============================================================================== Feature extraction ============================================================================== Processed file [1/40] Name: CP_loop_0_position_0.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7353 Processed file [2/40] Name: CP_loop_0_position_1.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6898 Processed file [3/40] Name: CP_loop_0_position_10.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 5780 Processed file [4/40] Name: CP_loop_0_position_11.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 5789 Processed file [5/40] Name: CP_loop_0_position_12.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 5855 Processed file [6/40] Name: CP_loop_0_position_13.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6278 Processed file [7/40] Name: CP_loop_0_position_14.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6561 Processed file [8/40] Name: CP_loop_0_position_15.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6705 Processed file [9/40] Name: CP_loop_0_position_16.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7059 Processed file [10/40] Name: CP_loop_0_position_17.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7042 Processed file [11/40] Name: CP_loop_0_position_18.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7283 Processed file [12/40] Name: CP_loop_0_position_19.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7283 Processed file [13/40] Name: CP_loop_0_position_2.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7168 Processed file [14/40] Name: CP_loop_0_position_20.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7389 Processed file [15/40] Name: CP_loop_0_position_21.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7334 Processed file [16/40] Name: CP_loop_0_position_22.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7216 Processed file [17/40] Name: CP_loop_0_position_23.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7214 Processed file [18/40] Name: CP_loop_0_position_24.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7460 Processed file [19/40] Name: CP_loop_0_position_25.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7768 Processed file [20/40] Name: CP_loop_0_position_26.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7746 Processed file [21/40] Name: CP_loop_0_position_27.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7844 Processed file [22/40] Name: CP_loop_0_position_28.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7285 Processed file [23/40] Name: CP_loop_0_position_29.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6859 Processed file [24/40] Name: CP_loop_0_position_3.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6912 Processed file [25/40] Name: CP_loop_0_position_30.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6676 Processed file [26/40] Name: CP_loop_0_position_31.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7204 Processed file [27/40] Name: CP_loop_0_position_32.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7168 Processed file [28/40] Name: CP_loop_0_position_33.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 7398 Processed file [29/40] Name: CP_loop_0_position_34.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6598 Processed file [30/40] Name: CP_loop_0_position_35.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6727 Processed file [31/40] Name: CP_loop_0_position_36.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6792 Processed file [32/40] Name: CP_loop_0_position_37.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6909 Processed file [33/40] Name: CP_loop_0_position_38.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6639 Processed file [34/40] Name: CP_loop_0_position_39.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6955 Processed file [35/40] Name: CP_loop_0_position_4.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6876 Processed file [36/40] Name: CP_loop_0_position_5.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6665 Processed file [37/40] Name: CP_loop_0_position_6.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6754 Processed file [38/40] Name: CP_loop_0_position_7.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 6121 Processed file [39/40] Name: CP_loop_0_position_8.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 5788 Processed file [40/40] Name: CP_loop_0_position_9.tif.maxMpx24.tif Dimensions: 6010 x 4007 Camera: #1 - SIMPLE_RADIAL Focal Length: 7212.00px Features: 5846 Elapsed time: 2.058 [minutes] ============================================================================== Exhaustive feature matching ============================================================================== Matching block [1/1, 1/1] in 72.664s Elapsed time: 1.215 [minutes] ============================================================================== Loading database ============================================================================== Loading cameras... 1 in 0.000s Loading matches... 582 in 0.021s Loading images... 40 in 0.064s (connected 40) Building correspondence graph... in 0.021s (ignored 0) Elapsed time: 0.002 [minutes] ============================================================================== Initializing with image pair #13 and #1 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.397324e+02 0.00e+00 3.85e+05 0.00e+00 0.00e+00 1.00e+04 0 5.17e-03 9.79e-03 1 7.443093e+02 1.95e+02 1.42e+04 1.21e+01 9.80e-01 3.00e+04 1 6.82e-03 1.66e-02 2 7.373512e+02 6.96e+00 7.15e+02 1.42e+01 9.87e-01 9.00e+04 1 6.23e-03 2.29e-02 3 7.366625e+02 6.89e-01 1.30e+03 2.12e+01 9.78e-01 2.70e+05 1 6.36e-03 2.93e-02 4 7.363647e+02 2.98e-01 6.21e+02 2.34e+01 9.28e-01 7.24e+05 1 6.51e-03 3.58e-02 5 7.363084e+02 5.63e-02 8.95e+02 1.71e+01 6.52e-01 7.45e+05 1 6.17e-03 4.20e-02 6 7.362631e+02 4.52e-02 5.01e+02 9.78e+00 8.00e-01 9.50e+05 1 6.30e-03 4.83e-02 7 7.362437e+02 1.94e-02 7.31e+02 1.08e+01 4.45e-01 9.48e+05 1 6.46e-03 5.48e-02 8 7.362105e+02 3.32e-02 7.11e+02 1.05e+01 5.91e-01 9.54e+05 1 6.57e-03 6.14e-02 9 7.361787e+02 3.18e-02 7.11e+02 1.05e+01 5.81e-01 9.58e+05 1 6.25e-03 6.77e-02 10 7.361470e+02 3.17e-02 7.09e+02 1.05e+01 5.82e-01 9.63e+05 1 6.30e-03 7.40e-02 11 7.361155e+02 3.15e-02 7.08e+02 1.05e+01 5.82e-01 9.67e+05 1 6.33e-03 8.03e-02 12 7.360843e+02 3.12e-02 7.06e+02 1.05e+01 5.82e-01 9.71e+05 1 6.37e-03 8.67e-02 13 7.360533e+02 3.10e-02 7.05e+02 1.04e+01 5.81e-01 9.75e+05 1 6.51e-03 9.32e-02 14 7.360225e+02 3.08e-02 7.04e+02 1.04e+01 5.81e-01 9.79e+05 1 6.45e-03 9.97e-02 15 7.359919e+02 3.06e-02 7.02e+02 1.04e+01 5.81e-01 9.84e+05 1 6.79e-03 1.07e-01 16 7.359615e+02 3.04e-02 7.01e+02 1.04e+01 5.81e-01 9.88e+05 1 6.72e-03 1.13e-01 17 7.359313e+02 3.02e-02 6.99e+02 1.04e+01 5.81e-01 9.92e+05 1 6.40e-03 1.20e-01 18 7.359013e+02 3.00e-02 6.98e+02 1.04e+01 5.81e-01 9.96e+05 1 6.65e-03 1.26e-01 19 7.358715e+02 2.98e-02 6.96e+02 1.04e+01 5.81e-01 1.00e+06 1 6.61e-03 1.33e-01 20 7.358420e+02 2.96e-02 6.95e+02 1.04e+01 5.81e-01 1.00e+06 1 6.04e-03 1.39e-01 21 7.358126e+02 2.94e-02 6.94e+02 1.04e+01 5.80e-01 1.01e+06 1 6.23e-03 1.45e-01 22 7.357835e+02 2.92e-02 6.92e+02 1.04e+01 5.80e-01 1.01e+06 1 6.52e-03 1.52e-01 23 7.357545e+02 2.90e-02 6.91e+02 1.04e+01 5.80e-01 1.02e+06 1 6.37e-03 1.58e-01 24 7.357258e+02 2.88e-02 6.89e+02 1.04e+01 5.80e-01 1.02e+06 1 6.33e-03 1.65e-01 25 7.356972e+02 2.86e-02 6.88e+02 1.04e+01 5.80e-01 1.03e+06 1 6.31e-03 1.71e-01 26 7.356688e+02 2.84e-02 6.86e+02 1.04e+01 5.80e-01 1.03e+06 1 6.31e-03 1.77e-01 27 7.356407e+02 2.82e-02 6.85e+02 1.04e+01 5.80e-01 1.03e+06 1 6.07e-03 1.83e-01 28 7.356127e+02 2.80e-02 6.83e+02 1.04e+01 5.80e-01 1.04e+06 1 6.35e-03 1.90e-01 29 7.355849e+02 2.78e-02 6.82e+02 1.04e+01 5.80e-01 1.04e+06 1 6.66e-03 1.96e-01 30 7.355573e+02 2.76e-02 6.80e+02 1.04e+01 5.80e-01 1.05e+06 1 6.67e-03 2.03e-01 31 7.355299e+02 2.74e-02 6.79e+02 1.03e+01 5.80e-01 1.05e+06 1 6.73e-03 2.10e-01 32 7.355027e+02 2.72e-02 6.77e+02 1.03e+01 5.80e-01 1.06e+06 1 6.59e-03 2.16e-01 33 7.354756e+02 2.70e-02 6.76e+02 1.03e+01 5.80e-01 1.06e+06 1 6.44e-03 2.23e-01 34 7.354488e+02 2.69e-02 6.74e+02 1.03e+01 5.80e-01 1.06e+06 1 6.19e-03 2.29e-01 35 7.354221e+02 2.67e-02 6.73e+02 1.03e+01 5.80e-01 1.07e+06 1 6.50e-03 2.36e-01 36 7.353956e+02 2.65e-02 6.71e+02 1.03e+01 5.80e-01 1.07e+06 1 6.23e-03 2.42e-01 37 7.353693e+02 2.63e-02 6.70e+02 1.03e+01 5.79e-01 1.08e+06 1 6.81e-03 2.49e-01 38 7.353432e+02 2.61e-02 6.68e+02 1.03e+01 5.79e-01 1.08e+06 1 6.35e-03 2.55e-01 39 7.353172e+02 2.60e-02 6.67e+02 1.03e+01 5.79e-01 1.09e+06 1 6.42e-03 2.61e-01 40 7.352914e+02 2.58e-02 6.66e+02 1.03e+01 5.79e-01 1.09e+06 1 6.24e-03 2.68e-01 41 7.352658e+02 2.56e-02 6.64e+02 1.03e+01 5.79e-01 1.09e+06 1 6.18e-03 2.74e-01 42 7.352404e+02 2.54e-02 6.63e+02 1.03e+01 5.79e-01 1.10e+06 1 6.40e-03 2.80e-01 43 7.352151e+02 2.53e-02 6.61e+02 1.03e+01 5.79e-01 1.10e+06 1 6.41e-03 2.87e-01 44 7.351900e+02 2.51e-02 6.60e+02 1.03e+01 5.79e-01 1.11e+06 1 6.69e-03 2.93e-01 45 7.351651e+02 2.49e-02 6.58e+02 1.03e+01 5.79e-01 1.11e+06 1 6.56e-03 3.00e-01 46 7.351403e+02 2.48e-02 6.57e+02 1.03e+01 5.79e-01 1.12e+06 1 6.52e-03 3.07e-01 47 7.351157e+02 2.46e-02 6.56e+02 1.02e+01 5.79e-01 1.12e+06 1 6.38e-03 3.13e-01 48 7.350913e+02 2.44e-02 6.54e+02 1.02e+01 5.79e-01 1.13e+06 1 6.15e-03 3.19e-01 49 7.350670e+02 2.43e-02 6.53e+02 1.02e+01 5.79e-01 1.13e+06 1 6.61e-03 3.26e-01 50 7.350429e+02 2.41e-02 6.51e+02 1.02e+01 5.79e-01 1.13e+06 1 6.36e-03 3.32e-01 51 7.350189e+02 2.40e-02 6.50e+02 1.02e+01 5.79e-01 1.14e+06 1 6.30e-03 3.39e-01 52 7.349951e+02 2.38e-02 6.49e+02 1.02e+01 5.79e-01 1.14e+06 1 6.48e-03 3.45e-01 53 7.349714e+02 2.36e-02 6.47e+02 1.02e+01 5.79e-01 1.15e+06 1 6.29e-03 3.51e-01 54 7.349479e+02 2.35e-02 6.46e+02 1.02e+01 5.79e-01 1.15e+06 1 6.25e-03 3.58e-01 55 7.349246e+02 2.33e-02 6.44e+02 1.02e+01 5.79e-01 1.16e+06 1 6.11e-03 3.64e-01 56 7.349014e+02 2.32e-02 6.43e+02 1.02e+01 5.79e-01 1.16e+06 1 6.21e-03 3.70e-01 57 7.348784e+02 2.30e-02 6.42e+02 1.02e+01 5.79e-01 1.17e+06 1 6.45e-03 3.76e-01 58 7.348555e+02 2.29e-02 6.40e+02 1.02e+01 5.79e-01 1.17e+06 1 6.23e-03 3.83e-01 59 7.348327e+02 2.27e-02 6.39e+02 1.02e+01 5.79e-01 1.17e+06 1 6.41e-03 3.89e-01 60 7.348102e+02 2.26e-02 6.38e+02 1.02e+01 5.79e-01 1.18e+06 1 6.37e-03 3.95e-01 61 7.347877e+02 2.24e-02 6.36e+02 1.02e+01 5.79e-01 1.18e+06 1 6.56e-03 4.02e-01 62 7.347654e+02 2.23e-02 6.35e+02 1.02e+01 5.78e-01 1.19e+06 1 7.19e-03 4.09e-01 63 7.347432e+02 2.22e-02 6.34e+02 1.02e+01 5.78e-01 1.19e+06 1 8.95e-03 4.18e-01 64 7.347212e+02 2.20e-02 6.32e+02 1.01e+01 5.78e-01 1.20e+06 1 7.90e-03 4.26e-01 65 7.346993e+02 2.19e-02 6.31e+02 1.01e+01 5.78e-01 1.20e+06 1 6.06e-03 4.32e-01 66 7.346776e+02 2.17e-02 6.30e+02 1.01e+01 5.78e-01 1.21e+06 1 6.53e-03 4.39e-01 67 7.346560e+02 2.16e-02 6.28e+02 1.01e+01 5.78e-01 1.21e+06 1 6.52e-03 4.45e-01 68 7.346346e+02 2.15e-02 6.27e+02 1.01e+01 5.78e-01 1.22e+06 1 6.46e-03 4.52e-01 69 7.346132e+02 2.13e-02 6.26e+02 1.01e+01 5.78e-01 1.22e+06 1 6.34e-03 4.58e-01 70 7.345920e+02 2.12e-02 6.24e+02 1.01e+01 5.78e-01 1.23e+06 1 6.37e-03 4.65e-01 71 7.345710e+02 2.11e-02 6.23e+02 1.01e+01 5.78e-01 1.23e+06 1 6.20e-03 4.71e-01 72 7.345501e+02 2.09e-02 6.22e+02 1.01e+01 5.78e-01 1.24e+06 1 6.47e-03 4.77e-01 73 7.345293e+02 2.08e-02 6.20e+02 1.01e+01 5.78e-01 1.24e+06 1 6.42e-03 4.84e-01 74 7.345086e+02 2.07e-02 6.19e+02 1.01e+01 5.78e-01 1.24e+06 1 6.55e-03 4.90e-01 75 7.344881e+02 2.05e-02 6.18e+02 1.01e+01 5.78e-01 1.25e+06 1 6.72e-03 4.97e-01 76 7.344677e+02 2.04e-02 6.17e+02 1.01e+01 5.78e-01 1.25e+06 1 6.29e-03 5.03e-01 77 7.344474e+02 2.03e-02 6.15e+02 1.01e+01 5.78e-01 1.26e+06 1 6.28e-03 5.10e-01 78 7.344273e+02 2.01e-02 6.14e+02 1.01e+01 5.78e-01 1.26e+06 1 6.03e-03 5.16e-01 79 7.344073e+02 2.00e-02 6.13e+02 1.01e+01 5.78e-01 1.27e+06 1 6.30e-03 5.22e-01 80 7.343874e+02 1.99e-02 6.12e+02 1.01e+01 5.78e-01 1.27e+06 1 6.37e-03 5.28e-01 81 7.343676e+02 1.98e-02 6.10e+02 1.00e+01 5.78e-01 1.28e+06 1 6.18e-03 5.35e-01 82 7.343479e+02 1.96e-02 6.09e+02 1.00e+01 5.78e-01 1.28e+06 1 6.41e-03 5.41e-01 83 7.343284e+02 1.95e-02 6.08e+02 1.00e+01 5.78e-01 1.29e+06 1 6.25e-03 5.47e-01 84 7.343090e+02 1.94e-02 6.07e+02 1.00e+01 5.78e-01 1.29e+06 1 6.32e-03 5.54e-01 85 7.342897e+02 1.93e-02 6.05e+02 1.00e+01 5.78e-01 1.30e+06 1 6.31e-03 5.60e-01 86 7.342705e+02 1.92e-02 6.04e+02 1.00e+01 5.78e-01 1.30e+06 1 6.40e-03 5.66e-01 87 7.342515e+02 1.90e-02 6.03e+02 1.00e+01 5.78e-01 1.31e+06 1 6.26e-03 5.73e-01 88 7.342326e+02 1.89e-02 6.02e+02 1.00e+01 5.78e-01 1.31e+06 1 6.21e-03 5.79e-01 89 7.342137e+02 1.88e-02 6.00e+02 1.00e+01 5.78e-01 1.32e+06 1 6.09e-03 5.85e-01 90 7.341950e+02 1.87e-02 5.99e+02 9.99e+00 5.78e-01 1.32e+06 1 6.26e-03 5.91e-01 91 7.341765e+02 1.86e-02 5.98e+02 9.99e+00 5.77e-01 1.33e+06 1 6.37e-03 5.98e-01 92 7.341580e+02 1.85e-02 5.97e+02 9.98e+00 5.77e-01 1.33e+06 1 6.30e-03 6.04e-01 93 7.341396e+02 1.84e-02 5.96e+02 9.98e+00 5.77e-01 1.34e+06 1 6.41e-03 6.10e-01 94 7.341214e+02 1.83e-02 5.94e+02 9.97e+00 5.77e-01 1.34e+06 1 6.37e-03 6.17e-01 95 7.341032e+02 1.81e-02 5.93e+02 9.97e+00 5.77e-01 1.35e+06 1 6.34e-03 6.23e-01 96 7.340852e+02 1.80e-02 5.92e+02 9.96e+00 5.77e-01 1.35e+06 1 6.39e-03 6.30e-01 97 7.340673e+02 1.79e-02 5.91e+02 9.95e+00 5.77e-01 1.36e+06 1 6.49e-03 6.36e-01 98 7.340495e+02 1.78e-02 5.90e+02 9.95e+00 5.77e-01 1.36e+06 1 6.16e-03 6.42e-01 99 7.340318e+02 1.77e-02 5.88e+02 9.94e+00 5.77e-01 1.37e+06 1 6.32e-03 6.49e-01 100 7.340142e+02 1.76e-02 5.87e+02 9.94e+00 5.77e-01 1.37e+06 1 6.33e-03 6.55e-01 Bundle adjustment report ------------------------ Residuals : 6248 Parameters : 4693 Iterations : 101 Time : 0.655045 [s] Initial cost : 0.387821 [px] Final cost : 0.342753 [px] Termination : No convergence => Filtered observations: 2 => Filtered images: 0 ============================================================================== Registering image #34 (3) ============================================================================== => Image sees 901 / 2985 points Pose refinement report ---------------------- Residuals : 1552 Parameters : 6 Iterations : 39 Time : 0.0619888 [s] Initial cost : 0.873017 [px] Final cost : 0.848377 [px] Termination : Convergence => Continued observations: 776 => Added observations: 1759 Bundle adjustment report ------------------------ Residuals : 11314 Parameters : 7066 Iterations : 26 Time : 0.344092 [s] Initial cost : 0.786796 [px] Final cost : 0.58394 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 297 => Changed observations: 0.052678 Bundle adjustment report ------------------------ Residuals : 10722 Parameters : 7045 Iterations : 26 Time : 0.328131 [s] Initial cost : 0.548914 [px] Final cost : 0.482725 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.002238 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 2.537266e+03 0.00e+00 2.22e+04 0.00e+00 0.00e+00 1.00e+04 0 1.07e-02 1.76e-02 1 2.527550e+03 9.72e+00 2.06e+02 3.21e+00 1.00e+00 3.00e+04 1 1.32e-02 3.08e-02 2 2.524170e+03 3.38e+00 1.92e+03 1.21e+01 9.86e-01 9.00e+04 1 1.28e-02 4.37e-02 3 2.517992e+03 6.18e+00 1.70e+04 3.82e+01 6.05e-01 9.09e+04 1 1.30e-02 5.67e-02 4 2.507865e+03 1.01e+01 1.70e+04 3.96e+01 7.12e-01 9.83e+04 1 1.36e-02 7.03e-02 5 2.498375e+03 9.49e+00 1.97e+04 4.34e+01 6.31e-01 1.00e+05 1 1.32e-02 8.35e-02 6 2.487624e+03 1.08e+01 2.03e+04 4.46e+01 6.48e-01 1.03e+05 1 1.33e-02 9.69e-02 7 2.476892e+03 1.07e+01 2.12e+04 4.59e+01 6.29e-01 1.05e+05 1 1.33e-02 1.10e-01 8 2.465854e+03 1.10e+01 2.18e+04 4.67e+01 6.26e-01 1.06e+05 1 1.35e-02 1.24e-01 9 2.454714e+03 1.11e+01 2.23e+04 4.74e+01 6.20e-01 1.08e+05 1 1.35e-02 1.37e-01 10 2.443472e+03 1.12e+01 2.28e+04 4.78e+01 6.17e-01 1.09e+05 1 1.30e-02 1.50e-01 11 2.432172e+03 1.13e+01 2.32e+04 4.82e+01 6.14e-01 1.10e+05 1 1.31e-02 1.63e-01 12 2.420834e+03 1.13e+01 2.36e+04 4.85e+01 6.12e-01 1.12e+05 1 1.31e-02 1.77e-01 13 2.409476e+03 1.14e+01 2.39e+04 4.87e+01 6.10e-01 1.13e+05 1 1.30e-02 1.90e-01 14 2.398114e+03 1.14e+01 2.42e+04 4.89e+01 6.09e-01 1.14e+05 1 1.27e-02 2.02e-01 15 2.386759e+03 1.14e+01 2.45e+04 4.90e+01 6.08e-01 1.15e+05 1 1.43e-02 2.17e-01 16 2.375420e+03 1.13e+01 2.48e+04 4.91e+01 6.07e-01 1.16e+05 1 1.80e-02 2.35e-01 17 2.364105e+03 1.13e+01 2.50e+04 4.92e+01 6.07e-01 1.18e+05 1 1.26e-02 2.47e-01 18 2.352821e+03 1.13e+01 2.53e+04 4.92e+01 6.06e-01 1.19e+05 1 1.30e-02 2.60e-01 19 2.341573e+03 1.12e+01 2.55e+04 4.93e+01 6.06e-01 1.20e+05 1 1.32e-02 2.74e-01 20 2.330367e+03 1.12e+01 2.57e+04 4.93e+01 6.06e-01 1.21e+05 1 1.30e-02 2.87e-01 21 2.319206e+03 1.12e+01 2.59e+04 4.93e+01 6.06e-01 1.22e+05 1 1.30e-02 3.00e-01 22 2.308095e+03 1.11e+01 2.61e+04 4.94e+01 6.06e-01 1.23e+05 1 1.35e-02 3.13e-01 23 2.297037e+03 1.11e+01 2.63e+04 4.94e+01 6.06e-01 1.24e+05 1 1.33e-02 3.27e-01 24 2.286036e+03 1.10e+01 2.65e+04 4.93e+01 6.06e-01 1.26e+05 1 1.40e-02 3.41e-01 25 2.275093e+03 1.09e+01 2.67e+04 4.93e+01 6.06e-01 1.27e+05 1 1.94e-02 3.60e-01 26 2.264213e+03 1.09e+01 2.69e+04 4.93e+01 6.06e-01 1.28e+05 1 1.35e-02 3.74e-01 27 2.253396e+03 1.08e+01 2.70e+04 4.93e+01 6.06e-01 1.29e+05 1 1.30e-02 3.87e-01 28 2.242647e+03 1.07e+01 2.72e+04 4.93e+01 6.07e-01 1.31e+05 1 1.32e-02 4.00e-01 29 2.231966e+03 1.07e+01 2.74e+04 4.92e+01 6.07e-01 1.32e+05 1 1.31e-02 4.13e-01 30 2.221356e+03 1.06e+01 2.75e+04 4.92e+01 6.07e-01 1.33e+05 1 1.26e-02 4.26e-01 31 2.210818e+03 1.05e+01 2.77e+04 4.91e+01 6.07e-01 1.35e+05 1 1.40e-02 4.40e-01 32 2.200355e+03 1.05e+01 2.78e+04 4.91e+01 6.08e-01 1.36e+05 1 1.30e-02 4.53e-01 33 2.189969e+03 1.04e+01 2.80e+04 4.90e+01 6.08e-01 1.37e+05 1 1.25e-02 4.65e-01 34 2.179661e+03 1.03e+01 2.81e+04 4.90e+01 6.08e-01 1.39e+05 1 1.29e-02 4.78e-01 35 2.169433e+03 1.02e+01 2.82e+04 4.89e+01 6.09e-01 1.40e+05 1 1.29e-02 4.91e-01 36 2.159286e+03 1.01e+01 2.84e+04 4.88e+01 6.09e-01 1.42e+05 1 1.32e-02 5.04e-01 37 2.149221e+03 1.01e+01 2.85e+04 4.88e+01 6.09e-01 1.43e+05 1 1.33e-02 5.18e-01 38 2.139242e+03 9.98e+00 2.86e+04 4.87e+01 6.10e-01 1.45e+05 1 1.32e-02 5.31e-01 39 2.129348e+03 9.89e+00 2.87e+04 4.86e+01 6.10e-01 1.46e+05 1 1.29e-02 5.44e-01 40 2.119542e+03 9.81e+00 2.88e+04 4.86e+01 6.10e-01 1.48e+05 1 1.28e-02 5.57e-01 41 2.109824e+03 9.72e+00 2.90e+04 4.85e+01 6.10e-01 1.49e+05 1 1.42e-02 5.71e-01 42 2.100197e+03 9.63e+00 2.91e+04 4.84e+01 6.11e-01 1.51e+05 1 1.38e-02 5.85e-01 43 2.090661e+03 9.54e+00 2.92e+04 4.83e+01 6.11e-01 1.53e+05 1 1.87e-02 6.03e-01 44 2.081218e+03 9.44e+00 2.92e+04 4.82e+01 6.11e-01 1.54e+05 1 1.31e-02 6.17e-01 45 2.071869e+03 9.35e+00 2.93e+04 4.81e+01 6.12e-01 1.56e+05 1 1.36e-02 6.30e-01 46 2.062615e+03 9.25e+00 2.94e+04 4.80e+01 6.12e-01 1.58e+05 1 1.45e-02 6.45e-01 47 2.053458e+03 9.16e+00 2.95e+04 4.79e+01 6.12e-01 1.60e+05 1 1.30e-02 6.58e-01 48 2.044398e+03 9.06e+00 2.96e+04 4.78e+01 6.13e-01 1.62e+05 1 1.36e-02 6.71e-01 49 2.035437e+03 8.96e+00 2.96e+04 4.77e+01 6.13e-01 1.63e+05 1 1.31e-02 6.85e-01 50 2.026576e+03 8.86e+00 2.97e+04 4.76e+01 6.13e-01 1.65e+05 1 1.31e-02 6.98e-01 51 2.017816e+03 8.76e+00 2.97e+04 4.74e+01 6.14e-01 1.67e+05 1 1.26e-02 7.10e-01 52 2.009157e+03 8.66e+00 2.98e+04 4.73e+01 6.14e-01 1.69e+05 1 1.39e-02 7.24e-01 53 2.000602e+03 8.56e+00 2.98e+04 4.72e+01 6.14e-01 1.71e+05 1 1.28e-02 7.37e-01 54 1.992151e+03 8.45e+00 2.99e+04 4.71e+01 6.15e-01 1.73e+05 1 1.30e-02 7.50e-01 55 1.983804e+03 8.35e+00 2.99e+04 4.69e+01 6.15e-01 1.76e+05 1 1.30e-02 7.63e-01 56 1.975564e+03 8.24e+00 2.99e+04 4.68e+01 6.15e-01 1.78e+05 1 1.36e-02 7.77e-01 57 1.967430e+03 8.13e+00 3.00e+04 4.66e+01 6.16e-01 1.80e+05 1 1.35e-02 7.90e-01 58 1.959403e+03 8.03e+00 3.00e+04 4.65e+01 6.16e-01 1.82e+05 1 1.32e-02 8.03e-01 59 1.951485e+03 7.92e+00 3.00e+04 4.63e+01 6.17e-01 1.85e+05 1 1.30e-02 8.17e-01 60 1.943676e+03 7.81e+00 3.00e+04 4.62e+01 6.17e-01 1.87e+05 1 1.27e-02 8.29e-01 61 1.935977e+03 7.70e+00 3.00e+04 4.60e+01 6.17e-01 1.90e+05 1 1.31e-02 8.42e-01 62 1.928389e+03 7.59e+00 3.00e+04 4.59e+01 6.18e-01 1.92e+05 1 1.29e-02 8.55e-01 63 1.920911e+03 7.48e+00 3.00e+04 4.57e+01 6.18e-01 1.95e+05 1 1.31e-02 8.68e-01 64 1.913546e+03 7.37e+00 2.99e+04 4.55e+01 6.18e-01 1.97e+05 1 1.29e-02 8.81e-01 65 1.906293e+03 7.25e+00 2.99e+04 4.54e+01 6.19e-01 2.00e+05 1 1.36e-02 8.95e-01 66 1.899152e+03 7.14e+00 2.99e+04 4.52e+01 6.19e-01 2.03e+05 1 1.35e-02 9.09e-01 67 1.892125e+03 7.03e+00 2.98e+04 4.50e+01 6.19e-01 2.05e+05 1 1.29e-02 9.21e-01 68 1.885212e+03 6.91e+00 2.98e+04 4.48e+01 6.20e-01 2.08e+05 1 1.26e-02 9.34e-01 69 1.878414e+03 6.80e+00 2.97e+04 4.47e+01 6.20e-01 2.11e+05 1 1.32e-02 9.47e-01 70 1.871730e+03 6.68e+00 2.96e+04 4.45e+01 6.21e-01 2.14e+05 1 1.30e-02 9.60e-01 71 1.865161e+03 6.57e+00 2.96e+04 4.43e+01 6.21e-01 2.17e+05 1 1.32e-02 9.74e-01 72 1.858707e+03 6.45e+00 2.95e+04 4.41e+01 6.21e-01 2.20e+05 1 1.31e-02 9.87e-01 73 1.852369e+03 6.34e+00 2.94e+04 4.39e+01 6.22e-01 2.24e+05 1 1.34e-02 1.00e+00 74 1.846146e+03 6.22e+00 2.93e+04 4.37e+01 6.22e-01 2.27e+05 1 1.51e-02 1.02e+00 75 1.840040e+03 6.11e+00 2.92e+04 4.35e+01 6.23e-01 2.30e+05 1 1.60e-02 1.03e+00 76 1.834050e+03 5.99e+00 2.91e+04 4.32e+01 6.23e-01 2.34e+05 1 1.34e-02 1.04e+00 77 1.828175e+03 5.87e+00 2.90e+04 4.30e+01 6.23e-01 2.37e+05 1 1.35e-02 1.06e+00 78 1.822417e+03 5.76e+00 2.89e+04 4.28e+01 6.24e-01 2.41e+05 1 1.31e-02 1.07e+00 79 1.816776e+03 5.64e+00 2.87e+04 4.26e+01 6.24e-01 2.45e+05 1 1.30e-02 1.08e+00 80 1.811250e+03 5.53e+00 2.86e+04 4.24e+01 6.25e-01 2.49e+05 1 1.30e-02 1.10e+00 81 1.805840e+03 5.41e+00 2.84e+04 4.21e+01 6.25e-01 2.53e+05 1 1.30e-02 1.11e+00 82 1.800546e+03 5.29e+00 2.83e+04 4.19e+01 6.26e-01 2.57e+05 1 1.32e-02 1.12e+00 83 1.795368e+03 5.18e+00 2.81e+04 4.16e+01 6.26e-01 2.61e+05 1 1.28e-02 1.14e+00 84 1.790306e+03 5.06e+00 2.80e+04 4.14e+01 6.27e-01 2.65e+05 1 1.28e-02 1.15e+00 85 1.785358e+03 4.95e+00 2.78e+04 4.12e+01 6.27e-01 2.70e+05 1 1.28e-02 1.16e+00 86 1.780526e+03 4.83e+00 2.76e+04 4.09e+01 6.28e-01 2.74e+05 1 1.29e-02 1.17e+00 87 1.775808e+03 4.72e+00 2.74e+04 4.06e+01 6.28e-01 2.79e+05 1 1.27e-02 1.19e+00 88 1.771204e+03 4.60e+00 2.72e+04 4.04e+01 6.29e-01 2.84e+05 1 1.30e-02 1.20e+00 89 1.766714e+03 4.49e+00 2.70e+04 4.01e+01 6.29e-01 2.89e+05 1 1.29e-02 1.21e+00 90 1.762337e+03 4.38e+00 2.68e+04 3.98e+01 6.30e-01 2.94e+05 1 1.28e-02 1.23e+00 91 1.758072e+03 4.26e+00 2.66e+04 3.96e+01 6.30e-01 2.99e+05 1 1.26e-02 1.24e+00 92 1.753919e+03 4.15e+00 2.63e+04 3.93e+01 6.31e-01 3.04e+05 1 1.30e-02 1.25e+00 93 1.749878e+03 4.04e+00 2.61e+04 3.90e+01 6.31e-01 3.10e+05 1 1.35e-02 1.27e+00 94 1.745948e+03 3.93e+00 2.58e+04 3.87e+01 6.32e-01 3.16e+05 1 1.32e-02 1.28e+00 95 1.742127e+03 3.82e+00 2.56e+04 3.84e+01 6.32e-01 3.22e+05 1 1.25e-02 1.29e+00 96 1.738416e+03 3.71e+00 2.53e+04 3.81e+01 6.33e-01 3.28e+05 1 1.30e-02 1.30e+00 97 1.734812e+03 3.60e+00 2.51e+04 3.78e+01 6.34e-01 3.34e+05 1 1.31e-02 1.32e+00 98 1.731317e+03 3.50e+00 2.48e+04 3.75e+01 6.34e-01 3.41e+05 1 1.29e-02 1.33e+00 99 1.727927e+03 3.39e+00 2.45e+04 3.72e+01 6.35e-01 3.48e+05 1 1.29e-02 1.34e+00 100 1.724644e+03 3.28e+00 2.42e+04 3.69e+01 6.36e-01 3.55e+05 1 1.30e-02 1.36e+00 Bundle adjustment report ------------------------ Residuals : 10746 Parameters : 7063 Iterations : 101 Time : 1.35668 [s] Initial cost : 0.485914 [px] Final cost : 0.400614 [px] Termination : No convergence => Completed observations: 199 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.037037 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.429600e+03 0.00e+00 3.67e+04 0.00e+00 0.00e+00 1.00e+04 0 9.79e-03 1.70e-02 1 2.144937e+03 2.85e+02 3.94e+02 1.42e+00 1.00e+00 3.00e+04 1 1.45e-02 3.16e-02 2 2.133238e+03 1.17e+01 5.77e+03 1.21e+00 9.99e-01 9.00e+04 1 1.40e-02 4.56e-02 3 2.114573e+03 1.87e+01 4.75e+04 1.46e+01 9.09e-01 2.00e+05 1 1.39e-02 5.95e-02 4 2.119587e+03 -5.01e+00 0.00e+00 5.57e+01 -1.62e-01 9.98e+04 1 4.26e-03 6.38e-02 5 2.099124e+03 1.54e+01 5.02e+04 2.47e+01 8.65e-01 1.63e+05 1 1.36e-02 7.75e-02 6 2.090142e+03 8.98e+00 1.13e+05 5.02e+01 3.76e-01 1.61e+05 1 1.41e-02 9.16e-02 7 2.068150e+03 2.20e+01 9.70e+04 5.37e+01 6.45e-01 1.65e+05 1 1.38e-02 1.05e-01 8 2.049467e+03 1.87e+01 9.28e+04 5.64e+01 6.17e-01 1.67e+05 1 1.39e-02 1.19e-01 9 2.031268e+03 1.82e+01 8.77e+04 5.70e+01 6.33e-01 1.70e+05 1 1.38e-02 1.33e-01 10 2.014258e+03 1.70e+01 8.42e+04 5.70e+01 6.35e-01 1.73e+05 1 1.38e-02 1.47e-01 11 1.998152e+03 1.61e+01 8.12e+04 5.66e+01 6.41e-01 1.77e+05 1 1.38e-02 1.61e-01 12 1.982948e+03 1.52e+01 7.87e+04 5.60e+01 6.44e-01 1.82e+05 1 1.37e-02 1.75e-01 13 1.968562e+03 1.44e+01 7.64e+04 5.53e+01 6.48e-01 1.86e+05 1 1.36e-02 1.88e-01 14 1.954951e+03 1.36e+01 7.43e+04 5.45e+01 6.51e-01 1.92e+05 1 1.46e-02 2.03e-01 15 1.942066e+03 1.29e+01 7.24e+04 5.37e+01 6.53e-01 1.97e+05 1 1.40e-02 2.17e-01 16 1.929872e+03 1.22e+01 7.05e+04 5.29e+01 6.55e-01 2.03e+05 1 1.38e-02 2.31e-01 17 1.918338e+03 1.15e+01 6.88e+04 5.20e+01 6.57e-01 2.10e+05 1 1.90e-02 2.50e-01 18 1.907436e+03 1.09e+01 6.70e+04 5.12e+01 6.59e-01 2.17e+05 1 1.37e-02 2.63e-01 19 1.897145e+03 1.03e+01 6.53e+04 5.04e+01 6.60e-01 2.24e+05 1 1.38e-02 2.77e-01 20 1.887442e+03 9.70e+00 6.36e+04 4.95e+01 6.62e-01 2.32e+05 1 1.44e-02 2.92e-01 21 1.878310e+03 9.13e+00 6.19e+04 4.87e+01 6.64e-01 2.41e+05 1 1.43e-02 3.06e-01 22 1.869730e+03 8.58e+00 6.01e+04 4.78e+01 6.65e-01 2.50e+05 1 1.31e-02 3.19e-01 23 1.861685e+03 8.04e+00 5.83e+04 4.70e+01 6.67e-01 2.59e+05 1 1.39e-02 3.33e-01 24 1.854160e+03 7.53e+00 5.65e+04 4.61e+01 6.68e-01 2.69e+05 1 1.37e-02 3.47e-01 25 1.847136e+03 7.02e+00 5.47e+04 4.52e+01 6.70e-01 2.80e+05 1 1.37e-02 3.61e-01 26 1.840599e+03 6.54e+00 5.29e+04 4.43e+01 6.72e-01 2.92e+05 1 1.36e-02 3.74e-01 27 1.834531e+03 6.07e+00 5.10e+04 4.33e+01 6.74e-01 3.05e+05 1 1.35e-02 3.88e-01 28 1.828917e+03 5.61e+00 4.91e+04 4.24e+01 6.75e-01 3.19e+05 1 1.35e-02 4.01e-01 29 1.823738e+03 5.18e+00 4.72e+04 4.14e+01 6.77e-01 3.34e+05 1 1.44e-02 4.16e-01 30 1.818979e+03 4.76e+00 4.52e+04 4.04e+01 6.80e-01 3.50e+05 1 1.38e-02 4.29e-01 31 1.814622e+03 4.36e+00 4.33e+04 3.94e+01 6.82e-01 3.68e+05 1 1.37e-02 4.43e-01 32 1.810650e+03 3.97e+00 4.13e+04 3.84e+01 6.84e-01 3.87e+05 1 1.35e-02 4.57e-01 33 1.807046e+03 3.60e+00 3.92e+04 3.73e+01 6.87e-01 4.08e+05 1 1.34e-02 4.70e-01 34 1.803790e+03 3.26e+00 3.72e+04 3.63e+01 6.90e-01 4.32e+05 1 1.36e-02 4.84e-01 35 1.800867e+03 2.92e+00 3.52e+04 3.52e+01 6.93e-01 4.58e+05 1 1.36e-02 4.97e-01 36 1.798257e+03 2.61e+00 3.31e+04 3.40e+01 6.96e-01 4.88e+05 1 1.36e-02 5.11e-01 37 1.795943e+03 2.31e+00 3.10e+04 3.29e+01 6.99e-01 5.21e+05 1 1.39e-02 5.25e-01 38 1.793906e+03 2.04e+00 2.90e+04 3.17e+01 7.03e-01 5.58e+05 1 1.35e-02 5.38e-01 39 1.792129e+03 1.78e+00 2.69e+04 3.05e+01 7.07e-01 6.01e+05 1 1.39e-02 5.52e-01 40 1.790591e+03 1.54e+00 2.48e+04 2.92e+01 7.12e-01 6.50e+05 1 1.36e-02 5.66e-01 41 1.789277e+03 1.31e+00 2.28e+04 2.79e+01 7.17e-01 7.08e+05 1 1.33e-02 5.79e-01 42 1.788166e+03 1.11e+00 2.07e+04 2.65e+01 7.22e-01 7.76e+05 1 1.33e-02 5.92e-01 43 1.787241e+03 9.25e-01 1.87e+04 2.52e+01 7.28e-01 8.57e+05 1 1.41e-02 6.07e-01 44 1.786484e+03 7.57e-01 1.66e+04 2.37e+01 7.35e-01 9.57e+05 1 1.43e-02 6.21e-01 45 1.785876e+03 6.08e-01 1.46e+04 2.22e+01 7.43e-01 1.08e+06 1 1.33e-02 6.34e-01 46 1.785401e+03 4.76e-01 1.27e+04 2.06e+01 7.52e-01 1.24e+06 1 1.36e-02 6.48e-01 47 1.785039e+03 3.61e-01 1.08e+04 1.90e+01 7.63e-01 1.45e+06 1 1.39e-02 6.62e-01 48 1.784775e+03 2.64e-01 8.89e+03 1.72e+01 7.75e-01 1.74e+06 1 1.80e-02 6.80e-01 49 1.784591e+03 1.84e-01 7.10e+03 1.54e+01 7.90e-01 2.17e+06 1 1.40e-02 6.94e-01 50 1.784472e+03 1.19e-01 5.40e+03 1.34e+01 8.09e-01 2.84e+06 1 1.45e-02 7.08e-01 51 1.784402e+03 7.03e-02 3.83e+03 1.13e+01 8.33e-01 4.03e+06 1 1.38e-02 7.22e-01 52 1.784366e+03 3.57e-02 2.41e+03 8.94e+00 8.65e-01 6.61e+06 1 1.39e-02 7.36e-01 53 1.784352e+03 1.41e-02 1.23e+03 6.38e+00 9.07e-01 1.44e+07 1 1.42e-02 7.50e-01 54 1.784348e+03 3.48e-03 4.00e+02 3.63e+00 9.58e-01 4.32e+07 1 1.38e-02 7.64e-01 55 1.784348e+03 3.11e-04 4.03e+01 1.15e+00 9.95e-01 1.29e+08 1 1.37e-02 7.78e-01 56 1.784348e+03 3.39e-06 1.94e+00 1.31e-01 1.00e+00 3.88e+08 1 1.38e-02 7.92e-01 57 1.784348e+03 3.32e-09 3.62e-02 5.21e-03 1.00e+00 1.17e+09 1 1.40e-02 8.06e-01 Bundle adjustment report ------------------------ Residuals : 11144 Parameters : 7063 Iterations : 58 Time : 0.806 [s] Initial cost : 0.466925 [px] Final cost : 0.400147 [px] Termination : Convergence => Completed observations: 44 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.007897 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.902275e+03 0.00e+00 5.03e+03 0.00e+00 0.00e+00 1.00e+04 0 1.01e-02 1.70e-02 1 1.859664e+03 4.26e+01 1.67e+01 3.47e-01 1.00e+00 3.00e+04 1 1.47e-02 3.17e-02 2 1.859575e+03 8.83e-02 7.62e+01 2.18e-01 1.00e+00 9.00e+04 1 1.37e-02 4.55e-02 3 1.859343e+03 2.32e-01 6.01e+02 1.67e+00 9.99e-01 2.70e+05 1 1.39e-02 5.94e-02 4 1.858776e+03 5.67e-01 4.58e+03 8.37e+00 9.68e-01 8.10e+05 1 1.39e-02 7.33e-02 5 1.858200e+03 5.77e-01 2.53e+04 2.74e+01 4.93e-01 8.10e+05 1 1.65e-02 8.98e-02 6 1.857131e+03 1.07e+00 1.53e+04 2.35e+01 8.29e-01 1.13e+06 1 1.36e-02 1.03e-01 7 1.856611e+03 5.20e-01 1.53e+04 2.42e+01 7.00e-01 1.21e+06 1 1.36e-02 1.17e-01 8 1.856181e+03 4.30e-01 8.60e+03 1.83e+01 8.60e-01 1.93e+06 1 1.45e-02 1.32e-01 9 1.855994e+03 1.87e-01 7.79e+03 1.74e+01 7.65e-01 2.26e+06 1 1.45e-02 1.46e-01 10 1.855881e+03 1.13e-01 3.33e+03 1.14e+01 9.15e-01 5.30e+06 1 1.42e-02 1.60e-01 11 1.855849e+03 3.20e-02 2.24e+03 9.35e+00 8.71e-01 8.96e+06 1 1.41e-02 1.74e-01 12 1.855841e+03 8.07e-03 3.73e+02 3.81e+00 9.84e-01 2.69e+07 1 1.43e-02 1.89e-01 13 1.855841e+03 3.43e-04 3.10e+01 1.10e+00 9.97e-01 8.07e+07 1 1.41e-02 2.03e-01 14 1.855841e+03 2.90e-06 7.92e-01 1.12e-01 1.00e+00 2.42e+08 1 1.43e-02 2.17e-01 15 1.855841e+03 2.62e-09 1.73e-02 3.93e-03 1.01e+00 7.26e+08 1 1.40e-02 2.31e-01 Bundle adjustment report ------------------------ Residuals : 11232 Parameters : 7063 Iterations : 16 Time : 0.231443 [s] Initial cost : 0.411536 [px] Final cost : 0.406482 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000178 => Filtered images: 0 ============================================================================== Registering image #2 (4) ============================================================================== => Image sees 1133 / 2790 points Pose refinement report ---------------------- Residuals : 2260 Parameters : 6 Iterations : 9 Time : 0.0208862 [s] Initial cost : 0.556624 [px] Final cost : 0.53874 [px] Termination : Convergence => Continued observations: 1130 => Added observations: 1336 Bundle adjustment report ------------------------ Residuals : 16166 Parameters : 8899 Iterations : 16 Time : 0.362217 [s] Initial cost : 0.422969 [px] Final cost : 0.396154 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 43 => Filtered observations: 63 => Changed observations: 0.013114 Bundle adjustment report ------------------------ Residuals : 16126 Parameters : 8890 Iterations : 11 Time : 0.259851 [s] Initial cost : 0.461005 [px] Final cost : 0.448624 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000744 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.268168e+03 0.00e+00 2.85e+03 0.00e+00 0.00e+00 1.00e+04 0 1.51e-02 2.65e-02 1 3.262756e+03 5.41e+00 1.73e+01 7.19e-01 1.00e+00 3.00e+04 1 2.27e-02 4.92e-02 2 3.262750e+03 5.80e-03 5.56e+00 8.17e-01 9.99e-01 9.00e+04 1 2.19e-02 7.12e-02 3 3.262745e+03 5.15e-03 7.44e+00 1.58e+00 1.00e+00 2.70e+05 1 2.14e-02 9.26e-02 4 3.262740e+03 5.16e-03 3.23e+01 2.24e+00 9.99e-01 8.10e+05 1 2.15e-02 1.14e-01 5 3.262735e+03 4.89e-03 8.59e+01 8.36e-01 9.99e-01 2.43e+06 1 2.11e-02 1.35e-01 6 3.262732e+03 3.11e-03 1.28e+02 1.52e+00 9.95e-01 7.29e+06 1 2.12e-02 1.56e-01 7 3.262731e+03 6.96e-04 4.78e+01 1.42e+00 9.96e-01 2.19e+07 1 2.15e-02 1.78e-01 8 3.262731e+03 3.21e-05 2.69e+00 3.61e-01 9.99e-01 6.56e+07 1 2.11e-02 1.99e-01 9 3.262731e+03 1.94e-07 6.59e-01 3.01e-02 1.00e+00 1.97e+08 1 2.16e-02 2.21e-01 10 3.262731e+03 1.26e-10 3.18e-03 8.41e-04 8.93e-01 3.82e+08 1 2.17e-02 2.43e-01 Bundle adjustment report ------------------------ Residuals : 16138 Parameters : 8896 Iterations : 11 Time : 0.242823 [s] Initial cost : 0.450015 [px] Final cost : 0.449641 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #33 (5) ============================================================================== => Image sees 1184 / 2853 points Pose refinement report ---------------------- Residuals : 2354 Parameters : 6 Iterations : 10 Time : 0.0250361 [s] Initial cost : 0.691158 [px] Final cost : 0.601248 [px] Termination : Convergence => Continued observations: 1170 => Added observations: 833 Bundle adjustment report ------------------------ Residuals : 20144 Parameters : 10063 Iterations : 23 Time : 0.65668 [s] Initial cost : 0.482161 [px] Final cost : 0.428368 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 47 => Filtered observations: 64 => Changed observations: 0.013503 Bundle adjustment report ------------------------ Residuals : 20110 Parameters : 10033 Iterations : 9 Time : 0.260621 [s] Initial cost : 0.49225 [px] Final cost : 0.480575 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000995 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 4.665175e+03 0.00e+00 1.89e+03 0.00e+00 0.00e+00 1.00e+04 0 1.93e-02 3.40e-02 1 4.657569e+03 7.61e+00 3.03e+01 2.41e-01 1.00e+00 3.00e+04 1 3.00e-02 6.40e-02 2 4.657521e+03 4.80e-02 1.51e+01 8.78e-02 1.00e+00 9.00e+04 1 3.06e-02 9.47e-02 3 4.657509e+03 1.14e-02 5.13e+00 4.40e-02 1.00e+00 2.70e+05 1 2.81e-02 1.23e-01 4 4.657508e+03 1.18e-03 1.92e+00 1.75e-01 1.00e+00 8.10e+05 1 2.74e-02 1.50e-01 5 4.657507e+03 7.77e-04 5.41e+00 5.02e-01 9.99e-01 2.43e+06 1 3.06e-02 1.81e-01 6 4.657507e+03 3.95e-04 5.56e+00 5.72e-01 9.99e-01 7.29e+06 1 2.93e-02 2.10e-01 7 4.657507e+03 5.08e-05 1.97e+00 2.56e-01 9.98e-01 2.19e+07 1 2.93e-02 2.39e-01 8 4.657507e+03 1.11e-06 1.47e+00 4.13e-02 9.99e-01 6.56e+07 1 2.92e-02 2.69e-01 9 4.657507e+03 3.11e-09 1.41e-02 2.22e-03 9.84e-01 1.97e+08 1 3.41e-02 3.03e-01 Bundle adjustment report ------------------------ Residuals : 20132 Parameters : 10045 Iterations : 10 Time : 0.303261 [s] Initial cost : 0.481383 [px] Final cost : 0.480987 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #32 (6) ============================================================================== => Image sees 1218 / 2703 points Pose refinement report ---------------------- Residuals : 2426 Parameters : 6 Iterations : 9 Time : 0.0238709 [s] Initial cost : 0.676782 [px] Final cost : 0.593689 [px] Termination : Convergence => Continued observations: 1204 => Added observations: 951 Bundle adjustment report ------------------------ Residuals : 24442 Parameters : 11401 Iterations : 26 Time : 1.00177 [s] Initial cost : 0.489636 [px] Final cost : 0.441435 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 47 => Filtered observations: 78 => Changed observations: 0.014892 Bundle adjustment report ------------------------ Residuals : 24380 Parameters : 11359 Iterations : 9 Time : 0.366912 [s] Initial cost : 0.518421 [px] Final cost : 0.506833 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000902 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 6.318337e+03 0.00e+00 3.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.70e-02 4.98e-02 1 6.307765e+03 1.06e+01 2.36e+01 9.34e-01 1.00e+00 3.00e+04 1 3.96e-02 8.95e-02 2 6.307734e+03 3.09e-02 1.16e+01 1.89e+00 1.00e+00 9.00e+04 1 3.55e-02 1.25e-01 3 6.307714e+03 2.08e-02 2.39e+01 3.80e+00 9.99e-01 2.70e+05 1 3.49e-02 1.60e-01 4 6.307702e+03 1.20e-02 4.20e+01 5.03e+00 9.97e-01 8.10e+05 1 3.53e-02 1.95e-01 5 6.307698e+03 3.08e-03 2.05e+01 3.35e+00 9.98e-01 2.43e+06 1 3.53e-02 2.31e-01 6 6.307698e+03 3.25e-04 4.00e+00 1.03e+00 9.99e-01 7.29e+06 1 3.52e-02 2.66e-01 7 6.307698e+03 2.36e-05 1.99e+00 1.71e-01 9.99e-01 2.19e+07 1 3.40e-02 3.00e-01 8 6.307698e+03 4.97e-07 4.79e-01 1.72e-02 9.99e-01 6.56e+07 1 3.49e-02 3.35e-01 9 6.307698e+03 1.55e-09 1.40e-02 8.13e-04 1.04e+00 1.97e+08 1 3.46e-02 3.69e-01 Bundle adjustment report ------------------------ Residuals : 24402 Parameters : 11368 Iterations : 10 Time : 0.369956 [s] Initial cost : 0.508849 [px] Final cost : 0.50842 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #35 (7) ============================================================================== => Image sees 1280 / 3361 points Pose refinement report ---------------------- Residuals : 2554 Parameters : 6 Iterations : 8 Time : 0.0223482 [s] Initial cost : 0.629101 [px] Final cost : 0.616551 [px] Termination : Convergence => Continued observations: 1271 => Added observations: 941 Bundle adjustment report ------------------------ Residuals : 24752 Parameters : 9158 Iterations : 23 Time : 0.777802 [s] Initial cost : 0.516343 [px] Final cost : 0.45844 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 41 => Filtered observations: 73 => Changed observations: 0.010355 Bundle adjustment report ------------------------ Residuals : 24690 Parameters : 9140 Iterations : 6 Time : 0.199116 [s] Initial cost : 0.551583 [px] Final cost : 0.541828 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 8 => Filtered observations: 2 => Changed observations: 0.001136 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.901677e+03 0.00e+00 2.01e+04 0.00e+00 0.00e+00 1.00e+04 0 2.85e-02 5.12e-02 1 7.889568e+03 1.21e+01 1.86e+02 2.73e-01 1.00e+00 3.00e+04 1 4.98e-02 1.01e-01 2 7.889228e+03 3.40e-01 1.35e+02 3.47e+00 1.00e+00 9.00e+04 1 4.15e-02 1.43e-01 3 7.889006e+03 2.22e-01 1.89e+02 7.47e+00 9.99e-01 2.70e+05 1 4.14e-02 1.84e-01 4 7.888894e+03 1.12e-01 2.77e+02 9.65e+00 9.95e-01 8.10e+05 1 4.22e-02 2.26e-01 5 7.888865e+03 2.95e-02 1.71e+02 6.15e+00 9.96e-01 2.43e+06 1 4.15e-02 2.68e-01 6 7.888861e+03 3.20e-03 3.70e+01 1.75e+00 9.99e-01 7.29e+06 1 4.28e-02 3.10e-01 7 7.888861e+03 1.93e-04 2.76e+00 2.55e-01 9.99e-01 2.19e+07 1 4.56e-02 3.56e-01 8 7.888861e+03 2.85e-06 1.67e+00 2.14e-02 1.00e+00 6.56e+07 1 4.22e-02 3.98e-01 9 7.888861e+03 6.05e-09 1.40e-02 8.18e-04 9.98e-01 1.97e+08 1 4.19e-02 4.40e-01 Bundle adjustment report ------------------------ Residuals : 28774 Parameters : 12697 Iterations : 10 Time : 0.440806 [s] Initial cost : 0.524034 [px] Final cost : 0.523609 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000070 => Filtered images: 0 ============================================================================== Registering image #24 (8) ============================================================================== => Image sees 1383 / 2594 points Pose refinement report ---------------------- Residuals : 2780 Parameters : 6 Iterations : 7 Time : 0.0221472 [s] Initial cost : 0.591109 [px] Final cost : 0.560578 [px] Termination : Convergence => Continued observations: 1371 => Added observations: 781 Bundle adjustment report ------------------------ Residuals : 26448 Parameters : 8849 Iterations : 21 Time : 0.724906 [s] Initial cost : 0.508184 [px] Final cost : 0.481052 [px] Termination : Convergence => Merged observations: 97 => Completed observations: 73 => Filtered observations: 104 => Changed observations: 0.019451 Bundle adjustment report ------------------------ Residuals : 26402 Parameters : 8807 Iterations : 5 Time : 0.176152 [s] Initial cost : 0.5692 [px] Final cost : 0.557433 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000782 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 9.578808e+03 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 3.44e-02 6.05e-02 1 9.561531e+03 1.73e+01 4.21e+02 7.26e+00 1.00e+00 3.00e+04 1 5.79e-02 1.19e-01 2 9.560839e+03 6.92e-01 2.31e+02 1.00e+01 1.00e+00 9.00e+04 1 4.88e-02 1.67e-01 3 9.560277e+03 5.62e-01 1.03e+03 1.84e+01 9.88e-01 2.70e+05 1 4.94e-02 2.17e-01 4 9.559992e+03 2.85e-01 1.41e+03 2.03e+01 9.59e-01 8.10e+05 1 4.85e-02 2.65e-01 5 9.559924e+03 6.82e-02 5.33e+02 1.05e+01 9.84e-01 2.43e+06 1 4.92e-02 3.15e-01 6 9.559917e+03 7.11e-03 8.83e+01 2.34e+00 9.98e-01 7.29e+06 1 4.94e-02 3.64e-01 7 9.559916e+03 3.98e-04 6.86e+00 2.80e-01 1.00e+00 2.19e+07 1 4.99e-02 4.14e-01 8 9.559916e+03 5.09e-06 1.89e+00 2.11e-02 1.00e+00 6.56e+07 1 5.04e-02 4.64e-01 9 9.559916e+03 9.30e-09 8.27e-03 7.22e-04 1.01e+00 1.97e+08 1 5.01e-02 5.15e-01 Bundle adjustment report ------------------------ Residuals : 33036 Parameters : 13711 Iterations : 10 Time : 0.515332 [s] Initial cost : 0.538471 [px] Final cost : 0.537939 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #36 (9) ============================================================================== => Image sees 1142 / 2391 points Pose refinement report ---------------------- Residuals : 2298 Parameters : 6 Iterations : 10 Time : 0.0258579 [s] Initial cost : 0.693013 [px] Final cost : 0.597795 [px] Termination : Convergence => Continued observations: 1131 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 25394 Parameters : 6923 Iterations : 26 Time : 0.828608 [s] Initial cost : 0.521611 [px] Final cost : 0.487364 [px] Termination : No convergence => Merged observations: 66 => Completed observations: 45 => Filtered observations: 81 => Changed observations: 0.013785 Bundle adjustment report ------------------------ Residuals : 25572 Parameters : 7253 Iterations : 5 Time : 0.166016 [s] Initial cost : 0.587002 [px] Final cost : 0.578457 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 1 => Changed observations: 0.000943 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.108735e+04 0.00e+00 2.36e+04 0.00e+00 0.00e+00 1.00e+04 0 3.97e-02 7.11e-02 1 1.105969e+04 2.77e+01 7.54e+01 9.68e-01 1.00e+00 3.00e+04 1 6.03e-02 1.32e-01 2 1.105962e+04 6.95e-02 3.46e+01 1.93e+00 1.00e+00 9.00e+04 1 5.73e-02 1.89e-01 3 1.105958e+04 3.92e-02 5.16e+01 3.51e+00 1.00e+00 2.70e+05 1 5.76e-02 2.47e-01 4 1.105956e+04 2.36e-02 9.25e+01 3.76e+00 9.99e-01 8.10e+05 1 5.68e-02 3.03e-01 5 1.105954e+04 1.62e-02 9.95e+01 2.02e+00 9.99e-01 2.43e+06 1 5.70e-02 3.60e-01 6 1.105954e+04 6.14e-03 6.16e+01 6.45e-01 9.99e-01 7.29e+06 1 5.58e-02 4.16e-01 7 1.105954e+04 5.77e-04 7.86e+00 1.52e-01 1.00e+00 2.19e+07 1 5.50e-02 4.71e-01 8 1.105954e+04 8.81e-06 1.95e+00 1.79e-02 1.00e+00 6.56e+07 1 6.17e-02 5.33e-01 9 1.105954e+04 1.83e-08 9.57e-03 7.32e-04 9.94e-01 1.97e+08 1 5.57e-02 5.89e-01 Bundle adjustment report ------------------------ Residuals : 36312 Parameters : 14443 Iterations : 10 Time : 0.589769 [s] Initial cost : 0.552572 [px] Final cost : 0.551878 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.000275 => Filtered images: 0 ============================================================================== Registering image #37 (10) ============================================================================== => Image sees 1133 / 2773 points Pose refinement report ---------------------- Residuals : 2284 Parameters : 6 Iterations : 7 Time : 0.0174959 [s] Initial cost : 0.592223 [px] Final cost : 0.591918 [px] Termination : Convergence => Continued observations: 1118 => Added observations: 952 Bundle adjustment report ------------------------ Residuals : 24174 Parameters : 6854 Iterations : 26 Time : 0.799632 [s] Initial cost : 0.551737 [px] Final cost : 0.507144 [px] Termination : No convergence => Merged observations: 86 => Completed observations: 37 => Filtered observations: 105 => Changed observations: 0.016386 Bundle adjustment report ------------------------ Residuals : 24062 Parameters : 6812 Iterations : 4 Time : 0.129124 [s] Initial cost : 0.603437 [px] Final cost : 0.594323 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000722 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.243001e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 4.13e-02 7.43e-02 1 1.241055e+04 1.95e+01 1.27e+02 8.04e-01 1.00e+00 3.00e+04 1 6.32e-02 1.37e-01 2 1.241039e+04 1.56e-01 3.25e+01 8.61e-01 1.00e+00 9.00e+04 1 6.11e-02 1.99e-01 3 1.241034e+04 5.68e-02 2.61e+01 1.05e+00 1.00e+00 2.70e+05 1 6.26e-02 2.61e-01 4 1.241033e+04 9.89e-03 5.16e+00 4.49e-01 1.00e+00 8.10e+05 1 6.20e-02 3.23e-01 5 1.241032e+04 2.52e-03 7.40e+00 8.95e-02 1.00e+00 2.43e+06 1 6.13e-02 3.85e-01 6 1.241032e+04 1.07e-03 8.70e+00 9.27e-02 1.00e+00 7.29e+06 1 6.94e-02 4.54e-01 7 1.241032e+04 1.27e-04 1.97e+00 4.67e-02 1.00e+00 2.19e+07 1 6.27e-02 5.17e-01 8 1.241032e+04 2.56e-06 9.02e-01 7.29e-03 1.00e+00 6.56e+07 1 6.08e-02 5.78e-01 Bundle adjustment report ------------------------ Residuals : 40338 Parameters : 15733 Iterations : 9 Time : 0.578536 [s] Initial cost : 0.555109 [px] Final cost : 0.55467 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 0 => Changed observations: 0.000347 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 992 / 2349 points Pose refinement report ---------------------- Residuals : 1950 Parameters : 6 Iterations : 11 Time : 0.024255 [s] Initial cost : 0.717728 [px] Final cost : 0.605014 [px] Termination : Convergence => Continued observations: 971 => Added observations: 650 Bundle adjustment report ------------------------ Residuals : 23418 Parameters : 5810 Iterations : 26 Time : 0.742973 [s] Initial cost : 0.587591 [px] Final cost : 0.53683 [px] Termination : No convergence => Merged observations: 18 => Completed observations: 29 => Filtered observations: 121 => Changed observations: 0.012951 Bundle adjustment report ------------------------ Residuals : 23236 Parameters : 5774 Iterations : 5 Time : 0.152709 [s] Initial cost : 0.616937 [px] Final cost : 0.608176 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000854 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 1.362665e+04 0.00e+00 2.20e+04 0.00e+00 0.00e+00 1.00e+04 0 4.61e-02 8.06e-02 1 1.362340e+04 3.25e+00 1.76e+02 2.93e+00 1.00e+00 3.00e+04 1 6.91e-02 1.50e-01 2 1.362289e+04 5.09e-01 3.46e+02 8.04e+00 9.99e-01 9.00e+04 1 6.71e-02 2.17e-01 3 1.362248e+04 4.08e-01 9.36e+02 1.36e+01 9.91e-01 2.70e+05 1 6.90e-02 2.86e-01 4 1.362231e+04 1.74e-01 9.22e+02 1.31e+01 9.83e-01 8.10e+05 1 7.60e-02 3.62e-01 5 1.362228e+04 3.35e-02 2.73e+02 5.72e+00 9.96e-01 2.43e+06 1 6.84e-02 4.30e-01 6 1.362227e+04 6.36e-03 6.35e+01 1.07e+00 9.99e-01 7.29e+06 1 6.77e-02 4.98e-01 7 1.362227e+04 8.06e-04 1.07e+01 1.34e-01 1.00e+00 2.19e+07 1 7.58e-02 5.74e-01 8 1.362227e+04 1.95e-05 1.99e+00 1.48e-02 1.00e+00 6.56e+07 1 6.74e-02 6.41e-01 9 1.362227e+04 6.65e-08 3.52e-02 7.36e-04 1.01e+00 1.97e+08 1 6.66e-02 7.08e-01 Bundle adjustment report ------------------------ Residuals : 43422 Parameters : 16612 Iterations : 10 Time : 0.708818 [s] Initial cost : 0.560196 [px] Final cost : 0.560105 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #30 (12) ============================================================================== => Image sees 1274 / 2524 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 8 Time : 0.0229909 [s] Initial cost : 0.59579 [px] Final cost : 0.59416 [px] Termination : Convergence => Continued observations: 1251 => Added observations: 779 Bundle adjustment report ------------------------ Residuals : 24846 Parameters : 6452 Iterations : 26 Time : 0.771354 [s] Initial cost : 0.605661 [px] Final cost : 0.558376 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 51 => Filtered observations: 124 => Changed observations: 0.021272 Bundle adjustment report ------------------------ Residuals : 24730 Parameters : 6392 Iterations : 5 Time : 0.151626 [s] Initial cost : 0.626893 [px] Final cost : 0.615487 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.001768 ============================================================================== Registering image #29 (13) ============================================================================== => Image sees 740 / 1733 points Pose refinement report ---------------------- Residuals : 1450 Parameters : 6 Iterations : 8 Time : 0.0126522 [s] Initial cost : 0.613116 [px] Final cost : 0.609716 [px] Termination : Convergence => Continued observations: 721 => Added observations: 445 Bundle adjustment report ------------------------ Residuals : 18520 Parameters : 4493 Iterations : 26 Time : 0.606817 [s] Initial cost : 0.676983 [px] Final cost : 0.624832 [px] Termination : No convergence => Merged observations: 36 => Completed observations: 21 => Filtered observations: 102 => Changed observations: 0.013787 Bundle adjustment report ------------------------ Residuals : 18374 Parameters : 4445 Iterations : 5 Time : 0.121096 [s] Initial cost : 0.67 [px] Final cost : 0.661071 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.002793 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged observations: 0 => Retriangulated observations: 10 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.744742e+05 0.00e+00 1.45e+06 0.00e+00 0.00e+00 1.00e+04 0 5.33e-02 9.35e-02 1 5.178576e+04 2.23e+05 6.25e+04 9.25e+01 1.00e+00 3.00e+04 1 8.40e-02 1.78e-01 2 5.083915e+04 9.47e+02 4.68e+05 1.59e+02 9.35e-01 8.75e+04 1 7.81e-02 2.56e-01 3 5.086318e+04 -2.40e+01 0.00e+00 2.67e+02 -6.03e-02 4.37e+04 1 2.90e-02 2.85e-01 4 5.057226e+04 2.67e+02 1.27e+05 1.67e+02 8.12e-01 5.79e+04 1 8.35e-02 3.68e-01 5 5.045980e+04 1.12e+02 1.14e+05 1.54e+02 7.02e-01 6.19e+04 1 7.59e-02 4.44e-01 6 5.038426e+04 7.55e+01 6.39e+04 1.15e+02 8.35e-01 8.86e+04 1 7.61e-02 5.20e-01 7 5.035398e+04 3.03e+01 5.12e+04 1.01e+02 7.65e-01 1.04e+05 1 7.80e-02 5.99e-01 8 5.033608e+04 1.79e+01 2.50e+04 6.98e+01 8.95e-01 2.05e+05 1 7.75e-02 6.76e-01 9 5.032978e+04 6.30e+00 1.90e+04 5.80e+01 8.55e-01 3.19e+05 1 7.82e-02 7.54e-01 10 5.032718e+04 2.59e+00 6.59e+03 2.96e+01 9.68e-01 9.57e+05 1 8.22e-02 8.36e-01 11 5.032599e+04 1.19e+00 5.15e+03 1.32e+01 9.88e-01 2.87e+06 1 7.77e-02 9.14e-01 12 5.032523e+04 7.66e-01 5.50e+03 3.35e+00 9.86e-01 8.61e+06 1 7.54e-02 9.90e-01 13 5.032505e+04 1.79e-01 1.94e+03 1.01e+00 9.92e-01 2.58e+07 1 7.56e-02 1.07e+00 14 5.032504e+04 8.74e-03 1.07e+02 2.20e-01 1.00e+00 7.75e+07 1 8.05e-02 1.15e+00 15 5.032504e+04 5.12e-05 1.96e+00 2.09e-02 1.00e+00 2.32e+08 1 7.97e-02 1.23e+00 16 5.032504e+04 4.64e-08 7.31e-02 1.22e-03 9.98e-01 6.97e+08 1 8.00e-02 1.31e+00 Bundle adjustment report ------------------------ Residuals : 49594 Parameters : 18193 Iterations : 17 Time : 1.30689 [s] Initial cost : 2.35254 [px] Final cost : 1.00734 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 94 => Changed observations: 0.004880 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.818308e+04 0.00e+00 3.39e+05 0.00e+00 0.00e+00 1.00e+04 0 5.17e-02 9.22e-02 1 1.713788e+04 1.05e+03 6.78e+04 5.98e+01 9.97e-01 3.00e+04 1 7.94e-02 1.72e-01 2 1.661623e+04 5.22e+02 1.52e+05 1.30e+02 9.72e-01 9.00e+04 1 7.60e-02 2.48e-01 3 1.660285e+04 1.34e+01 3.11e+05 2.55e+02 4.63e-02 5.15e+04 1 8.11e-02 3.29e-01 4 1.628701e+04 3.16e+02 6.25e+04 1.09e+02 9.66e-01 1.55e+05 1 7.91e-02 4.08e-01 5 1.629954e+04 -1.25e+01 0.00e+00 1.69e+02 -2.23e-01 7.73e+04 1 2.89e-02 4.37e-01 6 1.625549e+04 3.15e+01 6.64e+04 1.11e+02 7.10e-01 8.34e+04 1 8.44e-02 5.21e-01 7 1.623047e+04 2.50e+01 3.44e+04 7.88e+01 8.79e-01 1.48e+05 1 7.80e-02 5.99e-01 8 1.622072e+04 9.75e+00 3.04e+04 7.25e+01 7.88e-01 1.83e+05 1 7.59e-02 6.75e-01 9 1.621556e+04 5.16e+00 1.12e+04 4.19e+01 9.42e-01 5.48e+05 1 7.76e-02 7.53e-01 10 1.621402e+04 1.53e+00 8.27e+03 2.92e+01 9.37e-01 1.64e+06 1 7.77e-02 8.31e-01 11 1.621320e+04 8.21e-01 4.78e+03 9.25e+00 9.88e-01 4.93e+06 1 7.77e-02 9.08e-01 12 1.621293e+04 2.71e-01 2.65e+03 2.21e+00 9.91e-01 1.48e+07 1 7.93e-02 9.88e-01 13 1.621291e+04 2.49e-02 3.10e+02 5.37e-01 9.99e-01 4.44e+07 1 8.40e-02 1.07e+00 14 1.621291e+04 3.42e-04 4.86e+00 6.25e-02 1.00e+00 1.33e+08 1 7.79e-02 1.15e+00 15 1.621291e+04 5.93e-07 2.37e-01 2.42e-03 1.00e+00 4.00e+08 1 7.60e-02 1.23e+00 Bundle adjustment report ------------------------ Residuals : 49460 Parameters : 18145 Iterations : 16 Time : 1.22663 [s] Initial cost : 0.606327 [px] Final cost : 0.572537 [px] Termination : Convergence => Completed observations: 20 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.001011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.627239e+04 0.00e+00 4.17e+04 0.00e+00 0.00e+00 1.00e+04 0 4.99e-02 9.03e-02 1 1.624623e+04 2.62e+01 2.18e+02 2.16e+00 1.00e+00 3.00e+04 1 8.25e-02 1.73e-01 2 1.624572e+04 5.06e-01 1.86e+02 4.73e+00 1.00e+00 9.00e+04 1 8.39e-02 2.57e-01 3 1.624549e+04 2.28e-01 3.88e+02 8.47e+00 9.98e-01 2.70e+05 1 9.16e-02 3.48e-01 4 1.624541e+04 8.38e-02 4.24e+02 8.80e+00 9.94e-01 8.10e+05 1 8.82e-02 4.37e-01 5 1.624540e+04 1.24e-02 1.01e+02 4.08e+00 9.98e-01 2.43e+06 1 8.23e-02 5.19e-01 6 1.624540e+04 6.34e-04 7.15e+00 7.46e-01 1.00e+00 7.29e+06 1 8.14e-02 6.00e-01 7 1.624540e+04 7.16e-05 1.97e+00 6.70e-02 1.00e+00 2.19e+07 1 8.10e-02 6.81e-01 8 1.624540e+04 3.20e-06 8.55e-01 6.46e-03 1.00e+00 6.56e+07 1 8.92e-02 7.71e-01 Bundle adjustment report ------------------------ Residuals : 49490 Parameters : 18145 Iterations : 9 Time : 0.771759 [s] Initial cost : 0.573412 [px] Final cost : 0.572936 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000040 => Filtered images: 0 ============================================================================== Registering image #38 (14) ============================================================================== => Image sees 961 / 1991 points Pose refinement report ---------------------- Residuals : 1932 Parameters : 6 Iterations : 10 Time : 0.0211651 [s] Initial cost : 0.722473 [px] Final cost : 0.595271 [px] Termination : Convergence => Continued observations: 943 => Added observations: 579 Bundle adjustment report ------------------------ Residuals : 24226 Parameters : 6185 Iterations : 26 Time : 0.753697 [s] Initial cost : 0.601706 [px] Final cost : 0.557133 [px] Termination : No convergence => Merged observations: 80 => Completed observations: 48 => Filtered observations: 124 => Changed observations: 0.019229 Bundle adjustment report ------------------------ Residuals : 24100 Parameters : 6128 Iterations : 5 Time : 0.154759 [s] Initial cost : 0.611416 [px] Final cost : 0.600951 [px] Termination : Convergence => Merged observations: 14 => Completed observations: 14 => Filtered observations: 3 => Changed observations: 0.002377 ============================================================================== Registering image #39 (15) ============================================================================== => Image sees 1041 / 2578 points Pose refinement report ---------------------- Residuals : 2124 Parameters : 6 Iterations : 11 Time : 0.0251322 [s] Initial cost : 0.712615 [px] Final cost : 0.598487 [px] Termination : Convergence => Continued observations: 1028 => Added observations: 948 Bundle adjustment report ------------------------ Residuals : 21394 Parameters : 5768 Iterations : 26 Time : 0.68148 [s] Initial cost : 0.612145 [px] Final cost : 0.579131 [px] Termination : No convergence => Merged observations: 127 => Completed observations: 67 => Filtered observations: 100 => Changed observations: 0.022764 Bundle adjustment report ------------------------ Residuals : 21342 Parameters : 5702 Iterations : 5 Time : 0.135951 [s] Initial cost : 0.634322 [px] Final cost : 0.623238 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 13 => Filtered observations: 1 => Changed observations: 0.002483 ============================================================================== Retriangulation ============================================================================== => Completed observations: 4 => Merged 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 1.888152e+04 0.00e+00 3.85e+04 0.00e+00 0.00e+00 1.00e+04 0 6.04e-02 1.08e-01 1 1.884771e+04 3.38e+01 3.10e+02 2.87e-01 1.00e+00 3.00e+04 1 8.32e-02 1.91e-01 2 1.884709e+04 6.21e-01 2.27e+02 8.89e-01 1.00e+00 9.00e+04 1 7.90e-02 2.70e-01 3 1.884684e+04 2.52e-01 2.44e+02 1.20e+00 1.00e+00 2.70e+05 1 7.74e-02 3.48e-01 4 1.884674e+04 9.99e-02 1.86e+02 1.04e+00 1.00e+00 8.10e+05 1 7.92e-02 4.27e-01 5 1.884670e+04 3.35e-02 7.08e+01 4.41e-01 1.00e+00 2.43e+06 1 7.75e-02 5.05e-01 6 1.884669e+04 1.94e-02 8.01e+01 9.90e-02 1.00e+00 7.29e+06 1 8.78e-02 5.92e-01 7 1.884668e+04 6.09e-03 5.81e+01 1.60e-01 1.00e+00 2.19e+07 1 7.99e-02 6.72e-01 8 1.884668e+04 4.17e-04 5.53e+00 5.08e-02 1.00e+00 6.56e+07 1 7.92e-02 7.52e-01 9 1.884668e+04 4.42e-06 1.46e+00 5.27e-03 1.00e+00 1.97e+08 1 7.90e-02 8.31e-01 10 1.884668e+04 6.42e-09 5.78e-03 1.64e-04 1.01e+00 5.90e+08 1 7.77e-02 9.08e-01 Bundle adjustment report ------------------------ Residuals : 56324 Parameters : 20122 Iterations : 11 Time : 0.910462 [s] Initial cost : 0.578991 [px] Final cost : 0.578456 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 10 => Filtered observations: 0 => Changed observations: 0.000391 => Filtered images: 0 ============================================================================== Registering image #40 (16) ============================================================================== => Image sees 923 / 1939 points Pose refinement report ---------------------- Residuals : 1864 Parameters : 6 Iterations : 6 Time : 0.0124431 [s] Initial cost : 0.602079 [px] Final cost : 0.601382 [px] Termination : Convergence => Continued observations: 909 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 21106 Parameters : 5579 Iterations : 26 Time : 0.657726 [s] Initial cost : 0.594445 [px] Final cost : 0.563537 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 40 => Filtered observations: 116 => Changed observations: 0.018411 Bundle adjustment report ------------------------ Residuals : 20968 Parameters : 5519 Iterations : 5 Time : 0.128783 [s] Initial cost : 0.620022 [px] Final cost : 0.609467 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 1 => Changed observations: 0.001565 ============================================================================== Registering image #3 (17) ============================================================================== => Image sees 714 / 2106 points Pose refinement report ---------------------- Residuals : 1426 Parameters : 6 Iterations : 9 Time : 0.013093 [s] Initial cost : 0.625412 [px] Final cost : 0.60621 [px] Termination : Convergence => Continued observations: 704 => Added observations: 693 Bundle adjustment report ------------------------ Residuals : 17324 Parameters : 4790 Iterations : 26 Time : 0.565018 [s] Initial cost : 0.630533 [px] Final cost : 0.604509 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 39 => Filtered observations: 76 => Changed observations: 0.013415 Bundle adjustment report ------------------------ Residuals : 17260 Parameters : 4760 Iterations : 5 Time : 0.112567 [s] Initial cost : 0.636517 [px] Final cost : 0.626584 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.003293 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 0 => Retriangulated observations: 11 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.597844e+05 0.00e+00 2.79e+06 0.00e+00 0.00e+00 1.00e+04 0 5.81e-02 1.14e-01 1 1.216652e+05 3.38e+05 8.09e+05 9.44e+01 1.02e+00 3.00e+04 1 9.31e-02 2.07e-01 2 1.181866e+05 3.48e+03 2.21e+06 1.44e+02 8.95e-01 5.91e+04 1 8.85e-02 2.96e-01 3 1.170879e+05 1.10e+03 7.56e+05 1.63e+02 8.77e-01 1.03e+05 1 8.57e-02 3.82e-01 4 1.168071e+05 2.81e+02 2.26e+05 1.37e+02 8.61e-01 1.65e+05 1 8.79e-02 4.70e-01 5 1.167405e+05 6.66e+01 6.47e+04 8.91e+01 9.06e-01 3.56e+05 1 9.52e-02 5.65e-01 6 1.167298e+05 1.07e+01 1.81e+04 5.29e+01 9.30e-01 9.73e+05 1 8.94e-02 6.54e-01 7 1.167283e+05 1.49e+00 2.91e+03 2.02e+01 9.89e-01 2.92e+06 1 8.69e-02 7.41e-01 8 1.167280e+05 3.18e-01 1.97e+03 4.23e+00 9.98e-01 8.76e+06 1 8.87e-02 8.30e-01 9 1.167279e+05 8.91e-02 1.05e+03 9.70e-01 9.97e-01 2.63e+07 1 9.00e-02 9.20e-01 10 1.167279e+05 5.98e-03 9.17e+01 2.29e-01 1.00e+00 7.88e+07 1 8.92e-02 1.01e+00 11 1.167279e+05 5.92e-05 1.90e+00 2.66e-02 1.00e+00 2.37e+08 1 9.65e-02 1.11e+00 12 1.167279e+05 9.10e-08 2.08e-01 2.29e-03 1.01e+00 7.10e+08 1 9.26e-02 1.20e+00 Bundle adjustment report ------------------------ Residuals : 61802 Parameters : 21730 Iterations : 13 Time : 1.20077 [s] Initial cost : 2.72757 [px] Final cost : 1.37431 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 29 => Filtered observations: 180 => Changed observations: 0.007799 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.670188e+04 0.00e+00 1.32e+06 0.00e+00 0.00e+00 1.00e+04 0 5.72e-02 1.11e-01 1 2.313756e+04 3.56e+03 8.69e+05 6.19e+01 9.87e-01 3.00e+04 1 9.33e-02 2.04e-01 2 2.167664e+04 1.46e+03 1.74e+06 1.33e+02 8.72e-01 5.11e+04 1 9.75e-02 3.01e-01 3 2.105869e+04 6.18e+02 7.62e+05 1.45e+02 8.79e-01 9.03e+04 1 8.80e-02 3.90e-01 4 2.088175e+04 1.77e+02 2.54e+05 1.36e+02 8.15e-01 1.20e+05 1 8.69e-02 4.76e-01 5 2.082224e+04 5.95e+01 6.55e+04 8.88e+01 8.96e-01 2.40e+05 1 8.99e-02 5.66e-01 6 2.081098e+04 1.13e+01 2.90e+04 6.32e+01 8.60e-01 3.82e+05 1 8.63e-02 6.53e-01 7 2.080813e+04 2.85e+00 6.49e+03 2.80e+01 9.72e-01 1.15e+06 1 8.51e-02 7.38e-01 8 2.080752e+04 6.11e-01 3.04e+03 1.07e+01 9.92e-01 3.44e+06 1 9.13e-02 8.29e-01 9 2.080721e+04 3.07e-01 2.61e+03 2.35e+00 9.95e-01 1.03e+07 1 8.64e-02 9.16e-01 10 2.080716e+04 5.43e-02 7.03e+02 6.09e-01 9.98e-01 3.10e+07 1 9.12e-02 1.01e+00 11 2.080716e+04 1.80e-03 2.79e+01 1.07e-01 1.00e+00 9.29e+07 1 8.68e-02 1.09e+00 12 2.080716e+04 7.89e-06 1.81e+00 6.65e-03 1.00e+00 2.79e+08 1 9.02e-02 1.18e+00 13 2.080716e+04 5.30e-09 4.42e-03 1.11e-04 1.02e+00 8.36e+08 1 8.63e-02 1.27e+00 Bundle adjustment report ------------------------ Residuals : 61506 Parameters : 21670 Iterations : 14 Time : 1.27142 [s] Initial cost : 0.658889 [px] Final cost : 0.581631 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.004195 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.106783e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 5.56e-02 1.07e-01 1 2.094660e+04 1.21e+02 9.08e+03 1.56e+00 1.00e+00 3.00e+04 1 9.05e-02 1.98e-01 2 2.094097e+04 5.62e+00 6.22e+03 3.03e+00 1.00e+00 9.00e+04 1 8.79e-02 2.86e-01 3 2.094027e+04 6.98e-01 1.33e+03 3.64e+00 1.00e+00 2.70e+05 1 8.58e-02 3.71e-01 4 2.094022e+04 5.35e-02 1.32e+02 2.45e+00 1.00e+00 8.10e+05 1 8.53e-02 4.57e-01 5 2.094022e+04 2.27e-03 1.13e+01 8.24e-01 1.00e+00 2.43e+06 1 9.63e-02 5.53e-01 6 2.094022e+04 3.73e-04 2.57e+00 9.39e-02 1.00e+00 7.29e+06 1 8.94e-02 6.42e-01 7 2.094022e+04 9.56e-05 1.86e+00 1.44e-02 1.00e+00 2.19e+07 1 8.66e-02 7.29e-01 8 2.094022e+04 5.32e-06 1.06e+00 5.52e-03 1.00e+00 6.56e+07 1 8.70e-02 8.16e-01 9 2.094022e+04 4.44e-08 1.54e-02 5.07e-04 9.98e-01 1.97e+08 1 8.84e-02 9.05e-01 Bundle adjustment report ------------------------ Residuals : 61724 Parameters : 21670 Iterations : 10 Time : 0.905984 [s] Initial cost : 0.584229 [px] Final cost : 0.582457 [px] Termination : Convergence => Completed observations: 3 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000130 => Filtered images: 0 ============================================================================== Registering image #4 (18) ============================================================================== => Image sees 894 / 2130 points Pose refinement report ---------------------- Residuals : 1788 Parameters : 6 Iterations : 8 Time : 0.015415 [s] Initial cost : 0.587014 [px] Final cost : 0.582727 [px] Termination : Convergence => Continued observations: 877 => Added observations: 724 Bundle adjustment report ------------------------ Residuals : 20228 Parameters : 5633 Iterations : 26 Time : 0.607872 [s] Initial cost : 0.782631 [px] Final cost : 0.740799 [px] Termination : No convergence => Merged observations: 88 => Completed observations: 60 => Filtered observations: 131 => Changed observations: 0.025428 Bundle adjustment report ------------------------ Residuals : 20118 Parameters : 5555 Iterations : 5 Time : 0.123635 [s] Initial cost : 0.61059 [px] Final cost : 0.599047 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 14 => Filtered observations: 0 => Changed observations: 0.001832 ============================================================================== Registering image #5 (19) ============================================================================== => Image sees 735 / 2271 points Pose refinement report ---------------------- Residuals : 1464 Parameters : 6 Iterations : 11 Time : 0.0165949 [s] Initial cost : 0.591762 [px] Final cost : 0.583859 [px] Termination : Convergence => Continued observations: 721 => Added observations: 808 Bundle adjustment report ------------------------ Residuals : 16102 Parameters : 4763 Iterations : 26 Time : 0.533027 [s] Initial cost : 0.622822 [px] Final cost : 0.577469 [px] Termination : No convergence => Merged observations: 59 => Completed observations: 42 => Filtered observations: 70 => Changed observations: 0.017731 Bundle adjustment report ------------------------ Residuals : 16076 Parameters : 4727 Iterations : 4 Time : 0.0840719 [s] Initial cost : 0.608857 [px] Final cost : 0.599875 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000623 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 28 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888064e+06 0.00e+00 4.87e+06 0.00e+00 0.00e+00 1.00e+04 0 7.09e-02 1.27e-01 1 1.281877e+06 6.06e+05 5.78e+06 1.55e+02 9.90e-01 3.00e+04 1 1.05e-01 2.31e-01 2 1.274351e+06 7.53e+03 1.28e+07 4.45e+02 3.14e-01 2.85e+04 1 9.82e-02 3.29e-01 3 1.256085e+06 1.83e+04 1.30e+06 3.41e+02 9.13e-01 6.51e+04 1 1.03e-01 4.33e-01 4 1.258920e+06 -2.84e+03 0.00e+00 5.01e+02 -7.93e-01 3.26e+04 1 3.93e-02 4.72e-01 5 1.253895e+06 2.19e+03 7.95e+05 3.07e+02 7.07e-01 3.51e+04 1 1.24e-01 5.96e-01 6 1.252785e+06 1.11e+03 4.77e+05 2.58e+02 7.31e-01 3.89e+04 1 1.09e-01 7.05e-01 7 1.252248e+06 5.37e+02 3.22e+05 2.22e+02 7.18e-01 4.24e+04 1 1.02e-01 8.07e-01 8 1.251941e+06 3.07e+02 2.18e+05 1.88e+02 7.48e-01 4.83e+04 1 1.01e-01 9.08e-01 9 1.251771e+06 1.71e+02 1.60e+05 1.64e+02 7.49e-01 5.51e+04 1 1.02e-01 1.01e+00 10 1.251665e+06 1.05e+02 1.15e+05 1.40e+02 7.80e-01 6.69e+04 1 1.05e-01 1.11e+00 11 1.251604e+06 6.18e+01 8.70e+04 1.23e+02 7.86e-01 8.23e+04 1 1.04e-01 1.22e+00 12 1.251566e+06 3.73e+01 6.15e+04 1.03e+02 8.19e-01 1.11e+05 1 1.02e-01 1.32e+00 13 1.251546e+06 1.99e+01 4.37e+04 8.72e+01 8.32e-01 1.57e+05 1 1.00e-01 1.42e+00 14 1.251537e+06 9.87e+00 2.61e+04 6.75e+01 8.79e-01 2.78e+05 1 9.97e-02 1.52e+00 15 1.251533e+06 3.68e+00 1.38e+04 4.93e+01 9.15e-01 6.48e+05 1 1.05e-01 1.63e+00 16 1.251532e+06 9.56e-01 4.10e+03 2.75e+01 9.89e-01 1.94e+06 1 9.67e-02 1.72e+00 17 1.251532e+06 1.25e-01 4.31e+02 8.64e+00 1.03e+00 5.83e+06 1 9.83e-02 1.82e+00 18 1.251532e+06 2.63e-02 2.46e+02 1.27e+00 1.01e+00 1.75e+07 1 9.86e-02 1.92e+00 19 1.251532e+06 4.14e-03 6.90e+01 9.08e-02 9.99e-01 5.25e+07 1 9.85e-02 2.02e+00 20 1.251532e+06 1.26e-04 2.58e+00 4.24e-03 1.00e+00 1.57e+08 1 9.97e-02 2.12e+00 21 1.251532e+06 5.79e-07 1.78e-01 3.15e-04 1.01e+00 4.72e+08 1 1.09e-01 2.23e+00 Bundle adjustment report ------------------------ Residuals : 67886 Parameters : 23668 Iterations : 22 Time : 2.22939 [s] Initial cost : 5.27373 [px] Final cost : 4.29369 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 47 => Filtered observations: 1702 => Changed observations: 0.051528 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.427534e+04 0.00e+00 2.57e+06 0.00e+00 0.00e+00 1.00e+04 0 6.05e-02 1.16e-01 1 3.072846e+04 1.35e+04 1.97e+06 1.24e+02 9.81e-01 3.00e+04 1 1.00e-01 2.16e-01 2 2.580193e+04 4.93e+03 2.70e+06 3.14e+02 8.21e-01 4.08e+04 1 1.06e-01 3.22e-01 3 2.368822e+04 2.11e+03 1.49e+06 3.53e+02 6.56e-01 4.20e+04 1 9.50e-02 4.17e-01 4 2.219930e+04 1.49e+03 7.72e+05 3.00e+02 7.21e-01 4.60e+04 1 9.26e-02 5.10e-01 5 2.142931e+04 7.70e+02 5.31e+05 2.67e+02 6.76e-01 4.81e+04 1 9.17e-02 6.01e-01 6 2.090373e+04 5.26e+02 3.36e+05 2.25e+02 7.32e-01 5.34e+04 1 9.10e-02 6.92e-01 7 2.059355e+04 3.10e+02 2.37e+05 1.98e+02 7.24e-01 5.87e+04 1 9.15e-02 7.84e-01 8 2.038406e+04 2.09e+02 1.63e+05 1.69e+02 7.65e-01 6.89e+04 1 1.02e-01 8.86e-01 9 2.025521e+04 1.29e+02 1.21e+05 1.48e+02 7.66e-01 8.12e+04 1 9.57e-02 9.82e-01 10 2.017220e+04 8.30e+01 8.56e+04 1.24e+02 8.03e-01 1.05e+05 1 9.44e-02 1.08e+00 11 2.012531e+04 4.69e+01 6.22e+04 1.06e+02 8.11e-01 1.38e+05 1 9.54e-02 1.17e+00 12 2.010012e+04 2.52e+01 3.89e+04 8.33e+01 8.53e-01 2.13e+05 1 9.30e-02 1.26e+00 13 2.008956e+04 1.06e+01 2.32e+04 6.36e+01 8.73e-01 3.64e+05 1 1.00e-01 1.36e+00 14 2.008603e+04 3.53e+00 9.86e+03 4.03e+01 9.29e-01 9.90e+05 1 9.39e-02 1.46e+00 15 2.008512e+04 9.04e-01 4.19e+03 2.09e+01 9.70e-01 2.97e+06 1 9.29e-02 1.55e+00 16 2.008477e+04 3.57e-01 2.98e+03 6.08e+00 9.94e-01 8.91e+06 1 9.23e-02 1.64e+00 17 2.008468e+04 8.71e-02 1.23e+03 1.58e+00 9.97e-01 2.67e+07 1 9.38e-02 1.74e+00 18 2.008468e+04 4.83e-03 8.61e+01 3.32e-01 1.00e+00 8.02e+07 1 9.29e-02 1.83e+00 19 2.008468e+04 3.78e-05 1.99e+00 2.87e-02 1.00e+00 2.40e+08 1 1.02e-01 1.93e+00 20 2.008468e+04 4.07e-08 1.38e-02 7.70e-04 1.01e+00 7.21e+08 1 9.24e-02 2.03e+00 Bundle adjustment report ------------------------ Residuals : 64482 Parameters : 23332 Iterations : 21 Time : 2.02649 [s] Initial cost : 0.828632 [px] Final cost : 0.558101 [px] Termination : Convergence => Completed observations: 1255 => Merged observations: 12 => Filtered observations: 7 => Changed observations: 0.039515 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.279129e+04 0.00e+00 3.08e+05 0.00e+00 0.00e+00 1.00e+04 0 6.28e-02 1.19e-01 1 2.188227e+04 9.09e+02 5.48e+04 1.23e+01 1.00e+00 3.00e+04 1 1.01e-01 2.19e-01 2 2.182629e+04 5.60e+01 2.92e+04 2.04e+01 9.99e-01 9.00e+04 1 1.01e-01 3.20e-01 3 2.181359e+04 1.27e+01 2.07e+04 3.34e+01 9.87e-01 2.70e+05 1 9.56e-02 4.16e-01 4 2.181084e+04 2.75e+00 9.32e+03 3.36e+01 9.54e-01 8.10e+05 1 9.68e-02 5.13e-01 5 2.181042e+04 4.19e-01 1.78e+03 1.63e+01 9.83e-01 2.43e+06 1 9.96e-02 6.12e-01 6 2.181040e+04 1.68e-02 6.29e+01 3.09e+00 1.00e+00 7.29e+06 1 9.50e-02 7.07e-01 7 2.181040e+04 7.67e-04 7.74e+00 1.39e-01 1.00e+00 2.19e+07 1 9.76e-02 8.05e-01 8 2.181040e+04 4.42e-05 1.95e+00 2.11e-02 1.00e+00 6.56e+07 1 1.01e-01 9.06e-01 9 2.181040e+04 4.07e-07 1.08e-01 2.55e-03 1.00e+00 1.97e+08 1 9.97e-02 1.01e+00 Bundle adjustment report ------------------------ Residuals : 66978 Parameters : 23326 Iterations : 10 Time : 1.0078 [s] Initial cost : 0.583335 [px] Final cost : 0.570645 [px] Termination : Convergence => Completed observations: 37 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001135 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.204621e+04 0.00e+00 6.31e+04 0.00e+00 0.00e+00 1.00e+04 0 6.21e-02 1.18e-01 1 2.197454e+04 7.17e+01 2.29e+02 3.27e-01 1.00e+00 3.00e+04 1 1.06e-01 2.23e-01 2 2.197428e+04 2.57e-01 1.03e+02 1.52e+00 1.00e+00 9.00e+04 1 9.50e-02 3.18e-01 3 2.197421e+04 6.85e-02 1.22e+02 2.82e+00 1.00e+00 2.70e+05 1 9.41e-02 4.13e-01 4 2.197419e+04 2.06e-02 7.73e+01 3.01e+00 9.99e-01 8.10e+05 1 9.59e-02 5.09e-01 5 2.197418e+04 7.28e-03 2.24e+01 1.48e+00 1.00e+00 2.43e+06 1 9.47e-02 6.03e-01 6 2.197418e+04 4.57e-03 2.75e+01 1.61e-01 1.00e+00 7.29e+06 1 1.04e-01 7.07e-01 7 2.197418e+04 1.30e-03 1.48e+01 1.02e-01 1.00e+00 2.19e+07 1 1.10e-01 8.17e-01 8 2.197418e+04 7.77e-05 1.90e+00 3.51e-02 1.00e+00 6.56e+07 1 9.96e-02 9.17e-01 9 2.197418e+04 7.04e-07 1.79e-01 3.41e-03 1.00e+00 1.97e+08 1 1.00e-01 1.02e+00 Bundle adjustment report ------------------------ Residuals : 67050 Parameters : 23326 Iterations : 10 Time : 1.01892 [s] Initial cost : 0.573413 [px] Final cost : 0.572476 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #6 (20) ============================================================================== => Image sees 902 / 2190 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 7 Time : 0.0138829 [s] Initial cost : 0.602173 [px] Final cost : 0.600818 [px] Termination : Convergence => Continued observations: 889 => Added observations: 733 Bundle adjustment report ------------------------ Residuals : 26978 Parameters : 7394 Iterations : 26 Time : 0.702612 [s] Initial cost : 0.657965 [px] Final cost : 0.622791 [px] Termination : No convergence => Merged observations: 73 => Completed observations: 44 => Filtered observations: 99 => Changed observations: 0.015236 Bundle adjustment report ------------------------ Residuals : 26886 Parameters : 7343 Iterations : 4 Time : 0.110414 [s] Initial cost : 0.599914 [px] Final cost : 0.588461 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 18 => Filtered observations: 0 => Changed observations: 0.001698 ============================================================================== Registering image #7 (21) ============================================================================== => Image sees 700 / 2461 points Pose refinement report ---------------------- Residuals : 1332 Parameters : 6 Iterations : 10 Time : 0.0138009 [s] Initial cost : 0.663892 [px] Final cost : 0.595395 [px] Termination : Convergence => Continued observations: 659 => Added observations: 942 Bundle adjustment report ------------------------ Residuals : 15592 Parameters : 4994 Iterations : 26 Time : 0.5267 [s] Initial cost : 1.10185 [px] Final cost : 1.04828 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 28 => Filtered observations: 130 => Changed observations: 0.019526 Bundle adjustment report ------------------------ Residuals : 15412 Parameters : 4913 Iterations : 4 Time : 0.08183 [s] Initial cost : 0.595284 [px] Final cost : 0.58417 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.001625 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 68 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.937458e+06 0.00e+00 5.48e+07 0.00e+00 0.00e+00 1.00e+04 0 7.44e-02 1.38e-01 1 1.570089e+09 -1.56e+09 0.00e+00 5.76e+01 -2.66e+02 5.00e+03 1 5.11e-02 1.90e-01 2 1.346978e+09 -1.34e+09 0.00e+00 4.72e+00 -2.29e+02 1.25e+03 1 4.18e-02 2.31e-01 3 7.943457e+08 -7.84e+08 0.00e+00 1.06e+01 -1.38e+02 1.56e+02 1 4.34e-02 2.75e-01 4 8.959784e+07 -7.97e+07 0.00e+00 5.00e+01 -1.54e+01 9.77e+00 1 4.30e-02 3.18e-01 5 6.491619e+06 3.45e+06 4.26e+07 1.15e+01 9.84e-01 2.93e+01 1 1.06e-01 4.24e-01 6 5.728934e+06 7.63e+05 3.99e+07 1.79e+01 9.28e-01 7.82e+01 1 1.08e-01 5.32e-01 7 5.310280e+06 4.19e+05 4.55e+07 2.12e+01 8.43e-01 1.15e+02 1 1.18e-01 6.50e-01 8 5.049934e+06 2.60e+05 2.76e+07 9.48e+00 9.17e-01 2.75e+02 1 1.06e-01 7.56e-01 9 4.952338e+06 9.76e+04 6.00e+07 2.42e+00 4.17e-01 2.73e+02 1 1.06e-01 8.61e-01 10 4.706413e+06 2.46e+05 2.01e+07 6.23e+00 9.68e-01 8.20e+02 1 1.06e-01 9.67e-01 11 4.831483e+06 -1.25e+05 0.00e+00 2.09e+01 -6.06e-01 4.10e+02 1 4.22e-02 1.01e+00 12 4.605391e+06 1.01e+05 3.12e+07 1.22e+01 7.57e-01 4.75e+02 1 1.06e-01 1.12e+00 13 4.481875e+06 1.24e+05 2.14e+07 1.32e+01 9.27e-01 1.25e+03 1 1.13e-01 1.23e+00 14 4.515133e+06 -3.33e+04 0.00e+00 2.62e+01 -1.93e-01 6.26e+02 1 4.14e-02 1.27e+00 15 4.382927e+06 9.89e+04 2.44e+07 1.70e+01 8.65e-01 1.02e+03 1 1.08e-01 1.38e+00 16 4.285647e+06 9.73e+04 3.45e+07 2.42e+01 7.18e-01 1.12e+03 1 1.06e-01 1.48e+00 17 4.144530e+06 1.41e+05 2.16e+07 2.89e+01 9.69e-01 3.35e+03 1 1.16e-01 1.60e+00 18 4.209514e+06 -6.50e+04 0.00e+00 8.86e+01 -4.02e-01 1.68e+03 1 5.54e-02 1.66e+00 19 4.044110e+06 1.00e+05 2.82e+07 5.22e+01 8.21e-01 2.28e+03 1 1.08e-01 1.76e+00 20 3.921609e+06 1.23e+05 1.93e+07 8.81e+01 9.88e-01 6.84e+03 1 1.05e-01 1.87e+00 21 3.869047e+06 5.26e+04 3.43e+07 3.15e+02 5.02e-01 6.84e+03 1 1.04e-01 1.97e+00 22 3.763177e+06 1.06e+05 1.01e+07 4.18e+02 9.54e-01 2.05e+04 1 1.08e-01 2.08e+00 23 4.063555e+06 -3.00e+05 0.00e+00 1.16e+03 -4.20e+00 1.03e+04 1 4.42e-02 2.12e+00 24 3.844754e+06 -8.16e+04 0.00e+00 6.61e+02 -1.35e+00 2.56e+03 1 4.76e-02 2.17e+00 25 3.748571e+06 1.46e+04 6.82e+06 1.93e+02 4.01e-01 2.54e+03 1 1.11e-01 2.28e+00 26 3.737175e+06 1.14e+04 3.55e+06 1.92e+02 3.00e-01 2.39e+03 1 1.09e-01 2.39e+00 27 3.741992e+06 -4.82e+03 0.00e+00 2.02e+02 -1.07e-01 1.19e+03 1 4.33e-02 2.43e+00 28 3.725521e+06 1.17e+04 3.66e+06 1.05e+02 3.91e-01 1.18e+03 1 1.07e-01 2.54e+00 29 3.705643e+06 1.99e+04 2.79e+05 9.71e+01 9.34e-01 3.41e+03 1 1.20e-01 2.66e+00 30 3.635966e+06 6.97e+04 1.86e+07 3.01e+02 9.27e-01 9.02e+03 1 1.08e-01 2.77e+00 31 3.504925e+06 1.31e+05 2.55e+07 7.23e+02 8.85e-01 1.66e+04 1 1.05e-01 2.87e+00 32 4.849451e+06 -1.34e+06 0.00e+00 1.12e+03 -4.12e+00 8.31e+03 1 4.21e-02 2.92e+00 33 3.680229e+06 -1.75e+05 0.00e+00 6.10e+02 -6.31e-01 2.08e+03 1 5.05e-02 2.97e+00 34 3.348449e+06 1.56e+05 1.67e+07 1.72e+02 8.90e-01 3.96e+03 1 1.19e-01 3.09e+00 35 3.267905e+06 8.05e+04 2.36e+07 3.24e+02 8.47e-01 5.96e+03 1 1.14e-01 3.20e+00 36 3.198282e+06 6.96e+04 2.52e+07 4.73e+02 7.64e-01 6.99e+03 1 1.08e-01 3.31e+00 37 3.140351e+06 5.79e+04 1.29e+07 5.44e+02 8.79e-01 1.23e+04 1 1.07e-01 3.41e+00 38 3.131424e+06 8.93e+03 1.45e+07 8.86e+02 1.86e-01 9.89e+03 1 1.06e-01 3.52e+00 39 3.082408e+06 4.90e+04 3.35e+06 6.76e+02 8.56e-01 1.55e+04 1 1.08e-01 3.63e+00 40 3.088689e+06 -6.28e+03 0.00e+00 9.51e+02 -2.31e-01 7.74e+03 1 5.06e-02 3.68e+00 41 3.065399e+06 1.70e+04 1.75e+06 5.07e+02 8.74e-01 1.33e+04 1 1.05e-01 3.79e+00 42 3.064726e+06 6.72e+02 3.99e+06 7.88e+02 4.34e-02 7.55e+03 1 1.07e-01 3.89e+00 43 3.045240e+06 1.95e+04 1.03e+06 4.36e+02 9.51e-01 2.27e+04 1 1.05e-01 4.00e+00 44 3.081997e+06 -3.68e+04 0.00e+00 1.12e+03 -2.71e+00 1.13e+04 1 4.09e-02 4.04e+00 45 3.041264e+06 3.98e+03 1.99e+06 6.01e+02 4.91e-01 1.13e+04 1 1.06e-01 4.14e+00 46 3.034399e+06 6.87e+03 1.63e+06 5.64e+02 7.09e-01 1.22e+04 1 1.14e-01 4.26e+00 47 3.029320e+06 5.08e+03 1.59e+06 5.70e+02 6.52e-01 1.26e+04 1 1.08e-01 4.37e+00 48 3.024522e+06 4.80e+03 1.42e+06 5.48e+02 6.92e-01 1.33e+04 1 1.04e-01 4.47e+00 49 3.020548e+06 3.97e+03 1.35e+06 5.43e+02 6.75e-01 1.39e+04 1 1.05e-01 4.58e+00 50 3.016955e+06 3.59e+03 1.26e+06 5.30e+02 6.91e-01 1.47e+04 1 1.17e-01 4.69e+00 Bundle adjustment report ------------------------ Residuals : 73386 Parameters : 25552 Iterations : 51 Time : 4.69445 [s] Initial cost : 11.6367 [px] Final cost : 6.41177 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 14 => Filtered observations: 10281 => Changed observations: 0.280571 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.442897e+04 0.00e+00 3.23e+06 0.00e+00 0.00e+00 1.00e+04 0 4.81e-02 9.34e-02 1 3.667329e+04 1.78e+04 1.02e+07 8.31e+01 6.89e-01 1.06e+04 1 7.86e-02 1.72e-01 2 2.866692e+04 8.01e+03 7.81e+06 8.87e+01 7.16e-01 1.15e+04 1 7.49e-02 2.47e-01 3 2.475618e+04 3.91e+03 4.77e+06 1.01e+02 7.73e-01 1.37e+04 1 7.61e-02 3.23e-01 4 2.268346e+04 2.07e+03 2.71e+06 1.26e+02 8.42e-01 2.02e+04 1 7.79e-02 4.01e-01 5 2.136456e+04 1.32e+03 1.60e+06 1.89e+02 8.81e-01 3.63e+04 1 8.68e-02 4.88e-01 6 2.041370e+04 9.51e+02 1.08e+06 3.39e+02 7.93e-01 4.54e+04 1 8.25e-02 5.71e-01 7 1.982404e+04 5.90e+02 7.16e+05 4.14e+02 6.31e-01 4.62e+04 1 7.88e-02 6.49e-01 8 1.937029e+04 4.54e+02 5.27e+05 4.08e+02 5.78e-01 4.64e+04 1 7.81e-02 7.28e-01 9 1.903175e+04 3.39e+02 4.84e+05 3.94e+02 5.20e-01 4.64e+04 1 8.09e-02 8.08e-01 10 1.874976e+04 2.82e+02 4.53e+05 3.78e+02 4.97e-01 4.64e+04 1 8.10e-02 8.89e-01 11 1.850307e+04 2.47e+02 4.23e+05 3.61e+02 4.92e-01 4.64e+04 1 8.27e-02 9.72e-01 12 1.828100e+04 2.22e+02 3.93e+05 3.44e+02 4.97e-01 4.64e+04 1 7.60e-02 1.05e+00 13 1.807853e+04 2.02e+02 3.63e+05 3.27e+02 5.10e-01 4.64e+04 1 7.40e-02 1.12e+00 14 1.789294e+04 1.86e+02 3.33e+05 3.10e+02 5.26e-01 4.64e+04 1 7.35e-02 1.20e+00 15 1.772257e+04 1.70e+02 3.04e+05 2.94e+02 5.45e-01 4.64e+04 1 7.36e-02 1.27e+00 16 1.756617e+04 1.56e+02 2.77e+05 2.79e+02 5.65e-01 4.65e+04 1 7.53e-02 1.34e+00 17 1.742265e+04 1.44e+02 2.52e+05 2.64e+02 5.85e-01 4.68e+04 1 7.48e-02 1.42e+00 18 1.729084e+04 1.32e+02 2.30e+05 2.50e+02 6.04e-01 4.72e+04 1 8.09e-02 1.50e+00 19 1.716939e+04 1.21e+02 2.11e+05 2.38e+02 6.21e-01 4.79e+04 1 7.66e-02 1.58e+00 20 1.705688e+04 1.13e+02 1.95e+05 2.28e+02 6.36e-01 4.89e+04 1 7.50e-02 1.65e+00 21 1.695186e+04 1.05e+02 1.81e+05 2.18e+02 6.48e-01 5.02e+04 1 7.34e-02 1.73e+00 22 1.685300e+04 9.89e+01 1.70e+05 2.10e+02 6.58e-01 5.18e+04 1 7.32e-02 1.80e+00 23 1.675919e+04 9.38e+01 