_error/2 1.727E+01, reprojection_error 1.727E+01, reprojection_error/init 8.244E+01}

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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/10/2020 08:48:21 INFO] [Validation] {R_error/0 1.078E+00, t_error/0 3.135E-01, R_error/1 6.173E-01, t_error/1 1.855E-01, R_error/2 5.818E-01, t_error/2 1.751E-01, R_error 5.818E-01, t_error 1.751E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.998E+00, loss/reprojection_error/0 1.062E+01, loss/reprojection_error/1 5.798E+00, loss/reprojection_error/2 5.513E+00, loss/reprojection_error 5.513E+00, loss/reprojection_error_median 7.629E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 08:49:36 INFO] [E 11 | it 50] loss {total 4.047E+00, reprojection_error/0 5.045E+00, reprojection_error/1 3.459E+00, reprojection_error/2 3.636E+00, reprojection_error 3.636E+00, reprojection_error/init 7.694E+01}
[11/10/2020 08:50:50 INFO] [E 11 | it 100] loss {total 1.261E+01, reprojection_error/0 2.935E+01, reprojection_error/1 2.468E+01, reprojection_error/2 2.498E+01, reprojection_error 2.498E+01, reprojection_error/init 1.366E+02}
[11/10/2020 08:52:04 INFO] [E 11 | it 150] loss {total 7.474E+00, reprojection_error/0 1.324E+01, reprojection_error/1 8.610E+00, reprojection_error/2 7.797E+00, reprojection_error 7.797E+00, reprojection_error/init 8.887E+01}
[11/10/2020 08:53:16 INFO] [E 11 | it 200] loss {total 7.470E+00, reprojection_error/0 1.861E+01, reprojection_error/1 1.553E+01, reprojection_error/2 1.573E+01, reprojection_error 1.573E+01, reprojection_error/init 8.088E+01}
[11/10/2020 08:54:29 INFO] [E 11 | it 250] loss {total 1.996E+00, reprojection_error/0 4.478E+00, reprojection_error/1 8.652E-01, reprojection_error/2 6.435E-01, reprojection_error 6.435E-01, reprojection_error/init 5.002E+01}
[11/10/2020 08:55:45 INFO] [E 11 | it 300] loss {total 7.783E+00, reprojection_error/0 1.978E+01, reprojection_error/1 1.870E+01, reprojection_error/2 1.820E+01, reprojection_error 1.820E+01, reprojection_error/init 1.058E+02}
[11/10/2020 08:57:01 INFO] [E 11 | it 350] loss {total 3.180E+00, reprojection_error/0 5.000E+00, reprojection_error/1 2.726E+00, reprojection_error/2 1.815E+00, reprojection_error 1.815E+00, reprojection_error/init 6.354E+01}
[11/10/2020 08:58:18 INFO] [E 11 | it 400] loss {total 2.310E+00, reprojection_error/0 4.004E+00, reprojection_error/1 1.626E+00, reprojection_error/2 1.299E+00, reprojection_error 1.299E+00, reprojection_error/init 6.961E+01}
[11/10/2020 08:59:35 INFO] [E 11 | it 450] loss {total 3.907E+00, reprojection_error/0 7.517E+00, reprojection_error/1 2.342E+00, reprojection_error/2 1.862E+00, reprojection_error 1.862E+00, reprojection_error/init 8.930E+01}
[11/10/2020 09:00:52 INFO] [E 11 | it 500] loss {total 8.159E+00, reprojection_error/0 2.065E+01, reprojection_error/1 1.880E+01, reprojection_error/2 1.836E+01, reprojection_error 1.836E+01, reprojection_error/init 7.134E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.02it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.99it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:06,  2.00it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.01it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.02it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.02it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.03it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.02it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.03it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.03it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.03it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.03it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.03it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.96it/s]
[11/10/2020 09:01:33 INFO] [Validation] {R_error/0 1.077E+00, t_error/0 2.804E-01, R_error/1 6.053E-01, t_error/1 1.602E-01, R_error/2 5.669E-01, t_error/2 1.484E-01, R_error 5.669E-01, t_error 1.484E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.086E+00, loss/reprojection_error/0 1.062E+01, loss/reprojection_error/1 5.900E+00, loss/reprojection_error/2 5.570E+00, loss/reprojection_error 5.570E+00, loss/reprojection_error_median 8.112E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 09:02:47 INFO] [E 11 | it 550] loss {total 2.730E+00, reprojection_error/0 4.888E+00, reprojection_error/1 1.720E+00, reprojection_error/2 1.581E+00, reprojection_error 1.581E+00, reprojection_error/init 6.912E+01}
[11/10/2020 09:04:03 INFO] [E 11 | it 600] loss {total 2.751E+00, reprojection_error/0 5.729E+00, reprojection_error/1 1.387E+00, reprojection_error/2 1.136E+00, reprojection_error 1.136E+00, reprojection_error/init 7.977E+01}
[11/10/2020 09:05:18 INFO] [E 11 | it 650] loss {total 9.019E-01, reprojection_error/0 1.237E+00, reprojection_error/1 5.808E-01, reprojection_error/2 8.877E-01, reprojection_error 8.877E-01, reprojection_error/init 1.800E+01}
[11/10/2020 09:06:33 INFO] [E 11 | it 700] loss {total 1.024E+01, reprojection_error/0 2.289E+01, reprojection_error/1 2.094E+01, reprojection_error/2 2.023E+01, reprojection_error 2.023E+01, reprojection_error/init 2.276E+02}
[11/10/2020 09:07:49 INFO] [E 11 | it 750] loss {total 3.882E+00, reprojection_error/0 8.768E+00, reprojection_error/1 1.829E+00, reprojection_error/2 1.050E+00, reprojection_error 1.050E+00, reprojection_error/init 9.259E+01}
[11/10/2020 09:09:05 INFO] [E 11 | it 800] loss {total 3.436E+00, reprojection_error/0 5.782E+00, reprojection_error/1 2.160E+00, reprojection_error/2 2.367E+00, reprojection_error 2.367E+00, reprojection_error/init 5.722E+01}
[11/10/2020 09:10:21 INFO] [E 11 | it 850] loss {total 1.331E+01, reprojection_error/0 3.773E+01, reprojection_error/1 3.454E+01, reprojection_error/2 3.433E+01, reprojection_error 3.433E+01, reprojection_error/init 1.795E+02}
[11/10/2020 09:11:37 INFO] [E 11 | it 900] loss {total 7.449E+00, reprojection_error/0 1.285E+01, reprojection_error/1 5.382E+00, reprojection_error/2 4.116E+00, reprojection_error 4.116E+00, reprojection_error/init 5.821E+01}
[11/10/2020 09:12:53 INFO] [E 11 | it 950] loss {total 4.569E+00, reprojection_error/0 9.800E+00, reprojection_error/1 2.036E+00, reprojection_error/2 1.870E+00, reprojection_error 1.870E+00, reprojection_error/init 5.729E+01}
[11/10/2020 09:14:08 INFO] [E 11 | it 1000] loss {total 9.383E+00, reprojection_error/0 2.332E+01, reprojection_error/1 1.933E+01, reprojection_error/2 1.883E+01, reprojection_error 1.883E+01, reprojection_error/init 6.315E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:55,  1.47s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:31,  1.17s/it]
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Evaluation:  10%|#         | 8/80 [00:04<00:41,  1.75it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:38,  1.82it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.88it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.92it/s]
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Evaluation:  31%|###1      | 25/80 [00:13<00:27,  2.03it/s]
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Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.02it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  50%|#####     | 40/80 [00:20<00:19,  2.02it/s]
Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.02it/s]
Evaluation:  52%|#####2    | 42/80 [00:21<00:18,  2.02it/s]
Evaluation:  54%|#####3    | 43/80 [00:22<00:18,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.01it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.01it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.03it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.04it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.04it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.04it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.04it/s]
Evaluation:  99%|#########8| 79/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 09:14:49 INFO] [Validation] {R_error/0 1.025E+00, t_error/0 2.873E-01, R_error/1 5.941E-01, t_error/1 1.669E-01, R_error/2 5.598E-01, t_error/2 1.546E-01, R_error 5.598E-01, t_error 1.546E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.852E+00, loss/reprojection_error/0 1.016E+01, loss/reprojection_error/1 5.654E+00, loss/reprojection_error/2 5.345E+00, loss/reprojection_error 5.345E+00, loss/reprojection_error_median 7.761E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 09:16:05 INFO] [E 11 | it 1050] loss {total 8.133E+00, reprojection_error/0 2.256E+01, reprojection_error/1 1.786E+01, reprojection_error/2 1.731E+01, reprojection_error 1.731E+01, reprojection_error/init 1.135E+02}
[11/10/2020 09:17:20 INFO] [E 11 | it 1100] loss {total 1.141E+01, reprojection_error/0 2.560E+01, reprojection_error/1 2.511E+01, reprojection_error/2 2.515E+01, reprojection_error 2.515E+01, reprojection_error/init 6.539E+01}
[11/10/2020 09:18:36 INFO] [E 11 | it 1150] loss {total 7.555E+00, reprojection_error/0 1.504E+01, reprojection_error/1 7.178E+00, reprojection_error/2 6.580E+00, reprojection_error 6.580E+00, reprojection_error/init 7.417E+01}
[11/10/2020 09:19:52 INFO] [E 11 | it 1200] loss {total 8.645E+00, reprojection_error/0 1.382E+01, reprojection_error/1 1.171E+01, reprojection_error/2 1.196E+01, reprojection_error 1.196E+01, reprojection_error/init 4.963E+01}
[11/10/2020 09:21:07 INFO] [E 11 | it 1250] loss {total 5.557E+00, reprojection_error/0 8.380E+00, reprojection_error/1 3.895E+00, reprojection_error/2 4.397E+00, reprojection_error 4.397E+00, reprojection_error/init 8.064E+01}
[11/10/2020 09:22:22 INFO] [E 11 | it 1300] loss {total 6.122E+00, reprojection_error/0 1.177E+01, reprojection_error/1 6.342E+00, reprojection_error/2 6.027E+00, reprojection_error 6.027E+00, reprojection_error/init 8.489E+01}
[11/10/2020 09:23:38 INFO] [E 11 | it 1350] loss {total 8.899E+00, reprojection_error/0 1.552E+01, reprojection_error/1 9.617E+00, reprojection_error/2 9.031E+00, reprojection_error 9.031E+00, reprojection_error/init 7.970E+01}
[11/10/2020 09:24:54 INFO] [E 11 | it 1400] loss {total 6.711E+00, reprojection_error/0 1.248E+01, reprojection_error/1 4.075E+00, reprojection_error/2 3.581E+00, reprojection_error 3.581E+00, reprojection_error/init 4.904E+01}
[11/10/2020 09:26:11 INFO] [E 11 | it 1450] loss {total 1.061E+01, reprojection_error/0 2.615E+01, reprojection_error/1 2.172E+01, reprojection_error/2 2.141E+01, reprojection_error 2.141E+01, reprojection_error/init 7.680E+01}
[11/10/2020 09:27:27 INFO] [E 11 | it 1500] loss {total 9.340E+00, reprojection_error/0 2.240E+01, reprojection_error/1 2.205E+01, reprojection_error/2 2.185E+01, reprojection_error 2.185E+01, reprojection_error/init 8.133E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:56,  1.48s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:32,  1.19s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:15,  1.02it/s]
Evaluation:   5%|5         | 4/80 [00:02<01:03,  1.19it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:55,  1.36it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:49,  1.51it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  1.98it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:11,  1.93it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.99it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:07,  1.99it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  1.98it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:06,  1.98it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  1.93it/s]
Evaluation:  88%|########7 | 70/80 [00:36<00:05,  1.88it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  1.86it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:04,  1.85it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  1.84it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:03,  1.83it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  1.83it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:02,  1.83it/s]
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Evaluation:  99%|#########8| 79/80 [00:41<00:00,  1.83it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.92it/s]
[11/10/2020 09:28:08 INFO] [Validation] {R_error/0 1.013E+00, t_error/0 3.016E-01, R_error/1 5.601E-01, t_error/1 1.615E-01, R_error/2 5.263E-01, t_error/2 1.515E-01, R_error 5.263E-01, t_error 1.515E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.808E+00, loss/reprojection_error/0 1.003E+01, loss/reprojection_error/1 5.064E+00, loss/reprojection_error/2 4.790E+00, loss/reprojection_error 4.790E+00, loss/reprojection_error_median 7.897E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 09:29:25 INFO] [E 11 | it 1550] loss {total 1.155E+01, reprojection_error/0 1.741E+01, reprojection_error/1 1.400E+01, reprojection_error/2 1.411E+01, reprojection_error 1.411E+01, reprojection_error/init 5.006E+01}
[11/10/2020 09:30:40 INFO] [E 11 | it 1600] loss {total 1.884E+00, reprojection_error/0 3.980E+00, reprojection_error/1 7.583E-01, reprojection_error/2 9.131E-01, reprojection_error 9.131E-01, reprojection_error/init 7.072E+01}
[11/10/2020 09:31:55 INFO] [E 11 | it 1650] loss {total 3.529E+00, reprojection_error/0 7.928E+00, reprojection_error/1 1.341E+00, reprojection_error/2 1.316E+00, reprojection_error 1.316E+00, reprojection_error/init 5.317E+01}
[11/10/2020 09:33:13 INFO] [E 11 | it 1700] loss {total 3.283E+00, reprojection_error/0 4.930E+00, reprojection_error/1 2.658E+00, reprojection_error/2 2.260E+00, reprojection_error 2.260E+00, reprojection_error/init 8.817E+01}
[11/10/2020 09:34:28 INFO] [E 11 | it 1750] loss {total 6.659E+00, reprojection_error/0 1.885E+01, reprojection_error/1 1.716E+01, reprojection_error/2 1.730E+01, reprojection_error 1.730E+01, reprojection_error/init 9.350E+01}
[11/10/2020 09:35:43 INFO] [E 11 | it 1800] loss {total 5.215E+00, reprojection_error/0 8.697E+00, reprojection_error/1 6.850E+00, reprojection_error/2 6.839E+00, reprojection_error 6.839E+00, reprojection_error/init 6.710E+01}
[11/10/2020 09:36:58 INFO] [E 11 | it 1850] loss {total 2.657E+00, reprojection_error/0 5.245E+00, reprojection_error/1 1.337E+00, reprojection_error/2 1.388E+00, reprojection_error 1.388E+00, reprojection_error/init 3.558E+01}
[11/10/2020 09:38:13 INFO] [E 11 | it 1900] loss {total 3.261E+00, reprojection_error/0 6.045E+00, reprojection_error/1 1.832E+00, reprojection_error/2 1.906E+00, reprojection_error 1.906E+00, reprojection_error/init 4.976E+01}
[11/10/2020 09:39:27 INFO] [E 11 | it 1950] loss {total 7.481E+00, reprojection_error/0 2.120E+01, reprojection_error/1 1.749E+01, reprojection_error/2 1.709E+01, reprojection_error 1.709E+01, reprojection_error/init 1.161E+02}
[11/10/2020 09:40:43 INFO] [E 11 | it 2000] loss {total 2.703E+00, reprojection_error/0 5.259E+00, reprojection_error/1 1.552E+00, reprojection_error/2 1.296E+00, reprojection_error 1.296E+00, reprojection_error/init 5.800E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:58,  1.49s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:32,  1.19s/it]
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Evaluation:  40%|####      | 32/80 [00:16<00:23,  2.04it/s]
Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.04it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.03it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.00it/s]
Evaluation:  74%|#######3  | 59/80 [00:30<00:10,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:08,  1.99it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  1.99it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.00it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.00it/s]
Evaluation:  85%|########5 | 68/80 [00:34<00:05,  2.01it/s]
Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.02it/s]
Evaluation:  88%|########7 | 70/80 [00:35<00:04,  2.03it/s]
Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:36<00:03,  2.04it/s]
Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.04it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.04it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.04it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.04it/s]
Evaluation:  96%|#########6| 77/80 [00:38<00:01,  2.04it/s]
Evaluation:  98%|#########7| 78/80 [00:39<00:00,  2.04it/s]
Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.05it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  2.04it/s]
Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 09:41:24 INFO] [Validation] {R_error/0 1.025E+00, t_error/0 3.130E-01, R_error/1 6.075E-01, t_error/1 1.648E-01, R_error/2 5.657E-01, t_error/2 1.512E-01, R_error 5.657E-01, t_error 1.512E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.904E+00, loss/reprojection_error/0 1.031E+01, loss/reprojection_error/1 5.149E+00, loss/reprojection_error/2 4.813E+00, loss/reprojection_error 4.813E+00, loss/reprojection_error_median 8.519E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 09:42:39 INFO] [E 11 | it 2050] loss {total 1.343E+00, reprojection_error/0 2.191E+00, reprojection_error/1 1.033E+00, reprojection_error/2 8.050E-01, reprojection_error 8.050E-01, reprojection_error/init 6.580E+01}
[11/10/2020 09:43:54 INFO] [E 11 | it 2100] loss {total 1.882E+00, reprojection_error/0 4.562E+00, reprojection_error/1 5.553E-01, reprojection_error/2 5.286E-01, reprojection_error 5.286E-01, reprojection_error/init 4.724E+01}
[11/10/2020 09:45:10 INFO] [E 11 | it 2150] loss {total 3.369E+00, reprojection_error/0 6.930E+00, reprojection_error/1 1.671E+00, reprojection_error/2 1.506E+00, reprojection_error 1.506E+00, reprojection_error/init 9.183E+01}
[11/10/2020 09:46:26 INFO] [E 11 | it 2200] loss {total 2.953E+00, reprojection_error/0 6.697E+00, reprojection_error/1 1.420E+00, reprojection_error/2 7.399E-01, reprojection_error 7.399E-01, reprojection_error/init 9.402E+01}
[11/10/2020 09:47:41 INFO] [E 11 | it 2250] loss {total 7.683E+00, reprojection_error/0 2.122E+01, reprojection_error/1 1.762E+01, reprojection_error/2 1.755E+01, reprojection_error 1.755E+01, reprojection_error/init 1.662E+02}
[11/10/2020 09:48:58 INFO] [E 11 | it 2300] loss {total 5.170E+00, reprojection_error/0 9.666E+00, reprojection_error/1 5.503E+00, reprojection_error/2 5.549E+00, reprojection_error 5.549E+00, reprojection_error/init 5.193E+01}
[11/10/2020 09:50:13 INFO] [E 11 | it 2350] loss {total 3.777E+00, reprojection_error/0 5.232E+00, reprojection_error/1 3.145E+00, reprojection_error/2 2.955E+00, reprojection_error 2.955E+00, reprojection_error/init 3.410E+01}
[11/10/2020 09:51:29 INFO] [E 11 | it 2400] loss {total 3.709E+00, reprojection_error/0 6.496E+00, reprojection_error/1 2.351E+00, reprojection_error/2 2.280E+00, reprojection_error 2.280E+00, reprojection_error/init 8.295E+01}
[11/10/2020 09:52:45 INFO] [E 11 | it 2450] loss {total 2.819E+00, reprojection_error/0 5.878E+00, reprojection_error/1 1.405E+00, reprojection_error/2 1.175E+00, reprojection_error 1.175E+00, reprojection_error/init 1.115E+02}
[11/10/2020 09:54:01 INFO] [E 11 | it 2500] loss {total 3.992E+00, reprojection_error/0 9.886E+00, reprojection_error/1 1.250E+00, reprojection_error/2 8.409E-01, reprojection_error 8.409E-01, reprojection_error/init 4.225E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:57,  1.48s/it]
Evaluation:   2%|2         | 2/80 [00:01<01:32,  1.19s/it]
Evaluation:   4%|3         | 3/80 [00:02<01:15,  1.02it/s]
Evaluation:   5%|5         | 4/80 [00:02<01:03,  1.20it/s]
Evaluation:   6%|6         | 5/80 [00:03<00:55,  1.36it/s]
Evaluation:   8%|7         | 6/80 [00:03<00:49,  1.51it/s]
Evaluation:   9%|8         | 7/80 [00:04<00:44,  1.63it/s]
Evaluation:  10%|#         | 8/80 [00:04<00:41,  1.73it/s]
Evaluation:  11%|#1        | 9/80 [00:05<00:39,  1.80it/s]
Evaluation:  12%|#2        | 10/80 [00:05<00:37,  1.86it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.90it/s]
Evaluation:  15%|#5        | 12/80 [00:06<00:35,  1.93it/s]
Evaluation:  16%|#6        | 13/80 [00:07<00:34,  1.96it/s]
Evaluation:  18%|#7        | 14/80 [00:07<00:33,  1.97it/s]
Evaluation:  19%|#8        | 15/80 [00:08<00:32,  1.99it/s]
Evaluation:  20%|##        | 16/80 [00:08<00:32,  1.99it/s]
Evaluation:  21%|##1       | 17/80 [00:09<00:31,  2.00it/s]
Evaluation:  22%|##2       | 18/80 [00:09<00:32,  1.93it/s]
Evaluation:  24%|##3       | 19/80 [00:10<00:32,  1.89it/s]
Evaluation:  25%|##5       | 20/80 [00:11<00:32,  1.86it/s]
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[11/10/2020 09:54:43 INFO] [Validation] {R_error/0 1.058E+00, t_error/0 2.828E-01, R_error/1 6.044E-01, t_error/1 1.512E-01, R_error/2 5.726E-01, t_error/2 1.386E-01, R_error 5.726E-01, t_error 1.386E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.092E+00, loss/reprojection_error/0 1.063E+01, loss/reprojection_error/1 5.800E+00, loss/reprojection_error/2 5.512E+00, loss/reprojection_error 5.512E+00, loss/reprojection_error_median 8.085E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 09:55:58 INFO] [E 11 | it 2550] loss {total 5.836E+00, reprojection_error/0 8.661E+00, reprojection_error/1 4.394E+00, reprojection_error/2 4.451E+00, reprojection_error 4.451E+00, reprojection_error/init 5.968E+01}
[11/10/2020 09:57:14 INFO] [E 11 | it 2600] loss {total 7.628E+00, reprojection_error/0 2.099E+01, reprojection_error/1 1.795E+01, reprojection_error/2 1.697E+01, reprojection_error 1.697E+01, reprojection_error/init 1.128E+02}
[11/10/2020 09:58:29 INFO] [E 11 | it 2650] loss {total 2.532E+00, reprojection_error/0 3.278E+00, reprojection_error/1 2.048E+00, reprojection_error/2 2.271E+00, reprojection_error 2.271E+00, reprojection_error/init 3.892E+01}
[11/10/2020 09:59:46 INFO] [E 11 | it 2700] loss {total 1.250E+01, reprojection_error/0 3.575E+01, reprojection_error/1 3.321E+01, reprojection_error/2 3.294E+01, reprojection_error 3.294E+01, reprojection_error/init 1.625E+02}
[11/10/2020 10:01:02 INFO] [E 11 | it 2750] loss {total 3.797E+00, reprojection_error/0 7.936E+00, reprojection_error/1 1.801E+00, reprojection_error/2 1.655E+00, reprojection_error 1.655E+00, reprojection_error/init 5.818E+01}
[11/10/2020 10:02:17 INFO] [E 11 | it 2800] loss {total 8.454E+00, reprojection_error/0 2.273E+01, reprojection_error/1 1.784E+01, reprojection_error/2 1.813E+01, reprojection_error 1.813E+01, reprojection_error/init 6.045E+01}
[11/10/2020 10:02:57 WARNING] Few points in batch [(tensor(12, device='cuda:0'), 168, 2235)]
[11/10/2020 10:03:32 INFO] [E 11 | it 2850] loss {total 1.416E+00, reprojection_error/0 1.867E+00, reprojection_error/1 1.175E+00, reprojection_error/2 1.206E+00, reprojection_error 1.206E+00, reprojection_error/init 8.575E+01}
[11/10/2020 10:04:48 INFO] [E 11 | it 2900] loss {total 9.615E+00, reprojection_error/0 1.507E+01, reprojection_error/1 1.120E+01, reprojection_error/2 1.151E+01, reprojection_error 1.151E+01, reprojection_error/init 7.558E+01}
[11/10/2020 10:06:04 INFO] [E 11 | it 2950] loss {total 2.586E+00, reprojection_error/0 5.149E+00, reprojection_error/1 1.367E+00, reprojection_error/2 1.243E+00, reprojection_error 1.243E+00, reprojection_error/init 1.213E+02}

