when i run app_tracking around the building, sometimes it works,,,but also got something wrong.

E0312 13:23:26.400254 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 118 ms map points # 59111 add_constraints_ms 110 ceres_solution_ms 7 save_result_ms 0 remove_outlier_ms 0

ubuntu 16.04
Intel® Core™ i7-7600U CPU @ 2.80GHz × 4

here is my command and log file.

./app_tracking -sensor_type XP2 -calib_file calib.yaml -record_map_only -record_path /home/ling/XP_release/boteye/apps/build/app_tracking/tmp/

app_tracking.ling-ThinkPad-X1-Carbon-5th.ling.log.WARNING.20190312-131629.log