1.60e+05 2.03e+02 6.66e-01 5.38e+04 1 7.28e-02 1.87e+00 24 1.666947e+04 8.97e+01 1.83e+05 1.97e+02 6.73e-01 5.61e+04 1 8.39e-02 1.96e+00 25 1.658312e+04 8.63e+01 2.12e+05 1.91e+02 6.78e-01 5.87e+04 1 7.56e-02 2.03e+00 26 1.649958e+04 8.35e+01 2.45e+05 1.85e+02 6.81e-01 6.17e+04 1 7.55e-02 2.11e+00 27 1.641843e+04 8.11e+01 2.85e+05 1.79e+02 6.82e-01 6.48e+04 1 7.34e-02 2.18e+00 28 1.633944e+04 7.90e+01 3.31e+05 1.74e+02 6.81e-01 6.80e+04 1 7.21e-02 2.25e+00 29 1.626251e+04 7.69e+01 3.83e+05 1.67e+02 6.77e-01 7.12e+04 1 7.39e-02 2.33e+00 30 1.618768e+04 7.48e+01 4.38e+05 1.60e+02 6.69e-01 7.41e+04 1 7.31e-02 2.40e+00 31 1.611508e+04 7.26e+01 4.95e+05 1.52e+02 6.59e-01 7.65e+04 1 7.32e-02 2.47e+00 32 1.604488e+04 7.02e+01 5.49e+05 1.43e+02 6.44e-01 7.84e+04 1 8.19e-02 2.55e+00 33 1.597723e+04 6.76e+01 5.98e+05 1.34e+02 6.28e-01 7.97e+04 1 7.37e-02 2.63e+00 34 1.591220e+04 6.50e+01 6.39e+05 1.25e+02 6.10e-01 8.06e+04 1 7.34e-02 2.70e+00 35 1.584980e+04 6.24e+01 6.72e+05 1.15e+02 5.91e-01 8.11e+04 1 7.37e-02 2.78e+00 36 1.578998e+04 5.98e+01 6.99e+05 1.06e+02 5.72e-01 8.13e+04 1 7.64e-02 2.85e+00 37 1.573267e+04 5.73e+01 7.21e+05 9.79e+01 5.54e-01 8.14e+04 1 7.42e-02 2.93e+00 38 1.567775e+04 5.49e+01 7.39e+05 9.04e+01 5.35e-01 8.14e+04 1 8.03e-02 3.01e+00 39 1.562514e+04 5.26e+01 7.54e+05 8.36e+01 5.17e-01 8.14e+04 1 7.29e-02 3.08e+00 40 1.557471e+04 5.04e+01 7.68e+05 7.75e+01 4.98e-01 8.14e+04 1 7.47e-02 3.15e+00 41 1.552633e+04 4.84e+01 7.82e+05 7.22e+01 4.80e-01 8.14e+04 1 7.56e-02 3.23e+00 42 1.547987e+04 4.65e+01 7.94e+05 6.73e+01 4.62e-01 8.14e+04 1 7.62e-02 3.31e+00 43 1.543516e+04 4.47e+01 8.05e+05 6.30e+01 4.44e-01 8.13e+04 1 7.56e-02 3.38e+00 44 1.539203e+04 4.31e+01 8.15e+05 5.91e+01 4.29e-01 8.11e+04 1 7.33e-02 3.46e+00 45 1.535032e+04 4.17e+01 8.22e+05 5.54e+01 4.16e-01 8.07e+04 1 8.24e-02 3.54e+00 46 1.530991e+04 4.04e+01 8.27e+05 5.21e+01 4.05e-01 8.01e+04 1 7.70e-02 3.61e+00 47 1.527074e+04 3.92e+01 8.28e+05 4.90e+01 3.96e-01 7.94e+04 1 7.54e-02 3.69e+00 48 1.523279e+04 3.79e+01 8.26e+05 4.61e+01 3.88e-01 7.85e+04 1 7.60e-02 3.77e+00 49 1.519608e+04 3.67e+01 8.22e+05 4.34e+01 3.82e-01 7.75e+04 1 7.57e-02 3.84e+00 50 1.516062e+04 3.55e+01 8.15e+05 4.09e+01 3.77e-01 7.63e+04 1 7.73e-02 3.92e+00 Bundle adjustment report ------------------------ Residuals : 52824 Parameters : 21172 Iterations : 51 Time : 3.92024 [s] Initial cost : 1.01508 [px] Final cost : 0.535726 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 21 => Filtered observations: 16 => Changed observations: 0.001401 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.499925e+04 0.00e+00 7.78e+05 0.00e+00 0.00e+00 1.00e+04 0 4.73e-02 9.14e-02 1 1.488486e+04 1.14e+02 3.59e+04 5.81e+00 9.98e-01 3.00e+04 1 7.69e-02 1.68e-01 2 1.486847e+04 1.64e+01 1.02e+05 1.80e+01 8.93e-01 5.81e+04 1 7.37e-02 2.42e-01 3 1.486108e+04 7.39e+00 3.99e+05 3.35e+01 2.82e-01 5.37e+04 1 7.59e-02 3.18e-01 4 1.483534e+04 2.57e+01 3.57e+05 2.99e+01 6.64e-01 5.57e+04 1 7.53e-02 3.93e-01 5 1.481756e+04 1.78e+01 3.91e+05 2.95e+01 5.46e-01 5.57e+04 1 7.36e-02 4.67e-01 6 1.479897e+04 1.86e+01 3.99e+05 2.82e+01 5.53e-01 5.58e+04 1 7.45e-02 5.42e-01 7 1.478110e+04 1.79e+01 4.05e+05 2.71e+01 5.38e-01 5.58e+04 1 8.26e-02 6.24e-01 8 1.476381e+04 1.73e+01 4.11e+05 2.59e+01 5.23e-01 5.58e+04 1 7.40e-02 6.98e-01 9 1.474708e+04 1.67e+01 4.16e+05 2.49e+01 5.09e-01 5.58e+04 1 7.26e-02 7.71e-01 10 1.473089e+04 1.62e+01 4.22e+05 2.39e+01 4.94e-01 5.58e+04 1 7.32e-02 8.44e-01 11 1.471524e+04 1.57e+01 4.27e+05 2.30e+01 4.78e-01 5.58e+04 1 7.33e-02 9.17e-01 12 1.470010e+04 1.51e+01 4.34e+05 2.21e+01 4.62e-01 5.58e+04 1 8.07e-02 9.98e-01 13 1.468545e+04 1.46e+01 4.40e+05 2.13e+01 4.46e-01 5.57e+04 1 7.79e-02 1.08e+00 14 1.467126e+04 1.42e+01 4.47e+05 2.05e+01 4.31e-01 5.56e+04 1 7.50e-02 1.15e+00 15 1.465748e+04 1.38e+01 4.53e+05 1.97e+01 4.17e-01 5.53e+04 1 7.45e-02 1.23e+00 16 1.464407e+04 1.34e+01 4.58e+05 1.89e+01 4.04e-01 5.49e+04 1 7.39e-02 1.30e+00 17 1.463100e+04 1.31e+01 4.62e+05 1.82e+01 3.94e-01 5.44e+04 1 7.52e-02 1.37e+00 18 1.461827e+04 1.27e+01 4.64e+05 1.74e+01 3.84e-01 5.37e+04 1 7.59e-02 1.45e+00 19 1.460586e+04 1.24e+01 4.66e+05 1.67e+01 3.76e-01 5.29e+04 1 7.51e-02 1.53e+00 20 1.459379e+04 1.21e+01 4.66e+05 1.59e+01 3.70e-01 5.20e+04 1 8.32e-02 1.61e+00 21 1.458207e+04 1.17e+01 4.65e+05 1.52e+01 3.64e-01 5.10e+04 1 7.52e-02 1.68e+00 22 1.457068e+04 1.14e+01 4.63e+05 1.44e+01 3.59e-01 4.98e+04 1 7.40e-02 1.76e+00 23 1.455965e+04 1.10e+01 4.60e+05 1.37e+01 3.54e-01 4.86e+04 1 7.16e-02 1.83e+00 24 1.454897e+04 1.07e+01 4.57e+05 1.31e+01 3.49e-01 4.73e+04 1 7.40e-02 1.90e+00 25 1.453863e+04 1.03e+01 4.53e+05 1.24e+01 3.45e-01 4.60e+04 1 7.29e-02 1.98e+00 26 1.452863e+04 1.00e+01 4.49e+05 1.17e+01 3.42e-01 4.46e+04 1 8.19e-02 2.06e+00 27 1.451896e+04 9.67e+00 4.45e+05 1.11e+01 3.38e-01 4.31e+04 1 7.34e-02 2.13e+00 28 1.450962e+04 9.35e+00 4.41e+05 1.05e+01 3.34e-01 4.16e+04 1 7.28e-02 2.21e+00 29 1.450058e+04 9.04e+00 4.37e+05 9.93e+00 3.31e-01 4.00e+04 1 7.34e-02 2.28e+00 30 1.449184e+04 8.74e+00 4.33e+05 9.37e+00 3.28e-01 3.85e+04 1 7.55e-02 2.35e+00 31 1.448339e+04 8.46e+00 4.29e+05 8.84e+00 3.24e-01 3.69e+04 1 7.42e-02 2.43e+00 32 1.447520e+04 8.19e+00 4.25e+05 8.32e+00 3.21e-01 3.52e+04 1 7.26e-02 2.50e+00 33 1.446726e+04 7.93e+00 4.21e+05 7.82e+00 3.18e-01 3.36e+04 1 7.47e-02 2.58e+00 34 1.445957e+04 7.69e+00 4.18e+05 7.35e+00 3.15e-01 3.20e+04 1 8.14e-02 2.66e+00 35 1.445210e+04 7.47e+00 4.15e+05 6.89e+00 3.12e-01 3.04e+04 1 7.37e-02 2.73e+00 36 1.444485e+04 7.25e+00 4.12e+05 6.45e+00 3.09e-01 2.88e+04 1 7.53e-02 2.81e+00 37 1.443780e+04 7.05e+00 4.09e+05 6.04e+00 3.06e-01 2.72e+04 1 7.15e-02 2.88e+00 38 1.443093e+04 6.86e+00 4.06e+05 5.63e+00 3.03e-01 2.56e+04 1 7.28e-02 2.95e+00 39 1.442425e+04 6.68e+00 4.04e+05 5.25e+00 3.00e-01 2.41e+04 1 7.72e-02 3.03e+00 40 1.441774e+04 6.51e+00 4.01e+05 4.89e+00 2.97e-01 2.25e+04 1 7.79e-02 3.11e+00 41 1.441138e+04 6.35e+00 3.99e+05 4.54e+00 2.94e-01 2.11e+04 1 7.44e-02 3.18e+00 42 1.440518e+04 6.20e+00 3.97e+05 4.21e+00 2.91e-01 1.96e+04 1 7.34e-02 3.25e+00 43 1.439913e+04 6.05e+00 3.95e+05 3.89e+00 2.88e-01 1.82e+04 1 7.38e-02 3.33e+00 44 1.439321e+04 5.92e+00 3.94e+05 3.59e+00 2.85e-01 1.69e+04 1 7.32e-02 3.40e+00 45 1.438744e+04 5.77e+00 3.92e+05 3.31e+00 2.82e-01 1.56e+04 1 7.57e-02 3.48e+00 46 1.438179e+04 5.65e+00 3.90e+05 3.05e+00 2.80e-01 1.44e+04 1 7.44e-02 3.55e+00 47 1.437629e+04 5.50e+00 3.88e+05 2.80e+00 2.76e-01 1.32e+04 1 8.42e-02 3.64e+00 48 1.437086e+04 5.43e+00 3.85e+05 2.56e+00 2.77e-01 1.21e+04 1 7.62e-02 3.71e+00 49 1.436573e+04 5.13e+00 3.84e+05 2.35e+00 2.66e-01 1.10e+04 1 7.44e-02 3.79e+00 50 1.436028e+04 5.44e+00 3.77e+05 2.13e+00 2.86e-01 1.02e+04 1 7.56e-02 3.86e+00 Bundle adjustment report ------------------------ Residuals : 52792 Parameters : 21151 Iterations : 51 Time : 3.863 [s] Initial cost : 0.533029 [px] Final cost : 0.521552 [px] Termination : No convergence => Completed observations: 4035 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.153053 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.285529e+04 0.00e+00 5.31e+05 0.00e+00 0.00e+00 1.00e+04 0 5.47e-02 1.04e-01 1 2.040609e+04 2.45e+03 2.86e+06 4.02e+01 7.10e-01 1.08e+04 1 9.94e-02 2.03e-01 2 2.119761e+04 -7.92e+02 0.00e+00 3.42e+01 -7.08e-01 5.40e+03 1 3.45e-02 2.38e-01 3 1.958586e+04 8.20e+02 1.68e+06 1.80e+01 7.57e-01 6.25e+03 1 8.33e-02 3.21e-01 4 1.973206e+04 -1.46e+02 0.00e+00 1.93e+01 -4.68e-01 3.12e+03 1 3.40e-02 3.55e-01 5 1.935142e+04 2.34e+02 8.04e+05 9.91e+00 7.98e-01 3.96e+03 1 8.65e-02 4.42e-01 6 1.937340e+04 -2.20e+01 0.00e+00 1.21e+01 -2.53e-01 1.98e+03 1 3.57e-02 4.77e-01 7 1.928863e+04 6.28e+01 3.74e+05 6.15e+00 8.31e-01 2.79e+03 1 8.44e-02 5.62e-01 8 1.928835e+04 2.81e-01 5.70e+05 8.48e+00 9.33e-03 1.43e+03 1 8.77e-02 6.50e-01 9 1.925296e+04 3.54e+01 1.54e+05 4.34e+00 9.43e-01 4.30e+03 1 9.48e-02 7.44e-01 10 1.926526e+04 -1.23e+01 0.00e+00 1.27e+01 -6.78e-01 2.15e+03 1 3.79e-02 7.82e-01 11 1.924598e+04 6.97e+00 2.18e+05 6.42e+00 6.15e-01 2.18e+03 1 1.05e-01 8.87e-01 12 1.923588e+04 1.01e+01 1.41e+05 6.43e+00 8.47e-01 3.28e+03 1 8.89e-02 9.76e-01 13 1.922719e+04 8.69e+00 1.51e+05 9.51e+00 8.07e-01 4.26e+03 1 8.85e-02 1.06e+00 14 1.921693e+04 1.03e+01 1.04e+05 1.21e+01 9.11e-01 9.58e+03 1 9.37e-02 1.16e+00 15 1.920246e+04 1.45e+01 1.32e+05 2.60e+01 8.98e-01 1.93e+04 1 8.86e-02 1.25e+00 16 1.918083e+04 2.16e+01 9.40e+04 4.82e+01 9.47e-01 5.79e+04 1 8.79e-02 1.33e+00 17 1.915509e+04 2.57e+01 7.62e+04 1.17e+02 6.40e-01 5.92e+04 1 8.81e-02 1.42e+00 18 1.912160e+04 3.35e+01 5.24e+04 9.62e+01 8.34e-01 8.42e+04 1 8.96e-02 1.51e+00 19 1.910196e+04 1.96e+01 5.97e+04 1.02e+02 6.92e-01 8.93e+04 1 8.83e-02 1.60e+00 20 1.908358e+04 1.84e+01 3.67e+04 7.97e+01 8.47e-01 1.34e+05 1 8.96e-02 1.69e+00 21 1.907420e+04 9.38e+00 3.55e+04 7.82e+01 7.51e-01 1.54e+05 1 9.83e-02 1.79e+00 22 1.906757e+04 6.63e+00 1.81e+04 5.55e+01 8.91e-01 2.96e+05 1 8.92e-02 1.88e+00 23 1.906503e+04 2.53e+00 1.45e+04 4.94e+01 8.30e-01 4.15e+05 1 8.77e-02 1.97e+00 24 1.906402e+04 1.02e+00 4.25e+03 2.65e+01 9.58e-01 1.25e+06 1 9.24e-02 2.06e+00 25 1.906388e+04 1.39e-01 1.22e+03 1.38e+01 9.75e-01 3.74e+06 1 8.86e-02 2.15e+00 26 1.906387e+04 8.80e-03 8.09e+01 2.84e+00 9.98e-01 1.12e+07 1 9.51e-02 2.24e+00 27 1.906387e+04 3.43e-04 5.55e+00 2.61e-01 1.00e+00 3.37e+07 1 8.79e-02 2.33e+00 28 1.906387e+04 7.15e-06 1.04e+00 1.70e-02 1.00e+00 1.01e+08 1 8.83e-02 2.42e+00 29 1.906387e+04 2.19e-08 1.28e-02 6.87e-04 1.00e+00 3.03e+08 1 8.85e-02 2.51e+00 Bundle adjustment report ------------------------ Residuals : 60862 Parameters : 21148 Iterations : 30 Time : 2.50828 [s] Initial cost : 0.612802 [px] Final cost : 0.55967 [px] Termination : Convergence => Completed observations: 271 => Merged observations: 0 => Filtered observations: 8 => Changed observations: 0.009168 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.025831e+04 0.00e+00 1.02e+05 0.00e+00 0.00e+00 1.00e+04 0 5.69e-02 1.09e-01 1 1.976659e+04 4.92e+02 2.09e+05 3.71e+00 9.91e-01 3.00e+04 1 1.01e-01 2.10e-01 2 1.975978e+04 6.81e+00 3.06e+04 7.97e+00 9.88e-01 9.00e+04 1 9.09e-02 3.01e-01 3 1.975882e+04 9.61e-01 2.69e+03 1.68e+01 9.93e-01 2.70e+05 1 9.02e-02 3.91e-01 4 1.975819e+04 6.25e-01 3.59e+03 2.41e+01 9.52e-01 8.10e+05 1 8.99e-02 4.81e-01 5 1.975798e+04 2.13e-01 1.90e+03 1.72e+01 9.62e-01 2.43e+06 1 8.79e-02 5.69e-01 6 1.975795e+04 2.52e-02 2.21e+02 4.99e+00 9.96e-01 7.29e+06 1 9.49e-02 6.64e-01 7 1.975795e+04 1.61e-03 2.23e+01 6.29e-01 1.00e+00 2.19e+07 1 9.14e-02 7.55e-01 8 1.975795e+04 6.44e-05 1.97e+00 5.37e-02 1.00e+00 6.56e+07 1 9.08e-02 8.46e-01 9 1.975795e+04 4.18e-07 8.14e-02 3.18e-03 1.00e+00 1.97e+08 1 8.88e-02 9.35e-01 Bundle adjustment report ------------------------ Residuals : 61388 Parameters : 21148 Iterations : 10 Time : 0.936437 [s] Initial cost : 0.57446 [px] Final cost : 0.567321 [px] Termination : Convergence => Completed observations: 24 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000814 => Filtered images: 0 ============================================================================== Registering image #8 (22) ============================================================================== => Image sees 562 / 2841 points Pose refinement report ---------------------- Residuals : 1032 Parameters : 6 Iterations : 11 Time : 0.011662 [s] Initial cost : 0.658163 [px] Final cost : 0.653967 [px] Termination : Convergence => Continued observations: 513 => Added observations: 2994 Bundle adjustment report ------------------------ Residuals : 35958 Parameters : 10673 Iterations : 26 Time : 0.809635 [s] Initial cost : 1.09657 [px] Final cost : 1.01515 [px] Termination : No convergence => Merged observations: 31 => Completed observations: 558 => Filtered observations: 222 => Changed observations: 0.043995 Bundle adjustment report ------------------------ Residuals : 36632 Parameters : 10511 Iterations : 6 Time : 0.200645 [s] Initial cost : 0.608548 [px] Final cost : 0.587358 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 97 => Filtered observations: 2 => Changed observations: 0.006233 ============================================================================== Retriangulation ============================================================================== => Completed observations: 8 => Merged observations: 0 => Retriangulated observations: 133 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.103010e+07 0.00e+00 4.58e+07 0.00e+00 0.00e+00 1.00e+04 0 7.00e-02 1.28e-01 1 1.048143e+09 -1.04e+09 0.00e+00 4.90e+02 -1.40e+02 5.00e+03 1 4.37e-02 1.72e-01 2 6.973754e+08 -6.86e+08 0.00e+00 3.00e+02 -9.37e+01 1.25e+03 1 3.98e-02 2.12e-01 3 1.690760e+08 -1.58e+08 0.00e+00 1.63e+02 -2.25e+01 1.56e+02 1 3.89e-02 2.51e-01 4 8.510922e+06 2.52e+06 2.08e+08 9.80e+01 4.05e-01 1.55e+02 1 9.81e-02 3.49e-01 5 4.574855e+06 3.94e+06 1.79e+07 4.24e+01 9.95e-01 4.66e+02 1 1.00e-01 4.49e-01 6 4.524660e+06 5.02e+04 7.44e+07 3.23e+01 1.62e-01 3.56e+02 1 1.14e-01 5.63e-01 7 4.149032e+06 3.76e+05 1.16e+07 2.15e+01 9.77e-01 1.07e+03 1 1.03e-01 6.66e-01 8 4.096720e+06 5.23e+04 4.07e+07 4.86e+01 2.43e-01 9.40e+02 1 1.04e-01 7.69e-01 9 3.820567e+06 2.76e+05 1.56e+07 4.49e+01 9.82e-01 2.82e+03 1 1.04e-01 8.74e-01 10 3.803946e+06 1.66e+04 5.19e+07 9.44e+01 8.61e-02 1.80e+03 1 1.05e-01 9.79e-01 11 3.500590e+06 3.03e+05 6.65e+06 5.70e+01 1.05e+00 5.40e+03 1 1.10e-01 1.09e+00 12 3.439664e+06 6.09e+04 2.10e+07 7.57e+01 5.03e-01 5.40e+03 1 1.32e-01 1.22e+00 13 3.316585e+06 1.23e+05 8.78e+06 1.41e+01 9.89e-01 1.62e+04 1 1.07e-01 1.33e+00 14 3.319382e+06 -2.80e+03 0.00e+00 1.35e+02 -3.91e-02 8.09e+03 1 4.09e-02 1.37e+00 15 3.275718e+06 4.09e+04 9.53e+06 7.68e+01 8.13e-01 1.07e+04 1 9.83e-02 1.47e+00 16 3.237115e+06 3.86e+04 6.75e+06 1.65e+02 9.37e-01 3.21e+04 1 1.08e-01 1.58e+00 17 3.258203e+06 -2.11e+04 0.00e+00 5.56e+02 -4.94e-01 1.61e+04 1 3.91e-02 1.61e+00 18 3.212755e+06 2.44e+04 6.46e+06 3.26e+02 8.02e-01 2.06e+04 1 9.80e-02 1.71e+00 19 3.190243e+06 2.25e+04 5.48e+06 4.90e+02 8.38e-01 2.99e+04 1 1.00e-01 1.81e+00 20 3.186698e+06 3.55e+03 6.25e+06 7.89e+02 1.44e-01 2.19e+04 1 1.02e-01 1.91e+00 21 3.159794e+06 2.69e+04 2.73e+06 7.12e+02 7.75e-01 2.63e+04 1 1.01e-01 2.02e+00 22 3.164677e+06 -4.88e+03 0.00e+00 9.38e+02 -2.24e-01 1.32e+04 1 4.13e-02 2.06e+00 23 3.144253e+06 1.55e+04 1.65e+06 5.23e+02 9.25e-01 3.40e+04 1 1.05e-01 2.16e+00 24 3.222179e+06 -7.79e+04 0.00e+00 1.27e+03 -4.58e+00 1.70e+04 1 3.94e-02 2.20e+00 25 3.140540e+06 3.71e+03 2.41e+06 7.13e+02 3.37e-01 1.64e+04 1 9.66e-02 2.30e+00 26 3.131800e+06 8.74e+03 2.46e+06 7.62e+02 5.18e-01 1.64e+04 1 9.89e-02 2.40e+00 27 3.124303e+06 7.50e+03 2.77e+06 8.37e+02 4.18e-01 1.64e+04 1 1.03e-01 2.50e+00 28 3.116379e+06 7.92e+03 3.07e+06 9.16e+02 3.85e-01 1.62e+04 1 1.07e-01 2.61e+00 29 3.107624e+06 8.75e+03 3.38e+06 1.00e+03 3.73e-01 1.59e+04 1 1.01e-01 2.71e+00 30 3.097611e+06 1.00e+04 3.70e+06 1.10e+03 3.79e-01 1.57e+04 1 9.87e-02 2.81e+00 31 3.085050e+06 1.26e+04 4.09e+06 1.22e+03 4.16e-01 1.56e+04 1 9.90e-02 2.91e+00 32 3.061944e+06 2.31e+04 4.84e+06 1.43e+03 5.96e-01 1.57e+04 1 1.01e-01 3.01e+00 33 5.997590e+07 -5.69e+07 0.00e+00 1.13e+03 -3.90e+02 7.86e+03 1 4.07e-02 3.05e+00 34 4.693355e+07 -4.39e+07 0.00e+00 6.83e+02 -3.12e+02 1.97e+03 1 3.96e-02 3.09e+00 35 2.272601e+07 -1.97e+07 0.00e+00 2.86e+02 -1.49e+02 2.46e+02 1 3.88e-02 3.13e+00 36 3.926597e+06 -8.65e+05 0.00e+00 8.09e+01 -7.91e+00 1.54e+01 1 4.55e-02 3.17e+00 37 3.001770e+06 6.02e+04 3.27e+05 1.57e+01 1.14e+00 4.61e+01 1 9.82e-02 3.27e+00 38 3.008946e+06 -7.18e+03 0.00e+00 3.02e+00 -1.18e-01 2.30e+01 1 4.04e-02 3.31e+00 39 2.969390e+06 3.24e+04 4.61e+05 1.47e+00 7.78e-01 2.78e+01 1 9.81e-02 3.41e+00 40 2.956476e+06 1.29e+04 1.72e+05 8.34e+00 9.71e-01 8.35e+01 1 9.97e-02 3.51e+00 41 2.939384e+06 1.71e+04 2.48e+05 3.17e+01 9.51e-01 2.50e+02 1 1.08e-01 3.62e+00 42 2.916623e+06 2.28e+04 9.76e+05 7.90e+01 6.89e-01 2.65e+02 1 1.02e-01 3.72e+00 43 2.886191e+06 3.04e+04 5.50e+05 6.52e+01 9.37e-01 7.92e+02 1 1.05e-01 3.82e+00 44 2.891235e+06 -5.04e+03 0.00e+00 9.74e+01 -2.12e-01 3.96e+02 1 4.11e-02 3.86e+00 45 2.871700e+06 1.45e+04 6.23e+05 6.24e+01 8.12e-01 5.23e+02 1 9.81e-02 3.96e+00 46 2.862036e+06 9.66e+03 7.23e+05 4.08e+01 7.92e-01 6.52e+02 1 1.00e-01 4.06e+00 47 2.856354e+06 5.68e+03 5.85e+05 2.05e+01 8.19e-01 8.80e+02 1 1.05e-01 4.17e+00 48 2.853227e+06 3.13e+03 5.35e+05 1.03e+01 7.78e-01 1.06e+03 1 1.02e-01 4.27e+00 49 2.850854e+06 2.37e+03 3.91e+05 4.18e+00 8.47e-01 1.60e+03 1 1.03e-01 4.37e+00 50 2.849213e+06 1.64e+03 4.99e+05 2.99e+00 7.21e-01 1.75e+03 1 1.03e-01 4.48e+00 Bundle adjustment report ------------------------ Residuals : 69592 Parameters : 24283 Iterations : 51 Time : 4.47882 [s] Initial cost : 12.5895 [px] Final cost : 6.39857 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 16146 => Changed observations: 0.464134 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.485566e+04 0.00e+00 3.16e+06 0.00e+00 0.00e+00 1.00e+04 0 4.26e-02 7.40e-02 1 2.949059e+04 1.54e+04 6.03e+06 8.01e+01 8.43e-01 1.48e+04 1 6.02e-02 1.34e-01 2 2.547465e+04 4.02e+03 3.14e+06 3.48e+01 8.90e-01 2.82e+04 1 5.80e-02 1.92e-01 3 2.381801e+04 1.66e+03 3.71e+06 1.25e+02 6.69e-01 2.94e+04 1 5.79e-02 2.50e-01 4 2.199505e+04 1.82e+03 2.27e+06 1.39e+02 8.27e-01 4.08e+04 1 5.83e-02 3.09e-01 5 2.096064e+04 1.03e+03 3.21e+06 1.95e+02 6.21e-01 4.14e+04 1 5.71e-02 3.66e-01 6 1.984861e+04 1.11e+03 2.62e+06 1.99e+02 7.09e-01 4.46e+04 1 5.68e-02 4.22e-01 7 1.914858e+04 7.00e+02 2.89e+06 2.16e+02 5.66e-01 4.48e+04 1 5.76e-02 4.80e-01 8 1.857436e+04 5.74e+02 3.62e+06 2.18e+02 4.88e-01 4.47e+04 1 5.81e-02 5.38e-01 9 1.818214e+04 3.92e+02 4.41e+06 2.18e+02 3.41e-01 4.33e+04 1 5.83e-02 5.97e-01 10 1.786229e+04 3.20e+02 5.02e+06 2.12e+02 2.59e-01 3.90e+04 1 6.23e-02 6.59e-01 11 1.742379e+04 4.38e+02 4.98e+06 1.92e+02 3.36e-01 3.77e+04 1 6.00e-02 7.19e-01 12 1.727543e+04 1.48e+02 5.58e+06 1.86e+02 1.21e-01 2.63e+04 1 5.79e-02 7.77e-01 13 1.637527e+04 9.00e+02 3.48e+06 1.30e+02 6.85e-01 2.77e+04 1 5.74e-02 8.34e-01 14 1.637043e+04 4.84e+00 4.37e+06 1.37e+02 7.34e-03 1.41e+04 1 5.81e-02 8.92e-01 15 1.566573e+04 7.05e+02 1.51e+06 6.99e+01 9.00e-01 2.90e+04 1 5.73e-02 9.50e-01 16 1.661480e+04 -9.49e+02 0.00e+00 1.44e+02 -2.93e+00 1.45e+04 1 2.05e-02 9.70e-01 17 1.555675e+04 1.09e+02 1.69e+06 7.19e+01 5.28e-01 1.45e+04 1 5.53e-02 1.03e+00 18 1.545401e+04 1.03e+02 1.88e+06 7.19e+01 4.59e-01 1.45e+04 1 6.30e-02 1.09e+00 19 1.535898e+04 9.50e+01 2.10e+06 7.19e+01 3.85e-01 1.43e+04 1 5.84e-02 1.15e+00 20 1.526691e+04 9.21e+01 2.31e+06 7.11e+01 3.35e-01 1.38e+04 1 6.17e-02 1.21e+00 21 1.516754e+04 9.94e+01 2.42e+06 6.87e+01 3.30e-01 1.33e+04 1 5.85e-02 1.27e+00 22 1.506922e+04 9.83e+01 2.49e+06 6.63e+01 3.13e-01 1.26e+04 1 5.76e-02 1.32e+00 23 1.496236e+04 1.07e+02 2.48e+06 6.32e+01 3.34e-01 1.22e+04 1 5.68e-02 1.38e+00 24 1.486087e+04 1.01e+02 2.46e+06 6.11e+01 3.25e-01 1.17e+04 1 5.75e-02 1.44e+00 25 1.474752e+04 1.13e+02 2.33e+06 5.88e+01 3.73e-01 1.15e+04 1 5.55e-02 1.49e+00 26 1.463834e+04 1.09e+02 2.18e+06 5.81e+01 3.93e-01 1.14e+04 1 5.80e-02 1.55e+00 27 1.452106e+04 1.17e+02 1.94e+06 5.77e+01 4.67e-01 1.14e+04 1 5.82e-02 1.61e+00 28 1.440344e+04 1.18e+02 1.62e+06 5.79e+01 5.54e-01 1.14e+04 1 6.36e-02 1.67e+00 29 1.429342e+04 1.10e+02 1.27e+06 5.82e+01 6.50e-01 1.17e+04 1 5.77e-02 1.73e+00 30 1.419893e+04 9.45e+01 9.97e+05 5.98e+01 7.14e-01 1.27e+04 1 5.76e-02 1.79e+00 31 1.411466e+04 8.43e+01 8.60e+05 6.49e+01 7.43e-01 1.44e+04 1 5.73e-02 1.85e+00 32 1.403085e+04 8.38e+01 8.08e+05 7.32e+01 7.59e-01 1.67e+04 1 5.92e-02 1.91e+00 33 1.394191e+04 8.89e+01 8.06e+05 8.47e+01 7.64e-01 1.95e+04 1 5.58e-02 1.96e+00 34 1.384418e+04 9.77e+01 8.21e+05 9.88e+01 7.66e-01 2.30e+04 1 5.72e-02 2.02e+00 35 1.373596e+04 1.08e+02 8.41e+05 1.16e+02 7.65e-01 2.70e+04 1 5.62e-02 2.08e+00 36 1.361597e+04 1.20e+02 8.53e+05 1.35e+02 7.63e-01 3.16e+04 1 6.26e-02 2.14e+00 37 1.348422e+04 1.32e+02 8.51e+05 1.56e+02 7.56e-01 3.65e+04 1 5.73e-02 2.20e+00 38 1.334135e+04 1.43e+02 8.22e+05 1.78e+02 7.45e-01 4.14e+04 1 7.43e-02 2.27e+00 39 1.318972e+04 1.52e+02 7.61e+05 1.99e+02 7.28e-01 4.57e+04 1 5.94e-02 2.33e+00 40 1.303192e+04 1.58e+02 6.68e+05 2.16e+02 7.08e-01 4.92e+04 1 5.99e-02 2.39e+00 41 1.287105e+04 1.61e+02 5.58e+05 2.29e+02 6.86e-01 5.19e+04 1 5.96e-02 2.45e+00 42 1.270929e+04 1.62e+02 4.46e+05 2.36e+02 6.65e-01 5.38e+04 1 5.80e-02 2.51e+00 43 1.254851e+04 1.61e+02 3.44e+05 2.40e+02 6.47e-01 5.53e+04 1 5.94e-02 2.57e+00 44 1.238991e+04 1.59e+02 3.73e+05 2.40e+02 6.32e-01 5.63e+04 1 5.81e-02 2.62e+00 45 1.223436e+04 1.56e+02 4.04e+05 2.38e+02 6.18e-01 5.70e+04 1 6.28e-02 2.69e+00 46 1.208241e+04 1.52e+02 4.29e+05 2.35e+02 6.08e-01 5.76e+04 1 6.02e-02 2.75e+00 47 1.193443e+04 1.48e+02 4.48e+05 2.31e+02 5.99e-01 5.81e+04 1 5.97e-02 2.81e+00 48 1.179064e+04 1.44e+02 4.64e+05 2.25e+02 5.92e-01 5.84e+04 1 5.95e-02 2.87e+00 49 1.165117e+04 1.39e+02 4.75e+05 2.20e+02 5.86e-01 5.87e+04 1 5.83e-02 2.93e+00 50 1.151609e+04 1.35e+02 4.82e+05 2.14e+02 5.82e-01 5.90e+04 1 5.81e-02 2.98e+00 Bundle adjustment report ------------------------ Residuals : 37298 Parameters : 17374 Iterations : 51 Time : 2.98428 [s] Initial cost : 1.09664 [px] Final cost : 0.555661 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 56 => Filtered observations: 9 => Changed observations: 0.003485 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.149059e+04 0.00e+00 4.90e+05 0.00e+00 0.00e+00 1.00e+04 0 3.79e-02 6.96e-02 1 1.130664e+04 1.84e+02 2.63e+04 3.49e+01 9.99e-01 3.00e+04 1 6.49e-02 1.34e-01 2 1.124545e+04 6.12e+01 1.90e+05 1.03e+02 8.68e-01 4.99e+04 1 5.85e-02 1.93e-01 3 1.118963e+04 5.58e+01 4.67e+05 1.66e+02 4.68e-01 4.99e+04 1 5.68e-02 2.50e-01 4 1.108351e+04 1.06e+02 4.60e+05 1.61e+02 6.29e-01 5.08e+04 1 5.77e-02 3.08e-01 5 1.098322e+04 1.00e+02 4.65e+05 1.59e+02 6.08e-01 5.13e+04 1 5.83e-02 3.66e-01 6 1.088431e+04 9.89e+01 4.63e+05 1.56e+02 6.04e-01 5.18e+04 1 5.88e-02 4.25e-01 7 1.078800e+04 9.63e+01 4.59e+05 1.52e+02 6.00e-01 5.22e+04 1 5.77e-02 4.83e-01 8 1.069426e+04 9.37e+01 4.51e+05 1.48e+02 6.00e-01 5.26e+04 1 5.82e-02 5.41e-01 9 1.060325e+04 9.10e+01 4.39e+05 1.44e+02 6.02e-01 5.31e+04 1 5.84e-02 5.99e-01 10 1.051507e+04 8.82e+01 4.25e+05 1.40e+02 6.06e-01 5.36e+04 1 5.54e-02 6.55e-01 11 1.042980e+04 8.53e+01 4.08e+05 1.35e+02 6.12e-01 5.42e+04 1 6.37e-02 7.18e-01 12 1.034747e+04 8.23e+01 3.90e+05 1.31e+02 6.20e-01 5.50e+04 1 5.90e-02 7.77e-01 13 1.026805e+04 7.94e+01 3.71e+05 1.27e+02 6.28e-01 5.59e+04 1 5.68e-02 8.34e-01 14 1.019149e+04 7.66e+01 3.52e+05 1.24e+02 6.38e-01 5.71e+04 1 5.83e-02 8.93e-01 15 1.011764e+04 7.38e+01 3.35e+05 1.20e+02 6.48e-01 5.86e+04 1 5.75e-02 9.50e-01 16 1.004634e+04 7.13e+01 3.22e+05 1.17e+02 6.59e-01 6.06e+04 1 5.74e-02 1.01e+00 17 9.977323e+03 6.90e+01 3.08e+05 1.15e+02 6.69e-01 6.30e+04 1 5.82e-02 1.07e+00 18 9.910325e+03 6.70e+01 2.95e+05 1.12e+02 6.80e-01 6.61e+04 1 6.41e-02 1.13e+00 19 9.845032e+03 6.53e+01 2.82e+05 1.10e+02 6.90e-01 6.99e+04 1 5.94e-02 1.19e+00 20 9.781121e+03 6.39e+01 2.70e+05 1.09e+02 7.00e-01 7.47e+04 1 5.83e-02 1.25e+00 21 9.718272e+03 6.28e+01 2.58e+05 1.07e+02 7.09e-01 8.07e+04 1 5.72e-02 1.30e+00 22 9.656186e+03 6.21e+01 2.46e+05 1.06e+02 7.18e-01 8.80e+04 1 5.71e-02 1.36e+00 23 9.594610e+03 6.16e+01 2.33e+05 1.05e+02 7.27e-01 9.70e+04 1 5.93e-02 1.42e+00 24 9.533380e+03 6.12e+01 2.21e+05 1.03e+02 7.33e-01 1.08e+05 1 5.75e-02 1.48e+00 25 9.472476e+03 6.09e+01 2.08e+05 1.00e+02 7.38e-01 1.21e+05 1 5.73e-02 1.54e+00 26 9.412109e+03 6.04e+01 1.94e+05 9.64e+01 7.40e-01 1.36e+05 1 5.70e-02 1.59e+00 27 9.352781e+03 5.93e+01 1.78e+05 9.01e+01 7.38e-01 1.53e+05 1 5.61e-02 1.65e+00 28 9.295263e+03 5.75e+01 1.98e+05 8.10e+01 7.31e-01 1.69e+05 1 6.14e-02 1.71e+00 29 9.240405e+03 5.49e+01 2.25e+05 6.89e+01 7.22e-01 1.85e+05 1 5.79e-02 1.77e+00 30 9.188917e+03 5.15e+01 2.44e+05 5.45e+01 7.13e-01 2.01e+05 1 5.72e-02 1.83e+00 31 9.141284e+03 4.76e+01 2.52e+05 3.91e+01 7.07e-01 2.16e+05 1 5.90e-02 1.89e+00 32 9.097783e+03 4.35e+01 2.51e+05 2.37e+01 7.04e-01 2.32e+05 1 5.78e-02 1.94e+00 33 9.058517e+03 3.93e+01 2.44e+05 9.17e+00 7.05e-01 2.49e+05 1 5.76e-02 2.00e+00 34 9.023446e+03 3.51e+01 2.32e+05 4.10e+00 7.07e-01 2.68e+05 1 5.66e-02 2.06e+00 35 8.992414e+03 3.10e+01 2.18e+05 1.59e+01 7.11e-01 2.90e+05 1 6.09e-02 2.12e+00 36 8.965193e+03 2.72e+01 2.02e+05 2.61e+01 7.14e-01 3.15e+05 1 5.96e-02 2.18e+00 37 8.941522e+03 2.37e+01 1.85e+05 3.48e+01 7.18e-01 3.43e+05 1 5.73e-02 2.24e+00 38 8.921129e+03 2.04e+01 1.67e+05 4.18e+01 7.21e-01 3.75e+05 1 5.68e-02 2.29e+00 39 8.903747e+03 1.74e+01 1.48e+05 4.71e+01 7.24e-01 4.12e+05 1 5.76e-02 2.35e+00 40 8.889108e+03 1.46e+01 1.29e+05 5.08e+01 7.28e-01 4.56e+05 1 5.88e-02 2.41e+00 41 8.876943e+03 1.22e+01 1.10e+05 5.30e+01 7.33e-01 5.07e+05 1 5.69e-02 2.47e+00 42 8.866982e+03 9.96e+00 9.12e+04 5.37e+01 7.39e-01 5.69e+05 1 5.73e-02 2.52e+00 43 8.858952e+03 8.03e+00 7.38e+04 5.31e+01 7.47e-01 6.47e+05 1 5.66e-02 2.58e+00 44 8.852586e+03 6.37e+00 5.78e+04 5.15e+01 7.56e-01 7.47e+05 1 5.70e-02 2.64e+00 45 8.847621e+03 4.96e+00 4.32e+04 4.89e+01 7.66e-01 8.80e+05 1 5.75e-02 2.69e+00 46 8.843814e+03 3.81e+00 3.23e+04 4.56e+01 7.79e-01 1.06e+06 1 6.22e-02 2.76e+00 47 8.840940e+03 2.87e+00 2.68e+04 4.17e+01 7.93e-01 1.33e+06 1 5.86e-02 2.81e+00 48 8.838805e+03 2.14e+00 2.23e+04 3.72e+01 8.09e-01 1.74e+06 1 5.92e-02 2.87e+00 49 8.837247e+03 1.56e+00 2.03e+04 3.21e+01 8.26e-01 2.41e+06 1 5.92e-02 2.93e+00 50 8.836146e+03 1.10e+00 1.81e+04 2.66e+01 8.45e-01 3.60e+06 1 5.85e-02 2.99e+00 Bundle adjustment report ------------------------ Residuals : 37280 Parameters : 17347 Iterations : 51 Time : 2.99265 [s] Initial cost : 0.555179 [px] Final cost : 0.486848 [px] Termination : No convergence => Completed observations: 4918 => Merged observations: 0 => Filtered observations: 3 => Changed observations: 0.264002 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.852041e+04 0.00e+00 3.33e+05 0.00e+00 0.00e+00 1.00e+04 0 5.50e-02 9.55e-02 1 1.462616e+04 3.89e+03 1.75e+06 5.77e+00 9.45e-01 3.00e+04 1 8.34e-02 1.79e-01 2 1.423417e+04 3.92e+02 6.27e+05 4.90e+01 7.99e-01 3.81e+04 1 7.65e-02 2.56e-01 3 1.404460e+04 1.90e+02 2.38e+05 5.44e+01 9.31e-01 1.06e+05 1 7.90e-02 3.35e-01 4 1.395693e+04 8.77e+01 1.91e+05 1.08e+02 8.40e-01 1.54e+05 1 7.76e-02 4.12e-01 5 1.389245e+04 6.45e+01 9.97e+04 1.01e+02 8.87e-01 2.87e+05 1 7.51e-02 4.87e-01 6 1.385416e+04 3.83e+01 1.67e+05 8.76e+01 8.06e-01 3.73e+05 1 8.56e-02 5.73e-01 7 1.383166e+04 2.25e+01 8.83e+04 3.93e+01 9.22e-01 9.32e+05 1 7.69e-02 6.50e-01 8 1.382499e+04 6.67e+00 6.08e+04 2.22e+00 8.86e-01 1.72e+06 1 8.17e-02 7.32e-01 9 1.382344e+04 1.55e+00 9.68e+03 1.46e+01 9.83e-01 5.17e+06 1 7.40e-02 8.06e-01 10 1.382337e+04 7.21e-02 5.15e+02 9.07e+00 9.91e-01 1.55e+07 1 7.57e-02 8.81e-01 11 1.382337e+04 1.57e-03 2.18e+01 1.55e+00 1.00e+00 4.65e+07 1 7.53e-02 9.57e-01 12 1.382337e+04 1.34e-05 1.55e+00 1.01e-01 1.00e+00 1.40e+08 1 7.42e-02 1.03e+00 13 1.382337e+04 5.29e-08 2.39e-02 3.66e-03 1.01e+00 4.19e+08 1 8.13e-02 1.11e+00 Bundle adjustment report ------------------------ Residuals : 47110 Parameters : 17347 Iterations : 14 Time : 1.11315 [s] Initial cost : 0.627002 [px] Final cost : 0.541689 [px] Termination : Convergence => Completed observations: 373 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.016260 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.512236e+04 0.00e+00 1.16e+05 0.00e+00 0.00e+00 1.00e+04 0 4.75e-02 8.67e-02 1 1.459389e+04 5.28e+02 9.80e+04 3.79e+00 9.97e-01 3.00e+04 1 8.11e-02 1.68e-01 2 1.458302e+04 1.09e+01 4.98e+04 8.67e+00 9.53e-01 9.00e+04 1 7.88e-02 2.47e-01 3 1.457832e+04 4.70e+00 1.70e+04 1.64e+01 9.84e-01 2.70e+05 1 8.05e-02 3.27e-01 4 1.457569e+04 2.64e+00 7.90e+03 2.16e+01 9.90e-01 8.10e+05 1 8.45e-02 4.12e-01 5 1.457458e+04 1.11e+00 7.94e+03 1.04e+01 9.83e-01 2.43e+06 1 8.16e-02 4.93e-01 6 1.457438e+04 1.99e-01 2.00e+03 2.89e+00 9.95e-01 7.29e+06 1 8.96e-02 5.83e-01 7 1.457435e+04 2.88e-02 4.98e+02 2.71e+00 9.98e-01 2.19e+07 1 8.49e-02 6.68e-01 8 1.457435e+04 2.43e-03 5.69e+01 5.84e-01 1.00e+00 6.56e+07 1 8.19e-02 7.50e-01 9 1.457435e+04 3.70e-05 1.94e+00 5.77e-02 1.00e+00 1.97e+08 1 8.10e-02 8.31e-01 10 1.457435e+04 7.81e-08 2.42e-02 2.32e-03 1.01e+00 5.90e+08 1 8.13e-02 9.12e-01 Bundle adjustment report ------------------------ Residuals : 47836 Parameters : 17347 Iterations : 11 Time : 0.913106 [s] Initial cost : 0.562254 [px] Final cost : 0.551972 [px] Termination : Convergence => Completed observations: 40 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.001840 => Filtered images: 0 ============================================================================== Registering image #10 (23) ============================================================================== => Image sees 584 / 3038 points Pose refinement report ---------------------- Residuals : 1060 Parameters : 6 Iterations : 13 Time : 0.0187039 [s] Initial cost : 0.713944 [px] Final cost : 0.614074 [px] Termination : Convergence => Continued observations: 527 => Added observations: 2231 Bundle adjustment report ------------------------ Residuals : 33600 Parameters : 10208 Iterations : 26 Time : 0.748085 [s] Initial cost : 1.45989 [px] Final cost : 1.31345 [px] Termination : No convergence => Merged observations: 6 => Completed observations: 396 => Filtered observations: 436 => Changed observations: 0.048515 Bundle adjustment report ------------------------ Residuals : 33524 Parameters : 9974 Iterations : 16 Time : 0.454192 [s] Initial cost : 0.642035 [px] Final cost : 0.576052 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 335 => Filtered observations: 2 => Changed observations: 0.019553 ============================================================================== Retriangulation ============================================================================== => Completed observations: 41 => Merged observations: 11 => Retriangulated observations: 420 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.133342e+07 0.00e+00 4.96e+07 0.00e+00 0.00e+00 1.00e+04 0 5.20e-02 9.83e-02 1 4.392771e+08 -4.28e+08 0.00e+00 1.74e+02 -6.41e+01 5.00e+03 1 3.66e-02 1.35e-01 2 2.031423e+08 -1.92e+08 0.00e+00 1.44e+02 -2.93e+01 1.25e+03 1 3.19e-02 1.67e-01 3 2.185508e+07 -1.05e+07 0.00e+00 2.99e+02 -1.75e+00 1.56e+02 1 3.05e-02 1.97e-01 4 6.703761e+06 4.63e+06 7.45e+07 1.44e+02 8.96e-01 3.10e+02 1 8.03e-02 2.78e-01 5 5.731894e+06 9.72e+05 4.21e+07 3.70e+01 9.43e-01 9.29e+02 1 8.87e-02 3.66e-01 6 5.717035e+06 1.49e+04 1.12e+08 1.03e+02 3.46e-02 5.15e+02 1 8.17e-02 4.48e-01 7 5.185738e+06 5.31e+05 1.35e+07 7.78e+01 1.00e+00 1.54e+03 1 8.14e-02 5.30e-01 8 5.154523e+06 3.12e+04 7.25e+07 2.66e+02 1.54e-01 1.16e+03 1 8.04e-02 6.10e-01 9 4.889438e+06 2.65e+05 1.92e+07 2.28e+02 9.46e-01 3.48e+03 1 8.22e-02 6.92e-01 10 7.363766e+06 -2.47e+06 0.00e+00 7.07e+02 -9.66e+00 1.74e+03 1 4.14e-02 7.34e-01 11 5.635211e+06 -7.46e+05 0.00e+00 4.18e+02 -4.06e+00 4.35e+02 1 3.14e-02 7.65e-01 12 4.812291e+06 7.71e+04 3.08e+06 1.42e+02 8.34e-01 6.19e+02 1 7.92e-02 8.44e-01 13 1.098760e+08 -1.05e+08 0.00e+00 4.92e+01 -5.12e+02 3.10e+02 1 3.13e-02 8.76e-01 14 2.840913e+07 -2.36e+07 0.00e+00 3.72e+01 -1.50e+02 7.74e+01 1 2.97e-02 9.06e-01 15 6.382815e+06 -1.57e+06 0.00e+00 9.76e+00 -1.55e+01 9.68e+00 1 3.05e-02 9.36e-01 16 4.781609e+06 3.07e+04 9.36e+05 2.46e+00 5.07e-01 9.68e+00 1 7.93e-02 1.02e+00 17 4.755588e+06 2.60e+04 7.28e+05 2.52e-01 8.57e-01 1.52e+01 1 7.89e-02 1.09e+00 18 4.740499e+06 1.51e+04 7.52e+05 1.22e+00 1.57e+00 4.57e+01 1 7.76e-02 1.17e+00 19 4.684523e+06 5.60e+04 1.29e+06 1.21e+01 8.95e-01 8.99e+01 1 7.83e-02 1.25e+00 20 4.593656e+06 9.09e+04 6.74e+05 3.26e+01 7.85e-01 1.10e+02 1 8.46e-02 1.33e+00 21 4.525509e+06 6.81e+04 6.40e+05 3.16e+01 9.82e-01 3.31e+02 1 7.88e-02 1.41e+00 22 4.497608e+06 2.79e+04 1.60e+06 5.05e+01 3.66e-01 3.25e+02 1 7.84e-02 1.49e+00 23 4.416638e+06 8.10e+04 1.66e+06 4.26e+00 9.84e-01 9.74e+02 1 7.81e-02 1.57e+00 24 4.393002e+06 2.36e+04 8.50e+06 4.04e+01 3.48e-01 9.47e+02 1 7.71e-02 1.65e+00 25 4.304077e+06 8.89e+04 5.81e+06 5.41e+01 9.81e-01 2.84e+03 1 8.67e-02 1.73e+00 26 4.278610e+06 2.55e+04 2.91e+07 1.48e+02 2.69e-01 2.59e+03 1 7.77e-02 1.81e+00 27 4.165710e+06 1.13e+05 1.20e+07 1.33e+02 9.26e-01 6.75e+03 1 7.87e-02 1.89e+00 28 4.172631e+06 -6.92e+03 0.00e+00 3.04e+02 -8.06e-02 3.37e+03 1 3.06e-02 1.92e+00 29 4.119531e+06 4.62e+04 1.22e+07 1.63e+02 8.19e-01 4.56e+03 1 7.82e-02 2.00e+00 30 4.078863e+06 4.07e+04 1.12e+07 2.04e+02 8.06e-01 5.92e+03 1 7.96e-02 2.08e+00 31 4.043778e+06 3.51e+04 8.69e+06 2.37e+02 8.46e-01 8.86e+03 1 8.06e-02 2.16e+00 32 4.016729e+06 2.70e+04 7.59e+06 2.99e+02 8.13e-01 1.17e+04 1 7.80e-02 2.24e+00 33 3.993359e+06 2.34e+04 4.48e+06 3.06e+02 8.92e-01 2.26e+04 1 7.60e-02 2.31e+00 34 3.976366e+06 1.70e+04 4.96e+06 3.46e+02 7.31e-01 2.50e+04 1 8.66e-02 2.40e+00 35 3.948414e+06 2.80e+04 4.74e+06 9.70e+01 1.06e+00 7.51e+04 1 7.70e-02 2.48e+00 36 4.261981e+06 -3.14e+05 0.00e+00 3.27e+02 -9.72e+00 3.76e+04 1 3.16e-02 2.51e+00 37 3.947482e+06 9.32e+02 1.33e+07 1.91e+02 3.32e-02 2.07e+04 1 7.92e-02 2.59e+00 38 3.934142e+06 1.33e+04 9.99e+06 7.72e+01 2.16e-01 1.75e+04 1 7.92e-02 2.67e+00 39 3.893481e+06 4.07e+04 2.01e+06 3.34e+01 8.68e-01 2.91e+04 1 8.77e-02 2.76e+00 40 3.886565e+06 6.92e+03 1.10e+06 7.38e+01 5.78e-01 2.93e+04 1 7.86e-02 2.83e+00 41 3.880339e+06 6.23e+03 1.86e+06 1.65e+01 4.83e-01 2.93e+04 1 7.84e-02 2.91e+00 42 3.876081e+06 4.26e+03 1.44e+06 6.23e+01 3.19e-01 2.79e+04 1 7.71e-02 2.99e+00 43 3.869682e+06 6.40e+03 3.27e+05 7.76e+01 5.88e-01 2.81e+04 1 7.74e-02 3.07e+00 44 3.866144e+06 3.54e+03 2.28e+05 6.49e+01 7.17e-01 3.06e+04 1 7.72e-02 3.14e+00 45 3.864447e+06 1.70e+03 2.48e+05 5.13e+01 7.57e-01 3.54e+04 1 7.53e-02 3.22e+00 46 3.863301e+06 1.15e+03 2.87e+05 4.87e+01 7.88e-01 4.37e+04 1 7.70e-02 3.30e+00 47 3.862363e+06 9.38e+02 3.74e+05 5.20e+01 7.84e-01 5.36e+04 1 8.49e-02 3.38e+00 48 3.861551e+06 8.12e+02 4.70e+05 5.70e+01 7.69e-01 6.35e+04 1 7.84e-02 3.46e+00 49 3.860854e+06 6.97e+02 5.47e+05 6.28e+01 7.59e-01 7.39e+04 1 7.70e-02 3.54e+00 50 3.860277e+06 5.77e+02 6.08e+05 6.99e+01 7.51e-01 8.45e+04 1 7.65e-02 3.61e+00 Bundle adjustment report ------------------------ Residuals : 54932 Parameters : 20005 Iterations : 51 Time : 3.61482 [s] Initial cost : 14.3638 [px] Final cost : 8.38294 [px] Termination : No convergence => Completed observations: 132 => Merged observations: 0 => Filtered observations: 9937 => Changed observations: 0.366599 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.150982e+04 0.00e+00 1.18e+06 0.00e+00 0.00e+00 1.00e+04 0 5.36e-02 8.35e-02 1 2.466578e+04 1.68e+04 2.06e+06 4.80e+01 9.73e-01 3.00e+04 1 6.33e-02 1.47e-01 2 2.193101e+04 2.73e+03 2.12e+06 3.32e+01 7.37e-01 3.36e+04 1 5.49e-02 2.02e-01 3 1.982945e+04 2.10e+03 2.31e+06 5.04e+01 6.98e-01 3.58e+04 1 5.40e-02 2.56e-01 4 1.828144e+04 1.55e+03 2.21e+06 5.30e+01 6.55e-01 3.69e+04 1 5.64e-02 3.12e-01 5 1.703437e+04 1.25e+03 1.96e+06 5.31e+01 6.58e-01 3.81e+04 1 5.38e-02 3.66e-01 6 1.605228e+04 9.82e+02 1.71e+06 5.29e+01 6.61e-01 3.94e+04 1 6.16e-02 4.28e-01 7 1.525499e+04 7.97e+02 1.47e+06 5.26e+01 6.75e-01 4.12e+04 1 5.86e-02 4.86e-01 8 1.459632e+04 6.59e+02 1.25e+06 5.24e+01 6.94e-01 4.38e+04 1 5.85e-02 5.45e-01 9 1.403797e+04 5.58e+02 1.05e+06 5.26e+01 7.17e-01 4.77e+04 1 5.98e-02 6.05e-01 10 1.355207e+04 4.86e+02 8.77e+05 5.38e+01 7.41e-01 5.37e+04 1 5.82e-02 6.63e-01 11 1.311695e+04 4.35e+02 7.16e+05 5.62e+01 7.63e-01 6.28e+04 1 6.23e-02 7.25e-01 12 1.271882e+04 3.98e+02 6.58e+05 6.00e+01 7.71e-01 7.47e+04 1 5.81e-02 7.84e-01 13 1.235570e+04 3.63e+02 8.68e+05 6.43e+01 7.54e-01 8.61e+04 1 5.58e-02 8.39e-01 14 1.203338e+04 3.22e+02 1.08e+06 6.62e+01 7.14e-01 9.34e+04 1 5.45e-02 8.94e-01 15 1.175205e+04 2.81e+02 1.21e+06 6.45e+01 6.73e-01 9.74e+04 1 5.69e-02 9.51e-01 16 1.150997e+04 2.42e+02 1.27e+06 6.13e+01 6.35e-01 9.93e+04 1 5.82e-02 1.01e+00 17 1.130234e+04 2.08e+02 1.28e+06 5.80e+01 6.04e-01 1.00e+05 1 5.65e-02 1.07e+00 18 1.112390e+04 1.78e+02 1.26e+06 5.53e+01 5.79e-01 1.01e+05 1 6.25e-02 1.13e+00 19 1.096928e+04 1.55e+02 1.23e+06 5.31e+01 5.60e-01 1.01e+05 1 5.37e-02 1.18e+00 20 1.083447e+04 1.35e+02 1.19e+06 5.14e+01 5.47e-01 1.01e+05 1 5.48e-02 1.24e+00 21 1.071691e+04 1.18e+02 1.15e+06 4.98e+01 5.35e-01 1.01e+05 1 5.55e-02 1.29e+00 22 1.061442e+04 1.02e+02 1.12e+06 4.83e+01 5.23e-01 1.01e+05 1 5.32e-02 1.35e+00 23 1.052454e+04 8.99e+01 1.08e+06 4.67e+01 5.10e-01 1.01e+05 1 5.55e-02 1.40e+00 24 1.044482e+04 7.97e+01 1.03e+06 4.51e+01 5.00e-01 1.01e+05 1 5.49e-02 1.46e+00 25 1.037331e+04 7.15e+01 9.93e+05 4.35e+01 4.92e-01 1.01e+05 1 5.46e-02 1.51e+00 26 1.030862e+04 6.47e+01 9.50e+05 4.19e+01 4.88e-01 1.01e+05 1 5.44e-02 1.57e+00 27 1.024978e+04 5.88e+01 9.06e+05 4.04e+01 4.87e-01 1.01e+05 1 5.45e-02 1.62e+00 28 1.019611e+04 5.37e+01 8.61e+05 3.90e+01 4.88e-01 1.01e+05 1 5.57e-02 1.68e+00 29 1.014707e+04 4.90e+01 8.15e+05 3.76e+01 4.91e-01 1.01e+05 1 6.03e-02 1.74e+00 30 1.010227e+04 4.48e+01 7.69e+05 3.64e+01 4.97e-01 1.01e+05 1 5.61e-02 1.79e+00 31 1.006139e+04 4.09e+01 7.21e+05 3.51e+01 5.04e-01 1.01e+05 1 5.43e-02 1.85e+00 32 1.002416e+04 3.72e+01 6.73e+05 3.40e+01 5.13e-01 1.01e+05 1 5.42e-02 1.90e+00 33 9.990358e+03 3.38e+01 6.24e+05 3.29e+01 5.25e-01 1.01e+05 1 6.55e-02 1.97e+00 34 9.959789e+03 3.06e+01 5.76e+05 3.19e+01 5.38e-01 1.01e+05 1 5.66e-02 2.02e+00 35 9.932265e+03 2.75e+01 5.29e+05 3.10e+01 5.52e-01 1.01e+05 1 5.56e-02 2.08e+00 36 9.907605e+03 2.47e+01 4.83e+05 3.01e+01 5.68e-01 1.01e+05 1 6.09e-02 2.14e+00 37 9.885616e+03 2.20e+01 4.40e+05 2.92e+01 5.83e-01 1.02e+05 1 5.55e-02 2.19e+00 38 9.866090e+03 1.95e+01 4.00e+05 2.85e+01 5.99e-01 1.03e+05 1 5.75e-02 2.25e+00 39 9.848805e+03 1.73e+01 3.63e+05 2.78e+01 6.14e-01 1.04e+05 1 5.65e-02 2.31e+00 40 9.833525e+03 1.53e+01 3.29e+05 2.73e+01 6.29e-01 1.06e+05 1 5.62e-02 2.37e+00 41 9.820020e+03 1.35e+01 2.99e+05 2.69e+01 6.42e-01 1.08e+05 1 5.83e-02 2.42e+00 42 9.808071e+03 1.19e+01 2.73e+05 2.65e+01 6.54e-01 1.11e+05 1 5.84e-02 2.48e+00 43 9.797483e+03 1.06e+01 2.50e+05 2.64e+01 6.64e-01 1.15e+05 1 5.83e-02 2.54e+00 44 9.788087e+03 9.40e+00 2.29e+05 2.63e+01 6.74e-01 1.21e+05 1 5.79e-02 2.60e+00 45 9.779741e+03 8.35e+00 2.10e+05 2.63e+01 6.83e-01 1.27e+05 1 5.45e-02 2.65e+00 46 9.772326e+03 7.42e+00 1.93e+05 2.64e+01 6.92e-01 1.35e+05 1 5.52e-02 2.71e+00 47 9.765742e+03 6.58e+00 1.77e+05 2.67e+01 7.01e-01 1.44e+05 1 6.15e-02 2.77e+00 48 9.759906e+03 5.84e+00 1.62e+05 2.70e+01 7.09e-01 1.55e+05 1 5.61e-02 2.83e+00 49 9.754750e+03 5.16e+00 1.48e+05 2.73e+01 7.17e-01 1.69e+05 1 5.54e-02 2.88e+00 50 9.750213e+03 4.54e+00 1.34e+05 2.77e+01 7.26e-01 1.86e+05 1 5.42e-02 2.94e+00 Bundle adjustment report ------------------------ Residuals : 35320 Parameters : 15745 Iterations : 51 Time : 2.93611 [s] Initial cost : 1.08409 [px] Final cost : 0.525408 [px] Termination : No convergence => Completed observations: 3948 => Merged observations: 11 => Filtered observations: 22 => Changed observations: 0.225425 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.788727e+04 0.00e+00 2.24e+05 0.00e+00 0.00e+00 1.00e+04 0 4.53e-02 8.20e-02 1 1.626006e+04 1.63e+03 3.42e+06 1.28e+01 4.37e-01 9.98e+03 1 8.26e-02 1.65e-01 2 1.412812e+04 2.13e+03 1.16e+06 2.25e+00 9.04e-01 2.10e+04 1 7.54e-02 2.40e-01 3 1.407197e+04 5.62e+01 1.32e+06 2.12e+00 1.08e-01 1.42e+04 1 7.32e-02 3.13e-01 4 1.353153e+04 5.40e+02 5.02e+05 1.44e+00 9.04e-01 3.00e+04 1 7.26e-02 3.86e-01 5 1.355441e+04 -2.29e+01 0.00e+00 2.67e+00 -9.96e-02 1.50e+04 1 2.83e-02 4.14e-01 6 1.340413e+04 1.27e+02 3.70e+05 1.44e+00 7.93e-01 1.88e+04 1 7.24e-02 4.87e-01 7 1.330992e+04 9.42e+01 4.06e+05 1.67e+00 7.37e-01 2.11e+04 1 7.12e-02 5.58e-01 8 1.322155e+04 8.84e+01 4.79e+05 1.66e+00 7.78e-01 2.54e+04 1 7.16e-02 6.30e-01 9 1.315351e+04 6.80e+01 6.37e+05 1.66e+00 6.81e-01 2.67e+04 1 7.10e-02 7.01e-01 10 1.308763e+04 6.59e+01 6.40e+05 1.36e+00 6.94e-01 2.83e+04 1 6.94e-02 7.70e-01 11 1.303247e+04 5.52e+01 6.46e+05 1.03e+00 6.57e-01 2.92e+04 1 7.73e-02 8.47e-01 12 1.298195e+04 5.05e+01 6.07e+05 6.39e-01 6.67e-01 3.04e+04 1 7.14e-02 9.19e-01 13 1.293834e+04 4.36e+01 5.67e+05 2.21e-01 6.64e-01 3.15e+04 1 7.02e-02 9.89e-01 14 1.290042e+04 3.79e+01 5.19e+05 2.34e-01 6.73e-01 3.28e+04 1 7.19e-02 1.06e+00 15 1.286818e+04 3.22e+01 4.71e+05 7.14e-01 6.80e-01 3.44e+04 1 7.09e-02 1.13e+00 16 1.284101e+04 2.72e+01 4.22e+05 1.23e+00 6.90e-01 3.64e+04 1 7.91e-02 1.21e+00 17 1.281845e+04 2.26e+01 3.75e+05 1.80e+00 7.00e-01 3.89e+04 1 7.39e-02 1.29e+00 18 1.279995e+04 1.85e+01 3.30e+05 2.42e+00 7.11e-01 4.21e+04 1 7.24e-02 1.36e+00 19 1.278499e+04 1.50e+01 2.87e+05 3.13e+00 7.23e-01 4.61e+04 1 7.28e-02 1.43e+00 20 1.277305e+04 1.19e+01 2.48e+05 3.94e+00 7.35e-01 5.15e+04 1 7.44e-02 1.50e+00 21 1.276367e+04 9.38e+00 2.11e+05 4.90e+00 7.49e-01 5.87e+04 1 7.30e-02 1.58e+00 22 1.275641e+04 7.26e+00 1.77e+05 6.05e+00 7.64e-01 6.89e+04 1 7.32e-02 1.65e+00 23 1.275085e+04 5.56e+00 1.47e+05 7.50e+00 7.82e-01 8.38e+04 1 7.34e-02 1.72e+00 24 1.274662e+04 4.23e+00 1.19e+05 9.39e+00 8.02e-01 1.08e+05 1 7.71e-02 1.80e+00 25 1.274336e+04 3.26e+00 9.49e+04 1.20e+01 8.27e-01 1.50e+05 1 7.31e-02 1.87e+00 26 1.274075e+04 2.61e+00 7.44e+04 1.57e+01 8.57e-01 2.35e+05 1 7.00e-02 1.94e+00 27 1.273849e+04 2.26e+00 5.78e+04 2.12e+01 8.87e-01 4.38e+05 1 6.98e-02 2.01e+00 28 1.273634e+04 2.15e+00 4.49e+04 2.77e+01 9.11e-01 9.82e+05 1 7.66e-02 2.09e+00 29 1.273423e+04 2.12e+00 3.37e+04 2.80e+01 9.33e-01 2.82e+06 1 7.25e-02 2.16e+00 30 1.273252e+04 1.71e+00 2.16e+04 1.39e+01 9.40e-01 8.46e+06 1 7.82e-02 2.24e+00 31 1.273189e+04 6.26e-01 9.32e+03 4.75e-01 9.61e-01 2.54e+07 1 7.31e-02 2.32e+00 32 1.273183e+04 6.44e-02 9.73e+02 1.33e+00 9.96e-01 7.61e+07 1 7.39e-02 2.39e+00 33 1.273183e+04 6.86e-04 1.25e+01 1.75e-01 1.00e+00 2.28e+08 1 7.28e-02 2.46e+00 34 1.273183e+04 7.43e-07 1.74e-01 5.36e-03 1.01e+00 6.85e+08 1 7.08e-02 2.53e+00 Bundle adjustment report ------------------------ Residuals : 43172 Parameters : 15724 Iterations : 35 Time : 2.53383 [s] Initial cost : 0.643681 [px] Final cost : 0.543056 [px] Termination : Convergence => Completed observations: 676 => Merged observations: 0 => Filtered observations: 15 => Changed observations: 0.032011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.490913e+04 0.00e+00 2.11e+05 0.00e+00 0.00e+00 1.00e+04 0 4.50e-02 8.17e-02 1 1.440203e+04 5.07e+02 1.75e+06 6.04e+00 4.35e-01 9.98e+03 1 7.38e-02 1.56e-01 2 1.372032e+04 6.82e+02 2.97e+05 2.41e+00 9.79e-01 2.99e+04 1 7.23e-02 2.28e-01 3 1.369021e+04 3.01e+01 2.80e+05 4.64e+00 8.03e-01 3.85e+04 1 7.76e-02 3.06e-01 4 1.367583e+04 1.44e+01 1.57e+05 4.62e+00 8.98e-01 7.77e+04 1 7.08e-02 3.76e-01 5 1.367088e+04 4.95e+00 1.25e+05 6.41e+00 8.27e-01 1.08e+05 1 7.23e-02 4.49e-01 6 1.366865e+04 2.23e+00 3.80e+04 6.06e+00 9.58e-01 3.24e+05 1 7.19e-02 5.21e-01 7 1.366816e+04 4.88e-01 1.39e+04 9.46e+00 9.72e-01 9.73e+05 1 7.25e-02 5.93e-01 8 1.366808e+04 8.07e-02 9.01e+02 9.56e+00 9.94e-01 2.92e+06 1 7.72e-02 6.70e-01 9 1.366806e+04 2.18e-02 2.57e+02 5.14e+00 9.96e-01 8.75e+06 1 7.71e-02 7.47e-01 10 1.366805e+04 5.84e-03 1.07e+02 1.44e+00 9.98e-01 2.63e+07 1 7.19e-02 8.19e-01 11 1.366805e+04 3.85e-04 9.24e+00 2.33e-01 9.99e-01 7.88e+07 1 7.22e-02 8.92e-01 12 1.366805e+04 3.95e-06 7.28e-01 1.85e-02 1.00e+00 2.36e+08 1 7.04e-02 9.62e-01 Bundle adjustment report ------------------------ Residuals : 44494 Parameters : 15721 Iterations : 13 Time : 0.963068 [s] Initial cost : 0.578862 [px] Final cost : 0.554246 [px] Termination : Convergence => Completed observations: 143 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.006653 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.427373e+04 0.00e+00 9.07e+04 0.00e+00 0.00e+00 1.00e+04 0 4.51e-02 8.08e-02 1 1.400941e+04 2.64e+02 2.33e+05 3.52e-01 9.75e-01 3.00e+04 1 7.38e-02 1.55e-01 2 1.399994e+04 9.47e+00 2.04e+04 1.30e-02 9.89e-01 9.00e+04 1 7.34e-02 2.28e-01 3 1.399938e+04 5.59e-01 6.82e+03 4.52e-01 9.90e-01 2.70e+05 1 7.84e-02 3.07e-01 4 1.399923e+04 1.52e-01 3.62e+03 2.49e+00 9.94e-01 8.10e+05 1 7.05e-02 3.77e-01 5 1.399914e+04 8.96e-02 1.39e+03 5.27e+00 9.97e-01 2.43e+06 1 7.31e-02 4.50e-01 6 1.399908e+04 5.21e-02 6.65e+02 3.81e+00 9.98e-01 7.29e+06 1 7.32e-02 5.24e-01 7 1.399907e+04 1.71e-02 2.45e+02 4.68e-01 9.98e-01 2.19e+07 1 7.25e-02 5.96e-01 8 1.399907e+04 1.46e-03 3.15e+01 1.87e-01 9.99e-01 6.56e+07 1 7.82e-02 6.74e-01 9 1.399907e+04 2.00e-05 1.51e+00 3.31e-02 1.00e+00 1.97e+08 1 7.31e-02 7.47e-01 10 1.399907e+04 3.74e-08 1.07e-02 1.17e-03 1.01e+00 5.90e+08 1 7.43e-02 8.22e-01 Bundle adjustment report ------------------------ Residuals : 44770 Parameters : 15721 Iterations : 11 Time : 0.822687 [s] Initial cost : 0.564645 [px] Final cost : 0.559186 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001474 => Filtered images: 0 ============================================================================== Registering image #9 (24) ============================================================================== => Image sees 656 / 2829 points Pose refinement report ---------------------- Residuals : 1258 Parameters : 6 Iterations : 8 Time : 0.011297 [s] Initial cost : 0.592205 [px] Final cost : 0.515405 [px] Termination : Convergence => Continued observations: 627 => Added observations: 3461 Bundle adjustment report ------------------------ Residuals : 35624 Parameters : 11345 Iterations : 26 Time : 0.828114 [s] Initial cost : 1.4973 [px] Final cost : 1.39127 [px] Termination : No convergence => Merged observations: 30 => Completed observations: 498 => Filtered observations: 419 => Changed observations: 0.052492 Bundle adjustment report ------------------------ Residuals : 35790 Parameters : 11141 Iterations : 11 Time : 0.351772 [s] Initial cost : 0.621165 [px] Final cost : 0.569216 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 273 => Filtered observations: 3 => Changed observations: 0.015670 ============================================================================== Retriangulation ============================================================================== => Completed observations: 65 => Merged observations: 0 => Retriangulated observations: 2293 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.262068e+07 0.00e+00 4.68e+07 0.00e+00 0.00e+00 1.00e+04 0 5.25e-02 1.00e-01 1 9.758415e+08 -9.53e+08 0.00e+00 1.84e+03 -6.31e+01 5.00e+03 1 4.40e-02 1.44e-01 2 4.608158e+08 -4.38e+08 0.00e+00 1.30e+03 -2.95e+01 1.25e+03 1 3.13e-02 1.76e-01 3 5.883268e+07 -3.62e+07 0.00e+00 7.21e+02 -2.57e+00 1.56e+02 1 3.25e-02 2.08e-01 4 1.054858e+07 1.21e+07 1.71e+08 2.77e+02 9.29e-01 4.25e+02 1 8.52e-02 2.93e-01 5 9.071108e+06 1.48e+06 3.01e+07 1.57e+02 9.13e-01 9.72e+02 1 8.53e-02 3.79e-01 6 9.175058e+06 -1.04e+05 0.00e+00 1.21e+02 -1.74e-01 4.86e+02 1 3.33e-02 4.12e-01 7 8.716957e+06 3.54e+05 3.29e+07 7.40e+01 8.25e-01 6.71e+02 1 9.14e-02 5.04e-01 8 8.456235e+06 2.61e+05 4.61e+07 6.25e+01 6.48e-01 6.89e+02 1 8.40e-02 5.88e-01 9 8.102176e+06 3.54e+05 4.98e+07 4.62e+01 7.45e-01 7.81e+02 1 8.13e-02 6.69e-01 10 7.816105e+06 2.86e+05 5.46e+07 3.81e+01 6.54e-01 8.04e+02 1 8.52e-02 7.54e-01 11 7.526099e+06 2.90e+05 3.79e+07 1.55e+01 8.23e-01 1.10e+03 1 8.31e-02 8.37e-01 12 7.346258e+06 1.80e+05 2.68e+07 5.66e+00 8.04e-01 1.42e+03 1 8.23e-02 9.19e-01 13 7.197262e+06 1.49e+05 1.82e+07 3.30e+01 8.41e-01 2.08e+03 1 8.22e-02 1.00e+00 14 7.078989e+06 1.18e+05 1.71e+07 8.16e+01 7.81e-01 2.53e+03 1 8.30e-02 1.08e+00 15 6.965441e+06 1.14e+05 1.20e+07 1.32e+02 8.55e-01 3.93e+03 1 8.99e-02 1.17e+00 16 6.881322e+06 8.41e+04 1.49e+07 2.47e+02 7.18e-01 4.28e+03 1 8.41e-02 1.26e+00 17 6.790744e+06 9.06e+04 1.15e+07 3.09e+02 8.74e-01 7.38e+03 1 8.57e-02 1.34e+00 18 6.749443e+06 4.13e+04 2.24e+07 5.80e+02 4.82e-01 7.38e+03 1 8.28e-02 1.43e+00 19 6.677624e+06 7.18e+04 1.53e+07 6.47e+02 7.68e-01 8.71e+03 1 9.04e-02 1.52e+00 20 6.649227e+06 2.84e+04 1.84e+07 8.27e+02 4.43e-01 8.70e+03 1 8.30e-02 1.60e+00 21 6.611433e+06 3.78e+04 1.61e+07 9.04e+02 5.35e-01 8.70e+03 1 8.98e-02 1.69e+00 22 6.581782e+06 2.97e+04 1.64e+07 9.88e+02 4.56e-01 8.70e+03 1 9.98e-02 1.79e+00 23 6.553789e+06 2.80e+04 1.62e+07 1.08e+03 4.21e-01 8.66e+03 1 9.48e-02 1.89e+00 24 6.526938e+06 2.69e+04 1.62e+07 1.18e+03 3.84e-01 8.56e+03 1 8.35e-02 1.97e+00 25 6.498576e+06 2.84e+04 1.53e+07 1.28e+03 3.79e-01 8.44e+03 1 8.66e-02 2.06e+00 26 6.470231e+06 2.83e+04 1.40e+07 1.38e+03 3.63e-01 8.27e+03 1 8.67e-02 2.14e+00 27 6.440809e+06 2.94e+04 1.23e+07 1.45e+03 3.69e-01 8.12e+03 1 9.87e-02 2.24e+00 28 6.412537e+06 2.83e+04 1.08e+07 1.50e+03 3.62e-01 7.96e+03 1 8.63e-02 2.33e+00 29 6.384627e+06 2.79e+04 1.06e+07 1.53e+03 3.75e-01 7.83e+03 1 8.65e-02 2.41e+00 30 6.358989e+06 2.56e+04 1.03e+07 1.54e+03 3.75e-01 7.71e+03 1 8.38e-02 2.50e+00 31 6.334931e+06 2.41e+04 9.68e+06 1.54e+03 3.90e-01 7.63e+03 1 9.10e-02 2.59e+00 32 6.313349e+06 2.16e+04 9.05e+06 1.54e+03 3.96e-01 7.56e+03 1 8.50e-02 2.67e+00 33 6.293829e+06 1.95e+04 8.38e+06 1.53e+03 4.09e-01 7.52e+03 1 8.69e-02 2.76e+00 34 6.276444e+06 1.74e+04 7.74e+06 1.52e+03 4.19e-01 7.49e+03 1 8.89e-02 2.85e+00 35 6.260929e+06 1.55e+04 7.16e+06 1.51e+03 4.30e-01 7.47e+03 1 8.67e-02 2.94e+00 36 6.247086e+06 1.38e+04 6.64e+06 1.50e+03 4.41e-01 7.45e+03 1 8.80e-02 3.02e+00 37 6.234692e+06 1.24e+04 6.18e+06 1.49e+03 4.53e-01 7.45e+03 1 8.78e-02 3.11e+00 38 6.223548e+06 1.11e+04 5.76e+06 1.48e+03 4.65e-01 7.45e+03 1 9.40e-02 3.21e+00 39 6.213482e+06 1.01e+04 5.39e+06 1.48e+03 4.77e-01 7.44e+03 1 8.56e-02 3.29e+00 40 6.204348e+06 9.13e+03 5.06e+06 1.47e+03 4.90e-01 7.44e+03 1 8.60e-02 3.38e+00 41 6.196024e+06 8.32e+03 4.77e+06 1.46e+03 5.03e-01 7.44e+03 1 8.62e-02 3.46e+00 42 6.188410e+06 7.61e+03 4.50e+06 1.45e+03 5.16e-01 7.44e+03 1 9.60e-02 3.56e+00 43 6.181422e+06 6.99e+03 4.25e+06 1.44e+03 5.29e-01 7.45e+03 1 8.81e-02 3.65e+00 44 6.174989e+06 6.43e+03 4.03e+06 1.43e+03 5.42e-01 7.45e+03 1 8.96e-02 3.74e+00 45 6.169048e+06 5.94e+03 3.84e+06 1.42e+03 5.54e-01 7.46e+03 1 8.86e-02 3.83e+00 46 6.163546e+06 5.50e+03 3.68e+06 1.41e+03 5.66e-01 7.48e+03 1 8.61e-02 3.91e+00 47 6.158434e+06 5.11e+03 3.55e+06 1.41e+03 5.77e-01 7.50e+03 1 8.65e-02 4.00e+00 48 6.153667e+06 4.77e+03 3.44e+06 1.40e+03 5.86e-01 7.54e+03 1 8.63e-02 4.09e+00 49 6.149206e+06 4.46e+03 3.35e+06 1.40e+03 5.95e-01 7.60e+03 1 8.40e-02 4.17e+00 50 6.145013e+06 4.19e+03 3.27e+06 1.40e+03 6.02e-01 7.66e+03 1 9.43e-02 4.26e+00 Bundle adjustment report ------------------------ Residuals : 58422 Parameters : 21997 Iterations : 51 Time : 4.26561 [s] Initial cost : 19.6773 [px] Final cost : 10.2559 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 17562 => Changed observations: 0.601212 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.138197e+04 0.00e+00 3.02e+06 0.00e+00 0.00e+00 1.00e+04 0 2.51e-02 4.59e-02 1 2.362320e+04 7.76e+03 2.98e+07 1.82e+02 5.93e-01 1.01e+04 1 3.80e-02 8.40e-02 2 1.778127e+04 5.84e+03 1.62e+06 4.13e+01 9.93e-01 3.02e+04 1 3.65e-02 1.21e-01 3 1.698188e+04 7.99e+02 3.69e+06 3.87e+01 8.76e-01 5.24e+04 1 3.60e-02 1.57e-01 4 1.604557e+04 9.36e+02 1.64e+06 1.18e+02 9.40e-01 1.57e+05 1 3.60e-02 1.93e-01 5 1.536889e+04 6.77e+02 5.30e+06 4.31e+02 4.62e-01 1.57e+05 1 3.93e-02 2.32e-01 6 1.405423e+04 1.31e+03 3.46e+06 4.59e+02 7.90e-01 1.95e+05 1 4.06e-02 2.73e-01 7 1.343726e+04 6.17e+02 4.31e+06 6.00e+02 5.67e-01 1.96e+05 1 3.58e-02 3.08e-01 8 1.273820e+04 6.99e+02 3.46e+06 6.18e+02 6.89e-01 2.07e+05 1 3.50e-02 3.43e-01 9 1.226134e+04 4.77e+02 3.07e+06 6.69e+02 6.28e-01 2.11e+05 1 3.61e-02 3.80e-01 10 1.185015e+04 4.11e+02 2.55e+06 6.92e+02 6.38e-01 2.15e+05 1 3.54e-02 4.15e-01 11 1.151982e+04 3.30e+02 2.14e+06 7.17e+02 6.13e-01 2.18e+05 1 3.56e-02 4.51e-01 12 1.123936e+04 2.80e+02 1.77e+06 7.33e+02 5.96e-01 2.19e+05 1 3.59e-02 4.87e-01 13 1.099965e+04 2.40e+02 1.46e+06 7.43e+02 5.73e-01 2.20e+05 1 3.64e-02 5.23e-01 14 1.079105e+04 2.09e+02 1.20e+06 7.49e+02 5.49e-01 2.20e+05 1 3.65e-02 5.60e-01 15 1.060706e+04 1.84e+02 9.88e+05 7.52e+02 5.24e-01 2.20e+05 1 3.65e-02 5.96e-01 16 1.044266e+04 1.64e+02 8.10e+05 7.52e+02 4.99e-01 2.20e+05 1 3.63e-02 6.32e-01 17 1.029394e+04 1.49e+02 6.63e+05 7.51e+02 4.75e-01 2.20e+05 1 3.59e-02 6.68e-01 18 1.015767e+04 1.36e+02 5.93e+05 7.49e+02 4.53e-01 2.20e+05 1 3.59e-02 7.04e-01 19 1.003116e+04 1.27e+02 5.96e+05 7.44e+02 4.33e-01 2.20e+05 1 3.60e-02 7.40e-01 20 9.912262e+03 1.19e+02 5.96e+05 7.38e+02 4.19e-01 2.19e+05 1 3.58e-02 7.76e-01 21 9.799509e+03 1.13e+02 5.93e+05 7.29e+02 4.08e-01 2.17e+05 1 3.61e-02 8.12e-01 22 9.692054e+03 1.07e+02 5.87e+05 7.19e+02 4.01e-01 2.16e+05 1 3.55e-02 8.48e-01 23 9.589432e+03 1.03e+02 5.79e+05 7.06e+02 3.96e-01 2.14e+05 1 3.68e-02 8.85e-01 24 9.491357e+03 9.81e+01 5.69e+05 6.93e+02 3.92e-01 2.12e+05 1 4.02e-02 9.25e-01 25 9.397620e+03 9.37e+01 5.58e+05 6.79e+02 3.90e-01 2.09e+05 1 3.70e-02 9.62e-01 26 9.308034e+03 8.96e+01 5.47e+05 6.64e+02 3.89e-01 2.07e+05 1 3.66e-02 9.98e-01 27 9.222416e+03 8.56e+01 5.35e+05 6.49e+02 3.88e-01 2.05e+05 1 3.59e-02 1.03e+00 28 9.140580e+03 8.18e+01 5.23e+05 6.34e+02 3.88e-01 2.03e+05 1 3.56e-02 1.07e+00 29 9.062333e+03 7.82e+01 5.11e+05 6.19e+02 3.89e-01 2.00e+05 1 3.55e-02 1.11e+00 30 8.987479e+03 7.49e+01 4.99e+05 6.04e+02 3.89e-01 1.98e+05 1 3.64e-02 1.14e+00 31 8.915824e+03 7.17e+01 4.88e+05 5.89e+02 3.90e-01 1.96e+05 1 3.65e-02 1.18e+00 32 8.847176e+03 6.86e+01 4.77e+05 5.75e+02 3.91e-01 1.94e+05 1 3.64e-02 1.21e+00 33 8.781346e+03 6.58e+01 4.67e+05 5.61e+02 3.93e-01 1.92e+05 1 4.08e-02 1.26e+00 34 8.718156e+03 6.32e+01 4.57e+05 5.48e+02 3.94e-01 1.90e+05 1 3.49e-02 1.29e+00 35 8.657432e+03 6.07e+01 4.48e+05 5.35e+02 3.96e-01 1.89e+05 1 3.62e-02 1.33e+00 36 8.599012e+03 5.84e+01 4.40e+05 5.22e+02 3.98e-01 1.87e+05 1 3.56e-02 1.36e+00 37 8.542740e+03 5.63e+01 4.32e+05 5.10e+02 3.99e-01 1.86e+05 1 3.65e-02 1.40e+00 38 8.488475e+03 5.43e+01 4.25e+05 4.99e+02 4.01e-01 1.84e+05 1 3.61e-02 1.44e+00 39 8.436080e+03 5.24e+01 4.18e+05 4.87e+02 4.03e-01 1.83e+05 1 3.64e-02 1.47e+00 40 8.385434e+03 5.06e+01 4.12e+05 4.76e+02 4.06e-01 1.82e+05 1 3.59e-02 1.51e+00 41 8.336421e+03 4.90e+01 4.06e+05 4.66e+02 4.08e-01 1.81e+05 1 3.55e-02 1.54e+00 42 8.288936e+03 4.75e+01 4.00e+05 4.56e+02 4.10e-01 1.79e+05 1 3.64e-02 1.58e+00 43 8.242886e+03 4.61e+01 3.95e+05 4.46e+02 4.13e-01 1.79e+05 1 3.64e-02 1.62e+00 44 8.198182e+03 4.47e+01 3.90e+05 4.36e+02 4.15e-01 1.78e+05 1 3.53e-02 1.65e+00 45 8.154749e+03 4.34e+01 3.86e+05 4.27e+02 4.18e-01 1.77e+05 1 3.68e-02 1.69e+00 46 8.112517e+03 4.22e+01 3.82e+05 4.18e+02 4.21e-01 1.76e+05 1 3.65e-02 1.72e+00 47 8.071425e+03 4.11e+01 3.78e+05 4.09e+02 4.24e-01 1.76e+05 1 3.60e-02 1.76e+00 48 8.031418e+03 4.00e+01 3.75e+05 4.01e+02 4.27e-01 1.75e+05 1 3.62e-02 1.80e+00 49 7.992449e+03 3.90e+01 3.71e+05 3.92e+02 4.30e-01 1.75e+05 1 3.60e-02 1.83e+00 50 7.954479e+03 3.80e+01 3.68e+05 3.84e+02 4.33e-01 1.74e+05 1 3.58e-02 1.87e+00 Bundle adjustment report ------------------------ Residuals : 23292 Parameters : 12781 Iterations : 51 Time : 1.86904 [s] Initial cost : 1.16074 [px] Final cost : 0.58439 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 45 => Changed observations: 0.003864 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.133985e+03 0.00e+00 4.07e+05 0.00e+00 0.00e+00 1.00e+04 0 2.33e-02 4.99e-02 1 6.921516e+03 2.12e+02 4.98e+05 1.32e+01 9.77e-01 3.00e+04 1 3.83e-02 8.82e-02 2 6.899782e+03 2.17e+01 9.61e+05 5.96e+01 4.62e-01 3.00e+04 1 3.59e-02 1.24e-01 3 6.853723e+03 4.61e+01 6.65e+05 6.23e+01 8.25e-01 4.14e+04 1 3.54e-02 1.60e-01 4 6.831870e+03 2.19e+01 1.01e+06 8.72e+01 4.76e-01 4.14e+04 1 3.44e-02 1.94e-01 5 6.791724e+03 4.01e+01 8.30e+05 8.82e+01 7.08e-01 4.46e+04 1 3.60e-02 2.30e-01 6 6.758506e+03 3.32e+01 8.09e+05 9.58e+01 6.76e-01 4.66e+04 1 3.55e-02 2.66e-01 7 6.724187e+03 3.43e+01 7.42e+05 1.01e+02 7.15e-01 5.07e+04 1 3.65e-02 3.02e-01 8 6.691274e+03 3.29e+01 7.33e+05 1.10e+02 7.05e-01 5.44e+04 1 3.62e-02 3.38e-01 9 6.656890e+03 3.44e+01 7.04e+05 1.19e+02 7.21e-01 5.96e+04 1 4.17e-02 3.80e-01 10 6.621952e+03 3.49e+01 6.96e+05 1.31e+02 7.14e-01 6.47e+04 1 3.52e-02 4.15e-01 11 6.585138e+03 3.68e+01 6.72e+05 1.42e+02 7.19e-01 7.05e+04 1 3.47e-02 4.50e-01 12 6.547076e+03 3.81e+01 6.50e+05 1.55e+02 7.09e-01 7.61e+04 1 3.51e-02 4.85e-01 13 6.507303e+03 3.98e+01 6.10e+05 1.68e+02 7.02e-01 8.15e+04 1 3.62e-02 5.21e-01 14 6.466479e+03 4.08e+01 5.62e+05 1.79e+02 6.87e-01 8.59e+04 1 3.59e-02 5.57e-01 15 6.424700e+03 4.18e+01 5.04e+05 1.88e+02 6.71e-01 8.95e+04 1 3.57e-02 5.93e-01 16 6.382509e+03 4.22e+01 5.68e+05 1.96e+02 6.52e-01 9.21e+04 1 3.61e-02 6.29e-01 17 6.340152e+03 4.24e+01 6.22e+05 2.00e+02 6.34e-01 9.39e+04 1 3.50e-02 6.64e-01 18 6.297925e+03 4.22e+01 6.66e+05 2.03e+02 6.16e-01 9.50e+04 1 3.52e-02 6.99e-01 19 6.256007e+03 4.19e+01 6.99e+05 2.05e+02 6.00e-01 9.58e+04 1 3.51e-02 7.35e-01 20 6.214535e+03 4.15e+01 7.22e+05 2.05e+02 5.87e-01 9.63e+04 1 3.43e-02 7.69e-01 21 6.173601e+03 4.09e+01 7.37e+05 2.05e+02 5.76e-01 9.67e+04 1 3.63e-02 8.05e-01 22 6.133266e+03 4.03e+01 7.44e+05 2.04e+02 5.67e-01 9.69e+04 1 3.60e-02 8.41e-01 23 6.093575e+03 3.97e+01 7.43e+05 2.03e+02 5.61e-01 9.71e+04 1 3.45e-02 8.76e-01 24 6.054565e+03 3.90e+01 7.37e+05 2.02e+02 5.57e-01 9.72e+04 1 3.48e-02 9.11e-01 25 6.016274e+03 3.83e+01 7.25e+05 2.01e+02 5.56e-01 9.74e+04 1 3.55e-02 9.46e-01 26 5.978740e+03 3.75e+01 7.07e+05 2.00e+02 5.56e-01 9.75e+04 1 3.42e-02 9.80e-01 27 5.942009e+03 3.67e+01 6.85e+05 1.98e+02 5.59e-01 9.77e+04 1 3.60e-02 1.02e+00 28 5.906130e+03 3.59e+01 6.59e+05 1.97e+02 5.64e-01 9.79e+04 1 4.19e-02 1.06e+00 29 5.871152e+03 3.50e+01 6.30e+05 1.95e+02 5.71e-01 9.81e+04 1 3.59e-02 1.09e+00 30 5.837115e+03 3.40e+01 5.99e+05 1.94e+02 5.79e-01 9.85e+04 1 3.63e-02 1.13e+00 31 5.804050e+03 3.31e+01 5.66e+05 1.93e+02 5.87e-01 9.90e+04 1 3.68e-02 1.17e+00 32 5.771967e+03 3.21e+01 5.40e+05 1.92e+02 5.96e-01 9.97e+04 1 3.52e-02 1.20e+00 33 5.740852e+03 3.11e+01 5.17e+05 1.92e+02 6.04e-01 1.01e+05 1 3.43e-02 1.24e+00 34 5.710665e+03 3.02e+01 4.93e+05 1.92e+02 6.12e-01 1.02e+05 1 3.62e-02 1.27e+00 35 5.681346e+03 2.93e+01 4.69e+05 1.92e+02 6.20e-01 1.03e+05 1 3.65e-02 1.31e+00 36 5.652818e+03 2.85e+01 4.46e+05 1.92e+02 6.26e-01 1.05e+05 1 3.54e-02 1.35e+00 37 5.624991e+03 2.78e+01 4.23e+05 1.93e+02 6.31e-01 1.07e+05 1 4.22e-02 1.39e+00 38 5.597780e+03 2.72e+01 4.00e+05 1.94e+02 6.34e-01 1.09e+05 1 3.59e-02 1.42e+00 39 5.571100e+03 2.67e+01 3.78e+05 1.96e+02 6.37e-01 1.11e+05 1 3.59e-02 1.46e+00 40 5.544877e+03 2.62e+01 3.57e+05 1.97e+02 6.38e-01 1.14e+05 1 3.68e-02 1.50e+00 41 5.519049e+03 2.58e+01 3.35e+05 1.99e+02 6.38e-01 1.16e+05 1 3.71e-02 1.53e+00 42 5.493563e+03 2.55e+01 3.14e+05 2.00e+02 6.36e-01 1.18e+05 1 3.66e-02 1.57e+00 43 5.468382e+03 2.52e+01 2.94e+05 2.01e+02 6.34e-01 1.21e+05 1 3.58e-02 1.61e+00 44 5.443474e+03 2.49e+01 2.74e+05 2.02e+02 6.32e-01 1.23e+05 1 3.61e-02 1.64e+00 45 5.418820e+03 2.47e+01 2.55e+05 2.03e+02 6.28e-01 1.25e+05 1 3.76e-02 1.68e+00 46 5.394404e+03 2.44e+01 2.64e+05 2.03e+02 6.25e-01 1.27e+05 1 3.61e-02 1.72e+00 47 5.370220e+03 2.42e+01 2.75e+05 2.02e+02 6.21e-01 1.29e+05 1 3.58e-02 1.75e+00 48 5.346263e+03 2.40e+01 2.87e+05 2.01e+02 6.17e-01 1.31e+05 1 3.65e-02 1.79e+00 49 5.322533e+03 2.37e+01 2.98e+05 2.00e+02 6.13e-01 1.32e+05 1 3.67e-02 1.82e+00 50 5.299033e+03 2.35e+01 3.09e+05 1.99e+02 6.09e-01 1.34e+05 1 3.54e-02 1.86e+00 Bundle adjustment report ------------------------ Residuals : 23202 Parameters : 12748 Iterations : 51 Time : 1.86071 [s] Initial cost : 0.554502 [px] Final cost : 0.477898 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.000345 => Filtered images: 24 => Relaxing the initialization constraints. ============================================================================== Initializing with image pair #13 and #1 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.833973e+02 0.00e+00 1.00e+05 0.00e+00 0.00e+00 1.00e+04 0 5.24e-03 9.84e-03 1 7.628409e+02 2.06e+01 4.61e+03 2.38e+01 9.92e-01 3.00e+04 1 6.86e-03 1.67e-02 2 7.536962e+02 9.14e+00 1.19e+04 5.08e+01 9.40e-01 9.00e+04 1 7.06e-03 2.38e-02 3 7.478487e+02 5.85e+00 1.70e+04 8.88e+01 4.96e-01 9.00e+04 1 7.04e-03 3.09e-02 4 7.387842e+02 9.06e+00 4.90e+03 5.43e+01 9.21e-01 2.22e+05 1 6.85e-03 3.78e-02 5 7.366712e+02 2.11e+00 3.75e+03 5.38e+01 7.61e-01 2.59e+05 1 7.21e-03 4.50e-02 6 7.357160e+02 9.55e-01 6.53e+02 2.44e+01 9.74e-01 7.78e+05 1 7.32e-03 5.23e-02 7 7.356535e+02 6.24e-02 9.33e+02 1.82e+01 6.75e-01 8.13e+05 1 7.03e-03 5.94e-02 8 7.356105e+02 4.31e-02 4.83e+02 9.82e+00 8.13e-01 1.08e+06 1 7.20e-03 6.66e-02 9 7.355958e+02 1.46e-02 7.47e+02 1.10e+01 3.78e-01 1.06e+06 1 7.25e-03 7.39e-02 10 7.355654e+02 3.04e-02 7.08e+02 1.06e+01 5.85e-01 1.07e+06 1 6.98e-03 8.09e-02 11 7.355374e+02 2.80e-02 7.06e+02 1.06e+01 5.66e-01 1.07e+06 1 6.99e-03 8.79e-02 12 7.355095e+02 2.79e-02 7.02e+02 1.05e+01 5.69e-01 1.07e+06 1 6.89e-03 9.48e-02 13 7.354819e+02 2.76e-02 6.98e+02 1.05e+01 5.69e-01 1.07e+06 1 7.08e-03 1.02e-01 14 7.354545e+02 2.74e-02 6.94e+02 1.05e+01 5.70e-01 1.08e+06 1 7.24e-03 1.09e-01 15 7.354273e+02 2.72e-02 6.91e+02 1.05e+01 5.71e-01 1.08e+06 1 6.52e-03 1.16e-01 16 7.354004e+02 2.69e-02 6.88e+02 1.04e+01 5.72e-01 1.08e+06 1 6.73e-03 1.22e-01 17 7.353736e+02 2.67e-02 6.85e+02 1.04e+01 5.73e-01 1.09e+06 1 6.89e-03 1.29e-01 18 7.353472e+02 2.65e-02 6.82e+02 1.04e+01 5.73e-01 1.09e+06 1 6.55e-03 1.36e-01 19 7.353209e+02 2.63e-02 6.79e+02 1.04e+01 5.74e-01 1.09e+06 1 7.16e-03 1.43e-01 20 7.352948e+02 2.61e-02 6.77e+02 1.04e+01 5.74e-01 1.10e+06 1 7.22e-03 1.50e-01 21 7.352689e+02 2.59e-02 6.74e+02 1.04e+01 5.75e-01 1.10e+06 1 6.67e-03 1.57e-01 22 7.352432e+02 2.57e-02 6.72e+02 1.03e+01 5.75e-01 1.10e+06 1 6.70e-03 1.64e-01 23 7.352178e+02 2.55e-02 6.69e+02 1.03e+01 5.75e-01 1.11e+06 1 7.14e-03 1.71e-01 24 7.351925e+02 2.53e-02 6.67e+02 1.03e+01 5.76e-01 1.11e+06 1 6.83e-03 1.78e-01 25 7.351674e+02 2.51e-02 6.65e+02 1.03e+01 5.76e-01 1.12e+06 1 6.81e-03 1.85e-01 26 7.351424e+02 2.49e-02 6.63e+02 1.03e+01 5.76e-01 1.12e+06 1 7.12e-03 1.92e-01 27 7.351177e+02 2.47e-02 6.61e+02 1.03e+01 5.77e-01 1.12e+06 1 6.82e-03 1.99e-01 28 7.350931e+02 2.46e-02 6.59e+02 1.03e+01 5.77e-01 1.13e+06 1 6.90e-03 2.06e-01 29 7.350687e+02 2.44e-02 6.57e+02 1.03e+01 5.77e-01 1.13e+06 1 6.93e-03 2.12e-01 30 7.350445e+02 2.42e-02 6.55e+02 1.03e+01 5.77e-01 1.14e+06 1 7.19e-03 2.20e-01 31 7.350205e+02 2.41e-02 6.54e+02 1.03e+01 5.77e-01 1.14e+06 1 7.04e-03 2.27e-01 32 7.349966e+02 2.39e-02 6.52e+02 1.02e+01 5.77e-01 1.15e+06 1 6.96e-03 2.34e-01 33 7.349728e+02 2.37e-02 6.50e+02 1.02e+01 5.77e-01 1.15e+06 1 6.84e-03 2.41e-01 34 7.349493e+02 2.36e-02 6.49e+02 1.02e+01 5.78e-01 1.15e+06 1 6.72e-03 2.47e-01 35 7.349259e+02 2.34e-02 6.47e+02 1.02e+01 5.78e-01 1.16e+06 1 6.98e-03 2.54e-01 36 7.349026e+02 2.32e-02 6.45e+02 1.02e+01 5.78e-01 1.16e+06 1 6.83e-03 2.61e-01 37 7.348795e+02 2.31e-02 6.44e+02 1.02e+01 5.78e-01 1.17e+06 1 6.91e-03 2.68e-01 38 7.348566e+02 2.29e-02 6.42e+02 1.02e+01 5.78e-01 1.17e+06 1 7.47e-03 2.76e-01 39 7.348338e+02 2.28e-02 6.41e+02 1.02e+01 5.78e-01 1.18e+06 1 6.65e-03 2.82e-01 40 7.348112e+02 2.26e-02 6.39e+02 1.02e+01 5.78e-01 1.18e+06 1 6.98e-03 2.89e-01 41 7.347887e+02 2.25e-02 6.38e+02 1.02e+01 5.78e-01 1.18e+06 1 6.76e-03 2.96e-01 42 7.347664e+02 2.23e-02 6.36e+02 1.02e+01 5.78e-01 1.19e+06 1 6.99e-03 3.03e-01 43 7.347442e+02 2.22e-02 6.35e+02 1.02e+01 5.78e-01 1.19e+06 1 7.14e-03 3.10e-01 44 7.347222e+02 2.20e-02 6.34e+02 1.02e+01 5.78e-01 1.20e+06 1 6.79e-03 3.17e-01 45 7.347003e+02 2.19e-02 6.32e+02 1.01e+01 5.78e-01 1.20e+06 1 7.75e-03 3.25e-01 46 7.346785e+02 2.18e-02 6.31e+02 1.01e+01 5.78e-01 1.21e+06 1 1.04e-02 3.35e-01 47 7.346569e+02 2.16e-02 6.29e+02 1.01e+01 5.78e-01 1.21e+06 1 9.07e-03 3.44e-01 48 7.346354e+02 2.15e-02 6.28e+02 1.01e+01 5.78e-01 1.22e+06 1 7.60e-03 3.52e-01 49 7.346141e+02 2.13e-02 6.27e+02 1.01e+01 5.78e-01 1.22e+06 1 7.26e-03 3.59e-01 50 7.345929e+02 2.12e-02 6.25e+02 1.01e+01 5.78e-01 1.23e+06 1 6.75e-03 3.66e-01 51 7.345718e+02 2.11e-02 6.24e+02 1.01e+01 5.78e-01 1.23e+06 1 7.14e-03 3.73e-01 52 7.345509e+02 2.09e-02 6.23e+02 1.01e+01 5.78e-01 1.24e+06 1 6.85e-03 3.80e-01 53 7.345301e+02 2.08e-02 6.21e+02 1.01e+01 5.78e-01 1.24e+06 1 6.80e-03 3.87e-01 54 7.345094e+02 2.07e-02 6.20e+02 1.01e+01 5.78e-01 1.24e+06 1 6.99e-03 3.94e-01 55 7.344888e+02 2.05e-02 6.19e+02 1.01e+01 5.78e-01 1.25e+06 1 6.78e-03 4.01e-01 56 7.344684e+02 2.04e-02 6.17e+02 1.01e+01 5.78e-01 1.25e+06 1 7.09e-03 4.08e-01 57 7.344482e+02 2.03e-02 6.16e+02 1.01e+01 5.78e-01 1.26e+06 1 6.83e-03 4.15e-01 58 7.344280e+02 2.02e-02 6.15e+02 1.01e+01 5.78e-01 1.26e+06 1 6.86e-03 4.22e-01 59 7.344080e+02 2.00e-02 6.13e+02 1.01e+01 5.78e-01 1.27e+06 1 7.18e-03 4.29e-01 60 7.343881e+02 1.99e-02 6.12e+02 1.01e+01 5.78e-01 1.27e+06 1 7.12e-03 4.36e-01 61 7.343683e+02 1.98e-02 6.11e+02 1.00e+01 5.78e-01 1.28e+06 1 6.92e-03 4.43e-01 62 7.343486e+02 1.97e-02 6.10e+02 1.00e+01 5.78e-01 1.28e+06 1 7.17e-03 4.50e-01 63 7.343291e+02 1.95e-02 6.08e+02 1.00e+01 5.78e-01 1.29e+06 1 6.45e-03 4.57e-01 64 7.343097e+02 1.94e-02 6.07e+02 1.00e+01 5.78e-01 1.29e+06 1 6.82e-03 4.63e-01 65 7.342904e+02 1.93e-02 6.06e+02 1.00e+01 5.78e-01 1.30e+06 1 7.20e-03 4.71e-01 66 7.342712e+02 1.92e-02 6.05e+02 1.00e+01 5.78e-01 1.30e+06 1 6.87e-03 4.77e-01 67 7.342522e+02 1.91e-02 6.03e+02 1.00e+01 5.78e-01 1.31e+06 1 7.00e-03 4.84e-01 68 7.342332e+02 1.89e-02 6.02e+02 1.00e+01 5.78e-01 1.31e+06 1 7.16e-03 4.92e-01 69 7.342144e+02 1.88e-02 6.01e+02 1.00e+01 5.78e-01 1.32e+06 1 7.01e-03 4.99e-01 70 7.341957e+02 1.87e-02 6.00e+02 1.00e+01 5.77e-01 1.32e+06 1 6.74e-03 5.05e-01 71 7.341771e+02 1.86e-02 5.98e+02 9.99e+00 5.77e-01 1.33e+06 1 6.83e-03 5.12e-01 72 7.341586e+02 1.85e-02 5.97e+02 9.98e+00 5.77e-01 1.33e+06 1 6.47e-03 5.19e-01 73 7.341403e+02 1.84e-02 5.96e+02 9.98e+00 5.77e-01 1.34e+06 1 6.74e-03 5.26e-01 74 7.341220e+02 1.83e-02 5.95e+02 9.97e+00 5.77e-01 1.34e+06 1 7.27e-03 5.33e-01 75 7.341039e+02 1.81e-02 5.94e+02 9.97e+00 5.77e-01 1.35e+06 1 7.10e-03 5.40e-01 76 7.340858e+02 1.80e-02 5.92e+02 9.96e+00 5.77e-01 1.35e+06 1 7.33e-03 5.47e-01 77 7.340679e+02 1.79e-02 5.91e+02 9.96e+00 5.77e-01 1.36e+06 1 7.31e-03 5.55e-01 78 7.340501e+02 1.78e-02 5.90e+02 9.95e+00 5.77e-01 1.36e+06 1 6.87e-03 5.62e-01 79 7.340324e+02 1.77e-02 5.89e+02 9.94e+00 5.77e-01 1.37e+06 1 7.17e-03 5.69e-01 80 7.340148e+02 1.76e-02 5.88e+02 9.94e+00 5.77e-01 1.37e+06 1 7.26e-03 5.76e-01 81 7.339973e+02 1.75e-02 5.86e+02 9.93e+00 5.77e-01 1.38e+06 1 7.03e-03 5.83e-01 82 7.339799e+02 1.74e-02 5.85e+02 9.93e+00 5.77e-01 1.38e+06 1 7.11e-03 5.90e-01 83 7.339626e+02 1.73e-02 5.84e+02 9.92e+00 5.77e-01 1.39e+06 1 6.83e-03 5.97e-01 84 7.339454e+02 1.72e-02 5.83e+02 9.92e+00 5.77e-01 1.39e+06 1 6.83e-03 6.04e-01 85 7.339283e+02 1.71e-02 5.82e+02 9.91e+00 5.77e-01 1.40e+06 1 6.82e-03 6.11e-01 86 7.339113e+02 1.70e-02 5.81e+02 9.90e+00 5.77e-01 1.40e+06 1 6.73e-03 6.17e-01 87 7.338944e+02 1.69e-02 5.80e+02 9.90e+00 5.77e-01 1.41e+06 1 6.53e-03 6.24e-01 88 7.338777e+02 1.68e-02 5.78e+02 9.89e+00 5.77e-01 1.41e+06 1 7.05e-03 6.31e-01 89 7.338610e+02 1.67e-02 5.77e+02 9.89e+00 5.77e-01 1.42e+06 1 7.03e-03 6.38e-01 90 7.338444e+02 1.66e-02 5.76e+02 9.88e+00 5.77e-01 1.42e+06 1 6.92e-03 6.45e-01 91 7.338279e+02 1.65e-02 5.75e+02 9.88e+00 5.77e-01 1.43e+06 1 7.14e-03 6.52e-01 92 7.338115e+02 1.64e-02 5.74e+02 9.87e+00 5.77e-01 1.43e+06 1 6.86e-03 6.59e-01 93 7.337952e+02 1.63e-02 5.73e+02 9.86e+00 5.77e-01 1.44e+06 1 6.52e-03 6.66e-01 94 7.337790e+02 1.62e-02 5.72e+02 9.86e+00 5.77e-01 1.44e+06 1 1.10e-02 6.77e-01 95 7.337629e+02 1.61e-02 5.70e+02 9.85e+00 5.77e-01 1.45e+06 1 7.67e-03 6.84e-01 96 7.337469e+02 1.60e-02 5.69e+02 9.85e+00 5.77e-01 1.45e+06 1 7.31e-03 6.92e-01 97 7.337310e+02 1.59e-02 5.68e+02 9.84e+00 5.77e-01 1.46e+06 1 6.82e-03 6.99e-01 98 7.337152e+02 1.58e-02 5.67e+02 9.84e+00 5.77e-01 1.46e+06 1 6.72e-03 7.05e-01 99 7.336994e+02 1.57e-02 5.66e+02 9.83e+00 5.77e-01 1.47e+06 1 7.14e-03 7.12e-01 100 7.336838e+02 1.56e-02 5.65e+02 9.83e+00 5.77e-01 1.48e+06 1 6.59e-03 7.19e-01 Bundle adjustment report ------------------------ Residuals : 6248 Parameters : 4693 Iterations : 101 Time : 0.719275 [s] Initial cost : 0.354096 [px] Final cost : 0.342676 [px] Termination : No convergence => Filtered observations: 2 => Filtered images: 0 ============================================================================== Registering image #34 (3) ============================================================================== => Image sees 901 / 2985 points Pose refinement report ---------------------- Residuals : 1572 Parameters : 6 Iterations : 37 Time : 0.060041 [s] Initial cost : 0.873326 [px] Final cost : 0.848214 [px] Termination : Convergence => Continued observations: 786 => Added observations: 1749 Bundle adjustment report ------------------------ Residuals : 11314 Parameters : 7066 Iterations : 26 Time : 0.327076 [s] Initial cost : 0.779542 [px] Final cost : 0.592577 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 311 => Changed observations: 0.055153 Bundle adjustment report ------------------------ Residuals : 10694 Parameters : 7048 Iterations : 26 Time : 0.36531 [s] Initial cost : 0.547082 [px] Final cost : 0.484247 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.002244 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 2.540015e+03 0.00e+00 1.89e+04 0.00e+00 0.00e+00 1.00e+04 0 9.64e-03 1.84e-02 1 2.531496e+03 8.52e+00 1.73e+02 3.05e+00 1.00e+00 3.00e+04 1 1.46e-02 3.30e-02 2 2.528527e+03 2.97e+00 1.62e+03 1.14e+01 9.86e-01 9.00e+04 1 1.39e-02 4.70e-02 3 2.523058e+03 5.47e+00 1.43e+04 3.63e+01 6.10e-01 9.10e+04 1 1.42e-02 6.12e-02 4 2.514173e+03 8.89e+00 1.44e+04 3.77e+01 7.11e-01 9.84e+04 1 1.39e-02 7.51e-02 5 2.505809e+03 8.36e+00 1.68e+04 4.14e+01 6.31e-01 1.00e+05 1 1.42e-02 8.93e-02 6 2.496321e+03 9.49e+00 1.73e+04 4.26e+01 6.47e-01 1.03e+05 1 1.41e-02 1.04e-01 7 2.486825e+03 9.50e+00 1.81e+04 4.39e+01 6.28e-01 1.05e+05 1 1.41e-02 1.18e-01 8 2.477042e+03 9.78e+00 1.86e+04 4.47e+01 6.24e-01 1.06e+05 1 1.47e-02 1.32e-01 9 2.467149e+03 9.89e+00 1.91e+04 4.54e+01 6.18e-01 1.08e+05 1 1.34e-02 1.46e-01 10 2.457148e+03 1.00e+01 1.95e+04 4.58e+01 6.14e-01 1.09e+05 1 1.41e-02 1.60e-01 11 2.447077e+03 1.01e+01 1.99e+04 4.62e+01 6.11e-01 1.10e+05 1 1.86e-02 1.79e-01 12 2.436953e+03 1.01e+01 2.02e+04 4.65e+01 6.09e-01 1.11e+05 1 1.47e-02 1.93e-01 13 2.426793e+03 1.02e+01 2.06e+04 4.68e+01 6.07e-01 1.12e+05 1 1.38e-02 2.07e-01 14 2.416611e+03 1.02e+01 2.09e+04 4.70e+01 6.06e-01 1.13e+05 1 1.44e-02 2.21e-01 15 2.406415e+03 1.02e+01 2.11e+04 4.71e+01 6.04e-01 1.14e+05 1 1.40e-02 2.35e-01 16 2.396216e+03 1.02e+01 2.14e+04 4.73e+01 6.04e-01 1.16e+05 1 1.38e-02 2.49e-01 17 2.386020e+03 1.02e+01 2.17e+04 4.74e+01 6.03e-01 1.17e+05 1 1.38e-02 2.63e-01 18 2.375832e+03 1.02e+01 2.19e+04 4.75e+01 6.02e-01 1.18e+05 1 1.42e-02 2.77e-01 19 2.365659e+03 1.02e+01 2.21e+04 4.75e+01 6.02e-01 1.19e+05 1 1.37e-02 2.91e-01 20 2.355504e+03 1.02e+01 2.23e+04 4.76e+01 6.02e-01 1.20e+05 1 1.36e-02 3.05e-01 21 2.345372e+03 1.01e+01 2.26e+04 4.76e+01 6.02e-01 1.21e+05 1 1.39e-02 3.19e-01 22 2.335266e+03 1.01e+01 2.28e+04 4.77e+01 6.02e-01 1.22e+05 1 1.43e-02 3.33e-01 23 2.325189e+03 1.01e+01 2.30e+04 4.77e+01 6.02e-01 1.23e+05 1 1.39e-02 3.47e-01 24 2.315146e+03 1.00e+01 2.32e+04 4.77e+01 6.02e-01 1.24e+05 1 1.42e-02 3.61e-01 25 2.305137e+03 1.00e+01 2.34e+04 4.78e+01 6.02e-01 1.25e+05 1 1.45e-02 3.76e-01 26 2.295165e+03 9.97e+00 2.35e+04 4.78e+01 6.02e-01 1.26e+05 1 1.34e-02 3.89e-01 27 2.285234e+03 9.93e+00 2.37e+04 4.78e+01 6.02e-01 1.27e+05 1 1.39e-02 4.03e-01 28 2.275345e+03 9.89e+00 2.39e+04 4.78e+01 6.02e-01 1.28e+05 1 1.37e-02 4.17e-01 29 2.265500e+03 9.85e+00 2.41e+04 4.78e+01 6.02e-01 1.29e+05 1 1.43e-02 4.31e-01 30 2.255701e+03 9.80e+00 2.42e+04 4.78e+01 6.03e-01 1.30e+05 1 1.37e-02 4.45e-01 31 2.245949e+03 9.75e+00 2.44e+04 4.78e+01 6.03e-01 1.31e+05 1 1.42e-02 4.59e-01 32 2.236248e+03 9.70e+00 2.46e+04 4.77e+01 6.03e-01 1.32e+05 1 1.37e-02 4.73e-01 33 2.226597e+03 9.65e+00 2.47e+04 4.77e+01 6.03e-01 1.34e+05 1 1.35e-02 4.86e-01 34 2.217000e+03 9.60e+00 2.49e+04 4.77e+01 6.04e-01 1.35e+05 1 1.36e-02 5.00e-01 35 2.207456e+03 9.54e+00 2.50e+04 4.77e+01 6.04e-01 1.36e+05 1 1.42e-02 5.14e-01 36 2.197969e+03 9.49e+00 2.52e+04 4.76e+01 6.04e-01 1.37e+05 1 1.37e-02 5.28e-01 37 2.188540e+03 9.43e+00 2.53e+04 4.76e+01 6.05e-01 1.39e+05 1 1.45e-02 5.42e-01 38 2.179169e+03 9.37e+00 2.55e+04 4.76e+01 6.05e-01 1.40e+05 1 1.42e-02 5.57e-01 39 2.169858e+03 9.31e+00 2.56e+04 4.75e+01 6.05e-01 1.41e+05 1 1.39e-02 5.71e-01 40 2.160610e+03 9.25e+00 2.58e+04 4.75e+01 6.06e-01 1.43e+05 1 1.38e-02 5.84e-01 41 2.151424e+03 9.19e+00 2.59e+04 4.74e+01 6.06e-01 1.44e+05 1 1.42e-02 5.99e-01 42 2.142302e+03 9.12e+00 2.60e+04 4.74e+01 6.06e-01 1.45e+05 1 1.42e-02 6.13e-01 43 2.133246e+03 9.06e+00 2.61e+04 4.73e+01 6.07e-01 1.47e+05 1 1.43e-02 6.27e-01 44 2.124257e+03 8.99e+00 2.63e+04 4.73e+01 6.07e-01 1.48e+05 1 1.42e-02 6.41e-01 45 2.115337e+03 8.92e+00 2.64e+04 4.72e+01 6.07e-01 1.50e+05 1 1.39e-02 6.55e-01 46 2.106485e+03 8.85e+00 2.65e+04 4.72e+01 6.08e-01 1.51e+05 1 1.38e-02 6.69e-01 47 2.097704e+03 8.78e+00 2.66e+04 4.71e+01 6.08e-01 1.53e+05 1 1.37e-02 6.83e-01 48 2.088995e+03 8.71e+00 2.67e+04 4.70e+01 6.08e-01 1.54e+05 1 1.43e-02 6.97e-01 49 2.080358e+03 8.64e+00 2.68e+04 4.69e+01 6.09e-01 1.56e+05 1 1.46e-02 7.12e-01 50 2.071796e+03 8.56e+00 2.69e+04 4.69e+01 6.09e-01 1.58e+05 1 1.36e-02 7.25e-01 51 2.063309e+03 8.49e+00 2.70e+04 4.68e+01 6.09e-01 1.59e+05 1 1.36e-02 7.39e-01 52 2.054898e+03 8.41e+00 2.71e+04 4.67e+01 6.09e-01 1.61e+05 1 1.38e-02 7.53e-01 53 2.046564e+03 8.33e+00 2.72e+04 4.66e+01 6.10e-01 1.63e+05 1 1.39e-02 7.67e-01 54 2.038308e+03 8.26e+00 2.73e+04 4.65e+01 6.10e-01 1.64e+05 1 1.38e-02 7.81e-01 55 2.030132e+03 8.18e+00 2.74e+04 4.64e+01 6.10e-01 1.66e+05 1 1.35e-02 7.94e-01 56 2.022037e+03 8.10e+00 2.74e+04 4.64e+01 6.11e-01 1.68e+05 1 1.35e-02 8.08e-01 57 2.014023e+03 8.01e+00 2.75e+04 4.63e+01 6.11e-01 1.70e+05 1 1.46e-02 8.22e-01 58 2.006091e+03 7.93e+00 2.76e+04 4.62e+01 6.11e-01 1.72e+05 1 1.42e-02 8.36e-01 59 1.998243e+03 7.85e+00 2.76e+04 4.61e+01 6.12e-01 1.74e+05 1 1.73e-02 8.54e-01 60 1.990478e+03 7.76e+00 2.77e+04 4.59e+01 6.12e-01 1.76e+05 1 1.56e-02 8.69e-01 61 1.982799e+03 7.68e+00 2.78e+04 4.58e+01 6.12e-01 1.78e+05 1 1.42e-02 8.84e-01 62 1.975206e+03 7.59e+00 2.78e+04 4.57e+01 6.13e-01 1.80e+05 1 1.36e-02 8.97e-01 63 1.967700e+03 7.51e+00 2.78e+04 4.56e+01 6.13e-01 1.82e+05 1 1.41e-02 9.11e-01 64 1.960282e+03 7.42e+00 2.79e+04 4.55e+01 6.13e-01 1.84e+05 1 1.37e-02 9.25e-01 65 1.952952e+03 7.33e+00 2.79e+04 4.54e+01 6.14e-01 1.86e+05 1 1.36e-02 9.39e-01 66 1.945711e+03 7.24e+00 2.79e+04 4.52e+01 6.14e-01 1.88e+05 1 1.38e-02 9.52e-01 67 1.938560e+03 7.15e+00 2.80e+04 4.51e+01 6.14e-01 1.91e+05 1 1.33e-02 9.66e-01 68 1.931500e+03 7.06e+00 2.80e+04 4.50e+01 6.15e-01 1.93e+05 1 1.37e-02 9.79e-01 69 1.924531e+03 6.97e+00 2.80e+04 4.48e+01 6.15e-01 1.95e+05 1 1.38e-02 9.93e-01 70 1.917655e+03 6.88e+00 2.80e+04 4.47e+01 6.15e-01 1.98e+05 1 1.33e-02 1.01e+00 71 1.910871e+03 6.78e+00 2.80e+04 4.46e+01 6.16e-01 2.00e+05 1 1.37e-02 1.02e+00 72 1.904180e+03 6.69e+00 2.80e+04 4.44e+01 6.16e-01 2.03e+05 1 1.40e-02 1.03e+00 73 1.897583e+03 6.60e+00 2.80e+04 4.43e+01 6.16e-01 2.05e+05 1 1.39e-02 1.05e+00 74 1.891081e+03 6.50e+00 2.80e+04 4.41e+01 6.17e-01 2.08e+05 1 1.43e-02 1.06e+00 75 1.884674e+03 6.41e+00 2.79e+04 4.39e+01 6.17e-01 2.11e+05 1 1.47e-02 1.08e+00 76 1.878361e+03 6.31e+00 2.79e+04 4.38e+01 6.17e-01 2.14e+05 1 1.36e-02 1.09e+00 77 1.872145e+03 6.22e+00 2.79e+04 4.36e+01 6.18e-01 2.16e+05 1 1.31e-02 1.10e+00 78 1.866025e+03 6.12e+00 2.78e+04 4.35e+01 6.18e-01 2.19e+05 1 1.36e-02 1.12e+00 79 1.860002e+03 6.02e+00 2.78e+04 4.33e+01 6.19e-01 2.22e+05 1 1.35e-02 1.13e+00 80 1.854076e+03 5.93e+00 2.77e+04 4.31e+01 6.19e-01 2.25e+05 1 1.37e-02 1.14e+00 81 1.848247e+03 5.83e+00 2.77e+04 4.29e+01 6.19e-01 2.28e+05 1 1.34e-02 1.16e+00 82 1.842515e+03 5.73e+00 2.76e+04 4.27e+01 6.20e-01 2.32e+05 1 1.38e-02 1.17e+00 83 1.836882e+03 5.63e+00 2.75e+04 4.26e+01 6.20e-01 2.35e+05 1 1.89e-02 1.19e+00 84 1.831347e+03 5.54e+00 2.74e+04 4.24e+01 6.20e-01 2.38e+05 1 1.36e-02 1.20e+00 85 1.825909e+03 5.44e+00 2.74e+04 4.22e+01 6.21e-01 2.42e+05 1 1.38e-02 1.22e+00 86 1.820571e+03 5.34e+00 2.73e+04 4.20e+01 6.21e-01 2.45e+05 1 1.35e-02 1.23e+00 87 1.815330e+03 5.24e+00 2.72e+04 4.18e+01 6.22e-01 2.49e+05 1 1.37e-02 1.25e+00 88 1.810189e+03 5.14e+00 2.71e+04 4.16e+01 6.22e-01 2.52e+05 1 1.41e-02 1.26e+00 89 1.805146e+03 5.04e+00 2.70e+04 4.14e+01 6.22e-01 2.56e+05 1 1.38e-02 1.27e+00 90 1.800202e+03 4.94e+00 2.68e+04 4.12e+01 6.23e-01 2.60e+05 1 1.37e-02 1.29e+00 91 1.795356e+03 4.85e+00 2.67e+04 4.10e+01 6.23e-01 2.64e+05 1 1.39e-02 1.30e+00 92 1.790609e+03 4.75e+00 2.66e+04 4.07e+01 6.24e-01 2.68e+05 1 1.43e-02 1.32e+00 93 1.785960e+03 4.65e+00 2.64e+04 4.05e+01 6.24e-01 2.72e+05 1 1.40e-02 1.33e+00 94 1.781410e+03 4.55e+00 2.63e+04 4.03e+01 6.25e-01 2.76e+05 1 1.38e-02 1.34e+00 95 1.776958e+03 4.45e+00 2.61e+04 4.01e+01 6.25e-01 2.81e+05 1 1.35e-02 1.36e+00 96 1.772604e+03 4.35e+00 2.60e+04 3.98e+01 6.26e-01 2.85e+05 1 1.38e-02 1.37e+00 97 1.768348e+03 4.26e+00 2.58e+04 3.96e+01 6.26e-01 2.90e+05 1 1.39e-02 1.38e+00 98 1.764189e+03 4.16e+00 2.56e+04 3.94e+01 6.27e-01 2.95e+05 1 1.41e-02 1.40e+00 99 1.760127e+03 4.06e+00 2.55e+04 3.91e+01 6.27e-01 3.00e+05 1 1.36e-02 1.41e+00 100 1.756162e+03 3.97e+00 2.53e+04 3.89e+01 6.28e-01 3.05e+05 1 1.29e-02 1.43e+00 Bundle adjustment report ------------------------ Residuals : 10718 Parameters : 7066 Iterations : 101 Time : 1.42564 [s] Initial cost : 0.486812 [px] Final cost : 0.404786 [px] Termination : No convergence => Completed observations: 192 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.035828 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.540224e+03 0.00e+00 3.84e+04 0.00e+00 0.00e+00 1.00e+04 0 1.06e-02 1.93e-02 1 2.222300e+03 3.18e+02 3.45e+02 2.37e+00 1.00e+00 3.00e+04 1 1.39e-02 3.32e-02 2 2.207429e+03 1.49e+01 5.81e+03 2.62e+00 9.99e-01 9.00e+04 1 1.42e-02 4.74e-02 3 2.185634e+03 2.18e+01 5.03e+04 1.87e+01 9.04e-01 1.90e+05 1 1.42e-02 6.17e-02 4 2.191956e+03 -6.32e+00 0.00e+00 6.01e+01 -1.93e-01 9.51e+04 1 4.85e-03 6.65e-02 5 2.168981e+03 1.67e+01 4.90e+04 2.74e+01 8.66e-01 1.57e+05 1 1.41e-02 8.06e-02 6 2.160935e+03 8.05e+00 1.14e+05 5.37e+01 3.22e-01 1.50e+05 1 1.46e-02 9.52e-02 7 2.136962e+03 2.40e+01 9.30e+04 5.49e+01 6.56e-01 1.55e+05 1 1.44e-02 1.10e-01 8 2.118138e+03 1.88e+01 9.13e+04 5.77e+01 5.97e-01 1.56e+05 1 1.45e-02 1.24e-01 9 2.099001e+03 1.91e+01 8.66e+04 5.79e+01 6.22e-01 1.58e+05 1 1.44e-02 1.39e-01 10 2.080990e+03 1.80e+01 8.38e+04 5.79e+01 6.23e-01 1.60e+05 1 1.41e-02 1.53e-01 11 2.063725e+03 1.73e+01 8.13e+04 5.75e+01 6.29e-01 1.63e+05 1 1.48e-02 1.67e-01 12 2.047236e+03 1.65e+01 7.93e+04 5.69e+01 6.32e-01 1.66e+05 1 1.54e-02 1.83e-01 13 2.031449e+03 1.58e+01 7.75e+04 5.63e+01 6.36e-01 1.70e+05 1 1.49e-02 1.98e-01 14 2.016327e+03 1.51e+01 7.60e+04 5.57e+01 6.38e-01 1.73e+05 1 1.48e-02 2.13e-01 15 2.001831e+03 1.45e+01 7.45e+04 5.51e+01 6.41e-01 1.77e+05 1 1.52e-02 2.28e-01 16 1.987929e+03 1.39e+01 7.32e+04 5.44e+01 6.43e-01 1.81e+05 1 1.47e-02 2.42e-01 17 1.974597e+03 1.33e+01 7.19e+04 5.38e+01 6.44e-01 1.86e+05 1 1.48e-02 2.57e-01 18 1.961811e+03 1.28e+01 7.07e+04 5.31e+01 6.46e-01 1.91e+05 1 1.45e-02 2.72e-01 19 1.949555e+03 1.23e+01 6.95e+04 5.25e+01 6.47e-01 1.96e+05 1 1.53e-02 2.87e-01 20 1.937812e+03 1.17e+01 6.83e+04 5.19e+01 6.49e-01 2.01e+05 1 1.79e-02 3.05e-01 21 1.926571e+03 1.12e+01 6.71e+04 5.12e+01 6.50e-01 2.06e+05 1 2.26e-02 3.28e-01 22 1.915819e+03 1.08e+01 6.59e+04 5.06e+01 6.51e-01 2.12e+05 1 1.83e-02 3.46e-01 23 1.905544e+03 1.03e+01 6.47e+04 4.99e+01 6.52e-01 2.18e+05 1 1.36e-02 3.60e-01 24 1.895738e+03 9.81e+00 6.35e+04 4.93e+01 6.53e-01 2.25e+05 1 1.43e-02 3.74e-01 25 1.886389e+03 9.35e+00 6.22e+04 4.86e+01 6.54e-01 2.32e+05 1 1.50e-02 3.89e-01 26 1.877489e+03 8.90e+00 6.10e+04 4.80e+01 6.55e-01 2.39e+05 1 1.43e-02 4.03e-01 27 1.869028e+03 8.46e+00 5.97e+04 4.73e+01 6.56e-01 2.46e+05 1 1.45e-02 4.18e-01 28 1.860996e+03 8.03e+00 5.83e+04 4.66e+01 6.57e-01 2.54e+05 1 1.82e-02 4.36e-01 29 1.853384e+03 7.61e+00 5.70e+04 4.59e+01 6.59e-01 2.63e+05 1 1.58e-02 4.52e-01 30 1.846182e+03 7.20e+00 5.56e+04 4.52e+01 6.60e-01 2.72e+05 1 1.41e-02 4.66e-01 31 1.839380e+03 6.80e+00 5.42e+04 4.45e+01 6.61e-01 2.81e+05 1 1.43e-02 4.80e-01 32 1.832969e+03 6.41e+00 5.27e+04 4.37e+01 6.62e-01 2.91e+05 1 1.40e-02 4.94e-01 33 1.826938e+03 6.03e+00 5.12e+04 4.30e+01 6.64e-01 3.02e+05 1 1.39e-02 5.08e-01 34 1.821276e+03 5.66e+00 4.98e+04 4.22e+01 6.65e-01 3.13e+05 1 1.39e-02 5.22e-01 35 1.815973e+03 5.30e+00 4.82e+04 4.14e+01 6.67e-01 3.25e+05 1 1.44e-02 5.37e-01 36 1.811019e+03 4.95e+00 4.67e+04 4.07e+01 6.68e-01 3.38e+05 1 1.50e-02 5.52e-01 37 1.806402e+03 4.62e+00 4.51e+04 3.98e+01 6.70e-01 3.52e+05 1 1.41e-02 5.66e-01 38 1.802111e+03 4.29e+00 4.35e+04 3.90e+01 6.72e-01 3.67e+05 1 1.48e-02 5.81e-01 39 1.798135e+03 3.98e+00 4.19e+04 3.82e+01 6.74e-01 3.83e+05 1 1.51e-02 5.96e-01 40 1.794462e+03 3.67e+00 4.03e+04 3.73e+01 6.76e-01 4.00e+05 1 1.45e-02 6.10e-01 41 1.791080e+03 3.38e+00 3.87e+04 3.65e+01 6.78e-01 4.19e+05 1 1.44e-02 6.25e-01 42 1.787979e+03 3.10e+00 3.70e+04 3.56e+01 6.80e-01 4.39e+05 1 1.42e-02 6.39e-01 43 1.785146e+03 2.83e+00 3.53e+04 3.47e+01 6.82e-01 4.62e+05 1 1.42e-02 6.53e-01 44 1.782568e+03 2.58e+00 3.36e+04 3.38e+01 6.85e-01 4.86e+05 1 1.46e-02 6.68e-01 45 1.780235e+03 2.33e+00 3.19e+04 3.28e+01 6.88e-01 5.14e+05 1 1.44e-02 6.82e-01 46 1.778133e+03 2.10e+00 3.02e+04 3.19e+01 6.90e-01 5.44e+05 1 1.46e-02 6.97e-01 47 1.776250e+03 1.88e+00 2.85e+04 3.09e+01 6.94e-01 5.77e+05 1 1.42e-02 7.11e-01 48 1.774575e+03 1.68e+00 2.68e+04 2.99e+01 6.97e-01 6.15e+05 1 1.40e-02 7.25e-01 49 1.773094e+03 1.48e+00 2.50e+04 2.88e+01 7.00e-01 6.57e+05 1 1.44e-02 7.39e-01 50 1.771795e+03 1.30e+00 2.33e+04 2.77e+01 7.04e-01 7.05e+05 1 1.58e-02 7.55e-01 51 1.770666e+03 1.13e+00 2.16e+04 2.66e+01 7.09e-01 7.60e+05 1 1.78e-02 7.73e-01 52 1.769693e+03 9.72e-01 1.98e+04 2.55e+01 7.13e-01 8.25e+05 1 1.43e-02 7.87e-01 53 1.768866e+03 8.27e-01 1.81e+04 2.43e+01 7.19e-01 9.00e+05 1 1.46e-02 8.02e-01 54 1.768171e+03 6.95e-01 1.64e+04 2.31e+01 7.24e-01 9.89e+05 1 1.40e-02 8.16e-01 55 1.767596e+03 5.75e-01 1.47e+04 2.19e+01 7.31e-01 1.10e+06 1 1.44e-02 8.30e-01 56 1.767129e+03 4.67e-01 1.31e+04 2.06e+01 7.38e-01 1.23e+06 1 1.42e-02 8.45e-01 57 1.766757e+03 3.71e-01 1.14e+04 1.92e+01 7.46e-01 1.40e+06 1 1.44e-02 8.59e-01 58 1.766469e+03 2.88e-01 9.82e+03 1.78e+01 7.56e-01 1.61e+06 1 1.36e-02 8.73e-01 59 1.766254e+03 2.15e-01 8.25e+03 1.63e+01 7.67e-01 1.90e+06 1 1.40e-02 8.87e-01 60 1.766099e+03 1.55e-01 6.74e+03 1.47e+01 7.81e-01 2.31e+06 1 1.44e-02 9.01e-01 61 1.765994e+03 1.05e-01 5.29e+03 1.30e+01 7.97e-01 2.93e+06 1 1.46e-02 9.16e-01 62 1.765928e+03 6.60e-02 3.93e+03 1.12e+01 8.18e-01 3.94e+06 1 1.38e-02 9.30e-01 63 1.765891e+03 3.70e-02 2.68e+03 9.24e+00 8.45e-01 5.85e+06 1 1.40e-02 9.44e-01 64 1.765874e+03 1.74e-02 1.58e+03 7.09e+00 8.80e-01 1.04e+07 1 1.42e-02 9.58e-01 65 1.765868e+03 5.94e-03 7.06e+02 4.74e+00 9.26e-01 2.75e+07 1 1.41e-02 9.72e-01 66 1.765867e+03 1.08e-03 1.69e+02 2.32e+00 9.76e-01 8.24e+07 1 1.43e-02 9.86e-01 67 1.765867e+03 4.98e-05 7.59e+00 4.90e-01 9.99e-01 2.47e+08 1 1.38e-02 1.00e+00 68 1.765867e+03 1.74e-07 1.39e+00 3.64e-02 1.00e+00 7.41e+08 1 1.44e-02 1.01e+00 69 1.765867e+03 1.34e-10 1.31e-03 9.71e-04 1.24e+00 2.22e+09 1 1.43e-02 1.03e+00 Bundle adjustment report ------------------------ Residuals : 11102 Parameters : 7066 Iterations : 70 Time : 1.02922 [s] Initial cost : 0.478339 [px] Final cost : 0.398821 [px] Termination : Convergence => Completed observations: 67 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.012070 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.923716e+03 0.00e+00 5.34e+03 0.00e+00 0.00e+00 1.00e+04 0 9.70e-03 1.83e-02 1 1.866360e+03 5.74e+01 3.18e+01 2.53e-01 1.00e+00 3.00e+04 1 1.48e-02 3.31e-02 2 1.866153e+03 2.06e-01 8.92e+01 1.57e-01 1.00e+00 9.00e+04 1 1.46e-02 4.77e-02 3 1.865783e+03 3.71e-01 9.14e+02 1.46e+00 9.99e-01 2.70e+05 1 1.47e-02 6.25e-02 4 1.865103e+03 6.80e-01 5.93e+03 9.65e+00 9.65e-01 8.10e+05 1 1.45e-02 7.70e-02 5 1.864546e+03 5.57e-01 2.91e+04 3.05e+01 4.25e-01 8.07e+05 1 1.44e-02 9.15e-02 6 1.863290e+03 1.26e+00 1.71e+04 2.52e+01 8.21e-01 1.10e+06 1 1.43e-02 1.06e-01 7 1.862698e+03 5.92e-01 1.64e+04 2.52e+01 6.99e-01 1.17e+06 1 1.48e-02 1.21e-01 8 1.862217e+03 4.82e-01 9.33e+03 1.91e+01 8.53e-01 1.81e+06 1 1.42e-02 1.35e-01 9 1.862004e+03 2.12e-01 8.35e+03 1.81e+01 7.62e-01 2.11e+06 1 1.41e-02 1.49e-01 10 1.861873e+03 1.31e-01 3.76e+03 1.21e+01 9.08e-01 4.62e+06 1 1.43e-02 1.63e-01 11 1.861833e+03 4.00e-02 2.62e+03 1.01e+01 8.60e-01 7.37e+06 1 1.50e-02 1.78e-01 12 1.861821e+03 1.15e-02 5.21e+02 4.51e+00 9.78e-01 2.21e+07 1 1.48e-02 1.93e-01 13 1.861820e+03 6.91e-04 6.17e+01 1.55e+00 9.95e-01 6.63e+07 1 1.45e-02 2.08e-01 14 1.861820e+03 9.42e-06 1.47e+00 1.91e-01 1.00e+00 1.99e+08 1 1.48e-02 2.22e-01 15 1.861820e+03 1.13e-08 7.13e-02 8.07e-03 1.00e+00 5.97e+08 1 1.46e-02 2.37e-01 Bundle adjustment report ------------------------ Residuals : 11236 Parameters : 7066 Iterations : 16 Time : 0.237317 [s] Initial cost : 0.413775 [px] Final cost : 0.407064 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000178 => Filtered images: 0 ============================================================================== Registering image #2 (4) ============================================================================== => Image sees 1133 / 2790 points Pose refinement report ---------------------- Residuals : 2260 Parameters : 6 Iterations : 9 Time : 0.021611 [s] Initial cost : 0.565342 [px] Final cost : 0.538867 [px] Termination : Convergence => Continued observations: 1130 => Added observations: 1336 Bundle adjustment report ------------------------ Residuals : 16170 Parameters : 8902 Iterations : 16 Time : 0.376221 [s] Initial cost : 0.42326 [px] Final cost : 0.396437 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 44 => Filtered observations: 63 => Changed observations: 0.013234 Bundle adjustment report ------------------------ Residuals : 16132 Parameters : 8893 Iterations : 11 Time : 0.255874 [s] Initial cost : 0.461878 [px] Final cost : 0.44947 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000744 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.281594e+03 0.00e+00 2.84e+03 0.00e+00 0.00e+00 1.00e+04 0 1.50e-02 2.72e-02 1 3.276208e+03 5.39e+00 1.72e+01 7.16e-01 1.00e+00 3.00e+04 1 2.19e-02 4.91e-02 2 3.276202e+03 5.77e-03 5.56e+00 8.13e-01 9.99e-01 9.00e+04 1 2.16e-02 7.08e-02 3 3.276197e+03 5.13e-03 7.37e+00 1.57e+00 1.00e+00 2.70e+05 1 2.11e-02 9.19e-02 4 3.276192e+03 5.12e-03 3.21e+01 2.23e+00 9.99e-01 8.10e+05 1 2.22e-02 1.14e-01 5 3.276187e+03 4.86e-03 8.53e+01 8.23e-01 9.99e-01 2.43e+06 1 2.23e-02 1.36e-01 6 3.276184e+03 3.08e-03 1.27e+02 1.52e+00 9.95e-01 7.29e+06 1 2.14e-02 1.58e-01 7 3.276184e+03 6.90e-04 4.74e+01 1.41e+00 9.96e-01 2.19e+07 1 2.09e-02 1.79e-01 8 3.276184e+03 3.18e-05 2.67e+00 3.59e-01 9.99e-01 6.56e+07 1 2.13e-02 2.00e-01 9 3.276184e+03 1.92e-07 6.54e-01 3.00e-02 1.00e+00 1.97e+08 1 2.17e-02 2.22e-01 10 3.276184e+03 1.28e-10 3.14e-03 8.35e-04 7.64e-01 2.31e+08 1 2.20e-02 2.44e-01 Bundle adjustment report ------------------------ Residuals : 16144 Parameters : 8899 Iterations : 11 Time : 0.244139 [s] Initial cost : 0.450855 [px] Final cost : 0.450483 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #33 (5) ============================================================================== => Image sees 1184 / 2853 points Pose refinement report ---------------------- Residuals : 2354 Parameters : 6 Iterations : 9 Time : 0.0225568 [s] Initial cost : 0.619586 [px] Final cost : 0.601096 [px] Termination : Convergence => Continued observations: 1171 => Added observations: 830 Bundle adjustment report ------------------------ Residuals : 20146 Parameters : 10063 Iterations : 23 Time : 0.660839 [s] Initial cost : 0.481984 [px] Final cost : 0.428655 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 49 => Filtered observations: 64 => Changed observations: 0.013700 Bundle adjustment report ------------------------ Residuals : 20116 Parameters : 10036 Iterations : 9 Time : 0.270227 [s] Initial cost : 0.492732 [px] Final cost : 0.481077 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000994 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 4.676252e+03 0.00e+00 1.89e+03 0.00e+00 0.00e+00 1.00e+04 0 1.93e-02 3.45e-02 1 4.668640e+03 7.61e+00 3.00e+01 2.39e-01 1.00e+00 3.00e+04 1 2.92e-02 6.37e-02 2 4.668593e+03 4.73e-02 1.50e+01 8.43e-02 1.00e+00 9.00e+04 1 2.85e-02 9.22e-02 3 4.668581e+03 1.12e-02 5.09e+00 3.75e-02 1.00e+00 2.70e+05 1 2.82e-02 1.20e-01 4 4.668580e+03 1.17e-03 1.98e+00 1.66e-01 1.00e+00 8.10e+05 1 2.96e-02 1.50e-01 5 4.668580e+03 7.73e-04 5.38e+00 4.94e-01 9.99e-01 2.43e+06 1 2.78e-02 1.78e-01 6 4.668579e+03 3.93e-04 5.53e+00 5.69e-01 9.99e-01 7.29e+06 1 2.85e-02 2.07e-01 7 4.668579e+03 5.05e-05 1.86e+00 2.55e-01 9.98e-01 2.19e+07 1 3.41e-02 2.41e-01 8 4.668579e+03 1.10e-06 1.46e+00 4.11e-02 9.99e-01 6.56e+07 1 2.86e-02 2.69e-01 9 4.668579e+03 3.16e-09 1.41e-02 2.21e-03 1.00e+00 1.97e+08 1 2.89e-02 2.98e-01 Bundle adjustment report ------------------------ Residuals : 20138 Parameters : 10048 Iterations : 10 Time : 0.298727 [s] Initial cost : 0.481882 [px] Final cost : 0.481487 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #32 (6) ============================================================================== => Image sees 1219 / 2703 points Pose refinement report ---------------------- Residuals : 2426 Parameters : 6 Iterations : 10 Time : 0.0266709 [s] Initial cost : 0.617329 [px] Final cost : 0.593413 [px] Termination : Convergence => Continued observations: 1204 => Added observations: 950 Bundle adjustment report ------------------------ Residuals : 24446 Parameters : 11401 Iterations : 26 Time : 0.947778 [s] Initial cost : 0.489972 [px] Final cost : 0.441736 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 46 => Filtered observations: 79 => Changed observations: 0.014890 Bundle adjustment report ------------------------ Residuals : 24380 Parameters : 11359 Iterations : 9 Time : 0.337241 [s] Initial cost : 0.518451 [px] Final cost : 0.506802 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000902 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 6.317485e+03 0.00e+00 3.