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Evaluation: 100%|##########| 80/80 [00:42<00:00,  1.89it/s]
[11/10/2020 10:08:00 INFO] [Validation] {R_error/0 1.027E+00, t_error/0 2.855E-01, R_error/1 6.216E-01, t_error/1 1.581E-01, R_error/2 5.878E-01, t_error/2 1.460E-01, R_error 5.878E-01, t_error 1.460E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.379E+00, loss/reprojection_error/0 1.089E+01, loss/reprojection_error/1 6.326E+00, loss/reprojection_error/2 6.034E+00, loss/reprojection_error 6.034E+00, loss/reprojection_error_median 8.031E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 10:08:00 INFO] Saving checkpoint checkpoint_11
[11/10/2020 10:08:01 INFO] Deleting checkpoint checkpoint_10_interrupted.tar
[11/10/2020 10:08:01 INFO] Starting epoch 12
[11/10/2020 10:08:01 INFO] Sampling new images or pairs with seed 12

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[11/10/2020 10:08:04 INFO] [E 12 | it 0] loss {total 4.689E+00, reprojection_error/0 7.340E+00, reprojection_error/1 3.440E+00, reprojection_error/2 3.287E+00, reprojection_error 3.287E+00, reprojection_error/init 7.522E+01}

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Evaluation:  72%|#######2  | 58/80 [00:30<00:11,  1.99it/s]
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Evaluation:  90%|######### | 72/80 [00:37<00:04,  1.90it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  1.87it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:03,  1.84it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  1.89it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.92it/s]
[11/10/2020 10:08:45 INFO] [Validation] {R_error/0 1.028E+00, t_error/0 2.860E-01, R_error/1 6.222E-01, t_error/1 1.580E-01, R_error/2 5.888E-01, t_error/2 1.462E-01, R_error 5.888E-01, t_error 1.462E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.325E+00, loss/reprojection_error/0 1.092E+01, loss/reprojection_error/1 6.325E+00, loss/reprojection_error/2 6.040E+00, loss/reprojection_error 6.040E+00, loss/reprojection_error_median 8.008E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 10:10:00 INFO] [E 12 | it 50] loss {total 6.424E+00, reprojection_error/0 1.851E+01, reprojection_error/1 1.715E+01, reprojection_error/2 1.696E+01, reprojection_error 1.696E+01, reprojection_error/init 6.857E+01}
[11/10/2020 10:11:17 INFO] [E 12 | it 100] loss {total 4.538E+00, reprojection_error/0 9.152E+00, reprojection_error/1 2.038E+00, reprojection_error/2 2.425E+00, reprojection_error 2.425E+00, reprojection_error/init 7.806E+01}
[11/10/2020 10:12:33 INFO] [E 12 | it 150] loss {total 8.222E+00, reprojection_error/0 2.006E+01, reprojection_error/1 1.884E+01, reprojection_error/2 1.910E+01, reprojection_error 1.910E+01, reprojection_error/init 7.784E+01}
[11/10/2020 10:13:48 INFO] [E 12 | it 200] loss {total 2.111E+00, reprojection_error/0 3.870E+00, reprojection_error/1 1.291E+00, reprojection_error/2 1.172E+00, reprojection_error 1.172E+00, reprojection_error/init 6.129E+01}
[11/10/2020 10:15:04 INFO] [E 12 | it 250] loss {total 2.768E+00, reprojection_error/0 5.195E+00, reprojection_error/1 1.663E+00, reprojection_error/2 1.445E+00, reprojection_error 1.445E+00, reprojection_error/init 4.381E+01}
[11/10/2020 10:16:18 INFO] [E 12 | it 300] loss {total 1.094E+00, reprojection_error/0 1.465E+00, reprojection_error/1 1.306E+00, reprojection_error/2 5.110E-01, reprojection_error 5.110E-01, reprojection_error/init 5.958E+01}
[11/10/2020 10:17:36 INFO] [E 12 | it 350] loss {total 1.892E+00, reprojection_error/0 3.182E+00, reprojection_error/1 1.424E+00, reprojection_error/2 1.069E+00, reprojection_error 1.069E+00, reprojection_error/init 4.811E+01}
[11/10/2020 10:18:53 INFO] [E 12 | it 400] loss {total 3.727E+00, reprojection_error/0 5.806E+00, reprojection_error/1 4.783E+00, reprojection_error/2 4.427E+00, reprojection_error 4.427E+00, reprojection_error/init 6.464E+01}
[11/10/2020 10:20:07 INFO] [E 12 | it 450] loss {total 4.340E+00, reprojection_error/0 1.007E+01, reprojection_error/1 1.696E+00, reprojection_error/2 1.257E+00, reprojection_error 1.257E+00, reprojection_error/init 6.987E+01}
[11/10/2020 10:21:23 INFO] [E 12 | it 500] loss {total 2.206E+00, reprojection_error/0 3.484E+00, reprojection_error/1 1.614E+00, reprojection_error/2 1.521E+00, reprojection_error 1.521E+00, reprojection_error/init 4.939E+01}

