Commits

Suyang Dong  committed 92fb014

A lot of addition to Readme.txt

  • Participants
  • Parent commits 72128ef

Comments (0)

Files changed (46)

File Aurora/Aurora.cpp

 
 *********************************************************************************************************/
 
-#include <direct.h>
+
 #include <string>
 #include <iostream>
 #include "Log.hxx"
 		std::cout << "Example: \n\tAurora .\..\data 1 0.04 1 7\n";
 		exit(1);
 	}
-
+	gDataPath = argv[1];
 	osg::setNotifyLevel(osg::WARN);
-	////////////////////////////////////////////////////////////////////////
-	//// get and save the current working directory 
-	////////////////////////////////////////////////////////////////////////
-	//char* buffer_path;
-	//if((buffer_path = _getcwd(NULL, 0)) == NULL){
-	//	std::cout << "_getcwd get current directory error" << endl;
-	//	exit(1);
-	//}
-	//else {
-	//	gDataPath = buffer_path;
-	//	free(buffer_path);
-	//}
-	gDataPath = argv[1];
-
+	
 	std::string readme = getDataPath() + std::string("\\helper\\aurora_readme.txt");
 	char* statement = (char*)loadFile(readme.c_str());
 	std::cout << statement << std::endl;

File Aurora/BuildingDamage.cpp

 std::string gDataPath;
 std::string getDataPath()
 {
-	//size_t found = gDataPath.find_last_of("/\\");
-	//return gDataPath.substr(0, found);
 	return gDataPath;
 }
 
+Copyright 2012 The University of Michigan.
+ All Rights Reserved.
+ 
+  *******************Use CMake to Generate Project File*********************
+ 
+ 1) Please use CMake 2.6 above to generate the project file
+ http://cmake.org/cmake/resources/software.html
+ 
+ 2) Please add OSG_DIR to the environmental variables. 
+ OSG_DIR directs to the folder where OpenSceneGraph's include and lib folders are contained.
+ You can download a precompiled OSG copy from here: 
+ http://www.osgchina.org/projects/osgcn/wikicn/Downloadscn/PreviousReleases.php
+ 
+ 3) Please add OpenCV_DIR to the environmental variables.
+ OpenCV_DIR directs to the folder where OpenCV's include and lib folders are contained.
+ You can download a OpenCV copy here:
+ http://opencv.willowgarage.com/wiki/
+ 
+ Also make sure all the osg**.dll and OpenCV**.dll are contained in the folder whose path is recorded in the environmental variables 'PATH' or directly inside the folder where .EXE file resides.
+ 
+ ***************************Use of Data Folder***************************
+ 1) model: 							where new generated building OSG model, vertices position, and tripod position are stored. (It already contains a few pre-generated building model)
+2) texture: 							texture pasted outside the building model. (Read-Only)
+3) helper: 							instruction for manipulating views. (Read-Only)
+4) observation: 					new observed edge detetection, camera perspective projection matrix, viewport etc. are dumped over here. )
+5) experimental results:	the error analysis results used in the paper. (Read-Only)

File data/Detection Results/Detected 3D reconstructed corner_10M_0.04_35m_cover both_approximater.txt

-1 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-2 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-3 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-4 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-5 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-6 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-7 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-8 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-9 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-10 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: 0.0193182	Y: -0.03382	Z: 5.32849
-Actual:	X: 0.01868	Y: -0.03482	Z: 5.33
-Error in	XY:0.00118629	X:	0.000638156	Y:	0.00100002	Z:	0.0015066
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: 0.0304062	Y: -0.0248455	Z: 9.53064
-Actual:	X: 0.03243	Y: -0.02496	Z: 9.53
-Error in	XY:0.00202707	X:	0.00202383	Y:	0.000114535	Z:	0.000642693
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.00721368	Y: 0.0166081	Z: 13.7376
-Actual:	X: 0.00556	Y: 0.01539	Z: 13.73
-Error in	XY:0.00205387	X:	0.00165368	Y:	0.00121809	Z:	0.00757377
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0272873	Y: -0.0359897	Z: 17.9204
-Actual:	X: 0.02623	Y: -0.03706	Z: 17.93
-Error in	XY:0.00150447	X:	0.00105729	Y:	0.00107031	Z:	0.00955208
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.00584161	Y: 0.0259842	Z: 22.1434
-Actual:	X: -0.00653	Y: 0.02809	Z: 22.13
-Error in	XY:0.00221548	X:	0.000688389	Y:	0.00210582	Z:	0.0134194
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0254029	Y: 0.0368672	Z: 26.3384
-Actual:	X: -0.03096	Y: 0.03579	Z: 26.33
-Error in	XY:0.00566052	X:	0.00555707	Y:	0.00107725	Z:	0.00844591
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: 0.0255006	Y: -0.0223974	Z: 30.5224
-Actual:	X: 0.02646	Y: -0.02442	Z: 30.53
-Error in	XY:0.00223862	X:	0.00095936	Y:	0.00202263	Z:	0.00762986
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: -0.0191215	Y: 0.0123669	Z: 34.721
-Actual:	X: -0.01732	Y: 0.01329	Z: 34.73
-Error in	XY:0.00202426	X:	0.00180155	Y:	0.000923062	Z:	0.00901372
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.00880898	Y: -0.0307149	Z: 38.9283
-Actual:	X: -0.00633	Y: -0.03499	Z: 38.93
-Error in	XY:0.00494183	X:	0.00247898	Y:	0.00427508	Z:	0.00172529
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: 0.00202629	Y: 0.0242993	Z: 43.1302
-Actual:	X: 0.0038	Y: 0.02331	Z: 43.13
-Error in	XY:0.00203093	X:	0.00177371	Y:	0.000989266	Z:	0.000201206
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.7193	Y: -0.0234191	Z: 5.32809
-Actual:	X: 45.7187	Y: -0.02263	Z: 5.33
-Error in	XY:0.00101448	X:	0.000637584	Y:	0.000789091	Z:	0.00191399