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.43e-02 4.43e-02 1 6.306936e+03 1.05e+01 2.36e+01 9.32e-01 1.00e+00 3.00e+04 1 3.53e-02 7.96e-02 2 6.306905e+03 3.08e-02 1.16e+01 1.89e+00 1.00e+00 9.00e+04 1 3.40e-02 1.14e-01 3 6.306884e+03 2.07e-02 2.39e+01 3.80e+00 9.99e-01 2.70e+05 1 3.43e-02 1.48e-01 4 6.306872e+03 1.20e-02 4.18e+01 5.02e+00 9.97e-01 8.10e+05 1 3.49e-02 1.83e-01 5 6.306869e+03 3.08e-03 2.05e+01 3.35e+00 9.98e-01 2.43e+06 1 3.54e-02 2.18e-01 6 6.306869e+03 3.28e-04 4.04e+00 1.03e+00 9.99e-01 7.29e+06 1 3.34e-02 2.52e-01 7 6.306869e+03 2.40e-05 1.99e+00 1.72e-01 9.99e-01 2.19e+07 1 3.43e-02 2.86e-01 8 6.306869e+03 5.07e-07 4.90e-01 1.73e-02 1.00e+00 6.56e+07 1 3.40e-02 3.20e-01 9 6.306869e+03 1.56e-09 1.42e-02 8.19e-04 1.01e+00 1.97e+08 1 3.39e-02 3.54e-01 Bundle adjustment report ------------------------ Residuals : 24402 Parameters : 11368 Iterations : 10 Time : 0.354455 [s] Initial cost : 0.508814 [px] Final cost : 0.508387 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #35 (7) ============================================================================== => Image sees 1280 / 3361 points Pose refinement report ---------------------- Residuals : 2554 Parameters : 6 Iterations : 8 Time : 0.0231762 [s] Initial cost : 0.629656 [px] Final cost : 0.617063 [px] Termination : Convergence => Continued observations: 1271 => Added observations: 943 Bundle adjustment report ------------------------ Residuals : 24756 Parameters : 9161 Iterations : 23 Time : 0.77117 [s] Initial cost : 0.516524 [px] Final cost : 0.458445 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 40 => Filtered observations: 73 => Changed observations: 0.010278 Bundle adjustment report ------------------------ Residuals : 24692 Parameters : 9140 Iterations : 6 Time : 0.198221 [s] Initial cost : 0.551838 [px] Final cost : 0.542066 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 8 => Filtered observations: 2 => Changed observations: 0.001136 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.909986e+03 0.00e+00 2.05e+04 0.00e+00 0.00e+00 1.00e+04 0 2.75e-02 5.07e-02 1 7.897838e+03 1.21e+01 1.87e+02 3.91e-01 1.00e+00 3.00e+04 1 4.33e-02 9.40e-02 2 7.897503e+03 3.36e-01 1.32e+02 3.27e+00 1.00e+00 9.00e+04 1 4.11e-02 1.35e-01 3 7.897288e+03 2.15e-01 1.81e+02 7.10e+00 9.99e-01 2.70e+05 1 4.60e-02 1.81e-01 4 7.897182e+03 1.06e-01 2.62e+02 9.22e+00 9.96e-01 8.10e+05 1 4.28e-02 2.24e-01 5 7.897153e+03 2.82e-02 1.67e+02 5.92e+00 9.97e-01 2.43e+06 1 4.21e-02 2.66e-01 6 7.897150e+03 3.26e-03 3.79e+01 1.71e+00 9.99e-01 7.29e+06 1 4.21e-02 3.08e-01 7 7.897150e+03 2.06e-04 2.94e+00 2.56e-01 9.99e-01 2.19e+07 1 4.09e-02 3.49e-01 8 7.897150e+03 3.07e-06 1.79e+00 2.20e-02 1.00e+00 6.56e+07 1 4.09e-02 3.90e-01 9 7.897150e+03 6.66e-09 1.45e-02 8.42e-04 1.02e+00 1.97e+08 1 4.16e-02 4.32e-01 Bundle adjustment report ------------------------ Residuals : 28776 Parameters : 12697 Iterations : 10 Time : 0.432185 [s] Initial cost : 0.524291 [px] Final cost : 0.523866 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000070 => Filtered images: 0 ============================================================================== Registering image #24 (8) ============================================================================== => Image sees 1383 / 2594 points Pose refinement report ---------------------- Residuals : 2780 Parameters : 6 Iterations : 7 Time : 0.0248559 [s] Initial cost : 0.591036 [px] Final cost : 0.560572 [px] Termination : Convergence => Continued observations: 1371 => Added observations: 781 Bundle adjustment report ------------------------ Residuals : 26448 Parameters : 8849 Iterations : 21 Time : 0.718582 [s] Initial cost : 0.508313 [px] Final cost : 0.481192 [px] Termination : Convergence => Merged observations: 97 => Completed observations: 73 => Filtered observations: 104 => Changed observations: 0.019449 Bundle adjustment report ------------------------ Residuals : 26402 Parameters : 8807 Iterations : 5 Time : 0.171492 [s] Initial cost : 0.569448 [px] Final cost : 0.557685 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000782 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 9.587233e+03 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 3.37e-02 6.40e-02 1 9.569893e+03 1.73e+01 4.20e+02 7.33e+00 1.00e+00 3.00e+04 1 5.20e-02 1.16e-01 2 9.569189e+03 7.04e-01 2.35e+02 1.01e+01 1.00e+00 9.00e+04 1 4.88e-02 1.65e-01 3 9.568618e+03 5.71e-01 1.05e+03 1.85e+01 9.88e-01 2.70e+05 1 4.70e-02 2.12e-01 4 9.568329e+03 2.89e-01 1.43e+03 2.05e+01 9.59e-01 8.10e+05 1 4.70e-02 2.59e-01 5 9.568260e+03 6.92e-02 5.39e+02 1.05e+01 9.84e-01 2.43e+06 1 4.84e-02 3.07e-01 6 9.568253e+03 7.18e-03 8.89e+01 2.36e+00 9.98e-01 7.29e+06 1 4.75e-02 3.55e-01 7 9.568252e+03 4.01e-04 6.91e+00 2.81e-01 1.00e+00 2.19e+07 1 4.80e-02 4.03e-01 8 9.568252e+03 5.12e-06 1.88e+00 2.12e-02 1.00e+00 6.56e+07 1 4.73e-02 4.50e-01 9 9.568252e+03 9.30e-09 8.26e-03 7.19e-04 1.01e+00 1.97e+08 1 4.77e-02 4.98e-01 Bundle adjustment report ------------------------ Residuals : 33038 Parameters : 13711 Iterations : 10 Time : 0.498627 [s] Initial cost : 0.538691 [px] Final cost : 0.538158 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #36 (9) ============================================================================== => Image sees 1142 / 2391 points Pose refinement report ---------------------- Residuals : 2298 Parameters : 6 Iterations : 10 Time : 0.0246098 [s] Initial cost : 0.692956 [px] Final cost : 0.597757 [px] Termination : Convergence => Continued observations: 1131 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 25392 Parameters : 6920 Iterations : 26 Time : 0.815486 [s] Initial cost : 0.521745 [px] Final cost : 0.487495 [px] Termination : No convergence => Merged observations: 66 => Completed observations: 45 => Filtered observations: 81 => Changed observations: 0.013785 Bundle adjustment report ------------------------ Residuals : 25572 Parameters : 7253 Iterations : 5 Time : 0.166092 [s] Initial cost : 0.587162 [px] Final cost : 0.578642 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 1 => Changed observations: 0.000943 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.109427e+04 0.00e+00 2.23e+04 0.00e+00 0.00e+00 1.00e+04 0 3.73e-02 6.70e-02 1 1.106661e+04 2.77e+01 7.57e+01 9.21e-01 1.00e+00 3.00e+04 1 5.53e-02 1.22e-01 2 1.106654e+04 6.86e-02 3.48e+01 1.88e+00 1.00e+00 9.00e+04 1 6.21e-02 1.84e-01 3 1.106651e+04 3.78e-02 4.84e+01 3.41e+00 1.00e+00 2.70e+05 1 5.45e-02 2.39e-01 4 1.106648e+04 2.25e-02 8.75e+01 3.65e+00 9.99e-01 8.10e+05 1 5.53e-02 2.94e-01 5 1.106647e+04 1.57e-02 9.56e+01 1.96e+00 9.99e-01 2.43e+06 1 5.39e-02 3.48e-01 6 1.106646e+04 5.94e-03 5.95e+01 6.31e-01 9.99e-01 7.29e+06 1 5.46e-02 4.03e-01 7 1.106646e+04 5.58e-04 7.60e+00 1.50e-01 1.00e+00 2.19e+07 1 6.08e-02 4.64e-01 8 1.106646e+04 8.53e-06 1.93e+00 1.76e-02 1.00e+00 6.56e+07 1 5.62e-02 5.20e-01 9 1.106646e+04 1.79e-08 9.25e-03 7.15e-04 1.00e+00 1.97e+08 1 5.45e-02 5.74e-01 Bundle adjustment report ------------------------ Residuals : 36314 Parameters : 14443 Iterations : 10 Time : 0.575304 [s] Initial cost : 0.552729 [px] Final cost : 0.552036 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.000275 => Filtered images: 0 ============================================================================== Registering image #37 (10) ============================================================================== => Image sees 1133 / 2773 points Pose refinement report ---------------------- Residuals : 2284 Parameters : 6 Iterations : 7 Time : 0.0182059 [s] Initial cost : 0.592217 [px] Final cost : 0.591911 [px] Termination : Convergence => Continued observations: 1118 => Added observations: 952 Bundle adjustment report ------------------------ Residuals : 24174 Parameters : 6854 Iterations : 26 Time : 0.773589 [s] Initial cost : 0.551871 [px] Final cost : 0.507291 [px] Termination : No convergence => Merged observations: 86 => Completed observations: 37 => Filtered observations: 105 => Changed observations: 0.016385 Bundle adjustment report ------------------------ Residuals : 24062 Parameters : 6812 Iterations : 5 Time : 0.159192 [s] Initial cost : 0.603699 [px] Final cost : 0.59459 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000722 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.243696e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 4.06e-02 7.46e-02 1 1.241751e+04 1.95e+01 1.26e+02 8.05e-01 1.00e+00 3.00e+04 1 6.21e-02 1.37e-01 2 1.241735e+04 1.56e-01 3.33e+01 8.43e-01 1.00e+00 9.00e+04 1 6.03e-02 1.97e-01 3 1.241729e+04 5.65e-02 2.50e+01 1.02e+00 1.00e+00 2.70e+05 1 6.04e-02 2.58e-01 4 1.241729e+04 9.49e-03 4.13e+00 4.28e-01 1.00e+00 8.10e+05 1 6.08e-02 3.18e-01 5 1.241728e+04 2.14e-03 6.15e+00 7.69e-02 1.00e+00 2.43e+06 1 6.13e-02 3.80e-01 6 1.241728e+04 8.81e-04 7.06e+00 8.22e-02 1.00e+00 7.29e+06 1 6.22e-02 4.42e-01 7 1.241728e+04 1.05e-04 1.88e+00 4.22e-02 1.00e+00 2.19e+07 1 6.07e-02 5.03e-01 8 1.241728e+04 2.11e-06 7.96e-01 6.61e-03 1.00e+00 6.56e+07 1 6.36e-02 5.66e-01 Bundle adjustment report ------------------------ Residuals : 40340 Parameters : 15733 Iterations : 9 Time : 0.567306 [s] Initial cost : 0.555251 [px] Final cost : 0.554811 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 0 => Changed observations: 0.000347 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 992 / 2349 points Pose refinement report ---------------------- Residuals : 1950 Parameters : 6 Iterations : 11 Time : 0.0227761 [s] Initial cost : 0.71773 [px] Final cost : 0.605017 [px] Termination : Convergence => Continued observations: 971 => Added observations: 650 Bundle adjustment report ------------------------ Residuals : 23420 Parameters : 5810 Iterations : 26 Time : 0.737171 [s] Initial cost : 0.587644 [px] Final cost : 0.53689 [px] Termination : No convergence => Merged observations: 18 => Completed observations: 29 => Filtered observations: 121 => Changed observations: 0.012950 Bundle adjustment report ------------------------ Residuals : 23238 Parameters : 5774 Iterations : 5 Time : 0.150184 [s] Initial cost : 0.617064 [px] Final cost : 0.608302 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000854 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 1.363363e+04 0.00e+00 2.21e+04 0.00e+00 0.00e+00 1.00e+04 0 4.60e-02 8.30e-02 1 1.363038e+04 3.25e+00 1.76e+02 2.94e+00 1.00e+00 3.00e+04 1 7.21e-02 1.55e-01 2 1.362987e+04 5.10e-01 3.47e+02 8.05e+00 9.99e-01 9.00e+04 1 6.79e-02 2.23e-01 3 1.362946e+04 4.08e-01 9.36e+02 1.36e+01 9.91e-01 2.70e+05 1 7.51e-02 2.98e-01 4 1.362929e+04 1.74e-01 9.19e+02 1.31e+01 9.83e-01 8.10e+05 1 6.98e-02 3.68e-01 5 1.362926e+04 3.32e-02 2.70e+02 5.72e+00 9.95e-01 2.43e+06 1 6.93e-02 4.37e-01 6 1.362925e+04 6.22e-03 6.21e+01 1.07e+00 9.99e-01 7.29e+06 1 7.02e-02 5.08e-01 7 1.362925e+04 7.86e-04 1.05e+01 1.33e-01 1.00e+00 2.19e+07 1 6.73e-02 5.75e-01 8 1.362925e+04 1.90e-05 1.97e+00 1.46e-02 1.00e+00 6.56e+07 1 6.80e-02 6.43e-01 9 1.362925e+04 6.47e-08 3.42e-02 7.22e-04 1.00e+00 1.97e+08 1 6.49e-02 7.08e-01 Bundle adjustment report ------------------------ Residuals : 43424 Parameters : 16612 Iterations : 10 Time : 0.708737 [s] Initial cost : 0.560326 [px] Final cost : 0.560236 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #30 (12) ============================================================================== => Image sees 1274 / 2524 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 8 Time : 0.0216801 [s] Initial cost : 0.595792 [px] Final cost : 0.594158 [px] Termination : Convergence => Continued observations: 1251 => Added observations: 779 Bundle adjustment report ------------------------ Residuals : 24848 Parameters : 6452 Iterations : 26 Time : 0.766915 [s] Initial cost : 0.605718 [px] Final cost : 0.558441 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 51 => Filtered observations: 124 => Changed observations: 0.021270 Bundle adjustment report ------------------------ Residuals : 24732 Parameters : 6392 Iterations : 5 Time : 0.149195 [s] Initial cost : 0.627034 [px] Final cost : 0.615627 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.001768 ============================================================================== Registering image #29 (13) ============================================================================== => Image sees 740 / 1733 points Pose refinement report ---------------------- Residuals : 1450 Parameters : 6 Iterations : 8 Time : 0.013031 [s] Initial cost : 0.613113 [px] Final cost : 0.609713 [px] Termination : Convergence => Continued observations: 721 => Added observations: 445 Bundle adjustment report ------------------------ Residuals : 18520 Parameters : 4493 Iterations : 26 Time : 0.60641 [s] Initial cost : 0.677078 [px] Final cost : 0.624936 [px] Termination : No convergence => Merged observations: 36 => Completed observations: 21 => Filtered observations: 102 => Changed observations: 0.013785 Bundle adjustment report ------------------------ Residuals : 18374 Parameters : 4445 Iterations : 5 Time : 0.117168 [s] Initial cost : 0.670196 [px] Final cost : 0.661272 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.002792 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged observations: 0 => Retriangulated observations: 10 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.744815e+05 0.00e+00 1.45e+06 0.00e+00 0.00e+00 1.00e+04 0 4.83e-02 9.09e-02 1 5.179391e+04 2.23e+05 6.25e+04 9.25e+01 1.00e+00 3.00e+04 1 7.72e-02 1.68e-01 2 5.084725e+04 9.47e+02 4.68e+05 1.59e+02 9.35e-01 8.75e+04 1 7.81e-02 2.46e-01 3 5.087129e+04 -2.40e+01 0.00e+00 2.67e+02 -6.04e-02 4.38e+04 1 2.88e-02 2.75e-01 4 5.058034e+04 2.67e+02 1.27e+05 1.66e+02 8.12e-01 5.79e+04 1 7.54e-02 3.50e-01 5 5.046785e+04 1.12e+02 1.14e+05 1.54e+02 7.02e-01 6.19e+04 1 7.78e-02 4.28e-01 6 5.039230e+04 7.55e+01 6.39e+04 1.15e+02 8.35e-01 8.86e+04 1 8.24e-02 5.11e-01 7 5.036201e+04 3.03e+01 5.12e+04 1.01e+02 7.65e-01 1.04e+05 1 7.86e-02 5.89e-01 8 5.034411e+04 1.79e+01 2.50e+04 6.98e+01 8.95e-01 2.05e+05 1 7.71e-02 6.66e-01 9 5.033781e+04 6.30e+00 1.90e+04 5.80e+01 8.55e-01 3.19e+05 1 7.52e-02 7.42e-01 10 5.033521e+04 2.59e+00 6.59e+03 2.96e+01 9.68e-01 9.57e+05 1 8.30e-02 8.25e-01 11 5.033402e+04 1.19e+00 5.15e+03 1.32e+01 9.88e-01 2.87e+06 1 7.54e-02 9.00e-01 12 5.033326e+04 7.66e-01 5.50e+03 3.35e+00 9.86e-01 8.61e+06 1 7.60e-02 9.76e-01 13 5.033308e+04 1.79e-01 1.94e+03 1.01e+00 9.92e-01 2.58e+07 1 7.60e-02 1.05e+00 14 5.033307e+04 8.72e-03 1.07e+02 2.19e-01 1.00e+00 7.75e+07 1 7.65e-02 1.13e+00 15 5.033307e+04 5.11e-05 1.96e+00 2.08e-02 1.00e+00 2.33e+08 1 7.74e-02 1.21e+00 16 5.033307e+04 4.66e-08 7.28e-02 1.21e-03 1.00e+00 6.98e+08 1 7.78e-02 1.28e+00 Bundle adjustment report ------------------------ Residuals : 49596 Parameters : 18193 Iterations : 17 Time : 1.28506 [s] Initial cost : 2.35252 [px] Final cost : 1.0074 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 94 => Changed observations: 0.004879 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.819066e+04 0.00e+00 3.39e+05 0.00e+00 0.00e+00 1.00e+04 0 5.14e-02 9.10e-02 1 1.714516e+04 1.05e+03 6.78e+04 5.98e+01 9.97e-01 3.00e+04 1 7.81e-02 1.69e-01 2 1.662336e+04 5.22e+02 1.52e+05 1.30e+02 9.72e-01 9.00e+04 1 8.36e-02 2.53e-01 3 1.660987e+04 1.35e+01 3.10e+05 2.55e+02 4.67e-02 5.16e+04 1 7.78e-02 3.31e-01 4 1.629405e+04 3.16e+02 6.26e+04 1.09e+02 9.66e-01 1.55e+05 1 7.87e-02 4.09e-01 5 1.630662e+04 -1.26e+01 0.00e+00 1.69e+02 -2.23e-01 7.74e+04 1 3.06e-02 4.40e-01 6 1.626251e+04 3.15e+01 6.65e+04 1.11e+02 7.10e-01 8.35e+04 1 8.20e-02 5.22e-01 7 1.623748e+04 2.50e+01 3.44e+04 7.88e+01 8.79e-01 1.48e+05 1 7.54e-02 5.97e-01 8 1.622773e+04 9.74e+00 3.04e+04 7.25e+01 7.88e-01 1.83e+05 1 7.68e-02 6.74e-01 9 1.622257e+04 5.16e+00 1.12e+04 4.18e+01 9.42e-01 5.49e+05 1 7.64e-02 7.51e-01 10 1.622104e+04 1.53e+00 8.26e+03 2.91e+01 9.38e-01 1.65e+06 1 7.58e-02 8.27e-01 11 1.622021e+04 8.23e-01 4.79e+03 9.23e+00 9.88e-01 4.94e+06 1 8.06e-02 9.07e-01 12 1.621994e+04 2.71e-01 2.65e+03 2.21e+00 9.91e-01 1.48e+07 1 7.60e-02 9.83e-01 13 1.621992e+04 2.49e-02 3.10e+02 5.37e-01 9.99e-01 4.44e+07 1 7.84e-02 1.06e+00 14 1.621992e+04 3.41e-04 4.84e+00 6.22e-02 1.00e+00 1.33e+08 1 7.84e-02 1.14e+00 15 1.621992e+04 5.90e-07 2.37e-01 2.38e-03 1.00e+00 4.00e+08 1 8.17e-02 1.22e+00 Bundle adjustment report ------------------------ Residuals : 49462 Parameters : 18145 Iterations : 16 Time : 1.22302 [s] Initial cost : 0.606441 [px] Final cost : 0.572649 [px] Termination : Convergence => Completed observations: 20 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.001011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.627940e+04 0.00e+00 4.17e+04 0.00e+00 0.00e+00 1.00e+04 0 5.04e-02 9.17e-02 1 1.625323e+04 2.62e+01 2.18e+02 2.15e+00 1.00e+00 3.00e+04 1 8.08e-02 1.73e-01 2 1.625273e+04 5.05e-01 1.85e+02 4.71e+00 1.00e+00 9.00e+04 1 8.30e-02 2.56e-01 3 1.625250e+04 2.27e-01 3.86e+02 8.45e+00 9.98e-01 2.70e+05 1 7.63e-02 3.32e-01 4 1.625241e+04 8.34e-02 4.22e+02 8.77e+00 9.94e-01 8.10e+05 1 7.52e-02 4.07e-01 5 1.625240e+04 1.23e-02 1.00e+02 4.07e+00 9.98e-01 2.43e+06 1 7.60e-02 4.83e-01 6 1.625240e+04 6.28e-04 7.09e+00 7.44e-01 1.00e+00 7.29e+06 1 7.64e-02 5.60e-01 7 1.625240e+04 7.05e-05 1.97e+00 6.67e-02 1.00e+00 2.19e+07 1 7.81e-02 6.38e-01 8 1.625240e+04 3.15e-06 8.37e-01 6.41e-03 1.00e+00 6.56e+07 1 7.57e-02 7.14e-01 Bundle adjustment report ------------------------ Residuals : 49492 Parameters : 18145 Iterations : 9 Time : 0.714497 [s] Initial cost : 0.573524 [px] Final cost : 0.573048 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000040 => Filtered images: 0 ============================================================================== Registering image #38 (14) ============================================================================== => Image sees 961 / 1991 points Pose refinement report ---------------------- Residuals : 1932 Parameters : 6 Iterations : 10 Time : 0.020205 [s] Initial cost : 0.722448 [px] Final cost : 0.595266 [px] Termination : Convergence => Continued observations: 943 => Added observations: 581 Bundle adjustment report ------------------------ Residuals : 24230 Parameters : 6188 Iterations : 26 Time : 0.753225 [s] Initial cost : 0.601691 [px] Final cost : 0.557124 [px] Termination : No convergence => Merged observations: 80 => Completed observations: 46 => Filtered observations: 124 => Changed observations: 0.019074 Bundle adjustment report ------------------------ Residuals : 24100 Parameters : 6128 Iterations : 5 Time : 0.149756 [s] Initial cost : 0.611505 [px] Final cost : 0.601043 [px] Termination : Convergence => Merged observations: 14 => Completed observations: 14 => Filtered observations: 3 => Changed observations: 0.002377 ============================================================================== Registering image #39 (15) ============================================================================== => Image sees 1041 / 2578 points Pose refinement report ---------------------- Residuals : 2122 Parameters : 6 Iterations : 6 Time : 0.0135889 [s] Initial cost : 0.59861 [px] Final cost : 0.597587 [px] Termination : Convergence => Continued observations: 1027 => Added observations: 949 Bundle adjustment report ------------------------ Residuals : 21394 Parameters : 5768 Iterations : 26 Time : 0.684144 [s] Initial cost : 0.612198 [px] Final cost : 0.57918 [px] Termination : No convergence => Merged observations: 127 => Completed observations: 67 => Filtered observations: 100 => Changed observations: 0.022764 Bundle adjustment report ------------------------ Residuals : 21342 Parameters : 5702 Iterations : 5 Time : 0.133021 [s] Initial cost : 0.634436 [px] Final cost : 0.623354 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 13 => Filtered observations: 1 => Changed observations: 0.002483 ============================================================================== Retriangulation ============================================================================== => Completed observations: 4 => Merged 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 1.888841e+04 0.00e+00 3.84e+04 0.00e+00 0.00e+00 1.00e+04 0 5.04e-02 9.86e-02 1 1.885459e+04 3.38e+01 3.09e+02 2.80e-01 1.00e+00 3.00e+04 1 8.16e-02 1.80e-01 2 1.885397e+04 6.20e-01 2.26e+02 9.06e-01 1.00e+00 9.00e+04 1 8.10e-02 2.61e-01 3 1.885371e+04 2.51e-01 2.44e+02 1.23e+00 1.00e+00 2.70e+05 1 1.06e-01 3.67e-01 4 1.885361e+04 9.99e-02 1.86e+02 1.07e+00 1.00e+00 8.10e+05 1 7.92e-02 4.47e-01 5 1.885358e+04 3.38e-02 7.07e+01 4.55e-01 1.00e+00 2.43e+06 1 7.78e-02 5.25e-01 6 1.885356e+04 1.96e-02 8.12e+01 9.79e-02 1.00e+00 7.29e+06 1 8.53e-02 6.10e-01 7 1.885355e+04 6.16e-03 5.88e+01 1.61e-01 1.00e+00 2.19e+07 1 7.83e-02 6.88e-01 8 1.885355e+04 4.22e-04 5.59e+00 5.11e-02 1.00e+00 6.56e+07 1 7.82e-02 7.66e-01 9 1.885355e+04 4.47e-06 1.48e+00 5.28e-03 1.00e+00 1.97e+08 1 7.77e-02 8.44e-01 10 1.885355e+04 6.46e-09 5.78e-03 1.62e-04 9.88e-01 5.90e+08 1 7.73e-02 9.21e-01 Bundle adjustment report ------------------------ Residuals : 56326 Parameters : 20122 Iterations : 11 Time : 0.922587 [s] Initial cost : 0.579086 [px] Final cost : 0.578552 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 10 => Filtered observations: 0 => Changed observations: 0.000391 => Filtered images: 0 ============================================================================== Registering image #40 (16) ============================================================================== => Image sees 923 / 1939 points Pose refinement report ---------------------- Residuals : 1864 Parameters : 6 Iterations : 6 Time : 0.0124969 [s] Initial cost : 0.602078 [px] Final cost : 0.60138 [px] Termination : Convergence => Continued observations: 909 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 21106 Parameters : 5579 Iterations : 26 Time : 0.657097 [s] Initial cost : 0.59442 [px] Final cost : 0.563511 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 40 => Filtered observations: 116 => Changed observations: 0.018411 Bundle adjustment report ------------------------ Residuals : 20968 Parameters : 5519 Iterations : 5 Time : 0.129615 [s] Initial cost : 0.619975 [px] Final cost : 0.609419 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 1 => Changed observations: 0.001565 ============================================================================== Registering image #3 (17) ============================================================================== => Image sees 714 / 2106 points Pose refinement report ---------------------- Residuals : 1426 Parameters : 6 Iterations : 9 Time : 0.0134449 [s] Initial cost : 0.625407 [px] Final cost : 0.60621 [px] Termination : Convergence => Continued observations: 704 => Added observations: 693 Bundle adjustment report ------------------------ Residuals : 17324 Parameters : 4790 Iterations : 26 Time : 0.567668 [s] Initial cost : 0.630524 [px] Final cost : 0.604501 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 39 => Filtered observations: 76 => Changed observations: 0.013415 Bundle adjustment report ------------------------ Residuals : 17260 Parameters : 4760 Iterations : 5 Time : 0.112505 [s] Initial cost : 0.636507 [px] Final cost : 0.626574 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.003293 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 0 => Retriangulated observations: 11 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.597923e+05 0.00e+00 2.79e+06 0.00e+00 0.00e+00 1.00e+04 0 5.52e-02 1.11e-01 1 1.216737e+05 3.38e+05 8.09e+05 9.44e+01 1.02e+00 3.00e+04 1 1.03e-01 2.14e-01 2 1.181950e+05 3.48e+03 2.21e+06 1.44e+02 8.95e-01 5.91e+04 1 8.94e-02 3.03e-01 3 1.170962e+05 1.10e+03 7.56e+05 1.63e+02 8.77e-01 1.03e+05 1 8.82e-02 3.91e-01 4 1.168154e+05 2.81e+02 2.26e+05 1.37e+02 8.61e-01 1.65e+05 1 8.73e-02 4.79e-01 5 1.167488e+05 6.66e+01 6.47e+04 8.90e+01 9.06e-01 3.57e+05 1 8.46e-02 5.63e-01 6 1.167381e+05 1.07e+01 1.81e+04 5.28e+01 9.30e-01 9.78e+05 1 8.67e-02 6.50e-01 7 1.167367e+05 1.49e+00 2.90e+03 2.01e+01 9.89e-01 2.93e+06 1 8.52e-02 7.35e-01 8 1.167363e+05 3.16e-01 1.96e+03 4.21e+00 9.98e-01 8.80e+06 1 9.41e-02 8.29e-01 9 1.167362e+05 8.82e-02 1.05e+03 9.66e-01 9.97e-01 2.64e+07 1 8.61e-02 9.16e-01 10 1.167362e+05 5.87e-03 9.02e+01 2.27e-01 1.00e+00 7.92e+07 1 8.83e-02 1.00e+00 11 1.167362e+05 5.77e-05 1.98e+00 2.63e-02 1.00e+00 2.38e+08 1 9.31e-02 1.10e+00 12 1.167362e+05 8.84e-08 2.05e-01 2.26e-03 1.01e+00 7.13e+08 1 8.85e-02 1.19e+00 Bundle adjustment report ------------------------ Residuals : 61804 Parameters : 21730 Iterations : 13 Time : 1.18698 [s] Initial cost : 2.72755 [px] Final cost : 1.37434 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 29 => Filtered observations: 180 => Changed observations: 0.007799 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.670875e+04 0.00e+00 1.32e+06 0.00e+00 0.00e+00 1.00e+04 0 5.49e-02 1.05e-01 1 2.314427e+04 3.56e+03 8.69e+05 6.18e+01 9.87e-01 3.00e+04 1 9.04e-02 1.96e-01 2 2.168331e+04 1.46e+03 1.74e+06 1.33e+02 8.72e-01 5.11e+04 1 8.65e-02 2.82e-01 3 2.106534e+04 6.18e+02 7.62e+05 1.45e+02 8.79e-01 9.04e+04 1 8.61e-02 3.69e-01 4 2.088844e+04 1.77e+02 2.54e+05 1.36e+02 8.15e-01 1.21e+05 1 8.52e-02 4.54e-01 5 2.082901e+04 5.94e+01 6.55e+04 8.87e+01 8.96e-01 2.40e+05 1 8.45e-02 5.38e-01 6 2.081777e+04 1.12e+01 2.89e+04 6.31e+01 8.60e-01 3.84e+05 1 9.23e-02 6.31e-01 7 2.081494e+04 2.84e+00 6.47e+03 2.79e+01 9.72e-01 1.15e+06 1 8.88e-02 7.19e-01 8 2.081433e+04 6.09e-01 3.03e+03 1.06e+01 9.92e-01 3.45e+06 1 8.61e-02 8.06e-01 9 2.081402e+04 3.05e-01 2.60e+03 2.34e+00 9.95e-01 1.04e+07 1 9.25e-02 8.98e-01 10 2.081397e+04 5.37e-02 6.97e+02 6.06e-01 9.98e-01 3.11e+07 1 8.68e-02 9.85e-01 11 2.081397e+04 1.77e-03 2.74e+01 1.06e-01 1.00e+00 9.32e+07 1 8.46e-02 1.07e+00 12 2.081397e+04 7.71e-06 1.78e+00 6.52e-03 1.00e+00 2.80e+08 1 8.70e-02 1.16e+00 13 2.081397e+04 5.15e-09 4.32e-03 1.06e-04 1.03e+00 8.39e+08 1 8.80e-02 1.24e+00 Bundle adjustment report ------------------------ Residuals : 61508 Parameters : 21670 Iterations : 14 Time : 1.24574 [s] Initial cost : 0.658963 [px] Final cost : 0.581717 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.004195 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.107467e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 5.68e-02 1.06e-01 1 2.095342e+04 1.21e+02 9.08e+03 1.56e+00 1.00e+00 3.00e+04 1 8.91e-02 1.95e-01 2 2.094779e+04 5.63e+00 6.22e+03 3.03e+00 1.00e+00 9.00e+04 1 8.86e-02 2.84e-01 3 2.094710e+04 6.98e-01 1.33e+03 3.63e+00 1.00e+00 2.70e+05 1 9.18e-02 3.76e-01 4 2.094704e+04 5.35e-02 1.32e+02 2.45e+00 1.00e+00 8.10e+05 1 8.89e-02 4.65e-01 5 2.094704e+04 2.26e-03 1.12e+01 8.22e-01 1.00e+00 2.43e+06 1 9.72e-02 5.62e-01 6 2.094704e+04 3.67e-04 2.53e+00 9.38e-02 1.00e+00 7.29e+06 1 8.62e-02 6.48e-01 7 2.094704e+04 9.40e-05 1.88e+00 1.42e-02 1.00e+00 2.19e+07 1 8.61e-02 7.35e-01 8 2.094704e+04 5.23e-06 1.04e+00 5.46e-03 1.00e+00 6.56e+07 1 9.02e-02 8.25e-01 9 2.094704e+04 4.37e-08 1.50e-02 5.01e-04 1.00e+00 1.97e+08 1 8.86e-02 9.13e-01 Bundle adjustment report ------------------------ Residuals : 61726 Parameters : 21670 Iterations : 10 Time : 0.914762 [s] Initial cost : 0.584314 [px] Final cost : 0.582542 [px] Termination : Convergence => Completed observations: 3 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000130 => Filtered images: 0 ============================================================================== Registering image #4 (18) ============================================================================== => Image sees 894 / 2130 points Pose refinement report ---------------------- Residuals : 1790 Parameters : 6 Iterations : 10 Time : 0.018945 [s] Initial cost : 0.726962 [px] Final cost : 0.583645 [px] Termination : Convergence => Continued observations: 877 => Added observations: 724 Bundle adjustment report ------------------------ Residuals : 20228 Parameters : 5633 Iterations : 26 Time : 0.619935 [s] Initial cost : 0.782629 [px] Final cost : 0.740796 [px] Termination : No convergence => Merged observations: 88 => Completed observations: 60 => Filtered observations: 131 => Changed observations: 0.025428 Bundle adjustment report ------------------------ Residuals : 20118 Parameters : 5555 Iterations : 5 Time : 0.127958 [s] Initial cost : 0.610584 [px] Final cost : 0.599041 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 14 => Filtered observations: 0 => Changed observations: 0.001832 ============================================================================== Registering image #5 (19) ============================================================================== => Image sees 735 / 2271 points Pose refinement report ---------------------- Residuals : 1464 Parameters : 6 Iterations : 11 Time : 0.017067 [s] Initial cost : 0.591761 [px] Final cost : 0.583856 [px] Termination : Convergence => Continued observations: 721 => Added observations: 808 Bundle adjustment report ------------------------ Residuals : 16102 Parameters : 4763 Iterations : 26 Time : 0.528055 [s] Initial cost : 0.622823 [px] Final cost : 0.577468 [px] Termination : No convergence => Merged observations: 59 => Completed observations: 42 => Filtered observations: 70 => Changed observations: 0.017731 Bundle adjustment report ------------------------ Residuals : 16076 Parameters : 4727 Iterations : 4 Time : 0.0847211 [s] Initial cost : 0.608854 [px] Final cost : 0.599871 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000623 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 28 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888088e+06 0.00e+00 4.87e+06 0.00e+00 0.00e+00 1.00e+04 0 7.06e-02 1.26e-01 1 1.281887e+06 6.06e+05 5.78e+06 1.55e+02 9.90e-01 3.00e+04 1 1.02e-01 2.28e-01 2 1.274357e+06 7.53e+03 1.28e+07 4.45e+02 3.14e-01 2.85e+04 1 9.66e-02 3.24e-01 3 1.256093e+06 1.83e+04 1.30e+06 3.41e+02 9.13e-01 6.51e+04 1 9.83e-02 4.23e-01 4 1.258926e+06 -2.83e+03 0.00e+00 5.01e+02 -7.93e-01 3.26e+04 1 3.89e-02 4.62e-01 5 1.253904e+06 2.19e+03 7.95e+05 3.07e+02 7.07e-01 3.51e+04 1 9.54e-02 5.57e-01 6 1.252793e+06 1.11e+03 4.77e+05 2.58e+02 7.31e-01 3.89e+04 1 1.01e-01 6.58e-01 7 1.252257e+06 5.37e+02 3.22e+05 2.22e+02 7.18e-01 4.24e+04 1 9.67e-02 7.55e-01 8 1.251950e+06 3.06e+02 2.17e+05 1.88e+02 7.48e-01 4.83e+04 1 9.63e-02 8.51e-01 9 1.251780e+06 1.70e+02 1.60e+05 1.64e+02 7.49e-01 5.51e+04 1 1.05e-01 9.56e-01 10 1.251674e+06 1.05e+02 1.15e+05 1.40e+02 7.81e-01 6.70e+04 1 1.01e-01 1.06e+00 11 1.251613e+06 6.17e+01 8.70e+04 1.23e+02 7.86e-01 8.23e+04 1 1.05e-01 1.16e+00 12 1.251576e+06 3.73e+01 6.14e+04 1.03e+02 8.19e-01 1.11e+05 1 9.96e-02 1.26e+00 13 1.251556e+06 1.99e+01 4.37e+04 8.72e+01 8.32e-01 1.57e+05 1 9.91e-02 1.36e+00 14 1.251546e+06 9.85e+00 2.60e+04 6.74e+01 8.79e-01 2.79e+05 1 9.66e-02 1.46e+00 15 1.251542e+06 3.67e+00 1.38e+04 4.92e+01 9.15e-01 6.51e+05 1 9.62e-02 1.55e+00 16 1.251541e+06 9.51e-01 4.07e+03 2.74e+01 9.90e-01 1.95e+06 1 1.00e-01 1.65e+00 17 1.251541e+06 1.25e-01 4.29e+02 8.57e+00 1.03e+00 5.86e+06 1 9.74e-02 1.75e+00 18 1.251541e+06 2.68e-02 2.52e+02 1.25e+00 1.01e+00 1.76e+07 1 9.65e-02 1.85e+00 19 1.251541e+06 4.19e-03 7.01e+01 8.73e-02 9.99e-01 5.27e+07 1 1.07e-01 1.95e+00 20 1.251541e+06 1.27e-04 2.60e+00 4.23e-03 1.00e+00 1.58e+08 1 9.69e-02 2.05e+00 21 1.251541e+06 5.80e-07 1.79e-01 2.86e-04 1.02e+00 4.75e+08 1 1.05e-01 2.16e+00 Bundle adjustment report ------------------------ Residuals : 67888 Parameters : 23668 Iterations : 22 Time : 2.15825 [s] Initial cost : 5.27369 [px] Final cost : 4.29364 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 47 => Filtered observations: 1704 => Changed observations: 0.051585 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.426693e+04 0.00e+00 2.57e+06 0.00e+00 0.00e+00 1.00e+04 0 5.97e-02 1.14e-01 1 3.072205e+04 1.35e+04 1.97e+06 1.24e+02 9.81e-01 3.00e+04 1 9.75e-02 2.11e-01 2 2.579679e+04 4.93e+03 2.70e+06 3.14e+02 8.21e-01 4.08e+04 1 8.92e-02 3.01e-01 3 2.368411e+04 2.11e+03 1.49e+06 3.53e+02 6.56e-01 4.21e+04 1 9.27e-02 3.93e-01 4 2.219573e+04 1.49e+03 7.72e+05 2.99e+02 7.21e-01 4.61e+04 1 8.97e-02 4.83e-01 5 2.142645e+04 7.69e+02 5.32e+05 2.67e+02 6.76e-01 4.82e+04 1 9.24e-02 5.75e-01 6 2.090130e+04 5.25e+02 3.35e+05 2.25e+02 7.32e-01 5.35e+04 1 9.01e-02 6.66e-01 7 2.059156e+04 3.10e+02 2.37e+05 1.98e+02 7.24e-01 5.88e+04 1 9.89e-02 7.65e-01 8 2.038237e+04 2.09e+02 1.63e+05 1.69e+02 7.65e-01 6.91e+04 1 9.27e-02 8.57e-01 9 2.025379e+04 1.29e+02 1.21e+05 1.48e+02 7.67e-01 8.14e+04 1 1.00e-01 9.57e-01 10 2.017099e+04 8.28e+01 8.54e+04 1.24e+02 8.04e-01 1.05e+05 1 1.17e-01 1.07e+00 11 2.012427e+04 4.67e+01 6.21e+04 1.06e+02 8.11e-01 1.38e+05 1 9.50e-02 1.17e+00 12 2.009921e+04 2.51e+01 3.87e+04 8.31e+01 8.54e-01 2.14e+05 1 9.37e-02 1.26e+00 13 2.008873e+04 1.05e+01 2.30e+04 6.34e+01 8.74e-01 3.67e+05 1 9.26e-02 1.36e+00 14 2.008524e+04 3.49e+00 9.76e+03 4.01e+01 9.30e-01 1.01e+06 1 9.00e-02 1.45e+00 15 2.008434e+04 8.98e-01 4.18e+03 2.07e+01 9.71e-01 3.02e+06 1 9.01e-02 1.54e+00 16 2.008399e+04 3.56e-01 3.00e+03 5.98e+00 9.94e-01 9.05e+06 1 9.06e-02 1.63e+00 17 2.008390e+04 8.56e-02 1.22e+03 1.56e+00 9.97e-01 2.72e+07 1 9.95e-02 1.73e+00 18 2.008390e+04 4.62e-03 8.26e+01 3.25e-01 1.00e+00 8.15e+07 1 9.04e-02 1.82e+00 19 2.008390e+04 3.50e-05 1.95e+00 2.76e-02 1.00e+00 2.44e+08 1 9.16e-02 1.91e+00 20 2.008390e+04 3.66e-08 1.30e-02 7.24e-04 1.00e+00 7.33e+08 1 9.67e-02 2.00e+00 Bundle adjustment report ------------------------ Residuals : 64480 Parameters : 23329 Iterations : 21 Time : 2.0062 [s] Initial cost : 0.828566 [px] Final cost : 0.558099 [px] Termination : Convergence => Completed observations: 1255 => Merged observations: 12 => Filtered observations: 7 => Changed observations: 0.039516 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.279137e+04 0.00e+00 3.06e+05 0.00e+00 0.00e+00 1.00e+04 0 6.03e-02 1.15e-01 1 2.188196e+04 9.09e+02 5.48e+04 1.23e+01 1.00e+00 3.00e+04 1 1.01e-01 2.16e-01 2 2.182587e+04 5.61e+01 2.92e+04 2.05e+01 9.99e-01 9.00e+04 1 9.52e-02 3.11e-01 3 2.181316e+04 1.27e+01 2.07e+04 3.34e+01 9.87e-01 2.70e+05 1 9.47e-02 4.06e-01 4 2.181041e+04 2.75e+00 9.33e+03 3.36e+01 9.54e-01 8.10e+05 1 9.51e-02 5.01e-01 5 2.180999e+04 4.19e-01 1.79e+03 1.63e+01 9.83e-01 2.43e+06 1 9.43e-02 5.95e-01 6 2.180997e+04 1.68e-02 6.29e+01 3.09e+00 1.00e+00 7.29e+06 1 1.06e-01 7.01e-01 7 2.180997e+04 7.49e-04 7.55e+00 1.40e-01 1.00e+00 2.19e+07 1 9.43e-02 7.95e-01 8 2.180997e+04 4.32e-05 1.96e+00 2.08e-02 1.00e+00 6.56e+07 1 1.03e-01 8.98e-01 9 2.180997e+04 3.97e-07 1.05e-01 2.51e-03 1.00e+00 1.97e+08 1 1.03e-01 1.00e+00 Bundle adjustment report ------------------------ Residuals : 66976 Parameters : 23323 Iterations : 10 Time : 1.00218 [s] Initial cost : 0.583345 [px] Final cost : 0.570648 [px] Termination : Convergence => Completed observations: 37 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001135 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.204578e+04 0.00e+00 6.31e+04 0.00e+00 0.00e+00 1.00e+04 0 6.26e-02 1.18e-01 1 2.197410e+04 7.17e+01 2.29e+02 3.27e-01 1.00e+00 3.00e+04 1 1.01e-01 2.20e-01 2 2.197385e+04 2.57e-01 1.03e+02 1.52e+00 1.00e+00 9.00e+04 1 9.58e-02 3.16e-01 3 2.197378e+04 6.85e-02 1.22e+02 2.82e+00 1.00e+00 2.70e+05 1 9.60e-02 4.12e-01 4 2.197376e+04 2.06e-02 7.74e+01 3.01e+00 9.99e-01 8.10e+05 1 9.61e-02 5.08e-01 5 2.197375e+04 7.29e-03 2.25e+01 1.48e+00 1.00e+00 2.43e+06 1 1.05e-01 6.12e-01 6 2.197375e+04 4.57e-03 2.75e+01 1.62e-01 1.00e+00 7.29e+06 1 9.95e-02 7.12e-01 7 2.197374e+04 1.30e-03 1.48e+01 1.02e-01 1.00e+00 2.19e+07 1 9.46e-02 8.07e-01 8 2.197374e+04 7.78e-05 1.90e+00 3.51e-02 1.00e+00 6.56e+07 1 1.01e-01 9.08e-01 9 2.197374e+04 7.05e-07 1.79e-01 3.41e-03 1.00e+00 1.97e+08 1 9.65e-02 1.00e+00 Bundle adjustment report ------------------------ Residuals : 67048 Parameters : 23323 Iterations : 10 Time : 1.00568 [s] Initial cost : 0.573416 [px] Final cost : 0.572478 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #6 (20) ============================================================================== => Image sees 902 / 2190 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 7 Time : 0.0137939 [s] Initial cost : 0.602172 [px] Final cost : 0.600817 [px] Termination : Convergence => Continued observations: 889 => Added observations: 733 Bundle adjustment report ------------------------ Residuals : 26978 Parameters : 7394 Iterations : 26 Time : 0.694262 [s] Initial cost : 0.657967 [px] Final cost : 0.622794 [px] Termination : No convergence => Merged observations: 73 => Completed observations: 44 => Filtered observations: 99 => Changed observations: 0.015236 Bundle adjustment report ------------------------ Residuals : 26886 Parameters : 7343 Iterations : 4 Time : 0.114348 [s] Initial cost : 0.599919 [px] Final cost : 0.588466 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 17 => Filtered observations: 0 => Changed observations: 0.001628 ============================================================================== Registering image #7 (21) ============================================================================== => Image sees 700 / 2461 points Pose refinement report ---------------------- Residuals : 1332 Parameters : 6 Iterations : 10 Time : 0.0139561 [s] Initial cost : 0.66388 [px] Final cost : 0.595395 [px] Termination : Convergence => Continued observations: 659 => Added observations: 942 Bundle adjustment report ------------------------ Residuals : 15592 Parameters : 4994 Iterations : 26 Time : 0.512065 [s] Initial cost : 1.10185 [px] Final cost : 1.04828 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 28 => Filtered observations: 130 => Changed observations: 0.019526 Bundle adjustment report ------------------------ Residuals : 15412 Parameters : 4913 Iterations : 4 Time : 0.080601 [s] Initial cost : 0.595283 [px] Final cost : 0.58417 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.001625 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 68 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.937434e+06 0.00e+00 5.48e+07 0.00e+00 0.00e+00 1.00e+04 0 6.66e-02 1.35e-01 1 1.569758e+09 -1.56e+09 0.00e+00 5.74e+01 -2.66e+02 5.00e+03 1 4.67e-02 1.82e-01 2 1.346687e+09 -1.34e+09 0.00e+00 4.68e+00 -2.29e+02 1.25e+03 1 4.01e-02 2.22e-01 3 7.941578e+08 -7.84e+08 0.00e+00 1.05e+01 -1.38e+02 1.56e+02 1 4.75e-02 2.69e-01 4 8.957627e+07 -7.96e+07 0.00e+00 5.00e+01 -1.54e+01 9.77e+00 1 4.03e-02 3.10e-01 5 6.491583e+06 3.45e+06 4.26e+07 1.15e+01 9.84e-01 2.93e+01 1 1.08e-01 4.17e-01 6 5.728792e+06 7.63e+05 3.99e+07 1.79e+01 9.28e-01 7.83e+01 1 1.05e-01 5.22e-01 7 5.310014e+06 4.19e+05 4.55e+07 2.12e+01 8.43e-01 1.16e+02 1 1.07e-01 6.29e-01 8 5.049617e+06 2.60e+05 2.76e+07 9.48e+00 9.17e-01 2.75e+02 1 1.06e-01 7.34e-01 9 4.952241e+06 9.74e+04 6.00e+07 2.44e+00 4.16e-01 2.73e+02 1 1.05e-01 8.39e-01 10 4.706085e+06 2.46e+05 2.01e+07 6.25e+00 9.68e-01 8.20e+02 1 1.06e-01 9.45e-01 11 4.831317e+06 -1.25e+05 0.00e+00 2.10e+01 -6.07e-01 4.10e+02 1 4.33e-02 9.88e-01 12 4.605096e+06 1.01e+05 3.12e+07 1.22e+01 7.57e-01 4.75e+02 1 1.12e-01 1.10e+00 13 4.481573e+06 1.24e+05 2.14e+07 1.32e+01 9.27e-01 1.25e+03 1 1.06e-01 1.21e+00 14 4.515553e+06 -3.40e+04 0.00e+00 2.63e+01 -1.97e-01 6.27e+02 1 4.87e-02 1.26e+00 15 4.382657e+06 9.89e+04 2.44e+07 1.71e+01 8.64e-01 1.02e+03 1 1.01e-01 1.36e+00 16 4.284957e+06 9.77e+04 3.43e+07 2.42e+01 7.22e-01 1.12e+03 1 1.12e-01 1.47e+00 17 4.144488e+06 1.40e+05 2.17e+07 2.90e+01 9.67e-01 3.36e+03 1 1.06e-01 1.57e+00 18 4.209423e+06 -6.49e+04 0.00e+00 8.89e+01 -4.01e-01 1.68e+03 1 4.34e-02 1.62e+00 19 4.043789e+06 1.01e+05 2.83e+07 5.23e+01 8.21e-01 2.29e+03 1 1.02e-01 1.72e+00 20 3.921219e+06 1.23e+05 1.93e+07 8.84e+01 9.88e-01 6.86e+03 1 1.05e-01 1.82e+00 21 3.868417e+06 5.28e+04 3.42e+07 3.16e+02 5.04e-01 6.86e+03 1 1.03e-01 1.93e+00 22 3.762735e+06 1.06e+05 1.01e+07 4.19e+02 9.54e-01 2.06e+04 1 1.04e-01 2.03e+00 23 4.058443e+06 -2.96e+05 0.00e+00 1.16e+03 -4.13e+00 1.03e+04 1 4.83e-02 2.08e+00 24 3.842353e+06 -7.96e+04 0.00e+00 6.61e+02 -1.32e+00 2.57e+03 1 4.08e-02 2.12e+00 25 3.747998e+06 1.47e+04 6.70e+06 1.94e+02 4.05e-01 2.55e+03 1 1.01e-01 2.22e+00 26 3.736934e+06 1.11e+04 3.77e+06 1.92e+02 2.97e-01 2.39e+03 1 1.09e-01 2.33e+00 27 3.744486e+06 -7.55e+03 0.00e+00 2.01e+02 -1.78e-01 1.20e+03 1 4.26e-02 2.37e+00 28 3.727049e+06 9.89e+03 3.23e+06 1.04e+02 3.55e-01 1.17e+03 1 1.03e-01 2.48e+00 29 3.716040e+06 1.10e+04 2.70e+05 9.39e+01 7.05e-01 1.25e+03 1 1.04e-01 2.58e+00 30 3.688575e+06 2.75e+04 2.30e+06 1.11e+02 1.36e+00 3.76e+03 1 1.19e-01 2.70e+00 31 3.646229e+06 4.23e+04 1.23e+07 3.36e+02 5.22e-01 3.76e+03 1 1.11e-01 2.81e+00 32 3.462367e+06 1.84e+05 1.72e+07 2.90e+02 1.12e+00 1.13e+04 1 1.04e-01 2.92e+00 33 4.098737e+06 -6.36e+05 0.00e+00 8.42e+02 -3.08e+00 5.64e+03 1 4.16e-02 2.96e+00 34 3.445461e+06 1.69e+04 5.73e+07 4.45e+02 1.11e-01 3.84e+03 1 1.03e-01 3.06e+00 35 3.227042e+06 2.18e+05 1.31e+07 3.07e+02 1.00e+00 1.15e+04 1 1.14e-01 3.17e+00 36 3.262160e+06 -3.51e+04 0.00e+00 8.93e+02 -3.66e-01 5.75e+03 1 4.11e-02 3.21e+00 37 3.176713e+06 5.03e+04 1.96e+07 4.74e+02 7.59e-01 6.69e+03 1 1.10e-01 3.32e+00 38 3.130984e+06 4.57e+04 9.59e+06 5.25e+02 8.91e-01 1.28e+04 1 1.07e-01 3.43e+00 39 3.132591e+06 -1.61e+03 0.00e+00 9.24e+02 -3.74e-02 6.40e+03 1 4.37e-02 3.47e+00 40 3.105080e+06 2.59e+04 4.59e+06 4.90e+02 8.93e-01 1.25e+04 1 1.03e-01 3.58e+00 41 3.105760e+06 -6.80e+02 0.00e+00 8.65e+02 -2.35e-02 6.23e+03 1 4.23e-02 3.62e+00 42 3.088664e+06 1.64e+04 2.38e+06 4.57e+02 8.89e-01 1.18e+04 1 1.04e-01 3.72e+00 43 3.086211e+06 2.45e+03 4.71e+06 7.91e+02 1.16e-01 8.11e+03 1 1.08e-01 3.83e+00 44 3.060867e+06 2.53e+04 1.71e+06 5.24e+02 9.07e-01 1.76e+04 1 1.07e-01 3.94e+00 45 3.081051e+06 -2.02e+04 0.00e+00 1.00e+03 -1.17e+00 8.79e+03 1 4.22e-02 3.98e+00 46 3.052868e+06 8.00e+03 1.72e+06 5.33e+02 7.33e-01 9.78e+03 1 1.06e-01 4.09e+00 47 3.045954e+06 6.91e+03 1.74e+06 5.56e+02 6.85e-01 1.03e+04 1 1.08e-01 4.20e+00 48 3.039433e+06 6.52e+03 1.61e+06 5.51e+02 6.99e-01 1.10e+04 1 1.13e-01 4.31e+00 49 3.033853e+06 5.58e+03 1.54e+06 5.52e+02 6.82e-01 1.15e+04 1 1.10e-01 4.42e+00 50 3.028836e+06 5.02e+03 1.44e+06 5.44e+02 6.89e-01 1.22e+04 1 1.11e-01 4.53e+00 Bundle adjustment report ------------------------ Residuals : 73382 Parameters : 25549 Iterations : 51 Time : 4.53054 [s] Initial cost : 11.637 [px] Final cost : 6.42456 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 15 => Filtered observations: 10099 => Changed observations: 0.275653 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.433874e+04 0.00e+00 3.20e+06 0.00e+00 0.00e+00 1.00e+04 0 4.85e-02 9.33e-02 1 3.732421e+04 1.70e+04 1.09e+07 8.90e+01 6.38e-01 1.02e+04 1 7.69e-02 1.70e-01 2 2.839439e+04 8.93e+03 8.12e+06 8.52e+01 6.99e-01 1.09e+04 1 7.56e-02 2.46e-01 3 2.392272e+04 4.47e+03 4.48e+06 9.21e+01 7.97e-01 1.38e+04 1 7.32e-02 3.19e-01 4 2.185117e+04 2.07e+03 2.30e+06 1.19e+02 8.64e-01 2.25e+04 1 7.53e-02 3.95e-01 5 2.057808e+04 1.27e+03 1.16e+06 1.95e+02 9.01e-01 4.66e+04 1 8.28e-02 4.77e-01 6 1.981841e+04 7.60e+02 1.14e+06 3.95e+02 6.62e-01 4.82e+04 1 8.36e-02 5.61e-01 7 1.922205e+04 5.96e+02 5.18e+05 3.92e+02 6.40e-01 4.93e+04 1 7.12e-02 6.32e-01 8 1.886062e+04 3.61e+02 4.77e+05 3.83e+02 5.23e-01 4.93e+04 1 7.55e-02 7.08e-01 9 1.856054e+04 3.00e+02 4.39e+05 3.63e+02 5.06e-01 4.93e+04 1 8.90e-02 7.97e-01 10 1.830695e+04 2.54e+02 4.04e+05 3.43e+02 5.01e-01 4.93e+04 1 7.20e-02 8.69e-01 11 1.808496e+04 2.22e+02 3.69e+05 3.24e+02 5.10e-01 4.93e+04 1 7.37e-02 9.43e-01 12 1.788816e+04 1.97e+02 3.33e+05 3.04e+02 5.26e-01 4.93e+04 1 7.33e-02 1.02e+00 13 1.771316e+04 1.75e+02 2.99e+05 2.85e+02 5.47e-01 4.94e+04 1 7.35e-02 1.09e+00 14 1.755766e+04 1.56e+02 2.67e+05 2.67e+02 5.70e-01 4.95e+04 1 7.94e-02 1.17e+00 15 1.741971e+04 1.38e+02 2.38e+05 2.50e+02 5.92e-01 4.98e+04 1 9.05e-02 1.26e+00 16 1.729733e+04 1.22e+02 2.13e+05 2.35e+02 6.13e-01 5.04e+04 1 7.32e-02 1.33e+00 17 1.718842e+04 1.09e+02 1.91e+05 2.21e+02 6.31e-01 5.13e+04 1 7.35e-02 1.41e+00 18 1.709088e+04 9.75e+01 1.74e+05 2.09e+02 6.47e-01 5.27e+04 1 7.20e-02 1.48e+00 19 1.700281e+04 8.81e+01 1.59e+05 1.99e+02 6.60e-01 5.44e+04 1 8.00e-02 1.56e+00 20 1.692264e+04 8.02e+01 1.46e+05 1.90e+02 6.70e-01 5.67e+04 1 7.20e-02 1.63e+00 21 1.684913e+04 7.35e+01 1.36e+05 1.82e+02 6.79e-01 5.94e+04 1 7.14e-02 1.70e+00 22 1.678135e+04 6.78e+01 1.40e+05 1.75e+02 6.86e-01 6.26e+04 1 8.11e-02 1.78e+00 23 1.671866e+04 6.27e+01 1.53e+05 1.68e+02 6.92e-01 6.63e+04 1 7.35e-02 1.86e+00 24 1.666060e+04 5.81e+01 1.67e+05 1.62e+02 6.96e-01 7.06e+04 1 7.65e-02 1.93e+00 25 1.660688e+04 5.37e+01 1.81e+05 1.56e+02 7.01e-01 7.55e+04 1 7.31e-02 2.01e+00 26 1.655732e+04 4.96e+01 1.96e+05 1.49e+02 7.04e-01 8.10e+04 1 7.23e-02 2.08e+00 27 1.651185e+04 4.55e+01 2.10e+05 1.43e+02 7.07e-01 8.72e+04 1 7.43e-02 2.15e+00 28 1.647043e+04 4.14e+01 2.23e+05 1.36e+02 7.10e-01 9.42e+04 1 7.16e-02 2.22e+00 29 1.643309e+04 3.73e+01 2.32e+05 1.29e+02 7.12e-01 1.02e+05 1 7.18e-02 2.30e+00 30 1.639985e+04 3.32e+01 2.37e+05 1.21e+02 7.15e-01 1.11e+05 1 7.36e-02 2.37e+00 31 1.637071e+04 2.91e+01 2.37e+05 1.13e+02 7.18e-01 1.21e+05 1 7.60e-02 2.45e+00 32 1.634563e+04 2.51e+01 2.31e+05 1.05e+02 7.23e-01 1.32e+05 1 7.23e-02 2.52e+00 33 1.632451e+04 2.11e+01 2.18e+05 9.69e+01 7.29e-01 1.46e+05 1 8.26e-02 2.60e+00 34 1.630717e+04 1.73e+01 2.01e+05 8.87e+01 7.37e-01 1.64e+05 1 7.44e-02 2.68e+00 35 1.629336e+04 1.38e+01 1.78e+05 8.06e+01 7.47e-01 1.86e+05 1 8.02e-02 2.76e+00 36 1.628273e+04 1.06e+01 1.54e+05 7.26e+01 7.60e-01 2.17e+05 1 7.40e-02 2.83e+00 37 1.627489e+04 7.84e+00 1.27e+05 6.48e+01 7.76e-01 2.60e+05 1 7.33e-02 2.90e+00 38 1.626939e+04 5.50e+00 1.01e+05 5.69e+01 7.95e-01 3.28e+05 1 7.40e-02 2.98e+00 39 1.626575e+04 3.64e+00 7.55e+04 4.88e+01 8.21e-01 4.46e+05 1 7.32e-02 3.05e+00 40 1.626350e+04 2.25e+00 5.24e+04 4.02e+01 8.55e-01 6.93e+05 1 7.23e-02 3.12e+00 41 1.626217e+04 1.33e+00 3.25e+04 3.06e+01 9.02e-01 1.44e+06 1 7.28e-02 3.20e+00 42 1.626137e+04 8.03e-01 1.64e+04 1.90e+01 9.57e-01 4.32e+06 1 7.09e-02 3.27e+00 43 1.626095e+04 4.15e-01 6.38e+03 5.26e+00 9.84e-01 1.30e+07 1 7.40e-02 3.34e+00 44 1.626088e+04 7.66e-02 1.98e+03 6.13e-01 9.93e-01 3.89e+07 1 7.67e-02 3.42e+00 45 1.626088e+04 2.89e-03 8.49e+01 2.32e-01 1.00e+00 1.17e+08 1 7.68e-02 3.49e+00 46 1.626088e+04 1.27e-05 1.58e+00 1.62e-02 1.00e+00 3.50e+08 1 8.29e-02 3.58e+00 47 1.626088e+04 1.54e-08 2.02e-02 7.11e-04 9.89e-01 1.05e+09 1 7.28e-02 3.65e+00 Bundle adjustment report ------------------------ Residuals : 53184 Parameters : 21250 Iterations : 48 Time : 3.65073 [s] Initial cost : 1.0108 [px] Final cost : 0.552944 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 26 => Filtered observations: 47 => Changed observations: 0.002745 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.549788e+04 0.00e+00 3.43e+05 0.00e+00 0.00e+00 1.00e+04 0 6.00e-02 1.04e-01 1 1.537885e+04 1.19e+02 3.06e+05 7.51e+00 9.25e-01 2.59e+04 1 8.13e-02 1.86e-01 2 1.534364e+04 3.52e+01 1.16e+05 1.66e+01 9.30e-01 7.11e+04 1 7.29e-02 2.59e-01 3 1.532213e+04 2.15e+01 4.10e+05 3.95e+01 4.95e-01 7.11e+04 1 7.52e-02 3.34e-01 4 1.528597e+04 3.62e+01 2.87e+05 3.62e+01 6.99e-01 7.59e+04 1 7.13e-02 4.05e-01 5 1.526030e+04 2.57e+01 3.45e+05 3.52e+01 6.04e-01 7.66e+04 1 7.28e-02 4.78e-01 6 1.523486e+04 2.54e+01 3.64e+05 3.27e+01 6.13e-01 7.75e+04 1 7.26e-02 5.51e-01 7 1.521150e+04 2.34e+01 3.79e+05 3.07e+01 5.92e-01 7.80e+04 1 7.24e-02 6.23e-01 8 1.518907e+04 2.24e+01 3.86e+05 2.88e+01 5.82e-01 7.83e+04 1 7.54e-02 6.99e-01 9 1.516749e+04 2.16e+01 3.90e+05 2.71e+01 5.72e-01 7.86e+04 1 7.22e-02 7.71e-01 10 1.514667e+04 2.08e+01 3.91e+05 2.56e+01 5.64e-01 7.87e+04 1 7.32e-02 8.44e-01 11 1.512659e+04 2.01e+01 3.91e+05 2.42e+01 5.56e-01 7.88e+04 1 7.86e-02 9.23e-01 12 1.510723e+04 1.94e+01 3.91e+05 2.30e+01 5.48e-01 7.89e+04 1 7.16e-02 9.94e-01 13 1.508856e+04 1.87e+01 3.90e+05 2.19e+01 5.40e-01 7.90e+04 1 7.42e-02 1.07e+00 14 1.507057e+04 1.80e+01 3.88e+05 2.09e+01 5.33e-01 7.90e+04 1 7.77e-02 1.15e+00 15 1.505324e+04 1.73e+01 3.87e+05 1.99e+01 5.24e-01 7.90e+04 1 7.20e-02 1.22e+00 16 1.503655e+04 1.67e+01 3.86e+05 1.91e+01 5.16e-01 7.90e+04 1 7.37e-02 1.29e+00 17 1.502046e+04 1.61e+01 3.85e+05 1.83e+01 5.07e-01 7.90e+04 1 7.36e-02 1.37e+00 18 1.500496e+04 1.55e+01 3.85e+05 1.75e+01 4.98e-01 7.90e+04 1 7.14e-02 1.44e+00 19 1.499002e+04 1.49e+01 3.85e+05 1.68e+01 4.88e-01 7.90e+04 1 7.28e-02 1.51e+00 20 1.497560e+04 1.44e+01 3.86e+05 1.62e+01 4.78e-01 7.90e+04 1 7.04e-02 1.58e+00 21 1.496169e+04 1.39e+01 3.87e+05 1.55e+01 4.67e-01 7.90e+04 1 7.10e-02 1.65e+00 22 1.494825e+04 1.34e+01 3.88e+05 1.49e+01 4.56e-01 7.89e+04 1 7.26e-02 1.72e+00 23 1.493525e+04 1.30e+01 3.91e+05 1.44e+01 4.45e-01 7.88e+04 1 7.07e-02 1.79e+00 24 1.492266e+04 1.26e+01 3.93e+05 1.38e+01 4.33e-01 7.86e+04 1 7.17e-02 1.87e+00 25 1.491044e+04 1.22e+01 3.96e+05 1.33e+01 4.22e-01 7.83e+04 1 8.01e-02 1.95e+00 26 1.489856e+04 1.19e+01 3.98e+05 1.28e+01 4.12e-01 7.79e+04 1 7.27e-02 2.02e+00 27 1.488700e+04 1.16e+01 4.01e+05 1.23e+01 4.02e-01 7.73e+04 1 8.22e-02 2.10e+00 28 1.487573e+04 1.13e+01 4.03e+05 1.18e+01 3.94e-01 7.66e+04 1 7.31e-02 2.17e+00 29 1.486472e+04 1.10e+01 4.04e+05 1.13e+01 3.86e-01 7.57e+04 1 7.20e-02 2.25e+00 30 1.485397e+04 1.07e+01 4.06e+05 1.08e+01 3.79e-01 7.46e+04 1 7.39e-02 2.32e+00 31 1.484346e+04 1.05e+01 4.07e+05 1.03e+01 3.72e-01 7.34e+04 1 7.24e-02 2.39e+00 32 1.483319e+04 1.03e+01 4.07e+05 9.78e+00 3.66e-01 7.20e+04 1 7.08e-02 2.46e+00 33 1.482314e+04 1.00e+01 4.07e+05 9.30e+00 3.61e-01 7.05e+04 1 7.30e-02 2.54e+00 34 1.481331e+04 9.83e+00 4.07e+05 8.83e+00 3.56e-01 6.89e+04 1 7.31e-02 2.61e+00 35 1.480368e+04 9.63e+00 4.07e+05 8.38e+00 3.51e-01 6.71e+04 1 7.44e-02 2.68e+00 36 1.479425e+04 9.43e+00 4.07e+05 7.93e+00 3.47e-01 6.52e+04 1 7.23e-02 2.76e+00 37 1.478500e+04 9.25e+00 4.06e+05 7.50e+00 3.43e-01 6.33e+04 1 7.44e-02 2.83e+00 38 1.477592e+04 9.08e+00 4.06e+05 7.09e+00 3.39e-01 6.12e+04 1 7.11e-02 2.90e+00 39 1.476700e+04 8.92e+00 4.06e+05 6.68e+00 3.35e-01 5.91e+04 1 7.94e-02 2.98e+00 40 1.475823e+04 8.78e+00 4.06e+05 6.30e+00 3.32e-01 5.69e+04 1 7.09e-02 3.05e+00 41 1.474958e+04 8.64e+00 4.06e+05 5.93e+00 3.28e-01 5.47e+04 1 8.33e-02 3.14e+00 42 1.474106e+04 8.52e+00 4.07e+05 5.57e+00 3.25e-01 5.24e+04 1 7.26e-02 3.21e+00 43 1.473265e+04 8.42e+00 4.07e+05 5.23e+00 3.22e-01 5.02e+04 1 7.23e-02 3.28e+00 44 1.472433e+04 8.32e+00 4.08e+05 4.90e+00 3.18e-01 4.79e+04 1 7.37e-02 3.35e+00 45 1.471609e+04 8.24e+00 4.09e+05 4.59e+00 3.15e-01 4.56e+04 1 7.07e-02 3.43e+00 46 1.470792e+04 8.17e+00 4.10e+05 4.30e+00 3.12e-01 4.33e+04 1 7.12e-02 3.50e+00 47 1.469982e+04 8.11e+00 4.12e+05 4.01e+00 3.10e-01 4.10e+04 1 7.30e-02 3.57e+00 48 1.469176e+04 8.06e+00 4.13e+05 3.74e+00 3.07e-01 3.88e+04 1 7.42e-02 3.64e+00 49 1.468375e+04 8.01e+00 4.15e+05 3.49e+00 3.04e-01 3.66e+04 1 7.20e-02 3.72e+00 50 1.467577e+04 7.98e+00 4.17e+05 3.25e+00 3.01e-01 3.44e+04 1 7.31e-02 3.79e+00 Bundle adjustment report ------------------------ Residuals : 53090 Parameters : 21181 Iterations : 51 Time : 3.79039 [s] Initial cost : 0.540293 [px] Final cost : 0.525768 [px] Termination : No convergence => Completed observations: 3959 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.149218 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.310618e+04 0.00e+00 5.27e+05 0.00e+00 0.00e+00 1.00e+04 0 6.16e-02 1.11e-01 1 1.980539e+04 3.30e+03 1.45e+06 3.90e+01 9.42e-01 3.00e+04 1 8.84e-02 1.99e-01 2 1.956329e+04 2.42e+02 8.69e+05 7.75e+01 7.22e-01 3.29e+04 1 9.70e-02 2.96e-01 3 1.960739e+04 -4.41e+01 0.00e+00 7.09e+01 -3.03e-01 1.64e+04 1 3.55e-02 3.32e-01 4 1.945308e+04 1.10e+02 3.59e+05 3.80e+01 8.86e-01 3.05e+04 1 8.62e-02 4.18e-01 5 1.957769e+04 -1.25e+02 0.00e+00 6.16e+01 -2.24e+00 1.53e+04 1 3.57e-02 4.54e-01 6 1.942907e+04 2.40e+01 3.49e+05 3.28e+01 6.48e-01 1.57e+04 1 8.59e-02 5.40e-01 7 1.941322e+04 1.59e+01 4.20e+05 3.13e+01 4.57e-01 1.57e+04 1 8.84e-02 6.28e-01 8 1.939896e+04 1.43e+01 4.87e+05 2.93e+01 3.60e-01 1.53e+04 1 8.74e-02 7.16e-01 9 1.938589e+04 1.31e+01 5.51e+05 2.68e+01 2.87e-01 1.42e+04 1 8.84e-02 8.04e-01 10 1.936948e+04 1.64e+01 5.73e+05 2.35e+01 3.18e-01 1.36e+04 1 8.66e-02 8.91e-01 11 1.935848e+04 1.10e+01 6.32e+05 2.12e+01 2.04e-01 1.12e+04 1 8.55e-02 9.76e-01 12 1.933122e+04 2.73e+01 5.46e+05 1.68e+01 4.61e-01 1.12e+04 1 8.50e-02 1.06e+00 13 1.932879e+04 2.43e+00 6.57e+05 1.60e+01 4.97e-02 6.49e+03 1 9.11e-02 1.15e+00 14 1.928092e+04 4.79e+01 2.98e+05 9.00e+00 8.35e-01 9.29e+03 1 8.63e-02 1.24e+00 15 1.930254e+04 -2.16e+01 0.00e+00 1.24e+01 -8.75e-01 4.64e+03 1 3.33e-02 1.27e+00 16 1.926670e+04 1.42e+01 1.80e+05 6.31e+00 8.07e-01 6.04e+03 1 9.23e-02 1.36e+00 17 1.926438e+04 2.32e+00 3.31e+05 8.02e+00 1.66e-01 4.65e+03 1 8.69e-02 1.45e+00 18 1.925014e+04 1.42e+01 2.42e+05 6.06e+00 6.96e-01 4.95e+03 1 8.76e-02 1.54e+00 19 1.924470e+04 5.43e+00 3.12e+05 6.33e+00 3.45e-01 4.81e+03 1 8.65e-02 1.63e+00 20 1.923764e+04 7.06e+00 3.48e+05 6.03e+00 3.53e-01 4.69e+03 1 8.73e-02 1.71e+00 21 1.923151e+04 6.13e+00 3.94e+05 5.78e+00 2.70e-01 4.27e+03 1 8.98e-02 1.80e+00 22 1.922248e+04 9.04e+00 3.96e+05 5.20e+00 3.50e-01 4.16e+03 1 8.67e-02 1.89e+00 23 1.921751e+04 4.96e+00 4.42e+05 4.99e+00 1.92e-01 3.37e+03 1 8.47e-02 1.97e+00 24 1.920258e+04 1.49e+01 3.56e+05 4.01e+00 5.25e-01 3.37e+03 1 8.50e-02 2.06e+00 25 1.919809e+04 4.48e+00 3.90e+05 3.98e+00 2.16e-01 2.85e+03 1 9.13e-02 2.15e+00 26 1.918641e+04 1.17e+01 3.12e+05 3.35e+00 5.30e-01 2.85e+03 1 8.59e-02 2.24e+00 27 1.918075e+04 5.66e+00 3.03e+05 3.35e+00 3.65e-01 2.80e+03 1 9.67e-02 2.33e+00 28 1.917400e+04 6.75e+00 2.61e+05 3.28e+00 4.81e-01 2.80e+03 1 8.81e-02 2.42e+00 29 1.916786e+04 6.14e+00 2.04e+05 3.27e+00 5.81e-01 2.81e+03 1 9.01e-02 2.51e+00 30 1.916302e+04 4.84e+00 1.40e+05 3.28e+00 6.98e-01 3.00e+03 1 8.69e-02 2.60e+00 31 1.915990e+04 3.12e+00 9.39e+04 3.47e+00 7.70e-01 3.55e+03 1 8.66e-02 2.69e+00 32 1.915769e+04 2.21e+00 6.63e+04 4.07e+00 8.26e-01 4.91e+03 1 8.52e-02 2.77e+00 33 1.915569e+04 1.99e+00 5.17e+04 5.53e+00 8.76e-01 8.55e+03 1 8.68e-02 2.86e+00 34 1.915329e+04 2.40e+00 4.52e+04 9.31e+00 9.17e-01 2.04e+04 1 8.55e-02 2.94e+00 35 1.914930e+04 3.99e+00 4.03e+04 2.05e+01 9.55e-01 6.11e+04 1 8.41e-02 3.03e+00 36 1.914215e+04 7.15e+00 2.38e+04 4.93e+01 9.28e-01 1.64e+05 1 8.52e-02 3.11e+00 37 1.913634e+04 5.82e+00 3.81e+04 7.98e+01 6.24e-01 1.66e+05 1 9.07e-02 3.20e+00 38 1.912997e+04 6.37e+00 1.44e+04 4.84e+01 9.28e-01 4.47e+05 1 8.57e-02 3.29e+00 39 1.912806e+04 1.90e+00 1.45e+04 4.71e+01 8.03e-01 5.74e+05 1 9.25e-02 3.38e+00 40 1.912719e+04 8.78e-01 2.88e+03 1.88e+01 9.84e-01 1.72e+06 1 8.57e-02 3.47e+00 41 1.912694e+04 2.45e-01 1.84e+03 8.24e+00 9.94e-01 5.17e+06 1 8.49e-02 3.55e+00 42 1.912687e+04 7.39e-02 9.04e+02 2.06e+00 9.98e-01 1.55e+07 1 8.62e-02 3.64e+00 43 1.912686e+04 5.58e-03 9.12e+01 3.98e-01 1.00e+00 4.65e+07 1 8.47e-02 3.72e+00 44 1.912686e+04 6.54e-05 1.96e+00 3.91e-02 1.00e+00 1.40e+08 1 8.46e-02 3.81e+00 45 1.912686e+04 1.03e-07 2.26e-02 1.25e-03 1.00e+00 4.19e+08 1 8.86e-02 3.90e+00 Bundle adjustment report ------------------------ Residuals : 61004 Parameters : 21181 Iterations : 46 Time : 3.89732 [s] Initial cost : 0.615439 [px] Final cost : 0.559942 [px] Termination : Convergence => Completed observations: 312 => Merged observations: 0 => Filtered observations: 11 => Changed observations: 0.010589 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.038911e+04 0.00e+00 1.15e+05 0.00e+00 0.00e+00 1.00e+04 0 5.35e-02 1.06e-01 1 2.009908e+04 2.90e+02 1.58e+06 3.94e+00 5.28e-01 1.00e+04 1 1.21e-01 2.28e-01 2 1.983806e+04 2.61e+02 3.69e+04 2.85e+00 9.99e-01 3.00e+04 1 8.71e-02 3.15e-01 3 1.983718e+04 8.76e-01 8.09e+03 6.72e+00 9.94e-01 9.00e+04 1 9.46e-02 4.10e-01 4 1.983662e+04 5.56e-01 1.26e+03 1.43e+01 9.93e-01 2.70e+05 1 8.59e-02 4.96e-01 5 1.983619e+04 4.33e-01 2.53e+03 2.02e+01 9.66e-01 8.10e+05 1 8.74e-02 5.83e-01 6 1.983605e+04 1.37e-01 1.25e+03 1.40e+01 9.73e-01 2.43e+06 1 8.60e-02 6.69e-01 7 1.983604e+04 1.36e-02 1.32e+02 3.92e+00 9.97e-01 7.29e+06 1 8.47e-02 7.54e-01 8 1.983604e+04 8.02e-04 1.12e+01 4.72e-01 9.99e-01 2.19e+07 1 8.49e-02 8.39e-01 9 1.983604e+04 3.04e-05 1.84e+00 3.78e-02 1.00e+00 6.56e+07 1 8.75e-02 9.26e-01 10 1.983604e+04 1.87e-07 3.97e-02 2.11e-03 1.00e+00 1.97e+08 1 8.43e-02 1.01e+00 Bundle adjustment report ------------------------ Residuals : 61606 Parameters : 21181 Iterations : 11 Time : 1.01173 [s] Initial cost : 0.575291 [px] Final cost : 0.567435 [px] Termination : Convergence => Completed observations: 29 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000974 => Filtered images: 0 ============================================================================== Registering image #8 (22) ============================================================================== => Image sees 555 / 2841 points Pose refinement report ---------------------- Residuals : 1020 Parameters : 6 Iterations : 29 Time : 0.02987 [s] Initial cost : 0.708407 [px] Final cost : 0.651151 [px] Termination : Convergence => Continued observations: 508 => Added observations: 3007 Bundle adjustment report ------------------------ Residuals : 35726 Parameters : 10613 Iterations : 26 Time : 0.774101 [s] Initial cost : 1.09576 [px] Final cost : 1.01745 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 555 => Filtered observations: 226 => Changed observations: 0.043943 Bundle adjustment report ------------------------ Residuals : 36386 Parameters : 10454 Iterations : 6 Time : 0.184682 [s] Initial cost : 0.60719 [px] Final cost : 0.585994 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 98 => Filtered observations: 2 => Changed observations: 0.006327 ============================================================================== Retriangulation ============================================================================== => Completed observations: 7 => Merged observations: 0 => Retriangulated observations: 116 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.068688e+07 0.00e+00 4.58e+07 0.00e+00 0.00e+00 1.00e+04 0 7.27e-02 1.30e-01 1 1.046858e+09 -1.04e+09 0.00e+00 4.53e+02 -1.45e+02 5.00e+03 1 4.40e-02 1.74e-01 2 7.010941e+08 -6.90e+08 0.00e+00 2.77e+02 -9.78e+01 1.25e+03 1 3.81e-02 2.12e-01 3 1.713577e+08 -1.61e+08 0.00e+00 1.55e+02 -2.38e+01 1.56e+02 1 3.80e-02 2.50e-01 4 8.506982e+06 2.18e+06 2.10e+08 9.57e+01 3.66e-01 1.53e+02 1 1.07e-01 3.57e-01 5 4.504146e+06 4.00e+06 1.73e+07 4.21e+01 9.95e-01 4.60e+02 1 9.97e-02 4.57e-01 6 4.454068e+06 5.01e+04 7.49e+07 3.23e+01 1.63e-01 3.52e+02 1 9.85e-02 5.55e-01 7 4.082383e+06 3.72e+05 1.13e+07 2.16e+01 9.76e-01 1.06e+03 1 9.84e-02 6.54e-01 8 4.030829e+06 5.16e+04 4.27e+07 4.80e+01 2.42e-01 9.30e+02 1 1.01e-01 7.55e-01 9 3.763221e+06 2.68e+05 1.50e+07 4.44e+01 9.76e-01 2.79e+03 1 9.74e-02 8.52e-01 10 3.745612e+06 1.76e+04 4.97e+07 9.20e+01 9.57e-02 1.82e+03 1 9.73e-02 9.49e-01 11 3.453852e+06 2.92e+05 7.90e+06 5.57e+01 1.06e+00 5.47e+03 1 9.63e-02 1.05e+00 12 3.393241e+06 6.06e+04 2.19e+07 8.50e+01 4.82e-01 5.47e+03 1 1.10e-01 1.16e+00 13 3.259866e+06 1.33e+05 8.55e+06 2.88e+01 9.94e-01 1.64e+04 1 1.00e-01 1.26e+00 14 3.268765e+06 -8.90e+03 0.00e+00 1.08e+02 -1.23e-01 8.21e+03 1 4.73e-02 1.30e+00 15 3.219015e+06 4.09e+04 9.16e+06 6.13e+01 8.08e-01 1.07e+04 1 9.94e-02 1.40e+00 16 3.180011e+06 3.90e+04 6.24e+06 1.45e+02 9.47e-01 3.21e+04 1 9.60e-02 1.50e+00 17 3.209616e+06 -2.96e+04 0.00e+00 5.04e+02 -6.85e-01 1.61e+04 1 3.98e-02 1.54e+00 18 3.155965e+06 2.40e+04 6.09e+06 2.97e+02 7.94e-01 2.01e+04 1 9.62e-02 1.63e+00 19 3.132584e+06 2.34e+04 5.77e+06 4.41e+02 8.66e-01 3.31e+04 1 1.03e-01 1.74e+00 20 3.132288e+06 2.96e+02 8.38e+06 7.82e+02 1.16e-02 1.71e+04 1 1.00e-01 1.84e+00 21 3.097231e+06 3.51e+04 1.42e+06 5.33e+02 9.59e-01 5.13e+04 1 9.99e-02 1.94e+00 22 3.260845e+06 -1.64e+05 0.00e+00 1.42e+03 -7.52e+00 2.57e+04 1 3.78e-02 1.98e+00 23 3.101192e+06 -3.96e+03 0.00e+00 8.32e+02 -2.72e-01 6.42e+03 1 3.74e-02 2.01e+00 24 3.090135e+06 7.10e+03 6.42e+05 2.51e+02 1.05e+00 1.93e+04 1 1.01e-01 2.11e+00 25 3.089608e+06 5.27e+02 2.64e+06 7.01e+02 5.48e-02 1.13e+04 1 1.05e-01 2.22e+00 26 3.074656e+06 1.50e+04 9.55e+05 4.80e+02 9.50e-01 3.39e+04 1 1.10e-01 2.33e+00 27 3.163511e+06 -8.89e+04 0.00e+00 1.32e+03 -5.72e+00 1.69e+04 1 4.16e-02 2.37e+00 28 3.073333e+06 1.32e+03 2.41e+06 7.38e+02 1.37e-01 1.22e+04 1 9.73e-02 2.47e+00 29 3.060185e+06 1.31e+04 1.36e+06 6.01e+02 8.54e-01 1.89e+04 1 9.92e-02 2.57e+00 30 3.066699e+06 -6.51e+03 0.00e+00 9.51e+02 -5.31e-01 9.47e+03 1 4.08e-02 2.61e+00 31 3.052772e+06 7.41e+03 9.49e+05 5.16e+02 9.01e-01 1.96e+04 1 1.01e-01 2.71e+00 32 3.067615e+06 -1.48e+04 0.00e+00 1.05e+03 -1.31e+00 9.78e+03 1 4.02e-02 2.75e+00 33 3.047151e+06 5.62e+03 1.12e+06 5.66e+02 8.09e-01 1.28e+04 1 9.74e-02 2.85e+00 34 3.043558e+06 3.59e+03 2.10e+06 7.71e+02 3.90e-01 1.26e+04 1 9.69e-02 2.94e+00 35 3.035287e+06 8.27e+03 2.20e+06 8.28e+02 5.88e-01 1.27e+04 1 9.77e-02 3.04e+00 36 3.026531e+06 8.76e+03 2.44e+06 9.13e+02 5.74e-01 1.28e+04 1 1.13e-01 3.15e+00 37 3.014812e+06 1.17e+04 2.73e+06 1.03e+03 6.48e-01 1.31e+04 1 1.01e-01 3.26e+00 38 2.991940e+06 2.29e+04 3.55e+06 1.24e+03 8.65e-01 2.14e+04 1 1.09e-01 3.36e+00 39 2.573715e+08 -2.54e+08 0.00e+00 8.39e+02 -1.43e+03 1.07e+04 1 3.88e-02 3.40e+00 40 1.996653e+08 -1.97e+08 0.00e+00 4.92e+02 -1.15e+03 2.67e+03 1 3.88e-02 3.44e+00 41 1.048266e+08 -1.02e+08 0.00e+00 1.86e+02 -6.28e+02 3.34e+02 1 3.85e-02 3.48e+00 42 1.325185e+07 -1.03e+07 0.00e+00 5.50e+01 -7.20e+01 2.09e+01 1 3.73e-02 3.52e+00 43 2.926161e+06 6.58e+04 2.10e+05 1.21e+01 1.14e+00 6.27e+01 1 9.81e-02 3.62e+00 44 2.902761e+06 2.34e+04 2.89e+05 2.04e+01 8.15e-01 8.36e+01 1 9.84e-02 3.71e+00 45 2.883532e+06 1.92e+04 2.44e+05 3.23e+01 9.96e-01 2.51e+02 1 9.77e-02 3.81e+00 46 2.860334e+06 2.32e+04 1.03e+06 8.15e+01 6.63e-01 2.60e+02 1 9.85e-02 3.91e+00 47 2.828439e+06 3.19e+04 5.53e+05 6.52e+01 9.38e-01 7.79e+02 1 9.67e-02 4.01e+00 48 2.837699e+06 -9.26e+03 0.00e+00 9.94e+01 -3.66e-01 3.90e+02 1 3.83e-02 4.05e+00 49 2.813351e+06 1.51e+04 6.80e+05 6.31e+01 7.99e-01 4.96e+02 1 1.01e-01 4.15e+00 50 2.803146e+06 1.02e+04 7.66e+05 3.95e+01 7.89e-01 6.15e+02 1 1.04e-01 4.25e+00 Bundle adjustment report ------------------------ Residuals : 69788 Parameters : 24319 Iterations : 51 Time : 4.25266 [s] Initial cost : 12.3747 [px] Final cost : 6.33771 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 16048 => Changed observations: 0.460022 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.473234e+04 0.00e+00 3.06e+06 0.00e+00 0.00e+00 1.00e+04 0 3.92e-02 7.47e-02 1 2.916751e+04 1.56e+04 6.09e+06 3.12e+01 8.93e-01 1.94e+04 1 5.98e-02 1.35e-01 2 2.619871e+04 2.97e+03 4.44e+06 7.89e+01 7.43e-01 2.20e+04 1 5.67e-02 1.91e-01 3 2.401796e+04 2.18e+03 2.69e+06 1.10e+02 8.25e-01 3.03e+04 1 5.73e-02 2.49e-01 4 2.268030e+04 1.34e+03 2.75e+06 1.55e+02 6.85e-01 3.19e+04 1 5.60e-02 3.05e-01 5 2.136479e+04 1.32e+03 2.44e+06 1.63e+02 7.67e-01 3.76e+04 1 5.53e-02 3.60e-01 6 2.049951e+04 8.65e+02 2.62e+06 1.91e+02 6.43e-01 3.85e+04 1 5.66e-02 4.17e-01 7 1.971756e+04 7.82e+02 2.57e+06 1.95e+02 6.34e-01 3.93e+04 1 5.61e-02 4.73e-01 8 1.915308e+04 5.64e+02 3.30e+06 1.99e+02 5.21e-01 3.93e+04 1 5.53e-02 5.28e-01 9 1.872838e+04 4.25e+02 3.99e+06 1.99e+02 4.00e-01 3.90e+04 1 5.57e-02 5.84e-01 10 1.843191e+04 2.96e+02 4.73e+06 1.97e+02 2.65e-01 3.53e+04 1 5.73e-02 6.41e-01 11 1.800129e+04 4.31e+02 4.73e+06 1.79e+02 3.52e-01 3.44e+04 1 5.72e-02 6.98e-01 12 1.785158e+04 1.50e+02 5.38e+06 1.75e+02 1.29e-01 2.45e+04 1 5.62e-02 7.55e-01 13 1.700497e+04 8.47e+02 3.47e+06 1.24e+02 6.71e-01 2.55e+04 1 5.76e-02 8.12e-01 14 1.697069e+04 3.43e+01 4.29e+06 1.30e+02 5.13e-02 1.48e+04 1 6.26e-02 8.75e-01 15 1.630862e+04 6.62e+02 1.88e+06 7.52e+01 8.45e-01 2.21e+04 1 5.70e-02 9.32e-01 16 1.661224e+04 -3.04e+02 0.00e+00 1.12e+02 -9.09e-01 1.10e+04 1 2.00e-02 9.52e-01 17 1.612453e+04 1.84e+02 1.18e+06 5.62e+01 7.95e-01 1.39e+04 1 5.79e-02 1.01e+00 18 1.607466e+04 4.99e+01 1.97e+06 7.08e+01 2.72e-01 1.27e+04 1 6.36e-02 1.07e+00 19 1.594049e+04 1.34e+02 1.89e+06 6.46e+01 5.21e-01 1.27e+04 1 5.60e-02 1.13e+00 20 1.584896e+04 9.15e+01 2.12e+06 6.47e+01 3.71e-01 1.25e+04 1 5.72e-02 1.19e+00 21 1.575861e+04 9.04e+01 2.31e+06 6.37e+01 3.28e-01 1.20e+04 1 5.68e-02 1.24e+00 22 1.566057e+04 9.80e+01 2.41e+06 6.13e+01 3.27e-01 1.15e+04 1 5.63e-02 1.30e+00 23 1.556414e+04 9.64e+01 2.48e+06 5.90e+01 3.10e-01 1.09e+04 1 5.51e-02 1.35e+00 24 1.545772e+04 1.06e+02 2.45e+06 5.61e+01 3.37e-01 1.05e+04 1 5.61e-02 1.41e+00 25 1.535727e+04 1.00e+02 2.42e+06 5.45e+01 3.29e-01 1.01e+04 1 5.64e-02 1.47e+00 26 1.524304e+04 1.14e+02 2.26e+06 5.26e+01 3.88e-01 1.00e+04 1 5.65e-02 1.52e+00 27 1.513129e+04 1.12e+02 2.07e+06 5.22e+01 4.22e-01 9.98e+03 1 5.64e-02 1.58e+00 28 1.501250e+04 1.19e+02 1.79e+06 5.23e+01 5.08e-01 9.98e+03 1 5.73e-02 1.64e+00 29 1.489621e+04 1.16e+02 1.43e+06 5.25e+01 6.07e-01 1.01e+04 1 6.05e-02 1.70e+00 30 1.479353e+04 1.03e+02 1.11e+06 5.31e+01 6.91e-01 1.07e+04 1 6.39e-02 1.76e+00 31 1.470584e+04 8.77e+01 9.14e+05 5.63e+01 7.30e-01 1.18e+04 1 6.12e-02 1.82e+00 32 1.462290e+04 8.29e+01 8.32e+05 6.23e+01 7.49e-01 1.35e+04 1 6.76e-02 1.89e+00 33 1.453756e+04 8.53e+01 8.15e+05 7.09e+01 7.56e-01 1.56e+04 1 5.90e-02 1.95e+00 34 1.444568e+04 9.19e+01 8.25e+05 8.17e+01 7.60e-01 1.81e+04 1 6.06e-02 2.01e+00 35 1.434511e+04 1.01e+02 8.45e+05 9.45e+01 7.61e-01 2.12e+04 1 6.42e-02 2.08e+00 36 1.423440e+04 1.11e+02 8.66e+05 1.10e+02 7.62e-01 2.47e+04 1 6.47e-02 2.14e+00 37 1.411264e+04 1.22e+02 8.81e+05 1.27e+02 7.61e-01 2.88e+04 1 5.65e-02 2.20e+00 38 1.397925e+04 1.33e+02 8.85e+05 1.47e+02 7.57e-01 3.33e+04 1 5.69e-02 2.25e+00 39 1.383454e+04 1.45e+02 8.68e+05 1.68e+02 7.50e-01 3.80e+04 1 5.69e-02 2.31e+00 40 1.367978e+04 1.55e+02 8.22e+05 1.89e+02 7.37e-01 4.26e+04 1 5.52e-02 2.37e+00 41 1.351742e+04 1.62e+02 7.41e+05 2.09e+02 7.20e-01 4.66e+04 1 5.72e-02 2.42e+00 42 1.335034e+04 1.67e+02 6.33e+05 2.24e+02 6.99e-01 4.97e+04 1 5.60e-02 2.48e+00 43 1.318122e+04 1.69e+02 5.14e+05 2.34e+02 6.78e-01 5.21e+04 1 5.81e-02 2.54e+00 44 1.301210e+04 1.69e+02 3.99e+05 2.40e+02 6.59e-01 5.38e+04 1 5.68e-02 2.59e+00 45 1.284450e+04 1.68e+02 3.53e+05 2.42e+02 6.42e-01 5.50e+04 1 5.54e-02 2.65e+00 46 1.267942e+04 1.65e+02 3.84e+05 2.41e+02 6.28e-01 5.60e+04 1 5.58e-02 2.70e+00 47 1.251755e+04 1.62e+02 4.09e+05 2.39e+02 6.17e-01 5.67e+04 1 5.65e-02 2.76e+00 48 1.235934e+04 1.58e+02 4.27e+05 2.35e+02 6.09e-01 5.73e+04 1 5.90e-02 2.82e+00 49 1.220510e+04 1.54e+02 4.40e+05 2.30e+02 6.02e-01 5.78e+04 1 5.68e-02 2.88e+00 50 1.205501e+04 1.50e+02 4.48e+05 2.25e+02 5.98e-01 5.82e+04 1 6.12e-02 2.94e+00 Bundle adjustment report ------------------------ Residuals : 37690 Parameters : 17473 Iterations : 51 Time : 2.93931 [s] Initial cost : 1.08943 [px] Final cost : 0.56555 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 44 => Filtered observations: 10 => Changed observations: 0.002865 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.199541e+04 0.00e+00 4.56e+05 0.00e+00 0.00e+00 1.00e+04 0 4.19e-02 7.54e-02 1 1.181435e+04 1.81e+02 1.68e+04 3.74e+01 1.00e+00 3.00e+04 1 6.35e-02 1.39e-01 2 1.174488e+04 6.95e+01 1.27e+05 1.11e+02 9.09e-01 6.60e+04 1 5.57e-02 1.95e-01 3 1.173021e+04 1.47e+01 5.78e+05 2.34e+02 8.98e-02 4.25e+04 1 5.60e-02 2.51e-01 4 1.151126e+04 2.19e+02 2.72e+05 1.46e+02 8.85e-01 7.84e+04 1 5.57e-02 3.06e-01 5 1.157966e+04 -6.84e+01 0.00e+00 2.58e+02 -3.48e-01 3.92e+04 1 2.06e-02 3.27e-01 6 1.141504e+04 9.62e+01 2.28e+05 1.32e+02 8.29e-01 5.49e+04 1 5.41e-02 3.81e-01 7 1.134655e+04 6.85e+01 4.15e+05 1.79e+02 5.01e-01 5.49e+04 1 5.54e-02 4.37e-01 8 1.123172e+04 1.15e+02 4.13e+05 1.72e+02 6.37e-01 5.61e+04 1 5.53e-02 4.92e-01 9 1.112304e+04 1.09e+02 4.15e+05 1.70e+02 6.21e-01 5.69e+04 1 5.66e-02 5.49e-01 10 1.101546e+04 1.08e+02 4.09e+05 1.65e+02 6.24e-01 5.78e+04 1 5.61e-02 6.05e-01 11 1.091071e+04 1.05e+02 4.00e+05 1.61e+02 6.26e-01 5.87e+04 1 5.42e-02 6.59e-01 12 1.080872e+04 1.02e+02 3.89e+05 1.56e+02 6.29e-01 5.98e+04 1 5.53e-02 7.14e-01 13 1.070969e+04 9.90e+01 3.75e+05 1.52e+02 6.34e-01 6.09e+04 1 5.57e-02 7.70e-01 14 1.061363e+04 9.61e+01 3.65e+05 1.47e+02 6.40e-01 6.23e+04 1 5.79e-02 8.28e-01 15 1.052054e+04 9.31e+01 3.56e+05 1.43e+02 6.47e-01 6.39e+04 1 5.70e-02 8.85e-01 16 1.043032e+04 9.02e+01 3.47e+05 1.39e+02 6.55e-01 6.59e+04 1 6.22e-02 9.47e-01 17 1.034285e+04 8.75e+01 3.36e+05 1.35e+02 6.63e-01 6.82e+04 1 5.66e-02 1.00e+00 18 1.025794e+04 8.49e+01 3.25e+05 1.31e+02 6.71e-01 7.11e+04 1 5.71e-02 1.06e+00 19 1.017540e+04 8.25e+01 3.13e+05 1.27e+02 6.80e-01 7.46e+04 1 6.23e-02 1.12e+00 20 1.009498e+04 8.04e+01 3.00e+05 1.24e+02 6.89e-01 7.88e+04 1 5.75e-02 1.18e+00 21 1.001645e+04 7.85e+01 2.87e+05 1.21e+02 6.98e-01 8.40e+04 1 5.75e-02 1.24e+00 22 9.939563e+03 7.69e+01 2.74e+05 1.17e+02 7.06e-01 9.04e+04 1 5.57e-02 1.29e+00 23 9.864124e+03 