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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.01it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.01it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:08,  2.00it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.01it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.01it/s]
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Evaluation:  86%|########6 | 69/80 [00:35<00:05,  2.03it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.05it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.05it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.05it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.97it/s]
[11/10/2020 10:22:04 INFO] [Validation] {R_error/0 1.072E+00, t_error/0 2.766E-01, R_error/1 6.176E-01, t_error/1 1.465E-01, R_error/2 5.791E-01, t_error/2 1.321E-01, R_error 5.791E-01, t_error 1.321E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.149E+00, loss/reprojection_error/0 1.051E+01, loss/reprojection_error/1 5.684E+00, loss/reprojection_error/2 5.363E+00, loss/reprojection_error 5.363E+00, loss/reprojection_error_median 8.092E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 10:23:19 INFO] [E 12 | it 550] loss {total 7.871E+00, reprojection_error/0 1.251E+01, reprojection_error/1 6.220E+00, reprojection_error/2 4.882E+00, reprojection_error 4.882E+00, reprojection_error/init 7.137E+01}
[11/10/2020 10:24:35 INFO] [E 12 | it 600] loss {total 2.562E+00, reprojection_error/0 4.638E+00, reprojection_error/1 1.385E+00, reprojection_error/2 1.661E+00, reprojection_error 1.661E+00, reprojection_error/init 1.110E+02}
[11/10/2020 10:25:50 INFO] [E 12 | it 650] loss {total 5.519E+00, reprojection_error/0 6.876E+00, reprojection_error/1 5.049E+00, reprojection_error/2 4.632E+00, reprojection_error 4.632E+00, reprojection_error/init 6.471E+01}
[11/10/2020 10:27:05 INFO] [E 12 | it 700] loss {total 4.929E+00, reprojection_error/0 9.784E+00, reprojection_error/1 2.775E+00, reprojection_error/2 2.228E+00, reprojection_error 2.228E+00, reprojection_error/init 7.990E+01}
[11/10/2020 10:28:20 INFO] [E 12 | it 750] loss {total 8.266E+00, reprojection_error/0 2.243E+01, reprojection_error/1 1.794E+01, reprojection_error/2 1.776E+01, reprojection_error 1.776E+01, reprojection_error/init 1.297E+02}
[11/10/2020 10:29:36 INFO] [E 12 | it 800] loss {total 6.886E+00, reprojection_error/0 1.985E+01, reprojection_error/1 1.713E+01, reprojection_error/2 1.701E+01, reprojection_error 1.701E+01, reprojection_error/init 8.828E+01}
[11/10/2020 10:30:52 INFO] [E 12 | it 850] loss {total 2.895E+00, reprojection_error/0 6.235E+00, reprojection_error/1 1.386E+00, reprojection_error/2 1.065E+00, reprojection_error 1.065E+00, reprojection_error/init 3.556E+01}
[11/10/2020 10:32:08 INFO] [E 12 | it 900] loss {total 3.169E+00, reprojection_error/0 6.567E+00, reprojection_error/1 1.945E+00, reprojection_error/2 9.953E-01, reprojection_error 9.953E-01, reprojection_error/init 1.026E+02}
[11/10/2020 10:33:25 INFO] [E 12 | it 950] loss {total 5.730E+00, reprojection_error/0 1.028E+01, reprojection_error/1 5.569E+00, reprojection_error/2 5.586E+00, reprojection_error 5.586E+00, reprojection_error/init 3.859E+01}
[11/10/2020 10:34:41 INFO] [E 12 | it 1000] loss {total 1.551E+00, reprojection_error/0 2.469E+00, reprojection_error/1 1.198E+00, reprojection_error/2 9.852E-01, reprojection_error 9.852E-01, reprojection_error/init 5.758E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  12%|#2        | 10/80 [00:06<00:40,  1.75it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.00it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
Evaluation:  72%|#######2  | 58/80 [00:30<00:10,  2.00it/s]
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Evaluation:  80%|########  | 64/80 [00:33<00:08,  2.00it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.00it/s]
Evaluation:  82%|########2 | 66/80 [00:34<00:07,  1.98it/s]
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Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.03it/s]
Evaluation:  90%|######### | 72/80 [00:37<00:03,  2.03it/s]
Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.03it/s]
Evaluation:  92%|#########2| 74/80 [00:38<00:02,  2.03it/s]
Evaluation:  94%|#########3| 75/80 [00:38<00:02,  2.03it/s]
Evaluation:  95%|#########5| 76/80 [00:39<00:01,  2.04it/s]
Evaluation:  96%|#########6| 77/80 [00:39<00:01,  2.03it/s]
Evaluation:  98%|#########7| 78/80 [00:40<00:00,  2.04it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.93it/s]
[11/10/2020 10:35:23 INFO] [Validation] {R_error/0 1.136E+00, t_error/0 3.296E-01, R_error/1 7.064E-01, t_error/1 1.993E-01, R_error/2 6.553E-01, t_error/2 1.871E-01, R_error 6.553E-01, t_error 1.871E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 6.083E+00, loss/reprojection_error/0 1.275E+01, loss/reprojection_error/1 7.685E+00, loss/reprojection_error/2 7.311E+00, loss/reprojection_error 7.311E+00, loss/reprojection_error_median 9.147E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 10:36:38 INFO] [E 12 | it 1050] loss {total 2.445E+00, reprojection_error/0 5.032E+00, reprojection_error/1 1.225E+00, reprojection_error/2 1.077E+00, reprojection_error 1.077E+00, reprojection_error/init 7.340E+01}
[11/10/2020 10:37:53 INFO] [E 12 | it 1100] loss {total 6.764E+00, reprojection_error/0 1.865E+01, reprojection_error/1 1.742E+01, reprojection_error/2 1.756E+01, reprojection_error 1.756E+01, reprojection_error/init 1.125E+02}
[11/10/2020 10:39:09 INFO] [E 12 | it 1150] loss {total 5.021E+00, reprojection_error/0 1.038E+01, reprojection_error/1 2.764E+00, reprojection_error/2 1.922E+00, reprojection_error 1.922E+00, reprojection_error/init 8.809E+01}
[11/10/2020 10:40:26 INFO] [E 12 | it 1200] loss {total 4.252E+00, reprojection_error/0 7.394E+00, reprojection_error/1 2.877E+00, reprojection_error/2 2.485E+00, reprojection_error 2.485E+00, reprojection_error/init 8.965E+01}
[11/10/2020 10:41:43 INFO] [E 12 | it 1250] loss {total 3.050E+00, reprojection_error/0 7.597E+00, reprojection_error/1 8.240E-01, reprojection_error/2 7.275E-01, reprojection_error 7.275E-01, reprojection_error/init 6.970E+01}
[11/10/2020 10:43:00 INFO] [E 12 | it 1300] loss {total 2.405E+00, reprojection_error/0 5.266E+00, reprojection_error/1 1.068E+00, reprojection_error/2 8.817E-01, reprojection_error 8.817E-01, reprojection_error/init 1.175E+02}
[11/10/2020 10:44:16 INFO] [E 12 | it 1350] loss {total 3.645E+00, reprojection_error/0 5.167E+00, reprojection_error/1 2.884E+00, reprojection_error/2 2.884E+00, reprojection_error 2.884E+00, reprojection_error/init 5.463E+01}
[11/10/2020 10:45:33 INFO] [E 12 | it 1400] loss {total 3.435E+00, reprojection_error/0 8.119E+00, reprojection_error/1 1.139E+00, reprojection_error/2 1.047E+00, reprojection_error 1.047E+00, reprojection_error/init 7.154E+01}
[11/10/2020 10:46:49 INFO] [E 12 | it 1450] loss {total 2.043E+00, reprojection_error/0 3.585E+00, reprojection_error/1 1.383E+00, reprojection_error/2 1.162E+00, reprojection_error 1.162E+00, reprojection_error/init 3.862E+01}
[11/10/2020 10:48:06 INFO] [E 12 | it 1500] loss {total 5.748E+00, reprojection_error/0 1.124E+01, reprojection_error/1 3.494E+00, reprojection_error/2 2.507E+00, reprojection_error 2.507E+00, reprojection_error/init 7.920E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<01:56,  1.48s/it]
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Evaluation:  41%|####1     | 33/80 [00:17<00:23,  2.03it/s]
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Evaluation:  51%|#####1    | 41/80 [00:21<00:19,  2.03it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.02it/s]
Evaluation:  72%|#######2  | 58/80 [00:29<00:10,  2.02it/s]
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Evaluation:  80%|########  | 64/80 [00:32<00:07,  2.03it/s]
Evaluation:  81%|########1 | 65/80 [00:33<00:07,  2.03it/s]
Evaluation:  82%|########2 | 66/80 [00:33<00:06,  2.03it/s]
Evaluation:  84%|########3 | 67/80 [00:34<00:06,  2.02it/s]
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Evaluation:  89%|########8 | 71/80 [00:36<00:04,  2.05it/s]
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Evaluation:  91%|#########1| 73/80 [00:36<00:03,  2.07it/s]
Evaluation:  92%|#########2| 74/80 [00:37<00:02,  2.07it/s]
Evaluation:  94%|#########3| 75/80 [00:37<00:02,  2.07it/s]
Evaluation:  95%|#########5| 76/80 [00:38<00:01,  2.08it/s]
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Evaluation:  99%|#########8| 79/80 [00:39<00:00,  2.08it/s]
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Evaluation: 100%|##########| 80/80 [00:40<00:00,  1.98it/s]
[11/10/2020 10:48:47 INFO] [Validation] {R_error/0 1.056E+00, t_error/0 2.689E-01, R_error/1 6.030E-01, t_error/1 1.517E-01, R_error/2 5.574E-01, t_error/2 1.368E-01, R_error 5.574E-01, t_error 1.368E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.997E+00, loss/reprojection_error/0 1.033E+01, loss/reprojection_error/1 5.896E+00, loss/reprojection_error/2 5.535E+00, loss/reprojection_error 5.535E+00, loss/reprojection_error_median 7.821E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 10:50:02 INFO] [E 12 | it 1550] loss {total 3.244E+00, reprojection_error/0 6.601E+00, reprojection_error/1 1.794E+00, reprojection_error/2 1.337E+00, reprojection_error 1.337E+00, reprojection_error/init 1.082E+02}
[11/10/2020 10:51:17 INFO] [E 12 | it 1600] loss {total 2.775E+00, reprojection_error/0 5.172E+00, reprojection_error/1 1.684E+00, reprojection_error/2 1.471E+00, reprojection_error 1.471E+00, reprojection_error/init 9.327E+01}
[11/10/2020 10:52:33 INFO] [E 12 | it 1650] loss {total 4.796E+00, reprojection_error/0 8.099E+00, reprojection_error/1 3.133E+00, reprojection_error/2 3.156E+00, reprojection_error 3.156E+00, reprojection_error/init 5.645E+01}
[11/10/2020 10:53:50 INFO] [E 12 | it 1700] loss {total 8.891E+00, reprojection_error/0 2.246E+01, reprojection_error/1 1.890E+01, reprojection_error/2 1.865E+01, reprojection_error 1.865E+01, reprojection_error/init 1.314E+02}
[11/10/2020 10:55:05 INFO] [E 12 | it 1750] loss {total 3.387E+00, reprojection_error/0 7.642E+00, reprojection_error/1 1.470E+00, reprojection_error/2 1.049E+00, reprojection_error 1.049E+00, reprojection_error/init 4.295E+01}
[11/10/2020 10:56:21 INFO] [E 12 | it 1800] loss {total 1.001E+01, reprojection_error/0 2.638E+01, reprojection_error/1 1.848E+01, reprojection_error/2 1.850E+01, reprojection_error 1.850E+01, reprojection_error/init 1.480E+02}
[11/10/2020 10:57:35 INFO] [E 12 | it 1850] loss {total 3.207E+00, reprojection_error/0 5.759E+00, reprojection_error/1 2.094E+00, reprojection_error/2 1.768E+00, reprojection_error 1.768E+00, reprojection_error/init 6.100E+01}
[11/10/2020 10:58:50 INFO] [E 12 | it 1900] loss {total 1.180E+00, reprojection_error/0 2.162E+00, reprojection_error/1 7.303E-01, reprojection_error/2 6.484E-01, reprojection_error 6.484E-01, reprojection_error/init 4.348E+01}
[11/10/2020 11:00:05 INFO] [E 12 | it 1950] loss {total 2.609E+00, reprojection_error/0 5.287E+00, reprojection_error/1 1.412E+00, reprojection_error/2 1.127E+00, reprojection_error 1.127E+00, reprojection_error/init 9.503E+01}
[11/10/2020 11:01:19 INFO] [E 12 | it 2000] loss {total 9.302E+00, reprojection_error/0 2.162E+01, reprojection_error/1 1.986E+01, reprojection_error/2 1.976E+01, reprojection_error 1.976E+01, reprojection_error/init 1.087E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  12%|#2        | 10/80 [00:06<00:38,  1.84it/s]
Evaluation:  14%|#3        | 11/80 [00:06<00:36,  1.88it/s]
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Evaluation:  71%|#######1  | 57/80 [00:29<00:11,  2.00it/s]
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Evaluation:  91%|#########1| 73/80 [00:37<00:03,  2.04it/s]
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Evaluation: 100%|##########| 80/80 [00:41<00:00,  1.95it/s]
[11/10/2020 11:02:00 INFO] [Validation] {R_error/0 1.089E+00, t_error/0 3.018E-01, R_error/1 6.917E-01, t_error/1 1.829E-01, R_error/2 6.468E-01, t_error/2 1.708E-01, R_error 6.468E-01, t_error 1.708E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.522E+00, loss/reprojection_error/0 1.134E+01, loss/reprojection_error/1 6.701E+00, loss/reprojection_error/2 6.369E+00, loss/reprojection_error 6.369E+00, loss/reprojection_error_median 7.589E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 11:03:15 INFO] [E 12 | it 2050] loss {total 8.947E+00, reprojection_error/0 1.215E+01, reprojection_error/1 1.364E+01, reprojection_error/2 1.360E+01, reprojection_error 1.360E+01, reprojection_error/init 6.734E+01}
[11/10/2020 11:04:29 INFO] [E 12 | it 2100] loss {total 4.237E+00, reprojection_error/0 7.705E+00, reprojection_error/1 2.555E+00, reprojection_error/2 2.451E+00, reprojection_error 2.451E+00, reprojection_error/init 7.302E+01}
[11/10/2020 11:05:44 INFO] [E 12 | it 2150] loss {total 7.047E+00, reprojection_error/0 1.963E+01, reprojection_error/1 1.780E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 8.376E+01}
[11/10/2020 11:06:59 INFO] [E 12 | it 2200] loss {total 2.016E+00, reprojection_error/0 3.209E+00, reprojection_error/1 1.570E+00, reprojection_error/2 1.268E+00, reprojection_error 1.268E+00, reprojection_error/init 5.644E+01}
[11/10/2020 11:08:13 INFO] [E 12 | it 2250] loss {total 3.967E+00, reprojection_error/0 8.700E+00, reprojection_error/1 1.980E+00, reprojection_error/2 1.221E+00, reprojection_error 1.221E+00, reprojection_error/init 5.475E+01}
[11/10/2020 11:09:27 INFO] [E 12 | it 2300] loss {total 5.104E+00, reprojection_error/0 9.297E+00, reprojection_error/1 3.224E+00, reprojection_error/2 2.790E+00, reprojection_error 2.790E+00, reprojection_error/init 7.147E+01}
[11/10/2020 11:10:42 INFO] [E 12 | it 2350] loss {total 9.977E+00, reprojection_error/0 1.808E+01, reprojection_error/1 6.680E+00, reprojection_error/2 5.175E+00, reprojection_error 5.175E+00, reprojection_error/init 5.597E+01}
[11/10/2020 11:11:56 INFO] [E 12 | it 2400] loss {total 2.472E+00, reprojection_error/0 3.925E+00, reprojection_error/1 1.860E+00, reprojection_error/2 1.632E+00, reprojection_error 1.632E+00, reprojection_error/init 8.700E+01}
[11/10/2020 11:13:10 INFO] [E 12 | it 2450] loss {total 3.933E+00, reprojection_error/0 8.321E+00, reprojection_error/1 1.669E+00, reprojection_error/2 1.808E+00, reprojection_error 1.808E+00, reprojection_error/init 8.555E+01}
[11/10/2020 11:14:25 INFO] [E 12 | it 2500] loss {total 9.636E+00, reprojection_error/0 2.183E+01, reprojection_error/1 5.055E+00, reprojection_error/2 2.028E+00, reprojection_error 2.028E+00, reprojection_error/init 1.217E+02}