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.7304	Y: -0.0237404	Z: 9.52488
-Actual:	X: 45.7324	Y: -0.0241	Z: 9.53
-Error in	XY:0.0020543	X:	0.00202257	Y:	0.000359628	Z:	0.00511524
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7072	Y: 0.00717581	Z: 13.7295
-Actual:	X: 45.7056	Y: 0.00808	Z: 13.73
-Error in	XY:0.00188648	X:	0.00165566	Y:	0.000904194	Z:	0.000452192
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.7273	Y: 0.0278043	Z: 17.9278
-Actual:	X: 45.7262	Y: 0.03169	Z: 17.93
-Error in	XY:0.00402698	X:	0.00105743	Y:	0.00388566	Z:	0.00220383
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.6942	Y: -0.0380603	Z: 22.1259
-Actual:	X: 45.6935	Y: -0.03986	Z: 22.13
-Error in	XY:0.00192712	X:	0.000689151	Y:	0.00179969	Z:	0.00410555
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.6746	Y: -0.0349994	Z: 26.3316
-Actual:	X: 45.669	Y: -0.03245	Z: 26.33
-Error in	XY:0.00611403	X:	0.00555715	Y:	0.00254939	Z:	0.00157308
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.7255	Y: 0.0242194	Z: 30.5324
-Actual:	X: 45.7265	Y: 0.02553	Z: 30.53
-Error in	XY:0.00162344	X:	0.000958101	Y:	0.00131058	Z:	0.00240752
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.6809	Y: -0.00775755	Z: 34.7342
-Actual:	X: 45.6827	Y: -0.0082	Z: 34.73
-Error in	XY:0.00185262	X:	0.00179901	Y:	0.000442447	Z:	0.00424439
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6912	Y: 0.00769902	Z: 38.9375
-Actual:	X: 45.6937	Y: 0.00916	Z: 38.93
-Error in	XY:0.0028754	X:	0.00247658	Y:	0.00146098	Z:	0.00749154
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.702	Y: 0.0214246	Z: 43.136
-Actual:	X: 45.7038	Y: 0.02587	Z: 43.13
-Error in	XY:0.00478601	X:	0.00177315	Y:	0.00444543	Z:	0.00604047
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.6861	Y: 30.4766	Z: 5.33277
-Actual:	X: 45.6855	Y: 30.4774	Z: 5.33
-Error in	XY:0.000977554	X:	0.000577959	Y:	0.0007884	Z:	0.00277375
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.6717	Y: 30.4763	Z: 9.54155
-Actual:	X: 45.6708	Y: 30.4759	Z: 9.53
-Error in	XY:0.000996383	X:	0.00092947	Y:	0.000358978	Z:	0.0115517
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.6801	Y: 30.5072	Z: 13.7343
-Actual:	X: 45.6809	Y: 30.5081	Z: 13.73
-Error in	XY:0.00124286	X:	0.000853217	Y:	0.000903723	Z:	0.00430947
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.7107	Y: 30.5278	Z: 17.911
-Actual:	X: 45.7091	Y: 30.5317	Z: 17.93
-Error in	XY:0.00419846	X:	0.00158874	Y:	0.00388626	Z:	0.0189626
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.723	Y: 30.4619	Z: 22.1371
-Actual:	X: 45.7231	Y: 30.4601	Z: 22.13
-Error in	XY:0.00180279	X:	0.000109503	Y:	0.00179946	Z:	0.00713331
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.728	Y: 30.465	Z: 26.333
-Actual:	X: 45.7341	Y: 30.4676	Z: 26.33
-Error in	XY:0.00658141	X:	0.00606746	Y:	0.00254967	Z:	0.00295446
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.7401	Y: 30.5242	Z: 30.5267
-Actual:	X: 45.7393	Y: 30.5255	Z: 30.53
-Error in	XY:0.00156102	X:	0.00084825	Y:	0.00131044	Z:	0.00326088
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.7214	Y: 30.4922	Z: 34.7231
-Actual:	X: 45.7206	Y: 30.4918	Z: 34.73
-Error in	XY:0.000918395	X:	0.000804961	Y:	0.000442138	Z:	0.0068603
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.7146	Y: 30.5077	Z: 38.9141
-Actual:	X: 45.7121	Y: 30.5092	Z: 38.93
-Error in	XY:0.00293102	X:	0.00254147	Y:	0.00146007	Z:	0.0158668
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.675	Y: 30.5214	Z: 43.1364
-Actual:	X: 45.6724	Y: 30.5259	Z: 43.13
-Error in	XY:0.0051499	X:	0.002601	Y:	0.0044448	Z:	0.00639932
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: -0.0139331	Y: 30.4662	Z: 5.33037
-Actual:	X: -0.01451	Y: 30.4652	Z: 5.33
-Error in	XY:0.00115495	X:	0.000576851	Y:	0.00100058	Z:	0.000370766
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: -0.0282911	Y: 30.4752	Z: 9.53057
-Actual:	X: -0.02922	Y: 30.475	Z: 9.53
-Error in	XY:0.00093587	X:	0.000928889	Y:	0.000114099	Z:	0.000566044
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: -0.0199153	Y: 30.5166	Z: 13.724
-Actual:	X: -0.01906	Y: 30.5154	Z: 13.73
-Error in	XY:0.00148803	X:	0.000855259	Y:	0.00121769	Z:	0.00602325
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.0106677	Y: 30.464	Z: 17.9387
-Actual:	X: 0.00908	Y: 30.4629	Z: 17.93
-Error in	XY:0.00191466	X:	0.00158772	Y:	0.00107009	Z:	0.00866178
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.0230381	Y: 30.526	Z: 22.1331
-Actual:	X: 0.02315	Y: 30.5281	Z: 22.13
-Error in	XY:0.00210832	X:	0.000111921	Y:	0.00210534	Z:	0.00311203
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0280207	Y: 30.5369	Z: 26.3275
-Actual:	X: 0.03409	Y: 30.5358	Z: 26.33
-Error in	XY:0.00616428	X:	0.00606933	Y:	0.00107776	Z:	0.00247921
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: 0.0401282	Y: 30.4776	Z: 30.5373
-Actual:	X: 0.03928	Y: 30.4756	Z: 30.53
-Error in	XY:0.00219308	X:	0.000848186	Y:	0.00202242	Z:	0.00728606
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: 0.0214043	Y: 30.5124	Z: 34.7335
-Actual:	X: 0.0206	Y: 30.5133	Z: 34.73
-Error in	XY:0.00122464	X:	0.000804326	Y:	0.000923468	Z:	0.00354183
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: 0.0145921	Y: 30.4693	Z: 38.9389
-Actual:	X: 0.01205	Y: 30.465	Z: 38.93
-Error in	XY:0.00497406	X:	0.0025421	Y:	0.00427539	Z:	0.0089368
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: -0.0250403	Y: 30.5243	Z: 43.1201
-Actual:	X: -0.02764	Y: 30.5233	Z: 43.13
-Error in	XY:0.00278167	X:	0.0025997	Y:	0.000989558	Z:	0.00995003
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.00658141	Z: 0.0189626
-MIN	XY: 0.000918395	Z: 0.000201206
-AVG	XY: 0.00263359	Z: 0.00565647
-STDEV	XY: 0.00164265	Z: 0.00429358