7.54e+01 2.61e+05 1.14e+02 7.14e-01 9.80e+04 1 5.61e-02 1.35e+00 24 9.790002e+03 7.41e+01 2.47e+05 1.10e+02 7.21e-01 1.07e+05 1 5.63e-02 1.41e+00 25 9.717202e+03 7.28e+01 2.32e+05 1.05e+02 7.25e-01 1.18e+05 1 7.70e-02 1.48e+00 26 9.645920e+03 7.13e+01 2.16e+05 9.95e+01 7.28e-01 1.30e+05 1 5.81e-02 1.54e+00 27 9.576582e+03 6.93e+01 1.99e+05 9.18e+01 7.27e-01 1.44e+05 1 5.65e-02 1.60e+00 28 9.509810e+03 6.68e+01 2.15e+05 8.18e+01 7.22e-01 1.58e+05 1 5.48e-02 1.65e+00 29 9.446287e+03 6.35e+01 2.38e+05 6.97e+01 7.16e-01 1.71e+05 1 5.89e-02 1.71e+00 30 9.386611e+03 5.97e+01 2.54e+05 5.58e+01 7.10e-01 1.85e+05 1 5.68e-02 1.77e+00 31 9.331213e+03 5.54e+01 2.62e+05 4.09e+01 7.05e-01 1.99e+05 1 5.71e-02 1.83e+00 32 9.280355e+03 5.09e+01 2.61e+05 2.61e+01 7.03e-01 2.13e+05 1 5.76e-02 1.88e+00 33 9.234146e+03 4.62e+01 2.55e+05 1.18e+01 7.03e-01 2.28e+05 1 6.18e-02 1.95e+00 34 9.192563e+03 4.16e+01 2.45e+05 1.46e+00 7.05e-01 2.45e+05 1 6.65e-02 2.01e+00 35 9.155474e+03 3.71e+01 2.32e+05 1.34e+01 7.08e-01 2.64e+05 1 5.79e-02 2.07e+00 36 9.122674e+03 3.28e+01 2.17e+05 2.40e+01 7.11e-01 2.85e+05 1 6.26e-02 2.13e+00 37 9.093916e+03 2.88e+01 2.01e+05 3.31e+01 7.14e-01 3.10e+05 1 5.66e-02 2.19e+00 38 9.068933e+03 2.50e+01 1.83e+05 4.07e+01 7.17e-01 3.37e+05 1 5.79e-02 2.25e+00 39 9.047455e+03 2.15e+01 1.65e+05 4.68e+01 7.20e-01 3.69e+05 1 5.60e-02 2.30e+00 40 9.029205e+03 1.82e+01 1.46e+05 5.12e+01 7.23e-01 4.05e+05 1 5.69e-02 2.36e+00 41 9.013902e+03 1.53e+01 1.27e+05 5.41e+01 7.27e-01 4.47e+05 1 5.59e-02 2.42e+00 42 9.001258e+03 1.26e+01 1.08e+05 5.55e+01 7.33e-01 4.97e+05 1 5.67e-02 2.47e+00 43 8.990976e+03 1.03e+01 9.02e+04 5.56e+01 7.39e-01 5.58e+05 1 5.57e-02 2.53e+00 44 8.982761e+03 8.21e+00 7.33e+04 5.45e+01 7.47e-01 6.34e+05 1 5.72e-02 2.59e+00 45 8.976320e+03 6.44e+00 5.77e+04 5.25e+01 7.56e-01 7.32e+05 1 6.08e-02 2.65e+00 46 8.971369e+03 4.95e+00 4.36e+04 4.95e+01 7.67e-01 8.63e+05 1 5.64e-02 2.70e+00 47 8.967643e+03 3.73e+00 3.18e+04 4.59e+01 7.79e-01 1.05e+06 1 5.62e-02 2.76e+00 48 8.964901e+03 2.74e+00 2.61e+04 4.17e+01 7.94e-01 1.31e+06 1 5.79e-02 2.82e+00 49 8.962929e+03 1.97e+00 2.08e+04 3.69e+01 8.11e-01 1.73e+06 1 5.78e-02 2.87e+00 50 8.961547e+03 1.38e+00 1.76e+04 3.16e+01 8.31e-01 2.44e+06 1 5.71e-02 2.93e+00 Bundle adjustment report ------------------------ Residuals : 37670 Parameters : 17449 Iterations : 51 Time : 2.93268 [s] Initial cost : 0.5643 [px] Final cost : 0.487746 [px] Termination : No convergence => Completed observations: 4965 => Merged observations: 0 => Filtered observations: 3 => Changed observations: 0.263764 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.854467e+04 0.00e+00 4.20e+05 0.00e+00 0.00e+00 1.00e+04 0 4.86e-02 8.92e-02 1 1.473643e+04 3.81e+03 1.51e+06 6.23e+00 9.42e-01 3.00e+04 1 8.38e-02 1.73e-01 2 1.435005e+04 3.86e+02 6.33e+05 4.63e+01 8.06e-01 3.89e+04 1 7.68e-02 2.50e-01 3 1.416925e+04 1.81e+02 2.03e+05 5.18e+01 9.46e-01 1.17e+05 1 7.45e-02 3.24e-01 4 1.407964e+04 8.96e+01 1.67e+05 1.07e+02 8.50e-01 1.78e+05 1 7.51e-02 3.99e-01 5 1.401306e+04 6.66e+01 1.46e+05 9.66e+01 8.62e-01 2.88e+05 1 7.46e-02 4.74e-01 6 1.397270e+04 4.04e+01 1.64e+05 6.85e+01 8.38e-01 4.16e+05 1 7.33e-02 5.47e-01 7 1.395165e+04 2.10e+01 9.29e+04 2.52e+01 9.01e-01 8.62e+05 1 7.73e-02 6.25e-01 8 1.394477e+04 6.89e+00 4.70e+04 1.07e+01 9.15e-01 2.01e+06 1 7.30e-02 6.98e-01 9 1.394332e+04 1.45e+00 8.90e+03 2.32e+01 9.62e-01 6.04e+06 1 7.42e-02 7.72e-01 10 1.394318e+04 1.34e-01 1.45e+03 1.14e+01 9.84e-01 1.81e+07 1 7.52e-02 8.47e-01 11 1.394317e+04 7.62e-03 1.48e+02 1.93e+00 9.99e-01 5.44e+07 1 7.55e-02 9.23e-01 12 1.394317e+04 1.24e-04 3.49e+00 1.56e-01 1.00e+00 1.63e+08 1 7.70e-02 1.00e+00 13 1.394317e+04 3.80e-07 1.14e-01 6.74e-03 1.00e+00 4.90e+08 1 7.89e-02 1.08e+00 Bundle adjustment report ------------------------ Residuals : 47594 Parameters : 17449 Iterations : 14 Time : 1.07978 [s] Initial cost : 0.624214 [px] Final cost : 0.541259 [px] Termination : Convergence => Completed observations: 385 => Merged observations: 0 => Filtered observations: 7 => Changed observations: 0.016473 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.527794e+04 0.00e+00 1.32e+05 0.00e+00 0.00e+00 1.00e+04 0 4.81e-02 9.08e-02 1 1.473251e+04 5.45e+02 1.09e+05 1.86e+00 9.96e-01 3.00e+04 1 8.55e-02 1.76e-01 2 1.472210e+04 1.04e+01 4.58e+04 5.20e+00 9.66e-01 9.00e+04 1 7.61e-02 2.52e-01 3 1.471816e+04 3.95e+00 1.30e+04 8.64e+00 9.89e-01 2.70e+05 1 7.53e-02 3.28e-01 4 1.471589e+04 2.27e+00 7.81e+03 7.76e+00 9.93e-01 8.10e+05 1 7.69e-02 4.05e-01 5 1.471483e+04 1.06e+00 7.89e+03 4.61e+00 9.81e-01 2.43e+06 1 7.75e-02 4.82e-01 6 1.471464e+04 1.91e-01 1.75e+03 1.07e+01 9.87e-01 7.29e+06 1 7.49e-02 5.57e-01 7 1.471462e+04 1.60e-02 2.69e+02 4.18e+00 9.97e-01 2.19e+07 1 7.40e-02 6.31e-01 8 1.471462e+04 9.09e-04 2.27e+01 5.90e-01 9.99e-01 6.56e+07 1 7.64e-02 7.08e-01 9 1.471462e+04 1.30e-05 1.70e+00 4.23e-02 1.00e+00 1.97e+08 1 7.69e-02 7.84e-01 10 1.471462e+04 2.71e-08 9.03e-03 1.47e-03 1.00e+00 5.90e+08 1 7.61e-02 8.61e-01 Bundle adjustment report ------------------------ Residuals : 48350 Parameters : 17449 Iterations : 11 Time : 0.861513 [s] Initial cost : 0.562127 [px] Final cost : 0.551666 [px] Termination : Convergence => Completed observations: 47 => Merged observations: 0 => Filtered observations: 3 => Changed observations: 0.002068 => Filtered images: 0 ============================================================================== Registering image #10 (23) ============================================================================== => Image sees 586 / 3038 points Pose refinement report ---------------------- Residuals : 1058 Parameters : 6 Iterations : 14 Time : 0.0176339 [s] Initial cost : 0.704227 [px] Final cost : 0.616221 [px] Termination : Convergence => Continued observations: 527 => Added observations: 2223 Bundle adjustment report ------------------------ Residuals : 33728 Parameters : 10184 Iterations : 26 Time : 0.730223 [s] Initial cost : 1.44361 [px] Final cost : 1.29361 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 405 => Filtered observations: 421 => Changed observations: 0.047638 Bundle adjustment report ------------------------ Residuals : 33698 Parameters : 9956 Iterations : 16 Time : 0.441206 [s] Initial cost : 0.64257 [px] Final cost : 0.577302 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 338 => Filtered observations: 4 => Changed observations: 0.019741 ============================================================================== Retriangulation ============================================================================== => Completed observations: 31 => Merged observations: 23 => Retriangulated observations: 484 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.120446e+07 0.00e+00 4.98e+07 0.00e+00 0.00e+00 1.00e+04 0 4.85e-02 9.35e-02 1 3.974849e+08 -3.86e+08 0.00e+00 1.58e+02 -6.02e+01 5.00e+03 1 3.47e-02 1.28e-01 2 1.713584e+08 -1.60e+08 0.00e+00 3.59e+02 -2.56e+01 1.25e+03 1 3.03e-02 1.59e-01 3 1.861124e+07 -7.41e+06 0.00e+00 3.95e+02 -1.28e+00 1.56e+02 1 2.91e-02 1.88e-01 4 6.687904e+06 4.52e+06 6.34e+07 1.71e+02 9.13e-01 3.57e+02 1 7.58e-02 2.64e-01 5 5.818618e+06 8.69e+05 4.67e+07 4.64e+01 8.96e-01 7.10e+02 1 7.67e-02 3.40e-01 6 5.598300e+06 2.20e+05 6.23e+07 7.07e+01 5.50e-01 7.11e+02 1 7.49e-02 4.15e-01 7 5.324822e+06 2.73e+05 3.66e+07 9.88e+01 7.90e-01 8.82e+02 1 7.66e-02 4.92e-01 8 5.174661e+06 1.50e+05 2.99e+07 1.41e+02 7.19e-01 9.63e+02 1 7.96e-02 5.72e-01 9 5.028916e+06 1.46e+05 2.02e+07 1.69e+02 8.80e-01 1.71e+03 1 7.57e-02 6.47e-01 10 4.965836e+06 6.31e+04 3.68e+07 3.23e+02 3.95e-01 1.70e+03 1 7.77e-02 7.25e-01 11 5.667865e+07 -5.17e+07 0.00e+00 4.13e+02 -1.56e+02 8.48e+02 1 3.54e-02 7.60e-01 12 1.852715e+07 -1.36e+07 0.00e+00 2.58e+02 -4.93e+01 2.12e+02 1 2.97e-02 7.90e-01 13 5.232330e+06 -2.66e+05 0.00e+00 8.96e+01 -1.34e+00 2.65e+01 1 2.92e-02 8.19e-01 14 4.801384e+06 1.64e+05 1.23e+06 1.32e+01 1.07e+00 7.95e+01 1 8.54e-02 9.05e-01 15 4.903690e+06 -1.02e+05 0.00e+00 1.20e+01 -2.66e+00 3.98e+01 1 3.16e-02 9.36e-01 16 4.830324e+06 -2.89e+04 0.00e+00 4.61e+00 -1.04e+00 9.94e+00 1 2.94e-02 9.66e-01 17 4.794084e+06 7.30e+03 8.29e+05 3.34e-01 4.52e-01 9.93e+00 1 7.53e-02 1.04e+00 18 4.787740e+06 6.34e+03 7.28e+05 3.34e-01 8.75e-01 1.72e+01 1 7.57e-02 1.12e+00 19 4.785148e+06 2.59e+03 7.07e+05 1.54e-01 1.01e+00 5.15e+01 1 7.80e-02 1.20e+00 20 4.780089e+06 5.06e+03 6.75e+05 1.25e+00 9.97e-01 1.54e+02 1 7.88e-02 1.27e+00 21 4.767115e+06 1.30e+04 8.43e+05 7.65e+00 1.02e+00 4.63e+02 1 7.69e-02 1.35e+00 22 4.728222e+06 3.89e+04 2.62e+06 1.80e+01 1.09e+00 1.39e+03 1 7.65e-02 1.43e+00 23 5.046451e+06 -3.18e+05 0.00e+00 4.35e+00 -3.13e+00 6.95e+02 1 3.20e-02 1.46e+00 24 4.701831e+06 2.64e+04 3.96e+06 1.74e+01 4.24e-01 6.92e+02 1 7.92e-02 1.54e+00 25 5.708397e+06 -1.01e+06 0.00e+00 2.12e+01 -8.72e+00 3.46e+02 1 3.11e-02 1.57e+00 26 4.639073e+06 6.28e+04 1.53e+06 1.03e+01 7.32e-01 3.84e+02 1 7.85e-02 1.65e+00 27 4.594666e+06 4.44e+04 1.27e+06 2.49e+01 8.65e-01 6.30e+02 1 7.79e-02 1.73e+00 28 4.578191e+06 1.65e+04 2.45e+06 5.86e+01 3.92e-01 6.24e+02 1 8.43e-02 1.81e+00 29 4.528077e+06 5.01e+04 2.01e+06 6.95e+01 9.31e-01 1.74e+03 1 8.32e-02 1.89e+00 30 4.686659e+06 -1.59e+05 0.00e+00 1.99e+02 -2.52e+00 8.68e+02 1 3.25e-02 1.93e+00 31 4.500918e+06 2.72e+04 3.03e+06 9.98e+01 7.59e-01 1.01e+03 1 7.39e-02 2.00e+00 32 4.467610e+06 3.33e+04 3.12e+06 1.21e+02 8.38e-01 1.46e+03 1 7.70e-02 2.08e+00 33 4.439332e+06 2.83e+04 4.72e+06 1.78e+02 6.60e-01 1.51e+03 1 7.83e-02 2.16e+00 34 4.399789e+06 3.95e+04 3.62e+06 1.88e+02 8.80e-01 2.70e+03 1 7.63e-02 2.23e+00 35 4.387369e+06 1.24e+04 7.71e+06 3.35e+02 2.61e-01 2.43e+03 1 8.18e-02 2.31e+00 36 4.328726e+06 5.86e+04 3.97e+06 3.11e+02 9.13e-01 5.59e+03 1 8.00e-02 2.39e+00 37 4.391486e+06 -6.28e+04 0.00e+00 6.94e+02 -1.17e+00 2.80e+03 1 3.06e-02 2.42e+00 38 4.301559e+06 2.72e+04 4.15e+06 3.52e+02 8.35e-01 3.99e+03 1 7.63e-02 2.50e+00 39 4.281189e+06 2.04e+04 5.75e+06 5.07e+02 5.71e-01 4.00e+03 1 8.05e-02 2.58e+00 40 4.249199e+06 3.20e+04 3.71e+06 5.18e+02 8.20e-01 5.42e+03 1 7.67e-02 2.66e+00 41 4.233515e+06 1.57e+04 5.63e+06 6.97e+02 4.76e-01 5.42e+03 1 7.71e-02 2.74e+00 42 4.206217e+06 2.73e+04 3.95e+06 7.13e+02 7.02e-01 5.80e+03 1 8.76e-02 2.82e+00 43 4.186112e+06 2.01e+04 3.70e+06 7.69e+02 6.17e-01 5.87e+03 1 9.25e-02 2.92e+00 44 4.164500e+06 2.16e+04 3.08e+06 7.91e+02 6.61e-01 6.08e+03 1 8.39e-02 3.00e+00 45 4.143706e+06 2.08e+04 2.72e+06 8.26e+02 6.53e-01 6.26e+03 1 8.01e-02 3.08e+00 46 4.121761e+06 2.19e+04 2.42e+06 8.51e+02 6.74e-01 6.53e+03 1 8.14e-02 3.16e+00 47 4.099300e+06 2.25e+04 2.69e+06 8.81e+02 6.78e-01 6.84e+03 1 7.97e-02 3.24e+00 48 4.075974e+06 2.33e+04 3.45e+06 9.06e+02 6.89e-01 7.23e+03 1 8.07e-02 3.32e+00 49 4.052392e+06 2.36e+04 4.18e+06 9.31e+02 6.92e-01 7.67e+03 1 7.87e-02 3.40e+00 50 4.028685e+06 2.37e+04 4.71e+06 9.53e+02 6.97e-01 8.17e+03 1 7.89e-02 3.48e+00 Bundle adjustment report ------------------------ Residuals : 55604 Parameters : 20209 Iterations : 51 Time : 3.48055 [s] Initial cost : 14.1952 [px] Final cost : 8.51194 [px] Termination : No convergence => Completed observations: 156 => Merged observations: 8 => Filtered observations: 9588 => Changed observations: 0.350766 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.298460e+04 0.00e+00 3.62e+06 0.00e+00 0.00e+00 1.00e+04 0 3.68e-02 6.73e-02 1 2.691166e+04 1.61e+04 1.22e+06 1.63e+02 7.23e-01 1.10e+04 1 5.78e-02 1.25e-01 2 1.932311e+04 7.59e+03 7.04e+05 1.61e+01 9.91e-01 3.29e+04 1 5.71e-02 1.82e-01 3 1.937037e+04 -4.73e+01 0.00e+00 1.64e+02 -2.32e-02 1.65e+04 1 2.06e-02 2.03e-01 4 1.824509e+04 1.08e+03 1.36e+06 7.73e+01 8.17e-01 2.21e+04 1 6.08e-02 2.64e-01 5 1.786174e+04 3.83e+02 3.00e+06 1.14e+02 2.98e-01 2.07e+04 1 5.76e-02 3.21e-01 6 1.744760e+04 4.14e+02 4.02e+06 1.09e+02 2.60e-01 1.87e+04 1 6.01e-02 3.82e-01 7 1.694169e+04 5.06e+02 4.13e+06 9.89e+01 3.06e-01 1.76e+04 1 5.81e-02 4.40e-01 8 1.624795e+04 6.94e+02 3.51e+06 9.40e+01 4.60e-01 1.76e+04 1 5.61e-02 4.96e-01 9 1.549000e+04 7.58e+02 2.28e+06 9.43e+01 6.86e-01 1.86e+04 1 5.60e-02 5.52e-01 10 1.494944e+04 5.41e+02 9.54e+05 9.96e+01 8.92e-01 3.58e+04 1 5.60e-02 6.08e-01 11 1.454230e+04 4.07e+02 9.78e+05 1.92e+02 8.84e-01 6.52e+04 1 5.60e-02 6.64e-01 12 1.422037e+04 3.22e+02 1.89e+06 3.46e+02 5.52e-01 6.53e+04 1 5.72e-02 7.21e-01 13 1.374939e+04 4.71e+02 1.55e+06 3.39e+02 7.05e-01 7.01e+04 1 5.53e-02 7.77e-01 14 1.340558e+04 3.44e+02 1.51e+06 3.56e+02 6.32e-01 7.14e+04 1 5.53e-02 8.32e-01 15 1.308853e+04 3.17e+02 1.28e+06 3.52e+02 6.49e-01 7.34e+04 1 5.48e-02 8.87e-01 16 1.282245e+04 2.66e+02 1.05e+06 3.51e+02 6.33e-01 7.48e+04 1 5.56e-02 9.42e-01 17 1.258775e+04 2.35e+02 8.40e+05 3.45e+02 6.31e-01 7.61e+04 1 5.77e-02 1.00e+00 18 1.238040e+04 2.07e+02 6.58e+05 3.38e+02 6.25e-01 7.73e+04 1 5.60e-02 1.06e+00 19 1.219394e+04 1.86e+02 5.12e+05 3.30e+02 6.23e-01 7.85e+04 1 5.82e-02 1.11e+00 20 1.202450e+04 1.69e+02 3.99e+05 3.21e+02 6.22e-01 7.97e+04 1 5.77e-02 1.17e+00 21 1.186916e+04 1.55e+02 3.16e+05 3.11e+02 6.22e-01 8.08e+04 1 5.54e-02 1.23e+00 22 1.172595e+04 1.43e+02 2.93e+05 3.01e+02 6.24e-01 8.21e+04 1 6.26e-02 1.29e+00 23 1.159345e+04 1.32e+02 3.08e+05 2.91e+02 6.27e-01 8.35e+04 1 5.55e-02 1.35e+00 24 1.147063e+04 1.23e+02 3.23e+05 2.81e+02 6.30e-01 8.49e+04 1 6.11e-02 1.41e+00 25 1.135669e+04 1.14e+02 3.38e+05 2.71e+02 6.33e-01 8.65e+04 1 5.70e-02 1.46e+00 26 1.125095e+04 1.06e+02 3.52e+05 2.61e+02 6.36e-01 8.83e+04 1 5.52e-02 1.52e+00 27 1.115284e+04 9.81e+01 3.66e+05 2.51e+02 6.38e-01 9.02e+04 1 5.49e-02 1.57e+00 28 1.106185e+04 9.10e+01 3.80e+05 2.42e+02 6.41e-01 9.23e+04 1 5.71e-02 1.63e+00 29 1.097750e+04 8.44e+01 3.93e+05 2.32e+02 6.43e-01 9.45e+04 1 5.62e-02 1.69e+00 30 1.089935e+04 7.82e+01 4.06e+05 2.23e+02 6.44e-01 9.68e+04 1 5.75e-02 1.74e+00 31 1.082696e+04 7.24e+01 4.18e+05 2.14e+02 6.45e-01 9.92e+04 1 5.84e-02 1.80e+00 32 1.075995e+04 6.70e+01 4.29e+05 2.05e+02 6.46e-01 1.02e+05 1 5.99e-02 1.86e+00 33 1.069793e+04 6.20e+01 4.38e+05 1.96e+02 6.46e-01 1.04e+05 1 5.63e-02 1.92e+00 34 1.064053e+04 5.74e+01 4.46e+05 1.88e+02 6.45e-01 1.07e+05 1 5.62e-02 1.98e+00 35 1.058741e+04 5.31e+01 4.51e+05 1.79e+02 6.45e-01 1.10e+05 1 5.93e-02 2.04e+00 36 1.053822e+04 4.92e+01 4.55e+05 1.70e+02 6.44e-01 1.12e+05 1 6.99e-02 2.10e+00 37 1.049267e+04 4.56e+01 4.55e+05 1.62e+02 6.43e-01 1.15e+05 1 5.87e-02 2.16e+00 38 1.045046e+04 4.22e+01 4.53e+05 1.54e+02 6.41e-01 1.18e+05 1 5.80e-02 2.22e+00 39 1.041133e+04 3.91e+01 4.49e+05 1.46e+02 6.41e-01 1.20e+05 1 5.78e-02 2.28e+00 40 1.037505e+04 3.63e+01 4.41e+05 1.38e+02 6.40e-01 1.23e+05 1 6.01e-02 2.34e+00 41 1.034140e+04 3.36e+01 4.32e+05 1.31e+02 6.40e-01 1.26e+05 1 5.53e-02 2.40e+00 42 1.031020e+04 3.12e+01 4.20e+05 1.24e+02 6.41e-01 1.29e+05 1 6.36e-02 2.46e+00 43 1.028129e+04 2.89e+01 4.06e+05 1.17e+02 6.42e-01 1.32e+05 1 5.55e-02 2.51e+00 44 1.025454e+04 2.68e+01 3.90e+05 1.11e+02 6.44e-01 1.35e+05 1 5.52e-02 2.57e+00 45 1.022981e+04 2.47e+01 3.73e+05 1.06e+02 6.47e-01 1.38e+05 1 5.55e-02 2.63e+00 46 1.020700e+04 2.28e+01 3.55e+05 1.01e+02 6.50e-01 1.42e+05 1 5.73e-02 2.68e+00 47 1.018602e+04 2.10e+01 3.36e+05 9.58e+01 6.54e-01 1.47e+05 1 5.81e-02 2.74e+00 48 1.016678e+04 1.92e+01 3.17e+05 9.14e+01 6.59e-01 1.51e+05 1 5.89e-02 2.80e+00 49 1.014919e+04 1.76e+01 2.98e+05 8.75e+01 6.64e-01 1.57e+05 1 5.79e-02 2.86e+00 50 1.013318e+04 1.60e+01 2.78e+05 8.39e+01 6.69e-01 1.63e+05 1 5.81e-02 2.92e+00 Bundle adjustment report ------------------------ Residuals : 36740 Parameters : 16381 Iterations : 51 Time : 2.91647 [s] Initial cost : 1.08165 [px] Final cost : 0.525174 [px] Termination : No convergence => Completed observations: 3786 => Merged observations: 27 => Filtered observations: 16 => Changed observations: 0.208438 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888907e+04 0.00e+00 4.53e+05 0.00e+00 0.00e+00 1.00e+04 0 4.56e-02 8.40e-02 1 1.691155e+04 1.98e+03 6.50e+06 2.81e+00 5.03e-01 1.00e+04 1 7.58e-02 1.60e-01 2 1.482911e+04 2.08e+03 2.52e+05 1.72e+01 9.98e-01 3.00e+04 1 7.49e-02 2.35e-01 3 1.466999e+04 1.59e+02 7.00e+05 5.83e+01 7.91e-01 3.74e+04 1 7.31e-02 3.08e-01 4 1.451795e+04 1.52e+02 6.01e+05 7.01e+01 7.96e-01 4.71e+04 1 7.88e-02 3.87e-01 5 1.441115e+04 1.07e+02 8.84e+05 8.34e+01 6.24e-01 4.78e+04 1 7.93e-02 4.66e-01 6 1.429667e+04 1.14e+02 9.03e+05 8.00e+01 6.64e-01 4.96e+04 1 7.20e-02 5.38e-01 7 1.420194e+04 9.47e+01 9.50e+05 7.83e+01 6.12e-01 5.01e+04 1 7.14e-02 6.10e-01 8 1.411165e+04 9.03e+01 9.47e+05 7.48e+01 6.08e-01 5.07e+04 1 6.94e-02 6.79e-01 9 1.402810e+04 8.36e+01 9.38e+05 7.14e+01 5.97e-01 5.10e+04 1 6.93e-02 7.48e-01 10 1.394974e+04 7.84e+01 9.19e+05 6.81e+01 5.92e-01 5.13e+04 1 7.17e-02 8.20e-01 11 1.387629e+04 7.35e+01 8.95e+05 6.50e+01 5.88e-01 5.16e+04 1 6.93e-02 8.89e-01 12 1.380743e+04 6.89e+01 8.67e+05 6.21e+01 5.86e-01 5.19e+04 1 6.97e-02 9.59e-01 13 1.374295e+04 6.45e+01 8.36e+05 5.94e+01 5.86e-01 5.22e+04 1 7.16e-02 1.03e+00 14 1.368264e+04 6.03e+01 8.03e+05 5.69e+01 5.87e-01 5.24e+04 1 7.06e-02 1.10e+00 15 1.362634e+04 5.63e+01 7.69e+05 5.46e+01 5.89e-01 5.27e+04 1 6.85e-02 1.17e+00 16 1.357388e+04 5.25e+01 7.34e+05 5.25e+01 5.92e-01 5.31e+04 1 6.88e-02 1.24e+00 17 1.352510e+04 4.88e+01 6.98e+05 5.06e+01 5.97e-01 5.34e+04 1 7.33e-02 1.31e+00 18 1.347985e+04 4.53e+01 6.62e+05 4.89e+01 6.02e-01 5.39e+04 1 7.71e-02 1.39e+00 19 1.343797e+04 4.19e+01 6.26e+05 4.74e+01 6.07e-01 5.44e+04 1 7.27e-02 1.46e+00 20 1.339930e+04 3.87e+01 5.91e+05 4.59e+01 6.13e-01 5.51e+04 1 7.79e-02 1.54e+00 21 1.336369e+04 3.56e+01 5.57e+05 4.47e+01 6.20e-01 5.59e+04 1 7.14e-02 1.61e+00 22 1.333096e+04 3.27e+01 5.23e+05 4.36e+01 6.27e-01 5.68e+04 1 7.57e-02 1.69e+00 23 1.330096e+04 3.00e+01 4.91e+05 4.26e+01 6.34e-01 5.79e+04 1 7.37e-02 1.76e+00 24 1.327351e+04 2.74e+01 4.60e+05 4.17e+01 6.41e-01 5.92e+04 1 7.15e-02 1.83e+00 25 1.324846e+04 2.51e+01 4.31e+05 4.10e+01 6.48e-01 6.08e+04 1 6.86e-02 1.90e+00 26 1.322564e+04 2.28e+01 4.03e+05 4.04e+01 6.55e-01 6.26e+04 1 6.89e-02 1.97e+00 27 1.320490e+04 2.07e+01 3.76e+05 4.00e+01 6.62e-01 6.48e+04 1 6.89e-02 2.04e+00 28 1.318610e+04 1.88e+01 3.50e+05 3.96e+01 6.69e-01 6.74e+04 1 6.99e-02 2.11e+00 29 1.316910e+04 1.70e+01 3.26e+05 3.94e+01 6.76e-01 7.04e+04 1 6.96e-02 2.18e+00 30 1.315379e+04 1.53e+01 3.03e+05 3.92e+01 6.83e-01 7.40e+04 1 6.90e-02 2.25e+00 31 1.314004e+04 1.37e+01 2.80e+05 3.92e+01 6.90e-01 7.83e+04 1 7.05e-02 2.32e+00 32 1.312775e+04 1.23e+01 2.58e+05 3.92e+01 6.97e-01 8.34e+04 1 7.37e-02 2.39e+00 33 1.311682e+04 1.09e+01 2.38e+05 3.94e+01 7.04e-01 8.95e+04 1 7.03e-02 2.46e+00 34 1.310716e+04 9.66e+00 2.17e+05 3.96e+01 7.12e-01 9.69e+04 1 7.49e-02 2.54e+00 35 1.309868e+04 8.48e+00 1.97e+05 3.99e+01 7.20e-01 1.06e+05 1 7.10e-02 2.61e+00 36 1.309131e+04 7.37e+00 1.78e+05 4.02e+01 7.29e-01 1.17e+05 1 6.91e-02 2.68e+00 37 1.308498e+04 6.34e+00 1.59e+05 4.06e+01 7.38e-01 1.31e+05 1 6.83e-02 2.75e+00 38 1.307961e+04 5.37e+00 1.41e+05 4.09e+01 7.47e-01 1.49e+05 1 7.11e-02 2.82e+00 39 1.307514e+04 4.47e+00 1.22e+05 4.12e+01 7.57e-01 1.73e+05 1 6.91e-02 2.89e+00 40 1.307151e+04 3.63e+00 1.04e+05 4.12e+01 7.68e-01 2.05e+05 1 6.78e-02 2.95e+00 41 1.306865e+04 2.85e+00 8.60e+04 4.09e+01 7.81e-01 2.49e+05 1 7.01e-02 3.02e+00 42 1.306651e+04 2.15e+00 6.83e+04 4.00e+01 7.94e-01 3.12e+05 1 7.00e-02 3.09e+00 43 1.306499e+04 1.52e+00 5.15e+04 3.82e+01 8.10e-01 4.10e+05 1 6.98e-02 3.16e+00 44 1.306401e+04 9.80e-01 3.59e+04 3.51e+01 8.30e-01 5.75e+05 1 6.95e-02 3.23e+00 45 1.306346e+04 5.55e-01 2.25e+04 3.05e+01 8.57e-01 9.03e+05 1 7.01e-02 3.30e+00 46 1.306320e+04 2.55e-01 1.19e+04 2.39e+01 8.94e-01 1.77e+06 1 6.98e-02 3.37e+00 47 1.306312e+04 8.14e-02 4.66e+03 1.55e+01 9.44e-01 5.31e+06 1 7.55e-02 3.45e+00 48 1.306311e+04 1.28e-02 9.34e+02 6.36e+00 9.90e-01 1.59e+07 1 7.82e-02 3.53e+00 49 1.306311e+04 4.85e-04 3.66e+01 9.15e-01 1.00e+00 4.78e+07 1 6.91e-02 3.60e+00 50 1.306311e+04 3.93e-06 6.28e-01 4.26e-02 1.00e+00 1.43e+08 1 6.91e-02 3.67e+00 Bundle adjustment report ------------------------ Residuals : 44280 Parameters : 16360 Iterations : 51 Time : 3.6663 [s] Initial cost : 0.653133 [px] Final cost : 0.54315 [px] Termination : No convergence => Completed observations: 930 => Merged observations: 4 => Filtered observations: 18 => Changed observations: 0.042999 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.571406e+04 0.00e+00 2.03e+05 0.00e+00 0.00e+00 1.00e+04 0 4.72e-02 8.50e-02 1 1.445517e+04 1.26e+03 8.50e+05 2.10e+00 9.51e-01 3.00e+04 1 7.59e-02 1.61e-01 2 1.439503e+04 6.01e+01 1.25e+06 2.39e+00 3.44e-01 2.91e+04 1 7.11e-02 2.32e-01 3 1.425805e+04 1.37e+02 6.37e+05 6.61e-01 8.38e-01 4.22e+04 1 7.44e-02 3.06e-01 4 1.422015e+04 3.79e+01 5.45e+05 1.61e+00 6.58e-01 4.35e+04 1 7.38e-02 3.80e-01 5 1.419003e+04 3.01e+01 2.45e+05 3.48e+00 8.79e-01 7.73e+04 1 7.45e-02 4.55e-01 6 1.417986e+04 1.02e+01 2.18e+05 8.72e+00 7.46e-01 8.77e+04 1 7.38e-02 5.29e-01 7 1.417304e+04 6.83e+00 8.00e+04 1.11e+01 9.32e-01 2.45e+05 1 7.37e-02 6.02e-01 8 1.417020e+04 2.83e+00 7.15e+04 2.96e+01 8.46e-01 3.68e+05 1 7.14e-02 6.74e-01 9 1.416852e+04 1.69e+00 1.71e+04 3.46e+01 9.34e-01 1.07e+06 1 7.69e-02 7.51e-01 10 1.416789e+04 6.23e-01 1.07e+04 4.71e+01 6.90e-01 1.13e+06 1 7.78e-02 8.28e-01 11 1.416748e+04 4.17e-01 2.30e+03 2.11e+01 9.75e-01 3.38e+06 1 7.25e-02 9.01e-01 12 1.416742e+04 5.11e-02 8.64e+02 1.16e+01 9.83e-01 1.02e+07 1 7.14e-02 9.72e-01 13 1.416742e+04 5.69e-03 8.77e+01 2.11e+00 1.00e+00 3.05e+07 1 7.17e-02 1.04e+00 14 1.416742e+04 1.66e-04 3.65e+00 7.83e-02 1.00e+00 9.14e+07 1 7.29e-02 1.12e+00 15 1.416742e+04 9.00e-07 1.99e-01 2.51e-03 1.00e+00 2.74e+08 1 7.31e-02 1.19e+00 Bundle adjustment report ------------------------ Residuals : 46104 Parameters : 16357 Iterations : 16 Time : 1.19101 [s] Initial cost : 0.583814 [px] Final cost : 0.55434 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.005423 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.459877e+04 0.00e+00 9.72e+04 0.00e+00 0.00e+00 1.00e+04 0 4.68e-02 8.42e-02 1 1.439309e+04 2.06e+02 4.41e+04 6.38e-01 9.99e-01 3.00e+04 1 7.65e-02 1.61e-01 2 1.438936e+04 3.74e+00 3.89e+04 8.25e-01 9.70e-01 9.00e+04 1 7.34e-02 2.34e-01 3 1.438733e+04 2.03e+00 5.17e+04 7.01e-01 9.17e-01 2.15e+05 1 7.39e-02 3.08e-01 4 1.438667e+04 6.55e-01 1.70e+04 8.81e-01 9.69e-01 6.44e+05 1 7.30e-02 3.81e-01 5 1.438658e+04 9.26e-02 2.63e+03 3.61e+00 9.94e-01 1.93e+06 1 7.24e-02 4.54e-01 6 1.438657e+04 9.94e-03 2.17e+02 4.03e+00 9.97e-01 5.80e+06 1 7.92e-02 5.33e-01 7 1.438657e+04 1.03e-03 2.13e+01 1.48e+00 9.99e-01 1.74e+07 1 7.96e-02 6.12e-01 8 1.438657e+04 5.93e-05 1.89e+00 1.51e-01 1.00e+00 5.22e+07 1 7.13e-02 6.84e-01 9 1.438657e+04 8.55e-07 1.82e-01 1.32e-03 1.00e+00 1.57e+08 1 7.26e-02 7.56e-01 Bundle adjustment report ------------------------ Residuals : 46330 Parameters : 16357 Iterations : 10 Time : 0.757392 [s] Initial cost : 0.561341 [px] Final cost : 0.557247 [px] Termination : Convergence => Completed observations: 21 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000950 => Filtered images: 0 ============================================================================== Registering image #9 (24) ============================================================================== => Image sees 658 / 2829 points Pose refinement report ---------------------- Residuals : 1242 Parameters : 6 Iterations : 9 Time : 0.011441 [s] Initial cost : 0.605001 [px] Final cost : 0.50777 [px] Termination : Convergence => Continued observations: 619 => Added observations: 3514 Bundle adjustment report ------------------------ Residuals : 35926 Parameters : 11654 Iterations : 26 Time : 0.823423 [s] Initial cost : 1.45365 [px] Final cost : 1.35625 [px] Termination : No convergence => Merged observations: 27 => Completed observations: 528 => Filtered observations: 413 => Changed observations: 0.053475 Bundle adjustment report ------------------------ Residuals : 36156 Parameters : 11468 Iterations : 11 Time : 0.344405 [s] Initial cost : 0.618971 [px] Final cost : 0.566757 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 299 => Filtered observations: 3 => Changed observations: 0.016907 ============================================================================== Retriangulation ============================================================================== => Completed observations: 50 => Merged observations: 0 => Retriangulated observations: 2215 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.033733e+07 0.00e+00 4.85e+07 0.00e+00 0.00e+00 1.00e+04 0 5.47e-02 1.03e-01 1 8.051379e+08 -7.85e+08 0.00e+00 1.70e+03 -5.96e+01 5.00e+03 1 3.58e-02 1.39e-01 2 4.124666e+08 -3.92e+08 0.00e+00 1.21e+03 -3.03e+01 1.25e+03 1 3.12e-02 1.70e-01 3 6.302957e+07 -4.27e+07 0.00e+00 6.86e+02 -3.47e+00 1.56e+02 1 3.25e-02 2.03e-01 4 1.003577e+07 1.03e+07 1.74e+08 2.57e+02 9.15e-01 3.63e+02 1 8.23e-02 2.85e-01 5 8.602524e+06 1.43e+06 3.76e+07 1.38e+02 9.45e-01 1.09e+03 1 8.46e-02 3.70e-01 6 9.010480e+06 -4.08e+05 0.00e+00 1.19e+02 -7.45e-01 5.45e+02 1 3.54e-02 4.05e-01 7 8.312894e+06 2.90e+05 3.80e+07 7.47e+01 7.55e-01 6.28e+02 1 9.16e-02 4.97e-01 8 7.979861e+06 3.33e+05 4.05e+07 4.73e+01 8.55e-01 9.77e+02 1 8.88e-02 5.86e-01 9 7.821196e+06 1.59e+05 6.52e+07 4.55e+01 3.97e-01 9.69e+02 1 8.38e-02 6.70e-01 10 7.481947e+06 3.39e+05 5.51e+07 2.20e+01 6.83e-01 1.02e+03 1 8.25e-02 7.52e-01 11 7.230523e+06 2.51e+05 4.52e+07 5.49e+00 7.45e-01 1.15e+03 1 8.26e-02 8.35e-01 12 7.036181e+06 1.94e+05 2.94e+07 3.11e+01 8.43e-01 1.70e+03 1 8.30e-02 9.18e-01 13 6.895490e+06 1.41e+05 2.21e+07 7.59e+01 7.96e-01 2.15e+03 1 8.57e-02 1.00e+00 14 6.761638e+06 1.34e+05 1.36e+07 1.35e+02 8.63e-01 3.47e+03 1 8.37e-02 1.09e+00 15 6.656538e+06 1.05e+05 2.13e+07 2.81e+02 7.28e-01 3.83e+03 1 8.23e-02 1.17e+00 16 6.536822e+06 1.20e+05 1.61e+07 3.80e+02 8.84e-01 6.99e+03 1 8.30e-02 1.25e+00 17 6.481086e+06 5.57e+04 3.41e+07 7.90e+02 4.34e-01 6.98e+03 1 9.10e-02 1.34e+00 18 6.358890e+06 1.22e+05 2.16e+07 9.46e+02 7.72e-01 8.32e+03 1 9.15e-02 1.44e+00 19 6.327889e+06 3.10e+04 2.71e+07 1.31e+03 2.58e-01 7.48e+03 1 9.96e-02 1.54e+00 20 6.230512e+06 9.74e+04 1.82e+07 1.41e+03 5.95e-01 7.53e+03 1 8.96e-02 1.62e+00 21 6.178222e+06 5.23e+04 1.79e+07 1.67e+03 3.66e-01 7.39e+03 1 8.39e-02 1.71e+00 22 6.104171e+06 7.41e+04 1.75e+07 1.90e+03 4.35e-01 7.37e+03 1 8.37e-02 1.79e+00 23 6.023950e+06 8.02e+04 2.40e+07 2.17e+03 4.29e-01 7.35e+03 1 8.21e-02 1.87e+00 24 6.110888e+06 -8.69e+04 0.00e+00 2.26e+03 -3.63e-01 3.67e+03 1 3.34e-02 1.91e+00 25 5.924367e+06 9.96e+04 1.08e+07 1.28e+03 4.72e-01 3.67e+03 1 8.39e-02 1.99e+00 26 5.305014e+07 -4.71e+07 0.00e+00 4.30e+02 -1.05e+02 1.84e+03 1 3.45e-02 2.03e+00 27 3.611540e+07 -3.02e+07 0.00e+00 1.94e+02 -7.06e+01 4.59e+02 1 3.10e-02 2.06e+00 28 1.297720e+07 -7.05e+06 0.00e+00 2.86e+01 -1.79e+01 5.74e+01 1 3.14e-02 2.09e+00 29 5.749795e+06 1.75e+05 1.77e+06 2.34e+00 5.98e-01 5.78e+01 1 8.02e-02 2.17e+00 30 5.595416e+06 1.54e+05 8.78e+05 3.29e+01 9.49e-01 1.74e+02 1 8.33e-02 2.25e+00 31 5.526535e+06 6.89e+04 9.84e+05 3.68e+01 9.36e-01 5.14e+02 1 8.37e-02 2.34e+00 32 5.496673e+06 2.99e+04 8.48e+05 4.32e+01 1.08e+00 1.54e+03 1 8.77e-02 2.42e+00 33 5.455783e+06 4.09e+04 4.11e+06 1.48e+02 1.15e+00 4.62e+03 1 1.06e-01 2.53e+00 34 5.564476e+06 -1.09e+05 0.00e+00 2.91e+02 -1.68e+00 2.31e+03 1 4.44e-02 2.57e+00 35 5.450106e+06 5.68e+03 4.42e+06 1.35e+02 1.26e-01 1.63e+03 1 8.23e-02 2.66e+00 36 5.389351e+06 6.08e+04 1.51e+06 1.30e+02 9.94e-01 4.89e+03 1 8.10e-02 2.74e+00 37 5.424251e+06 -3.49e+04 0.00e+00 3.59e+02 -1.09e+00 2.44e+03 1 4.70e-02 2.78e+00 38 5.376555e+06 1.28e+04 2.93e+06 1.91e+02 6.54e-01 2.52e+03 1 8.94e-02 2.87e+00 39 5.356808e+06 1.97e+04 2.32e+06 2.04e+02 9.26e-01 6.62e+03 1 8.47e-02 2.96e+00 40 5.371482e+06 -1.47e+04 0.00e+00 5.07e+02 -5.58e-01 3.31e+03 1 3.48e-02 2.99e+00 41 5.343914e+06 1.29e+04 2.89e+06 2.68e+02 8.16e-01 4.42e+03 1 8.33e-02 3.08e+00 42 5.329973e+06 1.39e+04 3.34e+06 3.57e+02 8.13e-01 5.86e+03 1 8.21e-02 3.16e+00 43 5.315644e+06 1.43e+04 3.65e+06 4.66e+02 8.21e-01 7.96e+03 1 8.32e-02 3.24e+00 44 5.301508e+06 1.41e+04 4.70e+06 6.13e+02 7.96e-01 1.01e+04 1 8.49e-02 3.33e+00 45 5.288015e+06 1.35e+04 4.99e+06 7.37e+02 7.68e-01 1.19e+04 1 8.32e-02 3.41e+00 46 5.275991e+06 1.20e+04 4.63e+06 8.17e+02 7.20e-01 1.30e+04 1 8.94e-02 3.50e+00 47 5.264828e+06 1.12e+04 3.78e+06 8.32e+02 7.26e-01 1.43e+04 1 9.02e-02 3.59e+00 48 5.255223e+06 9.60e+03 3.54e+06 8.44e+02 7.10e-01 1.55e+04 1 8.28e-02 3.67e+00 49 5.246602e+06 8.62e+03 3.24e+06 8.36e+02 7.22e-01 1.69e+04 1 8.25e-02 3.76e+00 50 5.239134e+06 7.47e+03 2.96e+06 8.34e+02 7.18e-01 1.85e+04 1 8.23e-02 3.84e+00 Bundle adjustment report ------------------------ Residuals : 59988 Parameters : 22549 Iterations : 51 Time : 3.83884 [s] Initial cost : 18.4126 [px] Final cost : 9.34539 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 16576 => Changed observations: 0.552644 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.436595e+04 0.00e+00 1.82e+06 0.00e+00 0.00e+00 1.00e+04 0 2.71e-02 4.89e-02 1 2.770959e+04 6.66e+03 2.22e+07 1.41e+02 4.63e-01 1.00e+04 1 4.11e-02 9.01e-02 2 1.940588e+04 8.30e+03 2.55e+06 2.14e+01 9.82e-01 3.00e+04 1 4.28e-02 1.33e-01 3 1.835018e+04 1.06e+03 1.74e+06 4.68e+01 9.10e-01 6.68e+04 1 4.03e-02 1.73e-01 4 1.736002e+04 9.90e+02 2.98e+06 1.51e+02 7.68e-01 7.89e+04 1 4.06e-02 2.14e-01 5 1.639617e+04 9.64e+02 2.15e+06 1.90e+02 8.13e-01 1.04e+05 1 4.05e-02 2.54e-01 6 1.567307e+04 7.23e+02 1.98e+06 2.63e+02 7.13e-01 1.13e+05 1 4.07e-02 2.95e-01 7 1.496080e+04 7.12e+02 1.23e+06 2.94e+02 7.84e-01 1.39e+05 1 4.04e-02 3.36e-01 8 1.445284e+04 5.08e+02 1.19e+06 3.67e+02 6.70e-01 1.44e+05 1 4.04e-02 3.76e-01 9 1.395568e+04 4.97e+02 1.06e+06 3.88e+02 7.03e-01 1.54e+05 1 3.98e-02 4.16e-01 10 1.357514e+04 3.81e+02 1.28e+06 4.18e+02 6.23e-01 1.57e+05 1 3.86e-02 4.55e-01 11 1.322022e+04 3.55e+02 1.39e+06 4.25e+02 6.16e-01 1.59e+05 1 3.98e-02 4.94e-01 12 1.291085e+04 3.09e+02 1.47e+06 4.28e+02 5.85e-01 1.59e+05 1 4.00e-02 5.34e-01 13 1.262999e+04 2.81e+02 1.54e+06 4.27e+02 5.64e-01 1.60e+05 1 3.98e-02 5.74e-01 14 1.237359e+04 2.56e+02 1.59e+06 4.23e+02 5.44e-01 1.60e+05 1 4.50e-02 6.19e-01 15 1.213720e+04 2.36e+02 1.64e+06 4.17e+02 5.26e-01 1.60e+05 1 4.03e-02 6.60e-01 16 1.191802e+04 2.19e+02 1.68e+06 4.12e+02 5.08e-01 1.60e+05 1 4.73e-02 7.07e-01 17 1.171360e+04 2.04e+02 1.73e+06 4.05e+02 4.92e-01 1.60e+05 1 3.95e-02 7.46e-01 18 1.152147e+04 1.92e+02 1.77e+06 3.99e+02 4.77e-01 1.60e+05 1 4.09e-02 7.87e-01 19 1.133940e+04 1.82e+02 1.81e+06 3.92e+02 4.65e-01 1.60e+05 1 3.93e-02 8.27e-01 20 1.116577e+04 1.74e+02 1.85e+06 3.86e+02 4.55e-01 1.60e+05 1 3.96e-02 8.66e-01 21 1.099954e+04 1.66e+02 1.89e+06 3.79e+02 4.47e-01 1.60e+05 1 3.98e-02 9.06e-01 22 1.084024e+04 1.59e+02 1.93e+06 3.71e+02 4.41e-01 1.59e+05 1 3.93e-02 9.45e-01 23 1.068770e+04 1.53e+02 1.97e+06 3.64e+02 4.36e-01 1.59e+05 1 3.88e-02 9.84e-01 24 1.054194e+04 1.46e+02 2.00e+06 3.57e+02 4.30e-01 1.59e+05 1 3.93e-02 1.02e+00 25 1.040295e+04 1.39e+02 2.03e+06 3.49e+02 4.24e-01 1.58e+05 1 4.01e-02 1.06e+00 26 1.027063e+04 1.32e+02 2.06e+06 3.41e+02 4.17e-01 1.57e+05 1 4.08e-02 1.10e+00 27 1.014473e+04 1.26e+02 2.08e+06 3.34e+02 4.10e-01 1.56e+05 1 3.95e-02 1.14e+00 28 1.002488e+04 1.20e+02 2.10e+06 3.25e+02 4.02e-01 1.55e+05 1 3.98e-02 1.18e+00 29 9.910650e+03 1.14e+02 2.12e+06 3.17e+02 3.95e-01 1.54e+05 1 4.05e-02 1.22e+00 30 9.801619e+03 1.09e+02 2.12e+06 3.08e+02 3.89e-01 1.52e+05 1 3.93e-02 1.26e+00 31 9.697429e+03 1.04e+02 2.13e+06 2.99e+02 3.83e-01 1.50e+05 1 4.04e-02 1.30e+00 32 9.597800e+03 9.96e+01 2.12e+06 2.89e+02 3.77e-01 1.48e+05 1 3.96e-02 1.34e+00 33 9.502516e+03 9.53e+01 2.11e+06 2.80e+02 3.73e-01 1.46e+05 1 3.97e-02 1.38e+00 34 9.411406e+03 9.11e+01 2.10e+06 2.70e+02 3.69e-01 1.43e+05 1 4.05e-02 1.42e+00 35 9.324323e+03 8.71e+01 2.08e+06 2.60e+02 3.65e-01 1.40e+05 1 3.94e-02 1.46e+00 36 9.241134e+03 8.32e+01 2.06e+06 2.50e+02 3.62e-01 1.37e+05 1 4.02e-02 1.50e+00 37 9.161707e+03 7.94e+01 2.03e+06 2.40e+02 3.59e-01 1.34e+05 1 3.91e-02 1.54e+00 38 9.085916e+03 7.58e+01 2.00e+06 2.30e+02 3.57e-01 1.31e+05 1 3.88e-02 1.58e+00 39 9.013632e+03 7.23e+01 1.97e+06 2.20e+02 3.54e-01 1.28e+05 1 4.40e-02 1.63e+00 40 8.944726e+03 6.89e+01 1.94e+06 2.10e+02 3.52e-01 1.25e+05 1 4.11e-02 1.67e+00 41 8.879073e+03 6.57e+01 1.91e+06 2.01e+02 3.50e-01 1.22e+05 1 4.48e-02 1.71e+00 42 8.816546e+03 6.25e+01 1.87e+06 1.91e+02 3.48e-01 1.18e+05 1 3.98e-02 1.75e+00 43 8.757024e+03 5.95e+01 1.83e+06 1.82e+02 3.46e-01 1.15e+05 1 4.02e-02 1.79e+00 44 8.700385e+03 5.66e+01 1.80e+06 1.73e+02 3.45e-01 1.12e+05 1 3.96e-02 1.83e+00 45 8.646512e+03 5.39e+01 1.76e+06 1.65e+02 3.44e-01 1.08e+05 1 4.03e-02 1.87e+00 46 8.595289e+03 5.12e+01 1.71e+06 1.57e+02 3.43e-01 1.05e+05 1 4.06e-02 1.91e+00 47 8.546604e+03 4.87e+01 1.67e+06 1.49e+02 3.43e-01 1.02e+05 1 3.93e-02 1.95e+00 48 8.500347e+03 4.63e+01 1.63e+06 1.41e+02 3.43e-01 9.89e+04 1 3.93e-02 1.99e+00 49 8.456407e+03 4.39e+01 1.58e+06 1.34e+02 3.44e-01 9.60e+04 1 3.97e-02 2.03e+00 50 8.414677e+03 4.17e+01 1.53e+06 1.27e+02 3.45e-01 9.32e+04 1 3.96e-02 2.07e+00 Bundle adjustment report ------------------------ Residuals : 26834 Parameters : 14290 Iterations : 51 Time : 2.0711 [s] Initial cost : 1.13167 [px] Final cost : 0.559985 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 6 => Filtered observations: 21 => Changed observations: 0.002012 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.422827e+03 0.00e+00 1.58e+06 0.00e+00 0.00e+00 1.00e+04 0 2.63e-02 4.96e-02 1 7.305898e+03 1.17e+02 1.94e+06 1.91e+01 4.52e-01 9.99e+03 1 4.13e-02 9.10e-02 2 7.116864e+03 1.89e+02 2.98e+05 1.73e+01 9.75e-01 3.00e+04 1 3.93e-02 1.30e-01 3 7.102373e+03 1.45e+01 1.00e+06 4.49e+01 1.45e-01 2.21e+04 1 3.98e-02 1.70e-01 4 6.979017e+03 1.23e+02 3.86e+05 3.24e+01 8.82e-01 3.99e+04 1 4.11e-02 2.11e-01 5 6.966491e+03 1.25e+01 8.14e+05 5.77e+01 1.34e-01 2.86e+04 1 3.97e-02 2.51e-01 6 6.851755e+03 1.15e+02 3.61e+05 4.14e+01 8.89e-01 5.42e+04 1 3.97e-02 2.91e-01 7 6.829647e+03 2.21e+01 7.83e+05 7.78e+01 2.49e-01 4.81e+04 1 3.98e-02 3.31e-01 8 6.725276e+03 1.04e+02 4.02e+05 6.89e+01 8.47e-01 7.24e+04 1 3.89e-02 3.69e-01 9 6.666899e+03 5.84e+01 5.50e+05 1.02e+02 6.51e-01 7.44e+04 1 4.02e-02 4.10e-01 10 6.591978e+03 7.49e+01 5.16e+05 1.04e+02 7.98e-01 9.43e+04 1 3.94e-02 4.49e-01 11 6.540206e+03 5.18e+01 7.19e+05 1.30e+02 5.97e-01 9.50e+04 1 3.93e-02 4.88e-01 12 6.477043e+03 6.32e+01 6.81e+05 1.28e+02 6.65e-01 9.86e+04 1 3.88e-02 5.27e-01 13 6.423126e+03 5.39e+01 6.88e+05 1.30e+02 6.20e-01 1.00e+05 1 4.42e-02 5.72e-01 14 6.371703e+03 5.14e+01 6.71e+05 1.28e+02 6.18e-01 1.01e+05 1 4.47e-02 6.16e-01 15 6.324202e+03 4.75e+01 6.49e+05 1.26e+02 6.11e-01 1.02e+05 1 3.99e-02 6.56e-01 16 6.279860e+03 4.43e+01 6.20e+05 1.24e+02 6.15e-01 1.04e+05 1 3.98e-02 6.96e-01 17 6.238568e+03 4.13e+01 5.83e+05 1.21e+02 6.23e-01 1.05e+05 1 4.03e-02 7.36e-01 18 6.200162e+03 3.84e+01 5.40e+05 1.19e+02 6.34e-01 1.07e+05 1 3.95e-02 7.76e-01 19 6.164478e+03 3.57e+01 4.93e+05 1.17e+02 6.47e-01 1.10e+05 1 3.98e-02 8.16e-01 20 6.131302e+03 3.32e+01 4.45e+05 1.15e+02 6.61e-01 1.14e+05 1 3.84e-02 8.54e-01 21 6.100363e+03 3.09e+01 3.98e+05 1.14e+02 6.73e-01 1.19e+05 1 3.95e-02 8.94e-01 22 6.071371e+03 2.90e+01 3.51e+05 1.14e+02 6.81e-01 1.25e+05 1 3.98e-02 9.33e-01 23 6.044059e+03 2.73e+01 3.05e+05 1.14e+02 6.87e-01 1.32e+05 1 3.92e-02 9.73e-01 24 6.018227e+03 2.58e+01 2.61e+05 1.14e+02 6.87e-01 1.39e+05 1 4.25e-02 1.02e+00 25 5.993754e+03 2.45e+01 2.72e+05 1.14e+02 6.84e-01 1.46e+05 1 3.94e-02 1.05e+00 26 5.970589e+03 2.32e+01 2.88e+05 1.13e+02 6.76e-01 1.53e+05 1 4.00e-02 1.09e+00 27 5.948721e+03 2.19e+01 3.03e+05 1.11e+02 6.65e-01 1.58e+05 1 4.00e-02 1.13e+00 28 5.928152e+03 2.06e+01 3.15e+05 1.07e+02 6.53e-01 1.63e+05 1 3.97e-02 1.17e+00 29 5.908876e+03 1.93e+01 3.23e+05 1.03e+02 6.40e-01 1.67e+05 1 4.12e-02 1.22e+00 30 5.890867e+03 1.80e+01 3.29e+05 9.83e+01 6.27e-01 1.69e+05 1 4.07e-02 1.26e+00 31 5.874079e+03 1.68e+01 3.31e+05 9.30e+01 6.14e-01 1.72e+05 1 4.06e-02 1.30e+00 32 5.858445e+03 1.56e+01 3.32e+05 8.75e+01 6.01e-01 1.73e+05 1 4.00e-02 1.34e+00 33 5.843884e+03 1.46e+01 3.32e+05 8.20e+01 5.88e-01 1.74e+05 1 3.96e-02 1.38e+00 34 5.830306e+03 1.36e+01 3.30e+05 7.66e+01 5.77e-01 1.75e+05 1 4.13e-02 1.42e+00 35 5.817617e+03 1.27e+01 3.28e+05 7.14e+01 5.65e-01 1.75e+05 1 3.99e-02 1.46e+00 36 5.805726e+03 1.19e+01 3.25e+05 6.65e+01 5.54e-01 1.75e+05 1 3.91e-02 1.50e+00 37 5.794542e+03 1.12e+01 3.22e+05 6.19e+01 5.44e-01 1.75e+05 1 3.86e-02 1.54e+00 38 5.783986e+03 1.06e+01 3.19e+05 5.76e+01 5.35e-01 1.75e+05 1 4.41e-02 1.58e+00 39 5.773982e+03 1.00e+01 3.17e+05 5.36e+01 5.26e-01 1.75e+05 1 4.43e-02 1.62e+00 40 5.764464e+03 9.52e+00 3.14e+05 5.00e+01 5.18e-01 1.75e+05 1 4.01e-02 1.66e+00 41 5.755375e+03 9.09e+00 3.11e+05 4.66e+01 5.10e-01 1.75e+05 1 3.97e-02 1.70e+00 42 5.746664e+03 8.71e+00 3.08e+05 4.35e+01 5.03e-01 1.75e+05 1 3.92e-02 1.74e+00 43 5.738287e+03 8.38e+00 3.06e+05 4.07e+01 4.97e-01 1.75e+05 1 4.03e-02 1.78e+00 44 5.730207e+03 8.08e+00 3.03e+05 3.81e+01 4.92e-01 1.75e+05 1 3.93e-02 1.82e+00 45 5.722393e+03 7.81e+00 3.01e+05 3.58e+01 4.87e-01 1.75e+05 1 3.94e-02 1.86e+00 46 5.714819e+03 7.57e+00 2.98e+05 3.36e+01 4.83e-01 1.75e+05 1 3.97e-02 1.90e+00 47 5.707464e+03 7.36e+00 2.96e+05 3.16e+01 4.79e-01 1.75e+05 1 3.90e-02 1.94e+00 48 5.700309e+03 7.15e+00 2.93e+05 2.98e+01 4.76e-01 1.75e+05 1 3.86e-02 1.98e+00 49 5.693341e+03 6.97e+00 2.91e+05 2.82e+01 4.73e-01 1.75e+05 1 4.26e-02 2.02e+00 50 5.686547e+03 6.79e+00 2.88e+05 2.67e+01 4.70e-01 1.75e+05 1 4.07e-02 2.06e+00 Bundle adjustment report ------------------------ Residuals : 26792 Parameters : 14269 Iterations : 51 Time : 2.06405 [s] Initial cost : 0.526359 [px] Final cost : 0.460704 [px] Termination : No convergence => Completed observations: 4020 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.300463 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.486036e+04 0.00e+00 6.05e+05 0.00e+00 0.00e+00 1.00e+04 0 3.37e-02 6.09e-02 1 1.070715e+04 4.15e+03 1.85e+06 1.17e+01 9.60e-01 3.00e+04 1 5.75e-02 1.18e-01 2 1.044304e+04 2.64e+02 1.22e+06 2.38e+01 6.11e-01 3.03e+04 1 5.59e-02 1.74e-01 3 1.021030e+04 2.33e+02 6.86e+05 2.83e+01 8.26e-01 4.20e+04 1 5.51e-02 2.30e-01 4 1.012539e+04 8.49e+01 7.46e+05 3.84e+01 5.93e-01 4.22e+04 1 5.65e-02 2.86e-01 5 1.002996e+04 9.54e+01 5.61e+05 3.73e+01 7.62e-01 4.94e+04 1 5.49e-02 3.41e-01 6 9.974670e+03 5.53e+01 6.03e+05 4.15e+01 6.19e-01 5.01e+04 1 5.27e-02 3.94e-01 7 9.918788e+03 5.59e+01 5.33e+05 4.01e+01 6.72e-01 5.22e+04 1 5.25e-02 4.46e-01 8 9.874595e+03 4.42e+01 5.18e+05 3.96e+01 6.23e-01 5.30e+04 1 5.85e-02 5.05e-01 9 9.833847e+03 4.07e+01 5.09e+05 3.81e+01 6.20e-01 5.37e+04 1 5.80e-02 5.63e-01 10 9.797198e+03 3.66e+01 5.09e+05 3.66e+01 6.06e-01 5.42e+04 1 5.27e-02 6.16e-01 11 9.763368e+03 3.38e+01 5.04e+05 3.50e+01 5.98e-01 5.46e+04 1 5.29e-02 6.69e-01 12 9.731956e+03 3.14e+01 4.96e+05 3.34e+01 5.91e-01 5.50e+04 1 5.47e-02 7.23e-01 13 9.702594e+03 2.94e+01 4.87e+05 3.19e+01 5.86e-01 5.52e+04 1 5.31e-02 7.76e-01 14 9.675032e+03 2.76e+01 4.76e+05 3.04e+01 5.81e-01 5.55e+04 1 5.44e-02 8.31e-01 15 9.649077e+03 2.60e+01 4.65e+05 2.90e+01 5.78e-01 5.57e+04 1 5.34e-02 8.84e-01 16 9.624572e+03 2.45e+01 4.54e+05 2.77e+01 5.76e-01 5.59e+04 1 5.58e-02 9.40e-01 17 9.601395e+03 2.32e+01 4.43e+05 2.65e+01 5.75e-01 5.61e+04 1 5.52e-02 9.95e-01 18 9.579439e+03 2.20e+01 4.31e+05 2.54e+01 5.74e-01 5.63e+04 1 5.27e-02 1.05e+00 19 9.558617e+03 2.08e+01 4.19e+05 2.44e+01 5.74e-01 5.64e+04 1 5.37e-02 1.10e+00 20 9.538856e+03 1.98e+01 4.08e+05 2.34e+01 5.75e-01 5.66e+04 1 5.40e-02 1.16e+00 21 9.520090e+03 1.88e+01 3.96e+05 2.26e+01 5.76e-01 5.68e+04 1 5.41e-02 1.21e+00 22 9.502264e+03 1.78e+01 3.85e+05 2.18e+01 5.78e-01 5.71e+04 1 5.36e-02 1.26e+00 23 9.485330e+03 1.69e+01 3.73e+05 2.11e+01 5.80e-01 5.73e+04 1 5.44e-02 1.32e+00 24 9.469245e+03 1.61e+01 3.62e+05 2.04e+01 5.83e-01 5.75e+04 1 5.31e-02 1.37e+00 25 9.453969e+03 1.53e+01 3.50e+05 1.98e+01 5.85e-01 5.78e+04 1 5.29e-02 1.42e+00 26 9.439468e+03 1.45e+01 3.39e+05 1.93e+01 5.89e-01 5.82e+04 1 5.37e-02 1.48e+00 27 9.425709e+03 1.38e+01 3.28e+05 1.88e+01 5.92e-01 5.85e+04 1 5.90e-02 1.54e+00 28 9.412661e+03 1.30e+01 3.16e+05 1.84e+01 5.96e-01 5.89e+04 1 5.89e-02 1.60e+00 29 9.400296e+03 1.24e+01 3.06e+05 1.80e+01 5.99e-01 5.94e+04 1 5.43e-02 1.65e+00 30 9.388586e+03 1.17e+01 2.95e+05 1.77e+01 6.03e-01 5.99e+04 1 5.49e-02 1.71e+00 31 9.377505e+03 1.11e+01 2.84e+05 1.74e+01 6.07e-01 6.05e+04 1 5.44e-02 1.76e+00 32 9.367027e+03 1.05e+01 2.74e+05 1.72e+01 6.11e-01 6.12e+04 1 5.42e-02 1.81e+00 33 9.357128e+03 9.90e+00 2.64e+05 1.70e+01 6.15e-01 6.19e+04 1 5.42e-02 1.87e+00 34 9.347783e+03 9.34e+00 2.54e+05 1.68e+01 6.19e-01 6.28e+04 1 5.62e-02 1.92e+00 35 9.338971e+03 8.81e+00 2.44e+05 1.66e+01 6.23e-01 6.37e+04 1 5.49e-02 1.98e+00 36 9.330669e+03 8.30e+00 2.35e+05 1.65e+01 6.27e-01 6.48e+04 1 5.43e-02 2.03e+00 37 9.322856e+03 7.81e+00 2.26e+05 1.64e+01 6.31e-01 6.60e+04 1 5.25e-02 2.09e+00 38 9.315511e+03 7.34e+00 2.17e+05 1.64e+01 6.35e-01 6.73e+04 1 5.38e-02 2.14e+00 39 9.308615e+03 6.90e+00 2.08e+05 1.63e+01 6.39e-01 6.88e+04 1 5.31e-02 2.19e+00 40 9.302149e+03 6.47e+00 2.00e+05 1.63e+01 6.42e-01 7.04e+04 1 5.28e-02 2.25e+00 41 9.296095e+03 6.05e+00 1.91e+05 1.64e+01 6.46e-01 7.22e+04 1 5.25e-02 2.30e+00 42 9.290436e+03 5.66e+00 1.83e+05 1.64e+01 6.50e-01 7.42e+04 1 5.30e-02 2.35e+00 43 9.285155e+03 5.28e+00 1.75e+05 1.65e+01 6.54e-01 7.64e+04 1 5.39e-02 2.41e+00 44 9.280237e+03 4.92e+00 1.67e+05 1.66e+01 6.58e-01 7.89e+04 1 5.18e-02 2.46e+00 45 9.275667e+03 4.57e+00 1.59e+05 1.67e+01 6.62e-01 8.17e+04 1 5.92e-02 2.52e+00 46 9.271429e+03 4.24e+00 1.52e+05 1.68e+01 6.66e-01 8.48e+04 1 5.76e-02 2.57e+00 47 9.267509e+03 3.92e+00 1.44e+05 1.70e+01 6.70e-01 8.83e+04 1 5.34e-02 2.63e+00 48 9.263893e+03 3.62e+00 1.37e+05 1.71e+01 6.75e-01 9.22e+04 1 5.33e-02 2.68e+00 49 9.260570e+03 3.32e+00 1.30e+05 1.73e+01 6.79e-01 9.67e+04 1 5.37e-02 2.73e+00 50 9.257524e+03 3.05e+00 1.22e+05 1.75e+01 6.84e-01 1.02e+05 1 5.20e-02 2.79e+00 Bundle adjustment report ------------------------ Residuals : 34822 Parameters : 14263 Iterations : 51 Time : 2.78718 [s] Initial cost : 0.653263 [px] Final cost : 0.515609 [px] Termination : No convergence => Completed observations: 891 => Merged observations: 0 => Filtered observations: 7 => Changed observations: 0.051577 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.205646e+04 0.00e+00 5.17e+05 0.00e+00 0.00e+00 1.00e+04 0 3.58e-02 6.48e-02 1 1.046559e+04 1.59e+03 4.80e+05 4.68e+00 9.91e-01 3.00e+04 1 6.04e-02 1.25e-01 2 1.045346e+04 1.21e+01 5.60e+05 9.31e+00 2.17e-01 2.54e+04 1 5.59e-02 1.81e-01 3 1.039824e+04 5.52e+01 2.53e+05 6.67e+00 8.80e-01 4.51e+04 1 5.64e-02 2.38e-01 4 1.040235e+04 -4.12e+00 0.00e+00 1.09e+01 -1.34e-01 2.26e+04 1 2.12e-02 2.59e-01 5 1.038058e+04 1.77e+01 1.73e+05 5.56e+00 8.55e-01 3.51e+04 1 5.60e-02 3.15e-01 6 1.037259e+04 7.99e+00 3.68e+05 8.39e+00 4.25e-01 3.50e+04 1 5.59e-02 3.71e-01 7 1.035648e+04 1.61e+01 3.11e+05 8.33e+00 6.93e-01 3.72e+04 1 5.60e-02 4.27e-01 8 1.034473e+04 1.18e+01 2.85e+05 8.85e+00 6.69e-01 3.87e+04 1 5.61e-02 4.83e-01 9 1.033457e+04 1.02e+01 2.45e+05 9.21e+00 7.02e-01 4.14e+04 1 5.62e-02 5.39e-01 10 1.032641e+04 8.17e+00 2.19e+05 9.85e+00 7.03e-01 4.44e+04 1 5.52e-02 5.94e-01 11 1.031948e+04 6.92e+00 1.92e+05 1.05e+01 7.21e-01 4.86e+04 1 5.52e-02 6.50e-01 12 1.031373e+04 5.75e+00 1.71e+05 1.14e+01 7.27e-01 5.36e+04 1 6.19e-02 7.11e-01 13 1.030885e+04 4.88e+00 1.51e+05 1.24e+01 7.41e-01 6.04e+04 1 6.28e-02 7.74e-01 14 1.030474e+04 4.11e+00 1.35e+05 1.38e+01 7.49e-01 6.89e+04 1 5.60e-02 8.30e-01 15 1.030124e+04 3.50e+00 1.18e+05 1.53e+01 7.63e-01 8.07e+04 1 5.69e-02 8.87e-01 16 1.029825e+04 2.98e+00 1.04e+05 1.74e+01 7.75e-01 9.69e+04 1 5.62e-02 9.43e-01 17 1.029568e+04 2.58e+00 9.09e+04 2.01e+01 7.92e-01 1.21e+05 1 5.52e-02 9.99e-01 18 1.029344e+04 2.24e+00 7.88e+04 2.39e+01 8.08e-01 1.58e+05 1 5.53e-02 1.05e+00 19 1.029146e+04 1.98e+00 6.67e+04 2.89e+01 8.26e-01 2.19e+05 1 5.76e-02 1.11e+00 20 1.028974e+04 1.73e+00 5.45e+04 3.57e+01 8.35e-01 3.12e+05 1 5.59e-02 1.17e+00 21 1.028831e+04 1.43e+00 3.97e+04 4.29e+01 8.25e-01 4.30e+05 1 5.60e-02 1.22e+00 22 1.028726e+04 1.05e+00 2.32e+04 4.60e+01 8.06e-01 5.58e+05 1 5.64e-02 1.28e+00 23 1.028655e+04 7.02e-01 1.10e+04 4.26e+01 8.16e-01 7.46e+05 1 5.69e-02 1.34e+00 24 1.028615e+04 4.03e-01 5.24e+03 3.64e+01 8.37e-01 1.08e+06 1 5.66e-02 1.39e+00 25 1.028595e+04 1.98e-01 3.19e+03 2.81e+01 8.80e-01 1.92e+06 1 5.61e-02 1.45e+00 26 1.028588e+04 7.66e-02 1.56e+03 1.92e+01 9.32e-01 5.41e+06 1 5.72e-02 1.51e+00 27 1.028585e+04 2.09e-02 5.54e+02 9.12e+00 9.87e-01 1.62e+07 1 5.59e-02 1.56e+00 28 1.028585e+04 2.31e-03 7.31e+01 1.41e+00 1.00e+00 4.87e+07 1 5.52e-02 1.62e+00 29 1.028585e+04 7.17e-05 2.06e+00 5.30e-03 1.00e+00 1.46e+08 1 5.52e-02 1.67e+00 30 1.028585e+04 3.93e-07 1.09e-01 4.97e-03 1.00e+00 4.38e+08 1 6.15e-02 1.73e+00 Bundle adjustment report ------------------------ Residuals : 36590 Parameters : 14263 Iterations : 31 Time : 1.73557 [s] Initial cost : 0.574022 [px] Final cost : 0.530199 [px] Termination : Convergence => Completed observations: 312 => Merged observations: 15 => Filtered observations: 5 => Changed observations: 0.018147 => Filtered images: 0 ============================================================================== Registering image #12 (25) ============================================================================== => Image sees 578 / 3364 points Pose refinement report ---------------------- Residuals : 1046 Parameters : 6 Iterations : 12 Time : 0.0141411 [s] Initial cost : 0.641232 [px] Final cost : 0.632425 [px] Termination : Convergence => Continued observations: 521 => Added observations: 3106 Bundle adjustment report ------------------------ Residuals : 33322 Parameters : 11846 Iterations : 26 Time : 0.699379 [s] Initial cost : 1.59696 [px] Final cost : 1.45759 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 315 => Filtered observations: 1215 => Changed observations: 0.092771 Bundle adjustment report ------------------------ Residuals : 31546 Parameters : 11423 Iterations : 26 Time : 0.693404 [s] Initial cost : 0.680545 [px] Final cost : 0.567832 [px] Termination : No convergence => Merged observations: 25 => Completed observations: 791 => Filtered observations: 6 => Changed observations: 0.051679 ============================================================================== Retriangulation ============================================================================== => Completed observations: 72 => Merged observations: 7 => Retriangulated observations: 2579 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.680914e+07 0.00e+00 3.80e+07 0.00e+00 0.00e+00 1.00e+04 0 4.95e-02 9.18e-02 1 5.042677e+08 -4.87e+08 0.00e+00 4.74e+02 -4.27e+01 5.00e+03 1 3.25e-02 1.24e-01 2 2.446218e+08 -2.28e+08 0.00e+00 4.00e+02 -2.04e+01 1.25e+03 1 2.85e-02 1.53e-01 3 5.449369e+07 -3.77e+07 0.00e+00 2.77e+02 -3.52e+00 1.56e+02 1 2.89e-02 1.82e-01 4 9.284536e+06 7.52e+06 3.27e+08 1.63e+02 7.48e-01 1.78e+02 1 7.67e-02 2.58e-01 5 6.404351e+06 2.88e+06 1.03e+07 3.89e+01 9.98e-01 5.34e+02 1 7.58e-02 3.34e-01 6 6.263682e+06 1.41e+05 4.49e+07 9.69e+00 4.84e-01 5.34e+02 1 7.68e-02 4.11e-01 7 5.929408e+06 3.34e+05 2.26e+07 9.15e+00 9.57e-01 1.60e+03 1 8.79e-02 4.99e-01 8 6.648850e+06 -7.19e+05 0.00e+00 7.14e+01 -1.62e+00 8.01e+02 1 3.05e-02 5.30e-01 9 5.764250e+06 1.65e+05 3.30e+07 3.29e+01 5.48e-01 8.01e+02 1 7.60e-02 6.06e-01 10 5.524266e+06 2.40e+05 4.66e+07 3.97e+01 5.23e-01 8.02e+02 1 7.92e-02 6.85e-01 11 5.542414e+06 -1.81e+04 0.00e+00 3.78e+01 -3.13e-02 4.01e+02 1 3.32e-02 7.18e-01 12 5.182306e+06 3.42e+05 4.76e+07 2.03e+01 6.86e-01 4.22e+02 1 8.10e-02 7.99e-01 13 4.915084e+06 2.67e+05 3.28e+07 1.65e+01 7.71e-01 5.02e+02 1 7.92e-02 8.78e-01 14 4.795995e+06 1.19e+05 3.67e+07 1.80e+01 5.82e-01 5.04e+02 1 7.96e-02 9.58e-01 15 4.653718e+06 1.42e+05 1.67e+07 1.68e+01 8.65e-01 8.26e+02 1 8.10e-02 1.04e+00 16 4.566410e+06 8.73e+04 1.45e+07 2.49e+01 8.33e-01 1.17e+03 1 8.29e-02 1.12e+00 17 4.486039e+06 8.04e+04 1.63e+07 3.22e+01 8.18e-01 1.58e+03 1 7.98e-02 1.20e+00 18 4.411478e+06 7.46e+04 1.72e+07 3.57e+01 7.94e-01 1.98e+03 1 7.94e-02 1.28e+00 19 4.342090e+06 6.94e+04 1.62e+07 3.14e+01 8.03e-01 2.54e+03 1 7.94e-02 1.36e+00 20 4.281506e+06 6.06e+04 1.59e+07 2.07e+01 7.78e-01 3.07e+03 1 7.64e-02 1.44e+00 21 4.225449e+06 5.61e+04 1.37e+07 4.18e+00 8.02e-01 3.94e+03 1 8.64e-02 1.52e+00 22 4.177415e+06 4.80e+04 1.34e+07 1.64e+01 7.66e-01 4.64e+03 1 7.93e-02 1.60e+00 23 4.131946e+06 4.55e+04 1.13e+07 3.59e+01 8.01e-01 5.94e+03 1 7.80e-02 1.68e+00 24 4.094330e+06 3.76e+04 1.15e+07 6.09e+01 7.45e-01 6.73e+03 1 7.90e-02 1.76e+00 25 4.058018e+06 3.63e+04 9.50e+06 7.75e+01 8.00e-01 8.59e+03 1 7.90e-02 1.84e+00 26 4.030055e+06 2.80e+04 1.02e+07 1.06e+02 7.12e-01 9.31e+03 1 7.66e-02 1.92e+00 27 4.001704e+06 2.84e+04 7.95e+06 1.13e+02 7.97e-01 1.18e+04 1 7.69e-02 1.99e+00 28 3.981176e+06 2.05e+04 8.98e+06 1.37e+02 6.75e-01 1.23e+04 1 7.80e-02 2.07e+00 29 3.957951e+06 2.32e+04 7.87e+06 1.26e+02 8.01e-01 1.58e+04 1 7.69e-02 2.15e+00 30 3.940853e+06 1.71e+04 9.40e+06 1.41e+02 6.60e-01 1.63e+04 1 7.76e-02 2.23e+00 31 3.917428e+06 2.34e+04 7.49e+06 1.12e+02 8.59e-01 2.58e+04 1 7.76e-02 2.30e+00 32 3.902640e+06 1.48e+04 1.28e+07 1.65e+02 4.89e-01 2.58e+04 1 7.67e-02 2.38e+00 33 3.860944e+06 4.17e+04 7.89e+06 1.42e+02 9.83e-01 7.75e+04 1 7.66e-02 2.46e+00 34 3.989445e+06 -1.29e+05 0.00e+00 6.45e+02 -2.27e+00 3.87e+04 1 3.31e-02 2.49e+00 35 3.856772e+06 4.17e+03 1.59e+07 3.49e+02 1.02e-01 2.57e+04 1 8.37e-02 2.57e+00 36 3.795035e+06 6.17e+04 3.28e+06 2.53e+02 9.45e-01 7.72e+04 1 7.66e-02 2.65e+00 37 5.471835e+06 -1.68e+06 0.00e+00 7.97e+02 -2.36e+01 3.86e+04 1 2.95e-02 2.68e+00 38 5.935485e+06 -2.14e+06 0.00e+00 5.06e+02 -4.10e+01 9.65e+03 1 2.87e-02 2.71e+00 39 4.802011e+06 -1.01e+06 0.00e+00 1.72e+02 -3.82e+01 1.21e+03 1 2.87e-02 2.74e+00 40 3.785112e+06 9.92e+03 6.46e+05 2.51e+01 9.41e-01 3.62e+03 1 7.86e-02 2.82e+00 41 3.779226e+06 5.89e+03 1.34e+06 8.04e+01 9.51e-01 1.09e+04 1 7.84e-02 2.89e+00 42 3.773533e+06 5.69e+03 7.61e+06 2.27e+02 5.10e-01 1.09e+04 1 7.62e-02 2.97e+00 43 3.762688e+06 1.08e+04 5.17e+06 2.22e+02 8.77e-01 1.90e+04 1 7.96e-02 3.05e+00 44 3.753329e+06 9.36e+03 4.36e+06 3.92e+02 8.23e-01 2.60e+04 1 7.90e-02 3.13e+00 45 3.746497e+06 6.83e+03 2.25e+07 4.38e+02 6.51e-01 2.67e+04 1 7.77e-02 3.21e+00 46 3.738510e+06 7.99e+03 3.08e+07 3.91e+02 7.89e-01 3.32e+04 1 7.75e-02 3.28e+00 47 3.732469e+06 6.04e+03 1.77e+07 3.91e+02 8.15e-01 4.42e+04 1 7.75e-02 3.36e+00 48 3.728482e+06 3.99e+03 7.00e+07 4.03e+02 6.83e-01 4.65e+04 1 7.66e-02 3.44e+00 49 3.724404e+06 4.08e+03 1.95e+07 3.34e+02 9.00e-01 9.56e+04 1 8.41e-02 3.52e+00 50 3.724309e+06 9.50e+01 4.26e+08 4.45e+02 3.08e-02 5.23e+04 1 8.33e-02 3.61e+00 Bundle adjustment report ------------------------ Residuals : 49530 Parameters : 20095 Iterations : 51 Time : 3.6065 [s] Initial cost : 18.4221 [px] Final cost : 8.67139 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 10868 => Changed observations: 0.439007 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.293312e+04 0.00e+00 2.67e+06 0.00e+00 0.00e+00 1.00e+04 0 2.77e-02 5.10e-02 1 2.486729e+04 8.07e+03 7.67e+06 3.68e+01 4.93e-01 1.00e+04 1 4.24e-02 9.34e-02 2 1.520810e+04 9.66e+03 1.31e+06 3.40e+00 9.90e-01 3.00e+04 1 4.23e-02 1.36e-01 3 1.368004e+04 1.53e+03 1.53e+06 5.23e+01 7.73e-01 3.58e+04 1 4.24e-02 1.78e-01 4 1.236320e+04 1.32e+03 1.51e+06 5.75e+01 8.01e-01 4.59e+04 1 4.15e-02 2.20e-01 5 1.158169e+04 7.82e+02 1.73e+06 6.12e+01 6.53e-01 4.73e+04 1 4.18e-02 2.62e-01 6 1.087479e+04 7.07e+02 1.28e+06 5.21e+01 7.31e-01 5.24e+04 1 4.09e-02 3.02e-01 7 1.045101e+04 4.24e+02 1.06e+06 4.81e+01 6.53e-01 5.40e+04 1 4.25e-02 3.45e-01 8 1.011025e+04 3.41e+02 9.18e+05 4.20e+01 6.93e-01 5.73e+04 1 4.17e-02 3.87e-01 9 9.878453e+03 2.32e+02 8.69e+05 3.85e+01 6.68e-01 5.96e+04 1 4.22e-02 4.29e-01 10 9.698223e+03 1.80e+02 7.66e+05 3.53e+01 6.88e-01 6.29e+04 1 4.16e-02 4.71e-01 11 9.562489e+03 1.36e+02 6.69e+05 3.37e+01 6.91e-01 6.66e+04 1 4.02e-02 5.11e-01 12 9.453971e+03 1.09e+02 5.62e+05 3.29e+01 7.08e-01 7.18e+04 1 4.19e-02 5.53e-01 13 9.366635e+03 8.73e+01 4.63e+05 3.32e+01 7.16e-01 7.81e+04 1 4.05e-02 5.93e-01 14 9.293690e+03 7.29e+01 4.21e+05 3.44e+01 7.26e-01 8.60e+04 1 4.10e-02 6.34e-01 15 9.231802e+03 6.19e+01 4.45e+05 3.65e+01 7.25e-01 9.47e+04 1 4.10e-02 6.75e-01 16 9.177939e+03 5.39e+01 4.62e+05 3.90e+01 7.23e-01 1.04e+05 1 4.14e-02 7.17e-01 17 9.130513e+03 4.74e+01 4.67e+05 4.17e+01 7.18e-01 1.13e+05 1 4.18e-02 7.59e-01 18 9.088258e+03 4.23e+01 4.58e+05 4.44e+01 7.17e-01 1.23e+05 1 4.18e-02 8.00e-01 19 9.050641e+03 3.76e+01 4.39e+05 4.71e+01 7.19e-01 1.35e+05 1 4.14e-02 8.42e-01 20 9.017282e+03 3.34e+01 4.12e+05 4.99e+01 7.25e-01 1.48e+05 1 5.25e-02 8.95e-01 21 8.987998e+03 2.93e+01 3.82e+05 5.28e+01 7.32e-01 1.64e+05 1 4.26e-02 9.37e-01 22 8.962588e+03 2.54e+01 3.49e+05 5.59e+01 7.41e-01 1.85e+05 1 4.10e-02 9.78e-01 23 8.940886e+03 2.17e+01 3.13e+05 5.92e+01 7.52e-01 2.12e+05 1 4.09e-02 1.02e+00 24 8.922710e+03 1.82e+01 2.75e+05 6.27e+01 7.64e-01 2.49e+05 1 4.07e-02 1.06e+00 25 8.907877e+03 1.48e+01 2.34e+05 6.65e+01 7.77e-01 3.00e+05 1 4.05e-02 1.10e+00 26 8.896184e+03 1.17e+01 1.89e+05 7.04e+01 7.91e-01 3.74e+05 1 4.34e-02 1.14e+00 27 8.887402e+03 8.78e+00 1.42e+05 7.40e+01 8.03e-01 4.81e+05 1 4.14e-02 1.19e+00 28 8.881234e+03 6.17e+00 1.07e+05 7.61e+01 8.11e-01 6.33e+05 1 4.20e-02 1.23e+00 29 8.877233e+03 4.00e+00 8.99e+04 7.44e+01 8.11e-01 8.35e+05 1 4.14e-02 1.27e+00 30 8.874774e+03 2.46e+00 6.68e+04 6.68e+01 8.18e-01 1.13e+06 1 4.11e-02 1.31e+00 31 8.873261e+03 1.51e+00 4.61e+04 5.51e+01 8.42e-01 1.65e+06 1 4.19e-02 1.35e+00 32 8.872254e+03 1.01e+00 3.21e+04 4.25e+01 8.75e-01 2.86e+06 1 4.22e-02 1.39e+00 33 8.871512e+03 7.42e-01 2.40e+04 3.03e+01 8.90e-01 5.44e+06 1 4.20e-02 1.44e+00 34 8.871024e+03 4.87e-01 1.63e+04 1.84e+01 8.76e-01 9.46e+06 1 4.22e-02 1.48e+00 35 8.870796e+03 2.29e-01 7.50e+03 9.03e+00 9.20e-01 2.32e+07 1 4.10e-02 1.52e+00 36 8.870739e+03 5.67e-02 2.58e+03 4.12e+00 9.60e-01 6.96e+07 1 4.16e-02 1.56e+00 37 8.870734e+03 4.66e-03 2.77e+02 9.44e-01 9.99e-01 2.09e+08 1 4.16e-02 1.60e+00 38 8.870734e+03 4.55e-05 2.50e+00 1.11e-01 1.05e+00 6.26e+08 1 4.11e-02 1.64e+00 39 8.870734e+03 8.92e-07 1.74e-01 9.67e-03 1.22e+00 1.88e+09 1 4.03e-02 1.68e+00 Bundle adjustment report ------------------------ Residuals : 27790 Parameters : 14254 Iterations : 40 Time : 1.68444 [s] Initial cost : 1.08861 [px] Final cost : 0.564983 [px] Termination : Convergence => Completed observations: 2880 => Merged observations: 26 => Filtered observations: 44 => Changed observations: 0.212307 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.600673e+04 0.00e+00 6.45e+05 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 6.29e-02 1 1.494990e+04 1.06e+03 6.75e+06 2.07e+00 2.52e-01 8.92e+03 1 5.56e-02 1.19e-01 2 1.156079e+04 3.39e+03 5.19e+05 4.92e+00 9.89e-01 2.67e+04 1 5.85e-02 1.77e-01 3 1.179817e+04 -2.37e+02 0.00e+00 1.07e+01 -5.56e-01 1.34e+04 1 2.36e-02 2.01e-01 4 1.134809e+04 2.13e+02 8.21e+05 6.07e+00 7.39e-01 1.50e+04 1 5.03e-02 2.51e-01 5 1.115419e+04 1.94e+02 7.72e+05 5.39e+00 7.70e-01 1.78e+04 1 5.02e-02 3.01e-01 6 1.101216e+04 1.42e+02 7.63e+05 5.26e+00 7.24e-01 1.96e+04 1 5.07e-02 3.52e-01 7 1.089056e+04 1.22e+02 6.22e+05 4.94e+00 7.74e-01 2.35e+04 1 4.99e-02 4.02e-01 8 1.080025e+04 9.03e+01 5.54e+05 5.24e+00 7.63e-01 2.75e+04 1 6.25e-02 4.65e-01 9 1.072511e+04 7.51e+01 4.37e+05 5.61e+00 8.09e-01 3.60e+04 1 5.05e-02 5.15e-01 10 1.066585e+04 5.93e+01 3.76e+05 6.93e+00 8.16e-01 4.81e+04 1 5.01e-02 5.65e-01 11 1.061393e+04 5.19e+01 2.86e+05 8.97e+00 8.65e-01 7.89e+04 1 5.19e-02 6.17e-01 12 1.056513e+04 4.88e+01 2.33e+05 1.47e+01 8.84e-01 1.44e+05 1 5.13e-02 6.69e-01 13 1.051400e+04 5.11e+01 2.62e+05 2.79e+01 8.44e-01 2.14e+05 1 5.58e-02 7.24e-01 14 1.047036e+04 4.36e+01 4.84e+05 4.36e+01 6.47e-01 2.19e+05 1 5.46e-02 7.79e-01 15 1.041739e+04 5.30e+01 4.70e+05 4.66e+01 7.14e-01 2.38e+05 1 5.21e-02 8.31e-01 16 1.037166e+04 4.57e+01 5.28e+05 5.19e+01 6.44e-01 2.44e+05 1 5.15e-02 8.83e-01 17 1.032390e+04 4.78e+01 5.41e+05 5.37e+01 6.47e-01 2.50e+05 1 5.17e-02 9.34e-01 18 1.027790e+04 4.60e+01 5.64e+05 5.50e+01 6.19e-01 2.54e+05 1 5.05e-02 9.85e-01 19 1.023198e+04 4.59e+01 5.82e+05 5.52e+01 6.03e-01 2.56e+05 1 5.11e-02 1.04e+00 20 1.018652e+04 4.55e+01 6.00e+05 5.49e+01 5.84e-01 2.57e+05 1 5.10e-02 1.09e+00 21 1.014145e+04 4.51e+01 6.16e+05 5.41e+01 5.67e-01 2.58e+05 1 5.15e-02 1.14e+00 22 1.009681e+04 4.46e+01 6.31e+05 5.31e+01 5.51e-01 2.58e+05 1 5.64e-02 1.20e+00 23 1.005265e+04 4.42e+01 6.45e+05 5.21e+01 5.35e-01 2.58e+05 1 5.49e-02 1.25e+00 24 1.000900e+04 4.37e+01 6.59e+05 5.09e+01 5.19e-01 2.58e+05 1 5.04e-02 1.30e+00 25 9.965860e+03 4.31e+01 6.73e+05 4.98e+01 5.04e-01 2.58e+05 1 5.14e-02 1.35e+00 26 9.923245e+03 4.26e+01 6.87e+05 4.88e+01 4.90e-01 2.58e+05 1 5.18e-02 1.40e+00 27 9.881137e+03 4.21e+01 7.00e+05 4.77e+01 4.76e-01 2.58e+05 1 5.43e-02 1.46e+00 28 9.839505e+03 4.16e+01 7.13e+05 4.68e+01 4.62e-01 2.58e+05 1 5.22e-02 1.51e+00 29 9.798308e+03 4.12e+01 7.25e+05 4.58e+01 4.50e-01 2.58e+05 1 5.15e-02 1.56e+00 30 9.757501e+03 4.08e+01 7.35e+05 4.49e+01 4.38e-01 2.57e+05 1 5.18e-02 1.61e+00 31 9.717043e+03 4.05e+01 7.45e+05 4.40e+01 4.29e-01 2.57e+05 1 5.32e-02 1.67e+00 32 9.676914e+03 4.01e+01 7.54e+05 4.30e+01 4.21e-01 2.56e+05 1 5.33e-02 1.72e+00 33 9.637117e+03 3.98e+01 7.62e+05 4.21e+01 4.14e-01 2.54e+05 1 5.20e-02 1.77e+00 34 9.597676e+03 3.94e+01 7.68e+05 4.12e+01 4.09e-01 2.53e+05 1 5.17e-02 1.82e+00 35 9.558636e+03 3.90e+01 7.71e+05 4.03e+01 4.04e-01 2.51e+05 1 5.23e-02 1.88e+00 36 9.520047e+03 3.86e+01 7.72e+05 3.94e+01 4.01e-01 2.49e+05 1 5.14e-02 1.93e+00 37 9.481963e+03 3.81e+01 7.72e+05 3.85e+01 3.99e-01 2.47e+05 1 4.95e-02 1.98e+00 38 9.444439e+03 3.75e+01 7.70e+05 3.76e+01 3.97e-01 2.45e+05 1 5.06e-02 2.03e+00 39 9.407521e+03 3.69e+01 7.66e+05 3.68e+01 3.95e-01 2.43e+05 1 5.24e-02 2.08e+00 40 9.371254e+03 3.63e+01 7.61e+05 3.59e+01 3.94e-01 2.40e+05 1 5.10e-02 2.13e+00 41 9.335675e+03 3.56e+01 7.55e+05 3.51e+01 3.94e-01 2.38e+05 1 5.05e-02 2.18e+00 42 9.300813e+03 3.49e+01 7.47e+05 3.44e+01 3.94e-01 2.36e+05 1 6.52e-02 2.25e+00 43 9.266694e+03 3.41e+01 7.40e+05 3.36e+01 3.94e-01 2.34e+05 1 5.28e-02 2.30e+00 44 9.233338e+03 3.34e+01 7.31e+05 3.29e+01 3.94e-01 2.31e+05 1 5.10e-02 2.35e+00 45 9.200760e+03 3.26e+01 7.22e+05 3.22e+01 3.95e-01 2.29e+05 1 5.03e-02 2.40e+00 46 9.168971e+03 3.18e+01 7.12e+05 3.16e+01 3.96e-01 2.27e+05 1 5.26e-02 2.45e+00 47 9.137980e+03 3.10e+01 7.01e+05 3.10e+01 3.97e-01 2.25e+05 1 5.04e-02 2.50e+00 48 9.107792e+03 3.02e+01 6.91e+05 3.04e+01 3.98e-01 2.23e+05 1 5.15e-02 2.56e+00 49 9.078411e+03 2.94e+01 6.79e+05 2.99e+01 3.99e-01 2.21e+05 1 5.03e-02 2.61e+00 50 9.049837e+03 2.86e+01 6.68e+05 2.93e+01 4.01e-01 2.20e+05 1 5.14e-02 2.66e+00 Bundle adjustment report ------------------------ Residuals : 33462 Parameters : 14206 Iterations : 51 Time : 2.65828 [s] Initial cost : 0.691632 [px] Final cost : 0.520049 [px] Termination : No convergence => Completed observations: 1274 => Merged observations: 58 => Filtered observations: 2 => Changed observations: 0.079732 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.389104e+04 0.00e+00 6.88e+05 0.00e+00 0.00e+00 1.00e+04 0 3.61e-02 6.56e-02 1 1.180410e+04 2.09e+03 6.28e+05 2.12e+00 9.75e-01 3.00e+04 1 5.80e-02 1.24e-01 2 1.164017e+04 1.64e+02 4.25e+05 1.10e+00 8.24e-01 4.12e+04 1 5.56e-02 1.79e-01 3 1.154582e+04 9.44e+01 3.19e+05 1.33e+00 8.55e-01 6.42e+04 1 5.65e-02 2.36e-01 4 1.150397e+04 4.18e+01 5.82e+05 2.40e+00 5.28e-01 6.42e+04 1 5.56e-02 2.92e-01 5 1.144162e+04 6.24e+01 4.85e+05 1.68e+00 7.18e-01 7.00e+04 1 5.61e-02 3.48e-01 6 1.139338e+04 4.82e+01 4.99e+05 6.14e-01 6.55e-01 7.22e+04 1 5.56e-02 4.03e-01 7 1.134313e+04 5.02e+01 4.80e+05 7.65e-01 6.81e-01 7.57e+04 1 5.58e-02 4.59e-01 8 1.129538e+04 4.77e+01 4.92e+05 2.35e+00 6.57e-01 7.82e+04 1 5.61e-02 5.15e-01 9 1.124700e+04 4.84e+01 4.99e+05 4.03e+00 6.52e-01 8.04e+04 1 6.51e-02 5.80e-01 10 1.119902e+04 4.80e+01 5.10e+05 5.78e+00 6.40e-01 8.22e+04 1 5.58e-02 6.36e-01 11 1.115114e+04 4.79e+01 5.17e+05 7.51e+00 6.32e-01 8.38e+04 1 5.56e-02 6.92e-01 12 1.110367e+04 4.75e+01 5.23e+05 9.22e+00 6.25e-01 8.51e+04 1 5.84e-02 7.50e-01 13 1.105675e+04 4.69e+01 5.26e+05 1.09e+01 6.19e-01 8.62e+04 1 5.54e-02 8.06e-01 14 1.101053e+04 4.62e+01 5.27e+05 1.25e+01 6.14e-01 8.73e+04 1 5.47e-02 8.60e-01 15 1.096518e+04 4.54e+01 5.26e+05 1.40e+01 6.11e-01 8.82e+04 1 5.56e-02 9.16e-01 16 1.092079e+04 4.44e+01 5.24e+05 1.54e+01 6.08e-01 8.91e+04 1 5.65e-02 9.73e-01 17 1.087746e+04 4.33e+01 5.19e+05 1.68e+01 6.06e-01 9.00e+04 1 5.61e-02 1.03e+00 18 1.083529e+04 4.22e+01 5.13e+05 1.81e+01 6.05e-01 9.08e+04 1 5.52e-02 1.08e+00 19 1.079433e+04 4.10e+01 5.06e+05 1.93e+01 6.04e-01 9.17e+04 1 5.54e-02 1.14e+00 20 1.075464e+04 3.97e+01 4.98e+05 2.05e+01 6.04e-01 9.25e+04 1 5.54e-02 1.19e+00 21 1.071626e+04 3.84e+01 4.89e+05 2.15e+01 6.05e-01 9.34e+04 1 5.63e-02 1.25e+00 22 1.067923e+04 3.70e+01 4.79e+05 2.26e+01 6.06e-01 9.43e+04 1 5.54e-02 1.31e+00 23 1.064358e+04 3.57e+01 4.68e+05 2.36e+01 6.07e-01 9.52e+04 1 5.46e-02 1.36e+00 24 1.060933e+04 3.43e+01 4.57e+05 2.45e+01 6.09e-01 9.62e+04 1 5.44e-02 1.42e+00 25 1.057649e+04 3.28e+01 4.45e+05 2.54e+01 6.11e-01 9.73e+04 1 5.46e-02 1.47e+00 26 1.054507e+04 3.14e+01 4.32e+05 2.62e+01 6.13e-01 9.84e+04 1 5.69e-02 1.53e+00 27 1.051507e+04 3.00e+01 4.19e+05 2.70e+01 6.16e-01 9.97e+04 1 6.86e-02 1.60e+00 28 1.048648e+04 2.86e+01 4.06e+05 2.77e+01 6.19e-01 1.01e+05 1 5.76e-02 1.65e+00 29 1.045931e+04 2.72e+01 3.93e+05 2.84e+01 6.22e-01 1.03e+05 1 5.59e-02 1.71e+00 30 1.043353e+04 2.58e+01 3.79e+05 2.91e+01 6.25e-01 1.04e+05 1 5.79e-02 1.77e+00 31 1.040913e+04 2.44e+01 3.66e+05 2.98e+01 6.29e-01 1.06e+05 1 5.76e-02 1.82e+00 32 1.038609e+04 2.30e+01 3.52e+05 3.04e+01 6.33e-01 1.08e+05 1 5.67e-02 1.88e+00 33 1.036438e+04 2.17e+01 3.38e+05 3.10e+01 6.36e-01 1.10e+05 1 5.72e-02 1.94e+00 34 1.034397e+04 2.04e+01 3.25e+05 3.16e+01 6.40e-01 1.13e+05 1 5.72e-02 2.00e+00 35 1.032484e+04 1.91e+01 3.11e+05 3.22e+01 6.44e-01 1.15e+05 1 5.70e-02 2.05e+00 36 1.030696e+04 1.79e+01 2.97e+05 3.28e+01 6.48e-01 1.19e+05 1 7.14e-02 2.12e+00 37 1.029028e+04 1.67e+01 2.84e+05 3.34e+01 6.52e-01 1.22e+05 1 6.41e-02 2.19e+00 38 1.027478e+04 1.55e+01 2.70e+05 3.39e+01 6.57e-01 1.26e+05 1 5.75e-02 2.25e+00 39 1.026042e+04 1.44e+01 2.57e+05 3.45e+01 6.61e-01 1.30e+05 1 5.61e-02 2.30e+00 40 1.024717e+04 1.33e+01 2.44e+05 3.50e+01 6.66e-01 1.35e+05 1 5.61e-02 2.36e+00 41 1.023498e+04 1.22e+01 2.30e+05 3.55e+01 6.70e-01 1.41e+05 1 5.65e-02 2.42e+00 42 1.022381e+04 1.12e+01 2.17e+05 3.60e+01 6.75e-01 1.47e+05 1 5.51e-02 2.47e+00 43 1.021364e+04 1.02e+01 2.04e+05 3.65e+01 6.80e-01 1.54e+05 1 5.57e-02 2.53e+00 44 1.020441e+04 9.23e+00 1.92e+05 3.70e+01 6.86e-01 1.63e+05 1 6.39e-02 2.59e+00 45 1.019609e+04 8.32e+00 1.79e+05 3.74e+01 6.91e-01 1.72e+05 1 5.68e-02 2.65e+00 46 1.018864e+04 7.45e+00 1.66e+05 3.78e+01 6.97e-01 1.83e+05 1 5.49e-02 2.70e+00 47 1.018202e+04 6.62e+00 1.53e+05 3.82e+01 7.03e-01 1.96e+05 1 5.73e-02 2.76e+00 48 1.017618e+04 5.84e+00 1.41e+05 3.85e+01 7.10e-01 2.12e+05 1 5.55e-02 2.81e+00 49 1.017108e+04 5.10e+00 1.28e+05 3.87e+01 7.17e-01 2.31e+05 1 5.60e-02 2.87e+00 50 1.016669e+04 4.40e+00 1.16e+05 3.89e+01 7.25e-01 2.54e+05 1 5.50e-02 2.93e+00 Bundle adjustment report ------------------------ Residuals : 36006 Parameters : 14176 Iterations : 51 Time : 2.92642 [s] Initial cost : 0.621126 [px] Final cost : 0.531376 [px] Termination : No convergence => Completed observations: 966 => Merged observations: 203 => Filtered observations: 14 => Changed observations: 0.065711 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.360542e+04 0.00e+00 4.32e+05 0.00e+00 0.00e+00 1.00e+04 0 3.77e-02 6.79e-02 1 1.211658e+04 1.49e+03 1.58e+06 2.89e+00 8.99e-01 2.04e+04 1 6.06e-02 1.29e-01 2 1.192517e+04 1.91e+02 1.02e+06 7.20e+00 6.22e-01 2.07e+04 1 5.95e-02 1.88e-01 3 1.175197e+04 1.73e+02 4.77e+05 8.26e+00 8.84e-01 3.78e+04 1 6.04e-02 2.48e-01 4 1.169865e+04 5.33e+01 7.41e+05 1.40e+01 4.63e-01 3.78e+04 1 5.95e-02 3.08e-01 5 1.159855e+04 1.00e+02 5.71e+05 1.16e+01 7.75e-01 4.54e+04 1 5.84e-02 3.66e-01 6 1.154059e+04 5.80e+01 6.29e+05 1.04e+01 6.53e-01 4.67e+04 1 5.95e-02 4.26e-01 7 1.148272e+04 5.79e+01 5.01e+05 7.20e+00 7.54e-01 5.37e+04 1 6.05e-02 4.87e-01 8 1.144206e+04 4.07e+01 4.74e+05 4.27e+00 7.05e-01 5.77e+04 1 5.96e-02 5.46e-01 9 1.140619e+04 3.59e+01 3.83e+05 6.83e-01 7.59e-01 6.70e+04 1 5.84e-02 6.05e-01 10 1.137939e+04 2.68e+01 3.45e+05 3.48e+00 7.38e-01 7.52e+04 1 7.07e-02 6.75e-01 11 1.135676e+04 2.26e+01 2.80e+05 8.12e+00 7.78e-01 9.07e+04 1 5.93e-02 7.35e-01 12 1.133933e+04 1.74e+01 2.45e+05 1.44e+01 7.70e-01 1.08e+05 1 6.39e-02 7.99e-01 13 1.132477e+04 1.46e+01 1.95e+05 2.16e+01 8.06e-01 1.40e+05 1 6.50e-02 8.64e-01 14 1.131322e+04 1.16e+01 1.65e+05 3.24e+01 8.07e-01 1.82e+05 1 6.49e-02 9.29e-01 15 1.130360e+04 9.61e+00 1.23e+05 4.53e+01 8.34e-01 2.60e+05 1 6.07e-02 9.89e-01 16 1.129635e+04 7.25e+00 8.89e+04 6.39e+01 7.95e-01 3.27e+05 1 5.97e-02 1.05e+00 17 1.129118e+04 5.17e+00 4.65e+04 7.29e+01 7.57e-01 3.78e+05 1 5.90e-02 1.11e+00 18 1.128773e+04 3.45e+00 2.10e+04 7.12e+01 7.32e-01 4.20e+05 1 5.87e-02 1.17e+00 19 1.128544e+04 2.30e+00 1.41e+04 6.31e+01 7.54e-01 4.83e+05 1 5.87e-02 1.23e+00 20 1.128407e+04 1.37e+00 1.07e+04 5.46e+01 7.65e-01 5.68e+05 1 5.74e-02 1.28e+00 21 1.128328e+04 7.95e-01 7.35e+03 4.52e+01 8.00e-01 7.24e+05 1 5.72e-02 1.34e+00 22 1.128286e+04 4.20e-01 4.91e+03 3.69e+01 8.23e-01 9.91e+05 1 5.83e-02 1.40e+00 23 1.128265e+04 2.12e-01 2.90e+03 2.82e+01 8.68e-01 1.65e+06 1 5.87e-02 1.46e+00 24 1.128255e+04 9.52e-02 1.75e+03 2.03e+01 9.11e-01 3.72e+06 1 5.89e-02 1.52e+00 25 1.128251e+04 3.83e-02 8.20e+02 1.19e+01 9.66e-01 1.12e+07 1 5.73e-02 1.57e+00 26 1.128250e+04 8.74e-03 1.50e+02 4.20e+00 9.95e-01 3.35e+07 1 5.77e-02 1.63e+00 27 1.128250e+04 4.92e-04 1.00e+01 6.88e-01 9.99e-01 1.00e+08 1 6.94e-02 1.70e+00 28 1.128250e+04 4.54e-06 7.03e-01 5.19e-02 1.00e+00 3.01e+08 1 6.06e-02 1.76e+00 Bundle adjustment report ------------------------ Residuals : 37910 Parameters : 14095 Iterations : 29 Time : 1.76214 [s] Initial cost : 0.599072 [px] Final cost : 0.545539 [px] Termination : Convergence => Completed observations: 405 => Merged observations: 77 => Filtered observations: 14 => Changed observations: 0.026167 => Filtered images: 0 ============================================================================== Registering image #11 (26) ============================================================================== => Image sees 680 / 2882 points Pose refinement report ---------------------- Residuals : 1254 Parameters : 6 Iterations : 9 Time : 0.011142 [s] Initial cost : 0.653843 [px] Final cost : 0.516435 [px] Termination : Convergence => Continued observations: 624 => Added observations: 3883 Bundle adjustment report ------------------------ Residuals : 34958 Parameters : 11741 Iterations : 26 Time : 0.789699 [s] Initial cost : 1.71385 [px] Final cost : 1.59794 [px] Termination : No convergence => Merged observations: 6 => Completed observations: 504 => Filtered observations: 997 => Changed observations: 0.086080 Bundle adjustment report ------------------------ Residuals : 33974 Parameters : 11468 Iterations : 21 Time : 0.605304 [s] Initial cost : 0.677641 [px] Final cost : 0.563088 [px] Termination : Convergence => Merged observations: 37 => Completed observations: 970 => Filtered observations: 6 => Changed observations: 0.059536 ============================================================================== Retriangulation ============================================================================== => Completed observations: 76 => Merged observations: 5 => Retriangulated observations: 189 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.382547e+07 0.00e+00 7.11e+07 0.00e+00 0.00e+00 1.00e+04 0 4.93e-02 8.90e-02 1 4.462574e+08 -4.32e+08 0.00e+00 1.34e+03 -4.19e+01 5.00e+03 1 3.33e-02 1.22e-01 2 2.260995e+08 -2.12e+08 0.00e+00 1.03e+03 -2.10e+01 1.25e+03 1 2.95e-02 1.52e-01 3 5.358934e+07 -3.98e+07 0.00e+00 6.66e+02 -4.17e+00 1.56e+02 1 2.94e-02 1.81e-01 4 1.222312e+07 1.60e+06 5.53e+08 3.40e+02 1.86e-01 1.25e+02 1 7.76e-02 2.59e-01 5 4.741010e+06 7.48e+06 1.57e+07 7.74e+01 9.98e-01 3.76e+02 1 7.76e-02 3.37e-01 6 4.593199e+06 1.48e+05 7.24e+07 3.23e+01 4.12e-01 3.74e+02 1 8.88e-02 4.26e-01 7 4.239878e+06 3.53e+05 2.09e+07 5.91e-01 9.60e-01 1.12e+03 1 7.98e-02 5.05e-01 8 4.257069e+06 -1.72e+04 0.00e+00 1.13e+01 -5.95e-02 5.61e+02 1 3.09e-02 5.36e-01 9 4.095150e+06 1.45e+05 2.66e+07 3.42e+00 8.26e-01 7.76e+02 1 7.38e-02 6.10e-01 10 3.935049e+06 1.60e+05 2.50e+07 1.28e+01 8.44e-01 1.15e+03 1 7.71e-02 6.87e-01 11 3.778910e+06 1.56e+05 2.83e+07 2.14e+01 7.78e-01 1.39e+03 1 7.67e-02 7.64e-01 12 3.611566e+06 1.67e+05 2.16e+07 1.19e+01 8.62e-01 2.24e+03 1 7.73e-02 8.41e-01 13 3.485875e+06 1.26e+05 2.94e+07 2.85e+01 6.74e-01 2.34e+03 1 7.89e-02 9.20e-01 14 3.338898e+06 1.47e+05 1.73e+07 8.89e+01 8.82e-01 4.21e+03 1 7.71e-02 9.97e-01 15 3.273176e+06 6.57e+04 2.80e+07 2.60e+02 4.98e-01 4.21e+03 1 7.60e-02 1.07e+00 16 3.148681e+06 1.24e+05 1.35e+07 2.91e+02 8.97e-01 8.40e+03 1 7.54e-02 1.15e+00 17 3.128867e+06 1.98e+04 2.74e+07 6.01e+02 1.90e-01 6.78e+03 1 7.67e-02 1.23e+00 18 3.005321e+06 1.24e+05 6.62e+06 4.98e+02 9.44e-01 2.03e+04 1 7.83e-02 1.30e+00 19 3.209428e+06 -2.04e+05 0.00e+00 1.46e+03 -2.53e+00 1.02e+04 1 3.29e-02 1.34e+00 20 2.977703e+06 2.76e+04 6.74e+06 7.87e+02 5.22e-01 1.02e+04 1 9.08e-02 1.43e+00 21 2.941702e+06 3.60e+04 3.96e+06 8.33e+02 6.53e-01 1.05e+04 1 8.18e-02 1.51e+00 22 2.914512e+06 2.72e+04 3.06e+06 8.37e+02 6.39e-01 1.07e+04 1 7.83e-02 1.59e+00 23 2.893555e+06 2.10e+04 2.74e+06 8.33e+02 6.21e-01 1.09e+04 1 7.90e-02 1.67e+00 24 2.876179e+06 1.74e+04 2.33e+06 8.18e+02 6.28e-01 1.10e+04 1 8.01e-02 1.75e+00 25 2.862024e+06 1.42e+04 2.07e+06 8.05e+02 6.27e-01 1.12e+04 1 8.05e-02 1.83e+00 26 2.850184e+06 1.18e+04 1.83e+06 7.89e+02 6.33e-01 1.14e+04 1 8.10e-02 1.91e+00 27 2.840215e+06 9.97e+03 1.65e+06 7.75e+02 6.37e-01 1.17e+04 1 8.00e-02 1.99e+00 28 2.831706e+06 8.51e+03 1.50e+06 7.62e+02 6.43e-01 1.20e+04 1 7.87e-02 2.07e+00 29 2.824370e+06 7.34e+03 1.37e+06 7.50e+02 6.48e-01 1.23e+04 1 7.87e-02 2.15e+00 30 2.817976e+06 6.39e+03 1.27e+06 7.39e+02 6.53e-01 1.26e+04 1 7.94e-02 2.23e+00 31 2.812351e+06 5.63e+03 1.18e+06 7.30e+02 6.57e-01 1.30e+04 1 7.86e-02 2.30e+00 32 2.807359e+06 4.99e+03 1.11e+06 7.23e+02 6.62e-01 1.35e+04 1 7.67e-02 2.38e+00 33 2.802894e+06 4.47e+03 1.05e+06 7.17e+02 6.65e-01 1.40e+04 1 8.91e-02 2.47e+00 34 2.798873e+06 4.02e+03 1.00e+06 7.11e+02 6.68e-01 1.46e+04 1 7.93e-02 2.55e+00 35 2.795231e+06 3.64e+03 9.59e+05 7.07e+02 6.71e-01 1.52e+04 1 7.53e-02 2.62e+00 36 2.791915e+06 3.32e+03 9.20e+05 7.03e+02 6.74e-01 1.58e+04 1 7.62e-02 2.70e+00 37 2.788882e+06 3.03e+03 8.87e+05 7.00e+02 6.76e-01 1.66e+04 1 7.72e-02 2.78e+00 38 2.786098e+06 2.78e+03 8.57e+05 6.98e+02 6.79e-01 1.74e+04 1 7.82e-02 2.86e+00 39 2.783532e+06 2.57e+03 8.29e+05 6.96e+02 6.81e-01 1.82e+04 1 7.64e-02 2.93e+00 40 2.781162e+06 2.37e+03 8.05e+05 6.94e+02 6.83e-01 1.92e+04 1 7.62e-02 3.01e+00 41 2.778967e+06 2.20e+03 7.82e+05 6.92e+02 6.85e-01 2.02e+04 1 7.70e-02 3.09e+00 42 2.776927e+06 2.04e+03 7.61e+05 6.91e+02 6.87e-01 2.13e+04 1 7.63e-02 3.16e+00 43 2.775029e+06 1.90e+03 7.42e+05 6.89e+02 6.89e-01 2.25e+04 1 7.66e-02 3.24e+00 44 2.773259e+06 1.77e+03 7.23e+05 6.88e+02 6.92e-01 2.39e+04 1 7.60e-02 3.32e+00 45 2.771605e+06 1.65e+03 7.06e+05 6.86e+02 6.94e-01 2.53e+04 1 7.67e-02 3.39e+00 46 2.770057e+06 1.55e+03 6.89e+05 6.85e+02 6.96e-01 2.70e+04 1 9.04e-02 3.48e+00 47 2.768605e+06 1.45e+03 6.74e+05 6.84e+02 6.99e-01 2.88e+04 1 7.76e-02 3.56e+00 48 2.767240e+06 1.36e+03 6.59e+05 6.82e+02 7.02e-01 3.08e+04 1 7.52e-02 3.64e+00 49 2.765955e+06 1.28e+03 6.44e+05 6.81e+02 7.05e-01 3.31e+04 1 7.70e-02 3.71e+00 50 2.764744e+06 1.21e+03 6.31e+05 6.79e+02 7.08e-01 3.56e+04 1 7.51e-02 3.79e+00 Bundle adjustment report ------------------------ Residuals : 49178 Parameters : 17929 Iterations : 51 Time : 3.78858 [s] Initial cost : 16.767 [px] Final cost : 7.49794 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 11511 => Changed observations: 0.468136 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.126721e+04 0.00e+00 3.36e+06 0.00e+00 0.00e+00 1.00e+04 0 2.58e-02 4.70e-02 1 2.689805e+04 4.37e+03 2.35e+07 1.52e+02 3.54e-01 9.76e+03 1 4.01e-02 8.71e-02 2 1.850261e+04 8.40e+03 1.66e+06 9.14e+00 9.95e-01 2.93e+04 1 3.89e-02 1.26e-01 3 1.792391e+04 5.79e+02 1.85e+06 1.02e+02 9.04e-01 6.18e+04 1 3.89e-02 1.65e-01 4 1.720052e+04 7.23e+02 6.78e+05 2.42e+02 9.55e-01 1.85e+05 1 3.82e-02 2.03e-01 5 1.668568e+04 5.15e+02 1.41e+06 7.09e+02 4.24e-01 1.85e+05 1 3.93e-02 2.43e-01 6 1.576148e+04 9.24e+02 1.48e+06 6.81e+02 6.09e-01 1.87e+05 1 3.86e-02 2.81e-01 7 1.508843e+04 6.73e+02 1.49e+06 6.74e+02 5.39e-01 1.87e+05 1 3.94e-02 3.21e-01 8 1.450815e+04 5.80e+02 1.62e+06 6.62e+02 5.15e-01 1.87e+05 1 3.97e-02 3.60e-01 9 1.400375e+04 5.04e+02 1.60e+06 6.51e+02 4.93e-01 1.87e+05 1 4.00e-02 4.00e-01 10 1.355939e+04 4.44e+02 1.52e+06 6.41e+02 4.72e-01 1.87e+05 1 3.93e-02 4.40e-01 11 1.316339e+04 3.96e+02 1.41e+06 6.31e+02 4.52e-01 1.87e+05 1 3.88e-02 4.79e-01 12 1.280545e+04 3.58e+02 1.30e+06 6.22e+02 4.33e-01 1.86e+05 1 3.95e-02 5.18e-01 13 1.247678e+04 3.29e+02 1.19e+06 6.12e+02 4.17e-01 1.85e+05 1 3.92e-02 5.57e-01 14 1.217075e+04 3.06e+02 1.09e+06 6.01e+02 4.05e-01 1.84e+05 1 3.86e-02 5.96e-01 15 1.188279e+04 2.88e+02 1.28e+06 5.89e+02 3.95e-01 1.82e+05 1 5.39e-02 6.50e-01 16 1.160966e+04 2.73e+02 1.50e+06 5.75e+02 3.87e-01 1.80e+05 1 3.92e-02 6.89e-01 17 1.134885e+04 2.61e+02 1.73e+06 5.60e+02 3.80e-01 1.78e+05 1 3.88e-02 7.28e-01 18 1.109827e+04 2.51e+02 1.95e+06 5.43e+02 3.74e-01 1.75e+05 1 3.84e-02 7.66e-01 19 1.085609e+04 2.42e+02 2.17e+06 5.26e+02 3.69e-01 1.72e+05 1 3.77e-02 8.04e-01 20 1.062065e+04 2.35e+02 2.36e+06 5.07e+02 3.64e-01 1.69e+05 1 3.95e-02 8.44e-01 21 1.039055e+04 2.30e+02 2.52e+06 4.88e+02 3.61e-01 1.65e+05 1 3.91e-02 8.83e-01 22 1.016464e+04 2.26e+02 2.65e+06 4.68e+02 3.59e-01 1.61e+05 1 4.02e-02 9.23e-01 23 9.942117e+03 2.23e+02 2.74e+06 4.48e+02 3.59e-01 1.58e+05 1 3.88e-02 9.62e-01 24 9.722507e+03 2.20e+02 2.79e+06 4.28e+02 3.61e-01 1.55e+05 1 3.79e-02 1.00e+00 25 9.505673e+03 2.17e+02 2.80e+06 4.08e+02 3.64e-01 1.52e+05 1 3.92e-02 1.04e+00 26 9.291767e+03 2.14e+02 2.77e+06 3.90e+02 3.70e-01 1.49e+05 1 3.78e-02 1.08e+00 27 9.081174e+03 2.11e+02 2.71e+06 3.72e+02 3.77e-01 1.47e+05 1 3.82e-02 1.12e+00 28 8.874452e+03 2.07e+02 2.62e+06 3.56e+02 3.86e-01 1.45e+05 1 3.94e-02 1.15e+00 29 8.672268e+03 2.02e+02 2.50e+06 3.41e+02 3.97e-01 1.44e+05 1 3.92e-02 1.19e+00 30 8.475346e+03 1.97e+02 2.36e+06 3.27e+02 4.10e-01 1.43e+05 1 3.84e-02 1.23e+00 31 8.284430e+03 1.91e+02 2.20e+06 3.15e+02 4.25e-01 1.43e+05 1 3.92e-02 1.27e+00 32 8.100259e+03 1.84e+02 2.05e+06 3.03e+02 4.43e-01 1.42e+05 1 3.93e-02 1.31e+00 33 7.923560e+03 1.77e+02 1.93e+06 2.92e+02 4.63e-01 1.42e+05 1 4.04e-02 1.35e+00 34 7.755048e+03 1.69e+02 1.80e+06 2.82e+02 4.85e-01 1.42e+05 1 3.95e-02 1.39e+00 35 7.595417e+03 1.60e+02 1.65e+06 2.72e+02 5.10e-01 1.42e+05 1 3.83e-02 1.43e+00 36 7.445280e+03 1.50e+02 1.51e+06 2.63e+02 5.35e-01 1.42e+05 1 3.84e-02 1.47e+00 37 7.305032e+03 1.40e+02 1.36e+06 2.54e+02 5.60e-01 1.43e+05 1 3.80e-02 1.51e+00 38 7.174666e+03 1.30e+02 1.22e+06 2.45e+02 5.83e-01 1.43e+05 1 4.31e-02 1.55e+00 39 7.053651e+03 1.21e+02 1.10e+06 2.38e+02 6.02e-01 1.44e+05 1 3.96e-02 1.59e+00 40 6.940993e+03 1.13e+02 1.00e+06 2.32e+02 6.18e-01 1.46e+05 1 4.09e-02 1.63e+00 41 6.835468e+03 1.06e+02 9.14e+05 2.27e+02 6.30e-01 1.49e+05 1 4.87e-02 1.68e+00 42 6.735888e+03 9.96e+01 8.43e+05 2.23e+02 6.38e-01 1.52e+05 1 3.99e-02 1.72e+00 43 6.641265e+03 9.46e+01 7.84e+05 2.20e+02 6.43e-01 1.56e+05 1 3.89e-02 1.76e+00 44 6.550877e+03 9.04e+01 7.35e+05 2.17e+02 6.46e-01 1.60e+05 1 3.77e-02 1.79e+00 45 6.464252e+03 8.66e+01 7.15e+05 2.14e+02 6.46e-01 1.64e+05 1 3.97e-02 1.83e+00 46 6.381122e+03 8.31e+01 7.06e+05 2.11e+02 6.46e-01 1.68e+05 1 3.87e-02 1.87e+00 47 6.301364e+03 7.98e+01 6.97e+05 2.08e+02 6.45e-01 1.72e+05 1 3.83e-02 1.91e+00 48 6.224957e+03 7.64e+01 6.88e+05 2.05e+02 6.43e-01 1.76e+05 1 3.88e-02 1.95e+00 49 6.151932e+03 7.30e+01 6.78e+05 2.01e+02 6.42e-01 1.80e+05 1 3.77e-02 1.99e+00 50 6.082350e+03 6.96e+01 6.68e+05 1.97e+02 6.40e-01 1.85e+05 1 3.84e-02 2.03e+00 Bundle adjustment report ------------------------ Residuals : 26156 Parameters : 13294 Iterations : 51 Time : 2.02679 [s] Initial cost : 1.09335 [px] Final cost : 0.482225 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000153 => Filtered images: 26 => Relaxing the initialization constraints. ============================================================================== Initializing with image pair #13 and #1 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.689771e+02 0.00e+00 1.52e+05 0.00e+00 0.00e+00 1.00e+04 0 4.95e-03 9.54e-03 1 9.961085e+02 -2.71e+01 0.00e+00 1.15e+01 -1.94e-01 5.00e+03 1 2.29e-03 1.19e-02 2 8.991666e+02 6.98e+01 3.88e+04 1.36e+00 5.55e-01 5.01e+03 1 6.50e-03 1.84e-02 3 8.290237e+02 7.01e+01 8.75e+03 9.80e+00 9.69e-01 1.50e+04 1 6.40e-03 2.48e-02 4 8.122437e+02 1.68e+01 5.45e+03 4.02e+01 9.37e-01 4.50e+04 1 6.42e-03 3.12e-02 5 7.953626e+02 1.69e+01 1.34e+04 1.02e+02 5.83e-01 4.52e+04 1 6.83e-03 3.81e-02 6 7.700552e+02 2.53e+01 1.09e+04 8.06e+01 8.41e-01 6.62e+04 1 6.97e-03 4.51e-02 7 7.568764e+02 1.32e+01 1.26e+04 8.23e+01 7.03e-01 7.10e+04 1 6.81e-03 5.19e-02 8 7.457860e+02 1.11e+01 7.08e+03 5.91e+01 8.74e-01 1.22e+05 1 6.49e-03 5.84e-02 9 7.413416e+02 4.44e+00 6.68e+03 5.38e+01 7.79e-01 1.48e+05 1 6.67e-03 6.51e-02 10 7.389857e+02 2.36e+00 2.62e+03 3.01e+01 9.33e-01 4.23e+05 1 6.55e-03 7.17e-02 11 7.385315e+02 4.54e-01 2.02e+03 1.62e+01 8.36e-01 6.09e+05 1 7.01e-03 7.87e-02 12 7.383936e+02 1.38e-01 3.35e+02 3.24e+00 9.28e-01 1.64e+06 1 6.75e-03 8.55e-02 13 7.390250e+02 -6.31e-01 0.00e+00 2.25e+01 -5.40e+00 8.20e+05 1 2.00e-03 8.75e-02 14 7.383743e+02 1.93e-02 9.21e+02 1.08e+01 3.00e-01 7.70e+05 1 6.44e-03 9.40e-02 15 7.383172e+02 5.71e-02 8.44e+02 1.10e+01 6.05e-01 7.77e+05 1 6.36e-03 1.00e-01 16 7.382691e+02 4.82e-02 8.56e+02 1.11e+01 5.58e-01 7.78e+05 1 6.42e-03 1.07e-01 17 7.382199e+02 4.92e-02 8.49e+02 1.11e+01 5.68e-01 7.80e+05 1 6.51e-03 1.13e-01 18 7.381712e+02 4.86e-02 8.43e+02 1.11e+01 5.69e-01 7.82e+05 1 6.43e-03 1.20e-01 19 7.381231e+02 4.81e-02 8.37e+02 1.10e+01 5.70e-01 7.85e+05 1 7.08e-03 1.27e-01 20 7.380756e+02 4.76e-02 8.32e+02 1.10e+01 5.71e-01 7.87e+05 1 6.47e-03 1.33e-01 21 7.380285e+02 4.71e-02 8.27e+02 1.10e+01 5.72e-01 7.89e+05 1 6.62e-03 1.40e-01 22 7.379818e+02 4.66e-02 8.22e+02 1.10e+01 5.73e-01 7.92e+05 1 6.99e-03 1.47e-01 23 7.379357e+02 4.62e-02 8.18e+02 1.09e+01 5.74e-01 7.94e+05 1 7.03e-03 1.54e-01 24 7.378900e+02 4.57e-02 8.13e+02 1.09e+01 5.75e-01 7.97e+05 1 6.82e-03 1.61e-01 25 7.378447e+02 4.53e-02 8.09e+02 1.09e+01 5.76e-01 8.00e+05 1 6.81e-03 1.68e-01 26 7.377999e+02 4.48e-02 8.06e+02 1.09e+01 5.77e-01 8.03e+05 1 7.02e-03 1.75e-01 27 7.377555e+02 4.44e-02 8.02e+02 1.09e+01 5.77e-01 8.06e+05 1 7.06e-03 1.82e-01 28 7.377115e+02 4.40e-02 7.99e+02 1.08e+01 5.78e-01 8.09e+05 1 6.92e-03 1.89e-01 29 7.376678e+02 4.36e-02 7.95e+02 1.08e+01 5.78e-01 8.12e+05 1 7.01e-03 1.96e-01 30 7.376246e+02 4.32e-02 7.92e+02 1.08e+01 5.79e-01 8.15e+05 1 6.86e-03 2.03e-01 31 7.375817e+02 4.29e-02 7.89e+02 1.08e+01 5.79e-01 8.18e+05 1 6.82e-03 2.10e-01 32 7.375392e+02 4.25e-02 7.86e+02 1.08e+01 