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[11/10/2020 11:15:06 INFO] [Validation] {R_error/0 1.039E+00, t_error/0 2.963E-01, R_error/1 5.784E-01, t_error/1 1.604E-01, R_error/2 5.208E-01, t_error/2 1.435E-01, R_error 5.208E-01, t_error 1.435E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.017E+00, loss/reprojection_error/0 1.102E+01, loss/reprojection_error/1 6.285E+00, loss/reprojection_error/2 5.813E+00, loss/reprojection_error 5.813E+00, loss/reprojection_error_median 8.505E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 11:16:21 INFO] [E 12 | it 2550] loss {total 7.817E+00, reprojection_error/0 1.907E+01, reprojection_error/1 1.887E+01, reprojection_error/2 1.884E+01, reprojection_error 1.884E+01, reprojection_error/init 6.766E+01}
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate
[11/10/2020 11:16:28 INFO] Caught keyboard interrupt signal, will terminate

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[11/10/2020 11:17:10 INFO] [Validation] {R_error/0 1.047E+00, t_error/0 2.804E-01, R_error/1 5.626E-01, t_error/1 1.497E-01, R_error/2 5.136E-01, t_error/2 1.343E-01, R_error 5.136E-01, t_error 1.343E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.946E+00, loss/reprojection_error/0 1.075E+01, loss/reprojection_error/1 5.700E+00, loss/reprojection_error/2 5.236E+00, loss/reprojection_error 5.236E+00, loss/reprojection_error_median 7.889E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 11:17:11 INFO] Saving checkpoint checkpoint_12_interrupted
[11/10/2020 11:17:11 INFO] New best checkpoint: loss/total=4.945870805780093
[11/10/2020 11:17:12 INFO] Deleting checkpoint checkpoint_2.tar
[11/10/2020 11:17:12 INFO] Finished training on process 0.
[11/10/2020 21:21:35 INFO] Restoring from previous training of CMU-ov.3-p512-c720-bs3-max7m-t3px_refiner-it15-init25-pL1-nosqrt-LM.01-pad3_lr-5-clip1._VGG16-unet64-s3-d32.128-BN-conf_nojacobi-norm_damping-const-lr100
[11/10/2020 21:21:35 INFO] Restoring from checkpoint checkpoint_11.tar
[11/10/2020 21:21:45 INFO] Using device cuda
[11/10/2020 21:21:45 INFO] Creating dataset CMU
[11/10/2020 21:21:48 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 21:21:49 INFO] Sampling new images or pairs with seed 1

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[11/10/2020 21:21:49 INFO] Training loader has 3000 batches
[11/10/2020 21:21:49 INFO] Validation loader has 80 batches
[11/10/2020 21:21:58 INFO] Model: 
TwoViewRefiner(
  (extractor): UNet(
    (encoder): ModuleList(
      (0): Checkpointed(
        (0): Conv2d(3, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (1): ReLU(inplace=True)
        (2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (3): ReLU(inplace=True)
      )
      (1): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(64, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
      )
      (2): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(128, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (3): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(256, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
      (4): Checkpointed(
        (0): MaxPool2d(kernel_size=2, stride=2, padding=0, dilation=1, ceil_mode=False)
        (1): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (2): ReLU(inplace=True)
        (3): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (4): ReLU(inplace=True)
        (5): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
        (6): ReLU(inplace=True)
      )
    )
    (decoder): ModuleList(
      (0): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(1024, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (1): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(320, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (2): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(192, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
      (3): Checkpointed(
        (upsample): Upsample(scale_factor=2.0, mode=bilinear)
        (layers): Sequential(
          (0): Conv2d(128, 32, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
          (1): BatchNorm2d(32, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
          (2): ReLU(inplace=True)
        )
      )
    )
    (adaptation): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 32, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 128, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (uncertainty): ModuleList(
      (0): AdaptationBlock(
        (0): Conv2d(32, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (1): AdaptationBlock(
        (0): Conv2d(64, 1, kernel_size=(1, 1), stride=(1, 1))
      )
      (2): AdaptationBlock(
        (0): Conv2d(512, 1, kernel_size=(1, 1), stride=(1, 1))
      )
    )
  )
  (optimizer): ModuleList(
    (0): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (1): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
    (2): LearnedOptimizer(
      (dampingnet): DampingNet()
    )
  )
)
[11/10/2020 21:21:58 INFO] Starting training with configuration:
data:
  name: cmu
  min_overlap: 0.3
  max_overlap: 1.0
  max_num_points3D: 512
  force_num_points3D: true
  max_baseline: 7.0
  resize: 720
  resize_by: min
  crop: 720
  optimal_crop: false
  batch_size: 3
  num_workers: 6
  seed: 1
model:
  name: two_view_refiner
  extractor:
    name: unet
    encoder: vgg16
    decoder:
    - 64
    - 64
    - 64
    - 32
    output_scales:
    - 0
    - 2
    - 4
    output_dim:
    - 32
    - 128
    - 128
    freeze_batch_normalization: false
    do_average_pooling: false
    compute_uncertainty: true
    checkpointed: true
  optimizer:
    num_iters: 15
    pad: 3
    lambda_: 0.01
    verbose: false
    loss_fn: scaled_barron(0, 0.1)
    no_conditions: true
    jacobi_scaling: false
    name: learned_optimizer
    sqrt_diag_damping: false
    bound_confidence: true
    learned_damping: true
    damping:
      type: constant
  init_target_offset: null
  success_thresh: 3
  normalize_features: true
  duplicate_optimizer_per_scale: true
train:
  seed: 0
  epochs: 200
  optimizer: adam
  opt_regexp: null
  optimizer_options: {}
  lr: 1.0e-05
  lr_schedule:
    type: null
    start: 0
    exp_div_10: 0
  eval_every_iter: 500
  log_every_iter: 50
  keep_last_checkpoints: 10
  load_experiment: null
  median_metrics:
  - loss/reprojection_error
  - loss/reprojection_error/init
  best_key: loss/total
  dataset_callback_fn: sample_new_items
  clip_grad: 1.0

[11/10/2020 21:21:58 INFO] Starting epoch 12
[11/10/2020 21:21:58 INFO] Sampling new images or pairs with seed 12

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100%|██████████| 9/9 [00:00<00:00, 16.16it/s]
100%|██████████| 9/9 [00:00<00:00, 16.68it/s]{'params': [Parameter containing:
tensor([-3.1122, -0.0935, -1.7797, -0.2280, -2.7501, -0.0425], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-2.9267,  0.2141, -3.2851, -0.9483, -2.9386,  0.2411], device='cuda:0',
       requires_grad=True), Parameter containing:
tensor([-3.9542,  0.9553, -2.2734,  0.2880,  0.1844,  0.7765], device='cuda:0',
       requires_grad=True)], 'lr': 0.001}

[11/10/2020 21:22:09 INFO] [E 12 | it 0] loss {total 4.689E+00, reprojection_error/0 7.340E+00, reprojection_error/1 3.440E+00, reprojection_error/2 3.287E+00, reprojection_error 3.287E+00, reprojection_error/init 7.522E+01}

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[11/10/2020 21:23:05 INFO] [Validation] {R_error/0 1.028E+00, t_error/0 2.860E-01, R_error/1 6.222E-01, t_error/1 1.580E-01, R_error/2 5.887E-01, t_error/2 1.462E-01, R_error 5.887E-01, t_error 1.462E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.325E+00, loss/reprojection_error/0 1.092E+01, loss/reprojection_error/1 6.325E+00, loss/reprojection_error/2 6.040E+00, loss/reprojection_error 6.040E+00, loss/reprojection_error_median 8.008E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 21:24:52 INFO] [E 12 | it 50] loss {total 6.424E+00, reprojection_error/0 1.850E+01, reprojection_error/1 1.715E+01, reprojection_error/2 1.696E+01, reprojection_error 1.696E+01, reprojection_error/init 6.857E+01}
[11/10/2020 21:26:39 INFO] [E 12 | it 100] loss {total 4.539E+00, reprojection_error/0 9.151E+00, reprojection_error/1 2.040E+00, reprojection_error/2 2.425E+00, reprojection_error 2.425E+00, reprojection_error/init 7.806E+01}
[11/10/2020 21:28:25 INFO] [E 12 | it 150] loss {total 8.251E+00, reprojection_error/0 2.009E+01, reprojection_error/1 1.889E+01, reprojection_error/2 1.910E+01, reprojection_error 1.910E+01, reprojection_error/init 7.784E+01}
[11/10/2020 21:30:14 INFO] [E 12 | it 200] loss {total 2.189E+00, reprojection_error/0 4.120E+00, reprojection_error/1 1.278E+00, reprojection_error/2 1.167E+00, reprojection_error 1.167E+00, reprojection_error/init 6.129E+01}
[11/10/2020 21:32:01 INFO] [E 12 | it 250] loss {total 2.775E+00, reprojection_error/0 5.269E+00, reprojection_error/1 1.654E+00, reprojection_error/2 1.403E+00, reprojection_error 1.403E+00, reprojection_error/init 4.381E+01}
[11/10/2020 21:33:47 INFO] [E 12 | it 300] loss {total 1.230E+00, reprojection_error/0 2.024E+00, reprojection_error/1 1.205E+00, reprojection_error/2 4.601E-01, reprojection_error 4.601E-01, reprojection_error/init 5.958E+01}
[11/10/2020 21:35:34 INFO] [E 12 | it 350] loss {total 1.556E+00, reprojection_error/0 1.914E+00, reprojection_error/1 1.431E+00, reprojection_error/2 1.324E+00, reprojection_error 1.324E+00, reprojection_error/init 4.811E+01}
[11/10/2020 21:37:22 INFO] [E 12 | it 400] loss {total 3.792E+00, reprojection_error/0 5.853E+00, reprojection_error/1 4.870E+00, reprojection_error/2 4.524E+00, reprojection_error 4.524E+00, reprojection_error/init 6.464E+01}
[11/10/2020 21:39:10 INFO] [E 12 | it 450] loss {total 7.362E+00, reprojection_error/0 1.405E+01, reprojection_error/1 6.923E+00, reprojection_error/2 6.940E+00, reprojection_error 6.940E+00, reprojection_error/init 6.987E+01}
[11/10/2020 21:40:59 INFO] [E 12 | it 500] loss {total 2.561E+00, reprojection_error/0 4.223E+00, reprojection_error/1 1.833E+00, reprojection_error/2 1.629E+00, reprojection_error 1.629E+00, reprojection_error/init 4.939E+01}