File data/Detection Results/Detected 3D reconstructed corner_18M_0.04_35m_cover both_approximater.txt

-1 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-2 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-3 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-4 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-5 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-6 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-7 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-8 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-9 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-10 floor:	<0>	1	<1>	1	<2>	1	<3>	1	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: 0.0191799	Y: -0.0339517	Z: 5.32865
-Actual:	X: 0.01868	Y: -0.03482	Z: 5.33
-Error in	XY:0.00100193	X:	0.000499898	Y:	0.000868307	Z:	0.00134763
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: 0.03123	Y: -0.0240224	Z: 9.53268
-Actual:	X: 0.03243	Y: -0.02496	Z: 9.53
-Error in	XY:0.00152285	X:	0.00120001	Y:	0.000937586	Z:	0.00267546
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.00452503	Y: 0.017104	Z: 13.7377
-Actual:	X: 0.00556	Y: 0.01539	Z: 13.73
-Error in	XY:0.00200227	X:	0.00103497	Y:	0.00171404	Z:	0.00771851
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0229267	Y: -0.0361878	Z: 17.9207
-Actual:	X: 0.02623	Y: -0.03706	Z: 17.93
-Error in	XY:0.00341648	X:	0.00330327	Y:	0.000872224	Z:	0.00927511
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.00559353	Y: 0.027515	Z: 22.1428
-Actual:	X: -0.00653	Y: 0.02809	Z: 22.13
-Error in	XY:0.00109892	X:	0.000936467	Y:	0.000575021	Z:	0.0127941
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0298774	Y: 0.0344312	Z: 26.3369
-Actual:	X: -0.03096	Y: 0.03579	Z: 26.33
-Error in	XY:0.0017373	X:	0.00108257	Y:	0.00135876	Z:	0.00693737
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: 0.0245757	Y: -0.0241569	Z: 30.5298
-Actual:	X: 0.02646	Y: -0.02442	Z: 30.53
-Error in	XY:0.00190256	X:	0.00188428	Y:	0.000263096	Z:	0.000207997
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: -0.0173262	Y: 0.0117117	Z: 34.7205
-Actual:	X: -0.01732	Y: 0.01329	Z: 34.73
-Error in	XY:0.00157827	X:	6.23854e-006	Y:	0.00157825	Z:	0.00952773
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.00769507	Y: -0.030017	Z: 38.9317
-Actual:	X: -0.00633	Y: -0.03499	Z: 38.93
-Error in	XY:0.00515699	X:	0.00136508	Y:	0.00497304	Z:	0.0017235
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: 0.00580949	Y: 0.0235161	Z: 43.1277
-Actual:	X: 0.0038	Y: 0.02331	Z: 43.13
-Error in	XY:0.00202003	X:	0.00200949	Y:	0.000206113	Z:	0.00234679
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.7192	Y: -0.0236118	Z: 5.3282
-Actual:	X: 45.7187	Y: -0.02263	Z: 5.33
-Error in	XY:0.00110148	X:	0.000499326	Y:	0.000981803	Z:	0.00180026
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.7312	Y: -0.0232551	Z: 9.5254
-Actual:	X: 45.7324	Y: -0.0241	Z: 9.53
-Error in	XY:0.0014666	X:	0.00119875	Y:	0.00084494	Z:	0.00460301
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7045	Y: 0.0104346	Z: 13.7324
-Actual:	X: 45.7056	Y: 0.00808	Z: 13.73
-Error in	XY:0.00257126	X:	0.00103298	Y:	0.00235464	Z:	0.0023721
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.7229	Y: 0.031985	Z: 17.9317
-Actual:	X: 45.7262	Y: 0.03169	Z: 17.93
-Error in	XY:0.00331628	X:	0.00330313	Y:	0.000295041	Z:	0.00168293
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.6944	Y: -0.0385367	Z: 22.1255
-Actual:	X: 45.6935	Y: -0.03986	Z: 22.13
-Error in	XY:0.00162157	X:	0.000937229	Y:	0.00132329	Z:	0.00454857
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.6701	Y: -0.0306081	Z: 26.3305
-Actual:	X: 45.669	Y: -0.03245	Z: 26.33
-Error in	XY:0.00213652	X:	0.00108265	Y:	0.0018419	Z:	0.000528892
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.7246	Y: 0.0237771	Z: 30.5243
-Actual:	X: 45.7265	Y: 0.02553	Z: 30.53
-Error in	XY:0.00257262	X:	0.00188302	Y:	0.00175288	Z:	0.0057101
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.6827	Y: -0.00843502	Z: 34.7305
-Actual:	X: 45.6827	Y: -0.0082	Z: 34.73
-Error in	XY:0.000235052	X:	3.69789e-006	Y:	0.000235023	Z:	0.000497442
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6923	Y: 0.00779215	Z: 38.9354
-Actual:	X: 45.6937	Y: 0.00916	Z: 38.93
-Error in	XY:0.00193078	X:	0.00136268	Y:	0.00136785	Z:	0.00543148
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.7058	Y: 0.0239553	Z: 43.1392
-Actual:	X: 45.7038	Y: 0.02587	Z: 43.13
-Error in	XY:0.00277605	X:	0.00201005	Y:	0.00191473	Z:	0.00923222
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.6862	Y: 30.4764	Z: 5.33282
-Actual:	X: 45.6855	Y: 30.4774	Z: 5.33
-Error in	XY:0.0012035	X:	0.000697014	Y:	0.000981112	Z:	0.00282457
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.6716	Y: 30.4767	Z: 9.54179
-Actual:	X: 45.6708	Y: 30.4759	Z: 9.53
-Error in	XY:0.00115853	X:	0.000793321	Y:	0.00084429	Z:	0.0117944
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.681	Y: 30.5104	Z: 13.7335
-Actual:	X: 45.6809	Y: 30.5081	Z: 13.73
-Error in	XY:0.00235541	X:	3.774e-005	Y:	0.00235511	Z:	0.00355028
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.7097	Y: 30.532	Z: 17.9121
-Actual:	X: 45.7091	Y: 30.5317	Z: 17.93
-Error in	XY:0.000681194	X:	0.000614269	Y:	0.000294445	Z:	0.0179095
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.7218	Y: 30.4615	Z: 22.1377
-Actual:	X: 45.7231	Y: 30.4601	Z: 22.13
-Error in	XY:0.00186507	X:	0.00131453	Y:	0.00132306	Z:	0.0076905
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.732	Y: 30.4694	Z: 26.3301
-Actual:	X: 45.7341	Y: 30.4676	Z: 26.33
-Error in	XY:0.00274948	X:	0.00204159	Y:	0.00184162	Z:	6.22184e-005
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.7395	Y: 30.5238	Z: 30.5301
-Actual:	X: 45.7393	Y: 30.5255	Z: 30.53
-Error in	XY:0.00177192	X:	0.000259991	Y:	0.00175274	Z:	0.000113681
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.7213	Y: 30.4916	Z: 34.7226
-Actual:	X: 45.7206	Y: 30.4918	Z: 34.73
-Error in	XY:0.000740269	X:	0.000701867	Y:	0.000235331	Z:	0.00744575
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.7144	Y: 30.5078	Z: 38.9118
-Actual:	X: 45.7121	Y: 30.5092	Z: 38.93
-Error in	XY:0.00275248	X:	0.00238906	Y:	0.00136694	Z:	0.0181516
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.6732	Y: 30.524	Z: 43.1234
-Actual:	X: 45.6724	Y: 30.5259	Z: 43.13
-Error in	XY:0.00207532	X:	0.000801991	Y:	0.0019141	Z:	0.00656482
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: -0.0138141	Y: 30.466	Z: 5.33049
-Actual:	X: -0.01451	Y: 30.4652	Z: 5.33
-Error in	XY:0.0011132	X:	0.000695906	Y:	0.000868862	Z:	0.000493153
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: -0.0284273	Y: 30.476	Z: 9.53074
-Actual:	X: -0.02922	Y: 30.475	Z: 9.53
-Error in	XY:0.00122747	X:	0.00079274	Y:	0.00093715	Z:	0.000745108
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: -0.0190243	Y: 30.5171	Z: 13.7237
-Actual:	X: -0.01906	Y: 30.5154	Z: 13.73
-Error in	XY:0.00171402	X:	3.56985e-005	Y:	0.00171365	Z:	0.00628041
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.00969325	Y: 30.4638	Z: 17.9389
-Actual:	X: 0.00908	Y: 30.4629	Z: 17.93
-Error in	XY:0.00106605	X:	0.000613249	Y:	0.000872008	Z:	0.00891705
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.0218331	Y: 30.5275	Z: 22.1304
-Actual:	X: 0.02315	Y: 30.5281	Z: 22.13
-Error in	XY:0.00143682	X:	0.00131694	Y:	0.000574544	Z:	0.000434693
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0320465	Y: 30.5344	Z: 26.3286
-Actual:	X: 0.03409	Y: 30.5358	Z: 26.33
-Error in	XY:0.00245368	X:	0.00204345	Y:	0.00135825	Z:	0.00138548
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: 0.0395399	Y: 30.4758	Z: 30.537
-Actual:	X: 0.03928	Y: 30.4756	Z: 30.53
-Error in	XY:0.000369687	X:	0.000259928	Y:	0.00026288	Z:	0.00696105
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: 0.0213012	Y: 30.5117	Z: 34.7334
-Actual:	X: 0.0206	Y: 30.5133	Z: 34.73
-Error in	XY:0.00172739	X:	0.000701231	Y:	0.00157866	Z:	0.00341288
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: 0.0144397	Y: 30.47	Z: 38.9371
-Actual:	X: 0.01205	Y: 30.465	Z: 38.93
-Error in	XY:0.00551768	X:	0.00238969	Y:	0.00497334	Z:	0.0071431
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: -0.0268393	Y: 30.5235	Z: 43.1227
-Actual:	X: -0.02764	Y: 30.5233	Z: 43.13
-Error in	XY:0.000826871	X:	0.000800695	Y:	0.000206406	Z:	0.0072576
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.00551768	Z: 0.0181516
-MIN	XY: 0.000235052	Z: 6.22184e-005
-AVG	XY: 0.0018993	Z: 0.00525248
-STDEV	XY: 0.00107894	Z: 0.00451907

File data/Detection Results/Detected 3D reconstructed corner_18M_35m_only pitch error survey equipment.txt