5.79e-01 8.21e+05 1 6.50e-03 2.16e-01 33 7.374971e+02 4.21e-02 7.84e+02 1.08e+01 5.79e-01 8.25e+05 1 6.66e-03 2.23e-01 34 7.374553e+02 4.18e-02 7.81e+02 1.08e+01 5.80e-01 8.28e+05 1 6.78e-03 2.30e-01 35 7.374139e+02 4.14e-02 7.78e+02 1.08e+01 5.80e-01 8.32e+05 1 6.65e-03 2.36e-01 36 7.373728e+02 4.11e-02 7.76e+02 1.07e+01 5.80e-01 8.35e+05 1 6.60e-03 2.43e-01 37 7.373320e+02 4.08e-02 7.73e+02 1.07e+01 5.80e-01 8.38e+05 1 6.63e-03 2.50e-01 38 7.372916e+02 4.04e-02 7.71e+02 1.07e+01 5.80e-01 8.42e+05 1 6.72e-03 2.56e-01 39 7.372515e+02 4.01e-02 7.69e+02 1.07e+01 5.81e-01 8.46e+05 1 6.87e-03 2.63e-01 40 7.372117e+02 3.98e-02 7.66e+02 1.07e+01 5.81e-01 8.49e+05 1 6.48e-03 2.70e-01 41 7.371722e+02 3.95e-02 7.64e+02 1.07e+01 5.81e-01 8.53e+05 1 6.87e-03 2.77e-01 42 7.371330e+02 3.92e-02 7.62e+02 1.07e+01 5.81e-01 8.56e+05 1 6.83e-03 2.83e-01 43 7.370942e+02 3.89e-02 7.60e+02 1.07e+01 5.81e-01 8.60e+05 1 6.35e-03 2.90e-01 44 7.370556e+02 3.86e-02 7.58e+02 1.07e+01 5.81e-01 8.64e+05 1 6.64e-03 2.96e-01 45 7.370174e+02 3.83e-02 7.56e+02 1.07e+01 5.81e-01 8.67e+05 1 6.40e-03 3.03e-01 46 7.369794e+02 3.80e-02 7.54e+02 1.06e+01 5.81e-01 8.71e+05 1 6.56e-03 3.09e-01 47 7.369417e+02 3.77e-02 7.52e+02 1.06e+01 5.81e-01 8.75e+05 1 6.48e-03 3.16e-01 48 7.369044e+02 3.74e-02 7.50e+02 1.06e+01 5.81e-01 8.78e+05 1 6.77e-03 3.23e-01 49 7.368673e+02 3.71e-02 7.48e+02 1.06e+01 5.81e-01 8.82e+05 1 6.98e-03 3.30e-01 50 7.368305e+02 3.68e-02 7.46e+02 1.06e+01 5.81e-01 8.86e+05 1 6.77e-03 3.37e-01 51 7.367939e+02 3.65e-02 7.44e+02 1.06e+01 5.81e-01 8.90e+05 1 6.95e-03 3.43e-01 52 7.367576e+02 3.63e-02 7.42e+02 1.06e+01 5.81e-01 8.94e+05 1 6.75e-03 3.50e-01 53 7.367217e+02 3.60e-02 7.41e+02 1.06e+01 5.81e-01 8.97e+05 1 6.52e-03 3.57e-01 54 7.366859e+02 3.57e-02 7.39e+02 1.06e+01 5.81e-01 9.01e+05 1 6.65e-03 3.63e-01 55 7.366505e+02 3.55e-02 7.37e+02 1.06e+01 5.81e-01 9.05e+05 1 6.55e-03 3.70e-01 56 7.366153e+02 3.52e-02 7.35e+02 1.06e+01 5.81e-01 9.09e+05 1 6.78e-03 3.77e-01 57 7.365803e+02 3.49e-02 7.33e+02 1.06e+01 5.81e-01 9.13e+05 1 6.87e-03 3.84e-01 58 7.365457e+02 3.47e-02 7.32e+02 1.06e+01 5.81e-01 9.17e+05 1 6.58e-03 3.90e-01 59 7.365112e+02 3.44e-02 7.30e+02 1.06e+01 5.81e-01 9.21e+05 1 6.68e-03 3.97e-01 60 7.364771e+02 3.42e-02 7.28e+02 1.05e+01 5.81e-01 9.25e+05 1 6.66e-03 4.04e-01 61 7.364432e+02 3.39e-02 7.26e+02 1.05e+01 5.81e-01 9.28e+05 1 6.95e-03 4.11e-01 62 7.364095e+02 3.37e-02 7.25e+02 1.05e+01 5.81e-01 9.32e+05 1 6.55e-03 4.17e-01 63 7.363761e+02 3.34e-02 7.23e+02 1.05e+01 5.81e-01 9.36e+05 1 6.47e-03 4.24e-01 64 7.363429e+02 3.32e-02 7.21e+02 1.05e+01 5.81e-01 9.40e+05 1 6.48e-03 4.30e-01 65 7.363099e+02 3.29e-02 7.19e+02 1.05e+01 5.81e-01 9.44e+05 1 6.84e-03 4.37e-01 66 7.362772e+02 3.27e-02 7.18e+02 1.05e+01 5.81e-01 9.48e+05 1 7.02e-03 4.44e-01 67 7.362447e+02 3.25e-02 7.16e+02 1.05e+01 5.81e-01 9.52e+05 1 6.52e-03 4.51e-01 68 7.362125e+02 3.22e-02 7.14e+02 1.05e+01 5.81e-01 9.56e+05 1 6.77e-03 4.57e-01 69 7.361805e+02 3.20e-02 7.13e+02 1.05e+01 5.81e-01 9.60e+05 1 6.46e-03 4.64e-01 70 7.361487e+02 3.18e-02 7.11e+02 1.05e+01 5.81e-01 9.64e+05 1 6.57e-03 4.71e-01 71 7.361172e+02 3.15e-02 7.10e+02 1.05e+01 5.80e-01 9.68e+05 1 6.64e-03 4.77e-01 72 7.360859e+02 3.13e-02 7.08e+02 1.05e+01 5.80e-01 9.72e+05 1 6.76e-03 4.84e-01 73 7.360548e+02 3.11e-02 7.06e+02 1.05e+01 5.80e-01 9.76e+05 1 6.68e-03 4.91e-01 74 7.360239e+02 3.09e-02 7.05e+02 1.05e+01 5.80e-01 9.80e+05 1 6.78e-03 4.98e-01 75 7.359932e+02 3.07e-02 7.03e+02 1.04e+01 5.80e-01 9.85e+05 1 6.51e-03 5.04e-01 76 7.359628e+02 3.04e-02 7.01e+02 1.04e+01 5.80e-01 9.89e+05 1 6.45e-03 5.11e-01 77 7.359325e+02 3.02e-02 7.00e+02 1.04e+01 5.80e-01 9.93e+05 1 6.54e-03 5.17e-01 78 7.359025e+02 3.00e-02 6.98e+02 1.04e+01 5.80e-01 9.97e+05 1 6.46e-03 5.24e-01 79 7.358727e+02 2.98e-02 6.97e+02 1.04e+01 5.80e-01 1.00e+06 1 6.48e-03 5.30e-01 80 7.358431e+02 2.96e-02 6.95e+02 1.04e+01 5.80e-01 1.01e+06 1 6.40e-03 5.36e-01 81 7.358137e+02 2.94e-02 6.93e+02 1.04e+01 5.80e-01 1.01e+06 1 6.62e-03 5.43e-01 82 7.357845e+02 2.92e-02 6.92e+02 1.04e+01 5.80e-01 1.01e+06 1 6.45e-03 5.50e-01 83 7.357556e+02 2.90e-02 6.90e+02 1.04e+01 5.80e-01 1.02e+06 1 6.75e-03 5.56e-01 84 7.357268e+02 2.88e-02 6.89e+02 1.04e+01 5.80e-01 1.02e+06 1 6.72e-03 5.63e-01 85 7.356982e+02 2.86e-02 6.87e+02 1.04e+01 5.80e-01 1.03e+06 1 6.76e-03 5.70e-01 86 7.356698e+02 2.84e-02 6.86e+02 1.04e+01 5.80e-01 1.03e+06 1 6.83e-03 5.77e-01 87 7.356416e+02 2.82e-02 6.84e+02 1.04e+01 5.80e-01 1.03e+06 1 7.13e-03 5.84e-01 88 7.356136e+02 2.80e-02 6.83e+02 1.04e+01 5.80e-01 1.04e+06 1 6.37e-03 5.90e-01 89 7.355858e+02 2.78e-02 6.81e+02 1.04e+01 5.80e-01 1.04e+06 1 6.77e-03 5.97e-01 90 7.355582e+02 2.76e-02 6.80e+02 1.04e+01 5.80e-01 1.05e+06 1 6.38e-03 6.03e-01 91 7.355308e+02 2.74e-02 6.78e+02 1.03e+01 5.80e-01 1.05e+06 1 6.59e-03 6.10e-01 92 7.355036e+02 2.72e-02 6.77e+02 1.03e+01 5.80e-01 1.06e+06 1 6.48e-03 6.17e-01 93 7.354765e+02 2.70e-02 6.75e+02 1.03e+01 5.80e-01 1.06e+06 1 6.53e-03 6.23e-01 94 7.354496e+02 2.69e-02 6.74e+02 1.03e+01 5.80e-01 1.06e+06 1 6.37e-03 6.30e-01 95 7.354230e+02 2.67e-02 6.72e+02 1.03e+01 5.79e-01 1.07e+06 1 6.67e-03 6.36e-01 96 7.353965e+02 2.65e-02 6.71e+02 1.03e+01 5.79e-01 1.07e+06 1 7.59e-03 6.44e-01 97 7.353701e+02 2.63e-02 6.69e+02 1.03e+01 5.79e-01 1.08e+06 1 7.57e-03 6.51e-01 98 7.353440e+02 2.61e-02 6.68e+02 1.03e+01 5.79e-01 1.08e+06 1 7.05e-03 6.58e-01 99 7.353180e+02 2.60e-02 6.66e+02 1.03e+01 5.79e-01 1.09e+06 1 6.84e-03 6.65e-01 100 7.352922e+02 2.58e-02 6.65e+02 1.03e+01 5.79e-01 1.09e+06 1 6.86e-03 6.72e-01 Bundle adjustment report ------------------------ Residuals : 6248 Parameters : 4693 Iterations : 101 Time : 0.672479 [s] Initial cost : 0.39381 [px] Final cost : 0.343052 [px] Termination : No convergence => Filtered observations: 2 => Filtered images: 0 ============================================================================== Registering image #34 (3) ============================================================================== => Image sees 901 / 2985 points Pose refinement report ---------------------- Residuals : 1528 Parameters : 6 Iterations : 43 Time : 0.0766351 [s] Initial cost : 0.878001 [px] Final cost : 0.853702 [px] Termination : Convergence => Continued observations: 764 => Added observations: 1771 Bundle adjustment report ------------------------ Residuals : 11314 Parameters : 7066 Iterations : 26 Time : 0.355236 [s] Initial cost : 0.805296 [px] Final cost : 0.595567 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 326 => Changed observations: 0.057804 Bundle adjustment report ------------------------ Residuals : 10664 Parameters : 7039 Iterations : 26 Time : 0.340035 [s] Initial cost : 0.542997 [px] Final cost : 0.479131 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.003001 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 2.488556e+03 0.00e+00 1.82e+04 0.00e+00 0.00e+00 1.00e+04 0 9.11e-03 1.72e-02 1 2.480266e+03 8.29e+00 1.62e+02 2.92e+00 1.00e+00 3.00e+04 1 1.39e-02 3.11e-02 2 2.477485e+03 2.78e+00 1.51e+03 1.10e+01 9.87e-01 9.00e+04 1 1.34e-02 4.45e-02 3 2.472214e+03 5.27e+00 1.33e+04 3.51e+01 6.28e-01 9.15e+04 1 1.29e-02 5.74e-02 4 2.463921e+03 8.29e+00 1.36e+04 3.67e+01 7.15e-01 9.94e+04 1 1.30e-02 7.05e-02 5 2.456044e+03 7.88e+00 1.59e+04 4.06e+01 6.32e-01 1.01e+05 1 1.34e-02 8.39e-02 6 2.447070e+03 8.97e+00 1.64e+04 4.18e+01 6.49e-01 1.04e+05 1 1.29e-02 9.68e-02 7 2.438080e+03 8.99e+00 1.72e+04 4.31e+01 6.29e-01 1.06e+05 1 1.29e-02 1.10e-01 8 2.428803e+03 9.28e+00 1.78e+04 4.39e+01 6.25e-01 1.08e+05 1 1.26e-02 1.22e-01 9 2.419414e+03 9.39e+00 1.82e+04 4.46e+01 6.18e-01 1.09e+05 1 1.28e-02 1.35e-01 10 2.409916e+03 9.50e+00 1.87e+04 4.51e+01 6.15e-01 1.10e+05 1 1.27e-02 1.48e-01 11 2.400345e+03 9.57e+00 1.90e+04 4.55e+01 6.11e-01 1.12e+05 1 1.46e-02 1.63e-01 12 2.390719e+03 9.63e+00 1.94e+04 4.58e+01 6.09e-01 1.13e+05 1 1.41e-02 1.77e-01 13 2.381056e+03 9.66e+00 1.97e+04 4.60e+01 6.07e-01 1.14e+05 1 1.29e-02 1.90e-01 14 2.371367e+03 9.69e+00 2.00e+04 4.62e+01 6.05e-01 1.15e+05 1 1.27e-02 2.02e-01 15 2.361663e+03 9.70e+00 2.02e+04 4.64e+01 6.04e-01 1.16e+05 1 1.32e-02 2.16e-01 16 2.351952e+03 9.71e+00 2.05e+04 4.65e+01 6.03e-01 1.17e+05 1 1.31e-02 2.29e-01 17 2.342241e+03 9.71e+00 2.07e+04 4.66e+01 6.02e-01 1.18e+05 1 1.32e-02 2.42e-01 18 2.332535e+03 9.71e+00 2.10e+04 4.67e+01 6.02e-01 1.19e+05 1 1.30e-02 2.55e-01 19 2.322840e+03 9.70e+00 2.12e+04 4.68e+01 6.01e-01 1.20e+05 1 2.13e-02 2.76e-01 20 2.313160e+03 9.68e+00 2.14e+04 4.69e+01 6.01e-01 1.21e+05 1 1.43e-02 2.91e-01 21 2.303499e+03 9.66e+00 2.16e+04 4.69e+01 6.01e-01 1.22e+05 1 1.32e-02 3.04e-01 22 2.293860e+03 9.64e+00 2.18e+04 4.70e+01 6.01e-01 1.23e+05 1 1.31e-02 3.17e-01 23 2.284247e+03 9.61e+00 2.20e+04 4.70e+01 6.01e-01 1.24e+05 1 1.31e-02 3.30e-01 24 2.274663e+03 9.58e+00 2.22e+04 4.70e+01 6.01e-01 1.25e+05 1 1.32e-02 3.43e-01 25 2.265110e+03 9.55e+00 2.24e+04 4.71e+01 6.01e-01 1.26e+05 1 1.35e-02 3.57e-01 26 2.255590e+03 9.52e+00 2.26e+04 4.71e+01 6.01e-01 1.27e+05 1 1.31e-02 3.70e-01 27 2.246105e+03 9.48e+00 2.28e+04 4.71e+01 6.01e-01 1.28e+05 1 1.31e-02 3.83e-01 28 2.236659e+03 9.45e+00 2.29e+04 4.71e+01 6.01e-01 1.29e+05 1 1.34e-02 3.97e-01 29 2.227252e+03 9.41e+00 2.31e+04 4.71e+01 6.02e-01 1.30e+05 1 1.29e-02 4.10e-01 30 2.217887e+03 9.37e+00 2.33e+04 4.71e+01 6.02e-01 1.31e+05 1 1.38e-02 4.23e-01 31 2.208565e+03 9.32e+00 2.34e+04 4.71e+01 6.02e-01 1.33e+05 1 1.30e-02 4.37e-01 32 2.199288e+03 9.28e+00 2.36e+04 4.71e+01 6.02e-01 1.34e+05 1 1.30e-02 4.50e-01 33 2.190057e+03 9.23e+00 2.37e+04 4.71e+01 6.03e-01 1.35e+05 1 1.34e-02 4.63e-01 34 2.180875e+03 9.18e+00 2.39e+04 4.70e+01 6.03e-01 1.36e+05 1 1.33e-02 4.76e-01 35 2.171742e+03 9.13e+00 2.40e+04 4.70e+01 6.03e-01 1.37e+05 1 1.31e-02 4.89e-01 36 2.162661e+03 9.08e+00 2.42e+04 4.70e+01 6.04e-01 1.39e+05 1 1.33e-02 5.03e-01 37 2.153631e+03 9.03e+00 2.43e+04 4.70e+01 6.04e-01 1.40e+05 1 1.27e-02 5.15e-01 38 2.144656e+03 8.98e+00 2.45e+04 4.69e+01 6.04e-01 1.41e+05 1 1.27e-02 5.28e-01 39 2.135736e+03 8.92e+00 2.46e+04 4.69e+01 6.04e-01 1.42e+05 1 1.27e-02 5.41e-01 40 2.126872e+03 8.86e+00 2.48e+04 4.69e+01 6.05e-01 1.44e+05 1 1.29e-02 5.54e-01 41 2.118066e+03 8.81e+00 2.49e+04 4.68e+01 6.05e-01 1.45e+05 1 1.32e-02 5.67e-01 42 2.109319e+03 8.75e+00 2.50e+04 4.68e+01 6.05e-01 1.46e+05 1 1.32e-02 5.80e-01 43 2.100632e+03 8.69e+00 2.51e+04 4.67e+01 6.06e-01 1.48e+05 1 1.30e-02 5.93e-01 44 2.092007e+03 8.63e+00 2.53e+04 4.67e+01 6.06e-01 1.49e+05 1 1.30e-02 6.06e-01 45 2.083444e+03 8.56e+00 2.54e+04 4.66e+01 6.06e-01 1.51e+05 1 1.32e-02 6.19e-01 46 2.074945e+03 8.50e+00 2.55e+04 4.66e+01 6.07e-01 1.52e+05 1 1.29e-02 6.32e-01 47 2.066511e+03 8.43e+00 2.56e+04 4.65e+01 6.07e-01 1.54e+05 1 1.29e-02 6.45e-01 48 2.058142e+03 8.37e+00 2.57e+04 4.64e+01 6.07e-01 1.55e+05 1 1.34e-02 6.59e-01 49 2.049841e+03 8.30e+00 2.58e+04 4.64e+01 6.08e-01 1.57e+05 1 1.31e-02 6.72e-01 50 2.041609e+03 8.23e+00 2.59e+04 4.63e+01 6.08e-01 1.58e+05 1 1.31e-02 6.85e-01 51 2.033445e+03 8.16e+00 2.60e+04 4.62e+01 6.08e-01 1.60e+05 1 1.31e-02 6.98e-01 52 2.025352e+03 8.09e+00 2.61e+04 4.61e+01 6.09e-01 1.62e+05 1 1.32e-02 7.11e-01 53 2.017330e+03 8.02e+00 2.62e+04 4.61e+01 6.09e-01 1.63e+05 1 1.28e-02 7.24e-01 54 2.009381e+03 7.95e+00 2.63e+04 4.60e+01 6.09e-01 1.65e+05 1 1.29e-02 7.37e-01 55 2.001505e+03 7.88e+00 2.64e+04 4.59e+01 6.10e-01 1.67e+05 1 1.28e-02 7.50e-01 56 1.993703e+03 7.80e+00 2.65e+04 4.58e+01 6.10e-01 1.69e+05 1 1.28e-02 7.63e-01 57 1.985977e+03 7.73e+00 2.65e+04 4.57e+01 6.10e-01 1.70e+05 1 1.28e-02 7.76e-01 58 1.978327e+03 7.65e+00 2.66e+04 4.56e+01 6.11e-01 1.72e+05 1 1.30e-02 7.89e-01 59 1.970754e+03 7.57e+00 2.67e+04 4.55e+01 6.11e-01 1.74e+05 1 1.33e-02 8.02e-01 60 1.963259e+03 7.49e+00 2.67e+04 4.54e+01 6.11e-01 1.76e+05 1 1.29e-02 8.15e-01 61 1.955843e+03 7.42e+00 2.68e+04 4.53e+01 6.12e-01 1.78e+05 1 1.27e-02 8.28e-01 62 1.948507e+03 7.34e+00 2.68e+04 4.52e+01 6.12e-01 1.80e+05 1 1.29e-02 8.40e-01 63 1.941251e+03 7.26e+00 2.69e+04 4.51e+01 6.12e-01 1.82e+05 1 1.33e-02 8.54e-01 64 1.934077e+03 7.17e+00 2.69e+04 4.50e+01 6.12e-01 1.84e+05 1 1.31e-02 8.67e-01 65 1.926985e+03 7.09e+00 2.70e+04 4.49e+01 6.13e-01 1.86e+05 1 1.28e-02 8.80e-01 66 1.919975e+03 7.01e+00 2.70e+04 4.48e+01 6.13e-01 1.89e+05 1 1.30e-02 8.93e-01 67 1.913050e+03 6.93e+00 2.70e+04 4.46e+01 6.13e-01 1.91e+05 1 1.28e-02 9.06e-01 68 1.906209e+03 6.84e+00 2.71e+04 4.45e+01 6.14e-01 1.93e+05 1 1.33e-02 9.19e-01 69 1.899453e+03 6.76e+00 2.71e+04 4.44e+01 6.14e-01 1.95e+05 1 1.31e-02 9.32e-01 70 1.892782e+03 6.67e+00 2.71e+04 4.43e+01 6.14e-01 1.98e+05 1 1.28e-02 9.45e-01 71 1.886198e+03 6.58e+00 2.71e+04 4.41e+01 6.15e-01 2.00e+05 1 1.29e-02 9.58e-01 72 1.879701e+03 6.50e+00 2.71e+04 4.40e+01 6.15e-01 2.03e+05 1 1.30e-02 9.71e-01 73 1.873292e+03 6.41e+00 2.71e+04 4.38e+01 6.15e-01 2.05e+05 1 1.28e-02 9.84e-01 74 1.866970e+03 6.32e+00 2.71e+04 4.37e+01 6.16e-01 2.08e+05 1 1.31e-02 9.97e-01 75 1.860737e+03 6.23e+00 2.71e+04 4.36e+01 6.16e-01 2.10e+05 1 1.27e-02 1.01e+00 76 1.854594e+03 6.14e+00 2.71e+04 4.34e+01 6.17e-01 2.13e+05 1 1.28e-02 1.02e+00 77 1.848539e+03 6.05e+00 2.70e+04 4.33e+01 6.17e-01 2.16e+05 1 1.29e-02 1.04e+00 78 1.842575e+03 5.96e+00 2.70e+04 4.31e+01 6.17e-01 2.19e+05 1 1.29e-02 1.05e+00 79 1.836701e+03 5.87e+00 2.70e+04 4.29e+01 6.18e-01 2.22e+05 1 1.29e-02 1.06e+00 80 1.830919e+03 5.78e+00 2.69e+04 4.28e+01 6.18e-01 2.25e+05 1 1.29e-02 1.07e+00 81 1.825227e+03 5.69e+00 2.69e+04 4.26e+01 6.18e-01 2.28e+05 1 1.30e-02 1.09e+00 82 1.819626e+03 5.60e+00 2.68e+04 4.24e+01 6.19e-01 2.31e+05 1 1.30e-02 1.10e+00 83 1.814118e+03 5.51e+00 2.68e+04 4.23e+01 6.19e-01 2.34e+05 1 1.30e-02 1.11e+00 84 1.808701e+03 5.42e+00 2.67e+04 4.21e+01 6.19e-01 2.37e+05 1 1.30e-02 1.13e+00 85 1.803377e+03 5.32e+00 2.66e+04 4.19e+01 6.20e-01 2.40e+05 1 1.29e-02 1.14e+00 86 1.798145e+03 5.23e+00 2.65e+04 4.17e+01 6.20e-01 2.44e+05 1 1.28e-02 1.15e+00 87 1.793005e+03 5.14e+00 2.65e+04 4.15e+01 6.21e-01 2.47e+05 1 1.49e-02 1.17e+00 88 1.787959e+03 5.05e+00 2.64e+04 4.13e+01 6.21e-01 2.51e+05 1 1.36e-02 1.18e+00 89 1.783005e+03 4.95e+00 2.63e+04 4.11e+01 6.21e-01 2.54e+05 1 1.33e-02 1.19e+00 90 1.778144e+03 4.86e+00 2.62e+04 4.09e+01 6.22e-01 2.58e+05 1 1.28e-02 1.21e+00 91 1.773376e+03 4.77e+00 2.61e+04 4.07e+01 6.22e-01 2.62e+05 1 1.28e-02 1.22e+00 92 1.768701e+03 4.68e+00 2.60e+04 4.05e+01 6.23e-01 2.66e+05 1 1.31e-02 1.23e+00 93 1.764119e+03 4.58e+00 2.58e+04 4.03e+01 6.23e-01 2.70e+05 1 1.28e-02 1.25e+00 94 1.759630e+03 4.49e+00 2.57e+04 4.01e+01 6.23e-01 2.74e+05 1 1.28e-02 1.26e+00 95 1.755233e+03 4.40e+00 2.56e+04 3.99e+01 6.24e-01 2.78e+05 1 1.30e-02 1.27e+00 96 1.750929e+03 4.30e+00 2.54e+04 3.97e+01 6.24e-01 2.83e+05 1 2.06e-02 1.29e+00 97 1.746718e+03 4.21e+00 2.53e+04 3.95e+01 6.25e-01 2.87e+05 1 1.53e-02 1.31e+00 98 1.742598e+03 4.12e+00 2.51e+04 3.92e+01 6.25e-01 2.92e+05 1 1.26e-02 1.32e+00 99 1.738571e+03 4.03e+00 2.50e+04 3.90e+01 6.26e-01 2.96e+05 1 1.30e-02 1.33e+00 100 1.734635e+03 3.94e+00 2.48e+04 3.88e+01 6.26e-01 3.01e+05 1 1.30e-02 1.35e+00 Bundle adjustment report ------------------------ Residuals : 10696 Parameters : 7063 Iterations : 101 Time : 1.34647 [s] Initial cost : 0.482351 [px] Final cost : 0.402711 [px] Termination : No convergence => Completed observations: 191 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.035714 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.526529e+03 0.00e+00 3.77e+04 0.00e+00 0.00e+00 1.00e+04 0 9.26e-03 1.80e-02 1 2.209636e+03 3.17e+02 3.70e+02 2.51e+00 1.00e+00 3.00e+04 1 1.40e-02 3.20e-02 2 2.197601e+03 1.20e+01 5.64e+03 2.74e+00 9.99e-01 9.00e+04 1 1.37e-02 4.57e-02 3 2.178888e+03 1.87e+01 4.77e+04 1.81e+01 8.94e-01 1.77e+05 1 1.46e-02 6.04e-02 4 2.178230e+03 6.59e-01 1.52e+05 5.38e+01 2.26e-02 9.45e+04 1 1.39e-02 7.43e-02 5 2.138901e+03 3.93e+01 3.89e+04 3.21e+01 9.50e-01 2.84e+05 1 1.40e-02 8.84e-02 6 2.251384e+03 -1.12e+02 0.00e+00 1.03e+02 -3.07e+00 1.42e+05 1 4.89e-03 9.33e-02 7 2.128834e+03 1.01e+01 8.13e+04 5.10e+01 5.03e-01 1.42e+05 1 1.37e-02 1.07e-01 8 2.110811e+03 1.80e+01 7.56e+04 5.23e+01 6.67e-01 1.47e+05 1 1.39e-02 1.21e-01 9 2.094441e+03 1.64e+01 7.70e+04 5.44e+01 6.34e-01 1.50e+05 1 1.35e-02 1.35e-01 10 2.077828e+03 1.66e+01 7.57e+04 5.50e+01 6.45e-01 1.54e+05 1 1.35e-02 1.48e-01 11 2.061809e+03 1.60e+01 7.54e+04 5.53e+01 6.40e-01 1.57e+05 1 1.36e-02 1.62e-01 12 2.046156e+03 1.57e+01 7.46e+04 5.53e+01 6.41e-01 1.61e+05 1 1.34e-02 1.75e-01 13 2.030983e+03 1.52e+01 7.40e+04 5.52e+01 6.41e-01 1.65e+05 1 1.36e-02 1.89e-01 14 2.016267e+03 1.47e+01 7.32e+04 5.49e+01 6.42e-01 1.69e+05 1 1.37e-02 2.02e-01 15 2.002026e+03 1.42e+01 7.25e+04 5.45e+01 6.42e-01 1.73e+05 1 1.35e-02 2.16e-01 16 1.988254e+03 1.38e+01 7.17e+04 5.41e+01 6.43e-01 1.77e+05 1 1.36e-02 2.30e-01 17 1.974953e+03 1.33e+01 7.08e+04 5.36e+01 6.44e-01 1.81e+05 1 1.39e-02 2.44e-01 18 1.962117e+03 1.28e+01 7.00e+04 5.31e+01 6.45e-01 1.85e+05 1 1.37e-02 2.57e-01 19 1.949744e+03 1.24e+01 6.91e+04 5.26e+01 6.45e-01 1.90e+05 1 1.39e-02 2.71e-01 20 1.937827e+03 1.19e+01 6.81e+04 5.21e+01 6.46e-01 1.95e+05 1 1.38e-02 2.85e-01 21 1.926362e+03 1.15e+01 6.72e+04 5.15e+01 6.47e-01 2.00e+05 1 1.35e-02 2.98e-01 22 1.915342e+03 1.10e+01 6.62e+04 5.10e+01 6.48e-01 2.05e+05 1 1.37e-02 3.12e-01 23 1.904762e+03 1.06e+01 6.52e+04 5.04e+01 6.49e-01 2.11e+05 1 1.39e-02 3.26e-01 24 1.894616e+03 1.01e+01 6.41e+04 4.98e+01 6.50e-01 2.17e+05 1 1.38e-02 3.40e-01 25 1.884897e+03 9.72e+00 6.31e+04 4.92e+01 6.50e-01 2.23e+05 1 1.35e-02 3.53e-01 26 1.875598e+03 9.30e+00 6.19e+04 4.86e+01 6.51e-01 2.29e+05 1 1.38e-02 3.67e-01 27 1.866713e+03 8.89e+00 6.08e+04 4.80e+01 6.52e-01 2.36e+05 1 1.34e-02 3.81e-01 28 1.858234e+03 8.48e+00 5.96e+04 4.74e+01 6.53e-01 2.43e+05 1 1.36e-02 3.94e-01 29 1.850154e+03 8.08e+00 5.84e+04 4.67e+01 6.54e-01 2.50e+05 1 1.35e-02 4.08e-01 30 1.842465e+03 7.69e+00 5.72e+04 4.61e+01 6.55e-01 2.58e+05 1 1.34e-02 4.21e-01 31 1.835160e+03 7.31e+00 5.60e+04 4.54e+01 6.57e-01 2.66e+05 1 1.37e-02 4.35e-01 32 1.828230e+03 6.93e+00 5.47e+04 4.48e+01 6.58e-01 2.75e+05 1 1.38e-02 4.49e-01 33 1.821668e+03 6.56e+00 5.34e+04 4.41e+01 6.59e-01 2.84e+05 1 1.34e-02 4.62e-01 34 1.815464e+03 6.20e+00 5.20e+04 4.34e+01 6.60e-01 2.93e+05 1 1.36e-02 4.76e-01 35 1.809611e+03 5.85e+00 5.07e+04 4.27e+01 6.62e-01 3.04e+05 1 1.39e-02 4.90e-01 36 1.804099e+03 5.51e+00 4.93e+04 4.20e+01 6.63e-01 3.15e+05 1 1.38e-02 5.04e-01 37 1.798919e+03 5.18e+00 4.79e+04 4.13e+01 6.64e-01 3.26e+05 1 1.35e-02 5.17e-01 38 1.794062e+03 4.86e+00 4.64e+04 4.05e+01 6.66e-01 3.39e+05 1 1.34e-02 5.31e-01 39 1.789519e+03 4.54e+00 4.50e+04 3.98e+01 6.67e-01 3.52e+05 1 1.36e-02 5.44e-01 40 1.785280e+03 4.24e+00 4.35e+04 3.90e+01 6.69e-01 3.66e+05 1 1.38e-02 5.58e-01 41 1.781334e+03 3.95e+00 4.20e+04 3.82e+01 6.71e-01 3.81e+05 1 1.41e-02 5.72e-01 42 1.777673e+03 3.66e+00 4.05e+04 3.74e+01 6.73e-01 3.97e+05 1 1.36e-02 5.86e-01 43 1.774286e+03 3.39e+00 3.89e+04 3.66e+01 6.75e-01 4.15e+05 1 1.37e-02 6.00e-01 44 1.771163e+03 3.12e+00 3.74e+04 3.58e+01 6.77e-01 4.34e+05 1 1.37e-02 6.13e-01 45 1.768293e+03 2.87e+00 3.58e+04 3.49e+01 6.79e-01 4.55e+05 1 1.39e-02 6.27e-01 46 1.765666e+03 2.63e+00 3.42e+04 3.40e+01 6.81e-01 4.78e+05 1 1.40e-02 6.41e-01 47 1.763271e+03 2.39e+00 3.26e+04 3.32e+01 6.84e-01 5.02e+05 1 1.36e-02 6.55e-01 48 1.761098e+03 2.17e+00 3.10e+04 3.23e+01 6.86e-01 5.30e+05 1 1.38e-02 6.69e-01 49 1.759136e+03 1.96e+00 2.94e+04 3.13e+01 6.89e-01 5.60e+05 1 1.41e-02 6.83e-01 50 1.757374e+03 1.76e+00 2.77e+04 3.04e+01 6.92e-01 5.94e+05 1 1.34e-02 6.96e-01 51 1.755801e+03 1.57e+00 2.61e+04 2.94e+01 6.95e-01 6.31e+05 1 1.40e-02 7.10e-01 52 1.754405e+03 1.40e+00 2.45e+04 2.84e+01 6.99e-01 6.73e+05 1 1.37e-02 7.24e-01 53 1.753177e+03 1.23e+00 2.28e+04 2.74e+01 7.02e-01 7.21e+05 1 1.39e-02 7.38e-01 54 1.752104e+03 1.07e+00 2.12e+04 2.63e+01 7.07e-01 7.76e+05 1 1.38e-02 7.52e-01 55 1.751177e+03 9.28e-01 1.95e+04 2.53e+01 7.11e-01 8.39e+05 1 1.39e-02 7.66e-01 56 1.750383e+03 7.94e-01 1.79e+04 2.41e+01 7.16e-01 9.12e+05 1 1.34e-02 7.79e-01 57 1.749712e+03 6.71e-01 1.63e+04 2.30e+01 7.21e-01 9.99e+05 1 1.37e-02 7.93e-01 58 1.749152e+03 5.59e-01 1.47e+04 2.18e+01 7.28e-01 1.10e+06 1 1.53e-02 8.08e-01 59 1.748694e+03 4.58e-01 1.31e+04 2.05e+01 7.34e-01 1.23e+06 1 1.52e-02 8.23e-01 60 1.748326e+03 3.68e-01 1.15e+04 1.93e+01 7.42e-01 1.39e+06 1 1.46e-02 8.38e-01 61 1.748037e+03 2.89e-01 1.00e+04 1.79e+01 7.51e-01 1.59e+06 1 1.37e-02 8.52e-01 62 1.747816e+03 2.20e-01 8.49e+03 1.65e+01 7.62e-01 1.86e+06 1 1.39e-02 8.66e-01 63 1.747655e+03 1.61e-01 7.04e+03 1.50e+01 7.74e-01 2.22e+06 1 1.38e-02 8.79e-01 64 1.747542e+03 1.13e-01 5.64e+03 1.34e+01 7.89e-01 2.75e+06 1 1.39e-02 8.93e-01 65 1.747469e+03 7.36e-02 4.31e+03 1.17e+01 8.08e-01 3.59e+06 1 1.39e-02 9.07e-01 66 1.747425e+03 4.38e-02 3.07e+03 9.87e+00 8.31e-01 5.06e+06 1 1.35e-02 9.21e-01 67 1.747403e+03 2.25e-02 1.95e+03 7.87e+00 8.62e-01 8.17e+06 1 1.35e-02 9.34e-01 68 1.747393e+03 9.14e-03 1.02e+03 5.68e+00 9.04e-01 1.72e+07 1 2.15e-02 9.56e-01 69 1.747391e+03 2.37e-03 3.48e+02 3.32e+00 9.54e-01 5.17e+07 1 1.58e-02 9.72e-01 70 1.747391e+03 2.36e-04 4.03e+01 1.13e+00 9.94e-01 1.55e+08 1 1.34e-02 9.85e-01 71 1.747391e+03 3.16e-06 6.09e-01 1.39e-01 1.00e+00 4.65e+08 1 1.35e-02 9.99e-01 72 1.747391e+03 3.50e-09 4.69e-02 5.94e-03 1.01e+00 1.40e+09 1 1.43e-02 1.01e+00 Bundle adjustment report ------------------------ Residuals : 11078 Parameters : 7063 Iterations : 73 Time : 1.01332 [s] Initial cost : 0.477564 [px] Final cost : 0.397159 [px] Termination : Convergence => Completed observations: 76 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.013721 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.907027e+03 0.00e+00 5.68e+03 0.00e+00 0.00e+00 1.00e+04 0 9.88e-03 1.87e-02 1 1.849038e+03 5.80e+01 2.91e+01 3.91e-01 1.00e+00 3.00e+04 1 1.41e-02 3.29e-02 2 1.848832e+03 2.06e-01 1.09e+02 3.94e-01 1.00e+00 9.00e+04 1 1.39e-02 4.68e-02 3 1.848441e+03 3.91e-01 1.03e+03 9.36e-01 9.99e-01 2.70e+05 1 1.36e-02 6.04e-02 4 1.847679e+03 7.62e-01 6.71e+03 9.08e+00 9.60e-01 8.10e+05 1 1.39e-02 7.43e-02 5 1.847159e+03 5.21e-01 3.34e+04 3.15e+01 3.44e-01 7.86e+05 1 1.38e-02 8.82e-02 6 1.845625e+03 1.53e+00 1.88e+04 2.62e+01 8.21e-01 1.07e+06 1 1.38e-02 1.02e-01 7 1.844959e+03 6.67e-01 1.84e+04 2.66e+01 6.75e-01 1.12e+06 1 1.40e-02 1.16e-01 8 1.844383e+03 5.75e-01 1.03e+04 2.01e+01 8.51e-01 1.71e+06 1 1.35e-02 1.30e-01 9 1.844137e+03 2.47e-01 9.39e+03 1.92e+01 7.46e-01 1.94e+06 1 1.36e-02 1.43e-01 10 1.843975e+03 1.62e-01 4.27e+03 1.29e+01 9.03e-01 4.09e+06 1 1.37e-02 1.57e-01 11 1.843924e+03 5.09e-02 3.20e+03 1.12e+01 8.40e-01 5.96e+06 1 1.43e-02 1.71e-01 12 1.843907e+03 1.71e-02 7.13e+02 5.27e+00 9.73e-01 1.79e+07 1 1.46e-02 1.86e-01 13 1.843906e+03 1.37e-03 1.22e+02 2.17e+00 9.90e-01 5.36e+07 1 1.40e-02 2.00e-01 14 1.843906e+03 3.16e-05 2.80e+00 3.28e-01 1.00e+00 1.61e+08 1 1.40e-02 2.14e-01 15 1.843906e+03 5.37e-08 3.06e-01 1.71e-02 1.00e+00 4.83e+08 1 1.39e-02 2.28e-01 16 1.843906e+03 -3.41e-12 0.00e+00 3.17e-04 -2.69e-01 2.41e+08 1 4.63e-03 2.33e-01 17 1.843906e+03 4.32e-12 5.97e-04 3.15e-04 1.29e-01 1.71e+08 1 1.35e-02 2.46e-01 Bundle adjustment report ------------------------ Residuals : 11230 Parameters : 7063 Iterations : 18 Time : 0.246404 [s] Initial cost : 0.412087 [px] Final cost : 0.405209 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000178 => Filtered images: 0 ============================================================================== Registering image #2 (4) ============================================================================== => Image sees 1132 / 2790 points Pose refinement report ---------------------- Residuals : 2258 Parameters : 6 Iterations : 10 Time : 0.0225961 [s] Initial cost : 0.578698 [px] Final cost : 0.538245 [px] Termination : Convergence => Continued observations: 1129 => Added observations: 1338 Bundle adjustment report ------------------------ Residuals : 16166 Parameters : 8902 Iterations : 16 Time : 0.350044 [s] Initial cost : 0.422195 [px] Final cost : 0.395354 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 43 => Filtered observations: 62 => Changed observations: 0.012990 Bundle adjustment report ------------------------ Residuals : 16128 Parameters : 8893 Iterations : 11 Time : 0.246285 [s] Initial cost : 0.460026 [px] Final cost : 0.447773 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000744 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.256289e+03 0.00e+00 2.85e+03 0.00e+00 0.00e+00 1.00e+04 0 2.22e-02 3.47e-02 1 3.250867e+03 5.42e+00 1.73e+01 7.19e-01 1.00e+00 3.00e+04 1 2.39e-02 5.86e-02 2 3.250861e+03 5.80e-03 5.55e+00 8.16e-01 9.99e-01 9.00e+04 1 2.21e-02 8.08e-02 3 3.250856e+03 5.15e-03 7.45e+00 1.58e+00 1.00e+00 2.70e+05 1 2.15e-02 1.02e-01 4 3.250851e+03 5.16e-03 3.24e+01 2.23e+00 9.99e-01 8.10e+05 1 2.16e-02 1.24e-01 5 3.250846e+03 4.91e-03 8.62e+01 8.26e-01 9.99e-01 2.43e+06 1 2.15e-02 1.45e-01 6 3.250843e+03 3.12e-03 1.29e+02 1.53e+00 9.95e-01 7.29e+06 1 2.08e-02 1.66e-01 7 3.250842e+03 6.97e-04 4.79e+01 1.42e+00 9.96e-01 2.19e+07 1 2.05e-02 1.87e-01 8 3.250842e+03 3.22e-05 2.69e+00 3.61e-01 9.99e-01 6.56e+07 1 2.07e-02 2.08e-01 9 3.250842e+03 1.94e-07 6.59e-01 3.01e-02 1.00e+00 1.97e+08 1 2.08e-02 2.28e-01 10 3.250842e+03 1.47e-10 3.16e-03 8.40e-04 9.97e-01 5.90e+08 1 2.04e-02 2.49e-01 Bundle adjustment report ------------------------ Residuals : 16140 Parameters : 8899 Iterations : 11 Time : 0.249218 [s] Initial cost : 0.449169 [px] Final cost : 0.448793 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #33 (5) ============================================================================== => Image sees 1185 / 2853 points Pose refinement report ---------------------- Residuals : 2356 Parameters : 6 Iterations : 9 Time : 0.0214469 [s] Initial cost : 0.605379 [px] Final cost : 0.601787 [px] Termination : Convergence => Continued observations: 1171 => Added observations: 831 Bundle adjustment report ------------------------ Residuals : 20144 Parameters : 10063 Iterations : 23 Time : 0.613865 [s] Initial cost : 0.482182 [px] Final cost : 0.428149 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 47 => Filtered observations: 64 => Changed observations: 0.013503 Bundle adjustment report ------------------------ Residuals : 20110 Parameters : 10033 Iterations : 9 Time : 0.265157 [s] Initial cost : 0.491931 [px] Final cost : 0.480222 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 0 => Changed observations: 0.000895 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 4.650559e+03 0.00e+00 1.73e+03 0.00e+00 0.00e+00 1.00e+04 0 1.82e-02 3.36e-02 1 4.647374e+03 3.18e+00 2.87e+01 2.93e-01 1.00e+00 3.00e+04 1 2.89e-02 6.26e-02 2 4.647329e+03 4.48e-02 1.34e+01 3.95e-01 1.00e+00 9.00e+04 1 2.70e-02 8.96e-02 3 4.647319e+03 1.06e-02 3.53e+00 7.12e-01 1.00e+00 2.70e+05 1 2.68e-02 1.16e-01 4 4.647318e+03 8.93e-04 1.78e+00 1.02e+00 1.00e+00 8.10e+05 1 2.70e-02 1.43e-01 5 4.647317e+03 2.08e-04 1.81e+00 8.64e-01 9.99e-01 2.43e+06 1 2.74e-02 1.71e-01 6 4.647317e+03 6.20e-05 1.93e+00 4.11e-01 9.99e-01 7.29e+06 1 2.71e-02 1.98e-01 7 4.647317e+03 7.25e-06 1.97e+00 1.17e-01 9.98e-01 2.19e+07 1 2.70e-02 2.25e-01 8 4.647317e+03 1.56e-07 2.51e-01 1.63e-02 9.99e-01 6.56e+07 1 2.71e-02 2.52e-01 9 4.647317e+03 4.45e-10 5.38e-03 8.48e-04 1.00e+00 1.97e+08 1 2.69e-02 2.79e-01 Bundle adjustment report ------------------------ Residuals : 20130 Parameters : 10045 Iterations : 10 Time : 0.279545 [s] Initial cost : 0.480652 [px] Final cost : 0.480484 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #32 (6) ============================================================================== => Image sees 1218 / 2703 points Pose refinement report ---------------------- Residuals : 2426 Parameters : 6 Iterations : 9 Time : 0.0234718 [s] Initial cost : 0.676842 [px] Final cost : 0.593665 [px] Termination : Convergence => Continued observations: 1204 => Added observations: 951 Bundle adjustment report ------------------------ Residuals : 24440 Parameters : 11401 Iterations : 26 Time : 0.914041 [s] Initial cost : 0.489426 [px] Final cost : 0.441219 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 47 => Filtered observations: 77 => Changed observations: 0.014812 Bundle adjustment report ------------------------ Residuals : 24380 Parameters : 11359 Iterations : 9 Time : 0.316171 [s] Initial cost : 0.518328 [px] Final cost : 0.506833 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000902 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 6.318337e+03 0.00e+00 3.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.44e-02 4.26e-02 1 6.307765e+03 1.06e+01 2.36e+01 9.34e-01 1.00e+00 3.00e+04 1 3.52e-02 7.78e-02 2 6.307734e+03 3.09e-02 1.16e+01 1.89e+00 1.00e+00 9.00e+04 1 3.96e-02 1.17e-01 3 6.307714e+03 2.08e-02 2.39e+01 3.80e+00 9.99e-01 2.70e+05 1 3.31e-02 1.51e-01 4 6.307702e+03 1.20e-02 4.20e+01 5.03e+00 9.97e-01 8.10e+05 1 3.46e-02 1.85e-01 5 6.307698e+03 3.09e-03 2.05e+01 3.35e+00 9.98e-01 2.43e+06 1 3.23e-02 2.18e-01 6 6.307698e+03 3.27e-04 4.03e+00 1.03e+00 9.99e-01 7.29e+06 1 3.39e-02 2.51e-01 7 6.307698e+03 2.39e-05 2.00e+00 1.71e-01 9.99e-01 2.19e+07 1 4.47e-02 2.96e-01 8 6.307698e+03 5.04e-07 4.85e-01 1.73e-02 9.99e-01 6.56e+07 1 3.32e-02 3.29e-01 9 6.307698e+03 1.47e-09 1.41e-02 8.19e-04 9.58e-01 1.97e+08 1 3.37e-02 3.63e-01 Bundle adjustment report ------------------------ Residuals : 24402 Parameters : 11368 Iterations : 10 Time : 0.363657 [s] Initial cost : 0.508849 [px] Final cost : 0.50842 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #35 (7) ============================================================================== => Image sees 1280 / 3361 points Pose refinement report ---------------------- Residuals : 2554 Parameters : 6 Iterations : 8 Time : 0.020869 [s] Initial cost : 0.629091 [px] Final cost : 0.616551 [px] Termination : Convergence => Continued observations: 1271 => Added observations: 943 Bundle adjustment report ------------------------ Residuals : 24756 Parameters : 9161 Iterations : 23 Time : 0.714111 [s] Initial cost : 0.516301 [px] Final cost : 0.458403 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 39 => Filtered observations: 73 => Changed observations: 0.010203 Bundle adjustment report ------------------------ Residuals : 24690 Parameters : 9140 Iterations : 6 Time : 0.201572 [s] Initial cost : 0.551583 [px] Final cost : 0.541828 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 8 => Filtered observations: 2 => Changed observations: 0.001136 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.901677e+03 0.00e+00 2.01e+04 0.00e+00 0.00e+00 1.00e+04 0 2.69e-02 4.92e-02 1 7.889568e+03 1.21e+01 1.86e+02 2.73e-01 1.00e+00 3.00e+04 1 4.06e-02 8.98e-02 2 7.889228e+03 3.40e-01 1.35e+02 3.47e+00 1.00e+00 9.00e+04 1 3.99e-02 1.30e-01 3 7.889006e+03 2.22e-01 1.89e+02 7.47e+00 9.99e-01 2.70e+05 1 4.24e-02 1.72e-01 4 7.888894e+03 1.12e-01 2.77e+02 9.65e+00 9.95e-01 8.10e+05 1 4.07e-02 2.13e-01 5 7.888865e+03 2.95e-02 1.71e+02 6.15e+00 9.96e-01 2.43e+06 1 3.95e-02 2.52e-01 6 7.888861e+03 3.20e-03 3.70e+01 1.75e+00 9.99e-01 7.29e+06 1 3.90e-02 2.91e-01 7 7.888861e+03 1.93e-04 2.76e+00 2.55e-01 9.99e-01 2.19e+07 1 3.86e-02 3.30e-01 8 7.888861e+03 2.85e-06 1.67e+00 2.14e-02 1.00e+00 6.56e+07 1 3.91e-02 3.69e-01 9 7.888861e+03 6.17e-09 1.40e-02 8.18e-04 1.02e+00 1.97e+08 1 3.90e-02 4.08e-01 Bundle adjustment report ------------------------ Residuals : 28774 Parameters : 12697 Iterations : 10 Time : 0.408899 [s] Initial cost : 0.524034 [px] Final cost : 0.523609 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000070 => Filtered images: 0 ============================================================================== Registering image #24 (8) ============================================================================== => Image sees 1383 / 2594 points Pose refinement report ---------------------- Residuals : 2780 Parameters : 6 Iterations : 7 Time : 0.019964 [s] Initial cost : 0.591108 [px] Final cost : 0.560578 [px] Termination : Convergence => Continued observations: 1371 => Added observations: 781 Bundle adjustment report ------------------------ Residuals : 26448 Parameters : 8849 Iterations : 21 Time : 0.700522 [s] Initial cost : 0.508184 [px] Final cost : 0.481052 [px] Termination : Convergence => Merged observations: 97 => Completed observations: 73 => Filtered observations: 104 => Changed observations: 0.019451 Bundle adjustment report ------------------------ Residuals : 26402 Parameters : 8807 Iterations : 5 Time : 0.16403 [s] Initial cost : 0.5692 [px] Final cost : 0.557433 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000782 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 9.578808e+03 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 3.08e-02 5.67e-02 1 9.561531e+03 1.73e+01 4.21e+02 7.26e+00 1.00e+00 3.00e+04 1 4.75e-02 1.04e-01 2 9.560839e+03 6.92e-01 2.31e+02 1.00e+01 1.00e+00 9.00e+04 1 4.50e-02 1.49e-01 3 9.560277e+03 5.62e-01 1.03e+03 1.84e+01 9.88e-01 2.70e+05 1 4.57e-02 1.95e-01 4 9.559992e+03 2.85e-01 1.41e+03 2.03e+01 9.59e-01 8.10e+05 1 4.56e-02 2.41e-01 5 9.559924e+03 6.82e-02 5.33e+02 1.05e+01 9.84e-01 2.43e+06 1 4.91e-02 2.90e-01 6 9.559917e+03 7.11e-03 8.83e+01 2.34e+00 9.98e-01 7.29e+06 1 4.67e-02 3.36e-01 7 9.559916e+03 3.98e-04 6.86e+00 2.80e-01 1.00e+00 2.19e+07 1 4.66e-02 3.83e-01 8 9.559916e+03 5.09e-06 1.89e+00 2.11e-02 1.00e+00 6.56e+07 1 4.60e-02 4.29e-01 9 9.559916e+03 9.20e-09 8.25e-03 7.22e-04 9.96e-01 1.97e+08 1 4.65e-02 4.76e-01 Bundle adjustment report ------------------------ Residuals : 33036 Parameters : 13711 Iterations : 10 Time : 0.476387 [s] Initial cost : 0.538471 [px] Final cost : 0.537939 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #36 (9) ============================================================================== => Image sees 1142 / 2391 points Pose refinement report ---------------------- Residuals : 2298 Parameters : 6 Iterations : 10 Time : 0.023711 [s] Initial cost : 0.693259 [px] Final cost : 0.597795 [px] Termination : Convergence => Continued observations: 1131 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 25394 Parameters : 6923 Iterations : 26 Time : 0.773179 [s] Initial cost : 0.521611 [px] Final cost : 0.487364 [px] Termination : No convergence => Merged observations: 66 => Completed observations: 45 => Filtered observations: 81 => Changed observations: 0.013785 Bundle adjustment report ------------------------ Residuals : 25572 Parameters : 7253 Iterations : 5 Time : 0.156178 [s] Initial cost : 0.587002 [px] Final cost : 0.578457 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 1 => Changed observations: 0.000943 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.108735e+04 0.00e+00 2.36e+04 0.00e+00 0.00e+00 1.00e+04 0 4.48e-02 7.22e-02 1 1.105969e+04 2.77e+01 7.54e+01 9.68e-01 1.00e+00 3.00e+04 1 5.27e-02 1.25e-01 2 1.105962e+04 6.95e-02 3.46e+01 1.93e+00 1.00e+00 9.00e+04 1 5.17e-02 1.77e-01 3 1.105958e+04 3.92e-02 5.16e+01 3.51e+00 1.00e+00 2.70e+05 1 5.06e-02 2.27e-01 4 1.105956e+04 2.36e-02 9.26e+01 3.76e+00 9.99e-01 8.10e+05 1 5.10e-02 2.78e-01 5 1.105954e+04 1.62e-02 9.95e+01 2.02e+00 9.99e-01 2.43e+06 1 4.99e-02 3.28e-01 6 1.105954e+04 6.14e-03 6.16e+01 6.45e-01 9.99e-01 7.29e+06 1 5.16e-02 3.80e-01 7 1.105954e+04 5.77e-04 7.86e+00 1.52e-01 1.00e+00 2.19e+07 1 5.07e-02 4.31e-01 8 1.105954e+04 8.81e-06 1.95e+00 1.79e-02 1.00e+00 6.56e+07 1 5.08e-02 4.81e-01 9 1.105954e+04 1.86e-08 9.59e-03 7.32e-04 1.01e+00 1.97e+08 1 5.15e-02 5.33e-01 Bundle adjustment report ------------------------ Residuals : 36312 Parameters : 14443 Iterations : 10 Time : 0.533762 [s] Initial cost : 0.552572 [px] Final cost : 0.551878 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.000275 => Filtered images: 0 ============================================================================== Registering image #37 (10) ============================================================================== => Image sees 1133 / 2773 points Pose refinement report ---------------------- Residuals : 2284 Parameters : 6 Iterations : 7 Time : 0.0163362 [s] Initial cost : 0.592223 [px] Final cost : 0.591918 [px] Termination : Convergence => Continued observations: 1118 => Added observations: 952 Bundle adjustment report ------------------------ Residuals : 24174 Parameters : 6854 Iterations : 26 Time : 0.734529 [s] Initial cost : 0.551737 [px] Final cost : 0.507144 [px] Termination : No convergence => Merged observations: 86 => Completed observations: 37 => Filtered observations: 105 => Changed observations: 0.016386 Bundle adjustment report ------------------------ Residuals : 24062 Parameters : 6812 Iterations : 4 Time : 0.116417 [s] Initial cost : 0.603437 [px] Final cost : 0.594323 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000722 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.243001e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 3.74e-02 6.82e-02 1 1.241055e+04 1.95e+01 1.27e+02 8.04e-01 1.00e+00 3.00e+04 1 5.93e-02 1.28e-01 2 1.241039e+04 1.56e-01 3.25e+01 8.61e-01 1.00e+00 9.00e+04 1 5.69e-02 1.84e-01 3 1.241034e+04 5.68e-02 2.61e+01 1.05e+00 1.00e+00 2.70e+05 1 5.87e-02 2.43e-01 4 1.241033e+04 9.89e-03 5.16e+00 4.49e-01 1.00e+00 8.10e+05 1 5.89e-02 3.02e-01 5 1.241032e+04 2.52e-03 7.40e+00 8.95e-02 1.00e+00 2.43e+06 1 5.74e-02 3.60e-01 6 1.241032e+04 1.07e-03 8.70e+00 9.27e-02 1.00e+00 7.29e+06 1 5.59e-02 4.16e-01 7 1.241032e+04 1.27e-04 1.97e+00 4.67e-02 1.00e+00 2.19e+07 1 5.79e-02 4.73e-01 8 1.241032e+04 2.56e-06 9.02e-01 7.29e-03 1.00e+00 6.56e+07 1 5.64e-02 5.30e-01 Bundle adjustment report ------------------------ Residuals : 40338 Parameters : 15733 Iterations : 9 Time : 0.530705 [s] Initial cost : 0.555109 [px] Final cost : 0.55467 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 0 => Changed observations: 0.000347 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 992 / 2349 points Pose refinement report ---------------------- Residuals : 1950 Parameters : 6 Iterations : 11 Time : 0.024225 [s] Initial cost : 0.717758 [px] Final cost : 0.605014 [px] Termination : Convergence => Continued observations: 971 => Added observations: 650 Bundle adjustment report ------------------------ Residuals : 23418 Parameters : 5810 Iterations : 26 Time : 0.693972 [s] Initial cost : 0.587591 [px] Final cost : 0.53683 [px] Termination : No convergence => Merged observations: 18 => Completed observations: 29 => Filtered observations: 121 => Changed observations: 0.012951 Bundle adjustment report ------------------------ Residuals : 23236 Parameters : 5774 Iterations : 5 Time : 0.135963 [s] Initial cost : 0.616937 [px] Final cost : 0.608176 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000854 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 1.362665e+04 0.00e+00 2.20e+04 0.00e+00 0.00e+00 1.00e+04 0 4.22e-02 7.74e-02 1 1.362340e+04 3.25e+00 1.76e+02 2.93e+00 1.00e+00 3.00e+04 1 7.69e-02 1.54e-01 2 1.362289e+04 5.09e-01 3.46e+02 8.04e+00 9.99e-01 9.00e+04 1 6.47e-02 2.19e-01 3 1.362248e+04 4.08e-01 9.36e+02 1.36e+01 9.91e-01 2.70e+05 1 6.38e-02 2.83e-01 4 1.362231e+04 1.74e-01 9.22e+02 1.31e+01 9.83e-01 8.10e+05 1 6.40e-02 3.47e-01 5 1.362228e+04 3.35e-02 2.73e+02 5.72e+00 9.96e-01 2.43e+06 1 6.50e-02 4.12e-01 6 1.362227e+04 6.36e-03 6.35e+01 1.07e+00 9.99e-01 7.29e+06 1 6.45e-02 4.77e-01 7 1.362227e+04 8.06e-04 1.07e+01 1.34e-01 1.00e+00 2.19e+07 1 6.58e-02 5.42e-01 8 1.362227e+04 1.95e-05 1.99e+00 1.48e-02 1.00e+00 6.56e+07 1 6.28e-02 6.05e-01 9 1.362227e+04 6.63e-08 3.51e-02 7.36e-04 1.00e+00 1.97e+08 1 6.17e-02 6.67e-01 Bundle adjustment report ------------------------ Residuals : 43422 Parameters : 16612 Iterations : 10 Time : 0.667848 [s] Initial cost : 0.560196 [px] Final cost : 0.560105 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #30 (12) ============================================================================== => Image sees 1274 / 2524 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 8 Time : 0.0210979 [s] Initial cost : 0.59579 [px] Final cost : 0.59416 [px] Termination : Convergence => Continued observations: 1251 => Added observations: 779 Bundle adjustment report ------------------------ Residuals : 24846 Parameters : 6452 Iterations : 26 Time : 0.734646 [s] Initial cost : 0.605661 [px] Final cost : 0.558376 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 51 => Filtered observations: 124 => Changed observations: 0.021272 Bundle adjustment report ------------------------ Residuals : 24730 Parameters : 6392 Iterations : 5 Time : 0.150454 [s] Initial cost : 0.626893 [px] Final cost : 0.615487 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.001768 ============================================================================== Registering image #29 (13) ============================================================================== => Image sees 740 / 1733 points Pose refinement report ---------------------- Residuals : 1450 Parameters : 6 Iterations : 8 Time : 0.011404 [s] Initial cost : 0.613116 [px] Final cost : 0.609716 [px] Termination : Convergence => Continued observations: 721 => Added observations: 445 Bundle adjustment report ------------------------ Residuals : 18520 Parameters : 4493 Iterations : 26 Time : 0.578188 [s] Initial cost : 0.676983 [px] Final cost : 0.624832 [px] Termination : No convergence => Merged observations: 36 => Completed observations: 21 => Filtered observations: 102 => Changed observations: 0.013787 Bundle adjustment report ------------------------ Residuals : 18374 Parameters : 4445 Iterations : 5 Time : 0.115188 [s] Initial cost : 0.67 [px] Final cost : 0.661071 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.002793 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged observations: 0 => Retriangulated observations: 10 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.744742e+05 0.00e+00 1.45e+06 0.00e+00 0.00e+00 1.00e+04 0 4.81e-02 8.75e-02 1 5.178575e+04 2.23e+05 6.25e+04 9.25e+01 1.00e+00 3.00e+04 1 7.64e-02 1.64e-01 2 5.083915e+04 9.47e+02 4.68e+05 1.59e+02 9.35e-01 8.75e+04 1 7.22e-02 2.36e-01 3 5.086318e+04 -2.40e+01 0.00e+00 2.67e+02 -6.03e-02 4.37e+04 1 2.89e-02 2.65e-01 4 5.057226e+04 2.67e+02 1.27e+05 1.67e+02 8.12e-01 5.79e+04 1 7.59e-02 3.41e-01 5 5.045980e+04 1.12e+02 1.14e+05 1.54e+02 7.02e-01 6.19e+04 1 7.34e-02 4.15e-01 6 5.038426e+04 7.55e+01 6.39e+04 1.15e+02 8.35e-01 8.86e+04 1 7.25e-02 4.87e-01 7 5.035398e+04 3.03e+01 5.12e+04 1.01e+02 7.65e-01 1.04e+05 1 7.23e-02 5.60e-01 8 5.033608e+04 1.79e+01 2.50e+04 6.98e+01 8.95e-01 2.05e+05 1 7.34e-02 6.33e-01 9 5.032978e+04 6.30e+00 1.90e+04 5.80e+01 8.55e-01 3.19e+05 1 7.22e-02 7.05e-01 10 5.032718e+04 2.59e+00 6.59e+03 2.96e+01 9.68e-01 9.57e+05 1 8.35e-02 7.89e-01 11 5.032599e+04 1.19e+00 5.15e+03 1.32e+01 9.88e-01 2.87e+06 1 7.20e-02 8.61e-01 12 5.032523e+04 7.66e-01 5.50e+03 3.35e+00 9.86e-01 8.61e+06 1 7.23e-02 9.33e-01 13 5.032505e+04 1.79e-01 1.94e+03 1.01e+00 9.92e-01 2.58e+07 1 7.19e-02 1.01e+00 14 5.032504e+04 8.74e-03 1.07e+02 2.20e-01 1.00e+00 7.75e+07 1 7.22e-02 1.08e+00 15 5.032504e+04 5.12e-05 1.96e+00 2.09e-02 1.00e+00 2.32e+08 1 7.23e-02 1.15e+00 16 5.032504e+04 4.69e-08 7.31e-02 1.22e-03 1.01e+00 6.97e+08 1 7.10e-02 1.22e+00 Bundle adjustment report ------------------------ Residuals : 49594 Parameters : 18193 Iterations : 17 Time : 1.22167 [s] Initial cost : 2.35254 [px] Final cost : 1.00734 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 94 => Changed observations: 0.004880 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.818308e+04 0.00e+00 3.39e+05 0.00e+00 0.00e+00 1.00e+04 0 5.02e-02 8.98e-02 1 1.713788e+04 1.05e+03 6.78e+04 5.98e+01 9.97e-01 3.00e+04 1 7.58e-02 1.66e-01 2 1.661623e+04 5.22e+02 1.52e+05 1.30e+02 9.72e-01 9.00e+04 1 7.17e-02 2.37e-01 3 1.660285e+04 1.34e+01 3.11e+05 2.55e+02 4.63e-02 5.15e+04 1 7.26e-02 3.10e-01 4 1.628701e+04 3.16e+02 6.25e+04 1.09e+02 9.66e-01 1.55e+05 1 7.36e-02 3.84e-01 5 1.629954e+04 -1.25e+01 0.00e+00 1.69e+02 -2.23e-01 7.73e+04 1 3.05e-02 4.14e-01 6 1.625549e+04 3.15e+01 6.64e+04 1.11e+02 7.10e-01 8.34e+04 1 7.98e-02 4.94e-01 7 1.623047e+04 2.50e+01 3.44e+04 7.88e+01 8.79e-01 1.48e+05 1 7.40e-02 5.68e-01 8 1.622072e+04 9.75e+00 3.04e+04 7.25e+01 7.88e-01 1.83e+05 1 7.11e-02 6.39e-01 9 1.621556e+04 5.16e+00 1.12e+04 4.19e+01 9.42e-01 5.48e+05 1 7.16e-02 7.11e-01 10 1.621402e+04 1.53e+00 8.27e+03 2.92e+01 9.37e-01 1.64e+06 1 7.21e-02 7.83e-01 11 1.621320e+04 8.21e-01 4.78e+03 9.25e+00 9.88e-01 4.93e+06 1 7.26e-02 8.55e-01 12 1.621293e+04 2.71e-01 2.65e+03 2.21e+00 9.91e-01 1.48e+07 1 7.15e-02 9.27e-01 13 1.621291e+04 2.49e-02 3.10e+02 5.37e-01 9.99e-01 4.44e+07 1 7.14e-02 9.98e-01 14 1.621291e+04 3.42e-04 4.86e+00 6.25e-02 1.00e+00 1.33e+08 1 7.56e-02 1.07e+00 15 1.621291e+04 5.93e-07 2.37e-01 2.42e-03 1.00e+00 4.00e+08 1 7.32e-02 1.15e+00 Bundle adjustment report ------------------------ Residuals : 49460 Parameters : 18145 Iterations : 16 Time : 1.14817 [s] Initial cost : 0.606327 [px] Final cost : 0.572537 [px] Termination : Convergence => Completed observations: 20 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.001011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.627239e+04 0.00e+00 4.17e+04 0.00e+00 0.00e+00 1.00e+04 0 4.72e-02 8.45e-02 1 1.624623e+04 2.62e+01 2.18e+02 2.16e+00 1.00e+00 3.00e+04 1 7.58e-02 1.60e-01 2 1.624572e+04 5.06e-01 1.86e+02 4.73e+00 1.00e+00 9.00e+04 1 7.25e-02 2.33e-01 3 1.624549e+04 2.28e-01 3.88e+02 8.47e+00 9.98e-01 2.70e+05 1 7.73e-02 3.10e-01 4 1.624541e+04 8.38e-02 4.24e+02 8.80e+00 9.94e-01 8.10e+05 1 7.78e-02 3.88e-01 5 1.624540e+04 1.24e-02 1.01e+02 4.08e+00 9.98e-01 2.43e+06 1 7.47e-02 4.63e-01 6 1.624540e+04 6.34e-04 7.15e+00 7.46e-01 1.00e+00 7.29e+06 1 7.23e-02 5.35e-01 7 1.624540e+04 7.16e-05 1.97e+00 6.70e-02 1.00e+00 2.19e+07 1 7.39e-02 6.09e-01 8 1.624540e+04 3.20e-06 8.55e-01 6.46e-03 1.00e+00 6.56e+07 1 7.27e-02 6.82e-01 Bundle adjustment report ------------------------ Residuals : 49490 Parameters : 18145 Iterations : 9 Time : 0.682856 [s] Initial cost : 0.573412 [px] Final cost : 0.572936 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000040 => Filtered images: 0 ============================================================================== Registering image #38 (14) ============================================================================== => Image sees 961 / 1991 points Pose refinement report ---------------------- Residuals : 1932 Parameters : 6 Iterations : 10 Time : 0.0195229 [s] Initial cost : 0.722468 [px] Final cost : 0.595271 [px] Termination : Convergence => Continued observations: 943 => Added observations: 581 Bundle adjustment report ------------------------ Residuals : 24230 Parameters : 6188 Iterations : 26 Time : 0.736557 [s] Initial cost : 0.601657 [px] Final cost : 0.557087 [px] Termination : No convergence => Merged observations: 80 => Completed observations: 46 => Filtered observations: 124 => Changed observations: 0.019074 Bundle adjustment report ------------------------ Residuals : 24100 Parameters : 6128 Iterations : 5 Time : 0.140262 [s] Initial cost : 0.611416 [px] Final cost : 0.600951 [px] Termination : Convergence => Merged observations: 14 => Completed observations: 14 => Filtered observations: 3 => Changed observations: 0.002377 ============================================================================== Registering image #39 (15) ============================================================================== => Image sees 1041 / 2578 points Pose refinement report ---------------------- Residuals : 2122 Parameters : 6 Iterations : 6 Time : 0.013391 [s] Initial cost : 0.598619 [px] Final cost : 0.597595 [px] Termination : Convergence => Continued observations: 1027 => Added observations: 949 Bundle adjustment report ------------------------ Residuals : 21394 Parameters : 5768 Iterations : 26 Time : 0.648318 [s] Initial cost : 0.612153 [px] Final cost : 0.579131 [px] Termination : No convergence => Merged observations: 127 => Completed observations: 67 => Filtered observations: 100 => Changed observations: 0.022764 Bundle adjustment report ------------------------ Residuals : 21342 Parameters : 5702 Iterations : 5 Time : 0.12859 [s] Initial cost : 0.634322 [px] Final cost : 0.623238 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 13 => Filtered observations: 1 => Changed observations: 0.002483 ============================================================================== Retriangulation ============================================================================== => Completed observations: 4 => Merged 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 1.888152e+04 0.00e+00 3.85e+04 0.00e+00 0.00e+00 1.00e+04 0 4.80e-02 9.18e-02 1 1.884771e+04 3.38e+01 3.10e+02 2.87e-01 1.00e+00 3.00e+04 1 7.59e-02 1.68e-01 2 1.884709e+04 6.21e-01 2.27e+02 8.89e-01 1.00e+00 9.00e+04 1 7.29e-02 2.41e-01 3 1.884684e+04 2.52e-01 2.44e+02 1.20e+00 1.00e+00 2.70e+05 1 7.61e-02 3.17e-01 4 1.884674e+04 9.99e-02 1.86e+02 1.04e+00 1.00e+00 8.10e+05 1 7.60e-02 3.93e-01 5 1.884670e+04 3.35e-02 7.08e+01 4.41e-01 1.00e+00 2.43e+06 1 7.36e-02 4.66e-01 6 1.884669e+04 1.94e-02 8.01e+01 9.90e-02 1.00e+00 7.29e+06 1 7.52e-02 5.42e-01 7 1.884668e+04 6.09e-03 5.81e+01 1.60e-01 1.00e+00 2.19e+07 1 7.52e-02 6.17e-01 8 1.884668e+04 4.17e-04 5.53e+00 5.08e-02 1.00e+00 6.56e+07 1 7.26e-02 6.89e-01 9 1.884668e+04 4.42e-06 1.46e+00 5.27e-03 1.00e+00 1.97e+08 1 7.32e-02 7.63e-01 10 1.884668e+04 6.40e-09 5.75e-03 1.64e-04 1.00e+00 5.90e+08 1 8.55e-02 8.48e-01 Bundle adjustment report ------------------------ Residuals : 56324 Parameters : 20122 Iterations : 11 Time : 0.849345 [s] Initial cost : 0.578991 [px] Final cost : 0.578456 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 10 => Filtered observations: 0 => Changed observations: 0.000391 => Filtered images: 0 ============================================================================== Registering image #40 (16) ============================================================================== => Image sees 923 / 1939 points Pose refinement report ---------------------- Residuals : 1864 Parameters : 6 Iterations : 6 Time : 0.0112562 [s] Initial cost : 0.602079 [px] Final cost : 0.601382 [px] Termination : Convergence => Continued observations: 909 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 21106 Parameters : 5579 Iterations : 26 Time : 0.614984 [s] Initial cost : 0.594445 [px] Final cost : 0.563537 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 40 => Filtered observations: 116 => Changed observations: 0.018411 Bundle adjustment report ------------------------ Residuals : 20968 Parameters : 5519 Iterations : 5 Time : 0.129396 [s] Initial cost : 0.620022 [px] Final cost : 0.609467 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 1 => Changed observations: 0.001565 ============================================================================== Registering image #3 (17) ============================================================================== => Image sees 714 / 2106 points Pose refinement report ---------------------- Residuals : 1426 Parameters : 6 Iterations : 9 Time : 0.012615 [s] Initial cost : 0.625411 [px] Final cost : 0.60621 [px] Termination : Convergence => Continued observations: 704 => Added observations: 693 Bundle adjustment report ------------------------ Residuals : 17324 Parameters : 4790 Iterations : 26 Time : 0.550233 [s] Initial cost : 0.630533 [px] Final cost : 0.604509 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 39 => Filtered observations: 76 => Changed observations: 0.013415 Bundle adjustment report ------------------------ Residuals : 17260 Parameters : 4760 Iterations : 5 Time : 0.105404 [s] Initial cost : 0.636517 [px] Final cost : 0.626584 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.003293 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 0 => Retriangulated observations: 11 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.597844e+05 0.00e+00 2.79e+06 0.00e+00 0.00e+00 1.00e+04 0 5.16e-02 1.01e-01 1 1.216652e+05 3.38e+05 8.09e+05 9.44e+01 1.02e+00 3.00e+04 1 8.64e-02 1.87e-01 2 1.181866e+05 3.48e+03 2.21e+06 1.44e+02 8.95e-01 5.91e+04 1 8.12e-02 2.69e-01 3 1.170879e+05 1.10e+03 7.56e+05 1.63e+02 8.77e-01 1.03e+05 1 8.39e-02 3.53e-01 4 1.168071e+05 2.81e+02 2.26e+05 1.37e+02 8.61e-01 1.65e+05 1 1.04e-01 4.57e-01 5 1.167405e+05 6.66e+01 6.47e+04 8.91e+01 9.06e-01 3.56e+05 1 8.33e-02 5.40e-01 6 1.167298e+05 1.07e+01 1.81e+04 5.29e+01 9.30e-01 9.73e+05 1 8.31e-02 6.23e-01 7 1.167283e+05 1.49e+00 2.91e+03 2.02e+01 9.89e-01 2.92e+06 1 8.28e-02 7.06e-01 8 1.167280e+05 3.18e-01 1.97e+03 4.23e+00 9.98e-01 8.76e+06 1 8.28e-02 7.89e-01 9 1.167279e+05 8.91e-02 1.05e+03 9.70e-01 9.97e-01 2.63e+07 1 8.34e-02 8.72e-01 10 1.167279e+05 5.98e-03 9.17e+01 2.29e-01 1.00e+00 7.88e+07 1 8.21e-02 9.55e-01 11 1.167279e+05 5.92e-05 1.90e+00 2.66e-02 1.00e+00 2.37e+08 1 8.36e-02 1.04e+00 12 1.167279e+05 9.07e-08 2.08e-01 2.29e-03 1.01e+00 7.10e+08 1 8.32e-02 1.12e+00 Bundle adjustment report ------------------------ Residuals : 61802 Parameters : 21730 Iterations : 13 Time : 1.12295 [s] Initial cost : 2.72757 [px] Final cost : 1.37431 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 29 => Filtered observations: 180 => Changed observations: 0.007799 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.670188e+04 0.00e+00 1.32e+06 0.00e+00 0.00e+00 1.00e+04 0 5.34e-02 1.04e-01 1 2.313756e+04 3.56e+03 8.69e+05 6.19e+01 9.87e-01 3.00e+04 1 9.06e-02 1.95e-01 2 2.167664e+04 1.46e+03 1.74e+06 1.33e+02 8.72e-01 5.11e+04 1 1.00e-01 2.95e-01 3 2.105870e+04 6.18e+02 7.62e+05 1.45e+02 8.79e-01 9.03e+04 1 8.57e-02 3.81e-01 4 2.088175e+04 1.77e+02 2.54e+05 1.36e+02 8.15e-01 1.20e+05 1 8.03e-02 4.61e-01 5 2.082224e+04 5.95e+01 6.55e+04 8.88e+01 8.96e-01 2.40e+05 1 8.17e-02 5.43e-01 6 2.081098e+04 1.13e+01 2.90e+04 6.32e+01 8.60e-01 3.82e+05 1 8.01e-02 6.23e-01 7 2.080813e+04 2.85e+00 6.49e+03 2.80e+01 9.72e-01 1.15e+06 1 8.04e-02 7.03e-01 8 2.080752e+04 6.11e-01 3.04e+03 1.07e+01 9.92e-01 3.44e+06 1 8.19e-02 7.85e-01 9 2.080721e+04 3.07e-01 2.61e+03 2.35e+00 9.95e-01 1.03e+07 1 8.25e-02 8.68e-01 10 2.080716e+04 5.43e-02 7.03e+02 6.09e-01 9.98e-01 3.10e+07 1 8.18e-02 9.50e-01 11 2.080716e+04 1.80e-03 2.79e+01 1.07e-01 1.00e+00 9.29e+07 1 8.23e-02 1.03e+00 12 2.080716e+04 7.89e-06 1.81e+00 6.65e-03 1.00e+00 2.79e+08 1 8.14e-02 1.11e+00 13 2.080716e+04 5.15e-09 4.44e-03 1.11e-04 1.00e+00 8.36e+08 1 8.08e-02 1.19e+00 Bundle adjustment report ------------------------ Residuals : 61506 Parameters : 21670 Iterations : 14 Time : 1.19528 [s] Initial cost : 0.658889 [px] Final cost : 0.581631 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.004195 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.106783e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 5.15e-02 1.04e-01 1 2.094660e+04 1.21e+02 9.08e+03 1.56e+00 1.00e+00 3.00e+04 1 8.42e-02 1.88e-01 2 2.094097e+04 5.62e+00 6.22e+03 3.03e+00 1.00e+00 9.00e+04 1 8.17e-02 2.70e-01 3 2.094027e+04 6.98e-01 1.33e+03 3.64e+00 1.00e+00 2.70e+05 1 8.08e-02 3.51e-01 4 2.094022e+04 5.35e-02 1.32e+02 2.45e+00 1.00e+00 8.10e+05 1 8.10e-02 4.32e-01 5 2.094022e+04 2.27e-03 1.13e+01 8.24e-01 1.00e+00 2.43e+06 1 8.24e-02 5.14e-01 6 2.094022e+04 3.73e-04 2.57e+00 9.39e-02 1.00e+00 7.29e+06 1 1.01e-01 6.15e-01 7 2.094022e+04 9.56e-05 1.86e+00 1.44e-02 1.00e+00 2.19e+07 1 8.47e-02 7.00e-01 8 2.094022e+04 5.32e-06 1.06e+00 5.52e-03 1.00e+00 6.56e+07 1 8.24e-02 7.82e-01 9 2.094022e+04 4.47e-08 1.55e-02 5.07e-04 1.00e+00 1.97e+08 1 8.17e-02 8.64e-01 Bundle adjustment report ------------------------ Residuals : 61724 Parameters : 21670 Iterations : 10 Time : 0.865187 [s] Initial cost : 0.584229 [px] Final cost : 0.582457 [px] Termination : Convergence => Completed observations: 3 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000130 => Filtered images: 0 ============================================================================== Registering image #4 (18) ============================================================================== => Image sees 894 / 2130 points Pose refinement report ---------------------- Residuals : 1788 Parameters : 6 Iterations : 8 Time : 0.014183 [s] Initial cost : 0.587014 [px] Final cost : 0.582727 [px] Termination : Convergence => Continued observations: 877 => Added observations: 724 Bundle adjustment report ------------------------ Residuals : 20228 Parameters : 5633 Iterations : 26 Time : 0.572649 [s] Initial cost : 0.782631 [px] Final cost : 0.740799 [px] Termination : No convergence => Merged observations: 88 => Completed observations: 60 => Filtered observations: 131 => Changed observations: 0.025428 Bundle adjustment report ------------------------ Residuals : 20118 Parameters : 5555 Iterations : 5 Time : 0.114055 [s] Initial cost : 0.61059 [px] Final cost : 0.599047 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 14 => Filtered observations: 0 => Changed observations: 0.001832 ============================================================================== Registering image #5 (19) ============================================================================== => Image sees 735 / 2271 points Pose refinement report ---------------------- Residuals : 1464 Parameters : 6 Iterations : 11 Time : 0.016042 [s] Initial cost : 0.591762 [px] Final cost : 0.583859 [px] Termination : Convergence => Continued observations: 721 => Added observations: 808 Bundle adjustment report ------------------------ Residuals : 16102 Parameters : 4763 Iterations : 26 Time : 0.5117 [s] Initial cost : 0.622822 [px] Final cost : 0.577469 [px] Termination : No convergence => Merged observations: 59 => Completed observations: 42 => Filtered observations: 70 => Changed observations: 0.017731 Bundle adjustment report ------------------------ Residuals : 16076 Parameters : 4727 Iterations : 4 Time : 0.0808148 [s] Initial cost : 0.608857 [px] Final cost : 0.599875 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000623 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 28 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888064e+06 0.00e+00 4.87e+06 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 1.10e-01 1 1.281877e+06 6.06e+05 5.78e+06 1.55e+02 9.90e-01 3.00e+04 1 9.51e-02 2.05e-01 2 1.274351e+06 7.53e+03 1.28e+07 4.45e+02 3.14e-01 2.85e+04 1 9.06e-02 2.96e-01 3 1.256085e+06 1.83e+04 1.30e+06 3.41e+02 9.13e-01 6.51e+04 1 9.25e-02 3.88e-01 4 1.258920e+06 -2.84e+03 0.00e+00 5.01e+02 -7.93e-01 3.26e+04 1 3.61e-02 4.24e-01 5 1.253895e+06 2.19e+03 7.95e+05 3.07e+02 7.07e-01 3.51e+04 1 8.90e-02 5.13e-01 6 1.252785e+06 1.11e+03 4.77e+05 2.58e+02 7.31e-01 3.89e+04 1 9.00e-02 6.03e-01 7 1.252248e+06 5.37e+02 3.22e+05 2.22e+02 7.18e-01 4.24e+04 1 9.92e-02 7.03e-01 8 1.251941e+06 3.07e+02 2.18e+05 1.88e+02 7.48e-01 4.83e+04 1 9.85e-02 8.01e-01 9 1.251771e+06 1.71e+02 1.60e+05 1.64e+02 7.49e-01 5.51e+04 1 9.16e-02 8.93e-01 10 1.251665e+06 1.05e+02 1.15e+05 1.40e+02 7.80e-01 6.69e+04 1 9.18e-02 9.85e-01 11 1.251604e+06 6.18e+01 8.70e+04 1.23e+02 7.86e-01 8.23e+04 1 9.04e-02 1.08e+00 12 1.251566e+06 3.73e+01 6.15e+04 1.03e+02 8.19e-01 1.11e+05 1 9.30e-02 1.17e+00 13 1.251546e+06 1.99e+01 4.37e+04 8.72e+01 8.32e-01 1.57e+05 1 9.12e-02 1.26e+00 14 1.251537e+06 9.87e+00 2.61e+04 6.75e+01 8.79e-01 2.78e+05 1 9.13e-02 1.35e+00 15 1.251533e+06 3.68e+00 1.38e+04 4.93e+01 9.15e-01 6.48e+05 1 9.10e-02 1.44e+00 16 1.251532e+06 9.56e-01 4.10e+03 2.75e+01 9.89e-01 1.94e+06 1 9.02e-02 1.53e+00 17 1.251532e+06 1.25e-01 4.31e+02 8.64e+00 1.03e+00 5.83e+06 1 9.05e-02 1.62e+00 18 1.251532e+06 2.63e-02 2.46e+02 1.27e+00 1.01e+00 1.75e+07 1 1.20e-01 1.74e+00 19 1.251532e+06 4.14e-03 6.90e+01 9.09e-02 9.99e-01 5.25e+07 1 1.02e-01 1.84e+00 20 1.251532e+06 1.26e-04 2.58e+00 4.24e-03 1.00e+00 1.57e+08 1 9.24e-02 1.94e+00 21 1.251532e+06 5.82e-07 1.78e-01 3.15e-04 1.02e+00 4.72e+08 1 9.02e-02 2.03e+00 Bundle adjustment report ------------------------ Residuals : 67886 Parameters : 23668 Iterations : 22 Time : 2.02814 [s] Initial cost : 5.27373 [px] Final cost : 4.29369 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 47 => Filtered observations: 1702 => Changed observations: 0.051528 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.427534e+04 0.00e+00 2.57e+06 0.00e+00 0.00e+00 1.00e+04 0 5.42e-02 1.05e-01 1 3.072848e+04 1.35e+04 1.97e+06 1.24e+02 9.81e-01 3.00e+04 1 8.97e-02 1.95e-01 2 2.580194e+04 4.93e+03 2.70e+06 3.14e+02 8.21e-01 4.08e+04 1 8.56e-02 2.81e-01 3 2.368824e+04 2.11e+03 1.49e+06 3.53e+02 6.56e-01 4.20e+04 1 8.65e-02 3.67e-01 4 2.219930e+04 1.49e+03 7.72e+05 3.00e+02 7.21e-01 4.60e+04 1 8.52e-02 4.53e-01 5 2.142932e+04 7.70e+02 5.31e+05 2.67e+02 6.76e-01 4.81e+04 1 8.60e-02 5.39e-01 6 2.090373e+04 5.26e+02 3.36e+05 2.25e+02 7.32e-01 5.34e+04 1 8.66e-02 6.25e-01 7 2.059356e+04 3.10e+02 2.37e+05 1.98e+02 7.24e-01 5.87e+04 1 9.99e-02 7.25e-01 8 2.038406e+04 2.09e+02 1.63e+05 1.69e+02 7.65e-01 6.89e+04 1 8.58e-02 8.11e-01 9 2.025521e+04 1.29e+02 1.21e+05 1.48e+02 7.66e-01 8.12e+04 1 8.69e-02 8.98e-01 10 2.017220e+04 8.30e+01 8.56e+04 1.24e+02 8.03e-01 1.05e+05 1 8.91e-02 9.87e-01 11 2.012531e+04 4.69e+01 6.22e+04 1.06e+02 8.11e-01 1.38e+05 1 8.68e-02 1.07e+00 12 2.010012e+04 2.52e+01 3.89e+04 8.33e+01 8.53e-01 2.13e+05 1 9.00e-02 1.16e+00 13 2.008956e+04 1.06e+01 2.32e+04 6.36e+01 8.73e-01 3.64e+05 1 8.58e-02 1.25e+00 14 2.008603e+04 3.53e+00 9.85e+03 4.03e+01 9.29e-01 9.90e+05 1 9.07e-02 1.34e+00 15 2.008512e+04 9.04e-01 4.19e+03 2.09e+01 9.70e-01 2.97e+06 1 8.72e-02 1.43e+00 16 2.008477e+04 3.57e-01 2.98e+03 6.08e+00 9.94e-01 8.91e+06 1 8.65e-02 1.51e+00 17 2.008468e+04 8.71e-02 1.23e+03 1.58e+00 9.97e-01 2.67e+07 1 8.45e-02 1.60e+00 18 2.008468e+04 4.83e-03 8.61e+01 3.32e-01 1.00e+00 8.02e+07 1 9.45e-02 1.69e+00 19 2.008468e+04 3.78e-05 1.99e+00 2.87e-02 1.00e+00 2.40e+08 1 9.26e-02 1.79e+00 20 2.008468e+04 4.05e-08 1.38e-02 7.70e-04 1.00e+00 7.21e+08 1 8.55e-02 1.87e+00 Bundle adjustment report ------------------------ Residuals : 64482 Parameters : 23332 Iterations : 21 Time : 1.87341 [s] Initial cost : 0.828632 [px] Final cost : 0.558101 [px] Termination : Convergence => Completed observations: 1255 => Merged observations: 12 => Filtered observations: 7 => Changed observations: 0.039515 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.279129e+04 0.00e+00 3.08e+05 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 1.09e-01 1 2.188227e+04 9.09e+02 5.48e+04 1.23e+01 1.00e+00 3.00e+04 1 9.59e-02 2.05e-01 2 2.182629e+04 5.60e+01 2.92e+04 2.04e+01 9.99e-01 9.00e+04 1 8.91e-02 2.94e-01 3 2.181359e+04 1.27e+01 2.07e+04 3.34e+01 9.87e-01 2.70e+05 1 9.09e-02 3.85e-01 4 2.181084e+04 2.75e+00 9.32e+03 3.36e+01 9.54e-01 8.10e+05 1 8.92e-02 4.74e-01 5 2.181042e+04 4.19e-01 1.78e+03 1.63e+01 9.83e-01 2.43e+06 1 8.88e-02 5.63e-01 6 2.181040e+04 1.68e-02 6.29e+01 3.09e+00 1.00e+00 7.29e+06 1 8.97e-02 6.53e-01 7 2.181040e+04 7.67e-04 7.74e+00 1.39e-01 1.00e+00 2.19e+07 1 8.89e-02 7.42e-01 8 2.181040e+04 4.42e-05 1.95e+00 2.11e-02 1.00e+00 6.56e+07 1 1.03e-01 8.44e-01 9 2.181040e+04 4.07e-07 1.08e-01 2.55e-03 1.00e+00 1.97e+08 1 9.28e-02 9.37e-01 Bundle adjustment report ------------------------ Residuals : 66978 Parameters : 23326 Iterations : 10 Time : 0.939116 [s] Initial cost : 0.583335 [px] Final cost : 0.570645 [px] Termination : Convergence => Completed observations: 37 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001135 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.204621e+04 0.00e+00 6.31e+04 0.00e+00 0.00e+00 1.00e+04 0 6.28e-02 1.20e-01 1 2.197454e+04 7.17e+01 2.29e+02 3.27e-01 1.00e+00 3.00e+04 1 1.02e-01 2.22e-01 2 2.197428e+04 2.57e-01 1.03e+02 1.52e+00 1.00e+00 9.00e+04 1 9.79e-02 3.20e-01 3 2.197421e+04 6.85e-02 1.22e+02 2.82e+00 1.00e+00 2.70e+05 1 9.38e-02 4.14e-01 4 2.197419e+04 2.06e-02 7.73e+01 3.01e+00 9.99e-01 8.10e+05 1 9.02e-02 5.04e-01 5 2.197418e+04 7.28e-03 2.24e+01 1.48e+00 1.00e+00 2.43e+06 1 9.04e-02 5.95e-01 6 2.197418e+04 4.57e-03 2.75e+01 1.61e-01 1.00e+00 7.29e+06 1 9.05e-02 6.85e-01 7 2.197418e+04 1.30e-03 1.48e+01 1.02e-01 1.00e+00 2.19e+07 1 9.98e-02 7.85e-01 8 2.197418e+04 7.77e-05 1.90e+00 3.51e-02 1.00e+00 6.56e+07 1 9.89e-02 8.84e-01 9 2.197418e+04 7.04e-07 1.79e-01 3.41e-03 1.00e+00 1.97e+08 1 8.99e-02 9.74e-01 Bundle adjustment report ------------------------ Residuals : 67050 Parameters : 23326 Iterations : 10 Time : 0.975014 [s] Initial cost : 0.573413 [px] Final cost : 0.572476 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #6 (20) ============================================================================== => Image sees 902 / 2190 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 7 Time : 0.0132718 [s] Initial cost : 0.602173 [px] Final cost : 0.600818 [px] Termination : Convergence => Continued observations: 889 => Added observations: 733 Bundle adjustment report ------------------------ Residuals : 26978 Parameters : 7394 Iterations : 26 Time : 0.662331 [s] Initial cost : 0.657965 [px] Final cost : 0.622791 [px] Termination : No convergence => Merged observations: 73 => Completed observations: 44 => Filtered observations: 99 => Changed observations: 0.015236 Bundle adjustment report ------------------------ Residuals : 26886 Parameters : 7343 Iterations : 4 Time : 0.120495 [s] Initial cost : 0.599914 [px] Final cost : 0.588461 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 18 => Filtered observations: 0 => Changed observations: 0.001698 ============================================================================== Registering image #7 (21) ============================================================================== => Image sees 700 / 2461 points Pose refinement report ---------------------- Residuals : 1332 Parameters : 6 Iterations : 10 Time : 0.0128679 [s] Initial cost : 0.663891 [px] Final cost : 0.595395 [px] Termination : Convergence => Continued observations: 659 => Added observations: 942 Bundle adjustment report ------------------------ Residuals : 15592 Parameters : 4994 Iterations : 26 Time : 0.49477 [s] Initial cost : 1.10185 [px] Final cost : 1.04828 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 28 => Filtered observations: 130 => Changed observations: 0.019526 Bundle adjustment report ------------------------ Residuals : 15412 Parameters : 4913 Iterations : 4 Time : 0.0791559 [s] Initial cost : 0.595284 [px] Final cost : 0.58417 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.001625 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 68 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.937458e+06 0.00e+00 5.48e+07 0.00e+00 0.00e+00 1.00e+04 0 6.34e-02 1.21e-01 1 1.570097e+09 -1.56e+09 0.00e+00 5.76e+01 -2.66e+02 5.00e+03 1 4.45e-02 1.66e-01 2 1.346984e+09 -1.34e+09 0.00e+00 4.72e+00 -2.29e+02 1.25e+03 1 3.89e-02 2.05e-01 3 7.943472e+08 -7.84e+08 0.00e+00 1.06e+01 -1.38e+02 1.56e+02 1 3.81e-02 2.43e-01 4 8.959694e+07 -7.97e+07 0.00e+00 5.00e+01 -1.54e+01 9.77e+00 1 5.04e-02 2.93e-01 5 6.491617e+06 3.45e+06 4.26e+07 1.15e+01 9.84e-01 2.93e+01 1 1.03e-01 3.96e-01 6 5.728932e+06 7.63e+05 3.99e+07 1.79e+01 9.28e-01 7.82e+01 1 9.96e-02 4.96e-01 7 5.310281e+06 4.19e+05 4.55e+07 2.12e+01 8.43e-01 1.15e+02 1 1.03e-01 5.99e-01 8 5.049937e+06 2.60e+05 2.76e+07 9.48e+00 9.17e-01 2.75e+02 1 1.03e-01 7.02e-01 9 4.952335e+06 9.76e+04 6.00e+07 2.42e+00 4.17e-01 2.73e+02 1 1.00e-01 8.02e-01 10 4.706418e+06 2.46e+05 2.01e+07 6.23e+00 9.68e-01 8.20e+02 1 1.11e-01 9.13e-01 11 4.831484e+06 -1.25e+05 0.00e+00 2.09e+01 -6.06e-01 4.10e+02 1 3.98e-02 9.53e-01 12 4.605396e+06 1.01e+05 3.12e+07 1.22e+01 7.57e-01 4.75e+02 1 9.88e-02 1.05e+00 13 4.481881e+06 1.24e+05 2.14e+07 1.32e+01 9.26e-01 1.25e+03 1 1.01e-01 1.15e+00 14 4.515118e+06 -3.32e+04 0.00e+00 2.62e+01 -1.93e-01 6.26e+02 1 3.99e-02 1.19e+00 15 4.382932e+06 9.89e+04 2.44e+07 1.70e+01 8.65e-01 1.02e+03 1 1.05e-01 1.30e+00 16 4.285664e+06 9.73e+04 3.45e+07 2.42e+01 7.18e-01 1.12e+03 1 1.12e-01 1.41e+00 17 4.144529e+06 1.41e+05 2.16e+07 2.89e+01 9.69e-01 3.35e+03 1 9.90e-02 1.51e+00 18 4.209516e+06 -6.50e+04 0.00e+00 8.86e+01 -4.02e-01 1.68e+03 1 4.16e-02 1.55e+00 19 4.044116e+06 1.00e+05 2.82e+07 5.22e+01 8.21e-01 2.28e+03 1 1.02e-01 1.65e+00 20 3.921617e+06 1.22e+05 1.93e+07 8.81e+01 9.88e-01 6.83e+03 1 1.01e-01 1.75e+00 21 3.869062e+06 5.26e+04 3.43e+07 3.15e+02 5.02e-01 6.83e+03 1 1.03e-01 1.86e+00 22 3.763183e+06 1.06e+05 1.01e+07 4.18e+02 9.54e-01 2.05e+04 1 1.02e-01 1.96e+00 23 4.063646e+06 -3.00e+05 0.00e+00 1.16e+03 -4.20e+00 1.03e+04 1 4.06e-02 2.00e+00 24 3.844794e+06 -8.16e+04 0.00e+00 6.61e+02 -1.35e+00 2.56e+03 1 3.89e-02 2.04e+00 25 3.748578e+06 1.46e+04 6.82e+06 1.93e+02 4.01e-01 2.54e+03 1 9.96e-02 2.14e+00 26 3.737172e+06 1.14e+04 3.55e+06 1.92e+02 3.00e-01 2.39e+03 1 1.02e-01 2.24e+00 27 3.741906e+06 -4.73e+03 0.00e+00 2.02e+02 -1.05e-01 1.20e+03 1 4.56e-02 2.29e+00 28 3.725470e+06 1.17e+04 3.67e+06 1.05e+02 3.92e-01 1.18e+03 1 1.11e-01 2.40e+00 29 3.705358e+06 2.01e+04 2.78e+05 9.72e+01 9.39e-01 3.55e+03 1 1.01e-01 2.50e+00 30 3.642742e+06 6.26e+04 1.98e+07 3.13e+02 8.09e-01 4.65e+03 1 1.05e-01 2.60e+00 31 3.478113e+06 1.65e+05 1.15e+07 3.86e+02 1.18e+00 1.40e+04 1 1.02e-01 2.70e+00 32 5.104390e+06 -1.63e+06 0.00e+00 9.98e+02 -5.92e+00 6.98e+03 1 3.94e-02 2.74e+00 33 3.727743e+06 -2.50e+05 0.00e+00 5.35e+02 -1.15e+00 1.74e+03 1 3.90e-02 2.78e+00 34 3.388675e+06 8.94e+04 1.42e+07 1.44e+02 8.57e-01 2.74e+03 1 9.91e-02 2.88e+00 35 3.305374e+06 8.33e+04 1.61e+07 2.30e+02 9.70e-01 8.21e+03 1 1.02e-01 2.98e+00 36 3.315833e+06 -1.05e+04 0.00e+00 6.56e+02 -8.50e-02 4.11e+03 1 3.98e-02 3.02e+00 37 3.236040e+06 6.93e+04 2.17e+07 3.43e+02 8.18e-01 5.53e+03 1 1.00e-01 3.12e+00 38 3.174005e+06 6.20e+04 1.61e+07 4.54e+02 8.76e-01 9.64e+03 1 9.95e-02 3.22e+00 39 3.144558e+06 2.94e+04 1.80e+07 7.46e+02 5.10e-01 9.64e+03 1 1.09e-01 3.33e+00 40 3.102692e+06 4.19e+04 5.50e+06 7.06e+02 7.74e-01 1.15e+04 1 1.09e-01 3.44e+00 41 3.087290e+06 1.54e+04 4.55e+06 7.85e+02 4.71e-01 1.15e+04 1 1.02e-01 3.54e+00 42 3.067548e+06 1.97e+04 3.42e+06 7.29e+02 6.45e-01 1.18e+04 1 1.03e-01 3.65e+00 43 3.054579e+06 1.30e+04 2.83e+06 6.94e+02 6.16e-01 1.20e+04 1 1.00e-01 3.75e+00 44 3.044420e+06 1.02e+04 2.32e+06 6.53e+02 6.40e-01 1.22e+04 1 1.00e-01 3.85e+00 45 3.036663e+06 7.76e+03 1.99e+06 6.22e+02 6.44e-01 1.25e+04 1 1.00e-01 3.95e+00 46 3.030410e+06 6.25e+03 1.73e+06 5.94e+02 6.57e-01 1.29e+04 1 9.99e-02 4.05e+00 47 3.025287e+06 5.12e+03 1.55e+06 5.72e+02 6.64e-01 1.34e+04 1 9.84e-02 4.15e+00 48 3.020967e+06 4.32e+03 1.41e+06 5.54e+02 6.73e-01 1.40e+04 1 9.93e-02 4.24e+00 49 3.017261e+06 3.71e+03 1.30e+06 5.39e+02 6.79e-01 1.46e+04 1 1.08e-01 4.35e+00 50 3.014027e+06 3.23e+03 1.22e+06 5.27e+02 6.85e-01 1.54e+04 1 1.08e-01 4.46e+00 Bundle adjustment report ------------------------ Residuals : 73386 Parameters : 25552 Iterations : 51 Time : 4.46259 [s] Initial cost : 11.6367 [px] Final cost : 6.40866 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 10350 => Changed observations: 0.282261 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.425065e+04 0.00e+00 3.24e+06 0.00e+00 0.00e+00 1.00e+04 0 4.47e-02 8.76e-02 1 3.679600e+04 1.75e+04 1.02e+07 8.07e+01 6.84e-01 1.05e+04 1 7.47e-02 1.62e-01 2 2.872376e+04 8.07e+03 7.83e+06 8.81e+01 7.22e-01 1.15e+04 1 7.10e-02 2.33e-01 3 2.492758e+04 3.80e+03 4.95e+06 1.02e+02 7.60e-01 1.34e+04 1 8.43e-02 3.18e-01 4 2.283019e+04 2.10e+03 2.84e+06 1.24e+02 8.37e-01 1.93e+04 1 8.25e-02 4.00e-01 5 2.150756e+04 1.32e+03 1.70e+06 1.83e+02 8.77e-01 3.39e+04 1 7.39e-02 4.74e-01 6 2.052428e+04 9.83e+02 1.16e+06 3.22e+02 8.15e-01 4.52e+04 1 6.97e-02 5.44e-01 7 1.992693e+04 5.97e+02 8.16e+05 4.22e+02 6.25e-01 4.60e+04 1 6.85e-02 6.13e-01 8 1.944052e+04 4.86e+02 5.47e+05 4.16e+02 5.91e-01 4.62e+04 1 6.91e-02 6.82e-01 9 1.909063e+04 3.50e+02 5.03e+05 4.04e+02 5.21e-01 4.62e+04 1 7.07e-02 7.52e-01 10 1.880024e+04 2.90e+02 4.69e+05 3.88e+02 4.94e-01 4.62e+04 1 8.03e-02 8.33e-01 11 1.854737e+04 2.53e+02 4.40e+05 3.71e+02 4.85e-01 4.62e+04 1 8.10e-02 9.14e-01 12 1.831978e+04 2.28e+02 4.11e+05 3.55e+02 4.88e-01 4.62e+04 1 7.11e-02 9.85e-01 13 1.811181e+04 2.08e+02 3.81e+05 3.38e+02 4.98e-01 4.62e+04 1 7.34e-02 1.06e+00 14 1.792054e+04 1.91e+02 3.51e+05 3.22e+02 5.13e-01 4.62e+04 1 7.21e-02 1.13e+00 15 1.774417e+04 1.76e+02 3.22e+05 3.05e+02 5.30e-01 4.62e+04 1 7.26e-02 1.20e+00 16 1.758149e+04 1.63e+02 2.95e+05 2.90e+02 5.50e-01 4.63e+04 1 7.10e-02 1.27e+00 17 1.743155e+04 1.50e+02 2.69e+05 2.75e+02 5.70e-01 4.64e+04 1 7.20e-02 1.35e+00 18 1.729339e+04 1.38e+02 2.45e+05 2.61e+02 5.89e-01 4.67e+04 1 7.06e-02 1.42e+00 19 1.716596e+04 1.27e+02 2.25e+05 2.48e+02 6.08e-01 4.72e+04 1 6.99e-02 1.49e+00 20 1.704800e+04 1.18e+02 2.07e+05 2.36e+02 6.24e-01 4.79e+04 1 6.81e-02 1.56e+00 21 1.693818e+04 1.10e+02 1.92e+05 2.26e+02 6.38e-01 4.89e+04 1 6.81e-02 1.62e+00 22 1.683520e+04 1.03e+02 1.79e+05 2.17e+02 6.49e-01 5.02e+04 1 6.95e-02 1.69e+00 23 1.673785e+04 9.74e+01 1.69e+05 2.10e+02 6.59e-01 5.19e+04 1 6.98e-02 1.76e+00 24 1.664511e+04 9.27e+01 1.59e+05 2.03e+02 6.67e-01 5.39e+04 1 7.67e-02 1.84e+00 25 1.655615e+04 8.90e+01 1.79e+05 1.97e+02 6.73e-01 5.62e+04 1 7.97e-02 1.92e+00 26 1.647031e+04 8.58e+01 2.07e+05 1.91e+02 6.77e-01 5.89e+04 1 6.95e-02 1.99e+00 27 1.638708e+04 8.32e+01 2.41e+05 1.86e+02 6.80e-01 6.18e+04 1 7.14e-02 2.06e+00 28 1.630611e+04 8.10e+01 2.80e+05 1.80e+02 6.82e-01 6.49e+04 1 7.23e-02 2.13e+00 29 1.622717e+04 7.89e+01 3.25e+05 1.75e+02 6.81e-01 6.81e+04 1 7.01e-02 2.20e+00 30 1.615019e+04 7.70e+01 3.76e+05 1.68e+02 6.77e-01 7.12e+04 1 7.00e-02 2.27e+00 31 1.607521e+04 7.50e+01 4.32e+05 1.62e+02 6.70e-01 7.41e+04 1 7.08e-02 2.34e+00 32 1.600239e+04 7.28e+01 4.88e+05 1.54e+02 6.59e-01 7.66e+04 1 7.06e-02 2.41e+00 33 1.593190e+04 7.05e+01 5.43e+05 1.45e+02 6.46e-01 7.85e+04 1 7.16e-02 2.49e+00 34 1.586391e+04 6.80e+01 5.92e+05 1.36e+02 6.29e-01 7.99e+04 1 6.94e-02 2.56e+00 35 1.579850e+04 6.54e+01 6.34e+05 1.27e+02 6.12e-01 8.08e+04 1 6.93e-02 2.62e+00 36 1.573571e+04 6.28e+01 6.69e+05 1.17e+02 5.93e-01 8.14e+04 1 7.17e-02 2.70e+00 37 1.567550e+04 6.02e+01 6.97e+05 1.08e+02 5.74e-01 8.16e+04 1 7.14e-02 2.77e+00 38 1.561780e+04 5.77e+01 7.19e+05 9.99e+01 5.56e-01 8.17e+04 1 7.14e-02 2.84e+00 39 1.556252e+04 5.53e+01 7.38e+05 9.23e+01 5.37e-01 8.18e+04 1 8.44e-02 2.92e+00 40 1.550955e+04 5.30e+01 7.54e+05 8.54e+01 5.18e-01 8.18e+04 1 7.29e-02 3.00e+00 41 1.545878e+04 5.08e+01 7.68e+05 7.93e+01 4.99e-01 8.18e+04 1 6.86e-02 3.06e+00 42 1.541009e+04 4.87e+01 7.82e+05 7.38e+01 4.81e-01 8.18e+04 1 8.18e-02 3.15e+00 43 1.536333e+04 4.68e+01 7.94e+05 6.89e+01 4.63e-01 8.17e+04 1 6.90e-02 3.22e+00 44 1.531835e+04 4.50e+01 8.06e+05 6.44e+01 4.45e-01 8.16e+04 1 6.76e-02 3.28e+00 45 1.527496e+04 4.34e+01 8.16e+05 6.04e+01 4.30e-01 8.14e+04 1 6.89e-02 3.35e+00 46 1.523300e+04 4.20e+01 8.24e+05 5.67e+01 4.16e-01 8.10e+04 1 6.88e-02 3.42e+00 47 1.519235e+04 4.07e+01 8.29e+05 5.33e+01 4.05e-01 8.05e+04 1 6.97e-02 3.49e+00 48 1.515294e+04 3.94e+01 8.30e+05 5.02e+01 3.96e-01 7.97e+04 1 7.01e-02 3.56e+00 49 1.511476e+04 3.82e+01 8.29e+05 4.72e+01 3.88e-01 7.89e+04 1 7.12e-02 3.63e+00 50 1.507781e+04 3.69e+01 8.25e+05 4.44e+01 3.82e-01 7.78e+04 1 6.98e-02 3.70e+00 Bundle adjustment report ------------------------ Residuals : 52686 Parameters : 21154 Iterations : 51 Time : 3.70321 [s] Initial cost : 1.01474 [px] Final cost : 0.53496 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 21 => Filtered observations: 15 => Changed observations: 0.001367 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.492150e+04 0.00e+00 7.86e+05 0.00e+00 0.00e+00 1.00e+04 0 4.49e-02 8.94e-02 1 1.480835e+04 1.13e+02 3.86e+04 6.18e+00 9.98e-01 3.00e+04 1 8.86e-02 1.78e-01 2 1.479129e+04 1.71e+01 9.99e+04 1.95e+01 9.00e-01 6.16e+04 1 7.29e-02 2.51e-01 3 1.478500e+04 6.29e+00 4.35e+05 3.83e+01 2.20e-01 5.24e+04 1 7.62e-02 3.27e-01 4 1.475351e+04 3.15e+01 3.32e+05 3.14e+01 7.37e-01 5.86e+04 1 7.11e-02 3.98e-01 5 1.473784e+04 1.57e+01 4.20e+05 3.33e+01 4.79e-01 5.86e+04 1 7.05e-02 4.69e-01 6 1.471742e+04 2.04e+01 4.28e+05 3.18e+01 5.41e-01 5.86e+04 1 6.97e-02 5.39e-01 7 1.469785e+04 1.96e+01 4.35e+05 3.03e+01 5.26e-01 5.86e+04 1 6.85e-02 6.07e-01 8 1.467896e+04 1.89e+01 4.40e+05 2.90e+01 5.11e-01 5.86e+04 1 6.83e-02 6.75e-01 9 1.466074e+04 1.82e+01 4.46e+05 2.77e+01 4.96e-01 5.86e+04 1 6.77e-02 7.43e-01 10 1.464314e+04 1.76e+01 4.51e+05 2.65e+01 4.81e-01 5.86e+04 1 6.94e-02 8.13e-01 11 1.462616e+04 1.70e+01 4.57e+05 2.54e+01 4.66e-01 5.86e+04 1 6.70e-02 8.80e-01 12 1.460975e+04 1.64e+01 4.63e+05 2.44e+01 4.50e-01 5.86e+04 1 6.74e-02 9.47e-01 13 1.459388e+04 1.59e+01 4.69e+05 2.34e+01 4.35e-01 5.84e+04 1 6.91e-02 1.02e+00 14 1.457850e+04 1.54e+01 4.74e+05 2.25e+01 4.21e-01 5.82e+04 1 7.04e-02 1.09e+00 15 1.456358e+04 1.49e+01 4.79e+05 2.16e+01 4.09e-01 5.79e+04 1 7.73e-02 1.16e+00 16 1.454908e+04 1.45e+01 4.82e+05 2.06e+01 3.98e-01 5.74e+04 1 7.53e-02 1.24e+00 17 1.453498e+04 1.41e+01 4.84e+05 1.98e+01 3.89e-01 5.68e+04 1 6.83e-02 1.31e+00 18 1.452128e+04 1.37e+01 4.85e+05 1.89e+01 3.81e-01 5.60e+04 1 6.88e-02 1.38e+00 19 1.450797e+04 1.33e+01 4.84e+05 1.80e+01 3.75e-01 5.51e+04 1 6.80e-02 1.44e+00 20 1.449508e+04 1.29e+01 4.82e+05 1.72e+01 3.69e-01 5.41e+04 1 6.93e-02 1.51e+00 21 1.448259e+04 1.25e+01 4.80e+05 1.63e+01 3.63e-01 5.31e+04 1 6.88e-02 1.58e+00 22 1.447051e+04 1.21e+01 4.76e+05 1.55e+01 3.59e-01 5.19e+04 1 6.85e-02 1.65e+00 23 1.445884e+04 1.17e+01 4.72e+05 1.48e+01 3.54e-01 5.07e+04 1 6.81e-02 1.72e+00 24 1.444758e+04 1.13e+01 4.68e+05 1.40e+01 3.50e-01 4.93e+04 1 6.97e-02 1.79e+00 25 1.443671e+04 1.09e+01 4.63e+05 1.33e+01 3.47e-01 4.80e+04 1 6.77e-02 1.86e+00 26 1.442623e+04 1.05e+01 4.58e+05 1.26e+01 3.43e-01 4.65e+04 1 6.82e-02 1.93e+00 27 1.441612e+04 1.01e+01 4.53e+05 1.19e+01 3.40e-01 4.50e+04 1 6.72e-02 1.99e+00 28 1.440637e+04 9.75e+00 4.48e+05 1.13e+01 3.36e-01 4.35e+04 1 6.96e-02 2.06e+00 29 1.439697e+04 9.40e+00 4.43e+05 1.06e+01 3.33e-01 4.20e+04 1 7.28e-02 2.13e+00 30 1.438790e+04 9.07e+00 4.38e+05 1.00e+01 3.30e-01 4.04e+04 1 7.56e-02 2.21e+00 31 1.437913e+04 8.76e+00 4.34e+05 9.47e+00 3.27e-01 3.88e+04 1 6.98e-02 2.28e+00 32 1.437067e+04 8.47e+00 4.29e+05 8.92e+00 3.24e-01 3.71e+04 1 7.02e-02 2.35e+00 33 1.436248e+04 8.19e+00 4.25e+05 8.40e+00 3.21e-01 3.55e+04 1 6.82e-02 2.42e+00 34 1.435456e+04 7.92e+00 4.21e+05 7.89e+00 3.18e-01 3.39e+04 1 6.86e-02 2.49e+00 35 1.434688e+04 7.68e+00 4.17e+05 7.41e+00 3.15e-01 3.22e+04 1 7.04e-02 2.56e+00 36 1.433943e+04 7.44e+00 4.14e+05 6.95e+00 3.12e-01 3.06e+04 1 7.08e-02 2.63e+00 37 1.433221e+04 7.22e+00 4.10e+05 6.51e+00 3.09e-01 2.90e+04 1 7.48e-02 2.70e+00 38 1.432519e+04 7.02e+00 4.07e+05 6.08e+00 3.06e-01 2.74e+04 1 7.02e-02 2.77e+00 39 1.431836e+04 6.83e+00 4.04e+05 5.68e+00 3.03e-01 2.58e+04 1 6.81e-02 2.84e+00 40 1.431172e+04 6.64e+00 4.02e+05 5.30e+00 3.00e-01 2.43e+04 1 6.88e-02 2.91e+00 41 1.430525e+04 6.47e+00 3.99e+05 4.93e+00 2.97e-01 2.27e+04 1 6.77e-02 2.98e+00 42 1.429894e+04 6.31e+00 3.97e+05 4.58e+00 2.94e-01 2.12e+04 1 6.89e-02 3.05e+00 43 1.429279e+04 6.15e+00 3.95e+05 4.25e+00 2.91e-01 1.98e+04 1 6.81e-02 3.12e+00 44 1.428678e+04 6.01e+00 3.93e+05 3.93e+00 2.88e-01 1.84e+04 1 7.43e-02 3.19e+00 45 1.428092e+04 5.86e+00 3.91e+05 3.63e+00 2.86e-01 1.71e+04 1 7.53e-02 3.27e+00 46 1.427520e+04 5.72e+00 3.89e+05 3.35e+00 2.83e-01 1.58e+04 1 7.09e-02 3.34e+00 47 1.426961e+04 5.59e+00 3.87e+05 3.08e+00 2.80e-01 1.45e+04 1 6.93e-02 3.41e+00 48 1.426415e+04 5.46e+00 3.85e+05 2.83e+00 2.78e-01 1.34e+04 1 6.86e-02 3.47e+00 49 1.425883e+04 5.32e+00 3.82e+05 2.59e+00 2.75e-01 1.22e+04 