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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.40it/s]
[11/10/2020 21:41:56 INFO] [Validation] {R_error/0 1.092E+00, t_error/0 2.842E-01, R_error/1 6.230E-01, t_error/1 1.518E-01, R_error/2 5.872E-01, t_error/2 1.396E-01, R_error 5.872E-01, t_error 1.396E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.295E+00, loss/reprojection_error/0 1.099E+01, loss/reprojection_error/1 6.324E+00, loss/reprojection_error/2 6.009E+00, loss/reprojection_error 6.009E+00, loss/reprojection_error_median 8.159E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 21:43:45 INFO] [E 12 | it 550] loss {total 4.781E+00, reprojection_error/0 8.752E+00, reprojection_error/1 3.075E+00, reprojection_error/2 2.517E+00, reprojection_error 2.517E+00, reprojection_error/init 7.137E+01}
[11/10/2020 21:45:34 INFO] [E 12 | it 600] loss {total 2.432E+00, reprojection_error/0 3.931E+00, reprojection_error/1 1.654E+00, reprojection_error/2 1.712E+00, reprojection_error 1.712E+00, reprojection_error/init 1.110E+02}
[11/10/2020 21:47:21 INFO] [E 12 | it 650] loss {total 6.944E+00, reprojection_error/0 9.323E+00, reprojection_error/1 6.387E+00, reprojection_error/2 5.121E+00, reprojection_error 5.121E+00, reprojection_error/init 6.471E+01}
[11/10/2020 21:49:09 INFO] [E 12 | it 700] loss {total 7.243E+00, reprojection_error/0 1.089E+01, reprojection_error/1 9.999E+00, reprojection_error/2 1.009E+01, reprojection_error 1.009E+01, reprojection_error/init 7.990E+01}
[11/10/2020 21:50:56 INFO] [E 12 | it 750] loss {total 1.036E+01, reprojection_error/0 2.418E+01, reprojection_error/1 2.004E+01, reprojection_error/2 2.019E+01, reprojection_error 2.019E+01, reprojection_error/init 1.297E+02}
[11/10/2020 21:52:44 INFO] [E 12 | it 800] loss {total 6.823E+00, reprojection_error/0 1.962E+01, reprojection_error/1 1.722E+01, reprojection_error/2 1.696E+01, reprojection_error 1.696E+01, reprojection_error/init 8.828E+01}
[11/10/2020 21:54:30 INFO] [E 12 | it 850] loss {total 3.597E+00, reprojection_error/0 8.108E+00, reprojection_error/1 1.502E+00, reprojection_error/2 1.181E+00, reprojection_error 1.181E+00, reprojection_error/init 3.556E+01}
[11/10/2020 21:56:18 INFO] [E 12 | it 900] loss {total 7.527E+00, reprojection_error/0 2.090E+01, reprojection_error/1 1.775E+01, reprojection_error/2 1.727E+01, reprojection_error 1.727E+01, reprojection_error/init 1.026E+02}
[11/10/2020 21:58:07 WARNING] More than 73.5% of the parameters are larger than the clip value.
[11/10/2020 21:58:07 INFO] [E 12 | it 950] loss {total 5.806E+00, reprojection_error/0 1.005E+01, reprojection_error/1 5.861E+00, reprojection_error/2 5.787E+00, reprojection_error 5.787E+00, reprojection_error/init 3.859E+01}
[11/10/2020 21:59:53 INFO] [E 12 | it 1000] loss {total 2.932E+00, reprojection_error/0 3.347E+00, reprojection_error/1 2.962E+00, reprojection_error/2 2.488E+00, reprojection_error 2.488E+00, reprojection_error/init 5.758E+01}

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Evaluation: 100%|##########| 80/80 [00:56<00:00,  1.41it/s]
[11/10/2020 22:00:50 INFO] [Validation] {R_error/0 1.102E+00, t_error/0 2.871E-01, R_error/1 5.918E-01, t_error/1 1.645E-01, R_error/2 5.429E-01, t_error/2 1.510E-01, R_error 5.429E-01, t_error 1.510E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.437E+00, loss/reprojection_error/0 1.143E+01, loss/reprojection_error/1 6.427E+00, loss/reprojection_error/2 6.034E+00, loss/reprojection_error 6.034E+00, loss/reprojection_error_median 8.920E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 22:02:39 INFO] [E 12 | it 1050] loss {total 7.758E+00, reprojection_error/0 2.163E+01, reprojection_error/1 1.767E+01, reprojection_error/2 1.730E+01, reprojection_error 1.730E+01, reprojection_error/init 7.340E+01}
[11/10/2020 22:04:27 INFO] [E 12 | it 1100] loss {total 7.308E+00, reprojection_error/0 2.015E+01, reprojection_error/1 1.753E+01, reprojection_error/2 1.758E+01, reprojection_error 1.758E+01, reprojection_error/init 1.125E+02}
[11/10/2020 22:06:14 INFO] [E 12 | it 1150] loss {total 4.444E+00, reprojection_error/0 1.200E+01, reprojection_error/1 7.910E-01, reprojection_error/2 5.417E-01, reprojection_error 5.417E-01, reprojection_error/init 8.809E+01}
[11/10/2020 22:08:00 INFO] [E 12 | it 1200] loss {total 7.894E+00, reprojection_error/0 2.110E+01, reprojection_error/1 1.806E+01, reprojection_error/2 1.785E+01, reprojection_error 1.785E+01, reprojection_error/init 8.965E+01}
[11/10/2020 22:09:51 INFO] [E 12 | it 1250] loss {total 3.264E+00, reprojection_error/0 7.886E+00, reprojection_error/1 1.110E+00, reprojection_error/2 7.963E-01, reprojection_error 7.963E-01, reprojection_error/init 6.970E+01}
[11/10/2020 22:11:36 INFO] [E 12 | it 1300] loss {total 3.308E+00, reprojection_error/0 7.682E+00, reprojection_error/1 1.267E+00, reprojection_error/2 9.738E-01, reprojection_error 9.738E-01, reprojection_error/init 1.175E+02}
[11/10/2020 22:13:25 INFO] [E 12 | it 1350] loss {total 4.497E+00, reprojection_error/0 7.485E+00, reprojection_error/1 3.115E+00, reprojection_error/2 2.892E+00, reprojection_error 2.892E+00, reprojection_error/init 5.463E+01}
[11/10/2020 22:15:13 INFO] [E 12 | it 1400] loss {total 5.218E+00, reprojection_error/0 9.713E+00, reprojection_error/1 3.099E+00, reprojection_error/2 2.840E+00, reprojection_error 2.840E+00, reprojection_error/init 7.154E+01}
[11/10/2020 22:17:00 INFO] [E 12 | it 1450] loss {total 2.361E+00, reprojection_error/0 4.499E+00, reprojection_error/1 1.616E+00, reprojection_error/2 9.687E-01, reprojection_error 9.687E-01, reprojection_error/init 3.862E+01}
[11/10/2020 22:18:46 INFO] [E 12 | it 1500] loss {total 7.797E+00, reprojection_error/0 1.362E+01, reprojection_error/1 8.483E+00, reprojection_error/2 8.102E+00, reprojection_error 8.102E+00, reprojection_error/init 7.920E+01}

