============================================================================== Feature extraction ============================================================================== Processed file [1/41] Name: DJI_20200226_143850_006.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3141 Processed file [2/41] Name: DJI_20200226_143851_396.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3139 Processed file [3/41] Name: DJI_20200226_143852_910.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3227 Processed file [4/41] Name: DJI_20200226_143854_410.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3361 Processed file [5/41] Name: DJI_20200226_143855_969.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3426 Processed file [6/41] Name: DJI_20200226_143857_455.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3389 Processed file [7/41] Name: DJI_20200226_143858_657.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3498 Processed file [8/41] Name: DJI_20200226_143900_082.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3480 Processed file [9/41] Name: DJI_20200226_143901_419.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3368 Processed file [10/41] Name: DJI_20200226_143902_603.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3137 Processed file [11/41] Name: DJI_20200226_143903_817.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3338 Processed file [12/41] Name: DJI_20200226_143905_272.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3188 Processed file [13/41] Name: DJI_20200226_143906_682.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3013 Processed file [14/41] Name: DJI_20200226_143908_032.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3117 Processed file [15/41] Name: DJI_20200226_143909_533.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3308 Processed file [16/41] Name: DJI_20200226_143910_733.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3391 Processed file [17/41] Name: DJI_20200226_143912_008.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3306 Processed file [18/41] Name: DJI_20200226_143913_463.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3166 Processed file [19/41] Name: DJI_20200226_143914_572.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2944 Processed file [20/41] Name: DJI_20200226_143917_136.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2766 Processed file [21/41] Name: DJI_20200226_143918_576.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2813 Processed file [22/41] Name: DJI_20200226_143920_018.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2703 Processed file [23/41] Name: DJI_20200226_143921_201.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2672 Processed file [24/41] Name: DJI_20200226_143924_817.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2973 Processed file [25/41] Name: DJI_20200226_143926_241.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2726 Processed file [26/41] Name: DJI_20200226_143927_413.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2507 Processed file [27/41] Name: DJI_20200226_143928_568.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2392 Processed file [28/41] Name: DJI_20200226_143929_618.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2766 Processed file [29/41] Name: DJI_20200226_143930_936.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3070 Processed file [30/41] Name: DJI_20200226_143933_787.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3517 Processed file [31/41] Name: DJI_20200226_143935_646.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3587 Processed file [32/41] Name: DJI_20200226_143936_861.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3632 Processed file [33/41] Name: DJI_20200226_143938_168.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3204 Processed file [34/41] Name: DJI_20200226_143939_277.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3224 Processed file [35/41] Name: DJI_20200226_143940_416.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3369 Processed file [36/41] Name: DJI_20200226_143941_511.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3420 Processed file [37/41] Name: DJI_20200226_143942_875.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3445 Processed file [38/41] Name: DJI_20200226_143944_181.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3661 Processed file [39/41] Name: DJI_20200226_143945_441.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3208 Processed file [40/41] Name: DJI_20200226_143946_704.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 3023 Processed file [41/41] Name: DJI_20200226_143948_113.JPG Dimensions: 4032 x 3024 Camera: #1 - SIMPLE_RADIAL Focal Length: 2995.20px (Prior) Features: 2752 Elapsed time: 0.071 [minutes] ============================================================================== Exhaustive feature matching ============================================================================== Matching block [1/1, 1/1] in 3.388s Elapsed time: 0.059 [minutes] ============================================================================== Loading database ============================================================================== Loading cameras... 1 in 0.000s Loading matches... 820 in 0.012s Loading images... 41 in 0.009s (connected 41) Building correspondence graph... in 0.032s (ignored 0) Elapsed time: 0.001 [minutes] ============================================================================== Initializing with image pair #36 and #34 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.532812e+02 0.00e+00 1.66e+04 0.00e+00 0.00e+00 1.00e+04 0 1.14e-03 2.53e-03 1 3.161337e+02 3.71e+01 3.56e+02 4.74e+00 1.00e+00 3.00e+04 1 1.62e-03 4.17e-03 2 3.140044e+02 2.13e+00 8.46e+02 1.19e+01 9.94e-01 9.00e+04 1 1.51e-03 5.68e-03 3 3.125313e+02 1.47e+00 1.72e+04 2.21e+01 5.84e-01 9.04e+04 1 1.49e-03 7.18e-03 4 3.107651e+02 1.77e+00 1.74e+04 1.68e+01 6.59e-01 9.34e+04 1 1.51e-03 8.70e-03 5 3.092680e+02 1.50e+00 1.69e+04 1.47e+01 6.43e-01 9.57e+04 1 1.55e-03 1.02e-02 6 3.078837e+02 1.38e+00 1.57e+04 1.36e+01 6.59e-01 9.88e+04 1 1.49e-03 1.17e-02 7 3.066446e+02 1.24e+00 1.47e+04 1.30e+01 6.61e-01 1.02e+05 1 1.53e-03 1.33e-02 8 3.055156e+02 1.13e+00 1.38e+04 1.26e+01 6.66e-01 1.06e+05 1 1.53e-03 1.48e-02 9 3.044903e+02 1.03e+00 1.30e+04 1.23e+01 6.69e-01 1.10e+05 1 1.49e-03 1.63e-02 10 3.035552e+02 9.35e-01 1.22e+04 1.20e+01 6.72e-01 1.15e+05 1 1.56e-03 1.79e-02 11 3.027033e+02 8.52e-01 1.15e+04 1.17e+01 6.74e-01 1.20e+05 1 1.49e-03 1.94e-02 12 3.019270e+02 7.76e-01 1.09e+04 1.14e+01 6.76e-01 1.26e+05 1 1.56e-03 2.09e-02 13 3.012207e+02 7.06e-01 1.02e+04 1.12e+01 6.78e-01 1.32e+05 1 1.53e-03 2.25e-02 14 3.005793e+02 6.41e-01 9.65e+03 1.09e+01 6.80e-01 1.38e+05 1 1.52e-03 2.40e-02 15 2.999982e+02 5.81e-01 9.09e+03 1.06e+01 6.82e-01 1.45e+05 1 1.50e-03 2.55e-02 16 2.994732e+02 5.25e-01 8.54e+03 1.04e+01 6.85e-01 1.53e+05 1 1.49e-03 2.70e-02 17 2.990005e+02 4.73e-01 8.01e+03 1.01e+01 6.87e-01 1.61e+05 1 1.53e-03 2.86e-02 18 2.985764e+02 4.24e-01 7.50e+03 9.81e+00 6.89e-01 1.71e+05 1 1.54e-03 3.01e-02 19 2.981976e+02 3.79e-01 7.01e+03 9.53e+00 6.92e-01 1.81e+05 1 1.49e-03 3.16e-02 20 2.978607e+02 3.37e-01 6.53e+03 9.24e+00 6.94e-01 1.92e+05 1 1.49e-03 3.31e-02 21 2.975626e+02 2.98e-01 6.07e+03 8.95e+00 6.97e-01 2.04e+05 1 1.49e-03 3.46e-02 22 2.973005e+02 2.62e-01 5.62e+03 8.65e+00 7.00e-01 2.18e+05 1 1.49e-03 3.61e-02 23 2.970715e+02 2.29e-01 5.19e+03 8.35e+00 7.04e-01 2.34e+05 1 1.49e-03 3.76e-02 24 2.968728e+02 1.99e-01 4.77e+03 8.03e+00 7.07e-01 2.52e+05 1 1.49e-03 3.91e-02 25 2.967019e+02 1.71e-01 4.36e+03 7.71e+00 7.11e-01 2.73e+05 1 1.49e-03 4.06e-02 26 2.965563e+02 1.46e-01 3.96e+03 7.38e+00 7.16e-01 2.97e+05 1 1.53e-03 4.21e-02 27 2.964336e+02 1.23e-01 3.58e+03 7.04e+00 7.21e-01 3.25e+05 1 1.51e-03 4.36e-02 28 2.963315e+02 1.02e-01 3.20e+03 6.68e+00 7.26e-01 3.58e+05 1 1.49e-03 4.51e-02 29 2.962477e+02 8.37e-02 2.85e+03 6.32e+00 7.33e-01 3.98e+05 1 1.49e-03 4.66e-02 30 2.961803e+02 6.75e-02 2.50e+03 5.94e+00 7.40e-01 4.47e+05 1 1.49e-03 4.81e-02 31 2.961271e+02 5.32e-02 2.16e+03 5.54e+00 7.48e-01 5.09e+05 1 1.49e-03 4.96e-02 32 2.960862e+02 4.09e-02 1.84e+03 5.13e+00 7.57e-01 5.89e+05 1 1.49e-03 5.11e-02 33 2.960558e+02 3.04e-02 1.54e+03 4.70e+00 7.68e-01 6.97e+05 1 1.50e-03 5.26e-02 34 2.960342e+02 2.17e-02 1.25e+03 4.24e+00 7.82e-01 8.49e+05 1 1.49e-03 5.41e-02 35 2.960196e+02 1.46e-02 9.71e+02 3.75e+00 7.98e-01 1.08e+06 1 1.49e-03 5.56e-02 36 2.960105e+02 9.10e-03 7.16e+02 3.22e+00 8.19e-01 1.46e+06 1 1.49e-03 5.71e-02 37 2.960054e+02 5.06e-03 4.84e+02 2.65e+00 8.46e-01 2.18e+06 1 1.49e-03 5.86e-02 38 2.960031e+02 2.34e-03 2.83e+02 2.03e+00 8.82e-01 3.92e+06 1 1.49e-03 6.01e-02 39 2.960023e+02 7.88e-04 1.24e+02 1.35e+00 9.28e-01 1.06e+07 1 1.50e-03 6.16e-02 40 2.960022e+02 1.39e-04 2.86e+01 6.47e-01 9.78e-01 3.17e+07 1 1.49e-03 6.31e-02 41 2.960021e+02 5.93e-06 1.93e+00 1.31e-01 1.00e+00 9.51e+07 1 1.49e-03 6.46e-02 42 2.960021e+02 1.91e-08 1.74e-02 9.48e-03 1.01e+00 2.85e+08 1 1.53e-03 6.61e-02 Bundle adjustment report ------------------------ Residuals : 2076 Parameters : 1564 Iterations : 43 Time : 0.0661881 [s] Initial cost : 0.412521 [px] Final cost : 0.377602 [px] Termination : Convergence => Filtered observations: 0 => Filtered images: 0 ============================================================================== Registering image #35 (3) ============================================================================== => Image sees 387 / 2296 points Pose refinement report ---------------------- Residuals : 772 Parameters : 8 Iterations : 8 Time : 0.00494409 [s] Initial cost : 0.455668 [px] Final cost : 0.423475 [px] Termination : Convergence => Continued observations: 386 => Added observations: 2046 Bundle adjustment report ------------------------ Residuals : 6940 Parameters : 4381 Iterations : 26 Time : 0.160045 [s] Initial cost : 0.383696 [px] Final cost : 0.363996 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 3 => Filtered observations: 32 => Changed observations: 0.010086 Bundle adjustment report ------------------------ Residuals : 6880 Parameters : 4366 Iterations : 11 Time : 0.068327 [s] Initial cost : 0.408828 [px] Final cost : 0.397623 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 8 => Filtered observations: 0 => Changed observations: 0.002326 ============================================================================== Retriangulation ============================================================================== => Merged observations: 0 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.104859e+03 0.00e+00 1.93e+02 0.00e+00 0.00e+00 1.00e+04 0 4.11e-03 8.06e-03 1 1.104811e+03 4.80e-02 2.94e+00 1.92e-01 1.00e+00 3.00e+04 1 6.08e-03 1.41e-02 2 