1 6.99e-02 3.54e+00 50 1.425364e+04 5.19e+00 3.79e+05 2.38e+00 2.73e-01 1.12e+04 1 6.85e-02 3.61e+00 Bundle adjustment report ------------------------ Residuals : 52656 Parameters : 21133 Iterations : 51 Time : 3.61365 [s] Initial cost : 0.532332 [px] Final cost : 0.520282 [px] Termination : No convergence => Completed observations: 4039 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.153601 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.282100e+04 0.00e+00 5.36e+05 0.00e+00 0.00e+00 1.00e+04 0 5.10e-02 9.81e-02 1 2.006779e+04 2.75e+03 2.36e+06 3.93e+01 7.92e-01 1.25e+04 1 8.32e-02 1.81e-01 2 2.139118e+04 -1.32e+03 0.00e+00 3.84e+01 -1.56e+00 6.24e+03 1 3.23e-02 2.14e-01 3 1.953035e+04 5.37e+02 1.71e+06 2.03e+01 6.62e-01 6.46e+03 1 8.02e-02 2.94e-01 4 1.963109e+04 -1.01e+02 0.00e+00 1.95e+01 -3.11e-01 3.23e+03 1 3.41e-02 3.28e-01 5 1.927523e+04 2.55e+02 7.33e+05 1.00e+01 8.37e-01 4.66e+03 1 8.15e-02 4.10e-01 6 1.936110e+04 -8.59e+01 0.00e+00 1.39e+01 -1.06e+00 2.33e+03 1 3.37e-02 4.43e-01 7 1.922547e+04 4.98e+01 4.47e+05 7.04e+00 7.30e-01 2.58e+03 1 9.06e-02 5.34e-01 8 1.921594e+04 9.52e+00 5.29e+05 7.67e+00 2.70e-01 2.35e+03 1 9.39e-02 6.28e-01 9 1.919337e+04 2.26e+01 4.19e+05 6.91e+00 5.83e-01 2.36e+03 1 9.10e-02 7.19e-01 10 1.917685e+04 1.65e+01 3.33e+05 6.88e+00 6.18e-01 2.40e+03 1 8.67e-02 8.06e-01 11 1.916296e+04 1.39e+01 2.30e+05 6.91e+00 7.41e-01 2.70e+03 1 8.42e-02 8.90e-01 12 1.915288e+04 1.01e+01 1.63e+05 7.68e+00 8.04e-01 3.48e+03 1 8.28e-02 9.73e-01 13 1.914396e+04 8.92e+00 1.25e+05 9.75e+00 8.60e-01 5.55e+03 1 8.30e-02 1.06e+00 14 1.913371e+04 1.02e+01 1.11e+05 1.52e+01 8.99e-01 1.13e+04 1 8.22e-02 1.14e+00 15 1.911858e+04 1.51e+01 1.07e+05 2.93e+01 9.31e-01 3.15e+04 1 8.33e-02 1.22e+00 16 1.909201e+04 2.66e+01 9.81e+04 7.26e+01 9.00e-01 6.45e+04 1 8.25e-02 1.30e+00 17 1.906776e+04 2.42e+01 7.83e+04 1.19e+02 6.15e-01 6.53e+04 1 8.11e-02 1.38e+00 18 1.903555e+04 3.22e+01 5.13e+04 9.53e+01 8.32e-01 9.25e+04 1 8.02e-02 1.47e+00 19 1.901758e+04 1.80e+01 5.58e+04 9.91e+01 6.99e-01 9.87e+04 1 8.79e-02 1.55e+00 20 1.900152e+04 1.61e+01 3.33e+04 7.61e+01 8.53e-01 1.53e+05 1 8.75e-02 1.64e+00 21 1.899368e+04 7.84e+00 3.15e+04 7.37e+01 7.60e-01 1.78e+05 1 8.07e-02 1.72e+00 22 1.898847e+04 5.21e+00 1.51e+04 5.07e+01 9.02e-01 3.71e+05 1 8.04e-02 1.80e+00 23 1.898668e+04 1.79e+00 1.12e+04 4.36e+01 8.51e-01 5.67e+05 1 8.14e-02 1.88e+00 24 1.898609e+04 5.89e-01 2.65e+03 2.10e+01 9.71e-01 1.70e+06 1 7.99e-02 1.96e+00 25 1.898604e+04 5.13e-02 4.69e+02 8.51e+00 9.90e-01 5.10e+06 1 8.01e-02 2.04e+00 26 1.898604e+04 1.91e-03 2.23e+01 1.34e+00 9.99e-01 1.53e+07 1 8.23e-02 2.13e+00 27 1.898604e+04 6.84e-05 1.97e+00 9.97e-02 1.00e+00 4.59e+07 1 7.95e-02 2.21e+00 28 1.898604e+04 8.61e-07 1.73e-01 5.53e-03 1.00e+00 1.38e+08 1 8.00e-02 2.29e+00 Bundle adjustment report ------------------------ Residuals : 60734 Parameters : 21130 Iterations : 29 Time : 2.2862 [s] Initial cost : 0.612987 [px] Final cost : 0.559115 [px] Termination : Convergence => Completed observations: 278 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.009352 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.023432e+04 0.00e+00 1.32e+05 0.00e+00 0.00e+00 1.00e+04 0 5.29e-02 1.01e-01 1 1.971306e+04 5.21e+02 2.33e+05 3.98e+00 9.90e-01 3.00e+04 1 9.12e-02 1.92e-01 2 1.970518e+04 7.87e+00 3.20e+04 8.24e+00 9.88e-01 9.00e+04 1 8.96e-02 2.82e-01 3 1.970422e+04 9.62e-01 2.64e+03 1.72e+01 9.92e-01 2.70e+05 1 8.14e-02 3.63e-01 4 1.970360e+04 6.20e-01 3.70e+03 2.46e+01 9.49e-01 8.10e+05 1 8.08e-02 4.44e-01 5 1.970339e+04 2.12e-01 1.91e+03 1.74e+01 9.60e-01 2.43e+06 1 8.29e-02 5.27e-01 6 1.970337e+04 2.28e-02 1.96e+02 4.99e+00 9.96e-01 7.29e+06 1 8.26e-02 6.09e-01 7 1.970337e+04 9.82e-04 1.36e+01 5.93e-01 1.00e+00 2.19e+07 1 8.22e-02 6.92e-01 8 1.970337e+04 3.69e-05 1.97e+00 4.43e-02 1.00e+00 6.56e+07 1 8.12e-02 7.73e-01 9 1.970337e+04 2.42e-07 4.67e-02 2.45e-03 1.00e+00 1.97e+08 1 8.03e-02 8.53e-01 Bundle adjustment report ------------------------ Residuals : 61278 Parameters : 21130 Iterations : 10 Time : 0.854354 [s] Initial cost : 0.574635 [px] Final cost : 0.567046 [px] Termination : Convergence => Completed observations: 23 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000783 => Filtered images: 0 ============================================================================== Registering image #8 (22) ============================================================================== => Image sees 561 / 2841 points Pose refinement report ---------------------- Residuals : 1030 Parameters : 6 Iterations : 21 Time : 0.0208621 [s] Initial cost : 0.666336 [px] Final cost : 0.654905 [px] Termination : Convergence => Continued observations: 512 => Added observations: 2996 Bundle adjustment report ------------------------ Residuals : 35998 Parameters : 10697 Iterations : 26 Time : 0.788642 [s] Initial cost : 1.09587 [px] Final cost : 1.01455 [px] Termination : No convergence => Merged observations: 31 => Completed observations: 559 => Filtered observations: 222 => Changed observations: 0.044004 Bundle adjustment report ------------------------ Residuals : 36674 Parameters : 10535 Iterations : 6 Time : 0.212187 [s] Initial cost : 0.608308 [px] Final cost : 0.586996 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 96 => Filtered observations: 2 => Changed observations: 0.006173 ============================================================================== Retriangulation ============================================================================== => Completed observations: 8 => Merged observations: 0 => Retriangulated observations: 133 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.102910e+07 0.00e+00 4.58e+07 0.00e+00 0.00e+00 1.00e+04 0 6.06e-02 1.15e-01 1 1.052110e+09 -1.04e+09 0.00e+00 4.89e+02 -1.40e+02 5.00e+03 1 4.20e-02 1.57e-01 2 6.994170e+08 -6.88e+08 0.00e+00 3.00e+02 -9.39e+01 1.25e+03 1 4.64e-02 2.04e-01 3 1.695034e+08 -1.58e+08 0.00e+00 1.64e+02 -2.26e+01 1.56e+02 1 4.29e-02 2.47e-01 4 8.612439e+06 2.42e+06 2.08e+08 9.84e+01 3.88e-01 1.55e+02 1 1.12e-01 3.59e-01 5 4.567508e+06 4.04e+06 1.77e+07 4.27e+01 9.95e-01 4.64e+02 1 1.03e-01 4.62e-01 6 4.514045e+06 5.35e+04 7.32e+07 3.25e+01 1.73e-01 3.62e+02 1 9.62e-02 5.58e-01 7 4.139438e+06 3.75e+05 1.20e+07 2.20e+01 9.76e-01 1.09e+03 1 9.48e-02 6.53e-01 8 4.093155e+06 4.63e+04 4.06e+07 4.90e+01 2.10e-01 9.10e+02 1 9.51e-02 7.48e-01 9 3.805010e+06 2.88e+05 1.46e+07 4.30e+01 9.93e-01 2.73e+03 1 9.49e-02 8.43e-01 10 3.780161e+06 2.48e+04 5.09e+07 8.84e+01 1.30e-01 1.94e+03 1 9.49e-02 9.38e-01 11 3.485159e+06 2.95e+05 7.23e+06 5.82e+01 1.05e+00 5.83e+03 1 9.50e-02 1.03e+00 12 3.432114e+06 5.30e+04 2.28e+07 6.89e+01 4.31e-01 5.81e+03 1 9.72e-02 1.13e+00 13 3.301228e+06 1.31e+05 9.23e+06 2.34e+00 9.84e-01 1.74e+04 1 1.04e-01 1.23e+00 14 3.307742e+06 -6.51e+03 0.00e+00 1.70e+02 -9.28e-02 8.72e+03 1 4.66e-02 1.28e+00 15 3.261355e+06 3.99e+04 9.85e+06 9.67e+01 7.99e-01 1.11e+04 1 9.45e-02 1.38e+00 16 3.223306e+06 3.80e+04 6.48e+06 1.88e+02 9.43e-01 3.33e+04 1 9.55e-02 1.47e+00 17 3.244411e+06 -2.11e+04 0.00e+00 6.17e+02 -5.16e-01 1.66e+04 1 3.83e-02 1.51e+00 18 3.200145e+06 2.32e+04 6.34e+06 3.61e+02 7.97e-01 2.10e+04 1 9.34e-02 1.60e+00 19 3.178816e+06 2.13e+04 5.19e+06 5.31e+02 8.14e-01 2.79e+04 1 9.64e-02 1.70e+00 20 3.174038e+06 4.78e+03 5.08e+06 7.94e+02 1.98e-01 2.29e+04 1 9.45e-02 1.79e+00 21 3.152329e+06 2.17e+04 3.25e+06 7.80e+02 6.49e-01 2.35e+04 1 9.54e-02 1.89e+00 22 3.148157e+06 4.17e+03 3.99e+06 9.07e+02 1.65e-01 1.81e+04 1 9.59e-02 1.99e+00 23 3.126202e+06 2.20e+04 2.78e+06 8.19e+02 6.84e-01 1.91e+04 1 9.56e-02 2.08e+00 24 3.122689e+06 3.51e+03 3.65e+06 9.54e+02 1.62e-01 1.46e+04 1 9.43e-02 2.18e+00 25 3.102066e+06 2.06e+04 2.49e+06 8.43e+02 7.32e-01 1.62e+04 1 1.06e-01 2.28e+00 26 3.099149e+06 2.92e+03 3.58e+06 1.02e+03 1.54e-01 1.22e+04 1 1.04e-01 2.39e+00 27 3.077923e+06 2.12e+04 2.29e+06 8.93e+02 8.04e-01 1.57e+04 1 9.89e-02 2.48e+00 28 3.079198e+06 -1.27e+03 0.00e+00 1.26e+03 -6.51e-02 7.85e+03 1 3.91e-02 2.52e+00 29 3.062155e+06 1.58e+04 1.16e+06 6.90e+02 1.07e+00 2.36e+04 1 9.41e-02 2.62e+00 30 3.176443e+06 -1.14e+05 0.00e+00 2.04e+03 -4.61e+00 1.18e+04 1 3.83e-02 2.66e+00 31 3.047580e+06 1.46e+04 3.13e+06 1.15e+03 8.44e-01 1.75e+04 1 9.40e-02 2.75e+00 32 4.296030e+07 -3.99e+07 0.00e+00 1.43e+03 -3.28e+02 8.73e+03 1 3.79e-02 2.79e+00 33 3.408953e+07 -3.10e+07 0.00e+00 8.55e+02 -2.69e+02 2.18e+03 1 3.58e-02 2.82e+00 34 1.663880e+07 -1.36e+07 0.00e+00 3.40e+02 -1.28e+02 2.73e+02 1 3.67e-02 2.86e+00 35 3.555014e+06 -5.07e+05 0.00e+00 8.75e+01 -6.01e+00 1.70e+01 1 3.67e-02 2.90e+00 36 3.003292e+06 4.43e+04 3.37e+05 1.16e+01 1.22e+00 5.11e+01 1 9.70e-02 2.99e+00 37 3.069166e+06 -6.59e+04 0.00e+00 1.20e+00 -9.11e-01 2.56e+01 1 3.83e-02 3.03e+00 38 2.968907e+06 3.44e+04 6.91e+05 2.29e+00 6.97e-01 2.72e+01 1 9.31e-02 3.13e+00 39 2.952094e+06 1.68e+04 1.78e+05 8.13e+00 9.51e-01 8.17e+01 1 9.90e-02 3.23e+00 40 2.934871e+06 1.72e+04 2.35e+05 3.03e+01 9.55e-01 2.45e+02 1 1.04e-01 3.33e+00 41 2.911375e+06 2.35e+04 9.43e+05 7.57e+01 6.96e-01 2.61e+02 1 9.48e-02 3.42e+00 42 2.880226e+06 3.11e+04 5.46e+05 6.30e+01 9.31e-01 7.23e+02 1 9.56e-02 3.52e+00 43 2.886557e+06 -6.33e+03 0.00e+00 8.95e+01 -2.53e-01 3.62e+02 1 3.84e-02 3.56e+00 44 2.864989e+06 1.52e+04 6.13e+05 5.65e+01 8.25e-01 4.99e+02 1 9.26e-02 3.65e+00 45 2.855438e+06 9.55e+03 8.33e+05 3.79e+01 7.35e-01 5.56e+02 1 9.33e-02 3.74e+00 46 2.848438e+06 7.00e+03 5.31e+05 1.47e+01 8.66e-01 9.16e+02 1 9.33e-02 3.84e+00 47 2.845956e+06 2.48e+03 8.20e+05 6.10e+00 5.43e-01 9.17e+02 1 9.56e-02 3.93e+00 48 2.842218e+06 3.74e+03 3.56e+05 3.18e+00 9.12e-01 2.08e+03 1 9.88e-02 4.03e+00 49 2.842487e+06 -2.69e+02 0.00e+00 8.14e+00 -8.79e-02 1.04e+03 1 3.87e-02 4.07e+00 50 2.840589e+06 1.63e+03 3.12e+05 5.88e+00 8.71e-01 1.76e+03 1 9.47e-02 4.17e+00 Bundle adjustment report ------------------------ Residuals : 69482 Parameters : 24268 Iterations : 51 Time : 4.1675 [s] Initial cost : 12.5989 [px] Final cost : 6.39393 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 15980 => Changed observations: 0.460090 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.477739e+04 0.00e+00 3.17e+06 0.00e+00 0.00e+00 1.00e+04 0 3.75e-02 7.23e-02 1 2.965160e+04 1.51e+04 6.59e+06 7.13e+01 8.30e-01 1.40e+04 1 6.49e-02 1.37e-01 2 2.534581e+04 4.31e+03 3.02e+06 3.54e+01 8.98e-01 2.83e+04 1 5.62e-02 1.93e-01 3 2.367371e+04 1.67e+03 3.72e+06 1.28e+02 6.48e-01 2.90e+04 1 5.54e-02 2.49e-01 4 2.174855e+04 1.93e+03 2.37e+06 1.38e+02 8.27e-01 4.04e+04 1 5.56e-02 3.05e-01 5 2.072748e+04 1.02e+03 3.31e+06 1.94e+02 6.00e-01 4.07e+04 1 5.56e-02 3.60e-01 6 1.961699e+04 1.11e+03 2.65e+06 1.96e+02 6.86e-01 4.29e+04 1 5.43e-02 4.15e-01 7 1.893280e+04 6.84e+02 3.18e+06 2.07e+02 5.37e-01 4.29e+04 1 5.45e-02 4.69e-01 8 1.840660e+04 5.26e+02 3.95e+06 2.07e+02 4.31e-01 4.28e+04 1 5.38e-02 5.23e-01 9 1.806738e+04 3.39e+02 4.77e+06 2.07e+02 2.74e-01 3.92e+04 1 5.35e-02 5.76e-01 10 1.761803e+04 4.49e+02 4.90e+06 1.90e+02 3.34e-01 3.78e+04 1 5.48e-02 6.31e-01 11 1.742190e+04 1.96e+02 5.50e+06 1.83e+02 1.51e-01 2.82e+04 1 5.39e-02 6.85e-01 12 1.657823e+04 8.44e+02 3.88e+06 1.37e+02 6.08e-01 2.85e+04 1 6.06e-02 7.46e-01 13 1.651172e+04 6.65e+01 4.58e+06 1.39e+02 8.11e-02 1.80e+04 1 5.62e-02 8.02e-01 14 1.577882e+04 7.33e+02 2.34e+06 8.74e+01 7.89e-01 2.23e+04 1 5.49e-02 8.57e-01 15 1.590579e+04 -1.27e+02 0.00e+00 1.09e+02 -3.14e-01 1.11e+04 1 1.99e-02 8.77e-01 16 1.551420e+04 2.65e+02 1.05e+06 5.43e+01 8.69e-01 1.86e+04 1 5.40e-02 9.31e-01 17 1.561670e+04 -1.02e+02 0.00e+00 9.10e+01 -4.78e-01 9.32e+03 1 1.97e-02 9.51e-01 18 1.540722e+04 1.07e+02 8.03e+05 4.55e+01 8.23e-01 1.28e+04 1 5.38e-02 1.00e+00 19 1.535138e+04 5.58e+01 1.57e+06 6.24e+01 3.88e-01 1.26e+04 1 6.10e-02 1.07e+00 20 1.525045e+04 1.01e+02 1.72e+06 6.17e+01 4.87e-01 1.26e+04 1 6.16e-02 1.13e+00 21 1.515747e+04 9.30e+01 1.91e+06 6.17e+01 4.15e-01 1.26e+04 1 5.58e-02 1.18e+00 22 1.506903e+04 8.84e+01 2.10e+06 6.15e+01 3.58e-01 1.23e+04 1 5.54e-02 1.24e+00 23 1.497648e+04 9.25e+01 2.22e+06 6.02e+01 3.41e-01 1.19e+04 1 5.56e-02 1.29e+00 24 1.488049e+04 9.60e+01 2.29e+06 5.85e+01 3.36e-01 1.15e+04 1 5.55e-02 1.35e+00 25 1.478039e+04 1.00e+02 2.29e+06 5.66e+01 3.44e-01 1.12e+04 1 5.37e-02 1.40e+00 26 1.467704e+04 1.03e+02 2.24e+06 5.51e+01 3.60e-01 1.09e+04 1 5.49e-02 1.46e+00 27 1.456898e+04 1.08e+02 2.12e+06 5.41e+01 3.94e-01 1.08e+04 1 5.34e-02 1.51e+00 28 1.445633e+04 1.13e+02 1.93e+06 5.38e+01 4.48e-01 1.08e+04 1 5.30e-02 1.56e+00 29 1.434026e+04 1.16e+02 1.66e+06 5.40e+01 5.28e-01 1.08e+04 1 5.31e-02 1.62e+00 30 1.422769e+04 1.13e+02 1.33e+06 5.41e+01 6.23e-01 1.10e+04 1 5.51e-02 1.67e+00 31 1.412823e+04 9.95e+01 1.04e+06 5.50e+01 6.99e-01 1.17e+04 1 5.50e-02 1.73e+00 32 1.404119e+04 8.70e+01 8.75e+05 5.87e+01 7.37e-01 1.31e+04 1 5.48e-02 1.78e+00 33 1.395706e+04 8.41e+01 8.02e+05 6.56e+01 7.57e-01 1.52e+04 1 5.38e-02 1.84e+00 34 1.386908e+04 8.80e+01 7.88e+05 7.57e+01 7.65e-01 1.78e+04 1 5.33e-02 1.89e+00 35 1.377292e+04 9.62e+01 7.99e+05 8.86e+01 7.69e-01 2.11e+04 1 5.33e-02 1.94e+00 36 1.366623e+04 1.07e+02 8.19e+05 1.04e+02 7.69e-01 2.50e+04 1 5.43e-02 2.00e+00 37 1.354743e+04 1.19e+02 8.35e+05 1.23e+02 7.68e-01 2.96e+04 1 6.16e-02 2.06e+00 38 1.341605e+04 1.31e+02 8.39e+05 1.43e+02 7.62e-01 3.46e+04 1 5.72e-02 2.12e+00 39 1.327257e+04 1.43e+02 8.19e+05 1.66e+02 7.52e-01 3.97e+04 1 6.06e-02 2.18e+00 40 1.311910e+04 1.53e+02 7.66e+05 1.87e+02 7.36e-01 4.44e+04 1 5.53e-02 2.23e+00 41 1.295863e+04 1.60e+02 6.78e+05 2.06e+02 7.16e-01 4.82e+04 1 5.46e-02 2.29e+00 42 1.279457e+04 1.64e+02 5.67e+05 2.19e+02 6.93e-01 5.12e+04 1 5.60e-02 2.34e+00 43 1.262962e+04 1.65e+02 4.51e+05 2.27e+02 6.71e-01 5.33e+04 1 5.41e-02 2.40e+00 44 1.246592e+04 1.64e+02 3.45e+05 2.31e+02 6.52e-01 5.49e+04 1 5.40e-02 2.45e+00 45 1.230487e+04 1.61e+02 3.74e+05 2.31e+02 6.35e-01 5.60e+04 1 5.29e-02 2.50e+00 46 1.214746e+04 1.57e+02 4.09e+05 2.29e+02 6.21e-01 5.68e+04 1 5.39e-02 2.56e+00 47 1.199429e+04 1.53e+02 4.36e+05 2.25e+02 6.09e-01 5.74e+04 1 5.39e-02 2.61e+00 48 1.184574e+04 1.49e+02 4.57e+05 2.20e+02 6.00e-01 5.78e+04 1 5.40e-02 2.67e+00 49 1.170201e+04 1.44e+02 4.72e+05 2.15e+02 5.93e-01 5.82e+04 1 5.33e-02 2.72e+00 50 1.156323e+04 1.39e+02 4.83e+05 2.09e+02 5.88e-01 5.85e+04 1 5.36e-02 2.77e+00 Bundle adjustment report ------------------------ Residuals : 37520 Parameters : 17434 Iterations : 51 Time : 2.77387 [s] Initial cost : 1.09244 [px] Final cost : 0.555147 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 50 => Filtered observations: 7 => Changed observations: 0.003038 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.154366e+04 0.00e+00 4.90e+05 0.00e+00 0.00e+00 1.00e+04 0 3.59e-02 6.66e-02 1 1.137013e+04 1.74e+02 2.61e+04 3.56e+01 9.99e-01 3.00e+04 1 5.50e-02 1.22e-01 2 1.130636e+04 6.38e+01 1.90e+05 1.03e+02 8.70e-01 5.05e+04 1 5.40e-02 1.76e-01 3 1.124931e+04 5.70e+01 4.77e+05 1.68e+02 4.56e-01 5.05e+04 1 5.81e-02 2.34e-01 4 1.113769e+04 1.12e+02 4.69e+05 1.62e+02 6.26e-01 5.13e+04 1 5.63e-02 2.90e-01 5 1.103248e+04 1.05e+02 4.71e+05 1.59e+02 6.06e-01 5.18e+04 1 5.87e-02 3.49e-01 6 1.092944e+04 1.03e+02 4.68e+05 1.55e+02 6.02e-01 5.22e+04 1 5.44e-02 4.03e-01 7 1.082966e+04 9.98e+01 4.62e+05 1.50e+02 5.98e-01 5.26e+04 1 5.37e-02 4.57e-01 8 1.073308e+04 9.66e+01 4.53e+05 1.46e+02 5.98e-01 5.30e+04 1 5.36e-02 5.11e-01 9 1.063984e+04 9.32e+01 4.41e+05 1.41e+02 5.99e-01 5.34e+04 1 5.41e-02 5.65e-01 10 1.054999e+04 8.99e+01 4.26e+05 1.36e+02 6.02e-01 5.39e+04 1 5.44e-02 6.19e-01 11 1.046355e+04 8.64e+01 4.10e+05 1.31e+02 6.07e-01 5.44e+04 1 5.40e-02 6.73e-01 12 1.038053e+04 8.30e+01 3.92e+05 1.26e+02 6.14e-01 5.51e+04 1 5.42e-02 7.27e-01 13 1.030089e+04 7.96e+01 3.73e+05 1.22e+02 6.22e-01 5.59e+04 1 5.29e-02 7.80e-01 14 1.022452e+04 7.64e+01 3.59e+05 1.17e+02 6.31e-01 5.69e+04 1 5.45e-02 8.35e-01 15 1.015130e+04 7.32e+01 3.46e+05 1.13e+02 6.40e-01 5.82e+04 1 5.47e-02 8.90e-01 16 1.008105e+04 7.03e+01 3.33e+05 1.09e+02 6.51e-01 5.98e+04 1 5.55e-02 9.45e-01 17 1.001354e+04 6.75e+01 3.19e+05 1.06e+02 6.61e-01 6.19e+04 1 5.53e-02 1.00e+00 18 9.948512e+03 6.50e+01 3.05e+05 1.02e+02 6.72e-01 6.45e+04 1 5.56e-02 1.06e+00 19 9.885653e+03 6.29e+01 2.92e+05 9.95e+01 6.83e-01 6.79e+04 1 5.42e-02 1.11e+00 20 9.824637e+03 6.10e+01 2.78e+05 9.70e+01 6.94e-01 7.21e+04 1 5.43e-02 1.16e+00 21 9.765117e+03 5.95e+01 2.65e+05 9.46e+01 7.05e-01 7.74e+04 1 5.52e-02 1.22e+00 22 9.706749e+03 5.84e+01 2.53e+05 9.25e+01 7.15e-01 8.40e+04 1 6.02e-02 1.28e+00 23 9.649205e+03 5.75e+01 2.40e+05 9.03e+01 7.25e-01 9.24e+04 1 5.49e-02 1.34e+00 24 9.592212e+03 5.70e+01 2.28e+05 8.80e+01 7.33e-01 1.03e+05 1 6.01e-02 1.40e+00 25 9.535608e+03 5.66e+01 2.15e+05 8.50e+01 7.39e-01 1.15e+05 1 5.39e-02 1.45e+00 26 9.479429e+03 5.62e+01 2.00e+05 8.07e+01 7.43e-01 1.30e+05 1 5.38e-02 1.50e+00 27 9.423995e+03 5.54e+01 1.84e+05 7.46e+01 7.42e-01 1.47e+05 1 5.45e-02 1.56e+00 28 9.369921e+03 5.41e+01 1.83e+05 6.60e+01 7.36e-01 1.64e+05 1 5.44e-02 1.61e+00 29 9.317972e+03 5.19e+01 2.10e+05 5.46e+01 7.27e-01 1.81e+05 1 5.49e-02 1.67e+00 30 9.268849e+03 4.91e+01 2.30e+05 4.11e+01 7.18e-01 1.98e+05 1 5.47e-02 1.72e+00 31 9.223079e+03 4.58e+01 2.41e+05 2.66e+01 7.12e-01 2.14e+05 1 5.49e-02 1.78e+00 32 9.181019e+03 4.21e+01 2.42e+05 1.22e+01 7.09e-01 2.31e+05 1 5.45e-02 1.83e+00 33 9.142860e+03 3.82e+01 2.37e+05 1.33e+00 7.09e-01 2.49e+05 1 5.43e-02 1.89e+00 34 9.108645e+03 3.42e+01 2.27e+05 1.35e+01 7.11e-01 2.69e+05 1 5.45e-02 1.94e+00 35 9.078297e+03 3.03e+01 2.14e+05 2.42e+01 7.13e-01 2.92e+05 1 5.51e-02 2.00e+00 36 9.051652e+03 2.66e+01 1.98e+05 3.33e+01 7.16e-01 3.17e+05 1 5.67e-02 2.05e+00 37 9.028500e+03 2.32e+01 1.81e+05 4.08e+01 7.19e-01 3.46e+05 1 5.44e-02 2.11e+00 38 9.008605e+03 1.99e+01 1.62e+05 4.65e+01 7.22e-01 3.79e+05 1 5.33e-02 2.16e+00 39 8.991713e+03 1.69e+01 1.43e+05 5.06e+01 7.25e-01 4.18e+05 1 5.42e-02 2.21e+00 40 8.977561e+03 1.42e+01 1.24e+05 5.31e+01 7.30e-01 4.62e+05 1 5.89e-02 2.27e+00 41 8.965877e+03 1.17e+01 1.05e+05 5.42e+01 7.35e-01 5.16e+05 1 5.37e-02 2.33e+00 42 8.956379e+03 9.50e+00 8.66e+04 5.40e+01 7.42e-01 5.82e+05 1 5.91e-02 2.39e+00 43 8.948789e+03 7.59e+00 6.96e+04 5.27e+01 7.50e-01 6.66e+05 1 5.51e-02 2.44e+00 44 8.942827e+03 5.96e+00 5.40e+04 5.04e+01 7.60e-01 7.75e+05 1 5.91e-02 2.50e+00 45 8.938228e+03 4.60e+00 3.98e+04 4.74e+01 7.72e-01 9.24e+05 1 6.55e-02 2.57e+00 46 8.934746e+03 3.48e+00 3.07e+04 4.37e+01 7.85e-01 1.13e+06 1 5.38e-02 2.62e+00 47 8.932156e+03 2.59e+00 2.53e+04 3.95e+01 8.00e-01 1.45e+06 1 5.37e-02 2.67e+00 48 8.930265e+03 1.89e+00 2.10e+04 3.47e+01 8.17e-01 1.94e+06 1 5.37e-02 2.73e+00 49 8.928917e+03 1.35e+00 1.89e+04 2.94e+01 8.35e-01 2.78e+06 1 5.33e-02 2.78e+00 50 8.927996e+03 9.20e-01 1.64e+04 2.37e+01 8.56e-01 4.35e+06 1 5.38e-02 2.83e+00 Bundle adjustment report ------------------------ Residuals : 37506 Parameters : 17410 Iterations : 51 Time : 2.83481 [s] Initial cost : 0.554781 [px] Final cost : 0.487895 [px] Termination : No convergence => Completed observations: 4873 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.259958 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.846483e+04 0.00e+00 3.48e+05 0.00e+00 0.00e+00 1.00e+04 0 4.69e-02 8.33e-02 1 1.465866e+04 3.81e+03 1.70e+06 6.09e+00 9.40e-01 3.00e+04 1 8.37e-02 1.67e-01 2 1.427255e+04 3.86e+02 6.86e+05 4.76e+01 7.77e-01 3.61e+04 1 8.55e-02 2.53e-01 3 1.407786e+04 1.95e+02 2.34e+05 5.01e+01 9.37e-01 1.08e+05 1 8.26e-02 3.35e-01 4 1.399560e+04 8.23e+01 1.98e+05 1.06e+02 8.31e-01 1.52e+05 1 8.04e-02 4.16e-01 5 1.393521e+04 6.04e+01 8.72e+04 9.51e+01 9.02e-01 3.17e+05 1 7.39e-02 4.90e-01 6 1.390116e+04 3.41e+01 1.69e+05 8.71e+01 7.89e-01 3.93e+05 1 7.95e-02 5.69e-01 7 1.388082e+04 2.03e+01 7.62e+04 3.52e+01 9.36e-01 1.17e+06 1 7.48e-02 6.44e-01 8 1.387565e+04 5.18e+00 5.35e+04 1.26e+00 8.87e-01 2.18e+06 1 7.41e-02 7.18e-01 9 1.387459e+04 1.05e+00 5.79e+03 1.32e+01 9.90e-01 6.54e+06 1 7.68e-02 7.95e-01 10 1.387456e+04 2.99e-02 2.20e+02 6.19e+00 9.95e-01 1.96e+07 1 7.43e-02 8.69e-01 11 1.387456e+04 4.81e-04 9.09e+00 8.43e-01 1.00e+00 5.89e+07 1 7.48e-02 9.44e-01 12 1.387456e+04 4.52e-06 9.99e-01 4.79e-02 1.00e+00 1.77e+08 1 7.30e-02 1.02e+00 Bundle adjustment report ------------------------ Residuals : 47248 Parameters : 17410 Iterations : 13 Time : 1.0183 [s] Initial cost : 0.625145 [px] Final cost : 0.541898 [px] Termination : Convergence => Completed observations: 368 => Merged observations: 0 => Filtered observations: 11 => Changed observations: 0.016043 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.515765e+04 0.00e+00 1.27e+05 0.00e+00 0.00e+00 1.00e+04 0 4.69e-02 8.60e-02 1 1.462542e+04 5.32e+02 1.27e+05 2.67e+00 9.96e-01 3.00e+04 1 7.72e-02 1.63e-01 2 1.461444e+04 1.10e+01 5.54e+04 7.04e+00 9.66e-01 9.00e+04 1 7.35e-02 2.37e-01 3 1.461006e+04 4.38e+00 1.47e+04 1.28e+01 9.87e-01 2.70e+05 1 7.43e-02 3.11e-01 4 1.460762e+04 2.44e+00 8.11e+03 1.48e+01 9.93e-01 8.10e+05 1 8.09e-02 3.92e-01 5 1.460657e+04 1.06e+00 8.03e+03 2.96e+00 9.82e-01 2.43e+06 1 8.06e-02 4.73e-01 6 1.460637e+04 1.97e-01 1.97e+03 6.64e+00 9.93e-01 7.29e+06 1 7.78e-02 5.50e-01 7 1.460634e+04 2.62e-02 4.56e+02 3.41e+00 9.97e-01 2.19e+07 1 7.45e-02 6.25e-01 8 1.460634e+04 2.15e-03 5.04e+01 6.16e-01 1.00e+00 6.56e+07 1 7.44e-02 6.99e-01 9 1.460634e+04 3.31e-05 1.98e+00 5.67e-02 1.00e+00 1.97e+08 1 7.36e-02 7.73e-01 10 1.460634e+04 7.10e-08 2.24e-02 2.27e-03 1.00e+00 5.90e+08 1 7.30e-02 8.46e-01 Bundle adjustment report ------------------------ Residuals : 47962 Parameters : 17410 Iterations : 11 Time : 0.84701 [s] Initial cost : 0.56217 [px] Final cost : 0.551851 [px] Termination : Convergence => Completed observations: 44 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.002002 => Filtered images: 0 ============================================================================== Registering image #10 (23) ============================================================================== => Image sees 593 / 3038 points Pose refinement report ---------------------- Residuals : 1080 Parameters : 6 Iterations : 12 Time : 0.0135701 [s] Initial cost : 0.838972 [px] Final cost : 0.61616 [px] Termination : Convergence => Continued observations: 537 => Added observations: 2204 Bundle adjustment report ------------------------ Residuals : 33444 Parameters : 10148 Iterations : 26 Time : 0.720327 [s] Initial cost : 1.46333 [px] Final cost : 1.31649 [px] Termination : No convergence => Merged observations: 6 => Completed observations: 398 => Filtered observations: 431 => Changed observations: 0.048547 Bundle adjustment report ------------------------ Residuals : 33382 Parameters : 9914 Iterations : 16 Time : 0.419781 [s] Initial cost : 0.641831 [px] Final cost : 0.576824 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 324 => Filtered observations: 2 => Changed observations: 0.018988 ============================================================================== Retriangulation ============================================================================== => Completed observations: 41 => Merged observations: 11 => Retriangulated observations: 424 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.133557e+07 0.00e+00 4.97e+07 0.00e+00 0.00e+00 1.00e+04 0 4.89e-02 9.22e-02 1 4.465890e+08 -4.35e+08 0.00e+00 1.47e+02 -6.53e+01 5.00e+03 1 3.41e-02 1.26e-01 2 2.060831e+08 -1.95e+08 0.00e+00 1.62e+02 -2.99e+01 1.25e+03 1 3.01e-02 1.56e-01 3 2.201336e+07 -1.07e+07 0.00e+00 3.07e+02 -1.78e+00 1.56e+02 1 2.84e-02 1.85e-01 4 6.686120e+06 4.65e+06 6.97e+07 1.46e+02 9.05e-01 3.34e+02 1 8.11e-02 2.66e-01 5 5.766548e+06 9.20e+05 4.83e+07 3.85e+01 9.28e-01 8.92e+02 1 7.50e-02 3.41e-01 6 5.689160e+06 7.74e+04 1.04e+08 9.66e+01 1.81e-01 7.08e+02 1 8.36e-02 4.25e-01 7 5.200294e+06 4.89e+05 2.52e+07 1.06e+02 9.75e-01 2.12e+03 1 7.64e-02 5.01e-01 8 5.326911e+06 -1.27e+05 0.00e+00 3.45e+02 -5.04e-01 1.06e+03 1 3.05e-02 5.32e-01 9 5.076053e+06 1.24e+05 3.59e+07 1.92e+02 7.60e-01 1.23e+03 1 7.42e-02 6.06e-01 10 4.941417e+06 1.35e+05 2.67e+07 2.44e+02 8.21e-01 1.68e+03 1 7.56e-02 6.82e-01 11 5.292910e+06 -3.51e+05 0.00e+00 3.91e+02 -1.85e+00 8.38e+02 1 2.92e-02 7.11e-01 12 4.910550e+06 3.09e+04 9.44e+06 2.30e+02 2.25e-01 7.19e+02 1 7.30e-02 7.84e-01 13 4.771877e+06 1.39e+05 5.83e+06 9.13e+00 6.70e-01 7.49e+02 1 7.54e-02 8.59e-01 14 4.674952e+06 9.69e+04 5.32e+06 1.39e+02 8.99e-01 1.52e+03 1 7.56e-02 9.35e-01 15 4.595135e+06 7.98e+04 1.35e+07 2.16e+02 1.14e+00 4.56e+03 1 7.45e-02 1.01e+00 16 3.608417e+07 -3.15e+07 0.00e+00 4.50e+02 -1.23e+02 2.28e+03 1 3.10e-02 1.04e+00 17 2.768005e+07 -2.31e+07 0.00e+00 2.45e+02 -1.12e+02 5.70e+02 1 2.88e-02 1.07e+00 18 1.593214e+07 -1.13e+07 0.00e+00 7.96e+01 -7.55e+01 7.12e+01 1 2.88e-02 1.10e+00 19 5.855666e+06 -1.26e+06 0.00e+00 1.61e+01 -1.12e+01 4.45e+00 1 2.83e-02 1.13e+00 20 4.536188e+06 5.89e+04 1.62e+06 1.68e+00 1.52e+00 1.34e+01 1 7.61e-02 1.20e+00 21 4.497956e+06 3.82e+04 9.73e+05 2.39e+00 5.04e-01 1.34e+01 1 8.35e-02 1.29e+00 22 4.459682e+06 3.83e+04 3.96e+05 5.71e+00 9.73e-01 4.01e+01 1 7.70e-02 1.36e+00 23 4.432095e+06 2.76e+04 3.94e+05 1.76e+01 9.88e-01 1.20e+02 1 8.42e-02 1.45e+00 24 4.387082e+06 4.50e+04 4.36e+05 3.99e+01 9.22e-01 3.02e+02 1 7.59e-02 1.52e+00 25 4.358219e+06 2.89e+04 9.72e+05 4.05e+01 5.20e-01 3.02e+02 1 7.81e-02 1.60e+00 26 4.307159e+06 5.11e+04 6.68e+05 1.51e+00 9.76e-01 9.05e+02 1 7.56e-02 1.68e+00 27 4.291668e+06 1.55e+04 3.24e+06 3.56e+01 3.69e-01 8.89e+02 1 7.44e-02 1.75e+00 28 4.236551e+06 5.51e+04 2.61e+06 4.95e+01 9.79e-01 2.67e+03 1 7.42e-02 1.83e+00 29 4.212981e+06 2.36e+04 1.43e+07 1.35e+02 3.81e-01 2.63e+03 1 7.66e-02 1.90e+00 30 4.140922e+06 7.21e+04 7.75e+06 1.33e+02 9.25e-01 6.79e+03 1 7.47e-02 1.98e+00 31 4.135478e+06 5.44e+03 2.36e+07 2.95e+02 8.42e-02 4.31e+03 1 8.70e-02 2.06e+00 32 4.055736e+06 7.97e+04 3.92e+06 1.79e+02 9.80e-01 1.29e+04 1 8.10e-02 2.15e+00 33 4.045645e+06 1.01e+04 1.45e+07 4.25e+02 2.75e-01 1.19e+04 1 7.77e-02 2.22e+00 34 4.004687e+06 4.10e+04 2.72e+06 3.10e+02 9.62e-01 3.56e+04 1 8.27e-02 2.31e+00 35 4.000754e+06 3.93e+03 7.20e+06 5.01e+02 1.76e-01 2.80e+04 1 7.69e-02 2.38e+00 36 3.961162e+06 3.96e+04 3.78e+06 8.59e+01 1.13e+00 8.39e+04 1 8.24e-02 2.47e+00 37 4.361587e+06 -4.00e+05 0.00e+00 4.57e+02 -1.50e+01 4.19e+04 1 2.96e-02 2.49e+00 38 3.962610e+06 -1.45e+03 0.00e+00 2.74e+02 -6.26e-02 1.05e+04 1 2.91e-02 2.52e+00 39 3.937107e+06 2.41e+04 1.80e+06 1.05e+02 1.43e+00 3.15e+04 1 8.57e-02 2.61e+00 40 3.983342e+06 -4.62e+04 0.00e+00 3.33e+02 -1.98e+00 1.57e+04 1 3.06e-02 2.64e+00 41 3.925347e+06 1.18e+04 7.74e+06 2.03e+02 6.40e-01 1.61e+04 1 7.43e-02 2.71e+00 42 3.989015e+06 -6.37e+04 0.00e+00 2.90e+01 -2.29e+00 8.04e+03 1 2.96e-02 2.74e+00 43 4.052918e+06 -1.28e+05 0.00e+00 6.01e+00 -5.89e+00 2.01e+03 1 2.86e-02 2.77e+00 44 3.912600e+06 1.27e+04 1.01e+06 4.22e+00 8.55e-01 3.12e+03 1 7.55e-02 2.85e+00 45 3.909560e+06 3.04e+03 3.19e+05 5.56e+00 1.03e+00 9.37e+03 1 7.55e-02 2.92e+00 46 3.906292e+06 3.27e+03 7.97e+05 3.06e+01 9.11e-01 2.11e+04 1 7.51e-02 3.00e+00 47 3.903607e+06 2.69e+03 8.45e+05 5.98e+01 9.17e-01 5.04e+04 1 7.60e-02 3.08e+00 48 3.906539e+06 -2.93e+03 0.00e+00 7.17e+01 -8.29e-01 2.52e+04 1 3.01e-02 3.11e+00 49 3.901691e+06 1.92e+03 1.71e+06 5.54e+01 9.07e-01 5.49e+04 1 7.50e-02 3.18e+00 50 3.901151e+06 5.40e+02 1.58e+07 5.87e+01 1.93e-01 4.46e+04 1 7.75e-02 3.26e+00 Bundle adjustment report ------------------------ Residuals : 55032 Parameters : 20047 Iterations : 51 Time : 3.25926 [s] Initial cost : 14.3521 [px] Final cost : 8.41955 [px] Termination : No convergence => Completed observations: 127 => Merged observations: 0 => Filtered observations: 10184 => Changed observations: 0.374727 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.174683e+04 0.00e+00 1.19e+06 0.00e+00 0.00e+00 1.00e+04 0 3.46e-02 6.32e-02 1 2.461303e+04 1.71e+04 2.01e+06 6.29e+01 9.69e-01 3.00e+04 1 5.94e-02 1.23e-01 2 2.140903e+04 3.20e+03 1.73e+06 4.17e+01 8.45e-01 4.46e+04 1 5.20e-02 1.75e-01 3 1.968134e+04 1.73e+03 3.01e+06 8.84e+01 5.46e-01 4.47e+04 1 5.15e-02 2.26e-01 4 1.761713e+04 2.06e+03 2.61e+06 8.83e+01 6.62e-01 4.63e+04 1 5.15e-02 2.78e-01 5 1.619489e+04 1.42e+03 2.32e+06 8.98e+01 6.27e-01 4.70e+04 1 5.18e-02 3.29e-01 6 1.509363e+04 1.10e+03 2.00e+06 8.92e+01 6.32e-01 4.79e+04 1 5.19e-02 3.81e-01 7 1.425898e+04 8.35e+02 1.72e+06 8.83e+01 6.33e-01 4.88e+04 1 5.15e-02 4.33e-01 8 1.360626e+04 6.53e+02 1.46e+06 8.69e+01 6.46e-01 5.01e+04 1 5.15e-02 4.85e-01 9 1.308594e+04 5.20e+02 1.22e+06 8.56e+01 6.67e-01 5.20e+04 1 5.10e-02 5.36e-01 10 1.266354e+04 4.22e+02 9.98e+05 8.50e+01 6.94e-01 5.52e+04 1 5.22e-02 5.88e-01 11 1.231465e+04 3.49e+02 8.03e+05 8.58e+01 7.18e-01 6.02e+04 1 5.09e-02 6.39e-01 12 1.201969e+04 2.95e+02 6.36e+05 8.84e+01 7.29e-01 6.66e+04 1 5.19e-02 6.91e-01 13 1.176424e+04 2.55e+02 6.74e+05 9.21e+01 7.21e-01 7.29e+04 1 5.21e-02 7.43e-01 14 1.153861e+04 2.26e+02 7.70e+05 9.48e+01 6.99e-01 7.78e+04 1 5.21e-02 7.95e-01 15 1.133594e+04 2.03e+02 8.42e+05 9.52e+01 6.76e-01 8.13e+04 1 5.35e-02 8.49e-01 16 1.115191e+04 1.84e+02 8.90e+05 9.39e+01 6.62e-01 8.42e+04 1 5.16e-02 9.00e-01 17 1.098453e+04 1.67e+02 9.23e+05 9.19e+01 6.54e-01 8.67e+04 1 5.20e-02 9.52e-01 18 1.083359e+04 1.51e+02 9.49e+05 8.96e+01 6.47e-01 8.90e+04 1 5.71e-02 1.01e+00 19 1.069894e+04 1.35e+02 9.68e+05 8.69e+01 6.36e-01 9.08e+04 1 5.32e-02 1.06e+00 20 1.057930e+04 1.20e+02 9.76e+05 8.39e+01 6.20e-01 9.21e+04 1 5.52e-02 1.12e+00 21 1.047266e+04 1.07e+02 9.71e+05 8.04e+01 6.04e-01 9.29e+04 1 5.43e-02 1.17e+00 22 1.037705e+04 9.56e+01 9.55e+05 7.66e+01 5.89e-01 9.35e+04 1 5.17e-02 1.22e+00 23 1.029091e+04 8.61e+01 9.30e+05 7.28e+01 5.76e-01 9.38e+04 1 5.17e-02 1.28e+00 24 1.021307e+04 7.78e+01 9.00e+05 6.90e+01 5.67e-01 9.40e+04 1 5.17e-02 1.33e+00 25 1.014261e+04 7.05e+01 8.67e+05 6.54e+01 5.60e-01 9.42e+04 1 5.22e-02 1.38e+00 26 1.007879e+04 6.38e+01 8.30e+05 6.20e+01 5.56e-01 9.43e+04 1 5.18e-02 1.43e+00 27 1.002097e+04 5.78e+01 7.92e+05 5.87e+01 5.53e-01 9.44e+04 1 5.18e-02 1.48e+00 28 9.968599e+03 5.24e+01 7.52e+05 5.57e+01 5.53e-01 9.45e+04 1 5.10e-02 1.53e+00 29 9.921203e+03 4.74e+01 7.10e+05 5.29e+01 5.54e-01 9.46e+04 1 5.20e-02 1.59e+00 30 9.878366e+03 4.28e+01 6.68e+05 5.02e+01 5.58e-01 9.48e+04 1 5.23e-02 1.64e+00 31 9.839723e+03 3.86e+01 6.26e+05 4.78e+01 5.63e-01 9.50e+04 1 5.27e-02 1.69e+00 32 9.804946e+03 3.48e+01 5.84e+05 4.55e+01 5.69e-01 9.52e+04 1 5.12e-02 1.74e+00 33 9.773733e+03 3.12e+01 5.42e+05 4.34e+01 5.77e-01 9.56e+04 1 5.10e-02 1.79e+00 34 9.745803e+03 2.79e+01 5.01e+05 4.15e+01 5.86e-01 9.61e+04 1 5.34e-02 1.85e+00 35 9.720886e+03 2.49e+01 4.62e+05 3.97e+01 5.96e-01 9.68e+04 1 5.21e-02 1.90e+00 36 9.698720e+03 2.22e+01 4.25e+05 3.81e+01 6.06e-01 9.77e+04 1 5.23e-02 1.95e+00 37 9.679051e+03 1.97e+01 3.90e+05 3.66e+01 6.17e-01 9.90e+04 1 5.77e-02 2.01e+00 38 9.661631e+03 1.74e+01 3.57e+05 3.54e+01 6.27e-01 1.01e+05 1 5.28e-02 2.06e+00 39 9.646226e+03 1.54e+01 3.27e+05 3.42e+01 6.37e-01 1.03e+05 1 5.19e-02 2.11e+00 40 9.632615e+03 1.36e+01 3.00e+05 3.33e+01 6.47e-01 1.05e+05 1 5.78e-02 2.17e+00 41 9.620597e+03 1.20e+01 2.74e+05 3.25e+01 6.56e-01 1.09e+05 1 5.22e-02 2.22e+00 42 9.609989e+03 1.06e+01 2.51e+05 3.18e+01 6.65e-01 1.13e+05 1 5.26e-02 2.28e+00 43 9.600630e+03 9.36e+00 2.30e+05 3.12e+01 6.73e-01 1.18e+05 1 5.13e-02 2.33e+00 44 9.592379e+03 8.25e+00 2.11e+05 3.08e+01 6.82e-01 1.24e+05 1 5.10e-02 2.38e+00 45 9.585111e+03 7.27e+00 1.93e+05 3.05e+01 6.90e-01 1.31e+05 1 5.10e-02 2.43e+00 46 9.578717e+03 6.39e+00 1.76e+05 3.03e+01 6.98e-01 1.39e+05 1 5.17e-02 2.48e+00 47 9.573102e+03 5.61e+00 1.61e+05 3.02e+01 7.06e-01 1.50e+05 1 5.10e-02 2.53e+00 48 9.568184e+03 4.92e+00 1.46e+05 3.02e+01 7.15e-01 1.63e+05 1 5.26e-02 2.59e+00 49 9.563888e+03 4.30e+00 1.33e+05 3.02e+01 7.23e-01 1.79e+05 1 5.13e-02 2.64e+00 50 9.560151e+03 3.74e+00 1.20e+05 3.04e+01 7.32e-01 1.99e+05 1 5.25e-02 2.69e+00 Bundle adjustment report ------------------------ Residuals : 34918 Parameters : 15610 Iterations : 51 Time : 2.69018 [s] Initial cost : 1.09342 [px] Final cost : 0.523248 [px] Termination : No convergence => Completed observations: 4025 => Merged observations: 4 => Filtered observations: 19 => Changed observations: 0.231857 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.774860e+04 0.00e+00 2.12e+05 0.00e+00 0.00e+00 1.00e+04 0 4.25e-02 7.63e-02 1 1.545115e+04 2.30e+03 2.77e+06 1.53e+01 6.31e-01 1.02e+04 1 6.94e-02 1.46e-01 2 1.406533e+04 1.39e+03 1.16e+06 2.23e+00 8.42e-01 1.50e+04 1 6.60e-02 2.12e-01 3 1.376714e+04 2.98e+02 9.28e+05 9.29e-01 5.77e-01 1.50e+04 1 7.06e-02 2.82e-01 4 1.346244e+04 3.05e+02 6.03e+05 8.80e-01 7.88e-01 1.86e+04 1 6.68e-02 3.49e-01 5 1.329980e+04 1.63e+02 4.63e+05 1.19e+00 7.41e-01 2.09e+04 1 6.94e-02 4.19e-01 6 1.316995e+04 1.30e+02 5.51e+05 1.39e+00 7.92e-01 2.61e+04 1 6.78e-02 4.86e-01 7 1.308580e+04 8.42e+01 7.77e+05 1.65e+00 6.47e-01 2.68e+04 1 6.60e-02 5.53e-01 8 1.300288e+04 8.29e+01 7.43e+05 1.52e+00 6.81e-01 2.81e+04 1 6.55e-02 6.18e-01 9 1.293719e+04 6.57e+01 7.27e+05 1.34e+00 6.42e-01 2.88e+04 1 6.51e-02 6.83e-01 10 1.287838e+04 5.88e+01 6.68e+05 1.07e+00 6.58e-01 2.97e+04 1 6.57e-02 7.49e-01 11 1.282883e+04 4.96e+01 6.11e+05 7.60e-01 6.59e-01 3.07e+04 1 6.65e-02 8.16e-01 12 1.278664e+04 4.22e+01 5.50e+05 4.16e-01 6.71e-01 3.20e+04 1 8.01e-02 8.96e-01 13 1.275139e+04 3.52e+01 4.91e+05 5.34e-02 6.80e-01 3.36e+04 1 6.81e-02 9.64e-01 14 1.272218e+04 2.92e+01 4.35e+05 3.70e-01 6.92e-01 3.56e+04 1 6.54e-02 1.03e+00 15 1.269829e+04 2.39e+01 3.82e+05 8.14e-01 7.03e-01 3.81e+04 1 7.46e-02 1.10e+00 16 1.267901e+04 1.93e+01 3.33e+05 1.30e+00 7.15e-01 4.14e+04 1 6.97e-02 1.17e+00 17 1.266370e+04 1.53e+01 2.87e+05 1.85e+00 7.27e-01 4.57e+04 1 6.39e-02 1.24e+00 18 1.265175e+04 1.19e+01 2.45e+05 2.48e+00 7.40e-01 5.14e+04 1 7.06e-02 1.31e+00 19 1.264263e+04 9.12e+00 2.05e+05 3.22e+00 7.54e-01 5.92e+04 1 6.55e-02 1.37e+00 20 1.263583e+04 6.80e+00 1.69e+05 4.11e+00 7.69e-01 7.01e+04 1 6.91e-02 1.44e+00 21 1.263089e+04 4.94e+00 1.36e+05 5.22e+00 7.87e-01 8.64e+04 1 6.53e-02 1.51e+00 22 1.262738e+04 3.51e+00 1.07e+05 6.66e+00 8.08e-01 1.13e+05 1 6.36e-02 1.57e+00 23 1.262490e+04 2.49e+00 8.09e+04 8.64e+00 8.36e-01 1.62e+05 1 6.34e-02 1.64e+00 24 1.262303e+04 1.87e+00 5.97e+04 1.16e+01 8.72e-01 2.75e+05 1 6.43e-02 1.70e+00 25 1.262136e+04 1.67e+00 4.40e+04 1.64e+01 9.12e-01 6.24e+05 1 6.44e-02 1.76e+00 26 1.261941e+04 1.95e+00 3.54e+04 2.26e+01 9.39e-01 1.87e+06 1 6.35e-02 1.83e+00 27 1.261713e+04 2.28e+00 2.93e+04 1.88e+01 9.38e-01 5.62e+06 1 6.50e-02 1.89e+00 28 1.261579e+04 1.34e+00 1.79e+04 2.25e+00 9.28e-01 1.52e+07 1 6.36e-02 1.96e+00 29 1.261550e+04 2.92e-01 4.29e+03 2.42e+00 9.83e-01 4.55e+07 1 6.63e-02 2.02e+00 30 1.261549e+04 1.11e-02 1.74e+02 6.74e-01 9.99e-01 1.36e+08 1 6.59e-02 2.09e+00 31 1.261549e+04 3.63e-05 1.99e+00 4.50e-02 1.00e+00 4.09e+08 1 6.44e-02 2.15e+00 32 1.261549e+04 2.20e-08 7.62e-03 6.16e-04 1.01e+00 1.23e+09 1 6.44e-02 2.22e+00 Bundle adjustment report ------------------------ Residuals : 42930 Parameters : 15598 Iterations : 33 Time : 2.21794 [s] Initial cost : 0.642986 [px] Final cost : 0.54209 [px] Termination : Convergence => Completed observations: 673 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.031912 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.476601e+04 0.00e+00 2.32e+05 0.00e+00 0.00e+00 1.00e+04 0 4.77e-02 8.23e-02 1 1.400514e+04 7.61e+02 1.21e+06 1.94e+00 7.03e-01 1.07e+04 1 7.00e-02 1.52e-01 2 1.366076e+04 3.44e+02 1.89e+05 1.50e-01 9.83e-01 3.21e+04 1 7.14e-02 2.24e-01 3 1.364151e+04 1.92e+01 2.40e+05 6.00e-01 7.98e-01 4.08e+04 1 6.68e-02 2.91e-01 4 1.363071e+04 1.08e+01 1.28e+05 1.40e+00 9.09e-01 9.00e+04 1 6.69e-02 3.58e-01 5 1.362681e+04 3.90e+00 1.06e+05 4.23e+00 8.41e-01 1.32e+05 1 6.94e-02 4.27e-01 6 1.362518e+04 1.64e+00 2.86e+04 6.04e+00 9.68e-01 3.95e+05 1 6.78e-02 4.95e-01 7 1.362487e+04 3.07e-01 7.74e+03 1.12e+01 9.84e-01 1.19e+06 1 6.65e-02 5.61e-01 8 1.362482e+04 4.44e-02 4.67e+02 1.05e+01 9.87e-01 3.56e+06 1 6.72e-02 6.29e-01 9 1.362481e+04 9.35e-03 1.08e+02 4.02e+00 9.99e-01 1.07e+07 1 6.69e-02 6.95e-01 10 1.362481e+04 1.79e-03 3.13e+01 4.21e-01 9.99e-01 3.20e+07 1 6.70e-02 7.63e-01 11 1.362481e+04 9.45e-05 2.30e+00 3.80e-02 9.99e-01 9.60e+07 1 6.73e-02 8.30e-01 12 1.362481e+04 7.63e-07 1.84e-01 6.12e-03 1.00e+00 2.88e+08 1 6.66e-02 8.96e-01 Bundle adjustment report ------------------------ Residuals : 44252 Parameters : 15598 Iterations : 13 Time : 0.897278 [s] Initial cost : 0.57765 [px] Final cost : 0.55488 [px] Termination : Convergence => Completed observations: 138 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.006418 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.421888e+04 0.00e+00 6.25e+04 0.00e+00 0.00e+00 1.00e+04 0 4.29e-02 7.75e-02 1 1.395974e+04 2.59e+02 1.35e+05 3.82e-01 9.86e-01 3.00e+04 1 7.59e-02 1.53e-01 2 1.395412e+04 5.61e+00 1.64e+04 3.81e-01 9.90e-01 9.00e+04 1 6.77e-02 2.21e-01 3 1.395371e+04 4.14e-01 5.27e+03 1.43e+00 9.93e-01 2.70e+05 1 7.20e-02 2.93e-01 4 1.395363e+04 8.20e-02 2.27e+03 3.88e+00 9.96e-01 8.10e+05 1 6.82e-02 3.61e-01 5 1.395360e+04 2.48e-02 3.52e+02 6.10e+00 9.96e-01 2.43e+06 1 6.64e-02 4.28e-01 6 1.395360e+04 4.71e-03 8.62e+01 4.33e+00 9.95e-01 7.29e+06 1 6.60e-02 4.94e-01 7 1.395360e+04 2.93e-04 7.14e+00 1.14e+00 1.00e+00 2.19e+07 1 6.66e-02 5.60e-01 8 1.395360e+04 8.24e-06 9.55e-01 9.20e-02 1.00e+00 6.56e+07 1 6.74e-02 6.28e-01 Bundle adjustment report ------------------------ Residuals : 44520 Parameters : 15598 Iterations : 9 Time : 0.628659 [s] Initial cost : 0.565139 [px] Final cost : 0.559842 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001258 => Filtered images: 0 ============================================================================== Registering image #9 (24) ============================================================================== => Image sees 657 / 2829 points Pose refinement report ---------------------- Residuals : 1260 Parameters : 6 Iterations : 5 Time : 0.00660205 [s] Initial cost : 0.515883 [px] Final cost : 0.515112 [px] Termination : Convergence => Continued observations: 629 => Added observations: 3455 Bundle adjustment report ------------------------ Residuals : 35966 Parameters : 11426 Iterations : 26 Time : 0.7883 [s] Initial cost : 1.48994 [px] Final cost : 1.38475 [px] Termination : No convergence => Merged observations: 35 => Completed observations: 485 => Filtered observations: 417 => Changed observations: 0.051438 Bundle adjustment report ------------------------ Residuals : 36110 Parameters : 11222 Iterations : 11 Time : 0.334048 [s] Initial cost : 0.620955 [px] Final cost : 0.57127 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 265 => Filtered observations: 4 => Changed observations: 0.015147 ============================================================================== Retriangulation ============================================================================== => Completed observations: 63 => Merged observations: 0 => Retriangulated observations: 2340 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.219096e+07 0.00e+00 4.70e+07 0.00e+00 0.00e+00 1.00e+04 0 5.11e-02 9.81e-02 1 1.030317e+09 -1.01e+09 0.00e+00 1.95e+03 -6.83e+01 5.00e+03 1 3.45e-02 1.33e-01 2 5.139756e+08 -4.92e+08 0.00e+00 1.39e+03 -3.39e+01 1.25e+03 1 2.96e-02 1.62e-01 3 7.630818e+07 -5.41e+07 0.00e+00 7.81e+02 -3.94e+00 1.56e+02 1 3.10e-02 1.93e-01 4 1.075948e+07 1.14e+07 2.08e+08 2.88e+02 9.06e-01 3.37e+02 1 8.57e-02 2.79e-01 5 9.004616e+06 1.75e+06 2.31e+07 1.51e+02 9.60e-01 1.01e+03 1 7.89e-02 3.58e-01 6 9.419393e+06 -4.15e+05 0.00e+00 1.48e+02 -7.17e-01 5.05e+02 1 3.06e-02 3.89e-01 7 8.726804e+06 2.78e+05 3.21e+07 9.26e+01 7.11e-01 5.46e+02 1 8.28e-02 4.71e-01 8 8.401358e+06 3.25e+05 3.41e+07 6.01e+01 8.18e-01 7.34e+02 1 7.81e-02 5.50e-01 9 8.199106e+06 2.02e+05 5.41e+07 5.17e+01 5.09e-01 7.34e+02 1 7.79e-02 6.27e-01 10 7.860791e+06 3.38e+05 5.88e+07 3.63e+01 6.57e-01 7.58e+02 1 7.80e-02 7.06e-01 11 7.550413e+06 3.10e+05 4.93e+07 2.24e+01 7.26e-01 8.35e+02 1 7.79e-02 7.83e-01 12 7.302826e+06 2.48e+05 2.64e+07 5.29e+00 8.78e-01 1.47e+03 1 7.85e-02 8.62e-01 13 7.166416e+06 1.36e+05 2.62e+07 2.08e+01 6.88e-01 1.56e+03 1 7.69e-02 9.39e-01 14 7.005399e+06 1.61e+05 1.27e+07 4.53e+01 9.08e-01 3.40e+03 1 8.10e-02 1.02e+00 15 6.939776e+06 6.56e+04 2.48e+07 1.57e+02 3.99e-01 3.37e+03 1 7.91e-02 1.10e+00 16 6.766396e+06 1.73e+05 1.43e+07 1.99e+02 8.93e-01 6.56e+03 1 7.81e-02 1.18e+00 17 6.726050e+06 4.03e+04 3.35e+07 4.58e+02 3.18e-01 6.26e+03 1 8.75e-02 1.26e+00 18 6.592511e+06 1.34e+05 1.90e+07 5.09e+02 8.79e-01 1.11e+04 1 7.94e-02 1.34e+00 19 6.612558e+06 -2.00e+04 0.00e+00 9.65e+02 -2.28e-01 5.53e+03 1 3.05e-02 1.37e+00 20 6.535146e+06 5.74e+04 1.28e+07 5.15e+02 9.02e-01 1.15e+04 1 8.45e-02 1.46e+00 21 6.591312e+06 -5.62e+04 0.00e+00 1.09e+03 -8.64e-01 5.75e+03 1 3.17e-02 1.49e+00 22 6.498246e+06 3.69e+04 1.28e+07 5.82e+02 8.46e-01 8.62e+03 1 7.61e-02 1.57e+00 23 6.489928e+06 8.32e+03 2.45e+07 9.13e+02 1.68e-01 6.66e+03 1 7.70e-02 1.64e+00 24 6.427875e+06 6.21e+04 1.22e+07 8.07e+02 8.35e-01 9.52e+03 1 7.83e-02 1.72e+00 25 6.448196e+06 -2.03e+04 0.00e+00 1.21e+03 -3.85e-01 4.76e+03 1 3.02e-02 1.75e+00 26 6.392546e+06 3.53e+04 7.05e+06 6.50e+02 9.36e-01 1.41e+04 1 7.59e-02 1.83e+00 27 6.722491e+06 -3.30e+05 0.00e+00 1.82e+03 -6.11e+00 7.04e+03 1 3.06e-02 1.86e+00 28 6.383552e+06 8.99e+03 1.51e+07 9.85e+02 2.64e-01 6.36e+03 1 7.89e-02 1.94e+00 29 6.345670e+06 3.79e+04 1.01e+07 9.74e+02 7.01e-01 6.81e+03 1 7.86e-02 2.02e+00 30 6.324737e+06 2.09e+04 1.10e+07 1.10e+03 4.57e-01 6.81e+03 1 7.92e-02 2.10e+00 31 6.297685e+06 2.71e+04 9.51e+06 1.17e+03 5.12e-01 6.81e+03 1 7.90e-02 2.18e+00 32 6.272376e+06 2.53e+04 8.45e+06 1.22e+03 4.87e-01 6.81e+03 1 7.80e-02 2.25e+00 33 6.248323e+06 2.41e+04 8.39e+06 1.26e+03 4.76e-01 6.80e+03 1 8.50e-02 2.34e+00 34 6.225766e+06 2.26e+04 8.62e+06 1.29e+03 4.70e-01 6.80e+03 1 7.71e-02 2.42e+00 35 6.204744e+06 2.10e+04 8.63e+06 1.31e+03 4.69e-01 6.80e+03 1 8.35e-02 2.50e+00 36 6.185341e+06 1.94e+04 8.47e+06 1.32e+03 4.72e-01 6.80e+03 1 7.95e-02 2.58e+00 37 6.167565e+06 1.78e+04 8.18e+06 1.32e+03 4.77e-01 6.80e+03 1 7.73e-02 2.66e+00 38 6.151369e+06 1.62e+04 7.78e+06 1.32e+03 4.84e-01 6.80e+03 1 7.72e-02 2.73e+00 39 6.136658e+06 1.47e+04 7.33e+06 1.32e+03 4.92e-01 6.80e+03 1 7.86e-02 2.81e+00 40 6.123312e+06 1.33e+04 6.86e+06 1.31e+03 5.01e-01 6.80e+03 1 7.68e-02 2.89e+00 41 6.111202e+06 1.21e+04 6.38e+06 1.31e+03 5.11e-01 6.80e+03 1 7.66e-02 2.96e+00 42 6.100201e+06 1.10e+04 5.92e+06 1.30e+03 5.22e-01 6.80e+03 1 7.80e-02 3.04e+00 43 6.090188e+06 1.00e+04 5.49e+06 1.29e+03 5.33e-01 6.80e+03 1 7.75e-02 3.12e+00 44 6.081056e+06 9.13e+03 5.09e+06 1.28e+03 5.45e-01 6.81e+03 1 7.92e-02 3.20e+00 45 6.072705e+06 8.35e+03 4.73e+06 1.27e+03 5.56e-01 6.82e+03 1 8.11e-02 3.28e+00 46 6.065048e+06 7.66e+03 4.41e+06 1.26e+03 5.67e-01 6.83e+03 1 8.08e-02 3.36e+00 47 6.058003e+06 7.04e+03 4.12e+06 1.25e+03 5.77e-01 6.86e+03 1 7.76e-02 3.44e+00 48 6.051499e+06 6.50e+03 3.88e+06 1.25e+03 5.87e-01 6.89e+03 1 8.42e-02 3.52e+00 49 6.045471e+06 6.03e+03 3.66e+06 1.24e+03 5.95e-01 6.94e+03 1 7.79e-02 3.60e+00 50 6.039860e+06 5.61e+03 3.49e+06 1.24e+03 6.03e-01 7.00e+03 1 7.74e-02 3.68e+00 Bundle adjustment report ------------------------ Residuals : 58204 Parameters : 21937 Iterations : 51 Time : 3.68008 [s] Initial cost : 19.5259 [px] Final cost : 10.1868 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 17129 => Changed observations: 0.588585 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.219254e+04 0.00e+00 3.11e+06 0.00e+00 0.00e+00 1.00e+04 0 2.34e-02 4.28e-02 1 4.123346e+04 -9.04e+03 0.00e+00 1.44e+02 -6.48e-01 5.00e+03 1 1.40e-02 5.68e-02 2 2.861853e+04 3.57e+03 3.11e+07 1.27e+02 2.66e-01 4.53e+03 1 3.45e-02 9.13e-02 3 1.900060e+04 9.62e+03 9.20e+06 3.92e+01 9.23e-01 1.15e+04 1 3.48e-02 1.26e-01 4 1.761405e+04 1.39e+03 4.04e+06 3.67e+00 9.07e-01 2.50e+04 1 3.55e-02 1.62e-01 5 1.662851e+04 9.86e+02 1.04e+06 6.78e+01 9.82e-01 7.49e+04 1 3.44e-02 1.96e-01 6 1.551087e+04 1.12e+03 2.10e+06 2.34e+02 8.47e-01 1.13e+05 1 3.43e-02 2.30e-01 7 1.455396e+04 9.57e+02 2.38e+06 3.60e+02 7.40e-01 1.27e+05 1 3.50e-02 2.65e-01 8 1.371117e+04 8.43e+02 2.57e+06 4.08e+02 7.52e-01 1.46e+05 1 3.38e-02 2.99e-01 9 1.309379e+04 6.17e+02 2.71e+06 4.71e+02 6.86e-01 1.53e+05 1 3.34e-02 3.33e-01 10 1.254703e+04 5.47e+02 2.38e+06 4.97e+02 7.10e-01 1.66e+05 1 3.36e-02 3.66e-01 11 1.212209e+04 4.25e+02 2.17e+06 5.37e+02 6.75e-01 1.73e+05 1 3.37e-02 4.00e-01 12 1.175374e+04 3.68e+02 1.86e+06 5.60e+02 6.76e-01 1.81e+05 1 3.41e-02 4.34e-01 13 1.144920e+04 3.05e+02 1.58e+06 5.83e+02 6.50e-01 1.86e+05 1 3.50e-02 4.69e-01 14 1.118564e+04 2.64e+02 1.31e+06 5.96e+02 6.33e-01 1.90e+05 1 3.39e-02 5.03e-01 15 1.095808e+04 2.28e+02 1.06e+06 6.03e+02 6.09e-01 1.92e+05 1 3.51e-02 5.38e-01 16 1.075783e+04 2.00e+02 8.38e+05 6.02e+02 5.87e-01 1.93e+05 1 3.95e-02 5.78e-01 17 1.057982e+04 1.78e+02 6.55e+05 5.98e+02 5.62e-01 1.93e+05 1 3.43e-02 6.12e-01 18 1.042003e+04 1.60e+02 5.50e+05 5.90e+02 5.35e-01 1.93e+05 1 3.41e-02 6.46e-01 19 1.027586e+04 1.44e+02 6.86e+05 5.80e+02 5.03e-01 1.93e+05 1 3.43e-02 6.81e-01 20 1.014592e+04 1.30e+02 9.48e+05 5.69e+02 4.62e-01 1.93e+05 1 3.40e-02 7.15e-01 21 1.002958e+04 1.16e+02 1.27e+06 5.57e+02 4.11e-01 1.92e+05 1 3.93e-02 7.54e-01 22 9.924545e+03 1.05e+02 1.63e+06 5.41e+02 3.58e-01 1.87e+05 1 3.43e-02 7.88e-01 23 9.823008e+03 1.02e+02 1.97e+06 5.16e+02 3.29e-01 1.80e+05 1 3.40e-02 8.22e-01 24 9.722467e+03 1.01e+02 2.25e+06 4.85e+02 3.14e-01 1.71e+05 1 3.42e-02 8.56e-01 25 9.623247e+03 9.92e+01 2.45e+06 4.50e+02 3.03e-01 1.62e+05 1 3.44e-02 8.91e-01 26 9.524297e+03 9.90e+01 2.58e+06 4.14e+02 3.01e-01 1.52e+05 1 3.38e-02 9.25e-01 27 9.428466e+03 9.58e+01 2.64e+06 3.80e+02 2.96e-01 1.42e+05 1 3.39e-02 9.59e-01 28 9.331611e+03 9.69e+01 2.64e+06 3.47e+02 3.06e-01 1.34e+05 1 3.41e-02 9.93e-01 29 9.243345e+03 8.83e+01 2.64e+06 3.21e+02 2.90e-01 1.25e+05 1 3.46e-02 1.03e+00 30 9.146520e+03 9.68e+01 2.54e+06 2.92e+02 3.29e-01 1.20e+05 1 3.45e-02 1.06e+00 31 9.072917e+03 7.36e+01 2.55e+06 2.75e+02 2.70e-01 1.10e+05 1 3.45e-02 1.10e+00 32 8.966909e+03 1.06e+02 2.30e+06 2.45e+02 3.96e-01 1.09e+05 1 3.37e-02 1.13e+00 33 8.912248e+03 5.47e+01 2.37e+06 2.38e+02 2.39e-01 9.52e+04 1 3.45e-02 1.16e+00 34 8.795893e+03 1.16e+02 1.94e+06 2.04e+02 4.98e-01 9.52e+04 1 3.41e-02 1.20e+00 35 8.745498e+03 5.04e+01 1.99e+06 2.00e+02 2.87e-01 8.84e+04 1 3.52e-02 1.23e+00 36 8.667433e+03 7.81e+01 1.77e+06 1.82e+02 4.36e-01 8.82e+04 1 3.56e-02 1.27e+00 37 8.617756e+03 4.97e+01 1.78e+06 1.78e+02 3.24e-01 8.45e+04 1 3.40e-02 1.30e+00 38 8.555234e+03 6.25e+01 1.65e+06 1.68e+02 4.08e-01 8.40e+04 1 3.38e-02 1.34e+00 39 8.505560e+03 4.97e+01 1.62e+06 1.64e+02 3.57e-01 8.21e+04 1 3.38e-02 1.37e+00 40 8.451735e+03 5.38e+01 1.54e+06 1.57e+02 3.97e-01 8.14e+04 1 3.39e-02 1.41e+00 41 8.403033e+03 4.87e+01 1.48e+06 1.53e+02 3.87e-01 8.04e+04 1 3.36e-02 1.44e+00 42 8.354540e+03 4.85e+01 1.41e+06 1.49e+02 4.05e-01 7.99e+04 1 3.47e-02 1.47e+00 43 8.308338e+03 4.62e+01 1.34e+06 1.45e+02 4.12e-01 7.94e+04 1 3.39e-02 1.51e+00 44 8.263659e+03 4.47e+01 1.26e+06 1.42e+02 4.25e-01 7.92e+04 1 3.38e-02 1.54e+00 45 8.220714e+03 4.29e+01 1.19e+06 1.39e+02 4.38e-01 7.90e+04 1 3.69e-02 1.58e+00 46 8.179447e+03 4.13e+01 1.12e+06 1.36e+02 4.53e-01 7.89e+04 1 3.51e-02 1.61e+00 47 8.139860e+03 3.96e+01 1.05e+06 1.34e+02 4.69e-01 7.89e+04 1 3.41e-02 1.65e+00 48 8.101955e+03 3.79e+01 9.98e+05 1.31e+02 4.88e-01 7.89e+04 1 3.39e-02 1.68e+00 49 8.065752e+03 3.62e+01 9.41e+05 1.29e+02 5.08e-01 7.89e+04 1 3.37e-02 1.72e+00 50 8.031280e+03 3.45e+01 8.83e+05 1.27e+02 5.29e-01 7.89e+04 1 3.47e-02 1.75e+00 Bundle adjustment report ------------------------ Residuals : 23946 Parameters : 12961 Iterations : 51 Time : 1.75087 [s] Initial cost : 1.15947 [px] Final cost : 0.57913 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 48 => Changed observations: 0.004343 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.388253e+03 0.00e+00 8.21e+05 0.00e+00 0.00e+00 1.00e+04 0 2.22e-02 4.19e-02 1 8.810457e+03 -1.42e+03 0.00e+00 1.21e+01 -7.77e+00 5.00e+03 1 1.34e-02 5.53e-02 2 7.720883e+03 -3.33e+02 0.00e+00 5.73e+00 -1.99e+00 1.25e+03 1 1.18e-02 6.71e-02 3 7.269615e+03 1.19e+02 7.27e+05 1.82e+00 8.56e-01 1.95e+03 1 3.31e-02 1.00e-01 4 7.258080e+03 1.15e+01 1.22e+06 1.79e+00 2.71e-01 1.78e+03 1 3.35e-02 1.34e-01 5 7.224358e+03 3.37e+01 7.08e+05 1.70e+00 7.77e-01 2.15e+03 1 3.33e-02 1.67e-01 6 7.210199e+03 1.42e+01 4.76e+05 2.30e+00 7.66e-01 2.53e+03 1 3.35e-02 2.01e-01 7 7.200267e+03 9.93e+00 2.49e+05 3.01e+00 8.93e-01 4.92e+03 1 3.36e-02 2.34e-01 8 7.190454e+03 9.81e+00 2.14e+05 6.60e+00 9.17e-01 1.17e+04 1 3.40e-02 2.68e-01 9 7.173703e+03 1.68e+01 2.95e+05 1.71e+01 8.93e-01 2.27e+04 1 3.34e-02 3.02e-01 10 7.155431e+03 1.83e+01 6.82e+05 3.46e+01 5.91e-01 2.29e+04 1 3.35e-02 3.35e-01 11 7.129125e+03 2.63e+01 6.61e+05 3.55e+01 6.86e-01 2.41e+04 1 3.36e-02 3.69e-01 12 7.106914e+03 2.22e+01 7.26e+05 3.79e+01 6.04e-01 2.43e+04 1 3.37e-02 4.03e-01 13 7.084056e+03 2.29e+01 7.33e+05 3.87e+01 6.05e-01 2.46e+04 1 3.35e-02 4.36e-01 14 7.062235e+03 2.18e+01 7.34e+05 3.96e+01 5.92e-01 2.47e+04 1 3.38e-02 4.70e-01 15 7.041087e+03 2.11e+01 7.25e+05 4.02e+01 5.89e-01 2.49e+04 1 3.52e-02 5.05e-01 16 7.020642e+03 2.04e+01 7.08e+05 4.08e+01 5.90e-01 2.50e+04 1 3.51e-02 5.40e-01 17 7.000862e+03 1.98e+01 6.87e+05 4.13e+01 5.95e-01 2.52e+04 1 3.39e-02 5.74e-01 18 6.981730e+03 1.91e+01 6.62e+05 4.19e+01 6.03e-01 2.54e+04 1 3.34e-02 6.08e-01 19 6.963226e+03 1.85e+01 6.35e+05 4.26e+01 6.14e-01 2.57e+04 1 3.39e-02 6.41e-01 20 6.945324e+03 1.79e+01 6.07e+05 4.33e+01 6.25e-01 2.61e+04 1 3.78e-02 6.79e-01 21 6.927981e+03 1.73e+01 5.81e+05 4.42e+01 6.38e-01 2.67e+04 1 4.81e-02 7.27e-01 22 6.911130e+03 1.69e+01 5.56e+05 4.54e+01 6.50e-01 2.74e+04 1 3.43e-02 7.62e-01 23 6.894684e+03 1.64e+01 5.33e+05 4.69e+01 6.62e-01 2.84e+04 1 3.44e-02 7.96e-01 24 6.878534e+03 1.62e+01 5.14e+05 4.87e+01 6.74e-01 2.96e+04 1 3.84e-02 8.35e-01 25 6.862555e+03 1.60e+01 4.98e+05 5.10e+01 6.84e-01 3.12e+04 1 3.42e-02 8.69e-01 26 6.846610e+03 1.59e+01 4.84e+05 5.39e+01 6.95e-01 3.31e+04 1 3.45e-02 9.03e-01 27 6.830550e+03 1.61e+01 4.73e+05 5.75e+01 7.05e-01 3.56e+04 1 3.47e-02 9.38e-01 28 6.814215e+03 1.63e+01 4.65e+05 6.19e+01 7.14e-01 3.86e+04 1 3.38e-02 9.72e-01 29 6.797427e+03 1.68e+01 4.58e+05 6.74e+01 7.24e-01 4.24e+04 1 3.83e-02 1.01e+00 30 6.779988e+03 1.74e+01 4.53e+05 7.41e+01 7.33e-01 4.71e+04 1 3.40e-02 1.04e+00 31 6.761672e+03 1.83e+01 4.47e+05 8.25e+01 7.41e-01 5.31e+04 1 3.40e-02 1.08e+00 32 6.742226e+03 1.94e+01 4.41e+05 9.30e+01 7.49e-01 6.06e+04 1 3.39e-02 1.11e+00 33 6.721382e+03 2.08e+01 4.32e+05 1.06e+02 7.55e-01 6.98e+04 1 3.37e-02 1.15e+00 34 6.698899e+03 2.25e+01 4.16e+05 1.22e+02 7.58e-01 8.09e+04 1 3.36e-02 1.18e+00 35 6.674658e+03 2.42e+01 3.89e+05 1.41e+02 7.55e-01 9.33e+04 1 3.40e-02 1.21e+00 36 6.648772e+03 2.59e+01 3.46e+05 1.62e+02 7.44e-01 1.06e+05 1 3.35e-02 1.25e+00 37 6.621603e+03 2.72e+01 3.32e+05 1.82e+02 7.27e-01 1.16e+05 1 3.39e-02 1.28e+00 38 6.593608e+03 2.80e+01 3.62e+05 1.98e+02 7.07e-01 1.25e+05 1 3.37e-02 1.31e+00 39 6.565215e+03 2.84e+01 3.74e+05 2.11e+02 6.89e-01 1.32e+05 1 3.41e-02 1.35e+00 40 6.536785e+03 2.84e+01 3.73e+05 2.20e+02 6.74e-01 1.38e+05 1 3.43e-02 1.38e+00 41 6.508600e+03 2.82e+01 3.64e+05 2.26e+02 6.61e-01 1.43e+05 1 3.39e-02 1.42e+00 42 6.480865e+03 2.77e+01 3.50e+05 2.30e+02 6.51e-01 1.47e+05 1 3.36e-02 1.45e+00 43 6.453711e+03 2.72e+01 3.37e+05 2.32e+02 6.42e-01 1.50e+05 1 3.45e-02 1.49e+00 44 6.427214e+03 2.65e+01 3.34e+05 2.33e+02 6.34e-01 1.53e+05 1 3.43e-02 1.52e+00 45 6.401413e+03 2.58e+01 3.31e+05 2.33e+02 6.27e-01 1.56e+05 1 3.39e-02 1.55e+00 46 6.376319e+03 2.51e+01 3.28e+05 2.32e+02 6.20e-01 1.58e+05 1 3.48e-02 1.59e+00 47 6.351932e+03 2.44e+01 3.25e+05 2.31e+02 6.14e-01 1.60e+05 1 3.48e-02 1.62e+00 48 6.328242e+03 2.37e+01 3.23e+05 2.28e+02 6.09e-01 1.62e+05 1 3.36e-02 1.66e+00 49 6.305234e+03 2.30e+01 3.22e+05 2.25e+02 6.04e-01 1.63e+05 1 3.52e-02 1.69e+00 50 6.282894e+03 2.23e+01 3.22e+05 2.22e+02 6.00e-01 1.65e+05 1 3.48e-02 1.73e+00 Bundle adjustment report ------------------------ Residuals : 23848 Parameters : 12922 Iterations : 51 Time : 1.72758 [s] Initial cost : 0.556602 [px] Final cost : 0.513279 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.001006 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 6.123591e+03 0.00e+00 3.15e+05 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 4.25e-02 1 6.079585e+03 4.40e+01 1.82e+03 1.72e+01 1.00e+00 3.00e+04 1 4.11e-02 8.36e-02 2 6.063595e+03 1.60e+01 1.22e+04 4.80e+01 9.99e-01 9.00e+04 1 3.44e-02 1.18e-01 3 6.029098e+03 3.45e+01 1.03e+05 1.42e+02 9.31e-01 2.51e+05 1 3.45e-02 1.53e-01 4 6.090255e+03 -6.12e+01 0.00e+00 3.88e+02 -7.55e-01 1.26e+05 1 1.27e-02 1.65e-01 5 5.993962e+03 3.51e+01 2.25e+05 1.97e+02 7.78e-01 1.52e+05 1 3.37e-02 1.99e-01 6 5.958472e+03 3.55e+01 2.98e+05 2.34e+02 6.35e-01 1.55e+05 1 3.94e-02 2.38e-01 7 5.915357e+03 4.31e+01 2.70e+05 2.36e+02 6.75e-01 1.61e+05 1 4.46e-02 2.83e-01 8 5.874961e+03 4.04e+01 2.99e+05 2.43e+02 6.34e-01 1.65e+05 1 3.97e-02 3.23e-01 9 5.834134e+03 4.08e+01 3.19e+05 2.44e+02 6.27e-01 1.67e+05 1 3.63e-02 3.59e-01 10 5.794570e+03 3.96e+01 3.36e+05 2.44e+02 6.11e-01 1.69e+05 1 3.38e-02 3.93e-01 11 5.755938e+03 3.86e+01 3.50e+05 2.42e+02 6.00e-01 1.71e+05 1 3.39e-02 4.27e-01 12 5.718412e+03 3.75e+01 3.62e+05 2.40e+02 5.89e-01 1.72e+05 1 3.35e-02 4.60e-01 13 5.682007e+03 3.64e+01 3.71e+05 2.37e+02 5.80e-01 1.72e+05 1 3.34e-02 4.94e-01 14 5.646748e+03 3.53e+01 3.79e+05 2.33e+02 5.72e-01 1.73e+05 1 3.39e-02 5.28e-01 15 5.612638e+03 3.41e+01 3.85e+05 2.29e+02 5.64e-01 1.73e+05 1 3.35e-02 5.61e-01 16 5.579670e+03 3.30e+01 3.90e+05 2.25e+02 5.57e-01 1.73e+05 1 3.34e-02 5.95e-01 17 5.547830e+03 3.18e+01 3.94e+05 2.21e+02 5.51e-01 1.74e+05 1 3.41e-02 6.29e-01 18 5.517096e+03 3.07e+01 3.98e+05 2.16e+02 5.45e-01 1.74e+05 1 3.38e-02 6.63e-01 19 5.487438e+03 2.97e+01 4.00e+05 2.12e+02 5.39e-01 1.74e+05 1 3.46e-02 6.97e-01 20 5.458829e+03 2.86e+01 4.02e+05 2.07e+02 5.34e-01 1.74e+05 1 3.49e-02 7.32e-01 21 5.431233e+03 2.76e+01 4.03e+05 2.03e+02 5.29e-01 1.74e+05 1 3.40e-02 7.66e-01 22 5.404616e+03 2.66e+01 4.04e+05 1.98e+02 5.24e-01 1.74e+05 1 3.40e-02 8.00e-01 23 5.378944e+03 2.57e+01 4.04e+05 1.94e+02 5.19e-01 1.74e+05 1 3.45e-02 8.35e-01 24 5.354181e+03 2.48e+01 4.03e+05 1.89e+02 5.14e-01 1.74e+05 1 3.35e-02 8.68e-01 25 5.330290e+03 2.39e+01 4.02e+05 1.85e+02 5.10e-01 1.74e+05 1 3.36e-02 9.02e-01 26 5.307239e+03 2.31e+01 4.00e+05 1.80e+02 5.05e-01 1.74e+05 1 3.49e-02 9.37e-01 27 5.284994e+03 2.22e+01 3.98e+05 1.76e+02 5.01e-01 1.74e+05 1 3.44e-02 9.71e-01 28 5.263522e+03 2.15e+01 3.95e+05 1.72e+02 4.98e-01 1.74e+05 1 3.43e-02 1.01e+00 29 5.242793e+03 2.07e+01 3.91e+05 1.68e+02 4.94e-01 1.74e+05 1 3.63e-02 1.04e+00 30 5.222779e+03 2.00e+01 3.87e+05 1.63e+02 4.91e-01 1.74e+05 1 3.54e-02 1.08e+00 31 5.203450e+03 1.93e+01 3.82e+05 1.59e+02 4.88e-01 1.74e+05 1 3.88e-02 1.12e+00 32 5.184783e+03 1.87e+01 3.76e+05 1.55e+02 4.86e-01 1.74e+05 1 3.58e-02 1.15e+00 33 5.166753e+03 1.80e+01 3.69e+05 1.51e+02 4.84e-01 1.74e+05 1 3.47e-02 1.19e+00 34 5.149337e+03 1.74e+01 3.62e+05 1.48e+02 4.82e-01 1.74e+05 1 3.40e-02 1.22e+00 35 5.132514e+03 1.68e+01 3.54e+05 1.44e+02 4.81e-01 1.74e+05 1 3.47e-02 1.26e+00 36 5.116265e+03 1.62e+01 3.50e+05 1.40e+02 4.80e-01 1.74e+05 1 3.93e-02 1.30e+00 37 5.100569e+03 1.57e+01 3.52e+05 1.36e+02 4.79e-01 1.74e+05 1 3.50e-02 1.33e+00 38 5.085409e+03 1.52e+01 3.54e+05 1.33e+02 4.79e-01 1.74e+05 1 3.63e-02 1.37e+00 39 5.070766e+03 1.46e+01 3.56e+05 1.29e+02 4.78e-01 1.74e+05 1 3.40e-02 1.40e+00 40 5.056623e+03 1.41e+01 3.59e+05 1.26e+02 4.78e-01 1.74e+05 1 3.67e-02 1.44e+00 41 5.042961e+03 1.37e+01 3.62e+05 1.23e+02 4.78e-01 1.74e+05 1 3.41e-02 1.47e+00 42 5.029762e+03 1.32e+01 3.65e+05 1.19e+02 4.78e-01 1.74e+05 1 3.38e-02 1.51e+00 43 5.017008e+03 1.28e+01 3.68e+05 1.16e+02 4.78e-01 1.74e+05 1 3.38e-02 1.54e+00 44 5.004678e+03 1.23e+01 3.72e+05 1.13e+02 4.78e-01 1.74e+05 1 3.36e-02 1.57e+00 45 4.992754e+03 1.19e+01 3.77e+05 1.10e+02 4.76e-01 1.74e+05 1 3.37e-02 1.61e+00 46 4.981214e+03 1.15e+01 3.82e+05 1.07e+02 4.75e-01 1.74e+05 1 3.37e-02 1.64e+00 47 4.970037e+03 1.12e+01 3.88e+05 1.04e+02 4.72e-01 1.74e+05 1 3.34e-02 1.67e+00 48 4.959203e+03 1.08e+01 3.93e+05 1.02e+02 4.69e-01 1.74e+05 1 3.35e-02 1.71e+00 49 4.948693e+03 1.05e+01 3.99e+05 9.91e+01 4.66e-01 1.74e+05 1 3.43e-02 1.74e+00 50 4.938488e+03 1.02e+01 4.05e+05 9.66e+01 4.62e-01 1.73e+05 1 3.39e-02 1.78e+00 Bundle adjustment report ------------------------ Residuals : 23824 Parameters : 12907 Iterations : 51 Time : 1.77574 [s] Initial cost : 0.506986 [px] Final cost : 0.455292 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 5 => Changed observations: 0.000756 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.920493e+03 0.00e+00 4.19e+05 0.00e+00 0.00e+00 1.00e+04 0 2.30e-02 4.33e-02 1 4.894675e+03 2.58e+01 4.26e+04 6.62e+00 9.95e-01 3.00e+04 1 3.47e-02 7.80e-02 2 4.892571e+03 2.10e+00 1.23e+05 1.67e+01 6.12e-01 3.03e+04 1 3.44e-02 1.12e-01 3 4.889017e+03 3.55e+00 7.07e+04 1.69e+01 8.53e-01 4.69e+04 1 3.46e-02 1.47e-01 4 4.886063e+03 2.95e+00 1.21e+05 2.63e+01 6.57e-01 4.84e+04 1 3.44e-02 1.81e-01 5 4.881688e+03 4.37e+00 8.64e+04 2.74e+01 8.42e-01 7.13e+04 1 3.45e-02 2.16e-01 6 4.877490e+03 4.20e+00 1.02e+05 4.06e+01 7.42e-01 8.04e+04 1 3.42e-02 2.50e-01 7 4.872050e+03 5.44e+00 8.96e+04 4.59e+01 8.38e-01 1.16e+05 1 3.40e-02 2.84e-01 8 4.866976e+03 5.07e+00 1.78e+05 6.61e+01 6.57e-01 1.20e+05 1 3.86e-02 3.23e-01 9 4.860343e+03 6.63e+00 1.86e+05 6.76e+01 7.22e-01 1.32e+05 1 3.41e-02 3.57e-01 10 4.854427e+03 5.92e+00 2.20e+05 7.30e+01 6.32e-01 1.34e+05 1 3.38e-02 3.91e-01 11 4.847888e+03 6.54e+00 2.26e+05 7.31e+01 6.46e-01 1.38e+05 1 3.39e-02 4.25e-01 12 4.841586e+03 6.30e+00 2.37e+05 7.35e+01 6.21e-01 1.40e+05 1 3.43e-02 4.59e-01 13 4.835307e+03 6.28e+00 2.43e+05 7.30e+01 6.13e-01 1.41e+05 1 3.79e-02 4.97e-01 14 4.829176e+03 6.13e+00 2.48e+05 7.21e+01 6.01e-01 1.42e+05 1 3.54e-02 5.32e-01 15 4.823194e+03 5.98e+00 2.51e+05 7.09e+01 5.91e-01 1.43e+05 1 3.46e-02 5.67e-01 16 4.817382e+03 5.81e+00 2.54e+05 6.96e+01 5.82e-01 1.44e+05 1 3.41e-02 6.01e-01 17 4.811745e+03 5.64e+00 2.56e+05 6.80e+01 5.72e-01 1.44e+05 1 3.46e-02 6.36e-01 18 4.806284e+03 5.46e+00 2.57e+05 6.64e+01 5.63e-01 1.45e+05 1 3.45e-02 6.70e-01 19 4.800995e+03 5.29e+00 2.59e+05 6.47e+01 5.53e-01 1.45e+05 1 3.45e-02 7.05e-01 20 4.795873e+03 5.12e+00 2.60e+05 6.30e+01 5.43e-01 1.45e+05 1 3.46e-02 7.40e-01 21 4.790909e+03 4.96e+00 2.62e+05 6.12e+01 5.33e-01 1.45e+05 1 3.41e-02 7.74e-01 22 4.786092e+03 4.82e+00 2.64e+05 5.95e+01 5.23e-01 1.45e+05 1 3.41e-02 8.08e-01 23 4.781415e+03 4.68e+00 2.66e+05 5.78e+01 5.12e-01 1.45e+05 1 3.41e-02 8.42e-01 24 4.776866e+03 4.55e+00 2.68e+05 5.61e+01 5.01e-01 1.45e+05 1 3.43e-02 8.76e-01 25 4.772434e+03 4.43e+00 2.70e+05 5.44e+01 4.90e-01 1.45e+05 1 3.41e-02 9.10e-01 26 4.768111e+03 4.32e+00 2.72e+05 5.29e+01 4.79e-01 1.45e+05 1 3.49e-02 9.45e-01 27 4.763886e+03 4.23e+00 2.75e+05 5.13e+01 4.68e-01 1.45e+05 1 3.47e-02 9.80e-01 28 4.759747e+03 4.14e+00 2.77e+05 4.98e+01 4.58e-01 1.45e+05 1 3.36e-02 1.01e+00 29 4.755686e+03 4.06e+00 2.79e+05 4.83e+01 4.48e-01 1.45e+05 1 3.46e-02 1.05e+00 30 4.751691e+03 3.99e+00 2.81e+05 4.69e+01 4.40e-01 1.44e+05 1 3.37e-02 1.08e+00 31 4.747755e+03 3.94e+00 2.82e+05 4.54e+01 4.32e-01 1.44e+05 1 3.36e-02 1.12e+00 32 4.743870e+03 3.89e+00 2.83e+05 4.40e+01 4.26e-01 1.44e+05 1 3.43e-02 1.15e+00 33 4.740029e+03 3.84e+00 2.83e+05 4.26e+01 4.21e-01 1.43e+05 1 3.41e-02 1.18e+00 34 4.736227e+03 3.80e+00 2.83e+05 4.13e+01 4.17e-01 1.42e+05 1 3.39e-02 1.22e+00 35 4.732456e+03 3.77e+00 2.82e+05 3.99e+01 4.15e-01 1.42e+05 1 3.41e-02 1.25e+00 36 4.728711e+03 3.75e+00 2.81e+05 3.86e+01 4.13e-01 1.41e+05 1 3.38e-02 1.29e+00 37 4.724983e+03 3.73e+00 2.79e+05 3.74e+01 4.13e-01 1.40e+05 1 3.90e-02 1.33e+00 38 4.721260e+03 3.72e+00 2.77e+05 3.62e+01 4.13e-01 1.39e+05 1 3.47e-02 1.36e+00 39 4.717528e+03 3.73e+00 2.75e+05 3.50e+01 4.13e-01 1.39e+05 1 3.35e-02 1.39e+00 40 4.713768e+03 3.76e+00 2.72e+05 3.39e+01 4.14e-01 1.38e+05 1 3.97e-02 1.43e+00 41 4.709958e+03 3.81e+00 2.69e+05 3.28e+01 4.14e-01 1.37e+05 1 3.74e-02 1.47e+00 42 4.706077e+03 3.88e+00 2.66e+05 3.18e+01 4.12e-01 1.37e+05 1 3.76e-02 1.51e+00 43 4.702106e+03 3.97e+00 2.63e+05 3.08e+01 4.05e-01 1.36e+05 1 3.69e-02 1.54e+00 44 4.698042e+03 4.06e+00 2.59e+05 2.99e+01 3.90e-01 1.34e+05 1 3.43e-02 1.58e+00 45 4.693909e+03 4.13e+00 2.54e+05 2.88e+01 3.62e-01 1.31e+05 1 3.37e-02 1.61e+00 46 4.689709e+03 4.20e+00 2.44e+05 2.75e+01 3.23e-01 1.26e+05 1 3.42e-02 1.65e+00 47 4.685235e+03 4.47e+00 2.24e+05 2.56e+01 2.94e-01 1.18e+05 1 3.42e-02 1.68e+00 48 4.680259e+03 4.98e+00 1.98e+05 2.33e+01 2.77e-01 1.08e+05 1 3.44e-02 1.72e+00 49 4.674502e+03 5.76e+00 2.01e+05 2.08e+01 2.75e-01 9.90e+04 1 3.46e-02 1.75e+00 50 4.667772e+03 6.73e+00 2.06e+05 1.85e+01 2.85e-01 9.17e+04 1 3.39e-02 1.78e+00 Bundle adjustment report ------------------------ Residuals : 23814 Parameters : 12901 Iterations : 51 Time : 1.78503 [s] Initial cost : 0.454557 [px] Final cost : 0.44273 [px] Termination : No convergence => Completed observations: 3830 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.322667 => Filtered images: 0 ============================================================================== Registering image #12 (25) ============================================================================== => Image sees 569 / 3364 points Pose refinement report ---------------------- Residuals : 1026 Parameters : 6 Iterations : 17 Time : 0.016942 [s] Initial cost : 0.742477 [px] Final cost : 0.716767 [px] Termination : Convergence => Continued observations: 512 => Added observations: 3206 Bundle adjustment report ------------------------ Residuals : 29392 Parameters : 11234 Iterations : 26 Time : 0.621961 [s] Initial cost : 1.75926 [px] Final cost : 1.59247 [px] Termination : No convergence => Merged observations: 12 => Completed observations: 439 => Filtered observations: 1181 => Changed observations: 0.110032 Bundle adjustment report ------------------------ Residuals : 27914 Parameters : 10808 Iterations : 26 Time : 0.613524 [s] Initial cost : 0.706039 [px] Final cost : 0.569309 [px] Termination : No convergence => Merged observations: 45 => Completed observations: 1016 => Filtered observations: 3 => Changed observations: 0.075697 ============================================================================== Retriangulation ============================================================================== => Completed observations: 95 => Merged observations: 7 => Retriangulated observations: 7556 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.113039e+07 0.00e+00 4.64e+07 0.00e+00 0.00e+00 1.00e+04 0 4.86e-02 9.41e-02 1 5.440226e+08 -5.23e+08 0.00e+00 6.72e+02 -3.48e+01 5.00e+03 1 3.19e-02 1.26e-01 2 2.361574e+08 -2.15e+08 0.00e+00 5.18e+02 -1.46e+01 1.25e+03 1 3.51e-02 1.61e-01 3 4.345058e+07 -2.23e+07 0.00e+00 2.93e+02 -1.59e+00 1.56e+02 1 2.81e-02 1.89e-01 4 9.566590e+06 1.16e+07 2.61e+08 1.39e+02 8.70e-01 2.63e+02 1 7.29e-02 2.62e-01 5 7.543607e+06 2.02e+06 9.18e+06 5.11e+01 9.98e-01 7.90e+02 1 7.44e-02 3.37e-01 6 7.484009e+06 5.96e+04 5.99e+07 1.44e+01 1.89e-01 6.36e+02 1 8.33e-02 4.20e-01 7 7.122220e+06 3.62e+05 4.11e+07 1.19e+01 8.17e-01 8.53e+02 1 7.41e-02 4.94e-01 8 7.093039e+06 2.92e+04 7.75e+07 2.86e+01 9.26e-02 5.54e+02 1 7.43e-02 5.68e-01 9 6.747990e+06 3.45e+05 5.09e+07 2.37e+01 7.87e-01 6.82e+02 1 7.19e-02 6.40e-01 10 6.544560e+06 2.03e+05 3.41e+07 3.33e+01 7.80e-01 8.27e+02 1 7.26e-02 7.13e-01 11 6.329438e+06 2.15e+05 1.63e+07 3.93e+01 9.20e-01 2.04e+03 1 7.38e-02 7.87e-01 12 6.326840e+06 2.60e+03 6.23e+07 6.46e+01 7.60e-03 1.04e+03 1 7.38e-02 8.61e-01 13 5.787315e+06 5.40e+05 1.13e+07 1.98e+01 1.04e+00 3.13e+03 1 7.22e-02 9.33e-01 14 6.349143e+06 -5.62e+05 0.00e+00 1.67e+01 -1.49e+00 1.56e+03 1 2.83e-02 9.61e-01 15 5.640165e+06 1.47e+05 3.57e+07 4.45e+00 6.19e-01 1.59e+03 1 7.29e-02 1.03e+00 16 5.350519e+06 2.90e+05 4.15e+07 1.86e+01 8.46e-01 2.38e+03 1 7.29e-02 1.11e+00 17 5.442243e+06 -9.17e+04 0.00e+00 6.22e+01 -2.31e-01 1.19e+03 1 2.86e-02 1.14e+00 18 5.102177e+06 2.48e+05 3.73e+07 2.42e+01 8.54e-01 1.84e+03 1 7.90e-02 1.21e+00 19 5.028088e+06 7.41e+04 6.42e+07 6.15e+01 2.69e-01 1.68e+03 1 7.17e-02 1.29e+00 20 4.730054e+06 2.98e+05 2.94e+07 7.63e+01 8.87e-01 3.13e+03 1 7.20e-02 1.36e+00 21 4.624760e+06 1.05e+05 2.55e+07 1.75e+02 5.66e-01 3.13e+03 1 7.95e-02 1.44e+00 22 4.455740e+06 1.69e+05 1.56e+07 1.88e+02 9.33e-01 8.93e+03 1 7.49e-02 1.51e+00 23 4.619932e+06 -1.64e+05 0.00e+00 5.36e+02 -8.09e-01 4.46e+03 1 2.80e-02 1.54e+00 24 4.357432e+06 9.83e+04 2.23e+07 2.75e+02 7.64e-01 5.23e+03 1 7.10e-02 1.61e+00 25 4.238626e+06 1.19e+05 1.89e+07 3.24e+02 8.53e-01 8.07e+03 1 7.26e-02 1.68e+00 26 4.161158e+06 7.75e+04 3.07e+07 5.08e+02 5.17e-01 8.07e+03 1 7.30e-02 1.76e+00 27 4.020290e+06 1.41e+05 1.93e+07 5.23e+02 8.40e-01 1.18e+04 1 7.41e-02 1.83e+00 28 3.967483e+06 5.28e+04 2.36e+07 7.72e+02 4.52e-01 1.17e+04 1 7.48e-02 1.91e+00 29 3.872157e+06 9.53e+04 1.37e+07 7.89e+02 7.50e-01 1.34e+04 1 7.47e-02 1.98e+00 30 3.822160e+06 5.00e+04 1.37e+07 9.16e+02 5.72e-01 1.35e+04 1 7.36e-02 2.05e+00 31 3.768849e+06 5.33e+04 1.04e+07 9.39e+02 6.58e-01 1.39e+04 1 7.44e-02 2.13e+00 32 3.730294e+06 3.86e+04 8.19e+06 9.84e+02 6.03e-01 1.40e+04 1 8.33e-02 2.21e+00 33 3.696926e+06 3.34e+04 6.82e+06 1.00e+03 6.05e-01 1.42e+04 1 7.43e-02 2.29e+00 34 3.669169e+06 2.78e+04 6.10e+06 1.01e+03 5.95e-01 1.43e+04 1 7.21e-02 2.36e+00 35 3.645356e+06 2.38e+04 5.75e+06 1.02e+03 5.94e-01 1.44e+04 1 7.94e-02 2.44e+00 36 3.624798e+06 2.06e+04 5.41e+06 1.02e+03 5.96e-01 1.45e+04 1 7.36e-02 2.51e+00 37 3.606887e+06 1.79e+04 5.08e+06 1.01e+03 6.00e-01 1.46e+04 1 7.27e-02 2.59e+00 38 3.591157e+06 1.57e+04 4.79e+06 1.01e+03 6.05e-01 1.47e+04 1 7.25e-02 2.66e+00 39 3.577225e+06 1.39e+04 4.53e+06 1.00e+03 6.11e-01 1.49e+04 1 7.35e-02 2.73e+00 40 3.564782e+06 1.24e+04 4.31e+06 9.98e+02 6.16e-01 1.51e+04 1 7.28e-02 2.80e+00 41 3.553578e+06 1.12e+04 4.12e+06 9.96e+02 6.21e-01 1.53e+04 1 7.26e-02 2.88e+00 42 3.543410e+06 1.02e+04 3.96e+06 9.95e+02 6.26e-01 1.55e+04 1 7.35e-02 2.95e+00 43 3.534114e+06 9.30e+03 3.82e+06 9.96e+02 6.29e-01 1.58e+04 1 7.44e-02 3.02e+00 44 3.525558e+06 8.56e+03 3.71e+06 9.98e+02 6.33e-01 1.61e+04 1 7.25e-02 3.10e+00 45 3.517635e+06 7.92e+03 3.62e+06 1.00e+03 6.36e-01 1.64e+04 1 7.26e-02 3.17e+00 46 3.510260e+06 7.38e+03 3.54e+06 1.01e+03 6.38e-01 1.68e+04 1 7.83e-02 3.25e+00 47 3.503362e+06 6.90e+03 3.48e+06 1.01e+03 6.40e-01 1.72e+04 1 7.32e-02 3.32e+00 48 3.496883e+06 6.48e+03 3.42e+06 1.02e+03 6.41e-01 1.76e+04 1 7.22e-02 3.39e+00 49 3.490777e+06 6.11e+03 3.38e+06 1.03e+03 6.42e-01 1.80e+04 1 8.04e-02 3.47e+00 50 3.485003e+06 5.77e+03 3.35e+06 1.04e+03 6.43e-01 1.84e+04 1 7.24e-02 3.55e+00 Bundle adjustment report ------------------------ Residuals : 54712 Parameters : 23440 Iterations : 51 Time : 3.54748 [s] Initial cost : 19.6523 [px] Final cost : 7.98105 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 40 => Filtered observations: 12405 => Changed observations: 0.454928 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.525381e+04 0.00e+00 5.39e+06 0.00e+00 0.00e+00 1.00e+04 0 2.95e-02 5.51e-02 1 2.094881e+04 1.43e+04 1.20e+07 2.29e+01 9.47e-01 3.00e+04 1 4.48e-02 1.00e-01 2 1.964124e+04 1.31e+03 1.38e+07 1.81e+02 5.28e-01 3.00e+04 1 4.40e-02 1.44e-01 3 1.798468e+04 1.66e+03 7.93e+06 2.33e+02 8.18e-01 4.04e+04 1 4.43e-02 1.88e-01 4 1.729868e+04 6.86e+02 8.42e+06 3.39e+02 6.13e-01 4.09e+04 1 4.39e-02 2.32e-01 5 1.647352e+04 8.25e+02 5.31e+06 3.49e+02 8.12e-01 5.41e+04 1 4.45e-02 2.77e-01 6 1.592672e+04 5.47e+02 5.73e+06 4.64e+02 6.66e-01 5.61e+04 1 4.34e-02 3.20e-01 7 1.528325e+04 6.43e+02 4.10e+06 4.78e+02 7.66e-01 6.61e+04 1 4.41e-02 3.64e-01 8 1.477992e+04 5.03e+02 3.93e+06 5.55e+02 6.45e-01 6.78e+04 1 4.58e-02 4.10e-01 9 1.422709e+04 5.53e+02 3.05e+06 5.59e+02 6.84e-01 7.14e+04 1 4.46e-02 4.55e-01 10 1.375198e+04 4.75e+02 2.61e+06 5.78e+02 6.32e-01 7.27e+04 1 4.43e-02 4.99e-01 11 1.329655e+04 4.55e+02 2.17e+06 5.76e+02 6.26e-01 7.39e+04 1 4.46e-02 5.44e-01 12 1.288512e+04 4.11e+02 1.85e+06 5.73e+02 6.05e-01 7.46e+04 1 4.45e-02 5.88e-01 13 1.250937e+04 3.76e+02 1.59e+06 5.66e+02 5.92e-01 7.51e+04 1 4.82e-02 6.36e-01 14 1.216914e+04 3.40e+02 1.38e+06 5.57e+02 5.79e-01 7.54e+04 1 4.34e-02 6.80e-01 15 1.186162e+04 3.08e+02 1.20e+06 5.46e+02 5.67e-01 7.55e+04 1 4.30e-02 7.23e-01 16 1.158402e+04 2.78e+02 1.06e+06 5.35e+02 5.55e-01 7.56e+04 1 5.82e-02 7.81e-01 17 1.133338e+04 2.51e+02 9.38e+05 5.23e+02 5.45e-01 7.57e+04 1 4.99e-02 8.31e-01 18 1.110679e+04 2.27e+02 8.37e+05 5.11e+02 5.35e-01 7.57e+04 1 4.51e-02 8.76e-01 19 1.090142e+04 2.05e+02 7.51e+05 4.99e+02 5.26e-01 7.57e+04 1 4.39e-02 9.20e-01 20 1.071469e+04 1.87e+02 6.78e+05 4.86e+02 5.18e-01 7.57e+04 1 4.31e-02 9.63e-01 21 1.054420e+04 1.70e+02 6.17e+05 4.74e+02 5.11e-01 7.57e+04 1 4.37e-02 1.01e+00 22 1.038782e+04 1.56e+02 5.64e+05 4.62e+02 5.05e-01 7.57e+04 1 4.31e-02 1.05e+00 23 1.024368e+04 1.44e+02 5.19e+05 4.51e+02 5.00e-01 7.57e+04 1 4.29e-02 1.09e+00 24 1.011013e+04 1.34e+02 4.80e+05 4.39e+02 4.97e-01 7.57e+04 1 4.32e-02 1.14e+00 25 9.985758e+03 1.24e+02 4.48e+05 4.27e+02 4.95e-01 7.57e+04 1 4.40e-02 1.18e+00 26 9.869360e+03 1.16e+02 4.23e+05 4.16e+02 4.95e-01 7.57e+04 1 4.29e-02 1.22e+00 27 9.759913e+03 1.09e+02 3.99e+05 4.05e+02 4.97e-01 7.57e+04 1 4.28e-02 1.27e+00 28 9.656559e+03 1.03e+02 3.78e+05 3.93e+02 5.00e-01 7.57e+04 1 4.36e-02 1.31e+00 29 9.558580e+03 9.80e+01 3.59e+05 3.83e+02 5.04e-01 7.57e+04 1 4.38e-02 1.35e+00 30 9.465382e+03 9.32e+01 3.41e+05 3.72e+02 5.09e-01 7.57e+04 1 4.35e-02 1.40e+00 31 9.376478e+03 8.89e+01 3.24e+05 3.61e+02 5.16e-01 7.57e+04 1 4.38e-02 1.44e+00 32 9.291474e+03 8.50e+01 3.08e+05 3.51e+02 5.24e-01 7.57e+04 1 4.33e-02 1.48e+00 33 9.210052e+03 8.14e+01 2.93e+05 3.40e+02 5.33e-01 7.58e+04 1 4.35e-02 1.53e+00 34 9.131960e+03 7.81e+01 2.79e+05 3.30e+02 5.42e-01 7.58e+04 1 4.36e-02 1.57e+00 35 9.056994e+03 7.50e+01 2.65e+05 3.20e+02 5.52e-01 7.59e+04 1 4.47e-02 1.62e+00 36 8.984984e+03 7.20e+01 2.52e+05 3.11e+02 5.62e-01 7.60e+04 1 4.62e-02 1.66e+00 37 8.915780e+03 6.92e+01 2.40e+05 3.01e+02 5.72e-01 7.63e+04 1 4.29e-02 1.71e+00 38 8.849238e+03 6.65e+01 2.29e+05 2.93e+02 5.82e-01 7.66e+04 1 4.30e-02 1.75e+00 39 8.785216e+03 6.40e+01 2.18e+05 2.84e+02 5.91e-01 7.71e+04 1 4.30e-02 1.79e+00 40 8.723565e+03 6.17e+01 2.08e+05 2.76e+02 5.99e-01 7.77e+04 1 4.31e-02 1.83e+00 41 8.664137e+03 5.94e+01 2.00e+05 2.69e+02 6.07e-01 7.85e+04 1 4.76e-02 1.88e+00 42 8.606789e+03 5.73e+01 1.91e+05 2.62e+02 6.14e-01 7.94e+04 1 4.31e-02 1.92e+00 43 8.551385e+03 5.54e+01 1.84e+05 2.56e+02 6.20e-01 8.05e+04 1 4.30e-02 1.97e+00 44 8.497806e+03 5.36e+01 1.77e+05 2.50e+02 6.26e-01 8.18e+04 1 4.35e-02 2.01e+00 45 8.445950e+03 5.19e+01 1.71e+05 2.44e+02 6.31e-01 8.33e+04 1 4.38e-02 2.06e+00 46 8.395738e+03 5.02e+01 1.65e+05 2.39e+02 6.35e-01 8.50e+04 1 4.36e-02 2.10e+00 47 8.347110e+03 4.86e+01 1.59e+05 2.34e+02 6.39e-01 8.68e+04 1 4.48e-02 2.14e+00 48 8.300024e+03 4.71e+01 1.61e+05 2.29e+02 6.42e-01 8.89e+04 1 4.44e-02 2.19e+00 49 8.254457e+03 4.56e+01 1.64e+05 2.24e+02 6.45e-01 9.11e+04 1 4.37e-02 2.23e+00 50 8.210400e+03 4.41e+01 1.67e+05 2.19e+02 6.49e-01 9.36e+04 1 4.45e-02 2.28e+00 Bundle adjustment report ------------------------ Residuals : 29892 Parameters : 16552 Iterations : 51 Time : 2.27728 [s] Initial cost : 1.08599 [px] Final cost : 0.524089 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 647 => Filtered observations: 36 => Changed observations: 0.045698 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.538113e+03 0.00e+00 2.57e+05 0.00e+00 0.00e+00 1.00e+04 0 3.00e-02 5.58e-02 1 8.005917e+03 5.32e+02 5.15e+05 2.14e+01 9.88e-01 3.00e+04 1 4.55e-02 1.01e-01 2 7.936826e+03 6.91e+01 7.49e+05 7.94e+01 7.57e-01 3.47e+04 1 4.36e-02 1.45e-01 3 7.874362e+03 6.25e+01 1.98e+05 9.31e+01 9.37e-01 1.04e+05 1 4.44e-02 1.89e-01 4 7.863272e+03 1.11e+01 5.06e+05 2.64e+02 1.30e-01 7.41e+04 1 4.40e-02 2.33e-01 5 7.754947e+03 1.08e+02 1.10e+05 1.78e+02 8.95e-01 1.46e+05 1 4.52e-02 2.79e-01 6 7.794707e+03 -3.98e+01 0.00e+00 3.21e+02 -4.51e-01 7.29e+04 1 1.63e-02 2.95e-01 7 7.710979e+03 4.40e+01 8.77e+04 1.67e+02 8.21e-01 9.92e+04 1 4.68e-02 3.42e-01 8 7.678215e+03 3.28e+01 1.63e+05 2.14e+02 5.57e-01 9.93e+04 1 4.35e-02 3.85e-01 9 7.628820e+03 4.94e+01 1.65e+05 2.01e+02 6.99e-01 1.06e+05 1 4.28e-02 4.28e-01 10 7.586502e+03 4.23e+01 1.84e+05 2.01e+02 6.55e-01 1.09e+05 1 4.37e-02 4.72e-01 11 7.543821e+03 4.27e+01 1.90e+05 1.94e+02 6.79e-01 1.14e+05 1 4.30e-02 5.15e-01 12 7.504354e+03 3.95e+01 1.99e+05 1.90e+02 6.71e-01 1.19e+05 1 4.77e-02 5.63e-01 13 7.466565e+03 3.78e+01 2.04e+05 1.84e+02 6.78e-01 1.25e+05 1 4.40e-02 6.07e-01 14 7.431178e+03 3.54e+01 2.08e+05 1.78e+02 6.78e-01 1.31e+05 1 4.29e-02 6.50e-01 15 7.397882e+03 3.33e+01 2.11e+05 1.72e+02 6.82e-01 1.37e+05 1 4.33e-02 6.93e-01 16 7.366838e+03 3.10e+01 2.12e+05 1.66e+02 6.85e-01 1.45e+05 1 4.27e-02 7.36e-01 17 7.337966e+03 2.89e+01 2.13e+05 1.59e+02 6.88e-01 1.53e+05 1 4.33e-02 7.79e-01 18 7.311276e+03 2.67e+01 2.12e+05 1.53e+02 6.91e-01 1.62e+05 1 4.31e-02 8.22e-01 19 7.286704e+03 2.46e+01 2.10e+05 1.46e+02 6.94e-01 1.72e+05 1 4.40e-02 8.66e-01 20 7.264185e+03 2.25e+01 2.07e+05 1.39e+02 6.98e-01 1.83e+05 1 4.26e-02 9.09e-01 21 7.243614e+03 2.06e+01 2.04e+05 1.32e+02 7.02e-01 1.96e+05 1 4.29e-02 9.52e-01 22 7.224863e+03 1.88e+01 2.00e+05 1.25e+02 7.05e-01 2.11e+05 1 4.32e-02 9.95e-01 23 7.207767e+03 1.71e+01 1.95e+05 1.17e+02 7.09e-01 2.27e+05 1 4.35e-02 1.04e+00 24 7.192141e+03 1.56e+01 1.91e+05 1.10e+02 7.14e-01 2.47e+05 1 4.31e-02 1.08e+00 25 7.177771e+03 1.44e+01 1.86e+05 1.02e+02 7.18e-01 2.69e+05 1 4.36e-02 1.13e+00 26 7.164425e+03 1.33e+01 1.81e+05 9.50e+01 7.22e-01 2.95e+05 1 4.35e-02 1.17e+00 27 7.151864e+03 1.26e+01 1.78e+05 8.78e+01 7.25e-01 3.24e+05 1 4.32e-02 1.21e+00 28 7.139850e+03 1.20e+01 1.78e+05 8.08e+01 7.28e-01 3.58e+05 1 4.37e-02 1.26e+00 29 7.128165e+03 1.17e+01 1.80e+05 7.41e+01 7.29e-01 3.96e+05 1 4.34e-02 1.30e+00 30 7.116627e+03 1.15e+01 1.84e+05 6.77e+01 7.29e-01 4.38e+05 1 4.77e-02 1.35e+00 31 7.105110e+03 1.15e+01 1.87e+05 6.18e+01 7.26e-01 4.83e+05 1 4.32e-02 1.39e+00 32 7.093555e+03 1.16e+01 1.91e+05 5.66e+01 7.21e-01 5.29e+05 1 4.38e-02 1.43e+00 33 7.081976e+03 1.16e+01 1.95e+05 5.20e+01 7.15e-01 5.75e+05 1 4.42e-02 1.48e+00 34 7.070442e+03 1.15e+01 1.98e+05 4.82e+01 7.08e-01 6.19e+05 1 4.37e-02 1.52e+00 35 7.059062e+03 1.14e+01 2.04e+05 4.52e+01 7.00e-01 6.61e+05 1 4.74e-02 1.57e+00 36 7.047962e+03 1.11e+01 2.08e+05 4.27e+01 6.94e-01 7.02e+05 1 4.57e-02 1.62e+00 37 7.037263e+03 1.07e+01 2.09e+05 4.08e+01 6.88e-01 7.42e+05 1 4.40e-02 1.66e+00 38 7.027074e+03 1.02e+01 2.07e+05 3.93e+01 6.84e-01 7.81e+05 1 4.38e-02 1.70e+00 39 7.017480e+03 9.59e+00 2.03e+05 3.80e+01 6.82e-01 8.20e+05 1 4.34e-02 1.75e+00 40 7.008545e+03 8.94e+00 1.97e+05 3.69e+01 6.81e-01 8.61e+05 1 4.36e-02 1.79e+00 41 7.000308e+03 8.24e+00 1.89e+05 3.58e+01 6.81e-01 9.04e+05 1 4.40e-02 1.83e+00 42 6.992791e+03 7.52e+00 1.79e+05 3.48e+01 6.83e-01 9.51e+05 1 4.54e-02 1.88e+00 43 6.985994e+03 6.80e+00 1.69e+05 3.37e+01 6.86e-01 1.00e+06 1 4.36e-02 1.92e+00 44 6.979905e+03 6.09e+00 1.58e+05 3.26e+01 6.89e-01 1.06e+06 1 4.36e-02 1.97e+00 45 6.974502e+03 5.40e+00 1.47e+05 3.15e+01 6.94e-01 1.13e+06 1 4.32e-02 2.01e+00 46 6.969751e+03 4.75e+00 1.36e+05 3.04e+01 6.99e-01 1.20e+06 1 4.33e-02 2.05e+00 47 6.965616e+03 4.14e+00 1.24e+05 2.92e+01 7.05e-01 1.29e+06 1 4.44e-02 2.10e+00 48 6.962055e+03 3.56e+00 1.13e+05 2.80e+01 7.12e-01 1.40e+06 1 4.41e-02 2.14e+00 49 6.959025e+03 3.03e+00 1.01e+05 2.68e+01 7.19e-01 1.52e+06 1 4.36e-02 2.19e+00 50 6.956480e+03 2.54e+00 9.03e+04 2.55e+01 7.27e-01 1.68e+06 1 4.33e-02 2.23e+00 Bundle adjustment report ------------------------ Residuals : 29820 Parameters : 16105 Iterations : 51 Time : 2.22942 [s] Initial cost : 0.53509 [px] Final cost : 0.482993 [px] Termination : No convergence => Completed observations: 5509 => Merged observations: 264 => Filtered observations: 7 => Changed observations: 0.387659 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.019373e+04 0.00e+00 1.08e+06 0.00e+00 0.00e+00 1.00e+04 0 4.35e-02 7.58e-02 1 1.357157e+04 6.62e+03 6.24e+05 1.19e+01 9.98e-01 3.00e+04 1 6.44e-02 1.40e-01 2 1.318926e+04 3.82e+02 5.15e+05 9.64e+01 9.05e-01 6.39e+04 1 6.11e-02 2.01e-01 3 1.302676e+04 1.63e+02 8.03e+05 1.90e+02 5.72e-01 6.41e+04 1 6.10e-02 2.62e-01 4 1.282917e+04 1.98e+02 3.02e+05 1.66e+02 8.36e-01 9.20e+04 1 6.64e-02 3.29e-01 5 1.276660e+04 6.26e+01 2.22e+05 1.96e+02 5.07e-01 9.20e+04 1 6.12e-02 3.90e-01 6 1.268429e+04 8.23e+01 1.52e+05 1.61e+02 7.48e-01 1.05e+05 1 6.10e-02 4.51e-01 7 1.264063e+04 4.37e+01 1.30e+05 1.49e+02 6.81e-01 1.10e+05 1 6.08e-02 5.12e-01 8 1.260316e+04 3.75e+01 9.42e+04 1.25e+02 7.76e-01 1.32e+05 1 6.18e-02 5.74e-01 9 1.257512e+04 2.80e+01 8.38e+04 1.17e+02 7.58e-01 1.53e+05 1 6.27e-02 6.36e-01 10 1.254741e+04 2.77e+01 1.19e+05 1.03e+02 8.09e-01 2.00e+05 1 6.50e-02 7.01e-01 11 1.252139e+04 2.60e+01 2.21e+05 9.65e+01 7.40e-01 2.25e+05 1 6.13e-02 7.63e-01 12 1.249434e+04 2.70e+01 2.99e+05 7.65e+01 7.07e-01 2.43e+05 1 6.12e-02 8.24e-01 13 1.246892e+04 2.54e+01 3.64e+05 5.84e+01 6.31e-01 2.47e+05 1 6.16e-02 8.86e-01 14 1.244268e+04 2.62e+01 3.89e+05 4.34e+01 6.13e-01 2.50e+05 1 6.09e-02 9.47e-01 15 1.241699e+04 2.57e+01 4.03e+05 3.32e+01 5.91e-01 2.51e+05 1 6.12e-02 1.01e+00 16 1.239174e+04 2.53e+01 4.08e+05 2.63e+01 5.81e-01 2.52e+05 1 6.07e-02 1.07e+00 17 1.236716e+04 2.46e+01 4.08e+05 2.17e+01 5.74e-01 2.53e+05 1 6.61e-02 1.13e+00 18 1.234338e+04 2.38e+01 4.04e+05 1.85e+01 5.70e-01 2.54e+05 1 6.08e-02 1.20e+00 19 1.232047e+04 2.29e+01 3.99e+05 1.64e+01 5.68e-01 2.55e+05 1 6.05e-02 1.26e+00 20 1.229851e+04 2.20e+01 3.91e+05 1.49e+01 5.68e-01 2.55e+05 1 6.11e-02 1.32e+00 21 1.227751e+04 2.10e+01 3.82e+05 1.38e+01 5.69e-01 2.56e+05 1 6.66e-02 1.38e+00 22 1.225749e+04 2.00e+01 3.72e+05 1.30e+01 5.71e-01 2.57e+05 1 6.08e-02 1.44e+00 23 1.223846e+04 1.90e+01 3.61e+05 1.24e+01 5.74e-01 2.57e+05 1 6.10e-02 1.51e+00 24 1.222041e+04 1.80e+01 3.50e+05 1.19e+01 5.77e-01 2.58e+05 1 6.15e-02 1.57e+00 25 1.220334e+04 1.71e+01 3.38e+05 1.14e+01 5.81e-01 2.60e+05 1 6.15e-02 1.63e+00 26 1.218722e+04 1.61e+01 3.25e+05 1.11e+01 5.86e-01 2.61e+05 1 6.11e-02 1.69e+00 27 1.217204e+04 1.52e+01 3.13e+05 1.08e+01 5.90e-01 2.62e+05 1 6.08e-02 1.75e+00 28 1.215777e+04 1.43e+01 3.01e+05 1.05e+01 5.95e-01 2.64e+05 1 6.13e-02 1.81e+00 29 1.214438e+04 1.34e+01 2.88e+05 1.02e+01 6.00e-01 2.66e+05 1 6.14e-02 1.87e+00 30 1.213184e+04 1.25e+01 2.76e+05 9.96e+00 6.05e-01 2.69e+05 1 6.12e-02 1.93e+00 31 1.212013e+04 1.17e+01 2.64e+05 9.73e+00 6.10e-01 2.72e+05 1 6.26e-02 2.00e+00 32 1.210919e+04 1.09e+01 2.53e+05 9.51e+00 6.15e-01 2.75e+05 1 6.05e-02 2.06e+00 33 1.209902e+04 1.02e+01 2.42e+05 9.30e+00 6.20e-01 2.79e+05 1 6.81e-02 2.13e+00 34 1.208956e+04 9.46e+00 2.31e+05 9.10e+00 6.25e-01 2.84e+05 1 6.14e-02 2.19e+00 35 1.208078e+04 8.77e+00 2.20e+05 8.90e+00 6.30e-01 2.89e+05 1 6.06e-02 2.25e+00 36 1.207267e+04 8.12e+00 2.10e+05 8.71e+00 6.34e-01 2.94e+05 1 6.06e-02 2.31e+00 37 1.206517e+04 7.49e+00 1.99e+05 8.53e+00 6.39e-01 3.01e+05 1 6.66e-02 2.38e+00 38 1.205827e+04 6.90e+00 1.90e+05 8.35e+00 6.43e-01 3.08e+05 1 6.11e-02 2.44e+00 39 1.205193e+04 6.34e+00 1.80e+05 8.17e+00 6.48e-01 3.16e+05 1 6.08e-02 2.50e+00 40 1.204613e+04 5.80e+00 1.71e+05 7.99e+00 6.52e-01 3.25e+05 1 6.07e-02 2.56e+00 41 1.204084e+04 5.29e+00 1.61e+05 7.81e+00 6.56e-01 3.36e+05 1 6.13e-02 