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Evaluation:  80%|########  | 64/80 [00:44<00:11,  1.37it/s]
Evaluation:  81%|########1 | 65/80 [00:45<00:10,  1.42it/s]
Evaluation:  82%|########2 | 66/80 [00:45<00:09,  1.45it/s]
Evaluation:  84%|########3 | 67/80 [00:46<00:09,  1.33it/s]
Evaluation:  85%|########5 | 68/80 [00:47<00:08,  1.34it/s]
Evaluation:  86%|########6 | 69/80 [00:48<00:08,  1.36it/s]
Evaluation:  88%|########7 | 70/80 [00:48<00:07,  1.37it/s]
Evaluation:  89%|########8 | 71/80 [00:49<00:06,  1.38it/s]
Evaluation:  90%|######### | 72/80 [00:50<00:05,  1.38it/s]
Evaluation:  91%|#########1| 73/80 [00:51<00:05,  1.37it/s]
Evaluation:  92%|#########2| 74/80 [00:51<00:04,  1.38it/s]
Evaluation:  94%|#########3| 75/80 [00:52<00:03,  1.40it/s]
Evaluation:  95%|#########5| 76/80 [00:53<00:02,  1.45it/s]
Evaluation:  96%|#########6| 77/80 [00:53<00:02,  1.49it/s]
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Evaluation:  99%|#########8| 79/80 [00:55<00:00,  1.54it/s]
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Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.44it/s]
[11/10/2020 22:19:42 INFO] [Validation] {R_error/0 1.115E+00, t_error/0 2.868E-01, R_error/1 5.986E-01, t_error/1 1.660E-01, R_error/2 5.537E-01, t_error/2 1.532E-01, R_error 5.537E-01, t_error 1.532E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.425E+00, loss/reprojection_error/0 1.141E+01, loss/reprojection_error/1 6.445E+00, loss/reprojection_error/2 6.060E+00, loss/reprojection_error 6.060E+00, loss/reprojection_error_median 9.390E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 22:21:29 INFO] [E 12 | it 1550] loss {total 5.980E+00, reprojection_error/0 1.310E+01, reprojection_error/1 2.890E+00, reprojection_error/2 1.949E+00, reprojection_error 1.949E+00, reprojection_error/init 1.082E+02}
[11/10/2020 22:23:15 INFO] [E 12 | it 1600] loss {total 2.410E+00, reprojection_error/0 5.149E+00, reprojection_error/1 1.016E+00, reprojection_error/2 1.065E+00, reprojection_error 1.065E+00, reprojection_error/init 9.327E+01}
[11/10/2020 22:25:01 INFO] [E 12 | it 1650] loss {total 7.915E+00, reprojection_error/0 1.136E+01, reprojection_error/1 6.552E+00, reprojection_error/2 5.835E+00, reprojection_error 5.835E+00, reprojection_error/init 5.645E+01}
[11/10/2020 22:26:48 INFO] [E 12 | it 1700] loss {total 8.606E+00, reprojection_error/0 2.182E+01, reprojection_error/1 1.872E+01, reprojection_error/2 1.862E+01, reprojection_error 1.862E+01, reprojection_error/init 1.314E+02}
[11/10/2020 22:28:34 INFO] [E 12 | it 1750] loss {total 3.393E+00, reprojection_error/0 6.327E+00, reprojection_error/1 2.258E+00, reprojection_error/2 1.593E+00, reprojection_error 1.593E+00, reprojection_error/init 4.295E+01}
[11/10/2020 22:30:21 INFO] [E 12 | it 1800] loss {total 9.268E+00, reprojection_error/0 2.467E+01, reprojection_error/1 1.837E+01, reprojection_error/2 1.810E+01, reprojection_error 1.810E+01, reprojection_error/init 1.480E+02}
[11/10/2020 22:32:08 INFO] [E 12 | it 1850] loss {total 3.427E+00, reprojection_error/0 5.948E+00, reprojection_error/1 2.440E+00, reprojection_error/2 1.894E+00, reprojection_error 1.894E+00, reprojection_error/init 6.100E+01}
[11/10/2020 22:33:55 INFO] [E 12 | it 1900] loss {total 1.108E+00, reprojection_error/0 2.155E+00, reprojection_error/1 5.997E-01, reprojection_error/2 5.684E-01, reprojection_error 5.684E-01, reprojection_error/init 4.348E+01}
[11/10/2020 22:35:42 INFO] [E 12 | it 1950] loss {total 7.204E+00, reprojection_error/0 1.960E+01, reprojection_error/1 1.781E+01, reprojection_error/2 1.753E+01, reprojection_error 1.753E+01, reprojection_error/init 9.503E+01}
[11/10/2020 22:37:31 INFO] [E 12 | it 2000] loss {total 8.443E+00, reprojection_error/0 1.917E+01, reprojection_error/1 1.969E+01, reprojection_error/2 1.980E+01, reprojection_error 1.980E+01, reprojection_error/init 1.087E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:17,  1.74s/it]
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Evaluation:  41%|####1     | 33/80 [00:24<00:33,  1.42it/s]
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Evaluation:  51%|#####1    | 41/80 [00:29<00:27,  1.43it/s]
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Evaluation:  61%|######1   | 49/80 [00:35<00:21,  1.47it/s]
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Evaluation:  71%|#######1  | 57/80 [00:41<00:16,  1.40it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:15,  1.39it/s]
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Evaluation:  80%|########  | 64/80 [00:46<00:11,  1.43it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.45it/s]
Evaluation:  82%|########2 | 66/80 [00:47<00:09,  1.48it/s]
Evaluation:  84%|########3 | 67/80 [00:48<00:09,  1.38it/s]
Evaluation:  85%|########5 | 68/80 [00:48<00:08,  1.38it/s]
Evaluation:  86%|########6 | 69/80 [00:49<00:07,  1.38it/s]
Evaluation:  88%|########7 | 70/80 [00:50<00:07,  1.35it/s]
Evaluation:  89%|########8 | 71/80 [00:51<00:06,  1.41it/s]
Evaluation:  90%|######### | 72/80 [00:51<00:05,  1.46it/s]
Evaluation:  91%|#########1| 73/80 [00:52<00:04,  1.50it/s]
Evaluation:  92%|#########2| 74/80 [00:53<00:04,  1.44it/s]
Evaluation:  94%|#########3| 75/80 [00:53<00:03,  1.42it/s]
Evaluation:  95%|#########5| 76/80 [00:54<00:02,  1.39it/s]
Evaluation:  96%|#########6| 77/80 [00:55<00:02,  1.44it/s]
Evaluation:  98%|#########7| 78/80 [00:55<00:01,  1.49it/s]
Evaluation:  99%|#########8| 79/80 [00:56<00:00,  1.51it/s]
Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.53it/s]
Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.40it/s]
[11/10/2020 22:38:28 INFO] [Validation] {R_error/0 1.122E+00, t_error/0 2.840E-01, R_error/1 6.087E-01, t_error/1 1.603E-01, R_error/2 5.640E-01, t_error/2 1.470E-01, R_error 5.640E-01, t_error 1.470E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.326E+00, loss/reprojection_error/0 1.131E+01, loss/reprojection_error/1 6.294E+00, loss/reprojection_error/2 5.911E+00, loss/reprojection_error 5.911E+00, loss/reprojection_error_median 9.041E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 22:40:17 INFO] [E 12 | it 2050] loss {total 1.074E+01, reprojection_error/0 1.552E+01, reprojection_error/1 1.562E+01, reprojection_error/2 1.563E+01, reprojection_error 1.563E+01, reprojection_error/init 6.734E+01}
[11/10/2020 22:42:04 INFO] [E 12 | it 2100] loss {total 6.456E+00, reprojection_error/0 1.216E+01, reprojection_error/1 3.768E+00, reprojection_error/2 3.440E+00, reprojection_error 3.440E+00, reprojection_error/init 7.302E+01}
[11/10/2020 22:43:50 INFO] [E 12 | it 2150] loss {total 7.741E+00, reprojection_error/0 2.191E+01, reprojection_error/1 1.731E+01, reprojection_error/2 1.735E+01, reprojection_error 1.735E+01, reprojection_error/init 8.376E+01}
[11/10/2020 22:45:36 INFO] [E 12 | it 2200] loss {total 3.951E+00, reprojection_error/0 4.697E+00, reprojection_error/1 3.792E+00, reprojection_error/2 3.365E+00, reprojection_error 3.365E+00, reprojection_error/init 5.644E+01}
[11/10/2020 22:47:25 INFO] [E 12 | it 2250] loss {total 4.481E+00, reprojection_error/0 1.096E+01, reprojection_error/1 1.463E+00, reprojection_error/2 1.020E+00, reprojection_error 1.020E+00, reprojection_error/init 5.475E+01}
[11/10/2020 22:49:11 INFO] [E 12 | it 2300] loss {total 3.689E+00, reprojection_error/0 8.428E+00, reprojection_error/1 1.558E+00, reprojection_error/2 1.080E+00, reprojection_error 1.080E+00, reprojection_error/init 7.147E+01}
[11/10/2020 22:50:59 INFO] [E 12 | it 2350] loss {total 1.089E+01, reprojection_error/0 2.165E+01, reprojection_error/1 1.043E+01, reprojection_error/2 9.656E+00, reprojection_error 9.656E+00, reprojection_error/init 5.597E+01}
[11/10/2020 22:52:48 INFO] [E 12 | it 2400] loss {total 2.722E+00, reprojection_error/0 5.182E+00, reprojection_error/1 1.558E+00, reprojection_error/2 1.425E+00, reprojection_error 1.425E+00, reprojection_error/init 8.700E+01}
[11/10/2020 22:54:35 INFO] [E 12 | it 2450] loss {total 3.726E+00, reprojection_error/0 7.215E+00, reprojection_error/1 2.202E+00, reprojection_error/2 1.761E+00, reprojection_error 1.761E+00, reprojection_error/init 8.555E+01}
[11/10/2020 22:56:23 INFO] [E 12 | it 2500] loss {total 8.776E+00, reprojection_error/0 2.094E+01, reprojection_error/1 6.319E+00, reprojection_error/2 2.974E+00, reprojection_error 2.974E+00, reprojection_error/init 1.217E+02}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  12%|#2        | 10/80 [00:07<00:52,  1.32it/s]
Evaluation:  14%|#3        | 11/80 [00:08<00:50,  1.36it/s]
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Evaluation:  41%|####1     | 33/80 [00:24<00:34,  1.37it/s]
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Evaluation:  71%|#######1  | 57/80 [00:41<00:15,  1.46it/s]
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Evaluation:  80%|########  | 64/80 [00:46<00:11,  1.42it/s]
Evaluation:  81%|########1 | 65/80 [00:47<00:10,  1.45it/s]
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Evaluation:  91%|#########1| 73/80 [00:52<00:05,  1.38it/s]
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Evaluation:  99%|#########8| 79/80 [00:57<00:00,  1.52it/s]
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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.38it/s]
[11/10/2020 22:57:21 INFO] [Validation] {R_error/0 1.104E+00, t_error/0 2.811E-01, R_error/1 5.926E-01, t_error/1 1.566E-01, R_error/2 5.443E-01, t_error/2 1.436E-01, R_error 5.443E-01, t_error 1.436E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.039E+00, loss/reprojection_error/0 1.079E+01, loss/reprojection_error/1 5.750E+00, loss/reprojection_error/2 5.351E+00, loss/reprojection_error 5.351E+00, loss/reprojection_error_median 8.335E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 22:59:10 INFO] [E 12 | it 2550] loss {total 7.673E+00, reprojection_error/0 1.875E+01, reprojection_error/1 1.881E+01, reprojection_error/2 1.879E+01, reprojection_error 1.879E+01, reprojection_error/init 6.766E+01}
[11/10/2020 23:01:01 INFO] [E 12 | it 2600] loss {total 3.912E+00, reprojection_error/0 7.579E+00, reprojection_error/1 2.898E+00, reprojection_error/2 1.259E+00, reprojection_error 1.259E+00, reprojection_error/init 4.936E+01}
[11/10/2020 23:02:49 INFO] [E 12 | it 2650] loss {total 3.454E+00, reprojection_error/0 5.441E+00, reprojection_error/1 2.710E+00, reprojection_error/2 2.211E+00, reprojection_error 2.211E+00, reprojection_error/init 5.482E+01}
[11/10/2020 23:04:36 INFO] [E 12 | it 2700] loss {total 2.081E+00, reprojection_error/0 2.694E+00, reprojection_error/1 1.945E+00, reprojection_error/2 1.603E+00, reprojection_error 1.603E+00, reprojection_error/init 4.833E+01}
[11/10/2020 23:06:25 INFO] [E 12 | it 2750] loss {total 3.177E+00, reprojection_error/0 5.875E+00, reprojection_error/1 1.703E+00, reprojection_error/2 1.954E+00, reprojection_error 1.954E+00, reprojection_error/init 7.607E+01}
[11/10/2020 23:08:12 INFO] [E 12 | it 2800] loss {total 8.509E+00, reprojection_error/0 1.741E+01, reprojection_error/1 7.701E+00, reprojection_error/2 6.838E+00, reprojection_error 6.838E+00, reprojection_error/init 7.663E+01}
[11/10/2020 23:09:58 INFO] [E 12 | it 2850] loss {total 2.302E+00, reprojection_error/0 5.775E+00, reprojection_error/1 6.477E-01, reprojection_error/2 4.848E-01, reprojection_error 4.848E-01, reprojection_error/init 3.679E+01}
[11/10/2020 23:11:45 INFO] [E 12 | it 2900] loss {total 1.439E+01, reprojection_error/0 2.010E+01, reprojection_error/1 1.915E+01, reprojection_error/2 1.917E+01, reprojection_error 1.917E+01, reprojection_error/init 6.486E+01}
[11/10/2020 23:13:31 INFO] [E 12 | it 2950] loss {total 1.101E+01, reprojection_error/0 2.826E+01, reprojection_error/1 1.946E+01, reprojection_error/2 1.865E+01, reprojection_error 1.865E+01, reprojection_error/init 1.556E+02}

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Evaluation:  91%|#########1| 73/80 [00:52<00:04,  1.47it/s]
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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.38it/s]
[11/10/2020 23:16:14 INFO] [Validation] {R_error/0 1.088E+00, t_error/0 2.812E-01, R_error/1 5.937E-01, t_error/1 1.575E-01, R_error/2 5.490E-01, t_error/2 1.438E-01, R_error 5.490E-01, t_error 1.438E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.063E+00, loss/reprojection_error/0 1.077E+01, loss/reprojection_error/1 5.866E+00, loss/reprojection_error/2 5.463E+00, loss/reprojection_error 5.463E+00, loss/reprojection_error_median 8.380E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 23:16:14 INFO] Saving checkpoint checkpoint_12
[11/10/2020 23:16:14 INFO] Deleting checkpoint checkpoint_3.tar
[11/10/2020 23:16:14 INFO] Starting epoch 13
[11/10/2020 23:16:14 INFO] Sampling new images or pairs with seed 13

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[11/10/2020 23:16:18 INFO] [E 13 | it 0] loss {total 8.055E+00, reprojection_error/0 2.161E+01, reprojection_error/1 1.816E+01, reprojection_error/2 1.773E+01, reprojection_error 1.773E+01, reprojection_error/init 1.087E+02}