1.104807e+03 3.89e-03 3.48e+00 3.60e-01 1.00e+00 9.00e+04 1 5.84e-03 2.00e-02 3 1.104804e+03 3.00e-03 1.77e+00 4.73e-01 1.00e+00 2.70e+05 1 5.83e-03 2.58e-02 4 1.104802e+03 1.69e-03 3.47e+01 5.78e-01 9.99e-01 8.10e+05 1 5.82e-03 3.17e-02 5 1.104801e+03 1.83e-03 1.31e+02 1.03e+00 9.88e-01 2.43e+06 1 5.84e-03 3.75e-02 6 1.104799e+03 1.14e-03 1.74e+02 1.18e+00 9.69e-01 7.29e+06 1 5.81e-03 4.33e-02 7 1.104799e+03 2.27e-04 4.65e+01 6.10e-01 9.88e-01 2.19e+07 1 5.87e-03 4.92e-02 8 1.104799e+03 8.41e-06 1.74e+00 1.18e-01 1.00e+00 6.56e+07 1 5.86e-03 5.51e-02 9 1.104799e+03 3.05e-08 1.72e-01 7.91e-03 1.01e+00 1.97e+08 1 5.91e-03 6.10e-02 10 1.104799e+03 4.50e-11 3.20e-03 2.10e-04 1.39e+00 5.90e+08 1 5.85e-03 6.69e-02 Bundle adjustment report ------------------------ Residuals : 6896 Parameters : 4378 Iterations : 11 Time : 0.0669701 [s] Initial cost : 0.400272 [px] Final cost : 0.400261 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #14 (4) ============================================================================== => Image sees 986 / 2206 points Pose refinement report ---------------------- Residuals : 1954 Parameters : 6 Iterations : 10 Time : 0.0172341 [s] Initial cost : 0.620154 [px] Final cost : 0.505648 [px] Termination : Convergence => Continued observations: 977 => Added observations: 562 Bundle adjustment report ------------------------ Residuals : 9974 Parameters : 5134 Iterations : 26 Time : 0.238106 [s] Initial cost : 0.455118 [px] Final cost : 0.42056 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 24 => Filtered observations: 98 => Changed observations: 0.024464 Bundle adjustment report ------------------------ Residuals : 9802 Parameters : 5080 Iterations : 4 Time : 0.0405362 [s] Initial cost : 0.455295 [px] Final cost : 0.436419 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 30 => Filtered observations: 0 => Changed observations: 0.006121 ============================================================================== Retriangulation ============================================================================== => Merged observations: 0 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.964593e+03 0.00e+00 4.88e+02 0.00e+00 0.00e+00 1.00e+04 0 6.46e-03 1.23e-02 1 1.962951e+03 1.64e+00 4.70e+01 5.74e-01 1.00e+00 3.00e+04 1 9.48e-03 2.17e-02 2 1.962944e+03 7.05e-03 2.49e+01 2.31e-01 1.00e+00 9.00e+04 1 9.17e-03 3.09e-02 3 1.962938e+03 5.75e-03 6.37e+01 5.86e-01 1.00e+00 2.70e+05 1 9.15e-03 4.01e-02 4 1.962928e+03 1.03e-02 2.95e+02 1.30e+00 9.96e-01 8.10e+05 1 9.00e-03 4.91e-02 5 1.962919e+03 9.34e-03 6.24e+02 1.89e+00 9.78e-01 2.43e+06 1 8.94e-03 5.80e-02 6 1.962916e+03 2.98e-03 3.23e+02 1.36e+00 9.85e-01 7.29e+06 1 8.99e-03 6.70e-02 7 1.962916e+03 2.43e-04 2.73e+01 3.95e-01 1.01e+00 2.19e+07 1 9.04e-03 7.61e-02 8 1.962916e+03 2.51e-06 1.21e+00 4.39e-02 1.02e+00 6.56e+07 1 9.02e-03 8.51e-02 9 1.962916e+03 5.96e-09 5.18e-02 2.16e-03 1.03e+00 1.97e+08 1 8.89e-03 9.40e-02 Bundle adjustment report ------------------------ Residuals : 9862 Parameters : 5113 Iterations : 10 Time : 0.0941801 [s] Initial cost : 0.446328 [px] Final cost : 0.446137 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 4 => Changed observations: 0.000811 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.938334e+03 0.00e+00 6.66e+01 0.00e+00 0.00e+00 1.00e+04 0 6.41e-03 1.21e-02 1 1.938295e+03 3.83e-02 1.87e+01 1.78e-01 1.00e+00 3.00e+04 1 9.30e-03 2.14e-02 2 1.938294e+03 8.96e-04 2.15e+00 1.96e-01 1.00e+00 9.00e+04 1 8.86e-03 3.03e-02 3 1.938294e+03 2.43e-04 1.38e+00 2.11e-01 1.00e+00 2.70e+05 1 9.23e-03 3.95e-02 4 1.938294e+03 7.42e-05 1.43e+00 2.05e-01 1.00e+00 8.10e+05 1 9.02e-03 4.85e-02 5 1.938294e+03 4.89e-05 3.13e+00 2.44e-01 1.00e+00 2.43e+06 1 9.09e-03 5.76e-02 6 1.938294e+03 1.43e-05 1.97e+00 1.72e-01 1.01e+00 7.29e+06 1 8.99e-03 6.66e-02 7 1.938294e+03 9.09e-07 6.46e-01 5.01e-02 1.01e+00 2.19e+07 1 8.96e-03 7.56e-02 8 1.938294e+03 1.05e-08 8.39e-02 5.59e-03 1.02e+00 6.56e+07 1 8.96e-03 8.46e-02 Bundle adjustment report ------------------------ Residuals : 9850 Parameters : 5107 Iterations : 9 Time : 0.0847461 [s] Initial cost : 0.443605 [px] Final cost : 0.4436 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #15 (5) ============================================================================== => Image sees 986 / 2258 points Pose refinement report ---------------------- Residuals : 1964 Parameters : 6 Iterations : 6 Time : 0.0105741 [s] Initial cost : 0.508943 [px] Final cost : 0.488404 [px] Termination : Convergence => Continued observations: 976 => Added observations: 536 Bundle adjustment report ------------------------ Residuals : 12874 Parameters : 5785 Iterations : 26 Time : 0.336285 [s] Initial cost : 0.450478 [px] Final cost : 0.418281 [px] Termination : No convergence => Merged observations: 29 => Completed observations: 40 => Filtered observations: 121 => Changed observations: 0.029517 Bundle adjustment report ------------------------ Residuals : 12688 Parameters : 5701 Iterations : 2 Time : 0.0285439 [s] Initial cost : 0.462532 [px] Final cost : 0.446521 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 36 => Filtered observations: 0 => Changed observations: 0.005675 ============================================================================== Retriangulation ============================================================================== => Merged observations: 0 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.622233e+03 0.00e+00 4.50e+03 0.00e+00 0.00e+00 1.00e+04 0 8.39e-03 1.59e-02 1 2.614303e+03 7.93e+00 7.34e+01 1.95e+00 1.00e+00 3.00e+04 1 1.28e-02 2.87e-02 2 2.614281e+03 2.22e-02 1.96e+01 6.51e-01 1.00e+00 9.00e+04 1 1.23e-02 4.10e-02 3 2.614265e+03 1.58e-02 1.54e+02 1.17e+00 9.99e-01 2.70e+05 1 1.22e-02 5.32e-02 4 2.614244e+03 2.15e-02 6.41e+02 2.99e+00 9.92e-01 8.10e+05 1 1.22e-02 6.53e-02 5 2.614224e+03 1.98e-02 1.37e+03 4.63e+00 9.59e-01 2.43e+06 1 1.22e-02 7.75e-02 6 2.614217e+03 7.03e-03 7.65e+02 3.48e+00 9.66e-01 7.29e+06 1 1.21e-02 8.96e-02 7 2.614216e+03 7.11e-04 7.02e+01 1.05e+00 1.00e+00 2.19e+07 1 1.22e-02 1.02e-01 8 2.614216e+03 7.50e-06 1.99e+00 1.20e-01 1.01e+00 6.56e+07 1 1.21e-02 1.14e-01 9 2.614216e+03 1.37e-08 7.36e-02 5.69e-03 1.03e+00 1.97e+08 1 1.20e-02 1.26e-01 Bundle adjustment report ------------------------ Residuals : 12760 Parameters : 5743 Iterations : 10 Time : 0.126193 [s] Initial cost : 0.453326 [px] Final cost : 0.452632 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 2 => Changed observations: 0.000313 => Filtered images: 0 ============================================================================== Registering image #13 (6) ============================================================================== => Image sees 897 / 1800 points Pose refinement report ---------------------- Residuals : 1776 Parameters : 6 Iterations : 7 Time : 0.011167 [s] Initial cost : 0.567297 [px] Final cost : 0.507456 [px] Termination : Convergence => Continued observations: 884 => Added observations: 524 Bundle adjustment report ------------------------ Residuals : 15570 Parameters : 6412 Iterations : 26 Time : 0.421902 [s] Initial cost : 0.450937 [px] Final cost : 0.420947 [px] Termination : No convergence => Merged observations: 12 => Completed observations: 38 => Filtered observations: 91 => Changed observations: 0.018112 Bundle adjustment report ------------------------ Residuals : 15454 Parameters : 6370 Iterations : 3 Time : 0.0512719 [s] Initial cost : 0.479706 [px] Final cost : 0.466518 [px] Termination : Convergence => Merged observations: 4 => Completed observations: 18 => Filtered observations: 1 => Changed observations: 0.002977 ============================================================================== Retriangulation ============================================================================== => Merged observations: 1 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.427421e+03 0.00e+00 2.82e+02 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 2.01e-02 1 3.418844e+03 8.58e+00 9.59e+00 1.35e+00 1.00e+00 3.00e+04 1 1.60e-02 3.61e-02 2 3.418834e+03 9.13e-03 6.43e+00 3.30e-01 1.00e+00 9.00e+04 1 1.52e-02 5.13e-02 3 3.418827e+03 7.01e-03 5.54e+01 6.31e-01 1.00e+00 2.70e+05 1 1.52e-02 6.66e-02 4 3.418816e+03 1.14e-02 3.08e+02 1.31e+00 9.98e-01 8.10e+05 1 1.52e-02 8.18e-02 5 3.418806e+03 1.02e-02 6.43e+02 1.87e+00 9.87e-01 2.43e+06 1 1.52e-02 9.70e-02 6 3.418803e+03 3.05e-03 3.21e+02 1.32e+00 9.92e-01 7.29e+06 1 1.53e-02 1.12e-01 7 3.418803e+03 2.21e-04 2.60e+01 3.75e-01 1.01e+00 2.19e+07 1 1.53e-02 1.28e-01 8 3.418803e+03 2.20e-06 8.99e-01 4.06e-02 1.01e+00 6.56e+07 1 1.52e-02 1.43e-01 9 3.418803e+03 4.86e-09 3.84e-02 1.89e-03 1.03e+00 1.97e+08 1 1.52e-02 1.58e-01 Bundle adjustment report ------------------------ Residuals : 15490 Parameters : 6388 Iterations : 10 Time : 0.158267 [s] Initial cost : 0.47039 [px] Final cost : 0.469798 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #9 (7) ============================================================================== => Image sees 943 / 2472 points Pose refinement report ---------------------- Residuals : 1860 Parameters : 6 Iterations : 12 Time : 0.016166 [s] Initial cost : 0.702508 [px] Final cost : 0.565571 [px] Termination : Convergence => Continued observations: 924 => Added observations: 875 Bundle adjustment report ------------------------ Residuals : 18072 Parameters : 5965 Iterations : 18 Time : 0.307777 [s] Initial cost : 0.474889 [px] Final cost : 0.453897 [px] Termination : Convergence => Merged observations: 29 => Completed observations: 59 => Filtered observations: 122 => Changed observations: 0.023240 Bundle adjustment report ------------------------ Residuals : 17932 Parameters : 5929 Iterations : 3 Time : 0.054723 [s] Initial cost : 0.510572 [px] Final cost : 0.494928 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 25 => Filtered observations: 2 => Changed observations: 0.003011 ============================================================================== Retriangulation ============================================================================== => Merged observations: 4 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.743632e+03 0.00e+00 9.40e+02 0.00e+00 0.00e+00 1.00e+04 0 1.25e-02 2.37e-02 1 4.728671e+03 1.50e+01 2.58e+03 4.06e+00 1.00e+00 3.00e+04 1 2.00e-02 4.37e-02 2 4.725999e+03 2.67e+00 1.69e+03 5.39e+00 1.00e+00 9.00e+04 1 1.90e-02 6.28e-02 3 4.725210e+03 7.88e-01 6.40e+02 4.49e+00 1.00e+00 2.70e+05 1 1.90e-02 8.18e-02 4 4.724952e+03 2.59e-01 5.60e+03 5.22e+00 9.65e-01 8.10e+05 1 1.90e-02 1.01e-01 5 4.724795e+03 1.57e-01 1.17e+04 6.81e+00 7.79e-01 9.81e+05 1 1.91e-02 1.20e-01 6 4.724713e+03 8.22e-02 2.81e+03 3.34e+00 9.69e-01 2.94e+06 1 1.90e-02 1.39e-01 7 4.724703e+03 9.88e-03 8.52e+02 1.84e+00 