-1 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-2 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-3 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-4 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-5 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-6 floor:	<0>	1	<1>	0	<2>	0	<3>	1	
-7 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-8 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-9 floor:	<0>	1	<1>	0	<2>	0	<3>	1	
-10 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: -0.0250534	Y: -0.00849352	Z: 5.38195
-Actual:	X: -0.02622	Y: -0.01096	Z: 5.33
-Error in	XY:0.00272844	X:	0.00116656	Y:	0.00246648	Z:	0.0519496
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: -0.0390658	Y: -0.0662809	Z: 9.59824
-Actual:	X: -0.04161	Y: -0.04835	Z: 9.53
-Error in	XY:0.0181105	X:	0.00254421	Y:	0.0179309	Z:	0.0682376
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.0628938	Y: -0.0247691	Z: 13.8616
-Actual:	X: 0.05645	Y: -0.01163	Z: 13.73
-Error in	XY:0.0146341	X:	0.00644379	Y:	0.0131391	Z:	0.13164
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0585158	Y: 0.0132645	Z: 17.9988
-Actual:	X: 0.05925	Y: 0.00867	Z: 17.93
-Error in	XY:0.00465279	X:	0.000734229	Y:	0.00459449	Z:	0.0687942
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.0297438	Y: -0.00885697	Z: 22.1868
-Actual:	X: -0.03193	Y: -0.01242	Z: 22.13
-Error in	XY:0.00418029	X:	0.00218623	Y:	0.00356303	Z:	0.0567632
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0347077	Y: 0.0230166	Z: 26.3335
-Actual:	X: -0.04142	Y: 0.02693	Z: 26.33
-Error in	XY:0.00776977	X:	0.0067123	Y:	0.00391336	Z:	0.00354485
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: -0.0302853	Y: 0.00904239	Z: 30.6218
-Actual:	X: 0.02228	Y: -0.02106	Z: 30.53
-Error in	XY:0.0605745	X:	0.0525653	Y:	0.0301024	Z:	0.0918373
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: 0.0208038	Y: -0.0286717	Z: 34.7311
-Actual:	X: 0.00725	Y: -0.01338	Z: 34.73
-Error in	XY:0.0204338	X:	0.0135538	Y:	0.0152917	Z:	0.00109928
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.0387048	Y: -0.051107	Z: 38.9391
-Actual:	X: -0.04652	Y: -0.04923	Z: 38.93
-Error in	XY:0.00803749	X:	0.00781524	Y:	0.00187704	Z:	0.00911464
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: -0.0326662	Y: -0.0216575	Z: 43.168
-Actual:	X: -0.05601	Y: 0.00552	Z: 43.13
-Error in	XY:0.0358266	X:	0.0233438	Y:	0.0271775	Z:	0.037964
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.6864	Y: -0.0115102	Z: 5.49078
-Actual:	X: 45.6738	Y: -0.01027	Z: 5.33
-Error in	XY:0.0126908	X:	0.0126301	Y:	0.00124024	Z:	0.160781
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.6697	Y: 0.0605489	Z: 9.5934
-Actual:	X: 45.6584	Y: 0.0559	Z: 9.53
-Error in	XY:0.0122092	X:	0.0112894	Y:	0.0046489	Z:	0.0633993
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7664	Y: 0.0363822	Z: 13.8544
-Actual:	X: 45.7565	Y: 0.02224	Z: 13.73
-Error in	XY:0.0172668	X:	0.00990655	Y:	0.0141422	Z:	0.124398
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.7657	Y: -0.0345177	Z: 18.0606
-Actual:	X: 45.7593	Y: -0.05258	Z: 17.93
-Error in	XY:0.0191676	X:	0.00641471	Y:	0.0180623	Z:	0.130561
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.6665	Y: -0.0457525	Z: 22.2691
-Actual:	X: 45.6681	Y: -0.03103	Z: 22.13
-Error in	XY:0.0148046	X:	0.00155639	Y:	0.0147225	Z:	0.139108
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.6653	Y: -0.00882488	Z: 26.4949
-Actual:	X: 45.6586	Y: 0.04565	Z: 26.33
-Error in	XY:0.0548869	X:	0.00671228	Y:	0.0544749	Z:	0.164906
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.7172	Y: -0.0201902	Z: 30.6073
-Actual:	X: 45.7223	Y: -0.01646	Z: 30.53
-Error in	XY:0.0063314	X:	0.00511585	Y:	0.00373024	Z:	0.0773118
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.71	Y: 0.000894227	Z: 34.8347
-Actual:	X: 45.7072	Y: 0.00564	Z: 34.73
-Error in	XY:0.00550301	X:	0.00278581	Y:	0.00474577	Z:	0.104663
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6613	Y: -0.0963827	Z: 39.1251
-Actual:	X: 45.6535	Y: -0.05072	Z: 38.93
-Error in	XY:0.0463267	X:	0.00781547	Y:	0.0456627	Z:	0.19508
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.6153	Y: -0.0968294	Z: 43.1923
-Actual:	X: 45.644	Y: -0.04005	Z: 43.13
-Error in	XY:0.0635988	X:	0.0286514	Y:	0.0567794	Z:	0.0622937
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.7426	Y: 30.489	Z: 5.37614
-Actual:	X: 45.7431	Y: 30.4897	Z: 5.33
-Error in	XY:0.000842826	X:	0.000488263	Y:	0.00068699	Z:	0.0461404
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.6921	Y: 30.5508	Z: 9.61691
-Actual:	X: 45.6843	Y: 30.5559	Z: 9.53
-Error in	XY:0.00933321	X:	0.00780393	Y:	0.00511933	Z:	0.0869114
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.6595	Y: 30.527	Z: 13.928
-Actual:	X: 45.6558	Y: 30.5222	Z: 13.73
-Error in	XY:0.0060303	X:	0.00375715	Y:	0.00471682	Z:	0.197979
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.7843	Y: 30.4425	Z: 18.0522
-Actual:	X: 45.7475	Y: 30.4474	Z: 17.93
-Error in	XY:0.037098	X:	0.0367675	Y:	0.00494131	Z:	0.122156
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.7584	Y: 30.4532	Z: 22.3205
-Actual:	X: 45.7392	Y: 30.469	Z: 22.13
-Error in	XY:0.0248414	X:	0.0192092	Y:	0.0157512	Z:	0.190492
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.7339	Y: 30.5457	Z: 26.5271
-Actual:	X: 45.7368	Y: 30.5457	Z: 26.33
-Error in	XY:0.00296035	X:	0.00295901	Y:	8.87817e-005	Z:	0.197054
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.6963	Y: 30.4795	Z: 30.5309
-Actual:	X: 45.6936	Y: 30.4835	Z: 30.53
-Error in	XY:0.00485285	X:	0.00269218	Y:	0.00403761	Z:	0.000889196
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.7867	Y: 30.4832	Z: 34.9212
-Actual:	X: 45.7453	Y: 30.5056	Z: 34.73
-Error in	XY:0.0471868	X:	0.0414863	Y:	0.0224829	Z:	0.191225
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.69	Y: 30.4668	Z: 38.9917
-Actual:	X: 45.697	Y: 30.4493	Z: 38.93
-Error in	XY:0.0189057	X:	0.00703845	Y:	0.0175467	Z:	0.0616908
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.7644	Y: 30.4549	Z: 43.4164
-Actual:	X: 45.757	Y: 30.4599	Z: 43.13
-Error in	XY:0.00896436	X:	0.00737676	Y:	0.00509344	Z:	0.286441
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: 0.028116	Y: 30.4984	Z: 5.45565
-Actual:	X: 0.04312	Y: 30.489	Z: 5.33
-Error in	XY:0.0176628	X:	0.015004	Y:	0.00931972	Z:	0.125649
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: -0.00999288	Y: 30.4699	Z: 9.68578
-Actual:	X: -0.0157	Y: 30.4517	Z: 9.53
-Error in	XY:0.0190855	X:	0.00570712	Y:	0.0182123	Z:	0.155776
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: -0.0490226	Y: 30.485	Z: 13.9296
-Actual:	X: -0.04422	Y: 30.4884	Z: 13.73
-Error in	XY:0.00583982	X:	0.00480261	Y:	0.00332241	Z:	0.199594
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.0349594	Y: 30.4994	Z: 18.0279
-Actual:	X: 0.04753	Y: 30.5087	Z: 17.93
-Error in	XY:0.0156098	X:	0.0125706	Y:	0.00925445	Z:	0.0978501
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.036891	Y: 30.4922	Z: 22.1409
-Actual:	X: 0.03923	Y: 30.4876	Z: 22.13
-Error in	XY:0.00515078	X:	0.00233902	Y:	0.00458907	Z:	0.0108914
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0238328	Y: 30.523	Z: 26.4531
-Actual:	X: 0.03682	Y: 30.5269	Z: 26.33
-Error in	XY:0.013564	X:	0.0129872	Y:	0.00391321	Z:	0.123092
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: -0.0189438	Y: 30.4742	Z: 30.607
-Actual:	X: -0.00638	Y: 30.4789	Z: 30.53
-Error in	XY:0.0134389	X:	0.0125638	Y:	0.00477001	Z:	0.0769819
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: 0.0411482	Y: 30.4866	Z: 34.8251
-Actual:	X: 0.04525	Y: 30.4866	Z: 34.73
-Error in	XY:0.00410187	X:	0.00410177	Y:	2.88807e-005	Z:	0.0950902
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: -0.0125736	Y: 30.4489	Z: 38.9537
-Actual:	X: -0.00295	Y: 30.4508	Z: 38.93
-Error in	XY:0.00980484	X:	0.00962361	Y:	0.00187646	Z:	0.0236765
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: 0.0518119	Y: 30.5016	Z: 43.3168
-Actual:	X: 0.05703	Y: 30.5055	Z: 43.13
-Error in	XY:0.00652411	X:	0.0052181	Y:	0.00391606	Z:	0.186845
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.0635988	Z: 0.286441
-MIN	XY: 0.000842826	Z: 0.000889196
-AVG	XY: 0.0175383	Z: 0.105497
-STDEV	XY: 0.0162511	Z: 0.0674071

File data/Detection Results/Detected 3D reconstructed corner_18M_35m_only pitch error survey equipment_average approach_0.06.txt