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[11/10/2020 23:17:14 INFO] [Validation] {R_error/0 1.088E+00, t_error/0 2.812E-01, R_error/1 5.959E-01, t_error/1 1.586E-01, R_error/2 5.507E-01, t_error/2 1.447E-01, R_error 5.507E-01, t_error 1.447E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.069E+00, loss/reprojection_error/0 1.077E+01, loss/reprojection_error/1 5.896E+00, loss/reprojection_error/2 5.507E+00, loss/reprojection_error 5.507E+00, loss/reprojection_error_median 8.361E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 23:19:01 INFO] [E 13 | it 50] loss {total 1.002E+01, reprojection_error/0 2.285E+01, reprojection_error/1 2.082E+01, reprojection_error/2 1.972E+01, reprojection_error 1.972E+01, reprojection_error/init 1.199E+02}
[11/10/2020 23:20:48 INFO] [E 13 | it 100] loss {total 9.500E+00, reprojection_error/0 1.457E+01, reprojection_error/1 1.308E+01, reprojection_error/2 1.250E+01, reprojection_error 1.250E+01, reprojection_error/init 9.304E+01}
[11/10/2020 23:22:35 INFO] [E 13 | it 150] loss {total 3.940E+00, reprojection_error/0 8.342E+00, reprojection_error/1 1.913E+00, reprojection_error/2 1.566E+00, reprojection_error 1.566E+00, reprojection_error/init 6.567E+01}
[11/10/2020 23:24:26 INFO] [E 13 | it 200] loss {total 2.309E+00, reprojection_error/0 4.760E+00, reprojection_error/1 1.132E+00, reprojection_error/2 1.035E+00, reprojection_error 1.035E+00, reprojection_error/init 7.579E+01}
[11/10/2020 23:26:12 INFO] [E 13 | it 250] loss {total 8.109E+00, reprojection_error/0 2.152E+01, reprojection_error/1 1.831E+01, reprojection_error/2 1.783E+01, reprojection_error 1.783E+01, reprojection_error/init 1.456E+02}
[11/10/2020 23:27:58 INFO] [E 13 | it 300] loss {total 2.675E+00, reprojection_error/0 4.851E+00, reprojection_error/1 1.823E+00, reprojection_error/2 1.349E+00, reprojection_error 1.349E+00, reprojection_error/init 8.342E+01}
[11/10/2020 23:29:45 INFO] [E 13 | it 350] loss {total 7.050E+00, reprojection_error/0 1.993E+01, reprojection_error/1 1.731E+01, reprojection_error/2 1.724E+01, reprojection_error 1.724E+01, reprojection_error/init 1.367E+02}
[11/10/2020 23:31:32 INFO] [E 13 | it 400] loss {total 5.737E+00, reprojection_error/0 8.743E+00, reprojection_error/1 3.990E+00, reprojection_error/2 4.478E+00, reprojection_error 4.478E+00, reprojection_error/init 5.196E+01}
[11/10/2020 23:33:18 INFO] [E 13 | it 450] loss {total 4.396E+00, reprojection_error/0 1.056E+01, reprojection_error/1 1.526E+00, reprojection_error/2 1.098E+00, reprojection_error 1.098E+00, reprojection_error/init 4.862E+01}
[11/10/2020 23:35:04 INFO] [E 13 | it 500] loss {total 6.794E+00, reprojection_error/0 1.978E+01, reprojection_error/1 1.699E+01, reprojection_error/2 1.695E+01, reprojection_error 1.695E+01, reprojection_error/init 7.279E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  41%|####1     | 33/80 [00:23<00:32,  1.44it/s]
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Evaluation:  60%|######    | 48/80 [00:33<00:21,  1.50it/s]
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Evaluation:  70%|#######   | 56/80 [00:38<00:15,  1.53it/s]
Evaluation:  71%|#######1  | 57/80 [00:39<00:15,  1.53it/s]
Evaluation:  72%|#######2  | 58/80 [00:39<00:14,  1.53it/s]
Evaluation:  74%|#######3  | 59/80 [00:40<00:13,  1.53it/s]
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Evaluation:  80%|########  | 64/80 [00:43<00:10,  1.49it/s]
Evaluation:  81%|########1 | 65/80 [00:44<00:09,  1.51it/s]
Evaluation:  82%|########2 | 66/80 [00:45<00:09,  1.52it/s]
Evaluation:  84%|########3 | 67/80 [00:45<00:08,  1.52it/s]
Evaluation:  85%|########5 | 68/80 [00:46<00:07,  1.52it/s]
Evaluation:  86%|########6 | 69/80 [00:47<00:07,  1.54it/s]
Evaluation:  88%|########7 | 70/80 [00:47<00:06,  1.55it/s]
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Evaluation:  90%|######### | 72/80 [00:49<00:05,  1.57it/s]
Evaluation:  91%|#########1| 73/80 [00:49<00:04,  1.57it/s]
Evaluation:  92%|#########2| 74/80 [00:50<00:04,  1.49it/s]
Evaluation:  94%|#########3| 75/80 [00:51<00:03,  1.45it/s]
Evaluation:  95%|#########5| 76/80 [00:51<00:02,  1.49it/s]
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Evaluation:  98%|#########7| 78/80 [00:53<00:01,  1.54it/s]
Evaluation:  99%|#########8| 79/80 [00:53<00:00,  1.55it/s]
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Evaluation: 100%|##########| 80/80 [00:54<00:00,  1.47it/s]
[11/10/2020 23:35:59 INFO] [Validation] {R_error/0 1.082E+00, t_error/0 2.793E-01, R_error/1 5.812E-01, t_error/1 1.536E-01, R_error/2 5.326E-01, t_error/2 1.383E-01, R_error 5.326E-01, t_error 1.383E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.021E+00, loss/reprojection_error/0 1.067E+01, loss/reprojection_error/1 5.761E+00, loss/reprojection_error/2 5.352E+00, loss/reprojection_error 5.352E+00, loss/reprojection_error_median 8.238E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 23:37:46 INFO] [E 13 | it 550] loss {total 5.617E+00, reprojection_error/0 1.092E+01, reprojection_error/1 5.462E+00, reprojection_error/2 4.981E+00, reprojection_error 4.981E+00, reprojection_error/init 7.853E+01}
[11/10/2020 23:39:33 INFO] [E 13 | it 600] loss {total 2.100E+00, reprojection_error/0 4.770E+00, reprojection_error/1 7.875E-01, reprojection_error/2 7.431E-01, reprojection_error 7.431E-01, reprojection_error/init 4.825E+01}
[11/10/2020 23:41:22 INFO] [E 13 | it 650] loss {total 7.138E+00, reprojection_error/0 1.990E+01, reprojection_error/1 1.759E+01, reprojection_error/2 1.726E+01, reprojection_error 1.726E+01, reprojection_error/init 1.153E+02}
[11/10/2020 23:43:10 INFO] [E 13 | it 700] loss {total 6.617E+00, reprojection_error/0 1.865E+01, reprojection_error/1 1.723E+01, reprojection_error/2 1.730E+01, reprojection_error 1.730E+01, reprojection_error/init 7.411E+01}
[11/10/2020 23:44:58 INFO] [E 13 | it 750] loss {total 1.085E+00, reprojection_error/0 2.578E+00, reprojection_error/1 4.491E-01, reprojection_error/2 2.281E-01, reprojection_error 2.281E-01, reprojection_error/init 7.376E+01}
[11/10/2020 23:46:46 INFO] [E 13 | it 800] loss {total 6.989E+00, reprojection_error/0 1.149E+01, reprojection_error/1 4.749E+00, reprojection_error/2 4.727E+00, reprojection_error 4.727E+00, reprojection_error/init 5.010E+01}
[11/10/2020 23:48:32 INFO] [E 13 | it 850] loss {total 2.613E+00, reprojection_error/0 5.290E+00, reprojection_error/1 1.526E+00, reprojection_error/2 1.024E+00, reprojection_error 1.024E+00, reprojection_error/init 2.836E+01}
[11/10/2020 23:50:19 INFO] [E 13 | it 900] loss {total 1.347E+00, reprojection_error/0 3.122E+00, reprojection_error/1 5.511E-01, reprojection_error/2 3.695E-01, reprojection_error 3.695E-01, reprojection_error/init 3.300E+01}
[11/10/2020 23:52:07 INFO] [E 13 | it 950] loss {total 5.686E+00, reprojection_error/0 1.049E+01, reprojection_error/1 3.280E+00, reprojection_error/2 3.293E+00, reprojection_error 3.293E+00, reprojection_error/init 5.878E+01}
[11/10/2020 23:53:55 INFO] [E 13 | it 1000] loss {total 1.787E+00, reprojection_error/0 3.462E+00, reprojection_error/1 8.979E-01, reprojection_error/2 1.001E+00, reprojection_error 1.001E+00, reprojection_error/init 4.592E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:25,  1.84s/it]
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Evaluation:  10%|#         | 8/80 [00:07<00:59,  1.20it/s]
Evaluation:  11%|#1        | 9/80 [00:07<00:57,  1.25it/s]
Evaluation:  12%|#2        | 10/80 [00:08<00:54,  1.28it/s]
Evaluation:  14%|#3        | 11/80 [00:09<00:54,  1.27it/s]
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Evaluation:  21%|##1       | 17/80 [00:13<00:45,  1.39it/s]
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Evaluation:  40%|####      | 32/80 [00:24<00:33,  1.42it/s]
Evaluation:  41%|####1     | 33/80 [00:24<00:32,  1.45it/s]
Evaluation:  42%|####2     | 34/80 [00:25<00:31,  1.47it/s]
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Evaluation:  49%|####8     | 39/80 [00:29<00:28,  1.43it/s]
Evaluation:  50%|#####     | 40/80 [00:29<00:27,  1.46it/s]
Evaluation:  51%|#####1    | 41/80 [00:30<00:28,  1.39it/s]
Evaluation:  52%|#####2    | 42/80 [00:31<00:26,  1.43it/s]
Evaluation:  54%|#####3    | 43/80 [00:31<00:26,  1.42it/s]
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Evaluation:  60%|######    | 48/80 [00:35<00:23,  1.38it/s]
Evaluation:  61%|######1   | 49/80 [00:36<00:22,  1.37it/s]
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Evaluation:  71%|#######1  | 57/80 [00:41<00:16,  1.41it/s]
Evaluation:  72%|#######2  | 58/80 [00:42<00:15,  1.41it/s]
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Evaluation:  80%|########  | 64/80 [00:47<00:11,  1.41it/s]
Evaluation:  81%|########1 | 65/80 [00:47<00:10,  1.39it/s]
Evaluation:  82%|########2 | 66/80 [00:48<00:09,  1.44it/s]
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Evaluation:  85%|########5 | 68/80 [00:49<00:08,  1.43it/s]
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Evaluation:  91%|#########1| 73/80 [00:52<00:04,  1.54it/s]
Evaluation:  92%|#########2| 74/80 [00:53<00:03,  1.55it/s]
Evaluation:  94%|#########3| 75/80 [00:54<00:03,  1.56it/s]
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Evaluation:  99%|#########8| 79/80 [00:56<00:00,  1.54it/s]
Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.55it/s]
Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.39it/s]
[11/10/2020 23:54:53 INFO] [Validation] {R_error/0 1.083E+00, t_error/0 2.806E-01, R_error/1 5.929E-01, t_error/1 1.538E-01, R_error/2 5.450E-01, t_error/2 1.390E-01, R_error 5.450E-01, t_error 1.390E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.039E+00, loss/reprojection_error/0 1.078E+01, loss/reprojection_error/1 5.895E+00, loss/reprojection_error/2 5.495E+00, loss/reprojection_error 5.495E+00, loss/reprojection_error_median 8.197E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/10/2020 23:56:41 INFO] [E 13 | it 1050] loss {total 4.814E+00, reprojection_error/0 1.086E+01, reprojection_error/1 1.905E+00, reprojection_error/2 1.677E+00, reprojection_error 1.677E+00, reprojection_error/init 6.940E+01}
[11/10/2020 23:58:27 INFO] [E 13 | it 1100] loss {total 3.857E+00, reprojection_error/0 9.788E+00, reprojection_error/1 9.441E-01, reprojection_error/2 8.400E-01, reprojection_error 8.400E-01, reprojection_error/init 8.006E+01}
[11/11/2020 00:00:15 INFO] [E 13 | it 1150] loss {total 4.296E+00, reprojection_error/0 6.790E+00, reprojection_error/1 3.152E+00, reprojection_error/2 2.946E+00, reprojection_error 2.946E+00, reprojection_error/init 5.420E+01}
[11/11/2020 00:01:15 WARNING] Few points in batch [(tensor(12, device='cuda:0'), 164, 3223)]
[11/11/2020 00:02:01 INFO] [E 13 | it 1200] loss {total 2.541E+00, reprojection_error/0 3.378E+00, reprojection_error/1 2.096E+00, reprojection_error/2 2.148E+00, reprojection_error 2.148E+00, reprojection_error/init 5.785E+01}
[11/11/2020 00:03:50 INFO] [E 13 | it 1250] loss {total 7.449E+00, reprojection_error/0 1.021E+01, reprojection_error/1 1.080E+01, reprojection_error/2 1.144E+01, reprojection_error 1.144E+01, reprojection_error/init 5.983E+01}
[11/11/2020 00:05:37 INFO] [E 13 | it 1300] loss {total 2.029E+00, reprojection_error/0 3.411E+00, reprojection_error/1 1.616E+00, reprojection_error/2 1.059E+00, reprojection_error 1.059E+00, reprojection_error/init 4.351E+01}
[11/11/2020 00:07:25 INFO] [E 13 | it 1350] loss {total 4.493E+00, reprojection_error/0 4.555E+00, reprojection_error/1 4.773E+00, reprojection_error/2 4.152E+00, reprojection_error 4.152E+00, reprojection_error/init 5.773E+01}
[11/11/2020 00:09:00 WARNING] Few points in batch [(tensor(8, device='cuda:0'), 48, 2410)]
[11/11/2020 00:09:15 INFO] [E 13 | it 1400] loss {total 4.023E+00, reprojection_error/0 5.746E+00, reprojection_error/1 3.700E+00, reprojection_error/2 2.622E+00, reprojection_error 2.622E+00, reprojection_error/init 5.132E+01}
[11/11/2020 00:11:02 INFO] [E 13 | it 1450] loss {total 7.191E+00, reprojection_error/0 1.204E+01, reprojection_error/1 5.195E+00, reprojection_error/2 4.335E+00, reprojection_error 4.335E+00, reprojection_error/init 1.426E+02}
[11/11/2020 00:12:49 INFO] [E 13 | it 1500] loss {total 2.573E+00, reprojection_error/0 5.392E+00, reprojection_error/1 1.486E+00, reprojection_error/2 8.424E-01, reprojection_error 8.424E-01, reprojection_error/init 4.566E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
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Evaluation:  71%|#######1  | 57/80 [00:40<00:15,  1.48it/s]
Evaluation:  72%|#######2  | 58/80 [00:41<00:14,  1.50it/s]
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Evaluation:  80%|########  | 64/80 [00:45<00:10,  1.50it/s]
Evaluation:  81%|########1 | 65/80 [00:46<00:10,  1.45it/s]
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Evaluation:  84%|########3 | 67/80 [00:47<00:09,  1.39it/s]
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Evaluation:  91%|#########1| 73/80 [00:52<00:05,  1.39it/s]
Evaluation:  92%|#########2| 74/80 [00:53<00:04,  1.39it/s]
Evaluation:  94%|#########3| 75/80 [00:53<00:03,  1.40it/s]
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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.39it/s]
[11/11/2020 00:13:47 INFO] [Validation] {R_error/0 1.077E+00, t_error/0 2.830E-01, R_error/1 5.967E-01, t_error/1 1.558E-01, R_error/2 5.552E-01, t_error/2 1.410E-01, R_error 5.552E-01, t_error 1.410E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.115E+00, loss/reprojection_error/0 1.076E+01, loss/reprojection_error/1 5.888E+00, loss/reprojection_error/2 5.506E+00, loss/reprojection_error 5.506E+00, loss/reprojection_error_median 8.077E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 00:15:33 INFO] [E 13 | it 1550] loss {total 6.877E+00, reprojection_error/0 1.036E+01, reprojection_error/1 5.453E+00, reprojection_error/2 4.813E+00, reprojection_error 4.813E+00, reprojection_error/init 9.138E+01}
[11/11/2020 00:17:19 INFO] [E 13 | it 1600] loss {total 2.298E+00, reprojection_error/0 3.581E+00, reprojection_error/1 1.630E+00, reprojection_error/2 1.683E+00, reprojection_error 1.683E+00, reprojection_error/init 5.479E+01}
[11/11/2020 00:19:07 INFO] [E 13 | it 1650] loss {total 8.062E+00, reprojection_error/0 1.730E+01, reprojection_error/1 6.048E+00, reprojection_error/2 5.956E+00, reprojection_error 5.956E+00, reprojection_error/init 8.778E+01}
[11/11/2020 00:20:55 INFO] [E 13 | it 1700] loss {total 6.347E+00, reprojection_error/0 9.926E+00, reprojection_error/1 4.561E+00, reprojection_error/2 4.554E+00, reprojection_error 4.554E+00, reprojection_error/init 8.484E+01}
[11/11/2020 00:22:42 INFO] [E 13 | it 1750] loss {total 3.807E+00, reprojection_error/0 8.053E+00, reprojection_error/1 1.811E+00, reprojection_error/2 1.556E+00, reprojection_error 1.556E+00, reprojection_error/init 1.062E+02}
[11/11/2020 00:24:29 INFO] [E 13 | it 1800] loss {total 1.873E+00, reprojection_error/0 3.850E+00, reprojection_error/1 1.046E+00, reprojection_error/2 7.238E-01, reprojection_error 7.238E-01, reprojection_error/init 8.465E+01}
[11/11/2020 00:26:16 INFO] [E 13 | it 1850] loss {total 6.564E+00, reprojection_error/0 1.892E+01, reprojection_error/1 1.706E+01, reprojection_error/2 1.705E+01, reprojection_error 1.705E+01, reprojection_error/init 3.401E+01}
[11/11/2020 00:28:02 INFO] [E 13 | it 1900] loss {total 1.074E+01, reprojection_error/0 2.615E+01, reprojection_error/1 2.170E+01, reprojection_error/2 2.182E+01, reprojection_error 2.182E+01, reprojection_error/init 1.208E+02}
[11/11/2020 00:29:52 INFO] [E 13 | it 1950] loss {total 1.490E+00, reprojection_error/0 3.049E+00, reprojection_error/1 8.163E-01, reprojection_error/2 6.049E-01, reprojection_error 6.049E-01, reprojection_error/init 7.787E+01}
[11/11/2020 00:31:39 INFO] [E 13 | it 2000] loss {total 2.061E+00, reprojection_error/0 4.234E+00, reprojection_error/1 1.151E+00, reprojection_error/2 7.966E-01, reprojection_error 7.966E-01, reprojection_error/init 4.840E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:14,  1.70s/it]
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Evaluation:  51%|#####1    | 41/80 [00:31<00:28,  1.35it/s]
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Evaluation:  71%|#######1  | 57/80 [00:43<00:17,  1.34it/s]
Evaluation:  72%|#######2  | 58/80 [00:43<00:16,  1.34it/s]
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Evaluation:  80%|########  | 64/80 [00:48<00:11,  1.35it/s]
Evaluation:  81%|########1 | 65/80 [00:48<00:11,  1.35it/s]
Evaluation:  82%|########2 | 66/80 [00:49<00:10,  1.36it/s]
Evaluation:  84%|########3 | 67/80 [00:50<00:09,  1.32it/s]
Evaluation:  85%|########5 | 68/80 [00:51<00:09,  1.33it/s]
Evaluation:  86%|########6 | 69/80 [00:51<00:07,  1.39it/s]
Evaluation:  88%|########7 | 70/80 [00:52<00:06,  1.44it/s]
Evaluation:  89%|########8 | 71/80 [00:53<00:06,  1.39it/s]
Evaluation:  90%|######### | 72/80 [00:53<00:05,  1.44it/s]
Evaluation:  91%|#########1| 73/80 [00:54<00:04,  1.47it/s]
Evaluation:  92%|#########2| 74/80 [00:55<00:04,  1.49it/s]
Evaluation:  94%|#########3| 75/80 [00:55<00:03,  1.51it/s]
Evaluation:  95%|#########5| 76/80 [00:56<00:02,  1.52it/s]
Evaluation:  96%|#########6| 77/80 [00:57<00:01,  1.54it/s]
Evaluation:  98%|#########7| 78/80 [00:57<00:01,  1.54it/s]
Evaluation:  99%|#########8| 79/80 [00:58<00:00,  1.55it/s]
Evaluation: 100%|##########| 80/80 [00:59<00:00,  1.55it/s]
Evaluation: 100%|##########| 80/80 [00:59<00:00,  1.35it/s]
[11/11/2020 00:32:38 INFO] [Validation] {R_error/0 1.065E+00, t_error/0 2.801E-01, R_error/1 5.930E-01, t_error/1 1.567E-01, R_error/2 5.541E-01, t_error/2 1.427E-01, R_error 5.541E-01, t_error 1.427E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.031E+00, loss/reprojection_error/0 1.075E+01, loss/reprojection_error/1 6.026E+00, loss/reprojection_error/2 5.669E+00, loss/reprojection_error 5.669E+00, loss/reprojection_error_median 8.055E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 00:34:25 INFO] [E 13 | it 2050] loss {total 6.446E+00, reprojection_error/0 9.960E+00, reprojection_error/1 7.348E+00, reprojection_error/2 7.754E+00, reprojection_error 7.754E+00, reprojection_error/init 6.792E+01}
[11/11/2020 00:36:12 INFO] [E 13 | it 2100] loss {total 3.696E+00, reprojection_error/0 8.108E+00, reprojection_error/1 1.575E+00, reprojection_error/2 1.406E+00, reprojection_error 1.406E+00, reprojection_error/init 1.080E+02}
[11/11/2020 00:37:59 INFO] [E 13 | it 2150] loss {total 3.462E+00, reprojection_error/0 5.645E+00, reprojection_error/1 2.646E+00, reprojection_error/2 2.096E+00, reprojection_error 2.096E+00, reprojection_error/init 4.765E+01}
[11/11/2020 00:39:45 INFO] [E 13 | it 2200] loss {total 2.734E+00, reprojection_error/0 5.500E+00, reprojection_error/1 1.477E+00, reprojection_error/2 1.224E+00, reprojection_error 1.224E+00, reprojection_error/init 7.316E+01}
[11/11/2020 00:41:32 INFO] [E 13 | it 2250] loss {total 1.473E+01, reprojection_error/0 2.361E+01, reprojection_error/1 1.699E+01, reprojection_error/2 1.748E+01, reprojection_error 1.748E+01, reprojection_error/init 7.132E+01}
[11/11/2020 00:43:18 INFO] [E 13 | it 2300] loss {total 3.346E+00, reprojection_error/0 5.963E+00, reprojection_error/1 2.297E+00, reprojection_error/2 1.777E+00, reprojection_error 1.777E+00, reprojection_error/init 7.473E+01}
[11/11/2020 00:45:05 INFO] [E 13 | it 2350] loss {total 1.972E+00, reprojection_error/0 3.094E+00, reprojection_error/1 1.541E+00, reprojection_error/2 1.280E+00, reprojection_error 1.280E+00, reprojection_error/init 3.784E+01}
[11/11/2020 00:46:51 INFO] [E 13 | it 2400] loss {total 5.491E+00, reprojection_error/0 6.511E+00, reprojection_error/1 5.229E+00, reprojection_error/2 4.733E+00, reprojection_error 4.733E+00, reprojection_error/init 4.187E+01}
[11/11/2020 00:48:37 INFO] [E 13 | it 2450] loss {total 3.775E+00, reprojection_error/0 4.898E+00, reprojection_error/1 3.162E+00, reprojection_error/2 3.264E+00, reprojection_error 3.264E+00, reprojection_error/init 8.377E+01}
[11/11/2020 00:50:24 INFO] [E 13 | it 2500] loss {total 8.834E+00, reprojection_error/0 1.967E+01, reprojection_error/1 6.245E+00, reprojection_error/2 5.988E+00, reprojection_error 5.988E+00, reprojection_error/init 5.127E+01}