9.75e-01 8.82e+06 1 1.91e-02 1.58e-01 8 4.724703e+03 4.92e-04 3.62e+01 3.80e-01 9.99e-01 2.65e+07 1 1.90e-02 1.77e-01 9 4.724703e+03 1.74e-06 8.90e-01 2.71e-02 1.01e+00 7.94e+07 1 1.89e-02 1.96e-01 10 4.724703e+03 1.59e-09 1.16e-02 7.47e-04 9.97e-01 2.38e+08 1 1.89e-02 2.15e-01 Bundle adjustment report ------------------------ Residuals : 18998 Parameters : 7480 Iterations : 11 Time : 0.21526 [s] Initial cost : 0.499691 [px] Final cost : 0.498693 [px] Termination : Convergence => Merged observations: 1 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000105 => Filtered images: 0 ============================================================================== Registering image #32 (8) ============================================================================== => Image sees 1095 / 2406 points Pose refinement report ---------------------- Residuals : 2162 Parameters : 6 Iterations : 10 Time : 0.0177109 [s] Initial cost : 0.684165 [px] Final cost : 0.529542 [px] Termination : Convergence => Continued observations: 1072 => Added observations: 444 Bundle adjustment report ------------------------ Residuals : 20182 Parameters : 5590 Iterations : 26 Time : 0.474512 [s] Initial cost : 0.479915 [px] Final cost : 0.462258 [px] Termination : No convergence => Merged observations: 43 => Completed observations: 54 => Filtered observations: 141 => Changed observations: 0.023585 Bundle adjustment report ------------------------ Residuals : 19998 Parameters : 5530 Iterations : 3 Time : 0.0685871 [s] Initial cost : 0.519273 [px] Final cost : 0.505897 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 39 => Filtered observations: 0 => Changed observations: 0.003900 ============================================================================== Retriangulation ============================================================================== => Merged observations: 4 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.834078e+03 0.00e+00 2.21e+04 0.00e+00 0.00e+00 1.00e+04 0 1.48e-02 2.81e-02 1 5.800400e+03 3.37e+01 3.43e+03 1.78e+00 1.00e+00 3.00e+04 1 2.38e-02 5.19e-02 2 5.800195e+03 2.04e-01 8.13e+02 7.57e-01 1.00e+00 9.00e+04 1 2.27e-02 7.46e-02 3 5.800080e+03 1.15e-01 1.31e+03 1.90e+00 9.95e-01 2.70e+05 1 2.25e-02 9.72e-02 4 5.799892e+03 1.88e-01 5.47e+03 4.11e+00 9.55e-01 8.10e+05 1 2.30e-02 1.20e-01 5 5.799750e+03 1.42e-01 1.03e+04 5.68e+00 8.24e-01 1.11e+06 1 2.27e-02 1.43e-01 6 5.799687e+03 6.35e-02 2.76e+03 2.95e+00 9.65e-01 3.34e+06 1 2.27e-02 1.66e-01 7 5.799679e+03 7.70e-03 6.95e+02 1.48e+00 9.76e-01 1.00e+07 1 2.26e-02 1.88e-01 8 5.799679e+03 2.84e-04 2.23e+01 2.66e-01 9.95e-01 3.01e+07 1 2.27e-02 2.11e-01 9 5.799679e+03 6.25e-07 6.00e-01 1.46e-02 1.00e+00 9.02e+07 1 2.26e-02 2.34e-01 10 5.799679e+03 4.41e-10 1.90e-03 2.49e-04 1.10e+00 2.71e+08 1 2.26e-02 2.56e-01 Bundle adjustment report ------------------------ Residuals : 21930 Parameters : 8005 Iterations : 11 Time : 0.256605 [s] Initial cost : 0.515783 [px] Final cost : 0.51426 [px] Termination : Convergence => Merged observations: 1 => Completed observations: 0 => Filtered observations: 4 => Changed observations: 0.000456 => Filtered images: 0 ============================================================================== Registering image #33 (9) ============================================================================== => Image sees 1079 / 2225 points Pose refinement report ---------------------- Residuals : 2116 Parameters : 6 Iterations : 9 Time : 0.016263 [s] Initial cost : 0.60064 [px] Final cost : 0.530732 [px] Termination : Convergence => Continued observations: 1047 => Added observations: 1183 Bundle adjustment report ------------------------ Residuals : 22248 Parameters : 5428 Iterations : 26 Time : 0.520677 [s] Initial cost : 0.517029 [px] Final cost : 0.496941 [px] Termination : No convergence => Merged observations: 38 => Completed observations: 111 => Filtered observations: 203 => Changed observations: 0.031643 Bundle adjustment report ------------------------ Residuals : 22050 Parameters : 5338 Iterations : 3 Time : 0.071348 [s] Initial cost : 0.531012 [px] Final cost : 0.516084 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 56 => Filtered observations: 0 => Changed observations: 0.005079 ============================================================================== Retriangulation ============================================================================== => Merged observations: 2 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.153670e+03 0.00e+00 2.52e+04 0.00e+00 0.00e+00 1.00e+04 0 1.81e-02 3.49e-02 1 7.130944e+03 2.27e+01 1.20e+02 1.16e+00 1.00e+00 3.00e+04 1 2.85e-02 6.34e-02 2 7.130846e+03 9.78e-02 2.40e+02 8.05e-01 9.99e-01 9.00e+04 1 2.75e-02 9.10e-02 3 7.130729e+03 1.17e-01 1.24e+03 1.76e+00 9.95e-01 2.70e+05 1 2.73e-02 1.18e-01 4 7.130547e+03 1.82e-01 5.31e+03 3.83e+00 9.63e-01 8.10e+05 1 2.73e-02 1.46e-01 5 7.130404e+03 1.43e-01 1.02e+04 5.36e+00 8.51e-01 1.24e+06 1 2.72e-02 1.73e-01 6 7.130344e+03 6.01e-02 3.11e+03 2.95e+00 9.61e-01 3.72e+06 1 2.72e-02 2.00e-01 7 7.130336e+03 7.63e-03 7.00e+02 1.40e+00 9.80e-01 1.12e+07 1 2.72e-02 2.27e-01 8 7.130336e+03 2.46e-04 2.04e+01 2.38e-01 9.97e-01 3.35e+07 1 2.72e-02 2.54e-01 9 7.130336e+03 5.10e-07 5.06e-01 1.27e-02 1.01e+00 1.00e+08 1 2.74e-02 2.82e-01 10 7.130336e+03 4.01e-10 1.99e-03 2.42e-04 1.03e+00 3.01e+08 1 2.73e-02 3.09e-01 Bundle adjustment report ------------------------ Residuals : 26290 Parameters : 9427 Iterations : 11 Time : 0.309646 [s] Initial cost : 0.521638 [px] Final cost : 0.520786 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #10 (10) ============================================================================== => Image sees 1335 / 2167 points Pose refinement report ---------------------- Residuals : 2660 Parameters : 6 Iterations : 7 Time : 0.016134 [s] Initial cost : 0.558731 [px] Final cost : 0.514483 [px] Termination : Convergence => Continued observations: 1303 => Added observations: 652 Bundle adjustment report ------------------------ Residuals : 24956 Parameters : 5368 Iterations : 26 Time : 0.521035 [s] Initial cost : 0.503235 [px] Final cost : 0.487811 [px] Termination : No convergence => Merged observations: 146 => Completed observations: 58 => Filtered observations: 188 => Changed observations: 0.031415 Bundle adjustment report ------------------------ Residuals : 24710 Parameters : 5260 Iterations : 3 Time : 0.0665021 [s] Initial cost : 0.546188 [px] Final cost : 0.533515 [px] Termination : Convergence => Merged observations: 17 => Completed observations: 73 => Filtered observations: 1 => Changed observations: 0.007365 ============================================================================== Retriangulation ============================================================================== => Merged observations: 3 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.720481e+03 0.00e+00 3.02e+04 0.00e+00 0.00e+00 1.00e+04 0 2.08e-02 3.98e-02 1 8.677179e+03 4.33e+01 1.15e+03 2.04e+00 1.00e+00 3.00e+04 1 3.40e-02 7.38e-02 2 8.677042e+03 1.36e-01 9.83e+01 7.21e-01 1.00e+00 9.00e+04 1 3.22e-02 1.06e-01 3 8.676932e+03 1.10e-01 1.09e+03 1.61e+00 9.96e-01 2.70e+05 1 3.19e-02 1.38e-01 4 8.676756e+03 1.76e-01 5.10e+03 3.56e+00 9.69e-01 8.10e+05 1 3.19e-02 1.70e-01 5 8.676613e+03 1.43e-01 1.02e+04 5.08e+00 8.67e-01 1.34e+06 1 3.20e-02 2.02e-01 6 8.676555e+03 5.88e-02 3.44e+03 2.94e+00 9.58e-01 4.03e+06 1 3.21e-02 2.34e-01 7 8.676547e+03 7.73e-03 7.18e+02 1.34e+00 9.82e-01 1.21e+07 1 3.20e-02 2.66e-01 8 8.676547e+03 2.27e-04 1.94e+01 2.20e-01 9.97e-01 3.63e+07 1 3.20e-02 2.98e-01 9 8.676547e+03 4.42e-07 5.35e-01 1.16e-02 1.01e+00 1.09e+08 1 3.36e-02 3.32e-01 Bundle adjustment report ------------------------ Residuals : 30066 Parameters : 10123 Iterations : 10 Time : 0.332333 [s] Initial cost : 0.538558 [px] Final cost : 0.5372 [px] Termination : Convergence => Merged observations: 1 => Completed observations: 0 => Filtered observations: 4 => Changed observations: 0.000333 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 1172 / 2542 points Pose refinement report ---------------------- Residuals : 2318 Parameters : 6 Iterations : 8 Time : 0.0158031 [s] Initial cost : 0.591878 [px] Final cost : 0.542331 [px] Termination : Convergence => Continued observations: 1135 => Added observations: 1074 Bundle adjustment report ------------------------ Residuals : 26114 Parameters : 5413 Iterations : 14 Time : 0.303011 [s] Initial cost : 0.508026 [px] Final cost : 0.485698 [px] Termination : Convergence => Merged observations: 38 => Completed observations: 63 => Filtered observations: 168 => Changed observations: 0.020602 Bundle adjustment report ------------------------ Residuals : 25904 Parameters : 5353 Iterations : 3 Time : 0.0672328 [s] Initial cost : 0.551532 [px] Final cost : 0.539532 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 39 => Filtered observations: 2 => Changed observations: 0.003629 ============================================================================== Retriangulation ============================================================================== => Merged observations: 2 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.026038e+04 0.00e+00 8.21e+04 0.00e+00 0.00e+00 1.00e+04 0 2.38e-02 4.65e-02 1 1.023110e+04 2.93e+01 7.73e+02 1.14e+00 1.00e+00 3.00e+04 1 3.92e-02 8.57e-02 2 1.023098e+04 1.18e-01 5.75e+02 8.82e-01 1.00e+00 9.00e+04 1 3.72e-02 1.23e-01 3 1.023075e+04 2.26e-01 2.42e+03 2.33e+00 9.95e-01 2.70e+05 1 3.71e-02 1.60e-01 4 1.023037e+04 3.80e-01 1.11e+04 5.11e+00 9.42e-01 8.10e+05 1 3.83e-02 1.98e-01 5 1.023009e+04 2.83e-01 2.22e+04 7.22e+00 7.54e-01 9.32e+05 1 3.75e-02 2.36e-01 6 1.022993e+04 1.65e-01 5.54e+03 3.59e+00 9.65e-01 2.80e+06 1 3.79e-02 2.74e-01 7 1.022990e+04 2.27e-02 2.09e+03 2.21e+00 9.61e-01 8.39e+06 1 3.80e-02 3.12e-01 8 1.022990e+04 1.54e-03 1.12e+02 5.10e-01 9.95e-01 2.52e+07 1 3.79e-02 3.50e-01 9 1.022990e+04 6.39e-06 1.54e+00 3.85e-02 1.00e+00 7.55e+07 1 3.86e-02 3.88e-01 10 1.022990e+04 4.14e-09 3.61e-02 9.06e-04 1.03e+00 2.26e+08 1 3.80e-02 4.26e-01 Bundle adjustment report ------------------------ Residuals : 34328 Parameters : 11419 Iterations : 11 Time : 0.426859 [s] Initial cost : 0.546711 [px] Final cost : 0.545898 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 2 => Changed observations: 0.000117 => Filtered images: 0 ============================================================================== Registering image #8 (12) ============================================================================== => Image sees 1420 / 2490 points Pose refinement report ---------------------- Residuals : 2842 Parameters : 6 Iterations : 9 Time : 0.022238 [s] Initial cost : 0.580825 [px] Final cost : 0.539751 [px] Termination : Convergence => Continued observations: 1398 => Added observations: 468 Bundle adjustment report ------------------------ Residuals : 28606 Parameters : 5431 Iterations : 26 Time : 0.588998 [s] Initial cost : 0.496794 [px] Final cost : 0.479154 [px] Termination : No convergence => Merged observations: 52 => Completed observations: 53 => Filtered observations: 175 => Changed observations: 0.019576 Bundle adjustment report ------------------------ Residuals : 28358 Parameters : 5347 Iterations : 3 Time : 0.071887 [s] Initial cost : 0.55897 [px] Final cost : 0.547837 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 51 => Filtered observations: 3 => Changed observations: 0.003808 ============================================================================== Registering image #30 (13) ============================================================================== => Image sees 1153 / 2219 points Pose refinement report ---------------------- Residuals : 2318 Parameters : 6 Iterations : 9 Time : 0.0176952 [s] Initial cost : 0.557247 [px] Final cost : 0.549236 [px] Termination : Convergence => Continued observations: 1125 => Added observations: 825 Bundle adjustment report ------------------------ Residuals : 28354 Parameters : 5275 Iterations : 18 Time : 0.409188 [s] Initial cost : 0.504562 [px] Final cost : 0.48055 [px] Termination : Convergence => Merged observations: 94 => Completed observations: 55 => Filtered observations: 159 => Changed observations: 0.021725 Bundle adjustment report ------------------------ Residuals : 28188 Parameters : 5218 Iterations : 3 Time : 0.0751419 [s] Initial cost : 0.561424 [px] Final cost : 0.550729 [px] Termination : Convergence => Merged observations: 9 => Completed observations: 38 => Filtered observations: 3 => Changed observations: 0.003548 ============================================================================== Retriangulation ============================================================================== => Merged observations: 12 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.314309e+04 0.00e+00 1.40e+05 0.00e+00 0.00e+00 1.00e+04 0 2.92e-02 5.72e-02 1 1.305458e+04 8.85e+01 9.21e+03 2.88e+00 1.00e+00 3.00e+04 1 5.12e-02 1.08e-01 2 1.305397e+04 6.16e-01 2.71e+02 1.47e+00 1.00e+00 9.00e+04 1 4.78e-02 1.56e-01 3 1.305384e+04 1.30e-01 2.30e+02 1.16e+00 1.00e+00 2.70e+05 1 4.79e-02 2.04e-01 4 1.305379e+04 4.52e-02 1.10e+03 1.45e+00 9.95e-01 8.10e+05 1 4.76e-02 2.52e-01 5 1.305377e+04 2.66e-02 1.52e+03 1.80e+00 9.85e-01 2.43e+06 1 4.76e-02 2.99e-01 6 1.305376e+04 5.30e-03 4.58e+02 9.95e-01 9.93e-01 7.29e+06 1 4.77e-02 3.47e-01 7 1.305376e+04 2.03e-04 1.96e+01 2.07e-01 1.00e+00 2.19e+07 1 4.77e-02 3.95e-01 8 1.305376e+04 9.25e-07 9.35e-01 1.49e-02 1.01e+00 6.56e+07 1 4.80e-02 4.43e-01 Bundle adjustment report ------------------------ Residuals : 41650 Parameters : 12904 Iterations : 9 Time : 0.443593 [s] Initial cost : 0.561748 [px] Final cost : 0.559835 [px] Termination : Convergence => Merged observations: 1 => Completed observations: 0 => Filtered observations: 6 => Changed observations: 0.000336 => Filtered images: 0 ============================================================================== Registering image #7 (14) ============================================================================== => Image sees 1200 / 2119 points Pose refinement report ---------------------- Residuals : 2416 Parameters : 6 Iterations : 7 Time : 0.0147281 [s] Initial cost : 0.566349 [px] Final cost : 0.552953 [px] Termination : Convergence => Continued observations: 1181 => Added observations: 507 Bundle adjustment report ------------------------ Residuals : 29688 Parameters : 4939 Iterations : 23 Time : 0.542426 [s] Initial cost : 0.498462 [px] Final cost : 0.475822 [px] Termination : Convergence => Merged observations: 63 => Completed observations: 37 => Filtered observations: 158 => Changed observations: 0.017381 Bundle adjustment report ------------------------ Residuals : 29386 Parameters : 4885 Iterations : 3 Time : 0.071399 [s] Initial cost : 0.56053 [px] Final cost : 0.551103 [px] Termination : Convergence => Merged observations: 26 => Completed observations: 33 => Filtered observations: 0 => Changed observations: 0.004016 ============================================================================== Registering image #16 (15) ============================================================================== => Image sees 1187 / 2301 points Pose refinement report ---------------------- Residuals : 2342 Parameters : 6 Iterations : 7 Time : 0.0135431 [s] Initial cost : 0.602623 [px] Final cost : 0.563478 [px] Termination : Convergence => Continued observations: 1141 => Added observations: 863 Bundle adjustment report ------------------------ Residuals : 30540 Parameters : 5221 Iterations : 26 Time : 0.597541 [s] Initial cost : 0.533386 [px] Final cost : 0.507544 [px] Termination : No convergence => Merged observations: 102 => Completed observations: 74 => Filtered observations: 199 => Changed observations: 0.024558 Bundle adjustment report ------------------------ Residuals : 29578 Parameters : 5089 Iterations : 3 Time : 0.0713401 [s] Initial cost : 0.577083 [px] Final cost : 0.566002 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 44 => Filtered observations: 1 => Changed observations: 0.003043 ============================================================================== Retriangulation ============================================================================== => Merged observations: 7 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.605476e+04 0.00e+00 1.89e+05 0.00e+00 0.00e+00 1.00e+04 0 3.46e-02 6.87e-02 1 1.595979e+04 9.50e+01 3.26e+00 1.85e+00 1.00e+00 3.00e+04 1 6.11e-02 1.30e-01 2 1.595970e+04 8.46e-02 1.16e+01 6.24e-01 1.00e+00 9.00e+04 1 5.77e-02 1.87e-01 3 1.595967e+04 3.69e-02 1.78e+02 7.83e-01 1.00e+00 2.70e+05 1 5.74e-02 2.45e-01 4 1.595963e+04 3.40e-02 8.14e+02 1.23e+00 9.97e-01 8.10e+05 1 5.73e-02 3.02e-01 5 1.595961e+04 1.90e-02 9.82e+02 1.31e+00 9.92e-01 2.43e+06 1 5.74e-02 3.60e-01 6 1.595961e+04 2.89e-03 2.22e+02 6.22e-01 9.96e-01 7.29e+06 1 5.73e-02 4.17e-01 7 1.595961e+04 7.69e-05 6.90e+00 1.09e-01 1.00e+00 2.19e+07 1 5.76e-02 4.75e-01 8 1.595961e+04 2.61e-07 5.41e-01 6.57e-03 1.01e+00 6.56e+07 1 5.76e-02 5.32e-01 Bundle adjustment report ------------------------ Residuals : 48664 Parameters : 14524 Iterations : 9 Time : 0.533171 [s] Initial cost : 0.574378 [px] Final cost : 0.572674 [px] Termination : Convergence => Merged observations: 3 => Completed observations: 0 => Filtered observations: 3 => Changed observations: 0.000247 => Filtered images: 0 ============================================================================== Registering image #37 (16) ============================================================================== => Image sees 1461 / 2364 points Pose refinement report ---------------------- Residuals : 2946 Parameters : 6 Iterations : 8 Time : 0.0196779 [s] Initial cost : 0.594802 [px] Final cost : 0.547693 [px] Termination : Convergence => Continued observations: 1420 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 30972 Parameters : 5140 Iterations : 22 Time : 0.512544 [s] Initial cost : 0.543803 [px] Final cost : 0.521513 [px] Termination : Convergence => Merged observations: 130 => Completed observations: 54 => Filtered observations: 257 => Changed observations: 0.028477 Bundle adjustment report ------------------------ Residuals : 29872 Parameters : 4918 Iterations : 3 Time : 0.0706699 [s] Initial cost : 0.591903 [px] Final cost : 0.57989 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 89 => Filtered observations: 1 => Changed observations: 0.006695 ============================================================================== Registering image #11 (17) ============================================================================== => Image sees 1189 / 1825 points Pose refinement report ---------------------- Residuals : 2382 Parameters : 6 Iterations : 12 Time : 0.0235331 [s] Initial cost : 0.596717 [px] Final cost : 0.574287 [px] Termination : Convergence => Continued observations: 1156 => Added observations: 546 Bundle adjustment report ------------------------ Residuals : 27304 Parameters : 4153 Iterations : 22 Time : 0.460782 [s] Initial cost : 0.544704 [px] Final cost : 0.517711 [px] Termination : Convergence => Merged observations: 108 => Completed observations: 57 => Filtered observations: 197 => Changed observations: 0.026516 Bundle adjustment report ------------------------ Residuals : 27008 Parameters : 4081 Iterations : 3 Time : 0.075772 [s] Initial cost : 0.607402 [px] Final cost : 0.59704 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 38 => Filtered observations: 6 => Changed observations: 0.003258 ============================================================================== Retriangulation ============================================================================== => Merged observations: 14 => Completed observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.913599e+04 0.00e+00 6.36e+04 0.00e+00 0.00e+00 1.00e+04 0 1.92e-02 5.95e-02 1 1.900267e+04 1.33e+02 3.93e+03 1.51e+00 1.00e+00 3.00e+04 1 4.48e-02 1.04e-01 2 1.900158e+04 1.09e+00 4.36e+03 1.96e+00 9.98e-01 9.00e+04 1 2.76e-02 1.32e-01 3 1.899953e+04 2.05e+00 2.02e+04 4.71e+00 9.76e-01 2.70e+05 1 2.61e-02 1.58e-01 4 1.899733e+04 2.20e+00 6.19e+04 8.28e+00 8.28e-01 3.77e+05 1 2.58e-02 1.84e-01 5 1.899599e+04 1.35e+00 3.03e+04 5.81e+00 9.24e-01 9.68e+05 1 2.63e-02 2.10e-01 6 1.899560e+04 3.86e-01 1.57e+04 4.19e+00 9.27e-01 2.56e+06 1 2.75e-02 2.38e-01 7 1.899555e+04 5.35e-02 1.76e+03 1.40e+00 9.90e-01 7.67e+06 1 2.69e-02 2.65e-01 8 1.899555e+04 7.42e-04 3.12e+01 1.87e-01 9.97e-01 2.30e+07 1 2.60e-02 2.91e-01 9 1.899555e+04 8.02e-07 8.41e-01 7.64e-03 1.00e+00 6.90e+07 1 2.61e-02 3.17e-01 Bundle adjustment report ------------------------ Residuals : 55496 Parameters : 15655 Iterations : 10 Time : 0.31809 [s] Initial cost : 0.587212 [px] Final cost : 0.585053 [px] Termination : Convergence => Merged observations: 7 => Completed observations: 0 => Filtered observations: 7 => Changed observations: 0.000505 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.899056e+04 0.00e+00 5.19e+03 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 5.82e-02 1 1.897632e+04 1.42e+01 1.24e+01 6.58e-01 1.00e+00 3.00e+04 1 4.08e-02 9.91e-02 2 1.897632e+04 7.52e-03 4.76e+00 1.12e-01 1.00e+00 9.00e+04 1 2.68e-02 1.26e-01 3 1.897631e+04 2.17e-03 1.43e+01 1.32e-01 9.99e-01 2.70e+05 1 2.57e-02 1.52e-01 4 1.897631e+04 1.67e-03 3.97e+01 1.96e-01 9.97e-01 8.10e+05 1 2.46e-02 1.76e-01 5 1.897631e+04 7.46e-04 3.51e+01 1.85e-01 9.95e-01 2.43e+06 1 2.47e-02 2.01e-01 6 1.897631e+04 8.00e-05 5.53e+00 7.37e-02 9.93e-01 7.29e+06 1 