-1 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-2 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-3 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-4 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-5 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-6 floor:	<0>	1	<1>	0	<2>	0	<3>	1	
-7 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-8 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-9 floor:	<0>	1	<1>	0	<2>	0	<3>	1	
-10 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: -0.0249951	Y: -0.00849861	Z: 5.38597
-Actual:	X: -0.02622	Y: -0.01096	Z: 5.33
-Error in	XY:0.00274931	X:	0.00122485	Y:	0.00246139	Z:	0.0559678
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: -0.0388516	Y: -0.0655239	Z: 9.60073
-Actual:	X: -0.04161	Y: -0.04835	Z: 9.53
-Error in	XY:0.017394	X:	0.00275841	Y:	0.0171739	Z:	0.0707255
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.0618202	Y: -0.0210109	Z: 13.8914
-Actual:	X: 0.05645	Y: -0.01163	Z: 13.73
-Error in	XY:0.0108092	X:	0.00537016	Y:	0.00938085	Z:	0.161365
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0568338	Y: 0.0152021	Z: 18.0479
-Actual:	X: 0.05925	Y: 0.00867	Z: 17.93
-Error in	XY:0.00696467	X:	0.00241615	Y:	0.00653214	Z:	0.117929
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.0282802	Y: -0.0106226	Z: 22.2129
-Actual:	X: -0.03193	Y: -0.01242	Z: 22.13
-Error in	XY:0.00406833	X:	0.00364975	Y:	0.0017974	Z:	0.0828936
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0347077	Y: 0.0230166	Z: 26.3335
-Actual:	X: -0.04142	Y: 0.02693	Z: 26.33
-Error in	XY:0.00776977	X:	0.0067123	Y:	0.00391336	Z:	0.00354485
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: -0.0228954	Y: 0.00776021	Z: 30.6763
-Actual:	X: 0.02228	Y: -0.02106	Z: 30.53
-Error in	XY:0.0535856	X:	0.0451754	Y:	0.0288202	Z:	0.146263
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: 0.0155524	Y: -0.0210197	Z: 34.7911
-Actual:	X: 0.00725	Y: -0.01338	Z: 34.73
-Error in	XY:0.0112825	X:	0.00830238	Y:	0.00763971	Z:	0.0610946
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.0387048	Y: -0.051107	Z: 38.9391
-Actual:	X: -0.04652	Y: -0.04923	Z: 38.93
-Error in	XY:0.00803749	X:	0.00781524	Y:	0.00187704	Z:	0.00911464
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: -0.031533	Y: -0.0229439	Z: 43.2145
-Actual:	X: -0.05601	Y: 0.00552	Z: 43.13
-Error in	XY:0.0375409	X:	0.024477	Y:	0.0284639	Z:	0.0844838
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.6866	Y: -0.0115517	Z: 5.49641
-Actual:	X: 45.6738	Y: -0.01027	Z: 5.33
-Error in	XY:0.0128722	X:	0.0128082	Y:	0.0012817	Z:	0.166406
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.669	Y: 0.0605614	Z: 9.59762
-Actual:	X: 45.6584	Y: 0.0559	Z: 9.53
-Error in	XY:0.011572	X:	0.0105916	Y:	0.00466139	Z:	0.0676163
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7614	Y: 0.0353145	Z: 13.8808
-Actual:	X: 45.7565	Y: 0.02224	Z: 13.73
-Error in	XY:0.0139845	X:	0.00496235	Y:	0.0130745	Z:	0.150804
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.7656	Y: -0.0355192	Z: 18.1167
-Actual:	X: 45.7593	Y: -0.05258	Z: 17.93
-Error in	XY:0.0181898	X:	0.00630853	Y:	0.0170608	Z:	0.18668
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.6703	Y: -0.0388538	Z: 22.3127
-Actual:	X: 45.6681	Y: -0.03103	Z: 22.13
-Error in	XY:0.00814462	X:	0.00226332	Y:	0.00782383	Z:	0.182722
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.6653	Y: 9.88395e-005	Z: 26.5264
-Actual:	X: 45.6586	Y: 0.04565	Z: 26.33
-Error in	XY:0.0460431	X:	0.00671228	Y:	0.0455512	Z:	0.196408
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.7162	Y: -0.0190018	Z: 30.6826
-Actual:	X: 45.7223	Y: -0.01646	Z: 30.53
-Error in	XY:0.00655106	X:	0.00603784	Y:	0.00254183	Z:	0.152622
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.7087	Y: -0.000869649	Z: 34.9042
-Actual:	X: 45.7072	Y: 0.00564	Z: 34.73
-Error in	XY:0.00668052	X:	0.00150129	Y:	0.00650965	Z:	0.174212
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6613	Y: -0.0653263	Z: 39.2224
-Actual:	X: 45.6535	Y: -0.05072	Z: 38.93
-Error in	XY:0.0165658	X:	0.00781547	Y:	0.0146063	Z:	0.292437
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.6258	Y: -0.0661381	Z: 43.2892
-Actual:	X: 45.644	Y: -0.04005	Z: 43.13
-Error in	XY:0.0318249	X:	0.0182272	Y:	0.0260881	Z:	0.159233
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.7426	Y: 30.4892	Z: 5.38032
-Actual:	X: 45.7431	Y: 30.4897	Z: 5.33
-Error in	XY:0.00074381	X:	0.000535013	Y:	0.000516735	Z:	0.0503205
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.6934	Y: 30.5503	Z: 9.62612
-Actual:	X: 45.6843	Y: 30.5559	Z: 9.53
-Error in	XY:0.0106721	X:	0.00906895	Y:	0.00562568	Z:	0.0961174
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.6619	Y: 30.5252	Z: 13.9523
-Actual:	X: 45.6558	Y: 30.5222	Z: 13.73
-Error in	XY:0.0067697	X:	0.00607732	Y:	0.00298246	Z:	0.222287
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.7747	Y: 30.4445	Z: 18.0848
-Actual:	X: 45.7475	Y: 30.4474	Z: 17.93
-Error in	XY:0.0273446	X:	0.0271905	Y:	0.0028987	Z:	0.154816
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.7485	Y: 30.4568	Z: 22.3586
-Actual:	X: 45.7392	Y: 30.469	Z: 22.13
-Error in	XY:0.0152887	X:	0.00922596	Y:	0.0121912	Z:	0.228636
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.7346	Y: 30.5442	Z: 26.5457
-Actual:	X: 45.7368	Y: 30.5457	Z: 26.33
-Error in	XY:0.00264106	X:	0.00219047	Y:	0.00147548	Z:	0.215655
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.6899	Y: 30.4859	Z: 30.5729
-Actual:	X: 45.6936	Y: 30.4835	Z: 30.53
-Error in	XY:0.00444297	X:	0.00373989	Y:	0.00239858	Z:	0.0429263
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.7722	Y: 30.4881	Z: 34.9646
-Actual:	X: 45.7453	Y: 30.5056	Z: 34.73
-Error in	XY:0.0321195	X:	0.0269387	Y:	0.017492	Z:	0.23456
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.6878	Y: 30.4711	Z: 39.0863
-Actual:	X: 45.697	Y: 30.4493	Z: 38.93
-Error in	XY:0.0236712	X:	0.00927985	Y:	0.0217763	Z:	0.156316
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.7449	Y: 30.4651	Z: 43.4987
-Actual:	X: 45.757	Y: 30.4599	Z: 43.13
-Error in	XY:0.0132092	X:	0.0121484	Y:	0.00518632	Z:	0.368674
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: 0.0277609	Y: 30.4986	Z: 5.45985
-Actual:	X: 0.04312	Y: 30.489	Z: 5.33
-Error in	XY:0.0180752	X:	0.0153591	Y:	0.0095295	Z:	0.129849
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: -0.0101375	Y: 30.4711	Z: 9.6972
-Actual:	X: -0.0157	Y: 30.4517	Z: 9.53
-Error in	XY:0.0202394	X:	0.00556246	Y:	0.01946	Z:	0.167204
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: -0.0462601	Y: 30.4859	Z: 13.9598
-Actual:	X: -0.04422	Y: 30.4884	Z: 13.73
-Error in	XY:0.00321694	X:	0.00204006	Y:	0.00248734	Z:	0.229753
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.0316282	Y: 30.4993	Z: 18.05
-Actual:	X: 0.04753	Y: 30.5087	Z: 17.93
-Error in	XY:0.0184772	X:	0.0159018	Y:	0.0094096	Z:	0.119972
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.0347499	Y: 30.4902	Z: 22.1653
-Actual:	X: 0.03923	Y: 30.4876	Z: 22.13
-Error in	XY:0.00519233	X:	0.00448013	Y:	0.00262465	Z:	0.0353402
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0182458	Y: 30.523	Z: 26.4991
-Actual:	X: 0.03682	Y: 30.5269	Z: 26.33
-Error in	XY:0.0189819	X:	0.0185742	Y:	0.00391321	Z:	0.169116
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: -0.0140382	Y: 30.4777	Z: 30.6593
-Actual:	X: -0.00638	Y: 30.4789	Z: 30.53
-Error in	XY:0.00775408	X:	0.00765815	Y:	0.0012159	Z:	0.129309
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: 0.0373272	Y: 30.484	Z: 34.8574
-Actual:	X: 0.04525	Y: 30.4866	Z: 34.73
-Error in	XY:0.00832959	X:	0.00792284	Y:	0.00257112	Z:	0.127423
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: -0.00234763	Y: 30.4489	Z: 38.9985
-Actual:	X: -0.00295	Y: 30.4508	Z: 38.93
-Error in	XY:0.00197078	X:	0.00060237	Y:	0.00187646	Z:	0.0684943
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: 0.0422188	Y: 30.4968	Z: 43.3673
-Actual:	X: 0.05703	Y: 30.5055	Z: 43.13
-Error in	XY:0.0171623	X:	0.0148112	Y:	0.00867033	Z:	0.237253
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.0535856	Z: 0.368674
-MIN	XY: 0.00074381	Z: 0.00354485
-AVG	XY: 0.0147233	Z: 0.142664
-STDEV	XY: 0.0118103	Z: 0.0768867