Evaluation:   0%|          | 0/80 [00:00<?, ?it/s]
Evaluation:   1%|1         | 1/80 [00:01<02:08,  1.62s/it]
Evaluation:   2%|2         | 2/80 [00:02<01:44,  1.33s/it]
Evaluation:   4%|3         | 3/80 [00:03<01:32,  1.20s/it]
Evaluation:   5%|5         | 4/80 [00:03<01:20,  1.06s/it]
Evaluation:   6%|6         | 5/80 [00:04<01:12,  1.04it/s]
Evaluation:   8%|7         | 6/80 [00:05<01:06,  1.12it/s]
Evaluation:   9%|8         | 7/80 [00:06<01:01,  1.18it/s]
Evaluation:  10%|#         | 8/80 [00:06<00:58,  1.23it/s]
Evaluation:  11%|#1        | 9/80 [00:07<00:56,  1.26it/s]
Evaluation:  12%|#2        | 10/80 [00:08<00:54,  1.29it/s]
Evaluation:  14%|#3        | 11/80 [00:09<00:52,  1.31it/s]
Evaluation:  15%|#5        | 12/80 [00:09<00:51,  1.32it/s]
Evaluation:  16%|#6        | 13/80 [00:10<00:52,  1.28it/s]
Evaluation:  18%|#7        | 14/80 [00:11<00:52,  1.27it/s]
Evaluation:  19%|#8        | 15/80 [00:12<00:48,  1.34it/s]
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[11/11/2020 00:51:21 INFO] [Validation] {R_error/0 1.025E+00, t_error/0 2.715E-01, R_error/1 5.730E-01, t_error/1 1.472E-01, R_error/2 5.328E-01, t_error/2 1.334E-01, R_error 5.328E-01, t_error 1.334E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 4.899E+00, loss/reprojection_error/0 1.029E+01, loss/reprojection_error/1 5.563E+00, loss/reprojection_error/2 5.219E+00, loss/reprojection_error 5.219E+00, loss/reprojection_error_median 8.202E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 00:53:10 INFO] [E 13 | it 2550] loss {total 4.678E+00, reprojection_error/0 5.596E+00, reprojection_error/1 4.134E+00, reprojection_error/2 4.305E+00, reprojection_error 4.305E+00, reprojection_error/init 3.587E+01}
[11/11/2020 00:54:58 INFO] [E 13 | it 2600] loss {total 6.620E+00, reprojection_error/0 1.298E+01, reprojection_error/1 6.063E+00, reprojection_error/2 6.107E+00, reprojection_error 6.107E+00, reprojection_error/init 5.686E+01}
[11/11/2020 00:56:44 INFO] [E 13 | it 2650] loss {total 8.614E+00, reprojection_error/0 1.755E+01, reprojection_error/1 8.083E+00, reprojection_error/2 7.134E+00, reprojection_error 7.134E+00, reprojection_error/init 8.104E+01}
[11/11/2020 00:58:31 INFO] [E 13 | it 2700] loss {total 3.778E+00, reprojection_error/0 9.699E+00, reprojection_error/1 8.901E-01, reprojection_error/2 7.455E-01, reprojection_error 7.455E-01, reprojection_error/init 8.631E+01}
[11/11/2020 01:00:17 INFO] [E 13 | it 2750] loss {total 2.353E+00, reprojection_error/0 4.832E+00, reprojection_error/1 1.153E+00, reprojection_error/2 1.075E+00, reprojection_error 1.075E+00, reprojection_error/init 6.642E+01}
[11/11/2020 01:02:03 INFO] [E 13 | it 2800] loss {total 1.767E+00, reprojection_error/0 3.295E+00, reprojection_error/1 1.131E+00, reprojection_error/2 8.738E-01, reprojection_error 8.738E-01, reprojection_error/init 8.243E+01}
[11/11/2020 01:03:50 INFO] [E 13 | it 2850] loss {total 6.528E+00, reprojection_error/0 1.270E+01, reprojection_error/1 6.166E+00, reprojection_error/2 5.926E+00, reprojection_error 5.926E+00, reprojection_error/init 8.934E+01}
[11/11/2020 01:05:37 INFO] [E 13 | it 2900] loss {total 7.649E+00, reprojection_error/0 2.125E+01, reprojection_error/1 1.759E+01, reprojection_error/2 1.745E+01, reprojection_error 1.745E+01, reprojection_error/init 1.469E+02}
[11/11/2020 01:07:24 INFO] [E 13 | it 2950] loss {total 5.142E+00, reprojection_error/0 9.388E+00, reprojection_error/1 2.947E+00, reprojection_error/2 3.090E+00, reprojection_error 3.090E+00, reprojection_error/init 5.879E+01}

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Evaluation:  91%|#########1| 73/80 [00:50<00:04,  1.47it/s]
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Evaluation: 100%|##########| 80/80 [00:55<00:00,  1.45it/s]
[11/11/2020 01:10:04 INFO] [Validation] {R_error/0 1.117E+00, t_error/0 3.018E-01, R_error/1 6.493E-01, t_error/1 1.681E-01, R_error/2 6.105E-01, t_error/2 1.552E-01, R_error 6.105E-01, t_error 1.552E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.269E+00, loss/reprojection_error/0 1.113E+01, loss/reprojection_error/1 6.252E+00, loss/reprojection_error/2 5.959E+00, loss/reprojection_error 5.959E+00, loss/reprojection_error_median 7.765E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 01:10:04 INFO] Saving checkpoint checkpoint_13
[11/11/2020 01:10:05 INFO] Deleting checkpoint checkpoint_12_interrupted.tar
[11/11/2020 01:10:05 INFO] Starting epoch 14
[11/11/2020 01:10:05 INFO] Sampling new images or pairs with seed 14

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[11/11/2020 01:10:09 INFO] [E 14 | it 0] loss {total 5.056E+00, reprojection_error/0 9.829E+00, reprojection_error/1 2.444E+00, reprojection_error/2 2.895E+00, reprojection_error 2.895E+00, reprojection_error/init 7.161E+01}

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Evaluation: 100%|##########| 80/80 [00:57<00:00,  1.39it/s]
[11/11/2020 01:11:06 INFO] [Validation] {R_error/0 1.117E+00, t_error/0 3.018E-01, R_error/1 6.533E-01, t_error/1 1.689E-01, R_error/2 6.163E-01, t_error/2 1.560E-01, R_error 6.163E-01, t_error 1.560E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.296E+00, loss/reprojection_error/0 1.113E+01, loss/reprojection_error/1 6.314E+00, loss/reprojection_error/2 6.019E+00, loss/reprojection_error 6.019E+00, loss/reprojection_error_median 7.724E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:50 INFO] Caught keyboard interrupt signal, will terminate
[11/11/2020 01:11:51 INFO] Caught keyboard interrupt signal, will terminate

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Evaluation: 100%|##########| 80/80 [00:56<00:00,  1.40it/s]
[11/11/2020 01:12:48 INFO] [Validation] {R_error/0 1.117E+00, t_error/0 3.016E-01, R_error/1 6.424E-01, t_error/1 1.657E-01, R_error/2 5.991E-01, t_error/2 1.514E-01, R_error 5.991E-01, t_error 1.514E-01, R_error/init 1.782E+00, t_error/init 1.000E+00, loss/total 5.190E+00, loss/reprojection_error/0 1.113E+01, loss/reprojection_error/1 6.112E+00, loss/reprojection_error/2 5.767E+00, loss/reprojection_error 5.767E+00, loss/reprojection_error_median 8.062E-01, loss/reprojection_error/init 6.948E+01, loss/reprojection_error/init_median 5.793E+01}
[11/11/2020 01:12:48 INFO] Saving checkpoint checkpoint_14_interrupted
[11/11/2020 01:12:49 INFO] Deleting checkpoint checkpoint_4.tar
[11/11/2020 01:12:49 INFO] Finished training on process 0.