2.62e+00 42 1.203603e+04 4.81e+00 1.52e+05 7.63e+00 6.61e-01 3.47e+05 1 6.05e-02 2.68e+00 43 1.203169e+04 4.35e+00 1.43e+05 7.45e+00 6.65e-01 3.60e+05 1 6.09e-02 2.74e+00 44 1.202777e+04 3.91e+00 1.35e+05 7.26e+00 6.70e-01 3.75e+05 1 6.22e-02 2.80e+00 45 1.202427e+04 3.50e+00 1.26e+05 7.07e+00 6.74e-01 3.92e+05 1 6.13e-02 2.86e+00 46 1.202115e+04 3.12e+00 1.18e+05 6.87e+00 6.79e-01 4.11e+05 1 6.37e-02 2.93e+00 47 1.201840e+04 2.75e+00 1.09e+05 6.67e+00 6.84e-01 4.32e+05 1 6.18e-02 2.99e+00 48 1.201598e+04 2.42e+00 1.01e+05 6.46e+00 6.90e-01 4.57e+05 1 6.16e-02 3.05e+00 49 1.201388e+04 2.10e+00 9.29e+04 6.24e+00 6.95e-01 4.86e+05 1 6.56e-02 3.12e+00 50 1.201208e+04 1.81e+00 8.50e+04 6.01e+00 7.01e-01 5.20e+05 1 6.16e-02 3.18e+00 Bundle adjustment report ------------------------ Residuals : 40824 Parameters : 15967 Iterations : 51 Time : 3.17978 [s] Initial cost : 0.703316 [px] Final cost : 0.542439 [px] Termination : No convergence => Completed observations: 1028 => Merged observations: 147 => Filtered observations: 24 => Changed observations: 0.058740 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.538356e+04 0.00e+00 3.93e+05 0.00e+00 0.00e+00 1.00e+04 0 4.11e-02 7.37e-02 1 1.356249e+04 1.82e+03 1.31e+05 2.10e+00 9.99e-01 3.00e+04 1 7.02e-02 1.44e-01 2 1.350833e+04 5.42e+01 1.00e+05 1.85e+01 9.71e-01 9.00e+04 1 6.66e-02 2.11e-01 3 1.346246e+04 4.59e+01 1.88e+05 4.53e+01 8.52e-01 1.38e+05 1 6.41e-02 2.75e-01 4 1.344252e+04 1.99e+01 4.67e+05 4.84e+01 4.37e-01 1.38e+05 1 6.47e-02 3.39e-01 5 1.341181e+04 3.07e+01 4.56e+05 3.44e+01 5.62e-01 1.38e+05 1 6.38e-02 4.03e-01 6 1.338422e+04 2.76e+01 4.46e+05 2.54e+01 5.46e-01 1.38e+05 1 6.39e-02 4.67e-01 7 1.335805e+04 2.62e+01 4.40e+05 1.94e+01 5.38e-01 1.38e+05 1 6.43e-02 5.32e-01 8 1.333277e+04 2.53e+01 4.36e+05 1.54e+01 5.33e-01 1.38e+05 1 6.50e-02 5.97e-01 9 1.330813e+04 2.46e+01 4.35e+05 1.26e+01 5.28e-01 1.38e+05 1 6.40e-02 6.61e-01 10 1.328399e+04 2.41e+01 4.35e+05 1.07e+01 5.23e-01 1.38e+05 1 6.37e-02 7.24e-01 11 1.326029e+04 2.37e+01 4.34e+05 9.29e+00 5.19e-01 1.38e+05 1 6.35e-02 7.88e-01 12 1.323701e+04 2.33e+01 4.34e+05 8.30e+00 5.14e-01 1.38e+05 1 6.27e-02 8.51e-01 13 1.321414e+04 2.29e+01 4.34e+05 7.57e+00 5.11e-01 1.38e+05 1 6.87e-02 9.19e-01 14 1.319167e+04 2.25e+01 4.33e+05 7.03e+00 5.07e-01 1.38e+05 1 6.41e-02 9.83e-01 15 1.316961e+04 2.21e+01 4.32e+05 6.63e+00 5.04e-01 1.38e+05 1 6.39e-02 1.05e+00 16 1.314795e+04 2.17e+01 4.31e+05 6.32e+00 5.01e-01 1.38e+05 1 6.43e-02 1.11e+00 17 1.312670e+04 2.12e+01 4.30e+05 6.08e+00 4.98e-01 1.38e+05 1 6.93e-02 1.18e+00 18 1.310587e+04 2.08e+01 4.28e+05 5.89e+00 4.95e-01 1.38e+05 1 6.40e-02 1.24e+00 19 1.308545e+04 2.04e+01 4.25e+05 5.74e+00 4.93e-01 1.38e+05 1 6.37e-02 1.31e+00 20 1.306545e+04 2.00e+01 4.23e+05 5.61e+00 4.92e-01 1.38e+05 1 6.37e-02 1.37e+00 21 1.304589e+04 1.96e+01 4.19e+05 5.51e+00 4.90e-01 1.38e+05 1 6.31e-02 1.44e+00 22 1.302676e+04 1.91e+01 4.16e+05 5.42e+00 4.89e-01 1.38e+05 1 6.32e-02 1.50e+00 23 1.300808e+04 1.87e+01 4.11e+05 5.34e+00 4.89e-01 1.38e+05 1 6.46e-02 1.56e+00 24 1.298984e+04 1.82e+01 4.07e+05 5.27e+00 4.88e-01 1.38e+05 1 6.45e-02 1.63e+00 25 1.297207e+04 1.78e+01 4.02e+05 5.21e+00 4.89e-01 1.38e+05 1 6.43e-02 1.69e+00 26 1.295476e+04 1.73e+01 3.96e+05 5.15e+00 4.89e-01 1.38e+05 1 6.45e-02 1.76e+00 27 1.293792e+04 1.68e+01 3.90e+05 5.10e+00 4.90e-01 1.38e+05 1 6.44e-02 1.82e+00 28 1.292156e+04 1.64e+01 3.83e+05 5.05e+00 4.92e-01 1.38e+05 1 6.36e-02 1.88e+00 29 1.290569e+04 1.59e+01 3.76e+05 5.00e+00 4.94e-01 1.38e+05 1 6.88e-02 1.95e+00 30 1.289031e+04 1.54e+01 3.68e+05 4.95e+00 4.97e-01 1.38e+05 1 6.48e-02 2.02e+00 31 1.287544e+04 1.49e+01 3.60e+05 4.90e+00 5.00e-01 1.38e+05 1 6.46e-02 2.08e+00 32 1.286107e+04 1.44e+01 3.52e+05 4.85e+00 5.03e-01 1.38e+05 1 6.49e-02 2.15e+00 33 1.284721e+04 1.39e+01 3.42e+05 4.80e+00 5.07e-01 1.38e+05 1 6.96e-02 2.22e+00 34 1.283387e+04 1.33e+01 3.33e+05 4.75e+00 5.12e-01 1.38e+05 1 6.59e-02 2.28e+00 35 1.282105e+04 1.28e+01 3.23e+05 4.70e+00 5.17e-01 1.38e+05 1 6.55e-02 2.35e+00 36 1.280876e+04 1.23e+01 3.13e+05 4.64e+00 5.23e-01 1.38e+05 1 6.44e-02 2.41e+00 37 1.279699e+04 1.18e+01 3.03e+05 4.59e+00 5.29e-01 1.38e+05 1 6.40e-02 2.48e+00 38 1.278575e+04 1.12e+01 2.92e+05 4.53e+00 5.36e-01 1.38e+05 1 6.47e-02 2.54e+00 39 1.277503e+04 1.07e+01 2.81e+05 4.47e+00 5.43e-01 1.38e+05 1 6.52e-02 2.61e+00 40 1.276483e+04 1.02e+01 2.70e+05 4.41e+00 5.50e-01 1.38e+05 1 6.43e-02 2.67e+00 41 1.275515e+04 9.68e+00 2.60e+05 4.35e+00 5.57e-01 1.39e+05 1 6.40e-02 2.74e+00 42 1.274598e+04 9.17e+00 2.49e+05 4.29e+00 5.65e-01 1.39e+05 1 6.43e-02 2.80e+00 43 1.273732e+04 8.67e+00 2.38e+05 4.22e+00 5.73e-01 1.39e+05 1 6.32e-02 2.86e+00 44 1.272913e+04 8.18e+00 2.28e+05 4.16e+00 5.80e-01 1.40e+05 1 6.79e-02 2.93e+00 45 1.272142e+04 7.71e+00 2.18e+05 4.10e+00 5.87e-01 1.41e+05 1 6.42e-02 3.00e+00 46 1.271416e+04 7.26e+00 2.09e+05 4.04e+00 5.94e-01 1.42e+05 1 6.47e-02 3.06e+00 47 1.270734e+04 6.82e+00 1.99e+05 3.98e+00 6.01e-01 1.43e+05 1 6.54e-02 3.13e+00 48 1.270094e+04 6.40e+00 1.91e+05 3.92e+00 6.07e-01 1.44e+05 1 6.68e-02 3.19e+00 49 1.269493e+04 6.01e+00 1.82e+05 3.87e+00 6.13e-01 1.46e+05 1 6.57e-02 3.26e+00 50 1.268931e+04 5.63e+00 1.75e+05 3.81e+00 6.19e-01 1.48e+05 1 7.01e-02 3.33e+00 Bundle adjustment report ------------------------ Residuals : 42832 Parameters : 15895 Iterations : 51 Time : 3.3296 [s] Initial cost : 0.5993 [px] Final cost : 0.544296 [px] Termination : No convergence => Completed observations: 557 => Merged observations: 40 => Filtered observations: 9 => Changed observations: 0.028297 => Filtered images: 0 ============================================================================== Registering image #11 (26) ============================================================================== => Image sees 713 / 2882 points Pose refinement report ---------------------- Residuals : 1280 Parameters : 6 Iterations : 7 Time : 0.010282 [s] Initial cost : 0.539543 [px] Final cost : 0.502172 [px] Termination : Convergence => Continued observations: 634 => Added observations: 3772 Bundle adjustment report ------------------------ Residuals : 43812 Parameters : 15119 Iterations : 26 Time : 0.916054 [s] Initial cost : 1.47277 [px] Final cost : 1.3752 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 402 => Filtered observations: 1471 => Changed observations: 0.085373 Bundle adjustment report ------------------------ Residuals : 41654 Parameters : 14810 Iterations : 26 Time : 0.84488 [s] Initial cost : 0.671478 [px] Final cost : 0.571295 [px] Termination : No convergence => Merged observations: 26 => Completed observations: 982 => Filtered observations: 11 => Changed observations: 0.048849 ============================================================================== Retriangulation ============================================================================== => Completed observations: 85 => Merged observations: 0 => Retriangulated observations: 2613 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.175747e+07 0.00e+00 5.51e+07 0.00e+00 0.00e+00 1.00e+04 0 5.09e-02 9.84e-02 1 6.507779e+07 -5.33e+07 0.00e+00 7.37e+02 -6.50e+00 5.00e+03 1 3.46e-02 1.33e-01 2 2.404075e+07 -1.23e+07 0.00e+00 5.37e+02 -1.53e+00 1.25e+03 1 3.03e-02 1.63e-01 3 5.450491e+06 6.31e+06 2.29e+08 3.56e+02 8.22e-01 1.71e+03 1 7.81e-02 2.42e-01 4 4.802858e+06 6.48e+05 1.33e+08 5.51e+00 3.89e-01 1.69e+03 1 7.94e-02 3.21e-01 5 3.749120e+06 1.05e+06 4.20e+07 1.18e+00 9.16e-01 3.97e+03 1 8.01e-02 4.01e-01 6 4.083401e+06 -3.34e+05 0.00e+00 2.33e+01 -1.19e+00 1.99e+03 1 3.17e-02 4.33e-01 7 3.605938e+06 1.43e+05 3.36e+07 6.89e+00 6.84e-01 2.09e+03 1 7.71e-02 5.10e-01 8 3.459618e+06 1.46e+05 2.37e+07 1.07e+01 8.53e-01 3.23e+03 1 8.03e-02 5.90e-01 9 3.367153e+06 9.25e+04 3.94e+07 1.80e+01 5.21e-01 3.23e+03 1 8.52e-02 6.76e-01 10 3.149312e+06 2.18e+05 2.85e+07 5.84e+00 8.94e-01 6.30e+03 1 8.01e-02 7.56e-01 11 3.254933e+06 -1.06e+05 0.00e+00 1.01e+02 -4.30e-01 3.15e+03 1 3.06e-02 7.86e-01 12 2.987376e+06 1.62e+05 2.57e+07 3.69e+01 8.89e-01 5.97e+03 1 7.70e-02 8.63e-01 13 2.993679e+06 -6.30e+03 0.00e+00 1.69e+02 -2.95e-02 2.99e+03 1 3.05e-02 8.94e-01 14 2.842244e+06 1.45e+05 1.95e+07 7.58e+01 9.31e-01 8.30e+03 1 8.44e-02 9.78e-01 15 3.050025e+06 -2.08e+05 0.00e+00 3.10e+02 -1.01e+00 4.15e+03 1 3.10e-02 1.01e+00 16 2.737248e+06 1.05e+05 2.64e+07 1.50e+02 7.21e-01 4.54e+03 1 7.79e-02 1.09e+00 17 2.610657e+06 1.27e+05 1.99e+07 1.89e+02 8.72e-01 7.73e+03 1 7.91e-02 1.17e+00 18 2.559042e+06 5.16e+04 3.33e+07 3.27e+02 3.98e-01 7.66e+03 1 7.77e-02 1.24e+00 19 2.416569e+06 1.42e+05 1.86e+07 3.02e+02 8.82e-01 1.38e+04 1 7.89e-02 1.32e+00 20 2.395067e+06 2.15e+04 3.90e+07 4.82e+02 1.69e-01 1.07e+04 1 7.73e-02 1.40e+00 21 2.224590e+06 1.70e+05 1.25e+07 3.33e+02 9.67e-01 3.21e+04 1 7.69e-02 1.48e+00 22 2.469458e+06 -2.45e+05 0.00e+00 8.82e+02 -1.94e+00 1.60e+04 1 3.01e-02 1.51e+00 23 2.173655e+06 5.09e+04 2.01e+07 4.63e+02 6.14e-01 1.62e+04 1 7.67e-02 1.58e+00 24 2.092292e+06 8.14e+04 1.13e+07 4.39e+02 8.92e-01 3.13e+04 1 7.74e-02 1.66e+00 25 2.107126e+06 -1.48e+04 0.00e+00 8.31e+02 -1.54e-01 1.56e+04 1 3.70e-02 1.70e+00 26 2.032348e+06 5.99e+04 9.16e+06 4.25e+02 9.32e-01 4.40e+04 1 7.72e-02 1.78e+00 27 2.234050e+06 -2.02e+05 0.00e+00 1.21e+03 -1.97e+00 2.20e+04 1 3.07e-02 1.81e+00 28 1.985920e+06 4.64e+04 1.45e+07 6.19e+02 6.98e-01 2.34e+04 1 7.73e-02 1.88e+00 29 1.929175e+06 5.67e+04 1.27e+07 7.06e+02 7.59e-01 2.72e+04 1 8.37e-02 1.97e+00 30 1.895856e+06 3.33e+04 1.27e+07 8.74e+02 5.09e-01 2.72e+04 1 7.87e-02 2.05e+00 31 1.858569e+06 3.73e+04 9.22e+06 9.12e+02 5.70e-01 2.73e+04 1 7.74e-02 2.12e+00 32 1.831026e+06 2.75e+04 6.80e+06 9.30e+02 5.25e-01 2.73e+04 1 7.86e-02 2.20e+00 33 1.808460e+06 2.26e+04 5.02e+06 9.27e+02 5.23e-01 2.73e+04 1 7.77e-02 2.28e+00 34 1.790044e+06 1.84e+04 4.12e+06 9.14e+02 5.27e-01 2.73e+04 1 7.86e-02 2.36e+00 35 1.774945e+06 1.51e+04 3.82e+06 8.94e+02 5.37e-01 2.73e+04 1 7.83e-02 2.44e+00 36 1.762522e+06 1.24e+04 3.51e+06 8.71e+02 5.50e-01 2.73e+04 1 7.74e-02 2.51e+00 37 1.752234e+06 1.03e+04 3.22e+06 8.46e+02 5.64e-01 2.74e+04 1 7.75e-02 2.59e+00 38 1.743631e+06 8.60e+03 2.96e+06 8.21e+02 5.78e-01 2.75e+04 1 7.80e-02 2.67e+00 39 1.736353e+06 7.28e+03 2.73e+06 7.98e+02 5.93e-01 2.77e+04 1 8.52e-02 2.76e+00 40 1.730112e+06 6.24e+03 2.53e+06 7.77e+02 6.08e-01 2.79e+04 1 8.15e-02 2.84e+00 41 1.724679e+06 5.43e+03 2.36e+06 7.59e+02 6.21e-01 2.83e+04 1 8.03e-02 2.92e+00 42 1.719874e+06 4.81e+03 2.23e+06 7.45e+02 6.33e-01 2.89e+04 1 8.62e-02 3.00e+00 43 1.715550e+06 4.32e+03 2.13e+06 7.35e+02 6.43e-01 2.96e+04 1 7.95e-02 3.08e+00 44 1.711592e+06 3.96e+03 2.06e+06 7.29e+02 6.52e-01 3.04e+04 1 7.95e-02 3.16e+00 45 1.707904e+06 3.69e+03 2.01e+06 7.26e+02 6.61e-01 3.15e+04 1 7.88e-02 3.24e+00 46 1.704402e+06 3.50e+03 1.99e+06 7.28e+02 6.68e-01 3.27e+04 1 7.89e-02 3.32e+00 47 1.701015e+06 3.39e+03 1.99e+06 7.34e+02 6.75e-01 3.42e+04 1 7.94e-02 3.40e+00 48 1.697671e+06 3.34e+03 2.02e+06 7.44e+02 6.81e-01 3.59e+04 1 7.74e-02 3.48e+00 49 1.694300e+06 3.37e+03 2.07e+06 7.60e+02 6.87e-01 3.78e+04 1 7.64e-02 3.55e+00 50 1.690831e+06 3.47e+03 2.16e+06 7.81e+02 6.91e-01 4.01e+04 1 7.77e-02 3.63e+00 Bundle adjustment report ------------------------ Residuals : 57940 Parameters : 22453 Iterations : 51 Time : 3.63247 [s] Initial cost : 14.2452 [px] Final cost : 5.40208 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 10 => Filtered observations: 8271 => Changed observations: 0.285847 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.965079e+04 0.00e+00 3.59e+06 0.00e+00 0.00e+00 1.00e+04 0 4.05e-02 7.74e-02 1 2.727369e+04 1.24e+04 8.19e+06 5.73e+01 9.10e-01 2.22e+04 1 6.35e-02 1.41e-01 2 2.375969e+04 3.51e+03 1.94e+06 1.15e+02 9.59e-01 6.67e+04 1 6.05e-02 2.01e-01 3 2.232669e+04 1.43e+03 4.20e+06 5.00e+02 6.84e-01 7.02e+04 1 6.07e-02 2.62e-01 4 2.113206e+04 1.19e+03 1.97e+06 5.44e+02 7.76e-01 8.44e+04 1 6.52e-02 3.27e-01 5 2.069642e+04 4.36e+02 1.48e+06 6.44e+02 4.33e-01 8.42e+04 1 6.18e-02 3.89e-01 6 2.013910e+04 5.57e+02 1.31e+06 6.22e+02 5.22e-01 8.42e+04 1 6.04e-02 4.50e-01 7 1.968783e+04 4.51e+02 1.19e+06 6.01e+02 4.90e-01 8.42e+04 1 6.10e-02 5.11e-01 8 1.929950e+04 3.88e+02 1.09e+06 5.80e+02 4.73e-01 8.42e+04 1 6.06e-02 5.71e-01 9 1.895638e+04 3.43e+02 1.01e+06 5.60e+02 4.63e-01 8.42e+04 1 6.09e-02 6.32e-01 10 1.864758e+04 3.09e+02 9.44e+05 5.41e+02 4.57e-01 8.41e+04 1 6.10e-02 6.93e-01 11 1.836564e+04 2.82e+02 8.84e+05 5.22e+02 4.54e-01 8.41e+04 1 6.11e-02 7.54e-01 12 1.810505e+04 2.61e+02 8.30e+05 5.04e+02 4.55e-01 8.40e+04 1 6.51e-02 8.20e-01 13 1.786159e+04 2.43e+02 7.81e+05 4.87e+02 4.59e-01 8.39e+04 1 6.26e-02 8.82e-01 14 1.763194e+04 2.30e+02 7.36e+05 4.70e+02 4.65e-01 8.39e+04 1 6.06e-02 9.43e-01 15 1.741348e+04 2.18e+02 6.95e+05 4.54e+02 4.74e-01 8.39e+04 1 6.02e-02 1.00e+00 16 1.720412e+04 2.09e+02 6.56e+05 4.39e+02 4.84e-01 8.39e+04 1 6.52e-02 1.07e+00 17 1.700229e+04 2.02e+02 6.20e+05 4.24e+02 4.97e-01 8.39e+04 1 6.10e-02 1.13e+00 18 1.680681e+04 1.95e+02 5.85e+05 4.09e+02 5.10e-01 8.39e+04 1 6.14e-02 1.19e+00 19 1.661687e+04 1.90e+02 5.53e+05 3.95e+02 5.25e-01 8.39e+04 1 6.09e-02 1.25e+00 20 1.643199e+04 1.85e+02 5.22e+05 3.81e+02 5.41e-01 8.40e+04 1 6.08e-02 1.31e+00 21 1.625190e+04 1.80e+02 4.93e+05 3.68e+02 5.57e-01 8.41e+04 1 6.74e-02 1.38e+00 22 1.607643e+04 1.75e+02 4.65e+05 3.56e+02 5.73e-01 8.43e+04 1 6.01e-02 1.44e+00 23 1.590548e+04 1.71e+02 4.41e+05 3.44e+02 5.87e-01 8.48e+04 1 6.19e-02 1.50e+00 24 1.573884e+04 1.67e+02 4.19e+05 3.33e+02 6.01e-01 8.55e+04 1 6.33e-02 1.57e+00 25 1.557627e+04 1.63e+02 3.99e+05 3.23e+02 6.12e-01 8.65e+04 1 6.26e-02 1.63e+00 26 1.541747e+04 1.59e+02 3.82e+05 3.14e+02 6.22e-01 8.77e+04 1 6.35e-02 1.69e+00 27 1.526217e+04 1.55e+02 3.67e+05 3.06e+02 6.30e-01 8.93e+04 1 6.10e-02 1.75e+00 28 1.511019e+04 1.52e+02 3.54e+05 2.99e+02 6.36e-01 9.12e+04 1 6.16e-02 1.81e+00 29 1.496149e+04 1.49e+02 3.43e+05 2.92e+02 6.42e-01 9.33e+04 1 6.05e-02 1.87e+00 30 1.481618e+04 1.45e+02 3.33e+05 2.86e+02 6.46e-01 9.57e+04 1 6.04e-02 1.94e+00 31 1.467452e+04 1.42e+02 3.37e+05 2.80e+02 6.50e-01 9.84e+04 1 6.12e-02 2.00e+00 32 1.453691e+04 1.38e+02 3.38e+05 2.74e+02 6.53e-01 1.01e+05 1 6.53e-02 2.06e+00 33 1.440386e+04 1.33e+02 3.35e+05 2.67e+02 6.56e-01 1.04e+05 1 6.12e-02 2.12e+00 34 1.427595e+04 1.28e+02 3.28e+05 2.61e+02 6.59e-01 1.08e+05 1 6.12e-02 2.18e+00 35 1.415375e+04 1.22e+02 3.17e+05 2.55e+02 6.62e-01 1.12e+05 1 6.08e-02 2.24e+00 36 1.403783e+04 1.16e+02 3.01e+05 2.48e+02 6.64e-01 1.16e+05 1 6.11e-02 2.31e+00 37 1.392865e+04 1.09e+02 2.82e+05 2.41e+02 6.67e-01 1.20e+05 1 6.67e-02 2.37e+00 38 1.382654e+04 1.02e+02 2.59e+05 2.34e+02 6.69e-01 1.25e+05 1 6.09e-02 2.43e+00 39 1.373167e+04 9.49e+01 2.37e+05 2.26e+02 6.72e-01 1.31e+05 1 6.17e-02 2.50e+00 40 1.364401e+04 8.77e+01 2.26e+05 2.19e+02 6.76e-01 1.36e+05 1 6.11e-02 2.56e+00 41 1.356332e+04 8.07e+01 2.15e+05 2.11e+02 6.79e-01 1.43e+05 1 6.14e-02 2.62e+00 42 1.348918e+04 7.41e+01 2.04e+05 2.03e+02 6.84e-01 1.51e+05 1 6.04e-02 2.68e+00 43 1.342100e+04 6.82e+01 1.94e+05 1.95e+02 6.89e-01 1.59e+05 1 6.04e-02 2.74e+00 44 1.335806e+04 6.29e+01 1.84e+05 1.88e+02 6.94e-01 1.69e+05 1 6.07e-02 2.80e+00 45 1.329953e+04 5.85e+01 1.76e+05 1.81e+02 7.01e-01 1.81e+05 1 6.02e-02 2.86e+00 46 1.324456e+04 5.50e+01 1.68e+05 1.74e+02 7.07e-01 1.94e+05 1 6.01e-02 2.92e+00 47 1.319224e+04 5.23e+01 1.62e+05 1.68e+02 7.15e-01 2.11e+05 1 6.02e-02 2.98e+00 48 1.314170e+04 5.05e+01 1.67e+05 1.62e+02 7.22e-01 2.32e+05 1 6.00e-02 3.04e+00 49 1.309208e+04 4.96e+01 1.93e+05 1.57e+02 7.30e-01 2.56e+05 1 6.51e-02 3.11e+00 50 1.304255e+04 4.95e+01 2.19e+05 1.52e+02 7.36e-01 2.87e+05 1 6.16e-02 3.17e+00 Bundle adjustment report ------------------------ Residuals : 41398 Parameters : 18880 Iterations : 51 Time : 3.1679 [s] Initial cost : 0.97867 [px] Final cost : 0.561296 [px] Termination : No convergence => Completed observations: 2708 => Merged observations: 16 => Filtered observations: 19 => Changed observations: 0.132518 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.983521e+04 0.00e+00 4.69e+05 0.00e+00 0.00e+00 1.00e+04 0 4.68e-02 8.50e-02 1 1.691369e+04 2.92e+03 2.30e+05 1.34e+01 9.97e-01 3.00e+04 1 7.78e-02 1.63e-01 2 1.666138e+04 2.52e+02 2.06e+05 9.75e+01 9.75e-01 9.00e+04 1 7.33e-02 2.36e-01 3 1.653865e+04 1.23e+02 4.59e+05 2.77e+02 4.13e-01 8.95e+04 1 6.98e-02 3.06e-01 4 1.630813e+04 2.31e+02 3.39e+05 2.45e+02 6.74e-01 9.35e+04 1 7.07e-02 3.77e-01 5 1.616359e+04 1.45e+02 2.93e+05 2.29e+02 6.23e-01 9.49e+04 1 7.12e-02 4.48e-01 6 1.604498e+04 1.19e+02 2.43e+05 2.07e+02 6.59e-01 9.80e+04 1 7.17e-02 5.20e-01 7 1.595305e+04 9.19e+01 2.08e+05 1.90e+02 6.69e-01 1.02e+05 1 7.05e-02 5.90e-01 8 1.587658e+04 7.65e+01 1.79e+05 1.75e+02 6.92e-01 1.08e+05 1 6.98e-02 6.60e-01 9 1.581147e+04 6.51e+01 1.59e+05 1.63e+02 7.09e-01 1.17e+05 1 6.99e-02 7.30e-01 10 1.575321e+04 5.83e+01 1.43e+05 1.53e+02 7.29e-01 1.29e+05 1 7.00e-02 8.00e-01 11 1.569905e+04 5.42e+01 1.32e+05 1.45e+02 7.45e-01 1.46e+05 1 7.47e-02 8.75e-01 12 1.564637e+04 5.27e+01 1.37e+05 1.39e+02 7.62e-01 1.71e+05 1 7.10e-02 9.46e-01 13 1.559304e+04 5.33e+01 1.47e+05 1.34e+02 7.77e-01 2.06e+05 1 7.09e-02 1.02e+00 14 1.553679e+04 5.62e+01 1.54e+05 1.30e+02 7.91e-01 2.56e+05 1 7.19e-02 1.09e+00 15 1.547590e+04 6.09e+01 2.37e+05 1.26e+02 7.92e-01 3.20e+05 1 7.65e-02 1.17e+00 16 1.541138e+04 6.45e+01 3.79e+05 1.18e+02 7.56e-01 3.70e+05 1 7.30e-02 1.24e+00 17 1.534796e+04 6.34e+01 5.21e+05 1.03e+02 6.82e-01 3.89e+05 1 7.05e-02 1.31e+00 18 1.528585e+04 6.21e+01 5.83e+05 8.43e+01 6.31e-01 3.96e+05 1 7.20e-02 1.38e+00 19 1.522592e+04 5.99e+01 5.98e+05 6.96e+01 5.97e-01 3.99e+05 1 7.10e-02 1.45e+00 20 1.516822e+04 5.77e+01 6.06e+05 5.91e+01 5.79e-01 4.00e+05 1 7.59e-02 1.53e+00 21 1.511327e+04 5.50e+01 6.07e+05 5.16e+01 5.72e-01 4.01e+05 1 7.75e-02 1.61e+00 22 1.506144e+04 5.18e+01 5.95e+05 4.62e+01 5.71e-01 4.03e+05 1 7.67e-02 1.68e+00 23 1.501304e+04 4.84e+01 5.74e+05 4.21e+01 5.74e-01 4.04e+05 1 8.29e-02 1.76e+00 24 1.496822e+04 4.48e+01 5.47e+05 3.90e+01 5.80e-01 4.06e+05 1 7.12e-02 1.84e+00 25 1.492705e+04 4.12e+01 5.17e+05 3.64e+01 5.87e-01 4.08e+05 1 7.58e-02 1.91e+00 26 1.488946e+04 3.76e+01 4.86e+05 3.43e+01 5.96e-01 4.11e+05 1 7.27e-02 1.98e+00 27 1.485529e+04 3.42e+01 4.55e+05 3.25e+01 6.05e-01 4.14e+05 1 7.17e-02 2.06e+00 28 1.482436e+04 3.09e+01 4.25e+05 3.09e+01 6.14e-01 4.19e+05 1 7.13e-02 2.13e+00 29 1.479643e+04 2.79e+01 3.97e+05 2.94e+01 6.22e-01 4.26e+05 1 7.71e-02 2.20e+00 30 1.477124e+04 2.52e+01 3.70e+05 2.82e+01 6.30e-01 4.33e+05 1 7.28e-02 2.28e+00 31 1.474856e+04 2.27e+01 3.46e+05 2.70e+01 6.38e-01 4.42e+05 1 7.17e-02 2.35e+00 32 1.472816e+04 2.04e+01 3.23e+05 2.60e+01 6.44e-01 4.53e+05 1 7.19e-02 2.42e+00 33 1.470982e+04 1.83e+01 3.02e+05 2.50e+01 6.51e-01 4.66e+05 1 7.18e-02 2.49e+00 34 1.469337e+04 1.65e+01 2.83e+05 2.41e+01 6.56e-01 4.81e+05 1 7.22e-02 2.57e+00 35 1.467862e+04 1.47e+01 2.64e+05 2.32e+01 6.62e-01 4.98e+05 1 7.16e-02 2.64e+00 36 1.466544e+04 1.32e+01 2.47e+05 2.23e+01 6.67e-01 5.17e+05 1 7.06e-02 2.71e+00 37 1.465369e+04 1.17e+01 2.31e+05 2.15e+01 6.72e-01 5.39e+05 1 7.05e-02 2.78e+00 38 1.464326e+04 1.04e+01 2.15e+05 2.07e+01 6.77e-01 5.64e+05 1 7.21e-02 2.85e+00 39 1.463404e+04 9.22e+00 2.00e+05 2.00e+01 6.82e-01 5.92e+05 1 7.51e-02 2.93e+00 40 1.462593e+04 8.11e+00 1.86e+05 1.92e+01 6.86e-01 6.24e+05 1 7.13e-02 3.00e+00 41 1.461884e+04 7.09e+00 1.72e+05 1.84e+01 6.92e-01 6.62e+05 1 7.10e-02 3.07e+00 42 1.461269e+04 6.15e+00 1.58e+05 1.76e+01 6.97e-01 7.05e+05 1 7.06e-02 3.14e+00 43 1.460740e+04 5.29e+00 1.45e+05 1.68e+01 7.03e-01 7.55e+05 1 7.73e-02 3.22e+00 44 1.460289e+04 4.51e+00 1.32e+05 1.60e+01 7.09e-01 8.14e+05 1 7.26e-02 3.29e+00 45 1.459908e+04 3.80e+00 1.19e+05 1.52e+01 7.15e-01 8.84e+05 1 7.17e-02 3.36e+00 46 1.459592e+04 3.17e+00 1.07e+05 1.44e+01 7.22e-01 9.70e+05 1 7.29e-02 3.43e+00 47 1.459332e+04 2.59e+00 9.53e+04 1.36e+01 7.30e-01 1.07e+06 1 7.62e-02 3.51e+00 48 1.459123e+04 2.09e+00 8.38e+04 1.27e+01 7.39e-01 1.21e+06 1 7.38e-02 3.58e+00 49 1.458959e+04 1.64e+00 7.26e+04 1.19e+01 7.49e-01 1.38e+06 1 7.14e-02 3.65e+00 50 1.458833e+04 1.26e+00 6.19e+04 1.09e+01 7.61e-01 1.61e+06 1 7.04e-02 3.73e+00 Bundle adjustment report ------------------------ Residuals : 46776 Parameters : 18847 Iterations : 51 Time : 3.72627 [s] Initial cost : 0.651189 [px] Final cost : 0.558459 [px] Termination : No convergence => Completed observations: 670 => Merged observations: 30 => Filtered observations: 7 => Changed observations: 0.030229 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.731856e+04 0.00e+00 2.03e+05 0.00e+00 0.00e+00 1.00e+04 0 4.68e-02 8.50e-02 1 1.607502e+04 1.24e+03 5.35e+04 6.62e-01 1.00e+00 3.00e+04 1 8.27e-02 1.68e-01 2 1.602375e+04 5.13e+01 6.22e+04 4.80e+00 9.97e-01 9.00e+04 1 7.42e-02 2.42e-01 3 1.595476e+04 6.90e+01 4.01e+05 7.13e+00 8.49e-01 1.36e+05 1 7.38e-02 3.16e-01 4 1.589662e+04 5.81e+01 6.74e+05 3.63e+00 6.26e-01 1.39e+05 1 7.39e-02 3.90e-01 5 1.582054e+04 7.61e+01 5.65e+05 2.42e+00 7.57e-01 1.61e+05 1 7.81e-02 4.68e-01 6 1.576110e+04 5.94e+01 6.51e+05 4.22e+00 6.44e-01 1.65e+05 1 7.38e-02 5.42e-01 7 1.569386e+04 6.72e+01 6.28e+05 6.86e+00 6.83e-01 1.73e+05 1 7.44e-02 6.16e-01 8 1.563145e+04 6.24e+01 6.64e+05 9.82e+00 6.39e-01 1.77e+05 1 7.40e-02 6.90e-01 9 1.556728e+04 6.42e+01 6.79e+05 1.22e+01 6.33e-01 1.80e+05 1 7.43e-02 7.64e-01 10 1.550394e+04 6.33e+01 7.01e+05 1.41e+01 6.15e-01 1.83e+05 1 7.57e-02 8.40e-01 11 1.544075e+04 6.32e+01 7.19e+05 1.55e+01 6.02e-01 1.84e+05 1 7.42e-02 9.14e-01 12 1.537810e+04 6.27e+01 7.35e+05 1.64e+01 5.90e-01 1.85e+05 1 7.30e-02 9.87e-01 13 1.531607e+04 6.20e+01 7.49e+05 1.69e+01 5.80e-01 1.86e+05 1 7.28e-02 1.06e+00 14 1.525483e+04 6.12e+01 7.59e+05 1.72e+01 5.71e-01 1.86e+05 1 7.82e-02 1.14e+00 15 1.519445e+04 6.04e+01 7.68e+05 1.73e+01 5.62e-01 1.87e+05 1 7.49e-02 1.21e+00 16 1.513503e+04 5.94e+01 7.75e+05 1.73e+01 5.55e-01 1.87e+05 1 7.40e-02 1.29e+00 17 1.507663e+04 5.84e+01 7.80e+05 1.71e+01 5.48e-01 1.87e+05 1 7.34e-02 1.36e+00 18 1.501930e+04 5.73e+01 7.84e+05 1.70e+01 5.42e-01 1.87e+05 1 7.49e-02 1.44e+00 19 1.496307e+04 5.62e+01 7.86e+05 1.68e+01 5.36e-01 1.87e+05 1 8.02e-02 1.52e+00 20 1.490798e+04 5.51e+01 7.88e+05 1.66e+01 5.31e-01 1.87e+05 1 7.40e-02 1.59e+00 21 1.485404e+04 5.39e+01 7.88e+05 1.63e+01 5.27e-01 1.87e+05 1 7.56e-02 1.67e+00 22 1.480128e+04 5.28e+01 7.87e+05 1.61e+01 5.22e-01 1.87e+05 1 7.52e-02 1.74e+00 23 1.474970e+04 5.16e+01 7.85e+05 1.59e+01 5.19e-01 1.88e+05 1 7.61e-02 1.82e+00 24 1.469932e+04 5.04e+01 7.82e+05 1.56e+01 5.15e-01 1.88e+05 1 7.47e-02 1.89e+00 25 1.465015e+04 4.92e+01 7.79e+05 1.54e+01 5.12e-01 1.88e+05 1 7.36e-02 1.97e+00 26 1.460218e+04 4.80e+01 7.75e+05 1.52e+01 5.09e-01 1.88e+05 1 7.55e-02 2.04e+00 27 1.455544e+04 4.67e+01 7.69e+05 1.50e+01 5.06e-01 1.88e+05 1 7.45e-02 2.12e+00 28 1.450991e+04 4.55e+01 7.64e+05 1.48e+01 5.04e-01 1.88e+05 1 7.75e-02 2.19e+00 29 1.446560e+04 4.43e+01 7.57e+05 1.46e+01 5.02e-01 1.88e+05 1 7.57e-02 2.27e+00 30 1.442251e+04 4.31e+01 7.50e+05 1.44e+01 5.00e-01 1.88e+05 1 7.44e-02 2.34e+00 31 1.438065e+04 4.19e+01 7.42e+05 1.42e+01 4.99e-01 1.88e+05 1 7.48e-02 2.42e+00 32 1.434001e+04 4.06e+01 7.33e+05 1.40e+01 4.98e-01 1.88e+05 1 7.84e-02 2.50e+00 33 1.430060e+04 3.94e+01 7.23e+05 1.38e+01 4.97e-01 1.88e+05 1 7.24e-02 2.57e+00 34 1.426240e+04 3.82e+01 7.13e+05 1.36e+01 4.97e-01 1.88e+05 1 7.35e-02 2.64e+00 35 1.422541e+04 3.70e+01 7.02e+05 1.34e+01 4.97e-01 1.88e+05 1 7.48e-02 2.72e+00 36 1.418965e+04 3.58e+01 6.91e+05 1.32e+01 4.97e-01 1.88e+05 1 7.37e-02 2.79e+00 37 1.415509e+04 3.46e+01 6.78e+05 1.30e+01 4.98e-01 1.88e+05 1 7.61e-02 2.87e+00 38 1.412173e+04 3.34e+01 6.66e+05 1.28e+01 4.99e-01 1.88e+05 1 7.68e-02 2.94e+00 39 1.408957e+04 3.22e+01 6.52e+05 1.26e+01 5.00e-01 1.88e+05 1 7.40e-02 3.02e+00 40 1.405860e+04 3.10e+01 6.38e+05 1.24e+01 5.02e-01 1.88e+05 1 7.28e-02 3.09e+00 41 1.402881e+04 2.98e+01 6.23e+05 1.22e+01 5.04e-01 1.88e+05 1 7.86e-02 3.17e+00 42 1.400019e+04 2.86e+01 6.08e+05 1.20e+01 5.07e-01 1.88e+05 1 7.36e-02 3.24e+00 43 1.397273e+04 2.75e+01 5.93e+05 1.18e+01 5.10e-01 1.88e+05 1 7.41e-02 3.32e+00 44 1.394642e+04 2.63e+01 5.77e+05 1.16e+01 5.13e-01 1.88e+05 1 7.44e-02 3.39e+00 45 1.392124e+04 2.52e+01 5.60e+05 1.14e+01 5.17e-01 1.88e+05 1 7.38e-02 3.47e+00 46 1.389717e+04 2.41e+01 5.43e+05 1.12e+01 5.21e-01 1.88e+05 1 8.01e-02 3.55e+00 47 1.387421e+04 2.30e+01 5.26e+05 1.10e+01 5.25e-01 1.88e+05 1 7.49e-02 3.62e+00 48 1.385234e+04 2.19e+01 5.09e+05 1.08e+01 5.30e-01 1.88e+05 1 7.32e-02 3.69e+00 49 1.383152e+04 2.08e+01 4.91e+05 1.06e+01 5.35e-01 1.88e+05 1 7.43e-02 3.77e+00 50 1.381175e+04 1.98e+01 4.74e+05 1.04e+01 5.41e-01 1.88e+05 1 7.40e-02 3.84e+00 Bundle adjustment report ------------------------ Residuals : 48102 Parameters : 18832 Iterations : 51 Time : 3.84323 [s] Initial cost : 0.600032 [px] Final cost : 0.535849 [px] Termination : No convergence => Completed observations: 890 => Merged observations: 80 => Filtered observations: 8 => Changed observations: 0.040664 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.735322e+04 0.00e+00 4.69e+05 0.00e+00 0.00e+00 1.00e+04 0 4.92e-02 8.94e-02 1 1.573673e+04 1.62e+03 4.58e+05 1.37e-01 9.94e-01 3.00e+04 1 7.95e-02 1.69e-01 2 1.566766e+04 6.91e+01 8.70e+05 8.24e+00 5.64e-01 3.01e+04 1 7.67e-02 2.46e-01 3 1.556557e+04 1.02e+02 4.29e+05 9.32e+00 8.73e-01 5.13e+04 1 8.18e-02 3.27e-01 4 1.551567e+04 4.99e+01 7.20e+05 1.56e+01 5.21e-01 5.13e+04 1 7.63e-02 4.04e-01 5 1.542846e+04 8.72e+01 5.95e+05 1.42e+01 7.53e-01 5.90e+04 1 7.70e-02 4.81e-01 6 1.536459e+04 6.39e+01 6.86e+05 1.38e+01 6.35e-01 6.02e+04 1 7.81e-02 5.59e-01 7 1.529303e+04 7.16e+01 6.46e+05 1.13e+01 6.89e-01 6.36e+04 1 8.43e-02 6.43e-01 8 1.522912e+04 6.39e+01 6.59e+05 8.84e+00 6.56e-01 6.56e+04 1 7.83e-02 7.22e-01 9 1.516564e+04 6.35e+01 6.44e+05 6.03e+00 6.64e-01 6.80e+04 1 7.76e-02 7.99e-01 10 1.510563e+04 6.00e+01 6.38e+05 3.24e+00 6.56e-01 7.01e+04 1 7.75e-02 8.77e-01 11 1.504781e+04 5.78e+01 6.26e+05 4.95e-01 6.55e-01 7.23e+04 1 7.86e-02 9.55e-01 12 1.499268e+04 5.51e+01 6.14e+05 2.13e+00 6.53e-01 7.44e+04 1 7.95e-02 1.03e+00 13 1.494007e+04 5.26e+01 6.00e+05 4.58e+00 6.51e-01 7.65e+04 1 7.66e-02 1.11e+00 14 1.489003e+04 5.00e+01 5.86e+05 6.83e+00 6.50e-01 7.87e+04 1 7.83e-02 1.19e+00 15 1.484255e+04 4.75e+01 5.71e+05 8.87e+00 6.50e-01 8.08e+04 1 7.90e-02 1.27e+00 16 1.479762e+04 4.49e+01 5.55e+05 1.07e+01 6.50e-01 8.31e+04 1 8.45e-02 1.35e+00 17 1.475523e+04 4.24e+01 5.39e+05 1.23e+01 6.50e-01 8.54e+04 1 7.87e-02 1.43e+00 18 1.471536e+04 3.99e+01 5.21e+05 1.37e+01 6.50e-01 8.77e+04 1 8.12e-02 1.51e+00 19 1.467798e+04 3.74e+01 5.03e+05 1.48e+01 6.51e-01 9.02e+04 1 8.09e-02 1.59e+00 20 1.464304e+04 3.49e+01 4.85e+05 1.58e+01 6.52e-01 9.29e+04 1 8.58e-02 1.68e+00 21 1.461050e+04 3.25e+01 4.66e+05 1.66e+01 6.54e-01 9.56e+04 1 8.16e-02 1.76e+00 22 1.458030e+04 3.02e+01 4.47e+05 1.72e+01 6.56e-01 9.86e+04 1 7.96e-02 1.84e+00 23 1.455237e+04 2.79e+01 4.28e+05 1.77e+01 6.58e-01 1.02e+05 1 8.02e-02 1.92e+00 24 1.452665e+04 2.57e+01 4.09e+05 1.81e+01 6.60e-01 1.05e+05 1 8.21e-02 2.00e+00 25 1.450305e+04 2.36e+01 3.89e+05 1.83e+01 6.63e-01 1.09e+05 1 8.03e-02 2.08e+00 26 1.448149e+04 2.16e+01 3.70e+05 1.83e+01 6.65e-01 1.13e+05 1 8.07e-02 2.16e+00 27 1.446188e+04 1.96e+01 3.50e+05 1.83e+01 6.68e-01 1.18e+05 1 7.87e-02 2.24e+00 28 1.444413e+04 1.78e+01 3.31e+05 1.82e+01 6.72e-01 1.23e+05 1 8.74e-02 2.33e+00 29 1.442814e+04 1.60e+01 3.11e+05 1.80e+01 6.75e-01 1.28e+05 1 8.13e-02 2.41e+00 30 1.441382e+04 1.43e+01 2.92e+05 1.77e+01 6.79e-01 1.34e+05 1 8.08e-02 2.49e+00 31 1.440106e+04 1.28e+01 2.73e+05 1.74e+01 6.83e-01 1.41e+05 1 7.98e-02 2.57e+00 32 1.438978e+04 1.13e+01 2.54e+05 1.69e+01 6.87e-01 1.49e+05 1 8.15e-02 2.65e+00 33 1.437986e+04 9.91e+00 2.36e+05 1.64e+01 6.92e-01 1.58e+05 1 7.84e-02 2.73e+00 34 1.437122e+04 8.64e+00 2.17e+05 1.59e+01 6.96e-01 1.68e+05 1 7.71e-02 2.81e+00 35 1.436375e+04 7.47e+00 2.00e+05 1.52e+01 7.02e-01 1.80e+05 1 7.69e-02 2.89e+00 36 1.435736e+04 6.39e+00 1.82e+05 1.46e+01 7.07e-01 1.93e+05 1 7.64e-02 2.96e+00 37 1.435195e+04 5.41e+00 1.65e+05 1.38e+01 7.13e-01 2.10e+05 1 7.88e-02 3.04e+00 38 1.434744e+04 4.52e+00 1.49e+05 1.31e+01 7.20e-01 2.29e+05 1 7.63e-02 3.12e+00 39 1.434372e+04 3.72e+00 1.32e+05 1.22e+01 7.27e-01 2.53e+05 1 7.68e-02 3.20e+00 40 1.434071e+04 3.01e+00 1.17e+05 1.13e+01 7.35e-01 2.82e+05 1 7.68e-02 3.27e+00 41 1.433833e+04 2.38e+00 1.02e+05 1.04e+01 7.44e-01 3.19e+05 1 8.15e-02 3.35e+00 42 1.433649e+04 1.84e+00 8.69e+04 9.41e+00 7.54e-01 3.67e+05 1 7.61e-02 3.43e+00 43 1.433511e+04 1.38e+00 7.28e+04 8.37e+00 7.66e-01 4.32e+05 1 7.71e-02 3.51e+00 44 1.433411e+04 9.94e-01 5.94e+04 7.29e+00 7.80e-01 5.25e+05 1 7.69e-02 3.58e+00 45 1.433344e+04 6.79e-01 4.68e+04 6.15e+00 7.97e-01 6.65e+05 1 7.93e-02 3.66e+00 46 1.433300e+04 4.33e-01 3.49e+04 4.98e+00 8.19e-01 8.97e+05 1 8.21e-02 3.75e+00 47 1.433275e+04 2.48e-01 2.41e+04 3.78e+00 8.46e-01 1.34e+06 1 7.77e-02 3.82e+00 48 1.433263e+04 1.21e-01 1.45e+04 2.57e+00 8.82e-01 2.41e+06 1 7.92e-02 3.90e+00 49 1.433259e+04 4.37e-02 6.67e+03 1.44e+00 9.28e-01 6.46e+06 1 7.58e-02 3.98e+00 50 1.433258e+04 8.65e-03 1.68e+03 5.31e-01 9.77e-01 1.94e+07 1 7.49e-02 4.05e+00 Bundle adjustment report ------------------------ Residuals : 49866 Parameters : 18793 Iterations : 51 Time : 4.05414 [s] Initial cost : 0.589913 [px] Final cost : 0.536117 [px] Termination : No convergence => Completed observations: 1154 => Merged observations: 235 => Filtered observations: 18 => Changed observations: 0.056431 => Filtered images: 0 ============================================================================== Registering image #15 (27) ============================================================================== => Image sees 885 / 3329 points Pose refinement report ---------------------- Residuals : 1666 Parameters : 6 Iterations : 11 Time : 0.0183668 [s] Initial cost : 0.69034 [px] Final cost : 0.641165 [px] Termination : Convergence => Continued observations: 826 => Added observations: 2840 Bundle adjustment report ------------------------ Residuals : 37972 Parameters : 12794 Iterations : 26 Time : 0.87425 [s] Initial cost : 1.31731 [px] Final cost : 1.25447 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 732 => Filtered observations: 482 => Changed observations: 0.069742 Bundle adjustment report ------------------------ Residuals : 38502 Parameters : 12512 Iterations : 7 Time : 0.239048 [s] Initial cost : 0.616461 [px] Final cost : 0.58064 [px] Termination : Convergence => Merged observations: 55 => Completed observations: 259 => Filtered observations: 4 => Changed observations: 0.016459 ============================================================================== Retriangulation ============================================================================== => Completed observations: 70 => Merged observations: 7 => Retriangulated observations: 398 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.781221e+07 0.00e+00 5.61e+07 0.00e+00 0.00e+00 1.00e+04 0 5.22e-02 9.88e-02 1 1.264090e+08 -1.09e+08 0.00e+00 5.30e+02 -9.07e+00 5.00e+03 1 3.65e-02 1.35e-01 2 5.891273e+07 -4.11e+07 0.00e+00 4.41e+02 -3.49e+00 1.25e+03 1 3.31e-02 1.68e-01 3 1.185640e+07 5.96e+06 4.84e+08 3.57e+02 5.26e-01 1.25e+03 1 8.21e-02 2.51e-01 4 6.699794e+06 5.16e+06 1.18e+08 8.90e+00 8.85e-01 2.31e+03 1 8.25e-02 3.33e-01 5 6.935004e+06 -2.35e+05 0.00e+00 5.90e+01 -1.95e-01 1.15e+03 1 4.01e-02 3.73e-01 6 5.786720e+06 9.13e+05 5.06e+07 3.96e+01 8.72e-01 1.96e+03 1 8.15e-02 4.55e-01 7 5.834137e+06 -4.74e+04 0.00e+00 5.20e+01 -7.42e-02 9.80e+02 1 3.30e-02 4.88e-01 8 5.338617e+06 4.48e+05 3.24e+07 3.22e+01 9.11e-01 2.21e+03 1 8.34e-02 5.71e-01 9 5.561632e+06 -2.23e+05 0.00e+00 7.79e+01 -4.36e-01 1.11e+03 1 3.32e-02 6.05e-01 10 5.037984e+06 3.01e+05 3.40e+07 3.99e+01 7.94e-01 1.39e+03 1 8.22e-02 6.87e-01 11 4.767298e+06 2.71e+05 3.62e+07 6.82e+01 7.27e-01 1.53e+03 1 8.20e-02 7.69e-01 12 4.507311e+06 2.60e+05 3.06e+07 9.58e+01 8.03e-01 1.97e+03 1 8.20e-02 8.51e-01 13 4.344620e+06 1.63e+05 3.22e+07 1.34e+02 7.01e-01 2.11e+03 1 8.25e-02 9.33e-01 14 4.197558e+06 1.47e+05 2.18e+07 1.45e+02 8.21e-01 2.87e+03 1 8.93e-02 1.02e+00 15 4.108209e+06 8.93e+04 2.23e+07 1.88e+02 7.29e-01 3.17e+03 1 8.36e-02 1.11e+00 16 4.020867e+06 8.73e+04 1.44e+07 1.99e+02 8.84e-01 5.80e+03 1 8.44e-02 1.19e+00 17 3.963294e+06 5.76e+04 2.25e+07 3.31e+02 6.42e-01 5.94e+03 1 8.38e-02 1.27e+00 18 3.865470e+06 9.78e+04 1.18e+07 3.17e+02 1.00e+00 1.78e+04 1 8.71e-02 1.36e+00 19 4.037334e+06 -1.72e+05 0.00e+00 7.77e+02 -1.15e+00 8.91e+03 1 3.61e-02 1.40e+00 20 3.782918e+06 8.26e+04 2.55e+07 4.21e+02 8.23e-01 1.22e+04 1 8.18e-02 1.48e+00 21 3.651928e+06 1.31e+05 3.54e+07 5.08e+02 8.11e-01 1.61e+04 1 8.26e-02 1.56e+00 22 3.503649e+06 1.48e+05 2.99e+07 6.19e+02 7.94e-01 2.02e+04 1 8.34e-02 1.65e+00 23 3.403307e+06 1.00e+05 1.37e+07 7.70e+02 7.72e-01 2.41e+04 1 8.49e-02 1.73e+00 24 3.353938e+06 4.94e+04 1.24e+07 8.81e+02 5.89e-01 2.42e+04 1 8.37e-02 1.81e+00 25 3.301586e+06 5.24e+04 9.13e+06 8.45e+02 7.13e-01 2.62e+04 1 8.33e-02 1.90e+00 26 3.265481e+06 3.61e+04 8.07e+06 8.60e+02 6.51e-01 2.69e+04 1 8.28e-02 1.98e+00 27 3.231038e+06 3.44e+04 6.55e+06 8.41e+02 7.03e-01 2.89e+04 1 9.04e-02 2.07e+00 28 3.202965e+06 2.81e+04 5.95e+06 8.56e+02 6.73e-01 3.01e+04 1 8.47e-02 2.16e+00 29 3.176469e+06 2.65e+04 5.23e+06 8.54e+02 6.96e-01 3.21e+04 1 8.47e-02 2.24e+00 30 3.153261e+06 2.32e+04 4.89e+06 8.71e+02 6.79e-01 3.36e+04 1 8.28e-02 2.32e+00 31 3.131546e+06 2.17e+04 4.51e+06 8.79e+02 6.87e-01 3.55e+04 1 9.13e-02 2.41e+00 32 3.111981e+06 1.96e+04 4.40e+06 8.94e+02 6.77e-01 3.72e+04 1 9.21e-02 2.51e+00 33 3.093872e+06 1.81e+04 4.51e+06 9.06e+02 6.78e-01 3.89e+04 1 9.10e-02 2.60e+00 34 3.077407e+06 1.65e+04 4.60e+06 9.19e+02 6.72e-01 4.06e+04 1 8.34e-02 2.68e+00 35 3.062300e+06 1.51e+04 4.64e+06 9.31e+02 6.69e-01 4.22e+04 1 8.26e-02 2.76e+00 36 3.048544e+06 1.38e+04 4.65e+06 9.43e+02 6.65e-01 4.38e+04 1 8.46e-02 2.85e+00 37 3.035992e+06 1.26e+04 4.62e+06 9.53e+02 6.62e-01 4.53e+04 1 8.21e-02 2.93e+00 38 3.024569e+06 1.14e+04 4.57e+06 9.63e+02 6.58e-01 4.68e+04 1 8.22e-02 3.01e+00 39 3.014172e+06 1.04e+04 4.51e+06 9.72e+02 6.55e-01 4.82e+04 1 9.02e-02 3.10e+00 40 3.004713e+06 9.46e+03 4.42e+06 9.80e+02 6.52e-01 4.96e+04 1 8.80e-02 3.19e+00 41 2.996105e+06 8.61e+03 4.33e+06 9.87e+02 6.50e-01 5.10e+04 1 8.42e-02 3.28e+00 42 2.988269e+06 7.84e+03 4.23e+06 9.94e+02 6.48e-01 5.23e+04 1 8.43e-02 3.36e+00 43 2.981127e+06 7.14e+03 4.12e+06 1.00e+03 6.46e-01 5.37e+04 1 8.99e-02 3.45e+00 44 2.974612e+06 6.52e+03 4.01e+06 1.00e+03 6.44e-01 5.50e+04 1 8.40e-02 3.53e+00 45 2.968660e+06 5.95e+03 3.89e+06 1.01e+03 6.43e-01 5.63e+04 1 8.31e-02 3.62e+00 46 2.963215e+06 5.45e+03 3.78e+06 1.01e+03 6.42e-01 5.76e+04 1 8.35e-02 3.70e+00 47 2.958224e+06 4.99e+03 3.67e+06 1.02e+03 6.41e-01 5.89e+04 1 8.34e-02 3.78e+00 48 2.953642e+06 4.58e+03 3.57e+06 1.02e+03 6.40e-01 6.02e+04 1 8.41e-02 3.87e+00 49 2.949427e+06 4.21e+03 3.46e+06 1.02e+03 6.39e-01 6.16e+04 1 8.22e-02 3.95e+00 50 2.945543e+06 3.88e+03 3.36e+06 1.03e+03 6.39e-01 6.29e+04 1 8.50e-02 4.04e+00 Bundle adjustment report ------------------------ Residuals : 61416 Parameters : 21667 Iterations : 51 Time : 4.03753 [s] Initial cost : 17.0301 [px] Final cost : 6.92535 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 9 => Filtered observations: 12570 => Changed observations: 0.409633 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.099459e+04 0.00e+00 5.01e+06 0.00e+00 0.00e+00 1.00e+04 0 3.62e-02 6.53e-02 1 2.478105e+04 1.62e+04 2.09e+07 3.29e+01 9.02e-01 2.09e+04 1 5.63e-02 1.22e-01 2 2.111399e+04 3.67e+03 1.65e+06 1.11e+02 9.82e-01 6.26e+04 1 5.52e-02 1.77e-01 3 1.949710e+04 1.62e+03 5.30e+06 4.13e+02 8.09e-01 8.20e+04 1 5.44e-02 2.31e-01 4 1.832402e+04 1.17e+03 3.09e+06 5.74e+02 8.30e-01 1.15e+05 1 5.39e-02 2.85e-01 5 1.790767e+04 4.16e+02 2.15e+06 8.16e+02 4.16e-01 1.15e+05 1 5.98e-02 3.45e-01 6 1.735092e+04 5.57e+02 1.53e+06 7.99e+02 5.08e-01 1.15e+05 1 5.42e-02 3.99e-01 7 1.693155e+04 4.19e+02 1.47e+06 7.83e+02 4.45e-01 1.14e+05 1 5.36e-02 4.53e-01 8 1.656979e+04 3.62e+02 1.40e+06 7.64e+02 4.17e-01 1.14e+05 1 5.31e-02 5.06e-01 9 1.623971e+04 3.30e+02 1.32e+06 7.42e+02 4.07e-01 1.13e+05 1 5.30e-02 5.59e-01 10 1.593336e+04 3.06e+02 1.25e+06 7.20e+02 4.03e-01 1.12e+05 1 5.24e-02 6.12e-01 11 1.564633e+04 2.87e+02 1.19e+06 6.97e+02 4.02e-01 1.12e+05 1 5.22e-02 6.64e-01 12 1.537563e+04 2.71e+02 1.13e+06 6.75e+02 4.03e-01 1.11e+05 1 5.21e-02 7.16e-01 13 1.511903e+04 2.57e+02 1.08e+06 6.54e+02 4.05e-01 1.10e+05 1 5.21e-02 7.68e-01 14 1.487492e+04 2.44e+02 1.03e+06 6.33e+02 4.08e-01 1.09e+05 1 5.29e-02 8.21e-01 15 1.464211e+04 2.33e+02 9.82e+05 6.14e+02 4.10e-01 1.09e+05 1 5.25e-02 8.74e-01 16 1.441975e+04 2.22e+02 9.40e+05 5.96e+02 4.13e-01 1.08e+05 1 5.19e-02 9.25e-01 17 1.420724e+04 2.13e+02 9.00e+05 5.78e+02 4.16e-01 1.08e+05 1 5.73e-02 9.83e-01 18 1.400416e+04 2.03e+02 8.62e+05 5.62e+02 4.19e-01 1.07e+05 1 5.27e-02 1.04e+00 19 1.381023e+04 1.94e+02 8.26e+05 5.45e+02 4.22e-01 1.07e+05 1 5.21e-02 1.09e+00 20 1.362524e+04 1.85e+02 7.91e+05 5.29e+02 4.25e-01 1.06e+05 1 5.26e-02 1.14e+00 21 1.344905e+04 1.76e+02 7.58e+05 5.14e+02 4.27e-01 1.06e+05 1 5.34e-02 1.19e+00 22 1.328156e+04 1.67e+02 7.26e+05 4.99e+02 4.30e-01 1.06e+05 1 5.33e-02 1.25e+00 23 1.312265e+04 1.59e+02 6.95e+05 4.84e+02 4.32e-01 1.06e+05 1 5.31e-02 1.30e+00 24 1.297222e+04 1.50e+02 6.64e+05 4.70e+02 4.34e-01 1.05e+05 1 5.81e-02 1.36e+00 25 1.283016e+04 1.42e+02 6.35e+05 4.56e+02 4.36e-01 1.05e+05 1 5.24e-02 1.41e+00 26 1.269632e+04 1.34e+02 6.06e+05 4.42e+02 4.39e-01 1.05e+05 1 5.24e-02 1.46e+00 27 1.257053e+04 1.26e+02 5.77e+05 4.28e+02 4.41e-01 1.05e+05 1 5.21e-02 1.52e+00 28 1.245259e+04 1.18e+02 5.50e+05 4.15e+02 4.44e-01 1.05e+05 1 5.20e-02 1.57e+00 29 1.234227e+04 1.10e+02 5.23e+05 4.02e+02 4.46e-01 1.04e+05 1 5.21e-02 1.62e+00 30 1.223931e+04 1.03e+02 4.97e+05 3.89e+02 4.49e-01 1.04e+05 1 5.23e-02 1.67e+00 31 1.214343e+04 9.59e+01 4.72e+05 3.76e+02 4.52e-01 1.04e+05 1 5.21e-02 1.72e+00 32 1.205433e+04 8.91e+01 4.47e+05 3.63e+02 4.55e-01 1.04e+05 1 5.22e-02 1.78e+00 33 1.197167e+04 8.27e+01 4.23e+05 3.51e+02 4.59e-01 1.04e+05 1 5.24e-02 1.83e+00 34 1.189513e+04 7.65e+01 4.00e+05 3.39e+02 4.63e-01 1.04e+05 1 5.26e-02 1.88e+00 35 1.182436e+04 7.08e+01 3.77e+05 3.27e+02 4.68e-01 1.04e+05 1 5.36e-02 1.93e+00 36 1.175902e+04 6.53e+01 3.55e+05 3.15e+02 4.73e-01 1.04e+05 1 5.90e-02 1.99e+00 37 1.169875e+04 6.03e+01 3.34e+05 3.03e+02 4.78e-01 1.04e+05 1 5.49e-02 2.05e+00 38 1.164322e+04 5.55e+01 3.14e+05 2.92e+02 4.85e-01 1.04e+05 1 5.48e-02 2.10e+00 39 1.159211e+04 5.11e+01 2.94e+05 2.81e+02 4.92e-01 1.04e+05 1 5.37e-02 2.16e+00 40 1.154509e+04 4.70e+01 2.76e+05 2.70e+02 5.00e-01 1.04e+05 1 5.44e-02 2.21e+00 41 1.150188e+04 4.32e+01 2.57e+05 2.60e+02 5.09e-01 1.04e+05 1 5.41e-02 2.27e+00 42 1.146219e+04 3.97e+01 2.40e+05 2.49e+02 5.19e-01 1.04e+05 1 5.28e-02 2.32e+00 43 1.142575e+04 3.64e+01 2.24e+05 2.39e+02 5.29e-01 1.04e+05 1 5.77e-02 2.38e+00 44 1.139232e+04 3.34e+01 2.08e+05 2.29e+02 5.40e-01 1.04e+05 1 5.33e-02 2.43e+00 45 1.136166e+04 3.07e+01 1.94e+05 2.20e+02 5.52e-01 1.04e+05 1 5.30e-02 2.48e+00 46 1.133356e+04 2.81e+01 1.80e+05 2.11e+02 5.63e-01 1.04e+05 1 5.27e-02 2.54e+00 47 1.130780e+04 2.58e+01 1.67e+05 2.02e+02 5.75e-01 1.05e+05 1 5.26e-02 2.59e+00 48 1.128417e+04 2.36e+01 1.55e+05 1.94e+02 5.86e-01 1.05e+05 1 5.23e-02 2.64e+00 49 1.126247e+04 2.17e+01 1.45e+05 1.86e+02 5.97e-01 1.06e+05 1 5.32e-02 2.69e+00 50 1.124252e+04 2.00e+01 1.35e+05 1.79e+02 6.07e-01 1.07e+05 1 5.27e-02 2.75e+00 Bundle adjustment report ------------------------ Residuals : 36272 Parameters : 16666 Iterations : 51 Time : 2.74721 [s] Initial cost : 1.06311 [px] Final cost : 0.556732 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 15 => Filtered observations: 34 => Changed observations: 0.002702 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.058773e+04 0.00e+00 1.79e+05 0.00e+00 0.00e+00 1.00e+04 0 3.50e-02 6.44e-02 1 1.036555e+04 2.22e+02 3.49e+04 8.20e+00 1.00e+00 3.00e+04 1 5.47e-02 1.19e-01 2 1.033828e+04 2.73e+01 1.45e+04 4.97e+01 9.99e-01 9.00e+04 1 5.28e-02 1.72e-01 3 1.029881e+04 3.95e+01 9.32e+04 1.53e+02 8.63e-01 1.45e+05 1 5.76e-02 2.30e-01 4 1.027176e+04 2.70e+01 2.18e+05 2.33e+02 4.24e-01 1.45e+05 1 5.38e-02 2.83e-01 5 1.021763e+04 5.41e+01 1.97e+05 2.18e+02 6.42e-01 1.48e+05 1 5.29e-02 3.36e-01 6 1.017311e+04 4.45e+01 1.86e+05 2.10e+02 6.22e-01 1.50e+05 1 5.30e-02 3.89e-01 7 1.013300e+04 4.01e+01 1.72e+05 2.00e+02 6.33e-01 1.53e+05 1 5.36e-02 4.43e-01 8 1.009757e+04 3.54e+01 1.60e+05 1.90e+02 6.38e-01 1.57e+05 1 5.32e-02 4.96e-01 9 1.006569e+04 3.19e+01 1.49e+05 1.81e+02 6.47e-01 1.61e+05 1 5.34e-02 5.49e-01 10 1.003678e+04 2.89e+01 1.39e+05 1.73e+02 6.55e-01 1.66e+05 1 5.81e-02 6.08e-01 11 1.001020e+04 2.66e+01 1.31e+05 1.66e+02 6.65e-01 1.72e+05 1 5.41e-02 6.62e-01 12 9.985479e+03 2.47e+01 1.24e+05 1.60e+02 6.74e-01 1.79e+05 1 5.28e-02 7.15e-01 13 9.962181e+03 2.33e+01 1.18e+05 1.54e+02 6.82e-01 1.88e+05 1 5.26e-02 7.67e-01 14 9.939949e+03 2.22e+01 1.18e+05 1.49e+02 6.91e-01 1.99e+05 1 5.26e-02 8.20e-01 15 9.918468e+03 2.15e+01 1.24e+05 1.45e+02 6.99e-01 2.13e+05 1 5.30e-02 8.73e-01 16 9.897467e+03 2.10e+01 1.31e+05 1.41e+02 7.07e-01 2.29e+05 1 5.26e-02 9.26e-01 17 9.876696e+03 2.08e+01 1.38e+05 1.38e+02 7.14e-01 2.49e+05 1 5.27e-02 9.78e-01 18 9.855922e+03 2.08e+01 1.46e+05 1.35e+02 7.22e-01 2.72e+05 1 5.34e-02 1.03e+00 19 9.834918e+03 2.10e+01 1.55e+05 1.32e+02 7.29e-01 3.01e+05 1 5.26e-02 1.08e+00 20 9.813461e+03 2.15e+01 1.64e+05 1.30e+02 7.36e-01 3.37e+05 1 5.28e-02 1.14e+00 21 9.791344e+03 2.21e+01 1.73e+05 1.28e+02 7.41e-01 3.79e+05 1 5.26e-02 1.19e+00 22 9.768427e+03 2.29e+01 1.80e+05 1.25e+02 7.42e-01 4.28e+05 1 5.71e-02 1.25e+00 23 9.744730e+03 2.37e+01 1.82e+05 1.22e+02 7.37e-01 4.79e+05 1 5.28e-02 1.30e+00 24 9.720546e+03 2.42e+01 1.74e+05 1.17e+02 7.20e-01 5.23e+05 1 5.19e-02 1.35e+00 25 9.696362e+03 2.42e+01 1.94e+05 1.09e+02 6.94e-01 5.56e+05 1 5.26e-02 1.40e+00 26 9.672596e+03 2.38e+01 2.38e+05 9.95e+01 6.66e-01 5.77e+05 1 5.31e-02 1.46e+00 27 9.649495e+03 2.31e+01 2.71e+05 8.96e+01 6.41e-01 5.90e+05 1 5.26e-02 1.51e+00 28 9.627204e+03 2.23e+01 2.91e+05 8.04e+01 6.22e-01 5.99e+05 1 5.22e-02 1.56e+00 29 9.605825e+03 2.14e+01 3.01e+05 7.25e+01 6.09e-01 6.05e+05 1 5.69e-02 1.62e+00 30 9.585435e+03 2.04e+01 3.03e+05 6.59e+01 6.01e-01 6.10e+05 1 5.31e-02 1.67e+00 31 9.566092e+03 1.93e+01 3.00e+05 6.04e+01 5.97e-01 6.14e+05 1 5.30e-02 1.73e+00 32 9.547831e+03 1.83e+01 2.97e+05 5.59e+01 5.96e-01 6.19e+05 1 5.24e-02 1.78e+00 33 9.530667e+03 1.72e+01 2.90e+05 5.21e+01 5.97e-01 6.23e+05 1 5.23e-02 1.83e+00 34 9.514595e+03 1.61e+01 2.82e+05 4.90e+01 5.99e-01 6.28e+05 1 5.25e-02 1.88e+00 35 9.499592e+03 1.50e+01 2.72e+05 4.63e+01 6.03e-01 6.34e+05 1 5.30e-02 1.94e+00 36 9.485623e+03 1.40e+01 2.62e+05 4.40e+01 6.07e-01 6.40e+05 1 5.21e-02 1.99e+00 37 9.472641e+03 1.30e+01 2.51e+05 4.20e+01 6.12e-01 6.47e+05 1 5.24e-02 2.04e+00 38 9.460594e+03 1.20e+01 2.40e+05 4.03e+01 6.16e-01 6.55e+05 1 5.26e-02 2.09e+00 39 9.449425e+03 1.12e+01 2.30e+05 3.88e+01 6.21e-01 6.65e+05 1 5.28e-02 2.15e+00 40 9.439077e+03 1.03e+01 2.19e+05 3.74e+01 6.26e-01 6.76e+05 1 5.25e-02 2.20e+00 41 9.429496e+03 9.58e+00 2.10e+05 3.62e+01 6.30e-01 6.88e+05 1 5.74e-02 2.26e+00 42 9.420627e+03 8.87e+00 2.00e+05 3.50e+01 6.34e-01 7.01e+05 1 5.25e-02 2.31e+00 43 9.412420e+03 8.21e+00 1.91e+05 3.40e+01 6.38e-01 7.16e+05 1 5.32e-02 2.36e+00 44 9.404830e+03 7.59e+00 1.83e+05 3.30e+01 6.41e-01 7.32e+05 1 5.22e-02 2.41e+00 45 9.397814e+03 7.02e+00 1.75e+05 3.21e+01 6.44e-01 7.50e+05 1 5.31e-02 2.47e+00 46 9.391333e+03 6.48e+00 1.67e+05 3.13e+01 6.47e-01 7.70e+05 1 5.43e-02 2.52e+00 47 9.385352e+03 5.98e+00 1.59e+05 3.05e+01 6.50e-01 7.92e+05 1 5.23e-02 2.57e+00 48 9.379837e+03 5.51e+00 1.52e+05 2.97e+01 6.53e-01 8.15e+05 1 5.73e-02 2.63e+00 49 9.374759e+03 5.08e+00 1.45e+05 2.89e+01 6.56e-01 8.40e+05 1 6.55e-02 2.70e+00 50 9.370091e+03 4.67e+00 1.39e+05 2.82e+01 6.59e-01 8.68e+05 1 5.41e-02 2.75e+00 Bundle adjustment report ------------------------ Residuals : 36204 Parameters : 16648 Iterations : 51 Time : 2.75082 [s] Initial cost : 0.540783 [px] Final cost : 0.508737 [px] Termination : No convergence => Completed observations: 3456 => Merged observations: 5 => Filtered observations: 3 => Changed observations: 0.191360 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.728503e+04 0.00e+00 4.26e+05 0.00e+00 0.00e+00 1.00e+04 0 4.20e-02 7.53e-02 1 1.430516e+04 2.98e+03 2.39e+06 1.45e+01 9.09e-01 2.21e+04 1 6.63e-02 1.42e-01 2 1.385612e+04 4.49e+02 1.03e+05 4.87e+01 9.98e-01 6.63e+04 1 6.60e-02 2.08e-01 3 1.376855e+04 8.76e+01 1.27e+05 1.41e+02 8.55e-01 1.03e+05 1 6.60e-02 2.74e-01 4 1.372378e+04 4.48e+01 1.98e+05 1.89e+02 4.78e-01 1.03e+05 1 6.54e-02 3.39e-01 5 1.364930e+04 7.45e+01 1.50e+05 1.62e+02 7.29e-01 1.14e+05 1 6.55e-02 4.05e-01 6 1.360022e+04 4.91e+01 1.37e+05 1.53e+02 6.80e-01 1.20e+05 1 7.28e-02 4.78e-01 7 1.355510e+04 4.51e+01 1.13e+05 1.38e+02 7.41e-01 1.35e+05 1 6.72e-02 5.45e-01 8 1.351757e+04 3.75e+01 1.05e+05 1.31e+02 7.33e-01 1.50e+05 1 6.60e-02 6.11e-01 9 1.348109e+04 3.65e+01 9.31e+04 1.22e+02 7.69e-01 1.78e+05 1 6.75e-02 6.78e-01 10 1.344635e+04 3.47e+01 1.02e+05 1.18e+02 7.64e-01 2.08e+05 1 6.66e-02 7.45e-01 11 1.341068e+04 3.57e+01 1.40e+05 1.11e+02 7.75e-01 2.49e+05 1 6.64e-02 8.11e-01 12 1.337586e+04 3.48e+01 2.18e+05 1.03e+02 7.34e-01 2.78e+05 1 7.25e-02 8.84e-01 13 1.334151e+04 3.44e+01 2.96e+05 8.91e+01 6.98e-01 2.96e+05 1 6.54e-02 9.49e-01 14 1.330911e+04 3.24e+01 3.53e+05 7.43e+01 6.52e-01 3.05e+05 1 6.41e-02 1.01e+00 15 1.327783e+04 3.13e+01 3.78e+05 6.10e+01 6.32e-01 3.11e+05 1 6.45e-02 1.08e+00 16 1.324826e+04 2.96e+01 3.86e+05 5.08e+01 6.18e-01 3.15e+05 1 6.42e-02 1.14e+00 17 1.322041e+04 2.79e+01 3.83e+05 4.31e+01 6.14e-01 3.19e+05 1 6.38e-02 1.21e+00 18 1.319443e+04 2.60e+01 3.72e+05 3.75e+01 6.14e-01 3.22e+05 1 6.46e-02 1.27e+00 19 1.317039e+04 2.40e+01 3.58e+05 3.33e+01 6.16e-01 3.27e+05 1 6.36e-02 1.33e+00 20 1.314825e+04 2.21e+01 3.41e+05 3.01e+01 6.20e-01 3.31e+05 1 6.42e-02 1.40e+00 21 1.312795e+04 2.03e+01 3.24e+05 2.76e+01 6.25e-01 3.36e+05 1 6.95e-02 1.47e+00 22 1.310939e+04 1.86e+01 3.07e+05 2.57e+01 6.30e-01 3.43e+05 1 6.40e-02 1.53e+00 23 1.309244e+04 1.69e+01 2.90e+05 2.41e+01 6.36e-01 3.49e+05 1 6.45e-02 1.60e+00 24 1.307698e+04 1.55e+01 2.75e+05 2.28e+01 6.40e-01 3.57e+05 1 6.44e-02 1.66e+00 25 1.306289e+04 1.41e+01 2.60e+05 2.18e+01 6.45e-01 3.66e+05 1 6.57e-02 1.73e+00 26 1.305005e+04 1.28e+01 2.46e+05 2.08e+01 6.49e-01 3.76e+05 1 6.51e-02 1.79e+00 27 1.303835e+04 1.17e+01 2.33e+05 2.00e+01 6.53e-01 3.88e+05 1 6.86e-02 1.86e+00 28 1.302771e+04 1.06e+01 2.21e+05 1.93e+01 6.57e-01 4.00e+05 1 6.84e-02 1.93e+00 29 1.301804e+04 9.67e+00 2.09e+05 1.86e+01 6.61e-01 4.14e+05 1 6.54e-02 1.99e+00 30 1.300925e+04 8.78e+00 1.98e+05 1.80e+01 6.64e-01 4.29e+05 1 6.64e-02 2.06e+00 31 1.300129e+04 7.96e+00 1.87e+05 1.74e+01 6.67e-01 4.46e+05 1 6.67e-02 2.13e+00 32 1.299410e+04 7.20e+00 1.77e+05 1.68e+01 6.71e-01 4.64e+05 1 6.56e-02 2.19e+00 33 1.298761e+04 6.49e+00 1.67e+05 1.62e+01 6.74e-01 4.84e+05 1 6.64e-02 2.26e+00 34 1.298177e+04 5.84e+00 1.57e+05 1.57e+01 6.77e-01 5.07e+05 1 6.35e-02 2.32e+00 35 1.297654e+04 5.23e+00 1.48e+05 1.51e+01 6.81e-01 5.32e+05 1 6.41e-02 2.39e+00 36 1.297187e+04 4.67e+00 1.39e+05 1.46e+01 6.84e-01 5.60e+05 1 6.37e-02 2.45e+00 37 1.296772e+04 4.15e+00 1.30e+05 1.40e+01 6.88e-01 5.91e+05 1 7.21e-02 2.52e+00 38 1.296406e+04 3.67e+00 1.21e+05 1.35e+01 6.92e-01 6.27e+05 1 6.58e-02 2.59e+00 39 1.296083e+04 3.22e+00 1.13e+05 1.30e+01 6.96e-01 6.67e+05 1 6.41e-02 2.65e+00 40 1.295802e+04 2.82e+00 1.05e+05 1.24e+01 7.01e-01 7.13e+05 1 6.59e-02 2.72e+00 41 1.295557e+04 2.44e+00 9.65e+04 1.19e+01 7.06e-01 7.66e+05 1 6.60e-02 2.78e+00 42 1.295348e+04 2.10e+00 8.86e+04 1.13e+01 7.11e-01 8.28e+05 1 6.46e-02 2.85e+00 43 1.295169e+04 1.79e+00 8.09e+04 1.08e+01 7.17e-01 9.02e+05 1 7.08e-02 2.92e+00 44 1.295018e+04 1.51e+00 7.34e+04 1.02e+01 7.24e-01 9.91e+05 1 6.36e-02 2.98e+00 45 1.294893e+04 1.25e+00 6.61e+04 9.68e+00 7.31e-01 1.10e+06 1 6.37e-02 3.05e+00 46 1.294790e+04 1.03e+00 5.89e+04 9.11e+00 7.39e-01 1.23e+06 1 6.43e-02 3.11e+00 47 1.294707e+04 8.26e-01 5.20e+04 8.53e+00 7.49e-01 1.41e+06 1 6.41e-02 3.18e+00 48 1.294642e+04 6.51e-01 4.52e+04 7.93e+00 7.61e-01 1.64e+06 1 6.38e-02 3.24e+00 49 1.294592e+04 4.99e-01 3.87e+04 7.31e+00 7.74e-01 1.97e+06 1 6.45e-02 3.30e+00 50 1.294555e+04 3.70e-01 3.24e+04 6.66e+00 7.91e-01 2.45e+06 1 6.43e-02 3.37e+00 Bundle adjustment report ------------------------ Residuals : 43110 Parameters : 16642 Iterations : 51 Time : 3.36978 [s] Initial cost : 0.633208 [px] Final cost : 0.547988 [px] Termination : No convergence => Completed observations: 484 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.022686 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.478783e+04 0.00e+00 2.37e+05 0.00e+00 0.00e+00 1.00e+04 0 4.84e-02 8.25e-02 1 1.382183e+04 9.66e+02 1.17e+05 8.21e+00 9.99e-01 3.00e+04 1 6.90e-02 1.52e-01 2 1.373646e+04 8.54e+01 2.14e+05 1.13e+01 9.59e-01 9.00e+04 1 6.56e-02 2.17e-01 3 1.370644e+04 3.00e+01 1.12e+06 3.41e+01 2.26e-01 7.72e+04 1 6.65e-02 2.84e-01 4 1.355686e+04 1.50e+02 5.55e+05 2.97e+01 8.46e-01 1.16e+05 1 6.69e-02 3.51e-01 5 1.351497e+04 4.19e+01 8.40e+05 3.99e+01 3.96e-01 1.15e+05 1 6.77e-02 4.18e-01 6 1.342787e+04 8.71e+01 6.41e+05 3.29e+01 6.97e-01 1.22e+05 1 7.47e-02 4.93e-01 7 1.336902e+04 5.89e+01 6.00e+05 2.71e+01 6.34e-01 1.24e+05 1 6.63e-02 5.60e-01 8 1.331395e+04 5.51e+01 5.42e+05 2.00e+01 6.60e-01 1.29e+05 1 6.59e-02 6.25e-01 9 1.326571e+04 4.82e+01 5.20e+05 1.36e+01 6.45e-01 1.32e+05 1 6.54e-02 6.91e-01 10 1.322022e+04 4.55e+01 5.01e+05 7.80e+00 6.46e-01 1.35e+05 1 6.51e-02 7.56e-01 11 1.317740e+04 4.28e+01 4.90e+05 2.76e+00 6.40e-01 1.38e+05 1 6.56e-02 8.22e-01 12 1.313649e+04 4.09e+01 4.81e+05 1.49e+00 6.37e-01 1.41e+05 1 6.57e-02 8.88e-01 13 1.309737e+04 3.91e+01 4.73e+05 4.99e+00 6.34e-01 1.44e+05 1 6.69e-02 9.54e-01 14 1.305987e+04 3.75e+01 4.66e+05 7.81e+00 6.31e-01 1.47e+05 1 6.58e-02 1.02e+00 15 1.302397e+04 3.59e+01 4.58e+05 1.00e+01 6.29e-01 1.49e+05 1 7.19e-02 1.09e+00 16 1.298965e+04 3.43e+01 4.49e+05 1.18e+01 6.27e-01 1.52e+05 1 6.55e-02 1.16e+00 17 1.295689e+04 3.28e+01 4.40e+05 1.31e+01 6.26e-01 1.54e+05 1 6.56e-02 1.22e+00 18 1.292571e+04 3.12e+01 4.30e+05 1.41e+01 6.26e-01 1.57e+05 1 6.70e-02 1.29e+00 19 1.289609e+04 2.96e+01 4.20e+05 1.48e+01 6.26e-01 1.59e+05 1 6.70e-02 1.36e+00 20 1.286803e+04 2.81e+01 4.08e+05 1.53e+01 6.27e-01 1.62e+05 1 7.02e-02 1.43e+00 21 1.284152e+04 2.65e+01 3.96e+05 1.56e+01 6.28e-01 1.65e+05 1 7.81e-02 1.51e+00 22 1.281654e+04 2.50e+01 3.83e+05 1.57e+01 6.30e-01 1.67e+05 1 6.91e-02 1.57e+00 23 1.279307e+04 2.35e+01 3.70e+05 1.58e+01 6.32e-01 1.71e+05 1 6.65e-02 1.64e+00 24 1.277108e+04 2.20e+01 3.57e+05 1.58e+01 6.34e-01 1.74e+05 1 6.70e-02 1.71e+00 25 1.275054e+04 2.05e+01 3.43e+05 1.57e+01 6.36e-01 1.77e+05 1 6.74e-02 1.78e+00 26 1.273140e+04 1.91e+01 3.30e+05 1.55e+01 6.39e-01 1.81e+05 1 6.51e-02 1.84e+00 27 1.271362e+04 1.78e+01 3.16e+05 1.54e+01 6.42e-01 1.86e+05 1 6.68e-02 1.91e+00 28 1.269717e+04 1.65e+01 3.02e+05 1.52e+01 6.45e-01 1.90e+05 1 6.87e-02 1.98e+00 29 1.268198e+04 1.52e+01 2.88e+05 1.49e+01 6.49e-01 1.95e+05 1 6.76e-02 2.04e+00 30 1.266801e+04 1.40e+01 2.74e+05 1.47e+01 6.52e-01 2.01e+05 1 7.43e-02 2.12e+00 31 1.265521e+04 1.28e+01 2.60e+05 1.44e+01 6.56e-01 2.07e+05 1 6.83e-02 2.19e+00 32 1.264353e+04 1.17e+01 2.47e+05 1.41e+01 6.60e-01 2.14e+05 1 6.72e-02 2.25e+00 33 1.263291e+04 1.06e+01 2.33e+05 1.38e+01 6.63e-01 2.22e+05 1 6.86e-02 2.32e+00 34 1.262330e+04 9.61e+00 2.20e+05 1.35e+01 6.67e-01 2.31e+05 1 6.82e-02 2.39e+00 35 1.261465e+04 8.65e+00 2.07e+05 1.32e+01 6.72e-01 2.41e+05 1 6.70e-02 2.46e+00 36 1.260691e+04 7.75e+00 1.94e+05 1.29e+01 6.76e-01 2.52e+05 1 7.18e-02 2.53e+00 37 1.260001e+04 6.89e+00 1.81e+05 1.25e+01 6.80e-01 2.64e+05 1 6.55e-02 2.60e+00 38 1.259392e+04 6.09e+00 1.68e+05 1.22e+01 6.85e-01 2.78e+05 1 6.54e-02 2.66e+00 39 1.258857e+04 5.35e+00 1.56e+05 1.18e+01 6.90e-01 2.94e+05 1 6.50e-02 2.73e+00 40 1.258392e+04 4.65e+00 1.43e+05 1.14e+01 6.96e-01 3.13e+05 1 6.61e-02 2.79e+00 41 1.257992e+04 4.01e+00 1.31e+05 1.10e+01 7.01e-01 3.35e+05 1 6.72e-02 2.86e+00 42 1.257650e+04 3.41e+00 1.19e+05 1.06e+01 7.07e-01 3.61e+05 1 6.69e-02 2.93e+00 43 1.257363e+04 2.87e+00 1.08e+05 1.01e+01 7.14e-01 3.91e+05 1 6.77e-02 2.99e+00 44 1.257125e+04 2.38e+00 9.63e+04 9.61e+00 7.21e-01 4.28e+05 1 7.08e-02 3.06e+00 45 1.256931e+04 1.94e+00 8.51e+04 9.09e+00 7.29e-01 4.74e+05 1 7.42e-02 3.14e+00 46 1.256777e+04 1.55e+00 7.42e+04 8.54e+00 7.38e-01 5.31e+05 1 6.82e-02 3.21e+00 47 1.256656e+04 1.20e+00 6.37e+04 7.96e+00 7.48e-01 6.04e+05 1 6.87e-02 3.28e+00 48 1.256566e+04 9.04e-01 5.35e+04 7.33e+00 7.59e-01 7.02e+05 1 6.87e-02 3.34e+00 49 1.256501e+04 6.54e-01 4.37e+04 6.66e+00 7.73e-01 8.37e+05 1 6.76e-02 3.41e+00 50 1.256456e+04 4.48e-01 3.44e+04 5.94e+00 7.88e-01 1.04e+06 1 6.70e-02 3.48e+00 Bundle adjustment report ------------------------ Residuals : 44068 Parameters : 16639 Iterations : 51 Time : 3.48027 [s] Initial cost : 0.579283 [px] Final cost : 0.533964 [px] Termination : No convergence => Completed observations: 545 => Merged observations: 6 => Filtered observations: 2 => Changed observations: 0.025098 => Filtered images: 0 ============================================================================== Registering image #14 (28) ============================================================================== => Image sees 747 / 2624 points Pose refinement report ---------------------- Residuals : 1396 Parameters : 6 Iterations : 9 Time : 0.015295 [s] Initial cost : 0.623743 [px] Final cost : 0.612113 [px] Termination : Convergence => Continued observations: 695 => Added observations: 3301 Bundle adjustment report ------------------------ Residuals : 35218 Parameters : 11819 Iterations : 26 Time : 0.802746 [s] Initial cost : 1.32048 [px] Final cost : 1.23538 [px] Termination : No convergence => Merged observations: 48 => Completed observations: 972 => Filtered observations: 468 => Changed observations: 0.083864 Bundle adjustment report ------------------------ Residuals : 36226 Parameters : 11594 Iterations : 7 Time : 0.229988 [s] Initial cost : 0.628792 [px] Final cost : 0.582234 [px] Termination : Convergence => Merged observations: 13 => Completed observations: 303 => Filtered observations: 2 => Changed observations: 0.017428 ============================================================================== Retriangulation ============================================================================== => Completed observations: 22 => Merged observations: 0 => Retriangulated observations: 2354 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.492632e+07 0.00e+00 2.95e+07 0.00e+00 0.00e+00 1.00e+04 0 5.03e-02 9.62e-02 1 5.744580e+07 -4.25e+07 0.00e+00 2.28e+02 -4.36e+00 5.00e+03 1 3.44e-02 1.31e-01 2 2.805380e+07 -1.31e+07 0.00e+00 1.69e+02 -1.37e+00 1.25e+03 1 3.05e-02 1.61e-01 3 9.814915e+06 5.11e+06 2.73e+08 3.28e+01 5.61e-01 1.25e+03 1 7.79e-02 2.39e-01 4 7.895689e+06 1.92e+06 2.32e+08 9.47e+01 4.47e-01 1.25e+03 1 7.89e-02 3.18e-01 5 5.631853e+06 2.26e+06 7.99e+07 2.04e+01 8.34e-01 1.78e+03 1 8.03e-02 3.98e-01 6 6.141322e+06 -5.09e+05 0.00e+00 2.32e+01 -6.21e-01 8.91e+02 1 3.13e-02 4.30e-01 7 5.105631e+06 5.26e+05 5.07e+07 1.70e+01 7.57e-01 1.03e+03 1 8.58e-02 5.15e-01 8 4.988950e+06 1.17e+05 7.60e+07 3.72e+00 2.88e-01 9.58e+02 1 8.04e-02 5.96e-01 9 4.698009e+06 2.91e+05 6.60e+07 1.49e+00 6.00e-01 9.66e+02 1 8.04e-02 6.76e-01 10 4.394861e+06 3.03e+05 3.10e+07 3.86e+01 8.52e-01 1.49e+03 1 7.95e-02 7.56e-01 11 4.244989e+06 1.50e+05 2.54e+07 7.34e+01 6.86e-01 1.57e+03 1 8.01e-02 8.36e-01 12 4.072864e+06 1.72e+05 1.66e+07 1.26e+02 8.81e-01 2.82e+03 1 8.71e-02 9.23e-01 13 3.992947e+06 7.99e+04 2.88e+07 2.62e+02 4.84e-01 2.82e+03 1 8.19e-02 1.01e+00 14 3.820908e+06 1.72e+05 1.40e+07 2.92e+02 9.07e-01 6.09e+03 1 8.45e-02 1.09e+00 15 3.787595e+06 3.33e+04 2.72e+07 6.62e+02 2.33e-01 5.28e+03 1 7.92e-02 1.17e+00 16 3.623481e+06 1.64e+05 9.09e+06 6.00e+02 8.91e-01 1.01e+04 1 8.13e-02 1.25e+00 17 3.655930e+06 -3.24e+04 0.00e+00 1.13e+03 -3.29e-01 5.05e+03 1 3.26e-02 1.28e+00 18 3.563313e+06 6.02e+04 5.69e+06 5.92e+02 8.47e-01 7.59e+03 1 8.18e-02 1.36e+00 19 3.540700e+06 2.26e+04 6.52e+06 8.73e+02 3.81e-01 7.49e+03 1 8.11e-02 1.45e+00 20 3.493281e+06 4.74e+04 3.93e+06 8.59e+02 6.49e-01 7.69e+03 1 8.80e-02 1.53e+00 21 3.459400e+06 3.39e+04 3.84e+06 8.70e+02 6.10e-01 7.77e+03 1 8.05e-02 1.61e+00 22 3.429806e+06 2.96e+04 3.64e+06 8.63e+02 6.30e-01 7.91e+03 1 8.46e-02 1.70e+00 23 3.404657e+06 2.51e+04 3.49e+06 8.60e+02 6.33e-01 8.06e+03 1 8.38e-02 1.78e+00 24 3.382346e+06 2.23e+04 3.37e+06 8.58e+02 6.43e-01 8.26e+03 1 8.94e-02 1.87e+00 25 3.362287e+06 2.01e+04 3.28e+06 8.59e+02 6.50e-01 8.49e+03 1 8.93e-02 1.96e+00 26 3.343926e+06 1.84e+04 3.22e+06 8.63e+02 6.57e-01 8.76e+03 1 8.12e-02 2.04e+00 27 3.326923e+06 1.70e+04 3.18e+06 8.69e+02 6.62e-01 9.06e+03 1 8.12e-02 2.12e+00 28 3.311017e+06 1.59e+04 3.17e+06 8.78e+02 6.66e-01 9.41e+03 1 7.90e-02 2.20e+00 29 3.296028e+06 1.50e+04 3.16e+06 8.89e+02 6.69e-01 9.79e+03 1 7.89e-02 2.28e+00 30 3.281826e+06 1.42e+04 3.17e+06 9.01e+02 6.72e-01 1.02e+04 1 8.05e-02 2.36e+00 31 3.268316e+06 1.35e+04 3.19e+06 9.15e+02 6.74e-01 1.07e+04 1 8.09e-02 2.44e+00 32 3.255426e+06 1.29e+04 3.21e+06 9.29e+02 6.76e-01 1.11e+04 1 8.65e-02 2.53e+00 33 3.243104e+06 1.23e+04 3.23e+06 9.43e+02 6.78e-01 1.17e+04 1 8.05e-02 2.61e+00 34 3.231309e+06 1.18e+04 3.26e+06 9.58e+02 6.79e-01 1.22e+04 1 7.99e-02 2.69e+00 35 3.220007e+06 1.13e+04 3.29e+06 9.73e+02 6.80e-01 1.28e+04 1 8.02e-02 2.77e+00 36 3.209170e+06 1.08e+04 3.32e+06 9.88e+02 6.82e-01 1.35e+04 1 8.15e-02 2.85e+00 37 3.198773e+06 1.04e+04 3.35e+06 1.00e+03 6.83e-01 1.42e+04 1 8.60e-02 2.94e+00 38 3.188795e+06 9.98e+03 3.39e+06 1.02e+03 6.85e-01 1.49e+04 1 8.03e-02 3.02e+00 39 3.179216e+06 9.58e+03 3.42e+06 1.03e+03 6.86e-01 1.57e+04 1 7.91e-02 3.10e+00 40 3.170016e+06 9.20e+03 3.46e+06 1.05e+03 6.87e-01 1.66e+04 1 8.01e-02 3.18e+00 41 3.161179e+06 8.84e+03 3.49e+06 1.06e+03 6.89e-01 1.76e+04 1 9.29e-02 3.27e+00 42 3.152685e+06 8.49e+03 3.53e+06 1.07e+03 6.91e-01 1.86e+04 1 8.72e-02 3.36e+00 43 3.144520e+06 8.17e+03 3.58e+06 1.09e+03 6.92e-01 1.97e+04 1 8.10e-02 3.44e+00 44 3.136665e+06 7.85e+03 3.62e+06 1.10e+03 6.94e-01 2.09e+04 1 8.92e-02 3.53e+00 45 3.129105e+06 7.56e+03 3.68e+06 1.11e+03 6.96e-01 2.23e+04 1 8.05e-02 3.61e+00 46 3.121825e+06 7.28e+03 3.73e+06 1.13e+03 6.98e-01 2.38e+04 1 8.14e-02 3.69e+00 47 3.114808e+06 7.02e+03 3.80e+06 1.14e+03 7.00e-01 2.54e+04 1 8.04e-02 3.77e+00 48 3.108039e+06 6.77e+03 3.87e+06 1.15e+03 7.02e-01 2.72e+04 1 8.07e-02 3.85e+00 49 3.101503e+06 6.54e+03 3.96e+06 1.16e+03 7.04e-01 2.92e+04 1 8.57e-02 3.94e+00 50 3.095185e+06 6.32e+03 4.06e+06 1.17e+03 7.07e-01 3.14e+04 1 8.11e-02 4.02e+00 Bundle adjustment report ------------------------ Residuals : 59508 Parameters : 22327 Iterations : 51 Time : 4.01967 [s] Initial cost : 15.8376 [px] Final cost : 7.212 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 9 => Filtered observations: 12733 => Changed observations: 0.428245 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.795780e+04 0.00e+00 4.91e+06 0.00e+00 0.00e+00 1.00e+04 0 3.28e-02 5.95e-02 1 2.213216e+04 1.58e+04 1.04e+07 5.59e+01 9.73e-01 3.00e+04 1 5.05e-02 1.10e-01 2 2.049072e+04 1.64e+03 1.43e+07 8.41e+01 6.35e-01 3.06e+04 1 4.82e-02 1.58e-01 3 1.874854e+04 1.74e+03 3.67e+06 1.01e+02 9.25e-01 7.93e+04 1 4.83e-02 2.07e-01 4 1.874164e+04 6.91e+00 7.83e+06 3.34e+02 7.03e-03 4.05e+04 1 4.82e-02 2.55e-01 5 1.757064e+04 1.17e+03 1.30e+06 1.80e+02 9.77e-01 1.22e+05 1 4.89e-02 3.04e-01 6 1.760094e+04 -3.03e+01 0.00e+00 5.76e+02 -8.90e-02 6.08e+04 1 1.85e-02 3.22e-01 7 1.739228e+04 1.78e+02 1.62e+06 2.84e+02 7.92e-01 7.58e+04 1 4.87e-02 3.71e-01 8 1.722870e+04 1.64e+02 1.26e+06 3.63e+02 8.01e-01 9.71e+04 1 5.11e-02 4.22e-01 9 1.710303e+04 1.26e+02 1.01e+06 4.70e+02 6.98e-01 1.04e+05 1 5.44e-02 4.76e-01 10 1.698764e+04 1.15e+02 6.71e+05 5.01e+02 6.78e-01 1.08e+05 1 4.89e-02 5.25e-01 11 1.689108e+04 9.66e+01 5.59e+05 5.23e+02 6.11e-01 1.10e+05 1 4.84e-02 5.74e-01 12 1.679905e+04 9.20e+01 5.07e+05 5.25e+02 5.93e-01 1.10e+05 1 4.85e-02 6.22e-01 13 1.671312e+04 8.59e+01 4.87e+05 5.23e+02 5.72e-01 1.11e+05 1 4.84e-02 6.71e-01 14 1.663138e+04 8.17e+01 4.76e+05 5.20e+02 5.58e-01 1.11e+05 1 6.29e-02 7.34e-01 15 1.655333e+04 7.81e+01 4.67e+05 5.15e+02 5.47e-01 1.11e+05 1 5.36e-02 7.87e-01 16 1.647859e+04 7.47e+01 4.59e+05 5.09e+02 5.39e-01 1.11e+05 1 5.15e-02 8.39e-01 17 1.640696e+04 7.16e+01 4.51e+05 5.02e+02 5.31e-01 1.11e+05 1 5.72e-02 8.96e-01 18 1.633832e+04 6.86e+01 4.42e+05 4.95e+02 5.25e-01 1.11e+05 1 5.14e-02 9.47e-01 19 1.627259e+04 6.57e+01 4.32e+05 4.88e+02 5.20e-01 1.11e+05 1 4.96e-02 9.97e-01 20 1.620973e+04 6.29e+01 4.22e+05 4.80e+02 5.16e-01 1.11e+05 1 4.88e-02 1.05e+00 21 1.614971e+04 6.00e+01 4.12e+05 4.71e+02 5.12e-01 1.11e+05 1 4.88e-02 1.09e+00 22 1.609248e+04 5.72e+01 4.01e+05 4.62e+02 5.09e-01 1.11e+05 1 4.88e-02 1.14e+00 23 1.603801e+04 5.45e+01 3.89e+05 4.53e+02 5.07e-01 1.11e+05 1 4.94e-02 1.19e+00 24 1.598624e+04 5.18e+01 3.77e+05 4.44e+02 5.06e-01 1.11e+05 1 4.90e-02 1.24e+00 25 1.593711e+04 4.91e+01 3.65e+05 4.34e+02 5.05e-01 1.11e+05 1 4.87e-02 1.29e+00 26 1.589054e+04 4.66e+01 3.52e+05 4.24e+02 5.05e-01 1.11e+05 1 4.92e-02 1.34e+00 27 1.584642e+04 4.41e+01 3.40e+05 4.14e+02 5.05e-01 1.11e+05 1 4.91e-02 1.39e+00 28 1.580465e+04 4.18e+01 3.27e+05 4.04e+02 5.07e-01 1.11e+05 1 4.89e-02 1.44e+00 29 1.576511e+04 3.95e+01 3.14e+05 3.94e+02 5.09e-01 1.11e+05 1 5.45e-02 1.49e+00 30 1.572766e+04 3.74e+01 3.02e+05 3.83e+02 5.13e-01 1.11e+05 1 4.92e-02 1.54e+00 31 1.569218e+04 3.55e+01 2.89e+05 3.73e+02 5.17e-01 1.11e+05 1 4.88e-02 1.59e+00 32 1.565855e+04 3.36e+01 2.76e+05 3.62e+02 5.22e-01 1.11e+05 1 4.90e-02 1.64e+00 33 1.562663e+04 3.19e+01 2.64e+05 3.52e+02 5.28e-01 1.11e+05 1 4.82e-02 1.69e+00 34 1.559631e+04 3.03e+01 2.52e+05 3.42e+02 5.35e-01 1.11e+05 1 4.87e-02 1.74e+00 35 1.556748e+04 2.88e+01 2.41e+05 3.32e+02 5.43e-01 1.11e+05 1 4.83e-02 1.78e+00 36 1.554003e+04 2.74e+01 2.30e+05 3.22e+02 5.51e-01 1.11e+05 1 4.89e-02 1.83e+00 37 1.551388e+04 2.62e+01 2.19e+05 3.13e+02 5.60e-01 1.11e+05 1 5.18e-02 1.89e+00 38 1.548892e+04 2.50e+01 2.09e+05 3.04e+02 5.69e-01 1.12e+05 1 5.07e-02 1.94e+00 39 1.546508e+04 2.38e+01 2.00e+05 2.95e+02 5.77e-01 1.12e+05 1 4.84e-02 1.98e+00 40 1.544227e+04 2.28e+01 1.91e+05 2.87e+02 5.86e-01 1.13e+05 1 4.83e-02 2.03e+00 41 1.542041e+04 2.19e+01 1.83e+05 2.79e+02 5.94e-01 1.14e+05 1 4.85e-02 2.08e+00 42 1.539942e+04 2.10e+01 1.76e+05 2.72e+02 6.02e-01 1.14e+05 1 4.83e-02 2.13e+00 43 1.537923e+04 2.02e+01 1.69e+05 2.65e+02 6.08e-01 1.16e+05 1 4.80e-02 2.18e+00 44 1.535976e+04 1.95e+01 1.64e+05 2.59e+02 6.15e-01 1.17e+05 1 4.87e-02 2.23e+00 45 1.534094e+04 1.88e+01 1.59e+05 2.54e+02 6.20e-01 1.19e+05 1 4.81e-02 2.27e+00 46 1.532273e+04 1.82e+01 1.54e+05 2.48e+02 6.25e-01 1.21e+05 1 4.97e-02 2.32e+00 47 1.530506e+04 1.77e+01 1.50e+05 2.43e+02 6.29e-01 1.23e+05 1 4.82e-02 2.37e+00 48 1.528789e+04 1.72e+01 1.46e+05 2.39e+02 6.33e-01 1.25e+05 1 4.79e-02 2.42e+00 49 1.527120e+04 1.67e+01 1.43e+05 2.35e+02 6.36e-01 1.28e+05 1 5.29e-02 2.47e+00 50 1.525493e+04 1.63e+01 1.40e+05 2.31e+02 6.39e-01 1.30e+05 1 5.00e-02 2.52e+00 Bundle adjustment report ------------------------ Residuals : 33412 Parameters : 15772 Iterations : 51 Time : 2.52439 [s] Initial cost : 1.06586 [px] Final cost : 0.6757 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 13 => Filtered observations: 89 => Changed observations: 0.006106 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.357169e+04 0.00e+00 3.55e+05 0.00e+00 0.00e+00 1.00e+04 0 3.16e-02 5.80e-02 1 1.313669e+04 4.35e+02 6.05e+04 3.25e+01 9.98e-01 3.00e+04 1 5.03e-02 1.08e-01 2 1.288423e+04 2.52e+02 2.24e+05 7.52e+01 9.86e-01 9.00e+04 1 4.85e-02 1.57e-01 3 1.266064e+04 2.24e+02 5.45e+05 2.44e+02 8.62e-01 1.45e+05 1 4.83e-02 2.05e-01 4 1.256577e+04 9.49e+01 8.30e+05 4.19e+02 4.03e-01 1.44e+05 1 4.83e-02 2.54e-01 5 1.240923e+04 1.57e+02 6.36e+05 4.19e+02 5.42e-01 1.44e+05 1 4.82e-02 3.02e-01 6 1.227469e+04 1.35e+02 5.82e+05 4.14e+02 5.13e-01 1.44e+05 1 5.27e-02 3.54e-01 7 1.214828e+04 1.26e+02 5.68e+05 4.04e+02 5.12e-01 1.44e+05 1 4.86e-02 4.03e-01 8 1.202845e+04 1.20e+02 5.48e+05 3.92e+02 5.17e-01 1.44e+05 1 4.81e-02 4.51e-01 9 1.191477e+04 1.14e+02 5.23e+05 3.80e+02 5.26e-01 1.44e+05 1 4.86e-02 5.00e-01 10 1.180720e+04 1.08e+02 4.93e+05 3.67e+02 5.37e-01 1.44e+05 1 5.46e-02 5.55e-01 11 1.170581e+04 1.01e+02 4.61e+05 3.53e+02 5.49e-01 1.44e+05 1 4.82e-02 6.03e-01 12 1.161066e+04 9.51e+01 4.27e+05 3.40e+02 5.61e-01 1.45e+05 1 4.82e-02 6.51e-01 13 1.152176e+04 8.89e+01 3.92e+05 3.27e+02 5.73e-01 1.45e+05 1 4.81e-02 6.99e-01 14 1.143900e+04 8.28e+01 3.58e+05 3.14e+02 5.86e-01 1.46e+05 1 4.86e-02 7.48e-01 15 1.136219e+04 7.68e+01 3.24e+05 3.02e+02 5.97e-01 1.47e+05 1 4.83e-02 7.96e-01 16 1.129105e+04 7.11e+01 2.92e+05 2.90e+02 6.07e-01 1.48e+05 1 4.80e-02 8.44e-01 17 1.122522e+04 6.58e+01 2.62e+05 2.80e+02 6.17e-01 1.50e+05 1 4.81e-02 8.92e-01 18 1.116430e+04 6.09e+01 2.33e+05 2.70e+02 6.25e-01 1.53e+05 1 5.41e-02 9.46e-01 19 1.110792e+04 5.64e+01 2.11e+05 2.60e+02 6.32e-01 1.56e+05 1 4.92e-02 9.96e-01 20 1.105568e+04 5.22e+01 2.00e+05 2.52e+02 6.39e-01 1.59e+05 1 4.86e-02 1.04e+00 21 1.100723e+04 4.84e+01 1.90e+05 2.43e+02 6.44e-01 1.63e+05 1 5.25e-02 1.10e+00 22 1.096226e+04 4.50e+01 1.81e+05 2.36e+02 6.50e-01 1.67e+05 1 4.86e-02 1.15e+00 23 1.092045e+04 4.18e+01 1.73e+05 2.28e+02 6.54e-01 1.72e+05 1 4.83e-02 1.19e+00 24 1.088156e+04 3.89e+01 1.65e+05 2.21e+02 6.58e-01 1.78e+05 1 4.82e-02 1.24e+00 25 1.084534e+04 3.62e+01 1.58e+05 2.14e+02 6.63e-01 1.84e+05 1 4.89e-02 1.29e+00 26 1.081159e+04 3.38e+01 1.52e+05 2.08e+02 6.66e-01 1.91e+05 1 4.80e-02 1.34e+00 27 1.078011e+04 3.15e+01 1.46e+05 2.01e+02 6.70e-01 1.99e+05 1 5.35e-02 1.39e+00 28 1.075074e+04 2.94e+01 1.40e+05 1.95e+02 6.74e-01 2.08e+05 1 4.83e-02 1.44e+00 29 1.072334e+04 2.74e+01 1.35e+05 1.89e+02 6.78e-01 2.18e+05 1 4.85e-02 1.49e+00 30 1.069779e+04 2.56e+01 1.29e+05 1.83e+02 6.82e-01 2.29e+05 1 4.81e-02 1.54e+00 31 1.067398e+04 2.38e+01 1.25e+05 1.77e+02 6.85e-01 2.41e+05 1 4.89e-02 1.59e+00 32 1.065182e+04 2.22e+01 1.20e+05 1.71e+02 6.89e-01 2.55e+05 1 4.82e-02 1.63e+00 33 1.063126e+04 2.06e+01 1.15e+05 1.66e+02 6.93e-01 2.71e+05 1 4.82e-02 1.68e+00 34 1.061222e+04 1.90e+01 1.11e+05 1.60e+02 6.97e-01 2.88e+05 1 4.81e-02 1.73e+00 35 1.059467e+04 1.75e+01 1.07e+05 1.54e+02 7.01e-01 3.08e+05 1 4.89e-02 1.78e+00 36 1.057857e+04 1.61e+01 1.03e+05 1.48e+02 7.05e-01 3.31e+05 1 4.82e-02 1.83e+00 37 1.056389e+04 1.47e+01 9.85e+04 1.42e+02 7.10e-01 3.58e+05 1 5.09e-02 1.88e+00 38 1.055060e+04 1.33e+01 9.43e+04 1.36e+02 7.14e-01 3.88e+05 1 5.04e-02 1.93e+00 39 1.053867e+04 1.19e+01 9.00e+04 1.30e+02 7.19e-01 4.23e+05 1 5.17e-02 1.98e+00 40 1.052807e+04 1.06e+01 8.56e+04 1.24e+02 7.23e-01 4.65e+05 1 4.83e-02 2.03e+00 41 1.051876e+04 9.31e+00 8.09e+04 1.17e+02 7.29e-01 5.14e+05 1 4.79e-02 2.08e+00 42 1.051070e+04 8.06e+00 7.60e+04 1.11e+02 7.34e-01 5.73e+05 1 4.79e-02 2.13e+00 43 1.050383e+04 6.87e+00 7.08e+04 1.04e+02 7.40e-01 6.44e+05 1 4.84e-02 2.17e+00 44 1.049808e+04 5.75e+00 6.52e+04 9.70e+01 7.46e-01 7.31e+05 1 4.78e-02 2.22e+00 45 1.049338e+04 4.70e+00 5.91e+04 9.00e+01 7.53e-01 8.40e+05 1 4.77e-02 2.27e+00 46 1.048965e+04 3.73e+00 5.25e+04 8.28e+01 7.61e-01 9.79e+05 1 4.79e-02 2.32e+00 47 1.048678e+04 2.87e+00 4.56e+04 7.56e+01 7.70e-01 1.16e+06 1 4.89e-02 2.37e+00 48 1.048465e+04 2.12e+00 3.83e+04 6.84e+01 7.80e-01 1.41e+06 1 5.16e-02 2.42e+00 49 1.048316e+04 1.50e+00 3.13e+04 6.11e+01 7.93e-01 1.77e+06 1 4.79e-02 2.47e+00 50 1.048217e+04 9.90e-01 2.63e+04 5.39e+01 8.10e-01 2.32e+06 1 4.79e-02 2.51e+00 Bundle adjustment report ------------------------ Residuals : 33234 Parameters : 15694 Iterations : 51 Time : 2.51451 [s] Initial cost : 0.639036 [px] Final cost : 0.561609 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 56 => Filtered observations: 31 => Changed observations: 0.005236 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.620229e+03 0.00e+00 1.95e+05 0.00e+00 0.00e+00 1.00e+04 0 3.15e-02 5.88e-02 1 9.381604e+03 2.39e+02 4.64e+05 1.96e+01 9.35e-01 2.92e+04 1 5.01e-02 1.09e-01 2 9.289853e+03 9.18e+01 3.27e+05 4.14e+01 8.82e-01 5.25e+04 1 4.84e-02 1.57e-01 3 9.222645e+03 6.72e+01 5.62e+05 6.97e+01 6.08e-01 5.30e+04 1 4.84e-02 2.06e-01 4 9.127186e+03 9.55e+01 5.66e+05 7.13e+01 7.22e-01 5.81e+04 1 4.87e-02 2.54e-01 5 9.044890e+03 8.23e+01 6.44e+05 7.91e+01 6.43e-01 5.95e+04 1 4.83e-02 3.03e-01 6 8.953826e+03 9.11e+01 6.35e+05 8.18e+01 6.78e-01 6.23e+04 1 4.88e-02 3.52e-01 7 8.866647e+03 8.72e+01 6.45e+05 8.61e+01 6.67e-01 6.47e+04 1 5.35e-02 4.05e-01 8 8.779087e+03 8.76e+01 6.36e+05 8.96e+01 6.77e-01 6.77e+04 1 4.96e-02 4.55e-01 9 8.693672e+03 8.54e+01 6.28e+05 9.36e+01 6.79e-01 7.10e+04 1 4.85e-02 5.03e-01 10 8.609738e+03 8.39e+01 6.13e+05 9.77e+01 6.86e-01 7.49e+04 1 4.81e-02 5.51e-01 11 8.527962e+03 8.18e+01 5.96e+05 1.02e+02 6.92e-01 7.94e+04 1 4.81e-02 6.00e-01 12 8.448340e+03 7.96e+01 5.74e+05 1.07e+02 6.99e-01 8.47e+04 1 4.85e-02 6.48e-01 13 8.371183e+03 7.72e+01 5.48e+05 1.13e+02 7.06e-01 9.11e+04 1 4.79e-02 6.96e-01 14 8.296644e+03 7.45e+01 5.17e+05 1.19e+02 7.13e-01 9.88e+04 1 4.81e-02 7.44e-01 15 8.224995e+03 7.16e+01 4.81e+05 1.26e+02 7.20e-01 1.08e+05 1 4.80e-02 7.92e-01 16 8.156512e+03 6.85e+01 4.39e+05 1.34e+02 7.27e-01 1.19e+05 1 5.14e-02 8.43e-01 17 8.091602e+03 6.49e+01 3.89e+05 1.43e+02 7.31e-01 1.32e+05 1 4.94e-02 8.93e-01 18 8.030790e+03 6.08e+01 3.73e+05 1.52e+02 7.31e-01 1.46e+05 1 4.81e-02 9.41e-01 19 7.974723e+03 5.61e+01 3.56e+05 1.61e+02 7.25e-01 1.61e+05 1 4.80e-02 9.89e-01 20 7.923960e+03 5.08e+01 3.27e+05 1.67e+02 7.14e-01 1.75e+05 1 4.80e-02 1.04e+00 21 7.878730e+03 4.52e+01 2.87e+05 1.70e+02 7.00e-01 1.87e+05 1 4.79e-02 1.09e+00 22 7.838871e+03 3.99e+01 2.42e+05 1.69e+02 6.88e-01 1.97e+05 1 4.84e-02 1.13e+00 23 7.803991e+03 3.49e+01 2.00e+05 1.65e+02 6.80e-01 2.07e+05 1 4.78e-02 1.18e+00 24 7.773611e+03 3.04e+01 1.68e+05 1.59e+02 6.76e-01 2.16e+05 1 4.90e-02 1.23e+00 25 7.747224e+03 2.64e+01 1.49e+05 1.52e+02 6.76e-01 2.26e+05 1 4.82e-02 1.28e+00 26 7.724322e+03 2.29e+01 1.32e+05 1.45e+02 6.78e-01 2.37e+05 1 4.83e-02 1.33e+00 27 7.704415e+03 1.99e+01 1.17e+05 1.37e+02 6.82e-01 2.49e+05 1 4.83e-02 1.38e+00 28 7.687047e+03 1.74e+01 1.04e+05 1.29e+02 6.86e-01 2.63e+05 1 5.30e-02 1.43e+00 29 7.671809e+03 1.52e+01 1.03e+05 1.21e+02 6.90e-01 2.78e+05 1 4.85e-02 1.48e+00 30 7.658345e+03 1.35e+01 1.16e+05 1.13e+02 6.92e-01 2.95e+05 1 4.86e-02 1.53e+00 31 7.646351e+03 1.20e+01 1.30e+05 1.04e+02 6.93e-01 3.12e+05 1 4.88e-02 1.57e+00 32 7.635575e+03 1.08e+01 1.44e+05 9.59e+01 6.90e-01 3.31e+05 1 4.85e-02 1.62e+00 33 7.625807e+03 9.77e+00 1.56e+05 8.69e+01 6.85e-01 3.48e+05 1 4.84e-02 1.67e+00 34 7.616868e+03 8.94e+00 1.66e+05 7.76e+01 6.77e-01 3.64e+05 1 4.83e-02 1.72e+00 35 7.608608e+03 8.26e+00 1.72e+05 6.83e+01 6.69e-01 3.79e+05 1 4.87e-02 1.77e+00 36 7.600902e+03 7.71e+00 1.76e+05 5.92e+01 6.61e-01 3.92e+05 1 4.89e-02 1.82e+00 37 7.593648e+03 7.25e+00 1.77e+05 5.06e+01 6.55e-01 4.04e+05 1 5.26e-02 1.87e+00 38 7.586768e+03 6.88e+00 1.76e+05 4.28e+01 6.51e-01 4.15e+05 1 4.87e-02 1.92e+00 39 7.580202e+03 6.57e+00 1.74e+05 3.58e+01 6.48e-01 4.26e+05 1 4.85e-02 1.97e+00 40 7.573903e+03 6.30e+00 1.70e+05 2.97e+01 6.47e-01 4.38e+05 1 4.84e-02 2.02e+00 41 7.567837e+03 6.07e+00 1.67e+05 2.44e+01 6.47e-01 4.49e+05 1 4.84e-02 2.06e+00 42 7.561974e+03 5.86e+00 1.64e+05 1.98e+01 6.48e-01 4.61e+05 1 4.83e-02 2.11e+00 43 7.556293e+03 5.68e+00 1.60e+05 1.59e+01 6.49e-01 4.73e+05 1 4.83e-02 2.16e+00 44 7.550775e+03 5.52e+00 1.57e+05 1.26e+01 6.49e-01 4.86e+05 1 4.92e-02 2.21e+00 45 7.545406e+03 5.37e+00 1.54e+05 9.84e+00 6.50e-01 5.00e+05 1 4.88e-02 2.26e+00 46 7.540172e+03 5.23e+00 1.51e+05 7.50e+00 6.50e-01 5.14e+05 1 4.83e-02 2.31e+00 47 7.535067e+03 5.11e+00 1.49e+05 5.55e+00 6.51e-01 5.28e+05 1 4.89e-02 2.36e+00 48 7.530082e+03 4.99e+00 1.46e+05 3.92e+00 6.51e-01 5.43e+05 1 5.06e-02 2.41e+00 49 7.525212e+03 4.87e+00 1.44e+05 2.58e+00 6.50e-01 5.58e+05 1 5.60e-02 2.46e+00 50 7.520454e+03 4.76e+00 1.43e+05 1.49e+00 6.50e-01 5.74e+05 1 4.99e-02 2.51e+00 Bundle adjustment report ------------------------ Residuals : 33172 Parameters : 15616 Iterations : 51 Time : 2.51369 [s] Initial cost : 0.538526 [px] Final cost : 0.476142 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 20 => Filtered observations: 8 => Changed observations: 0.001688 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.471121e+03 0.00e+00 1.66e+05 0.00e+00 0.00e+00 1.00e+04 0 3.25e-02 6.11e-02 1 7.415892e+03 5.52e+01 3.10e+03 2.35e+00 1.00e+00 3.00e+04 1 5.16e-02 1.13e-01 2 7.407752e+03 8.14e+00 6.22e+03 4.32e+00 9.98e-01 9.00e+04 1 4.94e-02 1.62e-01 3 7.394928e+03 1.28e+01 3.81e+04 8.50e+00 9.77e-01 2.70e+05 1 4.91e-02 2.11e-01 4 7.377246e+03 1.77e+01 2.36e+05 1.70e+01 7.01e-01 2.89e+05 1 4.96e-02 2.61e-01 5 7.354616e+03 2.26e+01 1.97e+05 1.41e+01 8.10e-01 3.79e+05 1 4.93e-02 3.10e-01 6 7.337061e+03 1.76e+01 2.45e+05 1.43e+01 6.74e-01 3.95e+05 1 5.57e-02 3.66e-01 7 7.317516e+03 1.95e+01 1.96e+05 1.09e+01 7.77e-01 4.77e+05 1 4.91e-02 4.15e-01 8 7.303114e+03 1.44e+01 2.03e+05 8.75e+00 7.00e-01 5.09e+05 1 4.86e-02 4.64e-01 9 7.289390e+03 1.37e+01 1.65e+05 5.19e+00 7.67e-01 6.01e+05 1 4.85e-02 5.12e-01 10 7.279433e+03 9.96e+00 1.58e+05 2.17e+00 7.19e-01 6.57e+05 1 4.83e-02 5.61e-01 11 7.270949e+03 8.48e+00 1.29e+05 8.50e-01 7.67e-01 7.75e+05 1 4.85e-02 6.09e-01 12 7.265069e+03 5.88e+00 1.19e+05 3.47e+00 7.34e-01 8.64e+05 1 4.92e-02 6.58e-01 13 7.260558e+03 4.51e+00 9.67e+04 5.34e+00 7.70e-01 1.03e+06 1 4.86e-02 7.07e-01 14 7.257674e+03 2.88e+00 8.63e+04 6.78e+00 7.41e-01 1.15e+06 1 4.82e-02 7.55e-01 15 7.255677e+03 2.00e+00 6.87e+04 7.18e+00 7.69e-01 1.37e+06 1 4.88e-02 8.04e-01 16 7.254494e+03 1.18e+00 5.95e+04 7.20e+00 7.37e-01 1.53e+06 1 4.86e-02 8.53e-01 17 7.253699e+03 7.95e-01 4.62e+04 6.37e+00 7.61e-01 1.79e+06 1 5.37e-02 9.06e-01 18 7.253194e+03 5.05e-01 3.86e+04 5.46e+00 7.22e-01 1.96e+06 1 4.89e-02 9.55e-01 19 7.252789e+03 4.05e-01 2.91e+04 4.26e+00 7.22e-01 2.15e+06 1 4.88e-02 1.00e+00 20 7.252455e+03 3.34e-01 3.01e+04 3.24e+00 6.64e-01 2.23e+06 1 4.94e-02 1.05e+00 21 7.252125e+03 3.30e-01 3.45e+04 2.38e+00 6.49e-01 2.29e+06 1 4.87e-02 1.10e+00 22 7.251801e+03 3.24e-01 3.78e+04 1.79e+00 6.23e-01 2.32e+06 1 4.83e-02 1.15e+00 23 7.251472e+03 3.29e-01 3.99e+04 1.40e+00 6.12e-01 2.35e+06 1 4.84e-02 1.20e+00 24 7.251139e+03 3.33e-01 4.13e+04 1.16e+00 6.02e-01 2.37e+06 1 4.83e-02 1.25e+00 25 7.250802e+03 3.37e-01 4.24e+04 1.02e+00 5.94e-01 2.39e+06 1 4.87e-02 1.30e+00 26 7.250463e+03 3.39e-01 4.32e+04 9.29e-01 5.88e-01 2.40e+06 1 5.28e-02 1.35e+00 27 7.250123e+03 3.41e-01 4.38e+04 8.78e-01 5.83e-01 2.41e+06 1 4.96e-02 1.40e+00 28 7.249781e+03 3.42e-01 4.43e+04 8.48e-01 5.78e-01 2.42e+06 1 4.84e-02 1.45e+00 29 7.249439e+03 3.42e-01 4.48e+04 8.30e-01 5.74e-01 2.43e+06 1 4.86e-02 1.50e+00 30 7.249096e+03 3.43e-01 4.51e+04 8.19e-01 5.70e-01 2.43e+06 1 4.82e-02 1.54e+00 31 7.248754e+03 3.43e-01 4.55e+04 8.12e-01 5.67e-01 2.44e+06 1 4.86e-02 1.59e+00 32 7.248411e+03 3.42e-01 4.57e+04 8.07e-01 5.64e-01 2.44e+06 1 4.89e-02 1.64e+00 33 7.248069e+03 3.42e-01 4.60e+04 8.04e-01 5.61e-01 2.45e+06 1 4.84e-02 1.69e+00 34 7.247728e+03 3.41e-01 4.62e+04 8.01e-01 5.58e-01 2.45e+06 1 4.82e-02 1.74e+00 35 7.247387e+03 3.41e-01 4.65e+04 7.98e-01 5.55e-01 2.46e+06 1 4.86e-02 1.79e+00 36 7.247047e+03 3.40e-01 4.67e+04 7.95e-01 5.53e-01 2.46e+06 1 4.83e-02 1.83e+00 37 7.246708e+03 3.39e-01 4.69e+04 7.92e-01 5.50e-01 2.46e+06 1 4.93e-02 1.88e+00 38 7.246370e+03 3.38e-01 4.70e+04 7.90e-01 5.48e-01 2.46e+06 1 6.99e-02 1.95e+00 39 7.246032e+03 3.38e-01 4.72e+04 7.87e-01 5.45e-01 2.47e+06 1 5.04e-02 2.00e+00 40 7.245695e+03 3.37e-01 4.74e+04 7.84e-01 5.43e-01 2.47e+06 1 4.84e-02 2.05e+00 41 7.245360e+03 3.36e-01 4.75e+04 7.81e-01 5.41e-01 2.47e+06 1 4.85e-02 2.10e+00 42 7.245025e+03 3.35e-01 4.77e+04 7.78e-01 5.39e-01 2.47e+06 1 4.82e-02 2.15e+00 43 7.244692e+03 3.34e-01 4.78e+04 7.75e-01 5.36e-01 2.47e+06 1 4.85e-02 2.20e+00 44 7.244359e+03 3.33e-01 4.79e+04 7.72e-01 5.34e-01 2.47e+06 1 4.82e-02 2.25e+00 45 7.244028e+03 3.31e-01 4.81e+04 7.69e-01 5.32e-01 2.47e+06 1 4.84e-02 2.29e+00 46 7.243697e+03 3.30e-01 4.82e+04 7.66e-01 5.30e-01 2.47e+06 1 4.81e-02 2.34e+00 47 7.243368e+03 3.29e-01 4.83e+04 7.63e-01 5.28e-01 2.47e+06 1 5.34e-02 2.40e+00 48 7.243040e+03 3.28e-01 4.85e+04 7.60e-01 5.26e-01 2.47e+06 1 4.82e-02 2.44e+00 49 7.242713e+03 3.27e-01 4.86e+04 7.56e-01 5.24e-01 2.47e+06 1 4.81e-02 2.49e+00 50 7.242387e+03 3.26e-01 4.87e+04 7.53e-01 5.22e-01 2.47e+06 1 4.81e-02 2.54e+00 Bundle adjustment report ------------------------ Residuals : 33156 Parameters : 15598 Iterations : 51 Time : 2.54181 [s] Initial cost : 0.474692 [px] Final cost : 0.467369 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 23 => Filtered observations: 0 => Changed observations: 0.001387 => Filtered images: 28 => Relaxing the initialization constraints. ============================================================================== Initializing with image pair #13 and #1 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.157245e+03 0.00e+00 3.74e+04 0.00e+00 0.00e+00 1.00e+04 0 4.75e-03 9.68e-03 1 8.202383e+02 3.37e+02 2.17e+04 5.35e+00 8.53e-01 1.55e+04 1 6.83e-03 1.65e-02 2 7.484758e+02 7.18e+01 8.36e+03 1.49e+01 9.99e-01 4.64e+04 1 6.60e-03 2.32e-02 3 7.439115e+02 4.56e+00 5.82e+03 4.15e+01 9.29e-01 1.26e+05 1 6.49e-03 2.97e-02 4 7.407345e+02 3.18e+00 8.07e+03 6.08e+01 6.51e-01 1.29e+05 1 6.50e-03 3.62e-02 5 7.378445e+02 2.89e+00 2.57e+03 3.19e+01 9.48e-01 3.88e+05 1 6.51e-03 4.27e-02 6 7.373184e+02 5.26e-01 2.45e+03 2.19e+01 8.24e-01 5.33e+05 1 6.62e-03 4.94e-02 7 7.371545e+02 1.64e-01 3.35e+02 9.36e-01 9.68e-01 1.60e+06 1 6.64e-03 5.60e-02 8 7.373891e+02 -2.35e-01 0.00e+00 1.82e+01 -2.95e+00 7.99e+05 1 2.06e-03 5.81e-02 9 7.371295e+02 2.51e-02 6.00e+02 8.37e+00 5.77e-01 8.02e+05 1 6.36e-03 6.45e-02 10 7.370959e+02 3.36e-02 6.58e+02 9.77e+00 6.14e-01 8.12e+05 1 6.46e-03 7.10e-02 11 7.370607e+02 3.53e-02 6.76e+02 1.00e+01 6.14e-01 8.22e+05 1 6.47e-03 7.75e-02 12 7.370250e+02 3.57e-02 6.86e+02 1.01e+01 6.11e-01 8.31e+05 1 6.49e-03 8.40e-02 13 7.369891e+02 3.58e-02 6.94e+02 1.02e+01 6.07e-01 8.39e+05 1 6.57e-03 9.06e-02 14 7.369533e+02 3.59e-02 7.00e+02 1.03e+01 6.03e-01 8.46e+05 1 6.45e-03 9.70e-02 15 7.369174e+02 3.59e-02 7.05e+02 1.03e+01 6.01e-01 8.53e+05 1 6.55e-03 1.04e-01 16 7.368816e+02 3.58e-02 7.09e+02 1.03e+01 5.98e-01 8.60e+05 1 6.49e-03 1.10e-01 17 7.368458e+02 3.57e-02 7.12e+02 1.04e+01 5.96e-01 8.66e+05 1 6.52e-03 1.17e-01 18 7.368102e+02 3.56e-02 7.14e+02 1.04e+01 5.94e-01 8.72e+05 1 6.49e-03 1.23e-01 19 7.367747e+02 3.55e-02 7.16e+02 1.04e+01 5.93e-01 8.77e+05 1 6.46e-03 1.30e-01 20 7.367394e+02 3.53e-02 7.18e+02 1.04e+01 5.91e-01 8.83e+05 1 6.51e-03 1.36e-01 21 7.367043e+02 3.52e-02 7.19e+02 1.04e+01 5.90e-01 8.88e+05 1 6.55e-03 1.43e-01 22 7.366693e+02 3.50e-02 7.19e+02 1.05e+01 5.89e-01 8.93e+05 1 6.73e-03 1.49e-01 23 7.366345e+02 3.48e-02 7.20e+02 1.05e+01 5.88e-01 8.98e+05 1 6.43e-03 1.56e-01 24 7.365999e+02 3.46e-02 7.20e+02 1.05e+01 5.87e-01 9.03e+05 1 6.47e-03 1.62e-01 25 7.365655e+02 3.44e-02 7.20e+02 1.05e+01 5.87e-01 9.07e+05 1 6.44e-03 1.69e-01 26 7.365312e+02 3.42e-02 7.19e+02 1.05e+01 5.86e-01 9.12e+05 1 6.48e-03 1.75e-01 