File data/Detection Results/Detected 3D reconstructed corner_35m_18M_RTK_and_Pitch error_average approach_0.04.txt

-1 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-2 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-3 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-4 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-5 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-6 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-7 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-8 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-9 floor:	<0>	1	<1>	1	<2>	0	<3>	0	
-10 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: -0.0293991	Y: 0.0118752	Z: 5.49367
-Actual:	X: -0.0295	Y: 0.02021	Z: 5.33
-Error in	XY:0.00833543	X:	0.000100932	Y:	0.00833481	Z:	0.163672
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: 0.00806409	Y: 0.038561	Z: 9.70427
-Actual:	X: 0.00207	Y: 0.03476	Z: 9.53
-Error in	XY:0.00709766	X:	0.00599409	Y:	0.00380101	Z:	0.174275
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: -0.0107389	Y: 0.0303894	Z: 13.8928
-Actual:	X: 0.00332	Y: 0.01478	Z: 13.73
-Error in	XY:0.0210073	X:	0.0140589	Y:	0.0156094	Z:	0.162771
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.00768507	Y: -0.00171681	Z: 18.0601
-Actual:	X: 0.00933	Y: -0.01454	Z: 17.93
-Error in	XY:0.0129283	X:	0.00164493	Y:	0.0128232	Z:	0.130097
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: 0.0198752	Y: -0.0107865	Z: 22.4401
-Actual:	X: 0.02222	Y: -0.02482	Z: 22.13
-Error in	XY:0.0142281	X:	0.00234485	Y:	0.0140335	Z:	0.31014
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: 0.0419086	Y: -0.0162583	Z: 26.5775
-Actual:	X: 0.01605	Y: 0.01616	Z: 26.33
-Error in	XY:0.0414682	X:	0.0258586	Y:	0.0324183	Z:	0.247486
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: 0.0611145	Y: -0.00045149	Z: 30.7694
-Actual:	X: 0.02875	Y: 0.02774	Z: 30.53
-Error in	XY:0.0429211	X:	0.0323645	Y:	0.0281915	Z:	0.239403
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: -0.0444843	Y: 0.0417604	Z: 34.8182
-Actual:	X: -0.03636	Y: 0.02178	Z: 34.73
-Error in	XY:0.021569	X:	0.00812432	Y:	0.0199804	Z:	0.0881567
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.00119805	Y: 0.0766272	Z: 39.1835
-Actual:	X: -0.00724	Y: 0.03503	Z: 38.93
-Error in	XY:0.0420337	X:	0.00604195	Y:	0.0415972	Z:	0.253471
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: 0.0163105	Y: 0.0620765	Z: 43.3436
-Actual:	X: 0.03254	Y: 0.03719	Z: 43.13
-Error in	XY:0.0297108	X:	0.0162295	Y:	0.0248865	Z:	0.213645
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.6737	Y: 0.0058555	Z: 5.56012
-Actual:	X: 45.6705	Y: 0.00024	Z: 5.33
-Error in	XY:0.00646421	X:	0.00320189	Y:	0.0056155	Z:	0.230122
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.704	Y: -0.00111197	Z: 9.66325
-Actual:	X: 45.7021	Y: -0.00853	Z: 9.53
-Error in	XY:0.00767005	X:	0.00195001	Y:	0.00741803	Z:	0.133248
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7125	Y: -0.00970597	Z: 13.7938
-Actual:	X: 45.7033	Y: -0.02574	Z: 13.73
-Error in	XY:0.0184959	X:	0.00921995	Y:	0.016034	Z:	0.0637626
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.716	Y: 0.00408687	Z: 17.9918
-Actual:	X: 45.7093	Y: -0.00248	Z: 17.93
-Error in	XY:0.0093753	X:	0.00669121	Y:	0.00656687	Z:	0.0618236
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.7419	Y: -0.00205847	Z: 22.2907
-Actual:	X: 45.7222	Y: -0.02019	Z: 22.13
-Error in	XY:0.0267411	X:	0.0196554	Y:	0.0181315	Z:	0.160667
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.7167	Y: -0.00481748	Z: 26.4945
-Actual:	X: 45.716	Y: 0.00236	Z: 26.33
-Error in	XY:0.00720276	X:	0.000602889	Y:	0.00717748	Z:	0.164499
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.7528	Y: 0.032501	Z: 30.7643
-Actual:	X: 45.7287	Y: 0.01384	Z: 30.53
-Error in	XY:0.0304533	X:	0.024066	Y:	0.018661	Z:	0.234295
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.6817	Y: 0.0309302	Z: 35.1564
-Actual:	X: 45.6636	Y: 0.01028	Z: 34.73
-Error in	XY:0.0274296	X:	0.0180542	Y:	0.0206502	Z:	0.426398
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6988	Y: -0.0215138	Z: 38.9446
-Actual:	X: 45.6928	Y: -0.03458	Z: 38.93
-Error in	XY:0.0143957	X:	0.00604225	Y:	0.0130662	Z:	0.0146169
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.7319	Y: 0.00838018	Z: 43.4841
-Actual:	X: 45.7325	Y: 0.02011	Z: 43.13
-Error in	XY:0.0117497	X:	0.000682654	Y:	0.0117298	Z:	0.354085
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.7392	Y: 30.5204	Z: 5.52347
-Actual:	X: 45.7295	Y: 30.5002	Z: 5.33
-Error in	XY:0.022413	X:	0.00970919	Y:	0.0202009	Z:	0.193471
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.7318	Y: 30.503	Z: 9.63143
-Actual:	X: 45.721	Y: 30.4915	Z: 9.53
-Error in	XY:0.0157864	X:	0.0108122	Y:	0.0115026	Z:	0.101427
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.7355	Y: 30.4817	Z: 13.874
-Actual:	X: 45.7095	Y: 30.4743	Z: 13.73
-Error in	XY:0.027042	X:	0.0260027	Y:	0.00742494	Z:	0.143992
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.6984	Y: 30.5235	Z: 18.1461
-Actual:	X: 45.6972	Y: 30.4975	Z: 17.93
-Error in	XY:0.0259905	X:	0.00119636	Y:	0.0259629	Z:	0.216148
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.6951	Y: 30.4959	Z: 22.2132
-Actual:	X: 45.6859	Y: 30.4798	Z: 22.13
-Error in	XY:0.0185571	X:	0.00918794	Y:	0.0161229	Z:	0.0832423
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.7231	Y: 30.5037	Z: 26.5195
-Actual:	X: 45.6985	Y: 30.5024	Z: 26.33
-Error in	XY:0.0246653	X:	0.0246298	Y:	0.00132335	Z:	0.189505
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.7243	Y: 30.5187	Z: 30.7159
-Actual:	X: 45.7091	Y: 30.5138	Z: 30.53
-Error in	XY:0.015892	X:	0.0151382	Y:	0.00483645	Z:	0.185935
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.6881	Y: 30.5144	Z: 34.9754
-Actual:	X: 45.663	Y: 30.5103	Z: 34.73
-Error in	XY:0.0253691	X:	0.0250403	Y:	0.00407125	Z:	0.245412
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.7713	Y: 30.4785	Z: 39.2029
-Actual:	X: 45.7393	Y: 30.4654	Z: 38.93
-Error in	XY:0.0345328	X:	0.0319653	Y:	0.0130665	Z:	0.272851
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.7134	Y: 30.5703	Z: 43.4655
-Actual:	X: 45.7322	Y: 30.5201	Z: 43.13
-Error in	XY:0.0535555	X:	0.0187755	Y:	0.0501565	Z:	0.335505
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: 0.0355151	Y: 30.5273	Z: 5.49807
-Actual:	X: 0.02953	Y: 30.5202	Z: 5.33
-Error in	XY:0.00930202	X:	0.00598512	Y:	0.00712081	Z:	0.168065
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: 0.016052	Y: 30.5397	Z: 9.74552
-Actual:	X: 0.02103	Y: 30.5348	Z: 9.53
-Error in	XY:0.00704025	X:	0.00497798	Y:	0.00497843	Z:	0.215515
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: 0.0109815	Y: 30.5176	Z: 13.8436
-Actual:	X: 0.00954	Y: 30.5148	Z: 13.73
-Error in	XY:0.00313651	X:	0.00144153	Y:	0.00278563	Z:	0.113564
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.0102341	Y: 30.5004	Z: 18.2136
-Actual:	X: -0.00279	Y: 30.4855	Z: 17.93
-Error in	XY:0.0198272	X:	0.0130241	Y:	0.0149497	Z:	0.283571
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.00683772	Y: 30.4959	Z: 22.4151
-Actual:	X: -0.01406	Y: 30.4752	Z: 22.13
-Error in	XY:0.0294139	X:	0.0208977	Y:	0.0206993	Z:	0.28506
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0228147	Y: 30.5479	Z: 26.5825
-Actual:	X: -0.00149	Y: 30.5162	Z: 26.33
-Error in	XY:0.039942	X:	0.0243047	Y:	0.0316962	Z:	0.252476
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: 0.00742169	Y: 30.5308	Z: 30.7794
-Actual:	X: 0.00914	Y: 30.5277	Z: 30.53
-Error in	XY:0.00347865	X:	0.00171831	Y:	0.00302463	Z:	0.249414
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: -0.0431398	Y: 30.5224	Z: 34.9387
-Actual:	X: -0.03698	Y: 30.5218	Z: 34.73
-Error in	XY:0.00619469	X:	0.00615981	Y:	0.000656476	Z:	0.208719
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: 0.0207931	Y: 30.5323	Z: 39.0242
-Actual:	X: 0.03931	Y: 30.535	Z: 38.93
-Error in	XY:0.0187166	X:	0.0185169	Y:	0.00272704	Z:	0.0941593
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: 0.0347037	Y: 30.5414	Z: 43.2146
-Actual:	X: 0.0322	Y: 30.5372	Z: 43.13
-Error in	XY:0.00486813	X:	0.00250368	Y:	0.00417497	Z:	0.0845796
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.0535555	Z: 0.426398
-MIN	XY: 0.00313651	Z: 0.0146169
-AVG	XY: 0.020175	Z: 0.193731
-STDEV	XY: 0.0123903	Z: 0.0866191