3.20e-02 2.33e-01 7 1.897631e+04 1.34e-06 1.01e+00 1.03e-02 9.94e-01 2.19e+07 1 2.75e-02 2.61e-01 8 1.897631e+04 2.69e-09 6.03e-02 4.47e-04 1.01e+00 6.56e+07 1 2.48e-02 2.85e-01 Bundle adjustment report ------------------------ Residuals : 55490 Parameters : 15646 Iterations : 9 Time : 0.286692 [s] Initial cost : 0.585008 [px] Final cost : 0.584788 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #3 (18) ============================================================================== => Image sees 1176 / 1699 points Pose refinement report ---------------------- Residuals : 2392 Parameters : 6 Iterations : 10 Time : 0.0202701 [s] Initial cost : 0.655872 [px] Final cost : 0.606078 [px] Termination : Convergence => Continued observations: 1144 => Added observations: 454 Bundle adjustment report ------------------------ Residuals : 29374 Parameters : 3658 Iterations : 18 Time : 0.394703 [s] Initial cost : 0.539387 [px] Final cost : 0.520563 [px] Termination : Convergence => Merged observations: 86 => Completed observations: 55 => Filtered observations: 238 => Changed observations: 0.025805 Bundle adjustment report ------------------------ Residuals : 29016 Parameters : 3580 Iterations : 3 Time : 0.066623 [s] Initial cost : 0.60848 [px] Final cost : 0.599115 [px] Termination : Convergence => Merged observations: 27 => Completed observations: 50 => Filtered observations: 1 => Changed observations: 0.005376 ============================================================================== Registering image #4 (19) ============================================================================== => Image sees 1184 / 1713 points Pose refinement report ---------------------- Residuals : 2374 Parameters : 6 Iterations : 11 Time : 0.0215099 [s] Initial cost : 0.64839 [px] Final cost : 0.591413 [px] Termination : Convergence => Continued observations: 1136 => Added observations: 528 Bundle adjustment report ------------------------ Residuals : 26856 Parameters : 4027 Iterations : 26 Time : 0.532447 [s] Initial cost : 0.568449 [px] Final cost : 0.551688 [px] Termination : No convergence => Merged observations: 118 => Completed observations: 59 => Filtered observations: 244 => Changed observations: 0.031352 Bundle adjustment report ------------------------ Residuals : 26472 Parameters : 3940 Iterations : 2 Time : 0.0439832 [s] Initial cost : 0.629389 [px] Final cost : 0.618118 [px] Termination : Convergence => Merged observations: 30 => Completed observations: 50 => Filtered observations: 1 => Changed observations: 0.006120 ============================================================================== Retriangulation ============================================================================== => Merged observations: 20 => Completed observations: 43 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.230290e+04 0.00e+00 1.63e+05 0.00e+00 0.00e+00 1.00e+04 0 1.94e-02 7.78e-02 1 2.214450e+04 1.58e+02 1.60e+02 2.19e+00 1.00e+00 3.00e+04 1 4.15e-02 1.19e-01 2 2.214396e+04 5.41e-01 3.59e+02 1.21e+00 1.00e+00 9.00e+04 1 2.93e-02 1.49e-01 3 2.214381e+04 1.53e-01 3.71e+01 8.86e-01 1.00e+00 2.70e+05 1 3.43e-02 1.83e-01 4 2.214379e+04 1.92e-02 2.89e+02 5.44e-01 9.99e-01 8.10e+05 1 3.25e-02 2.15e-01 5 2.214378e+04 4.99e-03 2.33e+02 4.58e-01 9.95e-01 2.43e+06 1 2.92e-02 2.45e-01 6 2.214378e+04 5.18e-04 3.50e+01 1.79e-01 9.96e-01 7.29e+06 1 2.91e-02 2.74e-01 7 2.214378e+04 8.62e-06 1.99e+00 2.49e-02 9.97e-01 2.19e+07 1 2.97e-02 3.04e-01 8 2.214378e+04 1.83e-08 1.54e-01 1.12e-03 1.00e+00 6.56e+07 1 3.00e-02 3.34e-01 Bundle adjustment report ------------------------ Residuals : 61478 Parameters : 16681 Iterations : 9 Time : 0.335147 [s] Initial cost : 0.602311 [px] Final cost : 0.600159 [px] Termination : Convergence => Merged observations: 3 => Completed observations: 23 => Filtered observations: 5 => Changed observations: 0.001008 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.213518e+04 0.00e+00 5.45e+02 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 6.32e-02 1 2.212449e+04 1.07e+01 8.00e+00 8.79e-01 1.00e+00 3.00e+04 1 4.22e-02 1.05e-01 2 2.212449e+04 1.67e-03 1.99e+00 1.69e-02 1.00e+00 9.00e+04 1 2.89e-02 1.34e-01 3 2.212449e+04 2.82e-05 1.98e+00 1.27e-02 1.00e+00 2.70e+05 1 2.77e-02 1.62e-01 4 2.212449e+04 9.54e-06 1.99e+00 1.33e-02 9.98e-01 8.10e+05 1 2.78e-02 1.90e-01 5 2.212449e+04 3.73e-06 1.48e+00 1.21e-02 9.97e-01 2.43e+06 1 2.81e-02 2.18e-01 6 2.212449e+04 3.87e-07 6.62e-01 4.70e-03 9.96e-01 7.29e+06 1 2.83e-02 2.46e-01 Bundle adjustment report ------------------------ Residuals : 61472 Parameters : 16675 Iterations : 7 Time : 0.247935 [s] Initial cost : 0.600071 [px] Final cost : 0.599926 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 1 => Changed observations: 0.000033 => Filtered images: 0 ============================================================================== Registering image #2 (20) ============================================================================== => Image sees 1187 / 1650 points Pose refinement report ---------------------- Residuals : 2450 Parameters : 6 Iterations : 11 Time : 0.0224249 [s] Initial cost : 0.629642 [px] Final cost : 0.591809 [px] Termination : Convergence => Continued observations: 1165 => Added observations: 448 Bundle adjustment report ------------------------ Residuals : 26730 Parameters : 3544 Iterations : 26 Time : 0.521338 [s] Initial cost : 0.545724 [px] Final cost : 0.528208 [px] Termination : No convergence => Merged observations: 112 => Completed observations: 60 => Filtered observations: 188 => Changed observations: 0.026936 Bundle adjustment report ------------------------ Residuals : 26476 Parameters : 3490 Iterations : 3 Time : 0.061883 [s] Initial cost : 0.63156 [px] Final cost : 0.621494 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 28 => Filtered observations: 5 => Changed observations: 0.003626 ============================================================================== Registering image #17 (21) ============================================================================== => Image sees 1082 / 1773 points Pose refinement report ---------------------- Residuals : 2162 Parameters : 6 Iterations : 8 Time : 0.0154111 [s] Initial cost : 0.60734 [px] Final cost : 0.576766 [px] Termination : Convergence => Continued observations: 1031 => Added observations: 586 Bundle adjustment report ------------------------ Residuals : 24996 Parameters : 3613 Iterations : 26 Time : 0.491126 [s] Initial cost : 0.576738 [px] Final cost : 0.546122 [px] Termination : No convergence => Merged observations: 97 => Completed observations: 46 => Filtered observations: 229 => Changed observations: 0.029765 Bundle adjustment report ------------------------ Residuals : 24590 Parameters : 3514 Iterations : 3 Time : 0.0599492 [s] Initial cost : 0.627213 [px] Final cost : 0.615306 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 57 => Filtered observations: 3 => Changed observations: 0.005693 ============================================================================== Retriangulation ============================================================================== => Merged observations: 18 => Completed observations: 47 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.494587e+04 0.00e+00 1.05e+05 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 7.30e-02 1 2.478300e+04 1.63e+02 1.36e+02 1.88e+00 1.00e+00 3.00e+04 1 4.62e-02 1.19e-01 2 2.478248e+04 5.19e-01 3.68e+02 1.07e+00 1.00e+00 9.00e+04 1 3.19e-02 1.51e-01 3 2.478235e+04 1.27e-01 2.24e+02 7.32e-01 1.00e+00 2.70e+05 1 2.99e-02 1.81e-01 4 2.478234e+04 7.98e-03 1.46e+01 2.22e-01 1.00e+00 8.10e+05 1 3.01e-02 2.11e-01 5 2.478234e+04 2.74e-04 7.82e+00 8.55e-02 9.98e-01 2.43e+06 1 3.01e-02 2.41e-01 6 2.478234e+04 1.79e-05 2.00e+00 2.96e-02 9.93e-01 7.29e+06 1 3.02e-02 2.72e-01 7 2.478234e+04 2.28e-07 5.44e-01 3.60e-03 9.94e-01 2.19e+07 1 2.99e-02 3.01e-01 Bundle adjustment report ------------------------ Residuals : 67458 Parameters : 17788 Iterations : 8 Time : 0.303265 [s] Initial cost : 0.608111 [px] Final cost : 0.606114 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 18 => Filtered observations: 3 => Changed observations: 0.000771 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.480138e+04 0.00e+00 2.72e+03 0.00e+00 0.00e+00 1.00e+04 0 2.13e-02 7.19e-02 1 2.479041e+04 1.10e+01 1.52e+01 2.28e-01 1.00e+00 3.00e+04 1 4.36e-02 1.15e-01 2 2.479041e+04 1.59e-03 2.00e+00 3.69e-02 1.00e+00 9.00e+04 1 3.15e-02 1.47e-01 3 2.479041e+04 2.93e-04 1.98e+00 4.18e-02 1.00e+00 2.70e+05 1 3.06e-02 1.78e-01 4 2.479041e+04 1.90e-04 4.09e+00 5.83e-02 9.98e-01 8.10e+05 1 3.04e-02 2.08e-01 5 2.479041e+04 7.16e-05 3.15e+00 5.03e-02 9.95e-01 2.43e+06 1 3.05e-02 2.39e-01 6 2.479041e+04 6.20e-06 2.00e+00 1.77e-02 9.93e-01 7.29e+06 1 3.07e-02 2.69e-01 7 2.479041e+04 7.97e-08 3.43e-01 2.15e-03 9.94e-01 2.19e+07 1 3.05e-02 3.00e-01 Bundle adjustment report ------------------------ Residuals : 67462 Parameters : 17785 Iterations : 8 Time : 0.301624 [s] Initial cost : 0.606329 [px] Final cost : 0.606195 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 1 => Changed observations: 0.000030 => Filtered images: 0 ============================================================================== Registering image #6 (22) ============================================================================== => Image sees 1104 / 1682 points Pose refinement report ---------------------- Residuals : 2264 Parameters : 6 Iterations : 7 Time : 0.014365 [s] Initial cost : 0.63044 [px] Final cost : 0.574617 [px] Termination : Convergence => Continued observations: 1072 => Added observations: 518 Bundle adjustment report ------------------------ Residuals : 25850 Parameters : 3562 Iterations : 26 Time : 0.527807 [s] Initial cost : 0.561536 [px] Final cost : 0.538277 [px] Termination : No convergence => Merged observations: 67 => Completed observations: 52 => Filtered observations: 184 => Changed observations: 0.023443 Bundle adjustment report ------------------------ Residuals : 25610 Parameters : 3493 Iterations : 3 Time : 0.059762 [s] Initial cost : 0.625453 [px] Final cost : 0.616085 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 44 => Filtered observations: 2 => Changed observations: 0.004998 ============================================================================== Registering image #1 (23) ============================================================================== => Image sees 1159 / 1589 points Pose refinement report ---------------------- Residuals : 2402 Parameters : 6 Iterations : 9 Time : 0.0182199 [s] Initial cost : 0.624205 [px] Final cost : 0.569891 [px] Termination : Convergence => Continued observations: 1130 => Added observations: 326 Bundle adjustment report ------------------------ Residuals : 26388 Parameters : 3124 Iterations : 26 Time : 0.495608 [s] Initial cost : 0.560471 [px] Final cost : 0.540329 [px] Termination : No convergence => Merged observations: 125 => Completed observations: 36 => Filtered observations: 175 => Changed observations: 0.025466 Bundle adjustment report ------------------------ Residuals : 26178 Parameters : 3076 Iterations : 3 Time : 0.0594089 [s] Initial cost : 0.636472 [px] Final cost : 0.626647 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 32 => Filtered observations: 1 => Changed observations: 0.004278 ============================================================================== Registering image #12 (24) ============================================================================== => Image sees 1134 / 1529 points Pose refinement report ---------------------- Residuals : 2338 Parameters : 6 Iterations : 9 Time : 0.019429 [s] Initial cost : 0.611779 [px] Final cost : 0.58066 [px] Termination : Convergence => Continued observations: 1095 => Added observations: 412 Bundle adjustment report ------------------------ Residuals : 24936 Parameters : 3034 Iterations : 25 Time : 0.453999 [s] Initial cost : 0.583623 [px] Final cost : 0.555006 [px] Termination : Convergence => Merged observations: 136 => Completed observations: 57 => Filtered observations: 213 => Changed observations: 0.032563 Bundle adjustment report ------------------------ Residuals : 24372 Parameters : 3073 Iterations : 3 Time : 0.0553591 [s] Initial cost : 0.641971 [px] Final cost : 0.631125 [px] Termination : Convergence => Merged observations: 48 => Completed observations: 49 => Filtered observations: 6 => Changed observations: 0.008452 ============================================================================== Retriangulation ============================================================================== => Merged observations: 32 => Completed observations: 37 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.919059e+04 0.00e+00 1.20e+06 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 8.08e-02 1 2.882950e+04 3.61e+02 7.39e+02 1.72e+00 1.00e+00 3.00e+04 1 5.29e-02 1.34e-01 2 2.882933e+04 1.62e-01 1.51e+02 5.60e-01 1.00e+00 9.00e+04 1 3.63e-02 1.70e-01 3 2.882928e+04 5.96e-02 6.96e+01 5.45e-01 1.00e+00 2.70e+05 1 3.42e-02 2.04e-01 4 2.882925e+04 2.32e-02 3.83e+02 5.80e-01 9.97e-01 8.10e+05 1 3.41e-02 2.38e-01 5 2.882925e+04 5.53e-03 1.87e+02 3.85e-01 9.94e-01 2.43e+06 1 3.41e-02 2.73e-01 6 2.882925e+04 2.80e-04 1.26e+01 9.96e-02 9.94e-01 7.29e+06 1 3.88e-02 3.11e-01 7 2.882925e+04 1.90e-06 1.04e+00 8.58e-03 9.96e-01 2.19e+07 1 3.58e-02 3.47e-01 8 2.882925e+04 1.43e-09 4.38e-02 2.17e-04 9.65e-01 6.56e+07 1 3.74e-02 3.85e-01 Bundle adjustment report ------------------------ Residuals : 75990 Parameters : 19093 Iterations : 9 Time : 0.387 [s] Initial cost : 0.619788 [px] Final cost : 0.61594 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 0 => Filtered observations: 6 => Changed observations: 0.000316 => Filtered images: 0 ============================================================================== Registering image #5 (25) ============================================================================== => Image sees 1091 / 1503 points Pose refinement report ---------------------- Residuals : 2232 Parameters : 6 Iterations : 9 Time : 0.0178518 [s] Initial cost : 0.671785 [px] Final cost : 0.595626 [px] Termination : Convergence => Continued observations: 1059 => Added observations: 299 Bundle adjustment report ------------------------ Residuals : 24164 Parameters : 3076 Iterations : 26 Time : 0.477723 [s] Initial cost : 0.571032 [px] Final cost : 0.549219 [px] Termination : No convergence => Merged observations: 65 => Completed observations: 43 => Filtered observations: 206 => Changed observations: 0.025989 Bundle adjustment report ------------------------ Residuals : 23878 Parameters : 3010 Iterations : 3 Time : 0.0559149 [s] Initial cost : 0.640116 [px] Final cost : 0.629025 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 33 => Filtered observations: 2 => Changed observations: 0.003602 ============================================================================== Registering image #40 (26) ============================================================================== => Image sees 1113 / 1885 points Pose refinement report ---------------------- Residuals : 2256 Parameters : 6 Iterations : 17 Time : 0.0280561 [s] Initial cost : 0.652147 [px] Final cost : 0.599565 [px] Termination : Convergence => Continued observations: 1067 => Added observations: 418 Bundle adjustment report ------------------------ Residuals : 27108 Parameters : 2935 Iterations : 26 Time : 0.510305 [s] Initial cost : 0.57303 [px] Final cost : 0.552994 [px] Termination : No convergence => Merged observations: 112 => Completed observations: 55 => Filtered observations: 209 => Changed observations: 0.027741 Bundle adjustment report ------------------------ Residuals : 26822 Parameters : 2854 Iterations : 3 Time : 0.0608249 [s] Initial cost : 0.641195 [px] Final cost : 0.633183 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 54 => Filtered observations: 1 => Changed observations: 0.005742 ============================================================================== Registering image #39 (27) ============================================================================== => Image sees 1077 / 2035 points Pose refinement report ---------------------- Residuals : 2208 Parameters : 6 Iterations : 10 Time : 0.018503 [s] Initial cost : 0.680172 [px] Final cost : 0.594157 [px] Termination : Convergence => Continued observations: 1036 => Added observations: 644 Bundle adjustment report ------------------------ Residuals : 25476 Parameters : 3199 Iterations : 26 Time : 0.486625 [s] Initial cost : 0.586792 [px] Final cost : 0.567994 [px] Termination : No convergence => Merged observations: 116 => Completed observations: 62 => Filtered observations: 226 => Changed observations: 0.031716 Bundle adjustment report ------------------------ Residuals : 25174 Parameters : 3115 Iterations : 3 Time : 0.05773 [s] Initial cost : 0.655203 [px] Final cost : 0.64512 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 30 => Filtered observations: 6 => Changed observations: 0.004052 ============================================================================== Retriangulation ============================================================================== => Merged observations: 40 => Completed observations: 80 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.370935e+04 0.00e+00 6.01e+05 0.00e+00 0.00e+00 1.00e+04 0 2.44e-02 9.48e-02 1 3.334858e+04 3.61e+02 1.04e+03 1.47e+00 1.00e+00 3.00e+04 1 5.93e-02 1.54e-01 2 3.334763e+04 9.46e-01 1.89e+03 1.60e+00 1.00e+00 9.00e+04 1 4.05e-02 1.95e-01 3 3.334635e+04 1.28e+00 9.65e+03 3.25e+00 9.94e-01 2.70e+05 1 3.75e-02 2.32e-01 4 3.334537e+04 9.78e-01 1.86e+04 4.44e+00 9.71e-01 8.10e+05 1 3.80e-02 2.70e-01 5 3.334511e+04 2.60e-01 7.65e+03 2.82e+00 9.79e-01 2.43e+06 1 3.79e-02 3.08e-01 6 3.334510e+04 1.57e-02 4.60e+02 6.86e-01 9.97e-01 7.29e+06 1 3.77e-02 3.46e-01 7 3.334510e+04 8.80e-05 3.21e+00 5.75e-02 1.00e+00 2.19e+07 1 3.74e-02 3.83e-01 8 3.334510e+04 6.53e-08 2.64e-01 1.56e-03 1.01e+00 6.56e+07 1 3.77e-02 4.21e-01 Bundle adjustment report ------------------------ Residuals : 84330 Parameters : 20599 Iterations : 9 Time : 0.423535 [s] Initial cost : 0.632243 [px] Final cost : 0.628818 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 21 => Filtered observations: 3 => Changed observations: 0.000688 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.335716e+04 0.00e+00 4.73e+03 0.00e+00 0.00e+00 1.00e+04 0 2.53e-02 9.21e-02 1 3.334503e+04 1.21e+01 4.05e+01 3.18e-01 1.00e+00 3.00e+04 1 5.62e-02 1.48e-01 2 3.334501e+04 2.30e-02 2.00e+00 7.81e-02 1.00e+00 9.00e+04 1 4.04e-02 1.89e-01 3 3.334501e+04 6.28e-04 4.11e+00 6.34e-02 9.99e-01 2.70e+05 1 3.95e-02 2.28e-01 4 3.334501e+04 3.83e-04 7.26e+00 8.32e-02 9.98e-01 8.10e+05 1 4.07e-02 2.69e-01 5 3.334501e+04 9.15e-05 2.94e+00 5.29e-02 9.97e-01 2.43e+06 1 4.04e-02 3.09e-01 6 3.334501e+04 4.22e-06 1.53e+00 1.30e-02 9.97e-01 7.29e+06 1 3.90e-02 3.48e-01 7 3.334501e+04 2.72e-08 1.81e-01 1.08e-03 9.98e-01 2.19e+07 1 3.90e-02 3.87e-01 Bundle adjustment report ------------------------ Residuals : 84334 Parameters : 20596 Iterations : 8 Time : 0.390006 [s] Initial cost : 0.628917 [px] Final cost : 0.628802 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 1 => Changed observations: 0.000024 => Filtered images: 0 ============================================================================== Registering image #38 (28) ============================================================================== => Image sees 1130 / 2104 points Pose refinement report ---------------------- Residuals : 2334 Parameters : 6 Iterations : 9 Time : 0.0186689 [s] Initial cost : 0.678065 [px] Final cost : 0.590251 [px] Termination : Convergence => Continued observations: 1093 => Added observations: 728 Bundle adjustment report ------------------------ Residuals : 25326 Parameters : 3610 Iterations : 26 Time : 0.489411 [s] Initial cost : 0.590096 [px] Final cost : 0.565986 [px] Termination : No convergence => Merged observations: 141 => Completed observations: 41 => Filtered observations: 234 => Changed observations: 0.032852 Bundle adjustment report ------------------------ Residuals : 24952 Parameters : 3505 Iterations : 3 Time : 0.0573199 [s] Initial cost : 0.64974 [px] Final cost : 0.640672 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 65 => Filtered observations: 3 => Changed observations: 0.005450 ============================================================================== Registering image #19 (29) ============================================================================== => Image sees 1129 / 1955 points Pose refinement report ---------------------- Residuals : 2352 Parameters : 6 Iterations : 14 Time : 0.025876 [s] Initial cost : 0.700544 [px] Final cost : 0.616742 [px] Termination : Convergence => Continued observations: 1114 => Added observations: 322 Bundle adjustment report ------------------------ Residuals : 23262 Parameters : 3145 Iterations : 26 Time : 0.448421 [s] Initial cost : 0.586506 [px] Final cost : 0.571033 [px] Termination : No convergence => Merged observations: 79 => Completed observations: 30 => Filtered observations: 214 => Changed observations: 0.027771 Bundle adjustment report ------------------------ Residuals : 22954 Parameters : 3073 Iterations : 3 Time : 0.054004 [s] Initial cost : 0.661805 [px] Final cost : 0.652925 [px] Termination : Convergence => Merged observations: 17 => Completed observations: 54 => Filtered observations: 2 => Changed observations: 0.006361 ============================================================================== Registering image #18 (30) ============================================================================== => Image sees 1121 / 1636 points Pose refinement report ---------------------- Residuals : 2312 Parameters : 6 Iterations : 8 Time : 0.0160232 [s] Initial cost : 0.617945 [px] Final cost : 0.59483 [px] Termination : Convergence => Continued observations: 1074 => Added observations: 585 Bundle adjustment report ------------------------ Residuals : 22614 Parameters : 3529 Iterations : 25 Time : 0.422969 [s] Initial cost : 0.604399 [px] Final cost : 0.572979 [px] Termination : Convergence => Merged observations: 160 => Completed observations: 73 => Filtered observations: 225 => Changed observations: 0.040506 Bundle adjustment report ------------------------ Residuals : 22338 Parameters : 3451 Iterations : 3 Time : 0.0525889 [s] Initial cost : 0.662361 [px] Final cost : 0.649234 [px] Termination : Convergence => Merged observations: 27 => Completed observations: 46 => Filtered observations: 3 => Changed observations: 0.006805 ============================================================================== Retriangulation ============================================================================== => Merged observations: 29 => Completed observations: 44 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.837430e+04 0.00e+00 1.02e+06 0.00e+00 0.00e+00 1.00e+04 0 3.02e-02 1.08e-01 1 3.758089e+04 7.93e+02 8.91e+02 1.53e+00 1.00e+00 3.00e+04 1 5.74e-02 1.66e-01 2 3.758059e+04 2.93e-01 7.90e+02 9.54e-01 1.00e+00 9.00e+04 1 5.17e-02 2.17e-01 3 3.758018e+04 4.11e-01 3.47e+03 1.76e+00 9.97e-01 2.70e+05 1 4.40e-02 2.61e-01 4 3.757987e+04 3.15e-01 5.82e+03 2.28e+00 9.91e-01 8.10e+05 1 4.35e-02 3.05e-01 5 3.757979e+04 7.34e-02 2.19e+03 1.40e+00 9.94e-01 2.43e+06 1 4.29e-02 3.48e-01 6 3.757979e+04 3.45e-03 1.23e+02 3.34e-01 9.99e-01 7.29e+06 1 4.84e-02 3.96e-01 7 3.757979e+04 2.06e-05 2.00e+00 2.74e-02 1.00e+00 2.19e+07 1 4.30e-02 4.39e-01 8 3.757979e+04 1.90e-08 1.23e-01 7.81e-04 1.01e+00 6.56e+07 1 4.35e-02 4.83e-01 Bundle adjustment report ------------------------ Residuals : 93438 Parameters : 22495 Iterations : 9 Time : 0.485667 [s] Initial cost : 0.640853 [px] Final cost : 0.634184 [px] Termination : Convergence => Merged observations: 9 => Completed observations: 0 => Filtered observations: 10 => Changed observations: 0.000407 => Filtered images: 0 ============================================================================== Registering image #21 (31) ============================================================================== => Image sees 1246 / 1819 points Pose refinement report ---------------------- Residuals : 2656 Parameters : 6 Iterations : 8 Time : 0.0183451 [s] Initial cost : 0.616122 [px] Final cost : 0.588747 [px] Termination : Convergence => Continued observations: 1208 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 25816 Parameters : 3337 Iterations : 26 Time : 0.501962 [s] Initial cost : 0.598245 [px] Final cost : 0.575855 [px] Termination : No convergence => Merged observations: 183 => Completed observations: 55 => Filtered observations: 268 => Changed observations: 0.039200 Bundle adjustment report ------------------------ Residuals : 25450 Parameters : 3202 Iterations : 3 Time : 0.0601919 [s] Initial cost : 0.657834 [px] Final cost : 0.647235 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 64 => Filtered observations: 3 => Changed observations: 0.005265 ============================================================================== Registering image #20 (32) ============================================================================== => Image sees 1266 / 1827 points Pose refinement report ---------------------- Residuals : 2686 Parameters : 6 Iterations : 9 Time : 0.0207369 [s] Initial cost : 0.638651 [px] Final cost : 0.595486 [px] Termination : Convergence => Continued observations: 1230 => Added observations: 466 Bundle adjustment report ------------------------ Residuals : 24418 Parameters : 3256 Iterations : 14 Time : 0.249671 [s] Initial cost : 0.604199 [px] Final cost : 0.587314 [px] Termination : Convergence => Merged observations: 105 => Completed observations: 90 => Filtered observations: 264 => Changed observations: 0.037595 Bundle adjustment report ------------------------ Residuals : 23646 Parameters : 3160 Iterations : 3 Time : 0.0545809 [s] Initial cost : 0.676683 [px] Final cost : 0.664548 [px] Termination : Convergence => Merged observations: 28 => Completed observations: 31 => Filtered observations: 7 => Changed observations: 0.005582 ============================================================================== Registering image #29 (33) ============================================================================== => Image sees 1201 / 1744 points Pose refinement report ---------------------- Residuals : 2520 Parameters : 6 Iterations : 8 Time : 0.017277 [s] Initial cost : 0.661185 [px] Final cost : 0.602115 [px] Termination : Convergence => Continued observations: 1164 => Added observations: 433 Bundle adjustment report ------------------------ Residuals : 22958 Parameters : 3526 Iterations : 26 Time : 0.448659 [s] Initial cost : 0.619212 [px] Final cost : 0.601416 [px] Termination : No convergence => Merged observations: 236 => Completed observations: 44 => Filtered observations: 268 => Changed observations: 0.047739 Bundle adjustment report ------------------------ Residuals : 23314 Parameters : 3091 Iterations : 3 Time : 0.05375 [s] Initial cost : 0.673422 [px] Final cost : 0.660498 [px] Termination : Convergence => Merged observations: 73 => Completed observations: 61 => Filtered observations: 5 => Changed observations: 0.011924 ============================================================================== Retriangulation ============================================================================== => Merged observations: 54 => Completed observations: 98 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.277843e+04 0.00e+00 7.01e+04 0.00e+00 0.00e+00 1.00e+04 0 3.36e-02 1.24e-01 1 4.228122e+04 4.97e+02 5.85e+02 1.72e+00 1.00e+00 3.00e+04 1 6.89e-02 1.93e-01 2 4.227860e+04 2.62e+00 8.08e+03 2.53e+00 9.98e-01 9.00e+04 1 4.85e-02 2.41e-01 3 4.227501e+04 3.59e+00 3.00e+04 4.54e+00 9.83e-01 2.70e+05 1 4.94e-02 2.91e-01 4 4.227254e+04 2.48e+00 4.47e+04 5.49e+00 9.48e-01 8.10e+05 1 4.83e-02 3.39e-01 5 4.227190e+04 6.41e-01 1.48e+04 3.19e+00 9.78e-01 2.43e+06 1 4.72e-02 3.86e-01 6 4.227186e+04 3.49e-02 7.25e+02 7.13e-01 1.00e+00 7.29e+06 1 4.72e-02 4.33e-01 7 4.227186e+04 1.54e-04 4.56e+00 5.61e-02 1.00e+00 2.19e+07 1 4.92e-02 4.83e-01 8 4.227186e+04 1.25e-07 2.64e-01 1.66e-03 1.01e+00 6.56e+07 1 4.80e-02 5.31e-01 Bundle adjustment report ------------------------ Residuals : 102568 Parameters : 23854 Iterations : 9 Time : 0.533925 [s] Initial cost : 0.645813 [px] Final cost : 0.641977 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 0 => Filtered observations: 11 => Changed observations: 0.000409 => Filtered images: 0 ============================================================================== Registering image #28 (34) ============================================================================== => Image sees 1259 / 1730 points Pose refinement report ---------------------- Residuals : 2660 Parameters : 6 Iterations : 8 Time : 0.0179238 [s] Initial cost : 0.692541 [px] Final cost : 0.601472 [px] Termination : Convergence => Continued observations: 1212 => Added observations: 480 Bundle adjustment report ------------------------ Residuals : 23778 Parameters : 3409 Iterations : 26 Time : 0.495177 [s] Initial cost : 0.630225 [px] Final cost : 0.612102 [px] Termination : No convergence => Merged observations: 184 => Completed observations: 55 => Filtered observations: 350 => Changed observations: 0.049542 Bundle adjustment report ------------------------ Residuals : 23150 Parameters : 3250 Iterations : 3 Time : 0.0537951 [s] Initial cost : 0.678252 [px] Final cost : 0.664882 [px] Termination : Convergence => Merged observations: 21 => Completed observations: 87 => Filtered observations: 0 => Changed observations: 0.009330 ============================================================================== Registering image #22 (35) ============================================================================== => Image sees 1194 / 1706 points Pose refinement report ---------------------- Residuals : 2574 Parameters : 6 Iterations : 7 Time : 0.0159049 [s] Initial cost : 0.60547 [px] Final cost : 0.592202 [px] Termination : Convergence => Continued observations: 1153 => Added observations: 446 Bundle adjustment report ------------------------ Residuals : 26006 Parameters : 2860 Iterations : 26 Time : 0.487862 [s] Initial cost : 0.601603 [px] Final cost : 0.577301 [px] Termination : No convergence => Merged observations: 226 => Completed observations: 56 => Filtered observations: 259 => Changed observations: 0.041606 Bundle adjustment report ------------------------ Residuals : 24902 Parameters : 2722 Iterations : 3 Time : 0.0564191 [s] Initial cost : 0.665288 [px] Final cost : 0.654779 [px] Termination : Convergence => Merged observations: 17 => Completed observations: 59 => Filtered observations: 6 => Changed observations: 0.006586 ============================================================================== Registering image #41 (36) ============================================================================== => Image sees 1249 / 1636 points Pose refinement report ---------------------- Residuals : 2688 Parameters : 6 Iterations : 8 Time : 0.0203378 [s] Initial cost : 0.613747 [px] Final cost : 0.594791 [px] Termination : Convergence => Continued observations: 1208 => Added observations: 390 Bundle adjustment report ------------------------ Residuals : 26026 Parameters : 2884 Iterations : 18 Time : 0.355452 [s] Initial cost : 0.600068 [px] Final cost : 0.583644 [px] Termination : Convergence => Merged observations: 250 => Completed observations: 56 => Filtered observations: 226 => Changed observations: 0.040882 Bundle adjustment report ------------------------ Residuals : 25696 Parameters : 2818 Iterations : 3 Time : 0.058799 [s] Initial cost : 0.67595 [px] Final cost : 0.665134 [px] Termination : Convergence => Merged observations: 35 => Completed observations: 35 => Filtered observations: 4 => Changed observations: 0.005760 ============================================================================== Registering image #23 (37) ============================================================================== => Image sees 1149 / 1552 points Pose refinement report ---------------------- Residuals : 2406 Parameters : 6 Iterations : 8 Time : 