File data/Detection Results/Detected 3D reconstructed corner_35m_18M_RTK_and_Pitch error_average approach_0.06.txt

-1 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-2 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-3 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-4 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-5 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-6 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-7 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-8 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-9 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-10 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: -0.0200272	Y: -0.00442382	Z: 5.48075
-Actual:	X: -0.02622	Y: -0.01096	Z: 5.33
-Error in	XY:0.00900404	X:	0.00619283	Y:	0.00653618	Z:	0.150748
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: -0.040278	Y: -0.0374164	Z: 9.69499
-Actual:	X: -0.04161	Y: -0.04835	Z: 9.53
-Error in	XY:0.0110144	X:	0.00133201	Y:	0.0109336	Z:	0.164989
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.064557	Y: -0.0114172	Z: 13.8855
-Actual:	X: 0.05645	Y: -0.01163	Z: 13.73
-Error in	XY:0.00810984	X:	0.00810705	Y:	0.000212761	Z:	0.155485
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0616436	Y: 0.0172661	Z: 18.1536
-Actual:	X: 0.05925	Y: 0.00867	Z: 17.93
-Error in	XY:0.0089231	X:	0.00239361	Y:	0.00859607	Z:	0.223648
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.0520907	Y: 0.00986389	Z: 22.24
-Actual:	X: -0.03193	Y: -0.01242	Z: 22.13
-Error in	XY:0.0300504	X:	0.0201607	Y:	0.0222839	Z:	0.109975
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0361991	Y: 0.0310095	Z: 26.4227
-Actual:	X: -0.04142	Y: 0.02693	Z: 26.33
-Error in	XY:0.0066257	X:	0.0052209	Y:	0.00407948	Z:	0.0926646
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: 0.0141562	Y: -0.00721512	Z: 30.8043
-Actual:	X: 0.02228	Y: -0.02106	Z: 30.53
-Error in	XY:0.0160523	X:	0.00812378	Y:	0.0138449	Z:	0.274313
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: 0.00900817	Y: -0.0034469	Z: 35.0811
-Actual:	X: 0.00725	Y: -0.01338	Z: 34.73
-Error in	XY:0.0100875	X:	0.00175817	Y:	0.0099331	Z:	0.351136
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.0665003	Y: -0.0199907	Z: 39.1664
-Actual:	X: -0.04652	Y: -0.04923	Z: 38.93
-Error in	XY:0.035414	X:	0.0199803	Y:	0.0292393	Z:	0.2364
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: -0.0498079	Y: 0.0130436	Z: 43.4531
-Actual:	X: -0.05601	Y: 0.00552	Z: 43.13
-Error in	XY:0.00975044	X:	0.00620208	Y:	0.00752365	Z:	0.323141
-
-/**********************************************************/
-Corner Point:	1	Story Index:	0
-Estimated:	X: 45.6819	Y: -0.00576547	Z: 5.57877
-Actual:	X: 45.6738	Y: -0.01027	Z: 5.33
-Error in	XY:0.00925576	X:	0.00808569	Y:	0.00450453	Z:	0.248775
-
-Corner Point:	1	Story Index:	1
-Estimated:	X: 45.6592	Y: 0.0540088	Z: 9.73924
-Actual:	X: 45.6584	Y: 0.0559	Z: 9.53
-Error in	XY:0.00204822	X:	0.000786583	Y:	0.00189116	Z:	0.209244
-
-Corner Point:	1	Story Index:	2
-Estimated:	X: 45.7532	Y: 0.0255856	Z: 13.9752
-Actual:	X: 45.7565	Y: 0.02224	Z: 13.73
-Error in	XY:0.00463263	X:	0.00320439	Y:	0.00334562	Z:	0.245197
-
-Corner Point:	1	Story Index:	3
-Estimated:	X: 45.76	Y: -0.0635546	Z: 18.1155
-Actual:	X: 45.7593	Y: -0.05258	Z: 17.93
-Error in	XY:0.0109991	X:	0.000733696	Y:	0.0109746	Z:	0.185541
-
-Corner Point:	1	Story Index:	4
-Estimated:	X: 45.6879	Y: -0.00637922	Z: 22.4149
-Actual:	X: 45.6681	Y: -0.03103	Z: 22.13
-Error in	XY:0.0316293	X:	0.0198179	Y:	0.0246508	Z:	0.284944
-
-Corner Point:	1	Story Index:	5
-Estimated:	X: 45.6834	Y: 0.0634586	Z: 26.4932
-Actual:	X: 45.6586	Y: 0.04565	Z: 26.33
-Error in	XY:0.0305507	X:	0.0248233	Y:	0.0178086	Z:	0.163238
-
-Corner Point:	1	Story Index:	6
-Estimated:	X: 45.744	Y: -0.00158453	Z: 30.7228
-Actual:	X: 45.7223	Y: -0.01646	Z: 30.53
-Error in	XY:0.0263534	X:	0.0217536	Y:	0.0148755	Z:	0.192773
-
-Corner Point:	1	Story Index:	7
-Estimated:	X: 45.6955	Y: -0.0178466	Z: 34.9662
-Actual:	X: 45.7072	Y: 0.00564	Z: 34.73
-Error in	XY:0.0262569	X:	0.0117392	Y:	0.0234866	Z:	0.236152
-
-Corner Point:	1	Story Index:	8
-Estimated:	X: 45.6821	Y: -0.0264873	Z: 39.1898
-Actual:	X: 45.6535	Y: -0.05072	Z: 38.93
-Error in	XY:0.0374737	X:	0.0285842	Y:	0.0242327	Z:	0.259801
-
-Corner Point:	1	Story Index:	9
-Estimated:	X: 45.6384	Y: -0.04213	Z: 43.314
-Actual:	X: 45.644	Y: -0.04005	Z: 43.13
-Error in	XY:0.00599541	X:	0.00562303	Y:	0.00208004	Z:	0.183973
-
-/**********************************************************/
-Corner Point:	2	Story Index:	0
-Estimated:	X: 45.7524	Y: 30.5007	Z: 5.46159
-Actual:	X: 45.7431	Y: 30.4897	Z: 5.33
-Error in	XY:0.0143574	X:	0.00926327	Y:	0.0109694	Z:	0.131592
-
-Corner Point:	2	Story Index:	1
-Estimated:	X: 45.6972	Y: 30.59	Z: 9.65805
-Actual:	X: 45.6843	Y: 30.5559	Z: 9.53
-Error in	XY:0.0364074	X:	0.0128529	Y:	0.0340632	Z:	0.128047
-
-Corner Point:	2	Story Index:	2
-Estimated:	X: 45.6638	Y: 30.5496	Z: 13.821
-Actual:	X: 45.6558	Y: 30.5222	Z: 13.73
-Error in	XY:0.0285281	X:	0.00799737	Y:	0.0273842	Z:	0.091015
-
-Corner Point:	2	Story Index:	3
-Estimated:	X: 45.7512	Y: 30.4659	Z: 18.0447
-Actual:	X: 45.7475	Y: 30.4474	Z: 17.93
-Error in	XY:0.0188139	X:	0.00367513	Y:	0.0184515	Z:	0.114744
-
-Corner Point:	2	Story Index:	4
-Estimated:	X: 45.727	Y: 30.516	Z: 22.2891
-Actual:	X: 45.7392	Y: 30.469	Z: 22.13
-Error in	XY:0.0486132	X:	0.0122678	Y:	0.0470398	Z:	0.159051
-
-Corner Point:	2	Story Index:	5
-Estimated:	X: 45.7647	Y: 30.5479	Z: 26.4224
-Actual:	X: 45.7368	Y: 30.5457	Z: 26.33
-Error in	XY:0.0279785	X:	0.0278854	Y:	0.00228074	Z:	0.0923783
-
-Corner Point:	2	Story Index:	6
-Estimated:	X: 45.7109	Y: 30.4985	Z: 30.885
-Actual:	X: 45.6936	Y: 30.4835	Z: 30.53
-Error in	XY:0.0228213	X:	0.017273	Y:	0.014915	Z:	0.35498
-
-Corner Point:	2	Story Index:	7
-Estimated:	X: 45.7734	Y: 30.5038	Z: 34.8255
-Actual:	X: 45.7453	Y: 30.5056	Z: 34.73
-Error in	XY:0.0282353	X:	0.0281744	Y:	0.00185366	Z:	0.0955342
-
-Corner Point:	2	Story Index:	8
-Estimated:	X: 45.7065	Y: 30.4631	Z: 39.0564
-Actual:	X: 45.697	Y: 30.4493	Z: 38.93
-Error in	XY:0.0167714	X:	0.00946985	Y:	0.013842	Z:	0.126397
-
-Corner Point:	2	Story Index:	9
-Estimated:	X: 45.7602	Y: 30.476	Z: 43.629
-Actual:	X: 45.757	Y: 30.4599	Z: 43.13
-Error in	XY:0.0163436	X:	0.003219	Y:	0.0160234	Z:	0.499041
-
-/**********************************************************/
-Corner Point:	3	Story Index:	0
-Estimated:	X: 0.0482734	Y: 30.4968	Z: 5.52992
-Actual:	X: 0.04312	Y: 30.489	Z: 5.33
-Error in	XY:0.00934326	X:	0.00515339	Y:	0.00779353	Z:	0.199917
-
-Corner Point:	3	Story Index:	1
-Estimated:	X: -0.00795591	Y: 30.4644	Z: 9.67173
-Actual:	X: -0.0157	Y: 30.4517	Z: 9.53
-Error in	XY:0.0149594	X:	0.00774409	Y:	0.0127989	Z:	0.141727
-
-Corner Point:	3	Story Index:	2
-Estimated:	X: -0.0294565	Y: 30.5047	Z: 13.9567
-Actual:	X: -0.04422	Y: 30.4884	Z: 13.73
-Error in	XY:0.0220336	X:	0.0147635	Y:	0.0163559	Z:	0.226664
-
-Corner Point:	3	Story Index:	3
-Estimated:	X: 0.0616199	Y: 30.5256	Z: 18.1435
-Actual:	X: 0.04753	Y: 30.5087	Z: 17.93
-Error in	XY:0.0220158	X:	0.0140899	Y:	0.0169166	Z:	0.213477
-
-Corner Point:	3	Story Index:	4
-Estimated:	X: 0.0131916	Y: 30.4844	Z: 22.2708
-Actual:	X: 0.03923	Y: 30.4876	Z: 22.13
-Error in	XY:0.0262321	X:	0.0260384	Y:	0.00318201	Z:	0.140769
-
-Corner Point:	3	Story Index:	5
-Estimated:	X: 0.0357289	Y: 30.5391	Z: 26.514
-Actual:	X: 0.03682	Y: 30.5269	Z: 26.33
-Error in	XY:0.0121852	X:	0.00109108	Y:	0.0121363	Z:	0.184018
-
-Corner Point:	3	Story Index:	6
-Estimated:	X: 0.00768498	Y: 30.4937	Z: 30.7846
-Actual:	X: -0.00638	Y: 30.4789	Z: 30.53
-Error in	XY:0.0204045	X:	0.014065	Y:	0.0147824	Z:	0.254641
-
-Corner Point:	3	Story Index:	7
-Estimated:	X: 0.0289799	Y: 30.4868	Z: 35.125
-Actual:	X: 0.04525	Y: 30.4866	Z: 34.73
-Error in	XY:0.0162714	X:	0.0162701	Y:	0.00020118	Z:	0.395014
-
-Corner Point:	3	Story Index:	8
-Estimated:	X: 0.0146718	Y: 30.4588	Z: 39.117
-Actual:	X: -0.00295	Y: 30.4508	Z: 38.93
-Error in	XY:0.0193555	X:	0.0176218	Y:	0.0080066	Z:	0.187017
-
-Corner Point:	3	Story Index:	9
-Estimated:	X: 0.109396	Y: 30.5981	Z: 43.3822
-Actual:	X: 0.05703	Y: 30.5055	Z: 43.13
-Error in	XY:0.106393	X:	0.0523664	Y:	0.0926128	Z:	0.252208
-
-/**********************************************************/
-/**********************************************************/
-Error Statistics:
-MAX	XY: 0.106393	Z: 0.499041
-MIN	XY: 0.00204822	Z: 0.091015
-AVG	XY: 0.0214573	Z: 0.207009
-STDEV	XY: 0.0171624	Z: 0.0882016