0.0167129 [s] Initial cost : 0.675769 [px] Final cost : 0.578209 [px] Termination : Convergence => Continued observations: 1104 => Added observations: 399 Bundle adjustment report ------------------------ Residuals : 24074 Parameters : 2698 Iterations : 26 Time : 0.450285 [s] Initial cost : 0.607046 [px] Final cost : 0.584899 [px] Termination : No convergence => Merged observations: 174 => Completed observations: 53 => Filtered observations: 250 => Changed observations: 0.039628 Bundle adjustment report ------------------------ Residuals : 23774 Parameters : 2590 Iterations : 3 Time : 0.0555451 [s] Initial cost : 0.671757 [px] Final cost : 0.661241 [px] Termination : Convergence => Merged observations: 26 => Completed observations: 63 => Filtered observations: 7 => Changed observations: 0.008076 ============================================================================== Retriangulation ============================================================================== => Merged observations: 61 => Completed observations: 248 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.884513e+04 0.00e+00 1.90e+06 0.00e+00 0.00e+00 1.00e+04 0 3.71e-02 1.58e-01 1 4.799316e+04 8.52e+02 9.60e+02 2.09e+00 1.00e+00 3.00e+04 1 7.02e-02 2.28e-01 2 4.799054e+04 2.61e+00 7.81e+03 2.68e+00 9.99e-01 9.00e+04 1 5.22e-02 2.80e-01 3 4.798690e+04 3.64e+00 2.97e+04 5.04e+00 9.85e-01 2.70e+05 1 5.41e-02 3.35e-01 4 4.798448e+04 2.42e+00 4.17e+04 6.01e+00 9.58e-01 8.10e+05 1 5.47e-02 3.89e-01 5 4.798391e+04 5.65e-01 1.26e+04 3.35e+00 9.84e-01 2.43e+06 1 5.22e-02 4.42e-01 6 4.798389e+04 2.63e-02 5.59e+02 7.13e-01 1.00e+00 7.29e+06 1 5.33e-02 4.95e-01 7 4.798389e+04 1.09e-04 3.23e+00 5.38e-02 1.01e+00 2.19e+07 1 5.52e-02 5.50e-01 8 4.798389e+04 9.25e-08 2.23e-01 1.58e-03 1.01e+00 6.56e+07 1 5.29e-02 6.03e-01 Bundle adjustment report ------------------------ Residuals : 114128 Parameters : 25411 Iterations : 9 Time : 0.606823 [s] Initial cost : 0.654206 [px] Final cost : 0.648413 [px] Termination : Convergence => Merged observations: 16 => Completed observations: 53 => Filtered observations: 17 => Changed observations: 0.001507 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.802095e+04 0.00e+00 8.81e+03 0.00e+00 0.00e+00 1.00e+04 0 3.44e-02 1.38e-01 1 4.798245e+04 3.85e+01 2.73e+01 3.42e-01 1.00e+00 3.00e+04 1 6.86e-02 2.06e-01 2 4.798244e+04 1.10e-02 1.30e+01 1.14e-01 1.00e+00 9.00e+04 1 5.42e-02 2.60e-01 3 4.798244e+04 5.37e-03 4.35e+01 1.97e-01 1.00e+00 2.70e+05 1 5.50e-02 3.15e-01 4 4.798243e+04 3.47e-03 5.89e+01 2.26e-01 1.00e+00 8.10e+05 1 5.28e-02 3.68e-01 5 4.798243e+04 6.52e-04 1.76e+01 1.24e-01 1.00e+00 2.43e+06 1 5.37e-02 4.22e-01 6 4.798243e+04 2.32e-05 2.00e+00 2.60e-02 1.00e+00 7.29e+06 1 5.54e-02 4.77e-01 7 4.798243e+04 1.26e-07 2.90e-01 1.97e-03 1.01e+00 2.19e+07 1 5.23e-02 5.30e-01 Bundle adjustment report ------------------------ Residuals : 114124 Parameters : 25399 Iterations : 8 Time : 0.533588 [s] Initial cost : 0.648675 [px] Final cost : 0.648414 [px] Termination : Convergence => Merged observations: 3 => Completed observations: 0 => Filtered observations: 6 => Changed observations: 0.000158 => Filtered images: 0 ============================================================================== Registering image #27 (38) ============================================================================== => Image sees 1180 / 1512 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 9 Time : 0.021395 [s] Initial cost : 0.681004 [px] Final cost : 0.594302 [px] Termination : Convergence => Continued observations: 1143 => Added observations: 415 Bundle adjustment report ------------------------ Residuals : 24220 Parameters : 2896 Iterations : 26 Time : 0.458406 [s] Initial cost : 0.622985 [px] Final cost : 0.599788 [px] Termination : No convergence => Merged observations: 121 => Completed observations: 46 => Filtered observations: 280 => Changed observations: 0.036912 Bundle adjustment report ------------------------ Residuals : 24004 Parameters : 2830 Iterations : 3 Time : 0.054775 [s] Initial cost : 0.689075 [px] Final cost : 0.678217 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 70 => Filtered observations: 1 => Changed observations: 0.006416 ============================================================================== Registering image #26 (39) ============================================================================== => Image sees 1199 / 1534 points Pose refinement report ---------------------- Residuals : 2610 Parameters : 6 Iterations : 8 Time : 0.018044 [s] Initial cost : 0.643661 [px] Final cost : 0.596495 [px] Termination : Convergence => Continued observations: 1161 => Added observations: 375 Bundle adjustment report ------------------------ Residuals : 23934 Parameters : 2686 Iterations : 26 Time : 0.46389 [s] Initial cost : 0.62289 [px] Final cost : 0.604666 [px] Termination : No convergence => Merged observations: 205 => Completed observations: 41 => Filtered observations: 302 => Changed observations: 0.045793 Bundle adjustment report ------------------------ Residuals : 23510 Parameters : 2578 Iterations : 3 Time : 0.0540469 [s] Initial cost : 0.681338 [px] Final cost : 0.670007 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 53 => Filtered observations: 5 => Changed observations: 0.007061 ============================================================================== Registering image #25 (40) ============================================================================== => Image sees 1143 / 1419 points Pose refinement report ---------------------- Residuals : 2508 Parameters : 6 Iterations : 9 Time : 0.0190301 [s] Initial cost : 0.642917 [px] Final cost : 0.617753 [px] Termination : Convergence => Continued observations: 1110 => Added observations: 345 Bundle adjustment report ------------------------ Residuals : 24330 Parameters : 2542 Iterations : 26 Time : 0.448604 [s] Initial cost : 0.612975 [px] Final cost : 0.594117 [px] Termination : No convergence => Merged observations: 196 => Completed observations: 68 => Filtered observations: 276 => Changed observations: 0.044390 Bundle adjustment report ------------------------ Residuals : 23860 Parameters : 2428 Iterations : 3 Time : 0.0522761 [s] Initial cost : 0.686197 [px] Final cost : 0.675104 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 45 => Filtered observations: 6 => Changed observations: 0.005113 ============================================================================== Registering image #24 (41) ============================================================================== => Image sees 1017 / 1251 points Pose refinement report ---------------------- Residuals : 2108 Parameters : 6 Iterations : 6 Time : 0.01138 [s] Initial cost : 0.590869 [px] Final cost : 0.58972 [px] Termination : Convergence => Continued observations: 970 => Added observations: 283 Bundle adjustment report ------------------------ Residuals : 20474 Parameters : 2221 Iterations : 26 Time : 0.382001 [s] Initial cost : 0.61615 [px] Final cost : 0.596075 [px] Termination : No convergence => Merged observations: 133 => Completed observations: 37 => Filtered observations: 215 => Changed observations: 0.037609 Bundle adjustment report ------------------------ Residuals : 20156 Parameters : 2140 Iterations : 3 Time : 0.0448182 [s] Initial cost : 0.684319 [px] Final cost : 0.672109 [px] Termination : Convergence => Merged observations: 12 => Completed observations: 49 => Filtered observations: 3 => Changed observations: 0.006350 ============================================================================== Retriangulation ============================================================================== => Merged observations: 66 => Completed observations: 207 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.384937e+04 0.00e+00 5.66e+05 0.00e+00 0.00e+00 1.00e+04 0 3.62e-02 1.51e-01 1 5.328407e+04 5.65e+02 2.81e+03 2.27e+00 1.00e+00 3.00e+04 1 8.02e-02 2.31e-01 2 5.328192e+04 2.16e+00 5.16e+03 2.24e+00 1.00e+00 9.00e+04 1 6.15e-02 2.93e-01 3 5.327939e+04 2.53e+00 1.97e+04 4.09e+00 9.91e-01 2.70e+05 1 6.47e-02 3.58e-01 4 5.327786e+04 1.52e+00 2.45e+04 4.56e+00 9.78e-01 8.10e+05 1 6.14e-02 4.19e-01 5 5.327757e+04 2.92e-01 6.43e+03 2.36e+00 9.94e-01 2.43e+06 1 6.09e-02 4.80e-01 6 5.327756e+04 1.05e-02 2.48e+02 4.67e-01 1.00e+00 7.29e+06 1 6.09e-02 5.41e-01 7 5.327756e+04 4.27e-05 2.00e+00 3.31e-02 1.01e+00 2.19e+07 1 6.06e-02 6.02e-01 8 5.327756e+04 3.80e-08 1.18e-01 9.41e-04 1.01e+00 6.56e+07 1 6.09e-02 6.63e-01 Bundle adjustment report ------------------------ Residuals : 124446 Parameters : 26575 Iterations : 9 Time : 0.666563 [s] Initial cost : 0.657809 [px] Final cost : 0.654307 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 111 => Filtered observations: 20 => Changed observations: 0.002266 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.326671e+04 0.00e+00 7.28e+03 0.00e+00 0.00e+00 1.00e+04 0 3.65e-02 1.51e-01 1 5.322109e+04 4.56e+01 3.25e+00 3.68e-01 1.00e+00 3.00e+04 1 8.31e-02 2.34e-01 2 5.322108e+04 1.06e-02 2.81e+01 1.63e-01 1.00e+00 9.00e+04 1 6.35e-02 2.98e-01 3 5.322107e+04 1.19e-02 9.33e+01 2.76e-01 1.00e+00 2.70e+05 1 5.81e-02 3.56e-01 4 5.322106e+04 7.31e-03 1.16e+02 3.05e-01 1.00e+00 8.10e+05 1 6.03e-02 4.16e-01 5 5.322106e+04 1.23e-03 3.05e+01 1.57e-01 1.00e+00 2.43e+06 1 6.04e-02 4.77e-01 6 5.322106e+04 3.86e-05 2.00e+00 3.08e-02 1.00e+00 7.29e+06 1 6.03e-02 5.37e-01 7 5.322106e+04 1.86e-07 2.95e-01 2.19e-03 1.01e+00 2.19e+07 1 6.08e-02 5.98e-01 Bundle adjustment report ------------------------ Residuals : 124424 Parameters : 26560 Iterations : 8 Time : 0.603058 [s] Initial cost : 0.654298 [px] Final cost : 0.654018 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 24 => Filtered observations: 5 => Changed observations: 0.000595 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.321649e+04 0.00e+00 3.54e+03 0.00e+00 0.00e+00 1.00e+04 0 4.07e-02 1.55e-01 1 5.320376e+04 1.27e+01 2.57e+01 2.74e-01 1.00e+00 3.00e+04 1 7.64e-02 2.31e-01 2 5.320376e+04 1.15e-03 2.00e+00 5.00e-02 1.00e+00 9.00e+04 1 6.09e-02 2.92e-01 3 5.320376e+04 9.14e-04 6.50e+00 7.41e-02 1.00e+00 2.70e+05 1 6.11e-02 3.53e-01 4 5.320376e+04 5.74e-04 8.83e+00 8.46e-02 1.00e+00 8.10e+05 1 6.03e-02 4.13e-01 5 5.320376e+04 9.71e-05 2.38e+00 4.39e-02 1.00e+00 2.43e+06 1 6.05e-02 4.74e-01 6 5.320376e+04 3.04e-06 9.53e-01 8.63e-03 1.00e+00 7.29e+06 1 6.28e-02 5.37e-01 Bundle adjustment report ------------------------ Residuals : 124430 Parameters : 26557 Iterations : 7 Time : 0.540784 [s] Initial cost : 0.653974 [px] Final cost : 0.653896 [px] Termination : Convergence => Merged observations: 3 => Completed observations: 0 => Filtered observations: 1 => Changed observations: 0.000064 => Filtered images: 0 Elapsed time: 0.595 [minutes]