File data/Detection Results/Detected 3D reconstructed corner_3mm error of GPS and only pitch error_35m_6M.txt

-1 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-2 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-3 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-4 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-5 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-6 floor:	<0>	1	<1>	0	<2>	0	<3>	1	
-7 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-8 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-9 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-10 floor:	<0>	0	<1>	0	<2>	0	<3>	0	
-Detected Corner of 3D reconstructed Coordinate
-Corner Point:	0	Story Index:	0
-Estimated:	X: -0.0286104	Y: -0.0170517	Z: 5.51018
-Actual:	X: -0.02622	Y: -0.01096	Z: 5.33
-Error in	XY:0.00654388	X:	0.0023904	Y:	0.00609167	Z:	0.180184
-
-Corner Point:	0	Story Index:	1
-Estimated:	X: -0.0521271	Y: -0.0413234	Z: 9.58729
-Actual:	X: -0.04161	Y: -0.04835	Z: 9.53
-Error in	XY:0.0126484	X:	0.0105171	Y:	0.0070266	Z:	0.0572936
-
-Corner Point:	0	Story Index:	2
-Estimated:	X: 0.0303675	Y: -0.000530974	Z: 13.8261
-Actual:	X: 0.05645	Y: -0.01163	Z: 13.73
-Error in	XY:0.0283458	X:	0.0260825	Y:	0.011099	Z:	0.0961373
-
-Corner Point:	0	Story Index:	3
-Estimated:	X: 0.0684246	Y: 0.00397592	Z: 18.1748
-Actual:	X: 0.05925	Y: 0.00867	Z: 17.93
-Error in	XY:0.0103057	X:	0.00917457	Y:	0.00469408	Z:	0.244847
-
-Corner Point:	0	Story Index:	4
-Estimated:	X: -0.0459567	Y: 0.00199402	Z: 22.2409
-Actual:	X: -0.03193	Y: -0.01242	Z: 22.13
-Error in	XY:0.0201125	X:	0.0140267	Y:	0.014414	Z:	0.110912
-
-Corner Point:	0	Story Index:	5
-Estimated:	X: -0.0435013	Y: 0.0308186	Z: 26.3379
-Actual:	X: -0.04142	Y: 0.02693	Z: 26.33
-Error in	XY:0.00441053	X:	0.00208127	Y:	0.00388858	Z:	0.00792369
-
-Corner Point:	0	Story Index:	6
-Estimated:	X: 0.0325288	Y: -0.0326789	Z: 30.6737
-Actual:	X: 0.02228	Y: -0.02106	Z: 30.53
-Error in	XY:0.0154931	X:	0.0102488	Y:	0.0116189	Z:	0.143673
-
-Corner Point:	0	Story Index:	7
-Estimated:	X: 0.00900554	Y: -0.0128842	Z: 34.8414
-Actual:	X: 0.00725	Y: -0.01338	Z: 34.73
-Error in	XY:0.00182421	X:	0.00175554	Y:	0.000495809	Z:	0.111417
-
-Corner Point:	0	Story Index:	8
-Estimated:	X: -0.0277624	Y: -0.0654103	Z: 39.1989
-Actual:	X: -0.04652	Y: -0.04923	Z: 38.93
-Error in	XY:0.024772	X:	0.0187576	Y:	0.0161803	Z:	0.26893
-
-Corner Point:	0	Story Index:	9
-Estimated:	X: -0.0289821	Y: -0.0319249	Z: 43.1912
-Actual:	X: -0.05601	Y: 0.00552	Z: 43.13
-Error in	XY:0.0461803	X:	0.0270279	Y:	0.0374449	Z:	0.0611792