27 7.364973e+02 3.40e-02 7.19e+02 1.05e+01 5.85e-01 9.16e+05 1 6.57e-03 1.82e-01 28 7.364635e+02 3.38e-02 7.18e+02 1.05e+01 5.85e-01 9.21e+05 1 6.54e-03 1.89e-01 29 7.364299e+02 3.36e-02 7.18e+02 1.05e+01 5.84e-01 9.25e+05 1 6.66e-03 1.95e-01 30 7.363965e+02 3.34e-02 7.17e+02 1.05e+01 5.84e-01 9.30e+05 1 6.47e-03 2.02e-01 31 7.363634e+02 3.31e-02 7.16e+02 1.05e+01 5.84e-01 9.34e+05 1 6.45e-03 2.08e-01 32 7.363305e+02 3.29e-02 7.15e+02 1.05e+01 5.83e-01 9.38e+05 1 6.54e-03 2.15e-01 33 7.362978e+02 3.27e-02 7.14e+02 1.05e+01 5.83e-01 9.43e+05 1 6.53e-03 2.21e-01 34 7.362653e+02 3.25e-02 7.13e+02 1.05e+01 5.83e-01 9.47e+05 1 6.85e-03 2.28e-01 35 7.362330e+02 3.23e-02 7.11e+02 1.05e+01 5.82e-01 9.51e+05 1 6.45e-03 2.35e-01 36 7.362010e+02 3.20e-02 7.10e+02 1.05e+01 5.82e-01 9.56e+05 1 6.53e-03 2.41e-01 37 7.361692e+02 3.18e-02 7.09e+02 1.05e+01 5.82e-01 9.60e+05 1 6.55e-03 2.48e-01 38 7.361376e+02 3.16e-02 7.08e+02 1.05e+01 5.82e-01 9.64e+05 1 6.46e-03 2.54e-01 39 7.361062e+02 3.14e-02 7.06e+02 1.05e+01 5.82e-01 9.68e+05 1 6.43e-03 2.61e-01 40 7.360750e+02 3.12e-02 7.05e+02 1.04e+01 5.81e-01 9.72e+05 1 6.51e-03 2.67e-01 41 7.360440e+02 3.10e-02 7.04e+02 1.04e+01 5.81e-01 9.77e+05 1 6.43e-03 2.74e-01 42 7.360133e+02 3.08e-02 7.02e+02 1.04e+01 5.81e-01 9.81e+05 1 6.54e-03 2.80e-01 43 7.359827e+02 3.05e-02 7.01e+02 1.04e+01 5.81e-01 9.85e+05 1 6.58e-03 2.87e-01 44 7.359524e+02 3.03e-02 6.99e+02 1.04e+01 5.81e-01 9.89e+05 1 6.48e-03 2.93e-01 45 7.359223e+02 3.01e-02 6.98e+02 1.04e+01 5.81e-01 9.93e+05 1 6.52e-03 3.00e-01 46 7.358924e+02 2.99e-02 6.96e+02 1.04e+01 5.81e-01 9.98e+05 1 6.52e-03 3.06e-01 47 7.358627e+02 2.97e-02 6.95e+02 1.04e+01 5.81e-01 1.00e+06 1 6.66e-03 3.13e-01 48 7.358332e+02 2.95e-02 6.93e+02 1.04e+01 5.81e-01 1.01e+06 1 6.62e-03 3.20e-01 49 7.358039e+02 2.93e-02 6.92e+02 1.04e+01 5.80e-01 1.01e+06 1 6.55e-03 3.26e-01 50 7.357748e+02 2.91e-02 6.91e+02 1.04e+01 5.80e-01 1.01e+06 1 6.48e-03 3.33e-01 51 7.357459e+02 2.89e-02 6.89e+02 1.04e+01 5.80e-01 1.02e+06 1 6.53e-03 3.39e-01 52 7.357172e+02 2.87e-02 6.88e+02 1.04e+01 5.80e-01 1.02e+06 1 6.63e-03 3.46e-01 53 7.356887e+02 2.85e-02 6.86e+02 1.04e+01 5.80e-01 1.03e+06 1 6.56e-03 3.53e-01 54 7.356604e+02 2.83e-02 6.85e+02 1.04e+01 5.80e-01 1.03e+06 1 6.54e-03 3.59e-01 55 7.356322e+02 2.81e-02 6.83e+02 1.04e+01 5.80e-01 1.04e+06 1 6.54e-03 3.66e-01 56 7.356043e+02 2.79e-02 6.82e+02 1.04e+01 5.80e-01 1.04e+06 1 6.55e-03 3.72e-01 57 7.355766e+02 2.77e-02 6.80e+02 1.04e+01 5.80e-01 1.04e+06 1 6.54e-03 3.79e-01 58 7.355491e+02 2.75e-02 6.79e+02 1.04e+01 5.80e-01 1.05e+06 1 6.67e-03 3.86e-01 59 7.355217e+02 2.74e-02 6.77e+02 1.03e+01 5.80e-01 1.05e+06 1 6.55e-03 3.92e-01 60 7.354945e+02 2.72e-02 6.76e+02 1.03e+01 5.80e-01 1.06e+06 1 6.70e-03 3.99e-01 61 7.354676e+02 2.70e-02 6.74e+02 1.03e+01 5.80e-01 1.06e+06 1 6.53e-03 4.05e-01 62 7.354408e+02 2.68e-02 6.73e+02 1.03e+01 5.80e-01 1.07e+06 1 6.67e-03 4.12e-01 63 7.354141e+02 2.66e-02 6.71e+02 1.03e+01 5.80e-01 1.07e+06 1 6.46e-03 4.19e-01 64 7.353877e+02 2.64e-02 6.70e+02 1.03e+01 5.80e-01 1.07e+06 1 6.49e-03 4.25e-01 65 7.353615e+02 2.63e-02 6.68e+02 1.03e+01 5.79e-01 1.08e+06 1 6.46e-03 4.32e-01 66 7.353354e+02 2.61e-02 6.67e+02 1.03e+01 5.79e-01 1.08e+06 1 6.48e-03 4.38e-01 67 7.353095e+02 2.59e-02 6.66e+02 1.03e+01 5.79e-01 1.09e+06 1 6.47e-03 4.45e-01 68 7.352837e+02 2.57e-02 6.64e+02 1.03e+01 5.79e-01 1.09e+06 1 6.61e-03 4.51e-01 69 7.352582e+02 2.56e-02 6.63e+02 1.03e+01 5.79e-01 1.10e+06 1 6.50e-03 4.58e-01 70 7.352328e+02 2.54e-02 6.61e+02 1.03e+01 5.79e-01 1.10e+06 1 6.54e-03 4.64e-01 71 7.352076e+02 2.52e-02 6.60e+02 1.03e+01 5.79e-01 1.10e+06 1 6.55e-03 4.71e-01 72 7.351825e+02 2.51e-02 6.58e+02 1.03e+01 5.79e-01 1.11e+06 1 6.56e-03 4.78e-01 73 7.351576e+02 2.49e-02 6.57e+02 1.03e+01 5.79e-01 1.11e+06 1 6.52e-03 4.84e-01 74 7.351329e+02 2.47e-02 6.56e+02 1.03e+01 5.79e-01 1.12e+06 1 6.48e-03 4.91e-01 75 7.351083e+02 2.46e-02 6.54e+02 1.02e+01 5.79e-01 1.12e+06 1 6.47e-03 4.97e-01 76 7.350840e+02 2.44e-02 6.53e+02 1.02e+01 5.79e-01 1.13e+06 1 6.47e-03 5.04e-01 77 7.350597e+02 2.42e-02 6.51e+02 1.02e+01 5.79e-01 1.13e+06 1 9.12e-03 5.13e-01 78 7.350356e+02 2.41e-02 6.50e+02 1.02e+01 5.79e-01 1.14e+06 1 8.72e-03 5.21e-01 79 7.350117e+02 2.39e-02 6.49e+02 1.02e+01 5.79e-01 1.14e+06 1 6.66e-03 5.28e-01 80 7.349880e+02 2.38e-02 6.47e+02 1.02e+01 5.79e-01 1.14e+06 1 6.46e-03 5.35e-01 81 7.349644e+02 2.36e-02 6.46e+02 1.02e+01 5.79e-01 1.15e+06 1 6.55e-03 5.41e-01 82 7.349409e+02 2.34e-02 6.44e+02 1.02e+01 5.79e-01 1.15e+06 1 6.58e-03 5.48e-01 83 7.349176e+02 2.33e-02 6.43e+02 1.02e+01 5.79e-01 1.16e+06 1 6.45e-03 5.54e-01 84 7.348945e+02 2.31e-02 6.42e+02 1.02e+01 5.79e-01 1.16e+06 1 6.63e-03 5.61e-01 85 7.348715e+02 2.30e-02 6.40e+02 1.02e+01 5.79e-01 1.17e+06 1 6.45e-03 5.67e-01 86 7.348486e+02 2.28e-02 6.39e+02 1.02e+01 5.79e-01 1.17e+06 1 6.43e-03 5.74e-01 87 7.348259e+02 2.27e-02 6.38e+02 1.02e+01 5.79e-01 1.18e+06 1 6.49e-03 5.80e-01 88 7.348034e+02 2.25e-02 6.36e+02 1.02e+01 5.79e-01 1.18e+06 1 6.55e-03 5.87e-01 89 7.347810e+02 2.24e-02 6.35e+02 1.02e+01 5.78e-01 1.19e+06 1 6.47e-03 5.93e-01 90 7.347587e+02 2.23e-02 6.34e+02 1.02e+01 5.78e-01 1.19e+06 1 6.45e-03 6.00e-01 91 7.347366e+02 2.21e-02 6.32e+02 1.02e+01 5.78e-01 1.19e+06 1 6.61e-03 6.06e-01 92 7.347146e+02 2.20e-02 6.31e+02 1.01e+01 5.78e-01 1.20e+06 1 6.43e-03 6.13e-01 93 7.346928e+02 2.18e-02 6.30e+02 1.01e+01 5.78e-01 1.20e+06 1 6.51e-03 6.19e-01 94 7.346711e+02 2.17e-02 6.28e+02 1.01e+01 5.78e-01 1.21e+06 1 6.48e-03 6.26e-01 95 7.346496e+02 2.16e-02 6.27e+02 1.01e+01 5.78e-01 1.21e+06 1 6.48e-03 6.32e-01 96 7.346281e+02 2.14e-02 6.26e+02 1.01e+01 5.78e-01 1.22e+06 1 6.45e-03 6.39e-01 97 7.346068e+02 2.13e-02 6.24e+02 1.01e+01 5.78e-01 1.22e+06 1 6.76e-03 6.46e-01 98 7.345857e+02 2.11e-02 6.23e+02 1.01e+01 5.78e-01 1.23e+06 1 6.48e-03 6.52e-01 99 7.345647e+02 2.10e-02 6.22e+02 1.01e+01 5.78e-01 1.23e+06 1 6.46e-03 6.59e-01 100 7.345438e+02 2.09e-02 6.20e+02 1.01e+01 5.78e-01 1.24e+06 1 6.50e-03 6.65e-01 Bundle adjustment report ------------------------ Residuals : 6248 Parameters : 4693 Iterations : 101 Time : 0.665441 [s] Initial cost : 0.43037 [px] Final cost : 0.342877 [px] Termination : No convergence => Filtered observations: 2 => Filtered images: 0 ============================================================================== Registering image #34 (3) ============================================================================== => Image sees 901 / 2985 points Pose refinement report ---------------------- Residuals : 1542 Parameters : 6 Iterations : 40 Time : 0.0592849 [s] Initial cost : 0.875585 [px] Final cost : 0.851016 [px] Termination : Convergence => Continued observations: 771 => Added observations: 1764 Bundle adjustment report ------------------------ Residuals : 11314 Parameters : 7066 Iterations : 26 Time : 0.330957 [s] Initial cost : 0.795313 [px] Final cost : 0.59506 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 326 => Changed observations: 0.057804 Bundle adjustment report ------------------------ Residuals : 10664 Parameters : 7039 Iterations : 26 Time : 0.332615 [s] Initial cost : 0.542289 [px] Final cost : 0.478815 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.003001 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 2.485317e+03 0.00e+00 1.82e+04 0.00e+00 0.00e+00 1.00e+04 0 8.96e-03 1.70e-02 1 2.477036e+03 8.28e+00 1.63e+02 2.91e+00 1.00e+00 3.00e+04 1 1.32e-02 3.02e-02 2 2.474259e+03 2.78e+00 1.51e+03 1.10e+01 9.87e-01 9.00e+04 1 1.28e-02 4.30e-02 3 2.468981e+03 5.28e+00 1.33e+04 3.50e+01 6.30e-01 9.16e+04 1 1.27e-02 5.58e-02 4 2.460704e+03 8.28e+00 1.36e+04 3.67e+01 7.15e-01 9.95e+04 1 1.30e-02 6.88e-02 5 2.452835e+03 7.87e+00 1.60e+04 4.06e+01 6.33e-01 1.01e+05 1 1.28e-02 8.15e-02 6 2.443867e+03 8.97e+00 1.65e+04 4.18e+01 6.49e-01 1.04e+05 1 1.57e-02 9.73e-02 7 2.434883e+03 8.98e+00 1.73e+04 4.31e+01 6.29e-01 1.06e+05 1 1.42e-02 1.11e-01 8 2.425610e+03 9.27e+00 1.78e+04 4.39e+01 6.25e-01 1.08e+05 1 1.28e-02 1.24e-01 9 2.416226e+03 9.38e+00 1.83e+04 4.46e+01 6.19e-01 1.09e+05 1 1.27e-02 1.37e-01 10 2.406732e+03 9.49e+00 1.87e+04 4.51e+01 6.15e-01 1.10e+05 1 1.28e-02 1.50e-01 11 2.397165e+03 9.57e+00 1.91e+04 4.55e+01 6.11e-01 1.12e+05 1 1.27e-02 1.63e-01 12 2.387545e+03 9.62e+00 1.94e+04 4.58e+01 6.09e-01 1.13e+05 1 1.28e-02 1.76e-01 13 2.377887e+03 9.66e+00 1.97e+04 4.60e+01 6.07e-01 1.14e+05 1 1.27e-02 1.88e-01 14 2.368204e+03 9.68e+00 2.00e+04 4.62e+01 6.05e-01 1.15e+05 1 1.27e-02 2.01e-01 15 2.358506e+03 9.70e+00 2.03e+04 4.64e+01 6.04e-01 1.16e+05 1 1.27e-02 2.14e-01 16 2.348801e+03 9.71e+00 2.06e+04 4.65e+01 6.03e-01 1.17e+05 1 1.27e-02 2.26e-01 17 2.339096e+03 9.70e+00 2.08e+04 4.66e+01 6.03e-01 1.18e+05 1 1.29e-02 2.39e-01 18 2.329397e+03 9.70e+00 2.10e+04 4.67e+01 6.02e-01 1.19e+05 1 1.27e-02 2.52e-01 19 2.319709e+03 9.69e+00 2.13e+04 4.68e+01 6.02e-01 1.20e+05 1 1.30e-02 2.65e-01 20 2.310037e+03 9.67e+00 2.15e+04 4.69e+01 6.01e-01 1.21e+05 1 1.28e-02 2.78e-01 21 2.300385e+03 9.65e+00 2.17e+04 4.69e+01 6.01e-01 1.22e+05 1 1.27e-02 2.91e-01 22 2.290755e+03 9.63e+00 2.19e+04 4.70e+01 6.01e-01 1.23e+05 1 1.27e-02 3.03e-01 23 2.281151e+03 9.60e+00 2.21e+04 4.70e+01 6.01e-01 1.24e+05 1 1.28e-02 3.16e-01 24 2.271576e+03 9.57e+00 2.23e+04 4.71e+01 6.01e-01 1.25e+05 1 1.27e-02 3.29e-01 25 2.262033e+03 9.54e+00 2.25e+04 4.71e+01 6.01e-01 1.26e+05 1 1.27e-02 3.42e-01 26 2.252524e+03 9.51e+00 2.26e+04 4.71e+01 6.01e-01 1.27e+05 1 1.27e-02 3.54e-01 27 2.243050e+03 9.47e+00 2.28e+04 4.71e+01 6.01e-01 1.28e+05 1 1.27e-02 3.67e-01 28 2.233615e+03 9.44e+00 2.30e+04 4.71e+01 6.02e-01 1.30e+05 1 1.27e-02 3.80e-01 29 2.224220e+03 9.40e+00 2.31e+04 4.71e+01 6.02e-01 1.31e+05 1 1.27e-02 3.92e-01 30 2.214867e+03 9.35e+00 2.33e+04 4.71e+01 6.02e-01 1.32e+05 1 1.28e-02 4.05e-01 31 2.205558e+03 9.31e+00 2.35e+04 4.71e+01 6.02e-01 1.33e+05 1 1.28e-02 4.18e-01 32 2.196294e+03 9.26e+00 2.36e+04 4.71e+01 6.02e-01 1.34e+05 1 1.27e-02 4.31e-01 33 2.187077e+03 9.22e+00 2.38e+04 4.71e+01 6.03e-01 1.35e+05 1 1.27e-02 4.44e-01 34 2.177909e+03 9.17e+00 2.39e+04 4.70e+01 6.03e-01 1.36e+05 1 1.27e-02 4.56e-01 35 2.168790e+03 9.12e+00 2.41e+04 4.70e+01 6.03e-01 1.38e+05 1 1.27e-02 4.69e-01 36 2.159723e+03 9.07e+00 2.42e+04 4.70e+01 6.04e-01 1.39e+05 1 1.27e-02 4.82e-01 37 2.150710e+03 9.01e+00 2.44e+04 4.70e+01 6.04e-01 1.40e+05 1 1.29e-02 4.95e-01 38 2.141750e+03 8.96e+00 2.45e+04 4.69e+01 6.04e-01 1.41e+05 1 1.27e-02 5.07e-01 39 2.132846e+03 8.90e+00 2.47e+04 4.69e+01 6.05e-01 1.43e+05 1 1.29e-02 5.20e-01 40 2.123998e+03 8.85e+00 2.48e+04 4.69e+01 6.05e-01 1.44e+05 1 1.27e-02 5.33e-01 41 2.115209e+03 8.79e+00 2.49e+04 4.68e+01 6.05e-01 1.45e+05 1 1.26e-02 5.46e-01 42 2.106479e+03 8.73e+00 2.50e+04 4.68e+01 6.06e-01 1.47e+05 1 1.58e-02 5.62e-01 43 2.097810e+03 8.67e+00 2.52e+04 4.67e+01 6.06e-01 1.48e+05 1 1.41e-02 5.76e-01 44 2.089203e+03 8.61e+00 2.53e+04 4.67e+01 6.06e-01 1.50e+05 1 1.29e-02 5.89e-01 45 2.080659e+03 8.54e+00 2.54e+04 4.66e+01 6.06e-01 1.51e+05 1 1.27e-02 6.01e-01 46 2.072178e+03 8.48e+00 2.55e+04 4.65e+01 6.07e-01 1.53e+05 1 1.27e-02 6.14e-01 47 2.063763e+03 8.41e+00 2.56e+04 4.65e+01 6.07e-01 1.54e+05 1 1.29e-02 6.27e-01 48 2.055415e+03 8.35e+00 2.57e+04 4.64e+01 6.07e-01 1.56e+05 1 1.26e-02 6.40e-01 49 2.047134e+03 8.28e+00 2.59e+04 4.64e+01 6.08e-01 1.57e+05 1 1.27e-02 6.52e-01 50 2.038922e+03 8.21e+00 2.60e+04 4.63e+01 6.08e-01 1.59e+05 1 1.27e-02 6.65e-01 51 2.030779e+03 8.14e+00 2.60e+04 4.62e+01 6.08e-01 1.60e+05 1 1.28e-02 6.78e-01 52 2.022707e+03 8.07e+00 2.61e+04 4.61e+01 6.09e-01 1.62e+05 1 1.27e-02 6.91e-01 53 2.014707e+03 8.00e+00 2.62e+04 4.61e+01 6.09e-01 1.64e+05 1 1.28e-02 7.03e-01 54 2.006779e+03 7.93e+00 2.63e+04 4.60e+01 6.09e-01 1.66e+05 1 1.28e-02 7.16e-01 55 1.998925e+03 7.85e+00 2.64e+04 4.59e+01 6.10e-01 1.67e+05 1 1.26e-02 7.29e-01 56 1.991146e+03 7.78e+00 2.65e+04 4.58e+01 6.10e-01 1.69e+05 1 1.27e-02 7.42e-01 57 1.983443e+03 7.70e+00 2.65e+04 4.57e+01 6.10e-01 1.71e+05 1 1.27e-02 7.54e-01 58 1.975816e+03 7.63e+00 2.66e+04 4.56e+01 6.11e-01 1.73e+05 1 1.29e-02 7.67e-01 59 1.968267e+03 7.55e+00 2.67e+04 4.55e+01 6.11e-01 1.75e+05 1 1.27e-02 7.80e-01 60 1.960796e+03 7.47e+00 2.67e+04 4.54e+01 6.11e-01 1.77e+05 1 1.28e-02 7.93e-01 61 1.953404e+03 7.39e+00 2.68e+04 4.53e+01 6.12e-01 1.79e+05 1 1.32e-02 8.06e-01 62 1.946092e+03 7.31e+00 2.68e+04 4.52e+01 6.12e-01 1.81e+05 1 1.27e-02 8.19e-01 63 1.938861e+03 7.23e+00 2.69e+04 4.51e+01 6.12e-01 1.83e+05 1 1.27e-02 8.31e-01 64 1.931712e+03 7.15e+00 2.69e+04 4.50e+01 6.13e-01 1.85e+05 1 1.26e-02 8.44e-01 65 1.924646e+03 7.07e+00 2.70e+04 4.49e+01 6.13e-01 1.87e+05 1 1.27e-02 8.57e-01 66 1.917662e+03 6.98e+00 2.70e+04 4.47e+01 6.13e-01 1.89e+05 1 1.28e-02 8.70e-01 67 1.910763e+03 6.90e+00 2.70e+04 4.46e+01 6.14e-01 1.91e+05 1 1.27e-02 8.82e-01 68 1.903948e+03 6.81e+00 2.71e+04 4.45e+01 6.14e-01 1.94e+05 1 1.30e-02 8.95e-01 69 1.897218e+03 6.73e+00 2.71e+04 4.44e+01 6.14e-01 1.96e+05 1 1.29e-02 9.08e-01 70 1.890575e+03 6.64e+00 2.71e+04 4.42e+01 6.15e-01 1.98e+05 1 1.29e-02 9.21e-01 71 1.884018e+03 6.56e+00 2.71e+04 4.41e+01 6.15e-01 2.01e+05 1 1.28e-02 9.34e-01 72 1.877548e+03 6.47e+00 2.71e+04 4.40e+01 6.15e-01 2.03e+05 1 1.29e-02 9.47e-01 73 1.871166e+03 6.38e+00 2.71e+04 4.38e+01 6.16e-01 2.06e+05 1 1.28e-02 9.60e-01 74 1.864872e+03 6.29e+00 2.71e+04 4.37e+01 6.16e-01 2.09e+05 1 1.29e-02 9.73e-01 75 1.858667e+03 6.20e+00 2.71e+04 4.35e+01 6.16e-01 2.11e+05 1 1.29e-02 9.86e-01 76 1.852552e+03 6.12e+00 2.70e+04 4.34e+01 6.17e-01 2.14e+05 1 1.27e-02 9.98e-01 77 1.846526e+03 6.03e+00 2.70e+04 4.32e+01 6.17e-01 2.17e+05 1 1.27e-02 1.01e+00 78 1.840590e+03 5.94e+00 2.70e+04 4.31e+01 6.17e-01 2.20e+05 1 1.28e-02 1.02e+00 79 1.834745e+03 5.85e+00 2.69e+04 4.29e+01 6.18e-01 2.22e+05 1 1.29e-02 1.04e+00 80 1.828991e+03 5.75e+00 2.69e+04 4.27e+01 6.18e-01 2.25e+05 1 1.27e-02 1.05e+00 81 1.823329e+03 5.66e+00 2.68e+04 4.26e+01 6.18e-01 2.28e+05 1 1.27e-02 1.06e+00 82 1.817757e+03 5.57e+00 2.68e+04 4.24e+01 6.19e-01 2.32e+05 1 1.26e-02 1.07e+00 83 1.812278e+03 5.48e+00 2.67e+04 4.22e+01 6.19e-01 2.35e+05 1 1.26e-02 1.09e+00 84 1.806891e+03 5.39e+00 2.67e+04 4.20e+01 6.20e-01 2.38e+05 1 1.27e-02 1.10e+00 85 1.801596e+03 5.29e+00 2.66e+04 4.18e+01 6.20e-01 2.41e+05 1 1.71e-02 1.12e+00 86 1.796394e+03 5.20e+00 2.65e+04 4.17e+01 6.20e-01 2.45e+05 1 1.27e-02 1.13e+00 87 1.791285e+03 5.11e+00 2.64e+04 4.15e+01 6.21e-01 2.48e+05 1 1.26e-02 1.14e+00 88 1.786268e+03 5.02e+00 2.63e+04 4.13e+01 6.21e-01 2.52e+05 1 1.26e-02 1.16e+00 89 1.781344e+03 4.92e+00 2.62e+04 4.11e+01 6.22e-01 2.55e+05 1 1.31e-02 1.17e+00 90 1.776513e+03 4.83e+00 2.61e+04 4.09e+01 6.22e-01 2.59e+05 1 1.30e-02 1.18e+00 91 1.771775e+03 4.74e+00 2.60e+04 4.07e+01 6.22e-01 2.63e+05 1 1.27e-02 1.19e+00 92 1.767130e+03 4.64e+00 2.59e+04 4.05e+01 6.23e-01 2.67e+05 1 1.26e-02 1.21e+00 93 1.762579e+03 4.55e+00 2.58e+04 4.03e+01 6.23e-01 2.71e+05 1 1.27e-02 1.22e+00 94 1.758119e+03 4.46e+00 2.57e+04 4.00e+01 6.24e-01 2.75e+05 1 1.27e-02 1.23e+00 95 1.753753e+03 4.37e+00 2.55e+04 3.98e+01 6.24e-01 2.79e+05 1 1.26e-02 1.25e+00 96 1.749479e+03 4.27e+00 2.54e+04 3.96e+01 6.25e-01 2.84e+05 1 1.27e-02 1.26e+00 97 1.745298e+03 4.18e+00 2.52e+04 3.94e+01 6.25e-01 2.88e+05 1 1.29e-02 1.27e+00 98 1.741209e+03 4.09e+00 2.51e+04 3.92e+01 6.25e-01 2.93e+05 1 1.26e-02 1.28e+00 99 1.737212e+03 4.00e+00 2.49e+04 3.89e+01 6.26e-01 2.98e+05 1 1.26e-02 1.30e+00 100 1.733307e+03 3.91e+00 2.47e+04 3.87e+01 6.26e-01 3.03e+05 1 1.26e-02 1.31e+00 Bundle adjustment report ------------------------ Residuals : 10696 Parameters : 7063 Iterations : 101 Time : 1.30898 [s] Initial cost : 0.482037 [px] Final cost : 0.402557 [px] Termination : No convergence => Completed observations: 194 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.036275 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.543556e+03 0.00e+00 3.76e+04 0.00e+00 0.00e+00 1.00e+04 0 9.24e-03 1.78e-02 1 2.218645e+03 3.25e+02 3.65e+02 2.51e+00 1.00e+00 3.00e+04 1 1.38e-02 3.16e-02 2 2.205415e+03 1.32e+01 5.79e+03 2.72e+00 9.99e-01 9.00e+04 1 1.34e-02 4.50e-02 3 2.185391e+03 2.00e+01 4.94e+04 1.85e+01 8.95e-01 1.78e+05 1 1.33e-02 5.84e-02 4 2.185834e+03 -4.43e-01 0.00e+00 5.53e+01 -1.46e-02 8.91e+04 1 4.47e-03 6.29e-02 5 2.169609e+03 1.58e+01 4.26e+04 2.50e+01 8.87e-01 1.66e+05 1 1.31e-02 7.60e-02 6 2.166011e+03 3.60e+00 1.27e+05 5.65e+01 1.41e-01 1.21e+05 1 1.34e-02 8.95e-02 7 2.133592e+03 3.24e+01 6.13e+04 4.41e+01 8.53e-01 1.87e+05 1 1.34e-02 1.03e-01 8 2.133701e+03 -1.09e-01 0.00e+00 6.97e+01 -3.80e-03 9.35e+04 1 4.54e-03 1.07e-01 9 2.118032e+03 1.56e+01 3.48e+04 3.49e+01 8.93e-01 1.82e+05 1 1.31e-02 1.21e-01 10 2.118866e+03 -8.35e-01 0.00e+00 6.82e+01 -3.54e-02 9.12e+04 1 4.50e-03 1.25e-01 11 2.106616e+03 1.14e+01 3.18e+04 3.43e+01 8.78e-01 1.61e+05 1 1.31e-02 1.38e-01 12 2.100337e+03 6.28e+00 9.35e+04 6.01e+01 3.10e-01 1.53e+05 1 1.33e-02 1.52e-01 13 2.079477e+03 2.09e+01 7.90e+04 5.64e+01 6.77e-01 1.60e+05 1 1.35e-02 1.65e-01 14 2.063465e+03 1.60e+01 8.19e+04 5.78e+01 6.01e-01 1.61e+05 1 1.33e-02 1.78e-01 15 2.046642e+03 1.68e+01 7.87e+04 5.69e+01 6.35e-01 1.64e+05 1 1.34e-02 1.92e-01 16 2.030864e+03 1.58e+01 7.74e+04 5.65e+01 6.31e-01 1.67e+05 1 1.34e-02 2.05e-01 17 2.015612e+03 1.53e+01 7.57e+04 5.58e+01 6.36e-01 1.71e+05 1 1.33e-02 2.19e-01 18 2.000995e+03 1.46e+01 7.44e+04 5.52e+01 6.38e-01 1.74e+05 1 1.35e-02 2.32e-01 19 1.986937e+03 1.41e+01 7.31e+04 5.46e+01 6.40e-01 1.78e+05 1 1.34e-02 2.46e-01 20 1.973426e+03 1.35e+01 7.20e+04 5.40e+01 6.42e-01 1.82e+05 1 1.76e-02 2.63e-01 21 1.960438e+03 1.30e+01 7.08e+04 5.34e+01 6.43e-01 1.87e+05 1 1.37e-02 2.77e-01 22 1.947955e+03 1.25e+01 6.97e+04 5.28e+01 6.44e-01 1.91e+05 1 1.33e-02 2.90e-01 23 1.935963e+03 1.20e+01 6.86e+04 5.22e+01 6.46e-01 1.96e+05 1 1.34e-02 3.04e-01 24 1.924449e+03 1.15e+01 6.76e+04 5.16e+01 6.47e-01 2.01e+05 1 1.33e-02 3.17e-01 25 1.913402e+03 1.10e+01 6.65e+04 5.10e+01 6.48e-01 2.07e+05 1 1.34e-02 3.30e-01 26 1.902812e+03 1.06e+01 6.54e+04 5.04e+01 6.49e-01 2.12e+05 1 1.37e-02 3.44e-01 27 1.892670e+03 1.01e+01 6.43e+04 4.98e+01 6.50e-01 2.18e+05 1 1.33e-02 3.58e-01 28 1.882968e+03 9.70e+00 6.31e+04 4.92e+01 6.51e-01 2.24e+05 1 1.33e-02 3.71e-01 29 1.873697e+03 9.27e+00 6.20e+04 4.85e+01 6.52e-01 2.31e+05 1 1.34e-02 3.84e-01 30 1.864848e+03 8.85e+00 6.08e+04 4.79e+01 6.53e-01 2.37e+05 1 1.33e-02 3.98e-01 31 1.856415e+03 8.43e+00 5.96e+04 4.73e+01 6.54e-01 2.45e+05 1 1.35e-02 4.11e-01 32 1.848387e+03 8.03e+00 5.83e+04 4.66e+01 6.55e-01 2.52e+05 1 1.33e-02 4.24e-01 33 1.840758e+03 7.63e+00 5.71e+04 4.60e+01 6.56e-01 2.60e+05 1 1.33e-02 4.38e-01 34 1.833518e+03 7.24e+00 5.58e+04 4.53e+01 6.57e-01 2.69e+05 1 1.36e-02 4.51e-01 35 1.826659e+03 6.86e+00 5.44e+04 4.46e+01 6.59e-01 2.77e+05 1 1.33e-02 4.65e-01 36 1.820172e+03 6.49e+00 5.31e+04 4.39e+01 6.60e-01 2.87e+05 1 1.39e-02 4.79e-01 37 1.814049e+03 6.12e+00 5.17e+04 4.32e+01 6.61e-01 2.97e+05 1 1.35e-02 4.92e-01 38 1.808280e+03 5.77e+00 5.03e+04 4.25e+01 6.63e-01 3.07e+05 1 1.35e-02 5.06e-01 39 1.802855e+03 5.42e+00 4.89e+04 4.18e+01 6.64e-01 3.19e+05 1 1.33e-02 5.19e-01 40 1.797766e+03 5.09e+00 4.75e+04 4.10e+01 6.65e-01 3.31e+05 1 1.35e-02 5.32e-01 41 1.793002e+03 4.76e+00 4.60e+04 4.03e+01 6.67e-01 3.43e+05 1 1.34e-02 5.46e-01 42 1.788554e+03 4.45e+00 4.45e+04 3.95e+01 6.69e-01 3.57e+05 1 1.33e-02 5.59e-01 43 1.784412e+03 4.14e+00 4.30e+04 3.87e+01 6.70e-01 3.72e+05 1 1.33e-02 5.73e-01 44 1.780565e+03 3.85e+00 4.14e+04 3.79e+01 6.72e-01 3.88e+05 1 1.34e-02 5.86e-01 45 1.777002e+03 3.56e+00 3.99e+04 3.71e+01 6.74e-01 4.05e+05 1 1.34e-02 5.99e-01 46 1.773715e+03 3.29e+00 3.83e+04 3.62e+01 6.76e-01 4.23e+05 1 1.34e-02 6.13e-01 47 1.770691e+03 3.02e+00 3.67e+04 3.54e+01 6.78e-01 4.43e+05 1 1.34e-02 6.26e-01 48 1.767921e+03 2.77e+00 3.51e+04 3.45e+01 6.80e-01 4.65e+05 1 1.33e-02 6.39e-01 49 1.765392e+03 2.53e+00 3.35e+04 3.36e+01 6.83e-01 4.89e+05 1 1.34e-02 6.53e-01 50 1.763095e+03 2.30e+00 3.19e+04 3.27e+01 6.85e-01 5.15e+05 1 1.33e-02 6.66e-01 51 1.761017e+03 2.08e+00 3.02e+04 3.18e+01 6.88e-01 5.44e+05 1 1.36e-02 6.80e-01 52 1.759149e+03 1.87e+00 2.86e+04 3.09e+01 6.91e-01 5.77e+05 1 1.35e-02 6.93e-01 53 1.757478e+03 1.67e+00 2.69e+04 2.99e+01 6.94e-01 6.13e+05 1 1.38e-02 7.07e-01 54 1.755993e+03 1.48e+00 2.53e+04 2.89e+01 6.98e-01 6.53e+05 1 1.35e-02 7.21e-01 55 1.754684e+03 1.31e+00 2.36e+04 2.79e+01 7.01e-01 6.98e+05 1 1.36e-02 7.34e-01 56 1.753538e+03 1.15e+00 2.19e+04 2.68e+01 7.05e-01 7.51e+05 1 1.35e-02 7.48e-01 57 1.752544e+03 9.94e-01 2.03e+04 2.57e+01 7.10e-01 8.10e+05 1 1.34e-02 7.61e-01 58 1.751690e+03 8.53e-01 1.86e+04 2.46e+01 7.15e-01 8.80e+05 1 1.37e-02 7.75e-01 59 1.750966e+03 7.24e-01 1.70e+04 2.35e+01 7.20e-01 9.62e+05 1 1.37e-02 7.89e-01 60 1.750361e+03 6.06e-01 1.53e+04 2.23e+01 7.26e-01 1.06e+06 1 1.84e-02 8.07e-01 61 1.749862e+03 4.99e-01 1.37e+04 2.10e+01 7.32e-01 1.18e+06 1 1.37e-02 8.21e-01 62 1.749458e+03 4.03e-01 1.21e+04 1.97e+01 7.40e-01 1.32e+06 1 1.35e-02 8.34e-01 63 1.749140e+03 3.19e-01 1.06e+04 1.84e+01 7.49e-01 1.51e+06 1 1.37e-02 8.48e-01 64 1.748895e+03 2.45e-01 9.02e+03 1.70e+01 7.59e-01 1.75e+06 1 1.38e-02 8.62e-01 65 1.748714e+03 1.81e-01 7.53e+03 1.55e+01 7.70e-01 2.08e+06 1 1.37e-02 8.76e-01 66 1.748585e+03 1.29e-01 6.10e+03 1.39e+01 7.85e-01 2.55e+06 1 1.35e-02 8.89e-01 67 1.748499e+03 8.57e-02 4.73e+03 1.23e+01 8.02e-01 3.28e+06 1 1.35e-02 9.03e-01 68 1.748447e+03 5.25e-02 3.44e+03 1.05e+01 8.24e-01 4.50e+06 1 1.34e-02 9.16e-01 69 1.748419e+03 2.83e-02 2.27e+03 8.49e+00 8.53e-01 6.95e+06 1 1.34e-02 9.29e-01 70 1.748406e+03 1.24e-02 1.27e+03 6.34e+00 8.91e-01 1.33e+07 1 1.35e-02 9.43e-01 71 1.748402e+03 3.76e-03 5.05e+02 4.00e+00 9.40e-01 4.00e+07 1 1.34e-02 9.56e-01 72 1.748402e+03 5.27e-04 8.95e+01 1.68e+00 9.86e-01 1.20e+08 1 1.36e-02 9.70e-01 73 1.748402e+03 1.35e-05 2.15e+00 2.60e-01 1.00e+00 3.60e+08 1 1.34e-02 9.83e-01 74 1.748402e+03 2.17e-08 2.54e-01 1.41e-02 1.01e+00 1.08e+09 1 1.36e-02 9.97e-01 75 1.748402e+03 1.82e-11 2.89e-04 2.91e-04 1.80e+00 3.24e+09 1 1.35e-02 1.01e+00 Bundle adjustment report ------------------------ Residuals : 11084 Parameters : 7063 Iterations : 76 Time : 1.01087 [s] Initial cost : 0.479041 [px] Final cost : 0.397166 [px] Termination : Convergence => Completed observations: 73 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.013172 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.905524e+03 0.00e+00 5.65e+03 0.00e+00 0.00e+00 1.00e+04 0 9.47e-03 1.81e-02 1 1.848486e+03 5.70e+01 2.81e+01 3.59e-01 1.00e+00 3.00e+04 1 1.43e-02 3.24e-02 2 1.848310e+03 1.76e-01 9.71e+01 3.45e-01 1.00e+00 9.00e+04 1 1.36e-02 4.60e-02 3 1.847972e+03 3.37e-01 9.11e+02 9.16e-01 9.99e-01 2.70e+05 1 1.35e-02 5.95e-02 4 1.847292e+03 6.81e-01 5.97e+03 8.57e+00 9.64e-01 8.10e+05 1 1.37e-02 7.32e-02 5 1.846735e+03 5.57e-01 2.99e+04 2.97e+01 4.11e-01 8.05e+05 1 1.36e-02 8.69e-02 6 1.845428e+03 1.31e+00 1.75e+04 2.53e+01 8.18e-01 1.09e+06 1 1.35e-02 1.00e-01 7 1.844816e+03 6.13e-01 1.67e+04 2.53e+01 6.98e-01 1.16e+06 1 1.37e-02 1.14e-01 8 1.844318e+03 4.97e-01 9.54e+03 1.93e+01 8.52e-01 1.78e+06 1 1.36e-02 1.28e-01 9 1.844098e+03 2.20e-01 8.51e+03 1.82e+01 7.62e-01 2.07e+06 1 1.36e-02 1.41e-01 10 1.843961e+03 1.37e-01 3.88e+03 1.23e+01 9.06e-01 4.45e+06 1 1.36e-02 1.55e-01 11 1.843919e+03 4.24e-02 2.73e+03 1.03e+01 8.57e-01 7.01e+06 1 1.37e-02 1.69e-01 12 1.843906e+03 1.26e-02 5.66e+02 4.69e+00 9.76e-01 2.10e+07 1 1.39e-02 1.83e-01 13 1.843906e+03 8.21e-04 7.28e+01 1.68e+00 9.94e-01 6.31e+07 1 1.36e-02 1.96e-01 14 1.843906e+03 1.26e-05 1.23e+00 2.17e-01 1.00e+00 1.89e+08 1 1.38e-02 2.10e-01 15 1.843906e+03 1.63e-08 1.01e-01 9.65e-03 1.00e+00 5.68e+08 1 1.37e-02 2.24e-01 16 1.843906e+03 -2.36e-11 0.00e+00 1.57e-04 -5.38e+00 2.84e+08 1 4.57e-03 2.28e-01 17 1.843906e+03 1.14e-12 0.00e+00 1.56e-04 -6.12e-01 7.10e+07 1 4.44e-03 2.33e-01 18 1.843906e+03 -2.39e-11 0.00e+00 1.51e-04 -5.43e+00 8.87e+06 1 4.34e-03 2.37e-01 19 1.843906e+03 -2.18e-11 0.00e+00 1.19e-04 -5.25e+00 5.55e+05 1 4.43e-03 2.42e-01 20 1.843906e+03 6.82e-13 0.00e+00 2.49e-05 -1.40e+00 1.73e+04 1 6.93e-03 2.48e-01 21 1.843906e+03 -5.46e-12 0.00e+00 6.96e-07 -7.27e+00 2.71e+02 1 4.89e-03 2.53e-01 22 1.843906e+03 2.30e-11 3.40e-03 2.62e-08 1.67e+01 8.12e+02 1 1.47e-02 2.68e-01 Bundle adjustment report ------------------------ Residuals : 11230 Parameters : 7063 Iterations : 23 Time : 0.268468 [s] Initial cost : 0.411924 [px] Final cost : 0.405209 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000178 => Filtered images: 0 ============================================================================== Registering image #2 (4) ============================================================================== => Image sees 1132 / 2790 points Pose refinement report ---------------------- Residuals : 2258 Parameters : 6 Iterations : 8 Time : 0.018142 [s] Initial cost : 0.541971 [px] Final cost : 0.538245 [px] Termination : Convergence => Continued observations: 1129 => Added observations: 1338 Bundle adjustment report ------------------------ Residuals : 16166 Parameters : 8902 Iterations : 16 Time : 0.342506 [s] Initial cost : 0.422196 [px] Final cost : 0.395354 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 43 => Filtered observations: 62 => Changed observations: 0.012990 Bundle adjustment report ------------------------ Residuals : 16128 Parameters : 8893 Iterations : 11 Time : 0.243484 [s] Initial cost : 0.460026 [px] Final cost : 0.447773 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000744 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.256289e+03 0.00e+00 2.85e+03 0.00e+00 0.00e+00 1.00e+04 0 1.39e-02 2.60e-02 1 3.250867e+03 5.42e+00 1.73e+01 7.19e-01 1.00e+00 3.00e+04 1 2.12e-02 4.72e-02 2 3.250861e+03 5.80e-03 5.55e+00 8.16e-01 9.99e-01 9.00e+04 1 2.03e-02 6.76e-02 3 3.250856e+03 5.15e-03 7.45e+00 1.58e+00 1.00e+00 2.70e+05 1 2.03e-02 8.79e-02 4 3.250851e+03 5.16e-03 3.24e+01 2.23e+00 9.99e-01 8.10e+05 1 2.03e-02 1.08e-01 5 3.250846e+03 4.91e-03 8.62e+01 8.26e-01 9.99e-01 2.43e+06 1 2.03e-02 1.29e-01 6 3.250843e+03 3.12e-03 1.29e+02 1.53e+00 9.95e-01 7.29e+06 1 2.08e-02 1.49e-01 7 3.250842e+03 6.97e-04 4.79e+01 1.42e+00 9.96e-01 2.19e+07 1 2.04e-02 1.70e-01 8 3.250842e+03 3.22e-05 2.69e+00 3.61e-01 9.99e-01 6.56e+07 1 2.03e-02 1.90e-01 9 3.250842e+03 1.94e-07 6.59e-01 3.01e-02 1.00e+00 1.97e+08 1 2.06e-02 2.11e-01 10 3.250842e+03 1.56e-10 3.16e-03 8.40e-04 1.05e+00 5.90e+08 1 2.02e-02 2.31e-01 Bundle adjustment report ------------------------ Residuals : 16140 Parameters : 8899 Iterations : 11 Time : 0.231371 [s] Initial cost : 0.449169 [px] Final cost : 0.448793 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #33 (5) ============================================================================== => Image sees 1185 / 2853 points Pose refinement report ---------------------- Residuals : 2356 Parameters : 6 Iterations : 9 Time : 0.0226381 [s] Initial cost : 0.605379 [px] Final cost : 0.601787 [px] Termination : Convergence => Continued observations: 1171 => Added observations: 831 Bundle adjustment report ------------------------ Residuals : 20144 Parameters : 10063 Iterations : 23 Time : 0.625505 [s] Initial cost : 0.482182 [px] Final cost : 0.428149 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 47 => Filtered observations: 64 => Changed observations: 0.013503 Bundle adjustment report ------------------------ Residuals : 20110 Parameters : 10033 Iterations : 9 Time : 0.246545 [s] Initial cost : 0.491931 [px] Final cost : 0.480222 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 0 => Changed observations: 0.000895 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 4.650559e+03 0.00e+00 1.73e+03 0.00e+00 0.00e+00 1.00e+04 0 1.78e-02 3.29e-02 1 4.647374e+03 3.18e+00 2.87e+01 2.93e-01 1.00e+00 3.00e+04 1 2.73e-02 6.03e-02 2 4.647329e+03 4.48e-02 1.34e+01 3.95e-01 1.00e+00 9.00e+04 1 2.63e-02 8.66e-02 3 4.647319e+03 1.06e-02 3.53e+00 7.12e-01 1.00e+00 2.70e+05 1 2.64e-02 1.13e-01 4 4.647318e+03 8.93e-04 1.78e+00 1.02e+00 1.00e+00 8.10e+05 1 2.64e-02 1.39e-01 5 4.647317e+03 2.08e-04 1.81e+00 8.64e-01 9.99e-01 2.43e+06 1 2.96e-02 1.69e-01 6 4.647317e+03 6.20e-05 1.93e+00 4.11e-01 9.99e-01 7.29e+06 1 2.74e-02 1.97e-01 7 4.647317e+03 7.25e-06 1.97e+00 1.17e-01 9.98e-01 2.19e+07 1 2.64e-02 2.23e-01 8 4.647317e+03 1.56e-07 2.51e-01 1.63e-02 9.99e-01 6.56e+07 1 2.63e-02 2.49e-01 9 4.647317e+03 4.24e-10 5.37e-03 8.48e-04 9.33e-01 1.86e+08 1 2.64e-02 2.76e-01 Bundle adjustment report ------------------------ Residuals : 20130 Parameters : 10045 Iterations : 10 Time : 0.276155 [s] Initial cost : 0.480652 [px] Final cost : 0.480484 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #32 (6) ============================================================================== => Image sees 1218 / 2703 points Pose refinement report ---------------------- Residuals : 2426 Parameters : 6 Iterations : 9 Time : 0.0229411 [s] Initial cost : 0.676832 [px] Final cost : 0.593665 [px] Termination : Convergence => Continued observations: 1204 => Added observations: 951 Bundle adjustment report ------------------------ Residuals : 24440 Parameters : 11401 Iterations : 26 Time : 0.880695 [s] Initial cost : 0.489426 [px] Final cost : 0.441219 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 47 => Filtered observations: 77 => Changed observations: 0.014812 Bundle adjustment report ------------------------ Residuals : 24380 Parameters : 11359 Iterations : 9 Time : 0.301963 [s] Initial cost : 0.518328 [px] Final cost : 0.506833 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000902 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 6.318337e+03 0.00e+00 3.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.18e-02 4.01e-02 1 6.307765e+03 1.06e+01 2.36e+01 9.34e-01 1.00e+00 3.00e+04 1 3.34e-02 7.35e-02 2 6.307734e+03 3.09e-02 1.16e+01 1.89e+00 1.00e+00 9.00e+04 1 3.21e-02 1.06e-01 3 6.307714e+03 2.08e-02 2.39e+01 3.80e+00 9.99e-01 2.70e+05 1 3.20e-02 1.38e-01 4 6.307702e+03 1.20e-02 4.20e+01 5.03e+00 9.97e-01 8.10e+05 1 3.68e-02 1.74e-01 5 6.307698e+03 3.09e-03 2.05e+01 3.35e+00 9.98e-01 2.43e+06 1 3.21e-02 2.07e-01 6 6.307698e+03 3.27e-04 4.03e+00 1.03e+00 9.99e-01 7.29e+06 1 3.22e-02 2.39e-01 7 6.307698e+03 2.39e-05 2.00e+00 1.71e-01 9.99e-01 2.19e+07 1 3.20e-02 2.71e-01 8 6.307698e+03 5.04e-07 4.85e-01 1.73e-02 1.00e+00 6.56e+07 1 3.21e-02 3.03e-01 9 6.307698e+03 1.43e-09 1.41e-02 8.19e-04 9.29e-01 1.77e+08 1 3.20e-02 3.35e-01 Bundle adjustment report ------------------------ Residuals : 24402 Parameters : 11368 Iterations : 10 Time : 0.335595 [s] Initial cost : 0.508849 [px] Final cost : 0.50842 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #35 (7) ============================================================================== => Image sees 1280 / 3361 points Pose refinement report ---------------------- Residuals : 2554 Parameters : 6 Iterations : 8 Time : 0.0208991 [s] Initial cost : 0.629104 [px] Final cost : 0.616551 [px] Termination : Convergence => Continued observations: 1271 => Added observations: 943 Bundle adjustment report ------------------------ Residuals : 24756 Parameters : 9161 Iterations : 23 Time : 0.700092 [s] Initial cost : 0.516301 [px] Final cost : 0.458403 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 39 => Filtered observations: 73 => Changed observations: 0.010203 Bundle adjustment report ------------------------ Residuals : 24690 Parameters : 9140 Iterations : 6 Time : 0.190772 [s] Initial cost : 0.551583 [px] Final cost : 0.541828 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 8 => Filtered observations: 2 => Changed observations: 0.001136 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.901677e+03 0.00e+00 2.01e+04 0.00e+00 0.00e+00 1.00e+04 0 2.62e-02 4.79e-02 1 7.889568e+03 1.21e+01 1.86e+02 2.73e-01 1.00e+00 3.00e+04 1 3.96e-02 8.75e-02 2 7.889228e+03 3.40e-01 1.35e+02 3.47e+00 1.00e+00 9.00e+04 1 4.00e-02 1.28e-01 3 7.889006e+03 2.22e-01 1.89e+02 7.47e+00 9.99e-01 2.70e+05 1 5.04e-02 1.78e-01 4 7.888894e+03 1.12e-01 2.77e+02 9.65e+00 9.95e-01 8.10e+05 1 3.90e-02 2.17e-01 5 7.888865e+03 2.95e-02 1.71e+02 6.15e+00 9.96e-01 2.43e+06 1 3.87e-02 2.56e-01 6 7.888861e+03 3.20e-03 3.70e+01 1.75e+00 9.99e-01 7.29e+06 1 3.85e-02 2.94e-01 7 7.888861e+03 1.93e-04 2.76e+00 2.55e-01 9.99e-01 2.19e+07 1 4.27e-02 3.37e-01 8 7.888861e+03 2.85e-06 1.67e+00 2.14e-02 1.00e+00 6.56e+07 1 3.92e-02 3.76e-01 9 7.888861e+03 6.17e-09 1.40e-02 8.18e-04 1.02e+00 1.97e+08 1 3.84e-02 4.15e-01 Bundle adjustment report ------------------------ Residuals : 28774 Parameters : 12697 Iterations : 10 Time : 0.415376 [s] Initial cost : 0.524034 [px] Final cost : 0.523609 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000070 => Filtered images: 0 ============================================================================== Registering image #24 (8) ============================================================================== => Image sees 1383 / 2594 points Pose refinement report ---------------------- Residuals : 2780 Parameters : 6 Iterations : 7 Time : 0.0200369 [s] Initial cost : 0.591108 [px] Final cost : 0.560578 [px] Termination : Convergence => Continued observations: 1371 => Added observations: 781 Bundle adjustment report ------------------------ Residuals : 26448 Parameters : 8849 Iterations : 21 Time : 0.660186 [s] Initial cost : 0.508184 [px] Final cost : 0.481052 [px] Termination : Convergence => Merged observations: 97 => Completed observations: 73 => Filtered observations: 104 => Changed observations: 0.019451 Bundle adjustment report ------------------------ Residuals : 26402 Parameters : 8807 Iterations : 5 Time : 0.161264 [s] Initial cost : 0.5692 [px] Final cost : 0.557433 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000782 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 9.578808e+03 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 2.96e-02 5.54e-02 1 9.561531e+03 1.73e+01 4.21e+02 7.26e+00 1.00e+00 3.00e+04 1 4.66e-02 1.02e-01 2 9.560839e+03 6.92e-01 2.31e+02 1.00e+01 1.00e+00 9.00e+04 1 4.47e-02 1.47e-01 3 9.560277e+03 5.62e-01 1.03e+03 1.84e+01 9.88e-01 2.70e+05 1 4.48e-02 1.92e-01 4 9.559992e+03 2.85e-01 1.41e+03 2.03e+01 9.59e-01 8.10e+05 1 4.43e-02 2.36e-01 5 9.559924e+03 6.82e-02 5.33e+02 1.05e+01 9.84e-01 2.43e+06 1 4.42e-02 2.80e-01 6 9.559917e+03 7.11e-03 8.83e+01 2.34e+00 9.98e-01 7.29e+06 1 4.45e-02 3.25e-01 7 9.559916e+03 3.98e-04 6.86e+00 2.80e-01 1.00e+00 2.19e+07 1 4.48e-02 3.69e-01 8 9.559916e+03 5.09e-06 1.89e+00 2.11e-02 1.00e+00 6.56e+07 1 4.54e-02 4.15e-01 9 9.559916e+03 9.27e-09 8.27e-03 7.22e-04 1.01e+00 1.97e+08 1 4.48e-02 4.60e-01 Bundle adjustment report ------------------------ Residuals : 33036 Parameters : 13711 Iterations : 10 Time : 0.460445 [s] Initial cost : 0.538471 [px] Final cost : 0.537939 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #36 (9) ============================================================================== => Image sees 1142 / 2391 points Pose refinement report ---------------------- Residuals : 2298 Parameters : 6 Iterations : 9 Time : 0.0232701 [s] Initial cost : 0.692673 [px] Final cost : 0.597795 [px] Termination : Convergence => Continued observations: 1131 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 25394 Parameters : 6923 Iterations : 26 Time : 0.759192 [s] Initial cost : 0.521613 [px] Final cost : 0.487364 [px] Termination : No convergence => Merged observations: 66 => Completed observations: 45 => Filtered observations: 81 => Changed observations: 0.013785 Bundle adjustment report ------------------------ Residuals : 25572 Parameters : 7253 Iterations : 5 Time : 0.152083 [s] Initial cost : 0.587002 [px] Final cost : 0.578457 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 1 => Changed observations: 0.000943 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.108735e+04 0.00e+00 2.36e+04 0.00e+00 0.00e+00 1.00e+04 0 3.38e-02 6.53e-02 1 1.105969e+04 2.77e+01 7.54e+01 9.68e-01 1.00e+00 3.00e+04 1 5.17e-02 1.17e-01 2 1.105962e+04 6.95e-02 3.46e+01 1.93e+00 1.00e+00 9.00e+04 1 4.97e-02 1.67e-01 3 1.105958e+04 3.92e-02 5.16e+01 3.51e+00 1.00e+00 2.70e+05 1 4.99e-02 2.17e-01 4 1.105956e+04 2.36e-02 9.26e+01 3.76e+00 9.99e-01 8.10e+05 1 4.96e-02 2.66e-01 5 1.105954e+04 1.62e-02 9.95e+01 2.02e+00 9.99e-01 2.43e+06 1 4.99e-02 3.16e-01 6 1.105954e+04 6.14e-03 6.16e+01 6.45e-01 9.99e-01 7.29e+06 1 5.01e-02 3.66e-01 7 1.105954e+04 5.77e-04 7.86e+00 1.52e-01 1.00e+00 2.19e+07 1 4.98e-02 4.16e-01 8 1.105954e+04 8.81e-06 1.95e+00 1.79e-02 1.00e+00 6.56e+07 1 4.97e-02 4.66e-01 9 1.105954e+04 1.84e-08 9.41e-03 7.32e-04 9.99e-01 1.97e+08 1 5.16e-02 5.18e-01 Bundle adjustment report ------------------------ Residuals : 36312 Parameters : 14443 Iterations : 10 Time : 0.51831 [s] Initial cost : 0.552572 [px] Final cost : 0.551878 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.000275 => Filtered images: 0 ============================================================================== Registering image #37 (10) ============================================================================== => Image sees 1133 / 2773 points Pose refinement report ---------------------- Residuals : 2284 Parameters : 6 Iterations : 7 Time : 0.0159981 [s] Initial cost : 0.592223 [px] Final cost : 0.591918 [px] Termination : Convergence => Continued observations: 1118 => Added observations: 952 Bundle adjustment report ------------------------ Residuals : 24174 Parameters : 6854 Iterations : 26 Time : 0.712418 [s] Initial cost : 0.551737 [px] Final cost : 0.507144 [px] Termination : No convergence => Merged observations: 86 => Completed observations: 37 => Filtered observations: 105 => Changed observations: 0.016386 Bundle adjustment report ------------------------ Residuals : 24062 Parameters : 6812 Iterations : 4 Time : 0.11461 [s] Initial cost : 0.603437 [px] Final cost : 0.594323 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000722 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.243001e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 3.83e-02 6.92e-02 1 1.241055e+04 1.95e+01 1.27e+02 8.04e-01 1.00e+00 3.00e+04 1 6.46e-02 1.34e-01 2 1.241039e+04 1.56e-01 3.25e+01 8.61e-01 1.00e+00 9.00e+04 1 5.87e-02 1.93e-01 3 1.241034e+04 5.68e-02 2.61e+01 1.05e+00 1.00e+00 2.70e+05 1 5.77e-02 2.50e-01 4 1.241033e+04 9.89e-03 5.16e+00 4.49e-01 1.00e+00 8.10e+05 1 5.64e-02 3.07e-01 5 1.241032e+04 2.52e-03 7.40e+00 8.95e-02 1.00e+00 2.43e+06 1 5.64e-02 3.63e-01 6 1.241032e+04 1.07e-03 8.70e+00 9.27e-02 1.00e+00 7.29e+06 1 5.67e-02 4.20e-01 7 1.241032e+04 1.27e-04 1.97e+00 4.67e-02 1.00e+00 2.19e+07 1 5.69e-02 4.77e-01 8 1.241032e+04 2.56e-06 9.02e-01 7.29e-03 1.00e+00 6.56e+07 1 5.66e-02 5.34e-01 Bundle adjustment report ------------------------ Residuals : 40338 Parameters : 15733 Iterations : 9 Time : 0.534442 [s] Initial cost : 0.555109 [px] Final cost : 0.55467 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 0 => Changed observations: 0.000347 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 992 / 2349 points Pose refinement report ---------------------- Residuals : 1950 Parameters : 6 Iterations : 11 Time : 0.021549 [s] Initial cost : 0.717724 [px] Final cost : 0.605014 [px] Termination : Convergence => Continued observations: 971 => Added observations: 650 Bundle adjustment report ------------------------ Residuals : 23418 Parameters : 5810 Iterations : 26 Time : 0.691294 [s] Initial cost : 0.587591 [px] Final cost : 0.53683 [px] Termination : No convergence => Merged observations: 18 => Completed observations: 29 => Filtered observations: 121 => Changed observations: 0.012951 Bundle adjustment report ------------------------ Residuals : 23236 Parameters : 5774 Iterations : 5 Time : 0.136915 [s] Initial cost : 0.616937 [px] Final cost : 0.608176 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000854 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 1.362665e+04 0.00e+00 2.20e+04 0.00e+00 0.00e+00 1.00e+04 0 4.12e-02 7.42e-02 1 1.362340e+04 3.25e+00 1.76e+02 2.93e+00 1.00e+00 3.00e+04 1 7.09e-02 1.45e-01 2 1.362289e+04 5.09e-01 3.46e+02 8.04e+00 9.99e-01 9.00e+04 1 6.51e-02 2.10e-01 3 1.362248e+04 4.08e-01 9.36e+02 1.36e+01 9.91e-01 2.70e+05 1 6.30e-02 2.73e-01 4 1.362231e+04 1.74e-01 9.22e+02 1.31e+01 9.83e-01 8.10e+05 1 6.29e-02 3.36e-01 5 1.362228e+04 3.35e-02 2.73e+02 5.72e+00 9.96e-01 2.43e+06 1 6.31e-02 3.99e-01 6 1.362227e+04 6.36e-03 6.35e+01 1.07e+00 9.99e-01 7.29e+06 1 6.31e-02 4.63e-01 7 1.362227e+04 8.06e-04 1.07e+01 1.34e-01 1.00e+00 2.19e+07 1 6.25e-02 5.25e-01 8 1.362227e+04 1.95e-05 1.99e+00 1.48e-02 1.00e+00 6.56e+07 1 6.44e-02 5.90e-01 9 1.362227e+04 6.64e-08 3.51e-02 7.36e-04 1.00e+00 1.97e+08 1 6.86e-02 6.58e-01 Bundle adjustment report ------------------------ Residuals : 43422 Parameters : 16612 Iterations : 10 Time : 0.659319 [s] Initial cost : 0.560196 [px] Final cost : 0.560105 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #30 (12) ============================================================================== => Image sees 1274 / 2524 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 8 Time : 0.0205081 [s] Initial cost : 0.59579 [px] Final cost : 0.59416 [px] Termination : Convergence => Continued observations: 1251 => Added observations: 779 Bundle adjustment report ------------------------ Residuals : 24846 Parameters : 6452 Iterations : 26 Time : 0.716527 [s] Initial cost : 0.605661 [px] Final cost : 0.558376 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 51 => Filtered observations: 124 => Changed observations: 0.021272 Bundle adjustment report ------------------------ Residuals : 24730 Parameters : 6392 Iterations : 5 Time : 0.141547 [s] Initial cost : 0.626893 [px] Final cost : 0.615487 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.001768 ============================================================================== Registering image #29 (13) ============================================================================== => Image sees 740 / 1733 points Pose refinement report ---------------------- Residuals : 1450 Parameters : 6 Iterations : 8 Time : 0.011518 [s] Initial cost : 0.613116 [px] Final cost : 0.609716 [px] Termination : Convergence => Continued observations: 721 => Added observations: 445 Bundle adjustment report ------------------------ Residuals : 18520 Parameters : 4493 Iterations : 26 Time : 0.568787 [s] Initial cost : 0.676983 [px] Final cost : 0.624832 [px] Termination : No convergence => Merged observations: 36 => Completed observations: 21 => Filtered observations: 102 => Changed observations: 0.013787 Bundle adjustment report ------------------------ Residuals : 18374 Parameters : 4445 Iterations : 5 Time : 0.111664 [s] Initial cost : 0.67 [px] Final cost : 0.661071 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.002793 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged observations: 0 => Retriangulated observations: 10 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.744742e+05 0.00e+00 1.45e+06 0.00e+00 0.00e+00 1.00e+04 0 4.73e-02 8.60e-02 1 5.178575e+04 2.23e+05 6.25e+04 9.25e+01 1.00e+00 3.00e+04 1 7.35e-02 1.60e-01 2 5.083915e+04 9.47e+02 4.68e+05 1.59e+02 9.35e-01 8.75e+04 1 7.15e-02 2.31e-01 3 5.086318e+04 -2.40e+01 0.00e+00 2.67e+02 -6.03e-02 4.37e+04 1 2.76e-02 2.59e-01 4 5.057226e+04 2.67e+02 1.27e+05 1.67e+02 8.12e-01 5.79e+04 1 7.66e-02 3.35e-01 5 5.045980e+04 1.12e+02 1.14e+05 1.54e+02 7.02e-01 6.19e+04 1 7.13e-02 4.07e-01 6 5.038426e+04 7.55e+01 6.39e+04 1.15e+02 8.35e-01 8.86e+04 1 7.22e-02 4.79e-01 7 5.035398e+04 3.03e+01 5.12e+04 1.01e+02 7.65e-01 1.04e+05 1 7.18e-02 5.51e-01 8 5.033608e+04 1.79e+01 2.50e+04 6.98e+01 8.95e-01 2.05e+05 1 7.16e-02 6.22e-01 9 5.032978e+04 6.30e+00 1.90e+04 5.80e+01 8.55e-01 3.19e+05 1 7.12e-02 6.94e-01 10 5.032718e+04 2.59e+00 6.59e+03 2.96e+01 9.68e-01 9.57e+05 1 7.63e-02 7.70e-01 11 5.032599e+04 1.19e+00 5.15e+03 1.32e+01 9.88e-01 2.87e+06 1 7.42e-02 8.44e-01 12 5.032523e+04 7.66e-01 5.50e+03 3.35e+00 9.86e-01 8.61e+06 1 7.33e-02 9.18e-01 13 5.032505e+04 1.79e-01 1.94e+03 1.01e+00 9.92e-01 2.58e+07 1 7.35e-02 9.91e-01 14 5.032504e+04 8.74e-03 1.07e+02 2.20e-01 1.00e+00 7.75e+07 1 7.29e-02 1.06e+00 15 5.032504e+04 5.12e-05 1.96e+00 2.09e-02 1.00e+00 2.32e+08 1 8.22e-02 1.15e+00 16 5.032504e+04 4.65e-08 7.31e-02 1.22e-03 9.99e-01 6.97e+08 1 7.39e-02 1.22e+00 Bundle adjustment report ------------------------ Residuals : 49594 Parameters : 18193 Iterations : 17 Time : 1.22143 [s] Initial cost : 2.35254 [px] Final cost : 1.00734 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 94 => Changed observations: 0.004880 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.818308e+04 0.00e+00 3.39e+05 0.00e+00 0.00e+00 1.00e+04 0 4.73e-02 9.10e-02 1 1.713788e+04 1.05e+03 6.78e+04 5.98e+01 9.97e-01 3.00e+04 1 7.46e-02 1.66e-01 2 1.661623e+04 5.22e+02 1.52e+05 1.30e+02 9.72e-01 9.00e+04 1 7.21e-02 2.38e-01 3 1.660285e+04 1.34e+01 3.11e+05 2.55e+02 4.63e-02 5.15e+04 1 7.24e-02 3.10e-01 4 1.628701e+04 3.16e+02 6.25e+04 1.09e+02 9.66e-01 1.55e+05 1 7.25e-02 3.83e-01 5 1.629954e+04 -1.25e+01 0.00e+00 1.69e+02 -2.23e-01 7.73e+04 1 2.73e-02 4.10e-01 6 1.625549e+04 3.15e+01 6.64e+04 1.11e+02 7.10e-01 8.34e+04 1 7.10e-02 4.81e-01 7 1.623047e+04 2.50e+01 3.44e+04 7.88e+01 8.79e-01 1.48e+05 1 7.61e-02 5.57e-01 8 1.622072e+04 9.75e+00 3.04e+04 7.25e+01 7.88e-01 1.83e+05 1 7.23e-02 6.30e-01 9 1.621556e+04 5.16e+00 1.12e+04 4.19e+01 9.42e-01 5.48e+05 1 7.19e-02 7.02e-01 10 1.621402e+04 1.53e+00 8.27e+03 2.92e+01 9.37e-01 1.64e+06 1 7.17e-02 7.73e-01 11 1.621320e+04 8.21e-01 4.78e+03 9.25e+00 9.88e-01 4.93e+06 1 7.18e-02 8.45e-01 12 1.621293e+04 2.71e-01 2.65e+03 2.21e+00 9.91e-01 1.48e+07 1 7.27e-02 9.18e-01 13 1.621291e+04 2.49e-02 3.10e+02 5.37e-01 9.99e-01 4.44e+07 1 7.22e-02 9.90e-01 14 1.621291e+04 3.42e-04 4.86e+00 6.25e-02 1.00e+00 1.33e+08 1 7.90e-02 1.07e+00 15 1.621291e+04 5.93e-07 2.37e-01 2.42e-03 1.00e+00 4.00e+08 1 8.27e-02 1.15e+00 Bundle adjustment report ------------------------ Residuals : 49460 Parameters : 18145 Iterations : 16 Time : 1.15344 [s] Initial cost : 0.606327 [px] Final cost : 0.572537 [px] Termination : Convergence => Completed observations: 20 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.001011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.627239e+04 0.00e+00 4.17e+04 0.00e+00 0.00e+00 1.00e+04 0 4.67e-02 8.49e-02 1 1.624623e+04 2.62e+01 2.18e+02 2.16e+00 1.00e+00 3.00e+04 1 7.45e-02 1.59e-01 2 1.624572e+04 5.06e-01 1.86e+02 4.73e+00 1.00e+00 9.00e+04 1 7.23e-02 2.32e-01 3 1.624549e+04 2.28e-01 3.88e+02 8.47e+00 9.98e-01 2.70e+05 1 7.16e-02 3.03e-01 4 1.624541e+04 8.38e-02 4.24e+02 8.80e+00 9.94e-01 8.10e+05 1 7.77e-02 3.81e-01 5 1.624540e+04 1.24e-02 1.01e+02 4.08e+00 9.98e-01 2.43e+06 1 7.40e-02 4.55e-01 6 1.624540e+04 6.34e-04 7.15e+00 7.46e-01 1.00e+00 7.29e+06 1 7.23e-02 5.27e-01 7 1.624540e+04 7.16e-05 1.97e+00 6.70e-02 1.00e+00 2.19e+07 1 7.13e-02 5.99e-01 8 1.624540e+04 3.20e-06 8.55e-01 6.46e-03 1.00e+00 6.56e+07 1 7.20e-02 6.71e-01 Bundle adjustment report ------------------------ Residuals : 49490 Parameters : 18145 Iterations : 9 Time : 0.671637 [s] Initial cost : 0.573412 [px] Final cost : 0.572936 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000040 => Filtered images: 0 ============================================================================== Registering image #38 (14) ============================================================================== => Image sees 961 / 1991 points Pose refinement report ---------------------- Residuals : 1932 Parameters : 6 Iterations : 10 Time : 0.0193 [s] Initial cost : 0.722469 [px] Final cost : 0.595271 [px] Termination : Convergence => Continued observations: 943 => Added observations: 581 Bundle adjustment report ------------------------ Residuals : 24230 Parameters : 6188 Iterations : 26 Time : 0.712472 [s] Initial cost : 0.601657 [px] Final cost : 0.557087 [px] Termination : No convergence => Merged observations: 80 => Completed observations: 46 => Filtered observations: 124 => Changed observations: 0.019074 Bundle adjustment report ------------------------ Residuals : 24100 Parameters : 6128 Iterations : 5 Time : 0.13853 [s] Initial cost : 0.611416 [px] Final cost : 0.600951 [px] Termination : Convergence => Merged observations: 14 => Completed observations: 14 => Filtered observations: 3 => Changed observations: 0.002377 ============================================================================== Registering image #39 (15) ============================================================================== => Image sees 1041 / 2578 points Pose refinement report ---------------------- Residuals : 2122 Parameters : 6 Iterations : 6 Time : 0.0128942 [s] Initial cost : 0.598619 [px] Final cost : 0.597595 [px] Termination : Convergence => Continued observations: 1027 => Added observations: 949 Bundle adjustment report ------------------------ Residuals : 21394 Parameters : 5768 Iterations : 26 Time : 0.639985 [s] Initial cost : 0.612153 [px] Final cost : 0.579131 [px] Termination : No convergence => Merged observations: 127 => Completed observations: 67 => Filtered observations: 100 => Changed observations: 0.022764 Bundle adjustment report ------------------------ Residuals : 21342 Parameters : 5702 Iterations : 5 Time : 0.131919 [s] Initial cost : 0.634322 [px] Final cost : 0.623238 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 13 => Filtered observations: 1 => Changed observations: 0.002483 ============================================================================== Retriangulation ============================================================================== => Completed observations: 4 => Merged 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 1.888152e+04 0.00e+00 3.85e+04 0.00e+00 0.00e+00 1.00e+04 0 4.73e-02 9.06e-02 1 1.884771e+04 3.38e+01 3.10e+02 2.87e-01 1.00e+00 3.00e+04 1 7.79e-02 1.69e-01 2 1.884709e+04 6.21e-01 2.27e+02 8.89e-01 1.00e+00 9.00e+04 1 7.38e-02 2.42e-01 3 1.884684e+04 2.52e-01 2.44e+02 1.20e+00 1.00e+00 2.70e+05 1 7.51e-02 3.17e-01 4 1.884674e+04 9.99e-02 1.86e+02 1.04e+00 1.00e+00 8.10e+05 1 7.67e-02 3.94e-01 5 1.884670e+04 3.35e-02 7.08e+01 4.41e-01 1.00e+00 2.43e+06 1 7.93e-02 4.74e-01 6 1.884669e+04 1.94e-02 8.01e+01 9.90e-02 1.00e+00 7.29e+06 1 7.35e-02 5.47e-01 7 1.884668e+04 6.09e-03 5.81e+01 1.60e-01 1.00e+00 2.19e+07 1 7.47e-02 6.22e-01 8 1.884668e+04 4.17e-04 5.53e+00 5.08e-02 1.00e+00 6.56e+07 1 7.28e-02 6.95e-01 9 1.884668e+04 4.42e-06 1.46e+00 5.27e-03 1.00e+00 1.97e+08 1 7.26e-02 7.67e-01 10 1.884668e+04 6.22e-09 5.77e-03 1.64e-04 9.73e-01 5.90e+08 1 7.35e-02 8.41e-01 Bundle adjustment report ------------------------ Residuals : 56324 Parameters : 20122 Iterations : 11 Time : 0.842012 [s] Initial cost : 0.578991 [px] Final cost : 0.578456 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 10 => Filtered observations: 0 => Changed observations: 0.000391 => Filtered images: 0 ============================================================================== Registering image #40 (16) ============================================================================== => Image sees 923 / 1939 points Pose refinement report ---------------------- Residuals : 1864 Parameters : 6 Iterations : 6 Time : 0.0112541 [s] Initial cost : 0.602079 [px] Final cost : 0.601382 [px] Termination : Convergence => Continued observations: 909 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 21106 Parameters : 5579 Iterations : 26 Time : 0.607863 [s] Initial cost : 0.594445 [px] Final cost : 0.563537 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 40 => Filtered observations: 116 => Changed observations: 0.018411 Bundle adjustment report ------------------------ Residuals : 20968 Parameters : 5519 Iterations : 5 Time : 0.122411 [s] Initial cost : 0.620022 [px] Final cost : 0.609467 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 1 => Changed observations: 0.001565 ============================================================================== Registering image #3 (17) ============================================================================== => Image sees 714 / 2106 points Pose refinement report ---------------------- Residuals : 1426 Parameters : 6 Iterations : 9 Time : 0.012511 [s] Initial cost : 0.625411 [px] Final cost : 0.60621 [px] Termination : Convergence => Continued observations: 704 => Added observations: 693 Bundle adjustment report ------------------------ Residuals : 17324 Parameters : 4790 Iterations : 26 Time : 0.519334 [s] Initial cost : 0.630533 [px] Final cost : 0.604509 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 39 => Filtered observations: 76 => Changed observations: 0.013415 Bundle adjustment report ------------------------ Residuals : 17260 Parameters : 4760 Iterations : 5 Time : 0.103422 [s] Initial cost : 0.636517 [px] Final cost : 0.626584 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.003293 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 0 => Retriangulated observations: 11 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.597844e+05 0.00e+00 2.79e+06 0.00e+00 0.00e+00 1.00e+04 0 5.98e-02 1.07e-01 1 1.216652e+05 3.38e+05 8.09e+05 9.44e+01 1.02e+00 3.00e+04 1 8.46e-02 1.92e-01 2 1.181866e+05 3.48e+03 2.21e+06 1.44e+02 8.95e-01 5.91e+04 1 8.04e-02 2.72e-01 3 1.170879e+05 1.10e+03 7.56e+05 1.63e+02 8.77e-01 1.03e+05 1 8.04e-02 3.52e-01 4 1.168071e+05 2.81e+02 2.26e+05 1.37e+02 8.61e-01 1.65e+05 1 8.02e-02 4.33e-01 5 1.167405e+05 6.66e+01 6.47e+04 8.91e+01 9.06e-01 3.56e+05 1 8.49e-02 5.18e-01 6 1.167298e+05 1.07e+01 1.81e+04 5.29e+01 9.30e-01 9.73e+05 1 8.30e-02 6.01e-01 7 1.167283e+05 1.49e+00 2.91e+03 2.02e+01 9.89e-01 2.92e+06 1 8.06e-02 6.81e-01 8 1.167280e+05 3.18e-01 1.97e+03 4.23e+00 9.98e-01 8.76e+06 1 8.04e-02 7.62e-01 9 1.167279e+05 8.91e-02 1.05e+03 9.70e-01 9.97e-01 2.63e+07 1 7.98e-02 8.42e-01 10 1.167279e+05 5.98e-03 9.17e+01 2.29e-01 1.00e+00 7.88e+07 1 8.03e-02 9.22e-01 11 1.167279e+05 5.92e-05 1.90e+00 2.66e-02 1.00e+00 2.37e+08 1 8.16e-02 1.00e+00 12 1.167279e+05 9.18e-08 2.08e-01 2.29e-03 1.02e+00 7.10e+08 1 8.73e-02 1.09e+00 Bundle adjustment report ------------------------ Residuals : 61802 Parameters : 21730 Iterations : 13 Time : 1.09216 [s] Initial cost : 2.72757 [px] Final cost : 1.37431 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 29 => Filtered observations: 180 => Changed observations: 0.007799 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.670188e+04 0.00e+00 1.32e+06 0.00e+00 0.00e+00 1.00e+04 0 5.08e-02 9.78e-02 1 2.313756e+04 3.56e+03 8.69e+05 6.19e+01 9.87e-01 3.00e+04 1 8.32e-02 1.81e-01 2 2.167664e+04 1.46e+03 1.74e+06 1.33e+02 8.72e-01 5.11e+04 1 8.47e-02 2.66e-01 3 2.105870e+04 6.18e+02 7.62e+05 1.45e+02 8.79e-01 9.03e+04 1 8.25e-02 3.48e-01 4 2.088175e+04 1.77e+02 2.54e+05 1.36e+02 8.15e-01 1.20e+05 1 8.85e-02 4.37e-01 5 2.082224e+04 5.95e+01 6.55e+04 8.88e+01 8.96e-01 2.40e+05 1 8.27e-02 5.20e-01 6 2.081098e+04 1.13e+01 2.90e+04 6.32e+01 8.60e-01 3.82e+05 1 8.30e-02 6.03e-01 7 2.080813e+04 2.85e+00 6.49e+03 2.80e+01 9.72e-01 1.15e+06 1 8.07e-02 6.83e-01 8 2.080752e+04 6.11e-01 3.04e+03 1.07e+01 9.92e-01 3.44e+06 1 8.04e-02 7.64e-01 9 2.080721e+04 3.07e-01 2.61e+03 2.35e+00 9.95e-01 1.03e+07 1 8.19e-02 8.46e-01 10 2.080716e+04 5.43e-02 7.03e+02 6.09e-01 9.98e-01 3.10e+07 1 8.01e-02 9.26e-01 11 2.080716e+04 1.80e-03 2.79e+01 1.07e-01 1.00e+00 9.29e+07 1 8.85e-02 1.01e+00 12 2.080716e+04 7.89e-06 1.81e+00 6.65e-03 1.00e+00 2.79e+08 1 8.09e-02 1.10e+00 13 2.080716e+04 5.46e-09 4.43e-03 1.11e-04 1.07e+00 8.36e+08 1 8.10e-02 1.18e+00 Bundle adjustment report ------------------------ Residuals : 61506 Parameters : 21670 Iterations : 14 Time : 1.17798 [s] Initial cost : 0.658889 [px] Final cost : 0.581631 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.004195 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.106783e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 5.05e-02 9.69e-02 1 2.094660e+04 1.21e+02 9.08e+03 1.56e+00 1.00e+00 3.00e+04 1 8.99e-02 1.87e-01 2 2.094097e+04 5.62e+00 6.22e+03 3.03e+00 1.00e+00 9.00e+04 1 8.02e-02 2.67e-01 3 2.094027e+04 6.98e-01 1.33e+03 3.64e+00 1.00e+00 2.70e+05 1 8.28e-02 3.50e-01 4 2.094022e+04 5.35e-02 1.32e+02 2.45e+00 1.00e+00 8.10e+05 1 8.00e-02 4.30e-01 5 2.094022e+04 2.27e-03 1.13e+01 8.24e-01 1.00e+00 2.43e+06 1 7.99e-02 5.10e-01 6 2.094022e+04 3.73e-04 2.57e+00 9.39e-02 1.00e+00 7.29e+06 1 8.04e-02 5.90e-01 7 2.094022e+04 9.56e-05 1.86e+00 1.44e-02 1.00e+00 2.19e+07 1 8.21e-02 6.72e-01 8 2.094022e+04 5.32e-06 1.06e+00 5.52e-03 1.00e+00 6.56e+07 1 8.83e-02 7.61e-01 9 2.094022e+04 4.47e-08 1.55e-02 5.07e-04 1.00e+00 1.97e+08 1 8.27e-02 8.43e-01 Bundle adjustment report ------------------------ Residuals : 61724 Parameters : 21670 Iterations : 10 Time : 0.844648 [s] Initial cost : 0.584229 [px] Final cost : 0.582457 [px] Termination : Convergence => Completed observations: 3 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000130 => Filtered images: 0 ============================================================================== Registering image #4 (18) ============================================================================== => Image sees 894 / 2130 points Pose refinement report ---------------------- Residuals : 1788 Parameters : 6 Iterations : 8 Time : 0.0142231 [s] Initial cost : 0.587014 [px] Final cost : 0.582727 [px] Termination : Convergence => Continued observations: 877 => Added observations: 724 Bundle adjustment report ------------------------ Residuals : 20228 Parameters : 5633 Iterations : 26 Time : 0.560597 [s] Initial cost : 0.782631 [px] Final cost : 0.740799 [px] Termination : No convergence => Merged observations: 88 => Completed observations: 60 => Filtered observations: 131 => Changed observations: 0.025428 Bundle adjustment report ------------------------ Residuals : 20118 Parameters : 5555 Iterations : 5 Time : 0.112718 [s] Initial cost : 0.61059 [px] Final cost : 0.599047 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 14 => Filtered observations: 0 => Changed observations: 0.001832 ============================================================================== Registering image #5 (19) ============================================================================== => Image sees 735 / 2271 points Pose refinement report ---------------------- Residuals : 1464 Parameters : 6 Iterations : 11 Time : 0.0159309 [s] Initial cost : 0.591762 [px] Final cost : 0.583859 [px] Termination : Convergence => Continued observations: 721 => Added observations: 808 Bundle adjustment report ------------------------ Residuals : 16102 Parameters : 4763 Iterations : 26 Time : 0.496232 [s] Initial cost : 0.622822 [px] Final cost : 0.577469 [px] Termination : No convergence => Merged observations: 59 => Completed observations: 42 => Filtered observations: 70 => Changed observations: 0.017731 Bundle adjustment report ------------------------ Residuals : 16076 Parameters : 4727 Iterations : 4 Time : 0.083987 [s] Initial cost : 0.608857 [px] Final cost : 0.599875 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000623 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 28 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888064e+06 0.00e+00 4.87e+06 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 1.11e-01 1 1.281877e+06 6.06e+05 5.78e+06 1.55e+02 9.90e-01 3.00e+04 1 9.25e-02 2.04e-01 2 1.274351e+06 7.53e+03 1.28e+07 4.45e+02 3.14e-01 2.85e+04 1 8.95e-02 2.94e-01 3 1.256085e+06 1.83e+04 1.30e+06 3.41e+02 9.13e-01 6.51e+04 1 8.99e-02 3.83e-01 4 1.258920e+06 -2.84e+03 0.00e+00 5.01e+02 -7.93e-01 3.26e+04 1 3.51e-02 4.19e-01 5 1.253895e+06 2.19e+03 7.95e+05 3.07e+02 7.07e-01 3.51e+04 1 9.69e-02 5.16e-01 6 1.252785e+06 1.11e+03 4.77e+05 2.58e+02 7.31e-01 3.89e+04 1 9.10e-02 6.07e-01 7 1.252248e+06 5.37e+02 3.22e+05 2.22e+02 7.18e-01 4.24e+04 1 8.99e-02 6.97e-01 8 1.251941e+06 3.07e+02 2.18e+05 1.88e+02 7.48e-01 4.83e+04 1 9.21e-02 7.89e-01 9 1.251771e+06 1.71e+02 1.60e+05 1.64e+02 7.49e-01 5.51e+04 1 1.12e-01 9.01e-01 10 1.251665e+06 1.05e+02 1.15e+05 1.40e+02 7.80e-01 6.69e+04 1 9.80e-02 9.99e-01 11 1.251604e+06 6.18e+01 8.70e+04 1.23e+02 7.86e-01 8.23e+04 1 9.59e-02 1.10e+00 12 1.251566e+06 3.73e+01 6.15e+04 1.03e+02 8.19e-01 1.11e+05 1 9.01e-02 1.19e+00 13 1.251546e+06 1.99e+01 4.37e+04 8.72e+01 8.32e-01 1.57e+05 1 8.98e-02 1.28e+00 14 1.251537e+06 9.87e+00 2.61e+04 6.75e+01 8.79e-01 2.78e+05 1 9.01e-02 1.37e+00 15 1.251533e+06 3.68e+00 1.38e+04 4.93e+01 9.15e-01 6.48e+05 1 8.93e-02 1.45e+00 16 1.251532e+06 9.56e-01 4.10e+03 2.75e+01 9.89e-01 1.94e+06 1 9.79e-02 1.55e+00 17 1.251532e+06 1.25e-01 4.31e+02 8.64e+00 1.03e+00 5.83e+06 1 9.04e-02 1.64e+00 18 1.251532e+06 2.63e-02 2.46e+02 1.27e+00 1.01e+00 1.75e+07 1 8.87e-02 1.73e+00 19 1.251532e+06 4.14e-03 6.90e+01 9.09e-02 9.99e-01 5.25e+07 1 8.89e-02 1.82e+00 20 1.251532e+06 1.26e-04 2.58e+00 4.24e-03 1.00e+00 1.57e+08 1 9.00e-02 1.91e+00 21 1.251532e+06 5.85e-07 1.78e-01 3.15e-04 1.03e+00 4.72e+08 1 9.57e-02 2.01e+00 Bundle adjustment report ------------------------ Residuals : 67886 Parameters : 23668 Iterations : 22 Time : 2.0076 [s] Initial cost : 5.27373 [px] Final cost : 4.29369 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 47 => Filtered observations: 1702 => Changed observations: 0.051528 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.427534e+04 0.00e+00 2.57e+06 0.00e+00 0.00e+00 1.00e+04 0 5.47e-02 1.05e-01 1 3.072848e+04 1.35e+04 1.97e+06 1.24e+02 9.81e-01 3.00e+04 1 8.99e-02 1.95e-01 2 2.580194e+04 4.93e+03 2.70e+06 3.14e+02 8.21e-01 4.08e+04 1 9.03e-02 2.85e-01 3 2.368824e+04 2.11e+03 1.49e+06 3.53e+02 6.56e-01 4.20e+04 1 8.79e-02 3.73e-01 4 2.219930e+04 1.49e+03 7.72e+05 3.00e+02 7.21e-01 4.60e+04 1 9.37e-02 4.67e-01 5 2.142932e+04 7.70e+02 5.31e+05 2.67e+02 6.76e-01 4.81e+04 1 8.86e-02 5.56e-01 6 2.090373e+04 5.26e+02 3.36e+05 2.25e+02 7.32e-01 5.34e+04 1 8.73e-02 6.43e-01 7 2.059356e+04 3.10e+02 2.37e+05 1.98e+02 7.24e-01 5.87e+04 1 8.44e-02 7.28e-01 8 2.038406e+04 2.09e+02 1.63e+05 1.69e+02 7.65e-01 6.89e+04 1 8.42e-02 8.12e-01 9 2.025521e+04 1.29e+02 1.21e+05 1.48e+02 7.66e-01 8.12e+04 1 9.10e-02 9.03e-01 10 2.017220e+04 8.30e+01 8.56e+04 1.24e+02 8.03e-01 1.05e+05 1 8.39e-02 9.87e-01 11 2.012531e+04 4.69e+01 6.22e+04 1.06e+02 8.11e-01 1.38e+05 1 8.45e-02 1.07e+00 12 2.010012e+04 2.52e+01 3.89e+04 8.33e+01 8.53e-01 2.13e+05 1 8.33e-02 1.15e+00 13 2.008956e+04 1.06e+01 2.32e+04 6.36e+01 8.73e-01 3.64e+05 1 8.41e-02 1.24e+00 14 2.008603e+04 3.53e+00 9.85e+03 4.03e+01 9.29e-01 9.90e+05 1 8.52e-02 1.32e+00 15 2.008512e+04 9.04e-01 4.19e+03 2.09e+01 9.70e-01 2.97e+06 1 8.49e-02 1.41e+00 16 2.008477e+04 3.57e-01 2.98e+03 6.08e+00 9.94e-01 8.91e+06 1 9.21e-02 1.50e+00 17 2.008468e+04 8.71e-02 1.23e+03 1.58e+00 9.97e-01 2.67e+07 1 8.57e-02 1.59e+00 18 2.008468e+04 4.83e-03 8.61e+01 3.32e-01 1.00e+00 8.02e+07 1 8.47e-02 1.67e+00 19 2.008468e+04 3.78e-05 1.99e+00 2.87e-02 1.00e+00 2.40e+08 1 8.49e-02 1.76e+00 20 2.008468e+04 4.04e-08 1.38e-02 7.70e-04 9.99e-01 7.21e+08 1 8.37e-02 1.84e+00 Bundle adjustment report ------------------------ Residuals : 64482 Parameters : 23332 Iterations : 21 Time : 1.84172 [s] Initial cost : 0.828632 [px] Final cost : 0.558101 [px] Termination : Convergence => Completed observations: 1255 => Merged observations: 12 => Filtered observations: 7 => Changed observations: 0.039515 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.279129e+04 0.00e+00 3.08e+05 0.00e+00 0.00e+00 1.00e+04 0 5.60e-02 1.07e-01 1 2.188227e+04 9.09e+02 5.48e+04 1.23e+01 1.00e+00 3.00e+04 1 9.20e-02 1.99e-01 2 2.182629e+04 5.60e+01 2.92e+04 2.04e+01 9.99e-01 9.00e+04 1 8.83e-02 2.88e-01 3 2.181359e+04 1.27e+01 2.07e+04 3.34e+01 9.87e-01 2.70e+05 1 8.85e-02 3.76e-01 4 2.181084e+04 2.75e+00 9.32e+03 3.36e+01 9.54e-01 8.10e+05 1 8.79e-02 4.64e-01 5 2.181042e+04 4.19e-01 1.78e+03 1.63e+01 9.83e-01 2.43e+06 1 8.84e-02 5.53e-01 6 2.181040e+04 1.68e-02 6.29e+01 3.09e+00 1.00e+00 7.29e+06 1 9.67e-02 6.49e-01 7 2.181040e+04 7.67e-04 7.74e+00 1.39e-01 1.00e+00 2.19e+07 1 8.81e-02 7.38e-01 8 2.181040e+04 4.42e-05 1.95e+00 2.11e-02 1.00e+00 6.56e+07 1 8.78e-02 8.25e-01 9 2.181040e+04 4.07e-07 1.08e-01 2.55e-03 1.00e+00 1.97e+08 1 8.76e-02 9.13e-01 Bundle adjustment report ------------------------ Residuals : 66978 Parameters : 23326 Iterations : 10 Time : 0.914334 [s] Initial cost : 0.583335 [px] Final cost : 0.570645 [px] Termination : Convergence => Completed observations: 37 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001135 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.204621e+04 0.00e+00 6.31e+04 0.00e+00 0.00e+00 1.00e+04 0 5.65e-02 1.13e-01 1 2.197454e+04 7.17e+01 2.29e+02 3.27e-01 1.00e+00 3.00e+04 1 9.26e-02 2.06e-01 2 2.197428e+04 2.57e-01 1.03e+02 1.52e+00 1.00e+00 9.00e+04 1 8.78e-02 2.94e-01 3 2.197421e+04 6.85e-02 1.22e+02 2.82e+00 1.00e+00 2.70e+05 1 8.88e-02 3.83e-01 4 2.197419e+04 2.06e-02 7.73e+01 3.01e+00 9.99e-01 8.10e+05 1 8.87e-02 4.71e-01 5 2.197418e+04 7.28e-03 2.24e+01 1.48e+00 1.00e+00 2.43e+06 1 8.98e-02 5.61e-01 6 2.197418e+04 4.57e-03 2.75e+01 1.61e-01 1.00e+00 7.29e+06 1 9.71e-02 6.58e-01 7 2.197418e+04 1.30e-03 1.48e+01 1.02e-01 1.00e+00 2.19e+07 1 9.00e-02 7.48e-01 8 2.197418e+04 7.77e-05 1.90e+00 3.51e-02 1.00e+00 6.56e+07 1 8.88e-02 8.37e-01 9 2.197418e+04 7.04e-07 1.79e-01 3.41e-03 1.00e+00 1.97e+08 1 8.82e-02 9.25e-01 Bundle adjustment report ------------------------ Residuals : 67050 Parameters : 23326 Iterations : 10 Time : 0.92663 [s] Initial cost : 0.573413 [px] Final cost : 0.572476 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #6 (20) ============================================================================== => Image sees 902 / 2190 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 7 Time : 0.012624 [s] Initial cost : 0.602173 [px] Final cost : 0.600818 [px] Termination : Convergence => Continued observations: 889 => Added observations: 733 Bundle adjustment report ------------------------ Residuals : 26978 Parameters : 7394 Iterations : 26 Time : 0.666093 [s] Initial cost : 0.657965 [px] Final cost : 0.622791 [px] Termination : No convergence => Merged observations: 73 => Completed observations: 44 => Filtered observations: 99 => Changed observations: 0.015236 Bundle adjustment report ------------------------ Residuals : 26886 Parameters : 7343 Iterations : 4 Time : 0.104127 [s] Initial cost : 0.599914 [px] Final cost : 0.588461 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 18 => Filtered observations: 0 => Changed observations: 0.001698 ============================================================================== Registering image #7 (21) ============================================================================== => Image sees 700 / 2461 points Pose refinement report ---------------------- Residuals : 1332 Parameters : 6 Iterations : 10 Time : 0.0128632 [s] Initial cost : 0.663892 [px] Final cost : 0.595395 [px] Termination : Convergence => Continued observations: 659 => Added observations: 942 Bundle adjustment report ------------------------ Residuals : 15592 Parameters : 4994 Iterations : 26 Time : 0.482459 [s] Initial cost : 1.10185 [px] Final cost : 1.04828 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 28 => Filtered observations: 130 => Changed observations: 0.019526 Bundle adjustment report ------------------------ Residuals : 15412 Parameters : 4913 Iterations : 4 Time : 0.0769 [s] Initial cost : 0.595284 [px] Final cost : 0.58417 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.001625 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 68 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.937458e+06 0.00e+00 5.48e+07 0.00e+00 0.00e+00 1.00e+04 0 6.54e-02 1.24e-01 1 1.570097e+09 -1.56e+09 0.00e+00 5.76e+01 -2.66e+02 5.00e+03 1 4.50e-02 1.69e-01 2 1.346984e+09 -1.34e+09 0.00e+00 4.72e+00 -2.29e+02 1.25e+03 1 4.75e-02 2.16e-01 3 7.943473e+08 -7.84e+08 0.00e+00 1.06e+01 -1.38e+02 1.56e+02 1 3.91e-02 2.55e-01 4 8.959696e+07 -7.97e+07 0.00e+00 5.00e+01 -1.54e+01 9.77e+00 1 3.91e-02 2.94e-01 5 6.491617e+06 3.45e+06 4.26e+07 1.15e+01 9.84e-01 2.93e+01 1 9.89e-02 3.93e-01 6 5.728932e+06 7.63e+05 3.99e+07 1.79e+01 9.28e-01 7.82e+01 1 9.92e-02 4.93e-01 7 5.310281e+06 4.19e+05 4.55e+07 2.12e+01 8.43e-01 1.15e+02 1 1.03e-01 5.96e-01 8 5.049937e+06 2.60e+05 2.76e+07 9.48e+00 9.17e-01 2.75e+02 1 1.11e-01 7.07e-01 9 4.952335e+06 9.76e+04 6.00e+07 2.42e+00 4.17e-01 2.73e+02 1 1.03e-01 8.10e-01 10 4.706418e+06 2.46e+05 2.01e+07 6.23e+00 9.68e-01 8.20e+02 1 1.03e-01 9.14e-01 11 4.831484e+06 -1.25e+05 0.00e+00 2.09e+01 -6.06e-01 4.10e+02 1 4.09e-02 9.55e-01 12 4.605396e+06 1.01e+05 3.12e+07 1.22e+01 7.57e-01 4.75e+02 1 9.99e-02 1.05e+00 13 4.481881e+06 1.24e+05 2.14e+07 1.32e+01 9.26e-01 1.25e+03 1 1.03e-01 1.16e+00 14 4.515118e+06 -3.32e+04 0.00e+00 2.62e+01 -1.93e-01 6.26e+02 1 4.24e-02 1.20e+00 15 4.382932e+06 9.89e+04 2.44e+07 1.70e+01 8.65e-01 1.02e+03 1 1.06e-01 1.31e+00 16 4.285664e+06 9.73e+04 3.45e+07 2.42e+01 7.18e-01 1.12e+03 1 1.01e-01 1.41e+00 17 4.144529e+06 1.41e+05 2.16e+07 2.89e+01 9.69e-01 3.35e+03 1 1.01e-01 1.51e+00 18 4.209516e+06 -6.50e+04 0.00e+00 8.86e+01 -4.02e-01 1.68e+03 1 4.05e-02 1.55e+00 19 4.044116e+06 1.00e+05 2.82e+07 5.22e+01 8.21e-01 2.28e+03 1 1.08e-01 1.66e+00 20 3.921617e+06 1.22e+05 1.93e+07 8.81e+01 9.88e-01 6.83e+03 1 1.01e-01 1.76e+00 21 3.869062e+06 5.26e+04 3.43e+07 3.15e+02 5.02e-01 6.83e+03 1 1.02e-01 1.86e+00 22 3.763183e+06 1.06e+05 1.01e+07 4.18e+02 9.54e-01 2.05e+04 1 9.93e-02 1.96e+00 23 4.063646e+06 -3.00e+05 0.00e+00 1.16e+03 -4.20e+00 1.03e+04 1 3.92e-02 2.00e+00 24 3.844794e+06 -8.16e+04 0.00e+00 6.61e+02 -1.35e+00 2.56e+03 1 3.74e-02 2.04e+00 25 3.748578e+06 1.46e+04 6.82e+06 1.93e+02 4.01e-01 2.54e+03 1 9.93e-02 2.14e+00 26 3.737172e+06 1.14e+04 3.55e+06 1.92e+02 3.00e-01 2.39e+03 1 1.07e-01 2.24e+00 27 3.741906e+06 -4.73e+03 0.00e+00 2.02e+02 -1.05e-01 1.20e+03 1 4.05e-02 2.28e+00 28 3.725470e+06 1.17e+04 3.67e+06 1.05e+02 3.92e-01 1.18e+03 1 9.74e-02 2.38e+00 29 3.705358e+06 2.01e+04 2.78e+05 9.72e+01 9.38e-01 3.55e+03 1 9.85e-02 2.48e+00 30 3.642741e+06 6.26e+04 1.98e+07 3.13e+02 8.09e-01 4.65e+03 1 9.98e-02 2.58e+00 31 3.478113e+06 1.65e+05 1.15e+07 3.86e+02 1.18e+00 1.40e+04 1 1.06e-01 2.69e+00 32 5.104653e+06 -1.63e+06 0.00e+00 9.98e+02 -5.92e+00 6.98e+03 1 3.91e-02 2.72e+00 33 3.727825e+06 -2.50e+05 0.00e+00 5.35e+02 -1.15e+00 1.74e+03 1 3.80e-02 2.76e+00 34 3.388668e+06 8.94e+04 1.42e+07 1.44e+02 8.57e-01 2.74e+03 1 9.79e-02 2.86e+00 35 3.305364e+06 8.33e+04 1.61e+07 2.30e+02 9.70e-01 8.21e+03 1 9.86e-02 2.96e+00 36 3.315823e+06 -1.05e+04 0.00e+00 6.56e+02 -8.50e-02 4.11e+03 1 3.89e-02 3.00e+00 37 3.236034e+06 6.93e+04 2.17e+07 3.43e+02 8.18e-01 5.53e+03 1 9.73e-02 3.10e+00 38 3.174000e+06 6.20e+04 1.61e+07 4.54e+02 8.76e-01 9.64e+03 1 9.98e-02 3.20e+00 39 3.144560e+06 2.94e+04 1.80e+07 7.46e+02 5.10e-01 9.64e+03 1 1.06e-01 3.30e+00 40 3.102691e+06 4.19e+04 5.50e+06 7.06e+02 7.74e-01 1.15e+04 1 9.94e-02 3.40e+00 41 3.087287e+06 1.54e+04 4.55e+06 7.85e+02 4.71e-01 1.15e+04 1 9.78e-02 3.50e+00 42 3.067546e+06 1.97e+04 3.42e+06 7.29e+02 6.45e-01 1.18e+04 1 9.80e-02 3.60e+00 43 3.054577e+06 1.30e+04 2.83e+06 6.94e+02 6.16e-01 1.20e+04 1 1.06e-01 3.70e+00 44 3.044418e+06 1.02e+04 2.32e+06 6.53e+02 6.40e-01 1.22e+04 1 9.85e-02 3.80e+00 45 3.036662e+06 7.76e+03 1.99e+06 6.22e+02 6.44e-01 1.25e+04 1 1.05e-01 3.91e+00 46 3.030409e+06 6.25e+03 1.73e+06 5.94e+02 6.57e-01 1.29e+04 1 1.01e-01 4.01e+00 47 3.025286e+06 5.12e+03 1.55e+06 5.72e+02 6.64e-01 1.34e+04 1 9.87e-02 4.11e+00 48 3.020966e+06 4.32e+03 1.41e+06 5.54e+02 6.73e-01 1.40e+04 1 9.90e-02 4.21e+00 49 3.017261e+06 3.70e+03 1.30e+06 5.39e+02 6.79e-01 1.46e+04 1 1.27e-01 4.33e+00 50 3.014026e+06 3.23e+03 1.22e+06 5.27e+02 6.85e-01 1.54e+04 1 1.01e-01 4.43e+00 Bundle adjustment report ------------------------ Residuals : 73386 Parameters : 25552 Iterations : 51 Time : 4.43522 [s] Initial cost : 11.6367 [px] Final cost : 6.40865 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 10350 => Changed observations: 0.282261 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.425077e+04 0.00e+00 3.24e+06 0.00e+00 0.00e+00 1.00e+04 0 4.40e-02 8.50e-02 1 3.679611e+04 1.75e+04 1.02e+07 8.07e+01 6.84e-01 1.05e+04 1 7.09e-02 1.56e-01 2 2.872386e+04 8.07e+03 7.83e+06 8.81e+01 7.22e-01 1.15e+04 1 7.70e-02 2.33e-01 3 2.492770e+04 3.80e+03 4.95e+06 1.02e+02 7.60e-01 1.34e+04 1 7.11e-02 3.04e-01 4 2.283030e+04 2.10e+03 2.84e+06 1.24e+02 8.37e-01 1.93e+04 1 7.01e-02 3.74e-01 5 2.150767e+04 1.32e+03 1.70e+06 1.83e+02 8.77e-01 3.39e+04 1 7.09e-02 4.45e-01 6 2.052438e+04 9.83e+02 1.16e+06 3.22e+02 8.15e-01 4.52e+04 1 7.18e-02 5.17e-01 7 1.992702e+04 5.97e+02 8.16e+05 4.22e+02 6.25e-01 4.60e+04 1 6.98e-02 5.87e-01 8 1.944060e+04 4.86e+02 5.47e+05 4.16e+02 5.91e-01 4.62e+04 1 7.01e-02 6.57e-01 9 1.909070e+04 3.50e+02 5.03e+05 4.04e+02 5.21e-01 4.62e+04 1 6.89e-02 7.26e-01 10 1.880032e+04 2.90e+02 4.69e+05 3.88e+02 4.94e-01 4.62e+04 1 7.46e-02 8.00e-01 11 1.854744e+04 2.53e+02 4.40e+05 3.71e+02 4.85e-01 4.62e+04 1 6.88e-02 8.69e-01 12 1.831984e+04 2.28e+02 4.11e+05 3.55e+02 4.88e-01 4.62e+04 1 6.83e-02 9.38e-01 13 1.811188e+04 2.08e+02 3.81e+05 3.38e+02 4.98e-01 4.62e+04 1 6.84e-02 1.01e+00 14 1.792060e+04 1.91e+02 3.51e+05 3.22e+02 5.13e-01 4.62e+04 1 6.81e-02 1.07e+00 15 1.774423e+04 1.76e+02 3.22e+05 3.05e+02 5.30e-01 4.62e+04 1 6.80e-02 1.14e+00 16 1.758155e+04 1.63e+02 2.95e+05 2.90e+02 5.50e-01 4.63e+04 1 7.54e-02 1.22e+00 17 1.743160e+04 1.50e+02 2.69e+05 2.75e+02 5.70e-01 4.64e+04 1 6.84e-02 1.29e+00 18 1.729345e+04 1.38e+02 2.46e+05 2.61e+02 5.89e-01 4.67e+04 1 6.88e-02 1.36e+00 19 1.716601e+04 1.27e+02 2.25e+05 2.48e+02 6.08e-01 4.72e+04 1 7.24e-02 1.43e+00 20 1.704805e+04 1.18e+02 2.07e+05 2.36e+02 6.24e-01 4.79e+04 1 6.98e-02 1.50e+00 21 1.693823e+04 1.10e+02 1.92e+05 2.26e+02 6.38e-01 4.89e+04 1 6.84e-02 1.57e+00 22 1.683524e+04 1.03e+02 1.79e+05 2.17e+02 6.49e-01 5.02e+04 1 6.89e-02 1.63e+00 23 1.673789e+04 9.74e+01 1.69e+05 2.10e+02 6.59e-01 5.19e+04 1 6.83e-02 1.70e+00 24 1.664515e+04 9.27e+01 1.59e+05 2.03e+02 6.67e-01 5.39e+04 1 6.76e-02 1.77e+00 25 1.655619e+04 8.90e+01 1.79e+05 1.97e+02 6.73e-01 5.62e+04 1 7.52e-02 1.85e+00 26 1.647035e+04 8.58e+01 2.07e+05 1.91e+02 6.77e-01 5.89e+04 1 6.94e-02 1.92e+00 27 1.638712e+04 8.32e+01 2.41e+05 1.86e+02 6.80e-01 6.18e+04 1 6.76e-02 1.98e+00 28 1.630614e+04 8.10e+01 2.80e+05 1.80e+02 6.82e-01 6.49e+04 1 6.79e-02 2.05e+00 29 1.622720e+04 7.89e+01 3.25e+05 1.75e+02 6.81e-01 6.81e+04 1 6.90e-02 2.12e+00 30 1.615022e+04 7.70e+01 3.76e+05 1.68e+02 6.77e-01 7.12e+04 1 6.91e-02 2.19e+00 31 1.607524e+04 7.50e+01 4.31e+05 1.62e+02 6.70e-01 7.41e+04 1 7.52e-02 2.26e+00 32 1.600242e+04 7.28e+01 4.88e+05 1.54e+02 6.59e-01 7.66e+04 1 7.04e-02 2.33e+00 33 1.593193e+04 7.05e+01 5.43e+05 1.45e+02 6.46e-01 7.85e+04 1 7.04e-02 2.41e+00 34 1.586394e+04 6.80e+01 5.92e+05 1.36e+02 6.29e-01 7.99e+04 1 6.89e-02 2.47e+00 35 1.579853e+04 6.54e+01 6.34e+05 1.27e+02 6.12e-01 8.08e+04 1 6.81e-02 2.54e+00 36 1.573574e+04 6.28e+01 6.69e+05 1.17e+02 5.93e-01 8.14e+04 1 6.80e-02 2.61e+00 37 1.567553e+04 6.02e+01 6.97e+05 1.08e+02 5.74e-01 8.16e+04 1 6.88e-02 2.68e+00 38 1.561783e+04 5.77e+01 7.19e+05 9.99e+01 5.56e-01 8.17e+04 1 7.16e-02 2.75e+00 39 1.556254e+04 5.53e+01 7.38e+05 9.23e+01 5.37e-01 8.18e+04 1 7.76e-02 2.83e+00 40 1.550957e+04 5.30e+01 7.54e+05 8.54e+01 5.18e-01 8.18e+04 1 6.92e-02 2.90e+00 41 1.545880e+04 5.08e+01 7.68e+05 7.93e+01 5.00e-01 8.18e+04 1 6.81e-02 2.97e+00 42 1.541011e+04 4.87e+01 7.82e+05 7.38e+01 4.81e-01 8.18e+04 1 6.80e-02 3.03e+00 43 1.536335e+04 4.68e+01 7.94e+05 6.89e+01 4.63e-01 8.17e+04 1 6.85e-02 3.10e+00 44 1.531837e+04 4.50e+01 8.06e+05 6.44e+01 4.45e-01 8.16e+04 1 6.89e-02 3.17e+00 45 1.527498e+04 4.34e+01 8.16e+05 6.04e+01 4.30e-01 8.14e+04 1 7.51e-02 3.25e+00 46 1.523302e+04 4.20e+01 8.24e+05 5.67e+01 4.16e-01 8.10e+04 1 6.80e-02 3.31e+00 47 1.519237e+04 4.07e+01 8.29e+05 5.33e+01 4.05e-01 8.05e+04 1 6.93e-02 3.38e+00 48 1.515296e+04 3.94e+01 8.30e+05 5.02e+01 3.96e-01 7.97e+04 1 6.89e-02 3.45e+00 49 1.511477e+04 3.82e+01 8.29e+05 4.72e+01 3.88e-01 7.89e+04 1 6.91e-02 3.52e+00 50 1.507783e+04 3.69e+01 8.25e+05 4.44e+01 3.82e-01 7.78e+04 1 6.75e-02 3.59e+00 Bundle adjustment report ------------------------ Residuals : 52686 Parameters : 21154 Iterations : 51 Time : 3.59015 [s] Initial cost : 1.01474 [px] Final cost : 0.534961 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 21 => Filtered observations: 15 => Changed observations: 0.001367 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.492151e+04 0.00e+00 7.86e+05 0.00e+00 0.00e+00 1.00e+04 0 4.45e-02 8.58e-02 1 1.480837e+04 1.13e+02 3.86e+04 6.18e+00 9.98e-01 3.00e+04 1 7.04e-02 1.56e-01 2 1.479130e+04 1.71e+01 9.99e+04 1.95e+01 9.00e-01 6.16e+04 1 7.55e-02 2.32e-01 3 1.478501e+04 6.29e+00 4.35e+05 3.83e+01 2.20e-01 5.24e+04 1 6.87e-02 3.01e-01 4 1.475353e+04 3.15e+01 3.32e+05 3.14e+01 7.37e-01 5.86e+04 1 6.93e-02 3.70e-01 5 1.473785e+04 1.57e+01 4.20e+05 3.33e+01 4.79e-01 5.86e+04 1 6.95e-02 4.39e-01 6 1.471744e+04 2.04e+01 4.28e+05 3.18e+01 5.41e-01 5.86e+04 1 6.98e-02 5.09e-01 7 1.469786e+04 1.96e+01 4.35e+05 3.03e+01 5.26e-01 5.86e+04 1 7.13e-02 5.80e-01 8 1.467897e+04 1.89e+01 4.40e+05 2.90e+01 5.11e-01 5.86e+04 1 7.43e-02 6.55e-01 9 1.466075e+04 1.82e+01 4.46e+05 2.77e+01 4.96e-01 5.86e+04 1 6.97e-02 7.25e-01 10 1.464315e+04 1.76e+01 4.51e+05 2.65e+01 4.81e-01 5.86e+04 1 7.06e-02 7.95e-01 11 1.462617e+04 1.70e+01 4.57e+05 2.54e+01 4.66e-01 5.86e+04 1 6.87e-02 8.64e-01 12 1.460976e+04 1.64e+01 4.63e+05 2.44e+01 4.50e-01 5.86e+04 1 6.74e-02 9.31e-01 13 1.459389e+04 1.59e+01 4.69e+05 2.34e+01 4.35e-01 5.84e+04 1 6.93e-02 1.00e+00 14 1.457851e+04 1.54e+01 4.74e+05 2.25e+01 4.21e-01 5.82e+04 1 6.80e-02 1.07e+00 15 1.456359e+04 1.49e+01 4.79e+05 2.16e+01 4.09e-01 5.79e+04 1 6.73e-02 1.14e+00 16 1.454908e+04 1.45e+01 4.82e+05 2.07e+01 3.98e-01 5.74e+04 1 7.22e-02 1.21e+00 17 1.453498e+04 1.41e+01 4.84e+05 1.98e+01 3.89e-01 5.68e+04 1 7.09e-02 1.28e+00 18 1.452128e+04 1.37e+01 4.85e+05 1.89e+01 3.81e-01 5.60e+04 1 6.74e-02 1.35e+00 19 1.450798e+04 1.33e+01 4.84e+05 1.80e+01 3.75e-01 5.51e+04 1 6.74e-02 1.41e+00 20 1.449508e+04 1.29e+01 4.83e+05 1.72e+01 3.69e-01 5.42e+04 1 7.13e-02 1.49e+00 21 1.448259e+04 1.25e+01 4.80e+05 1.63e+01 3.63e-01 5.31e+04 1 7.49e-02 1.56e+00 22 1.447051e+04 1.21e+01 4.76e+05 1.55e+01 3.59e-01 5.19e+04 1 7.49e-02 1.64e+00 23 1.445885e+04 1.17e+01 4.72e+05 1.48e+01 3.54e-01 5.07e+04 1 7.05e-02 1.71e+00 24 1.444758e+04 1.13e+01 4.68e+05 1.40e+01 3.50e-01 4.93e+04 1 6.98e-02 1.78e+00 25 1.443671e+04 1.09e+01 4.63e+05 1.33e+01 3.47e-01 4.80e+04 1 6.94e-02 1.85e+00 26 1.442623e+04 1.05e+01 4.58e+05 1.26e+01 3.43e-01 4.65e+04 1 6.76e-02 1.91e+00 27 1.441612e+04 1.01e+01 4.53e+05 1.19e+01 3.40e-01 4.50e+04 1 6.74e-02 1.98e+00 28 1.440638e+04 9.75e+00 4.48e+05 1.13e+01 3.36e-01 4.35e+04 1 6.88e-02 2.05e+00 29 1.439697e+04 9.40e+00 4.43e+05 1.06e+01 3.33e-01 4.20e+04 1 7.05e-02 2.12e+00 30 1.438790e+04 9.07e+00 4.38e+05 1.00e+01 3.30e-01 4.04e+04 1 6.98e-02 2.19e+00 31 1.437914e+04 8.76e+00 4.34e+05 9.47e+00 3.27e-01 3.88e+04 1 7.56e-02 2.26e+00 32 1.437067e+04 8.47e+00 4.29e+05 8.92e+00 3.24e-01 3.71e+04 1 6.92e-02 2.33e+00 33 1.436248e+04 8.19e+00 4.25e+05 8.40e+00 3.21e-01 3.55e+04 1 6.78e-02 2.40e+00 34 1.435456e+04 7.92e+00 4.21e+05 7.89e+00 3.18e-01 3.39e+04 1 6.73e-02 2.47e+00 35 1.434688e+04 7.68e+00 4.17e+05 7.41e+00 3.15e-01 3.22e+04 1 6.68e-02 2.54e+00 36 1.433944e+04 7.44e+00 4.14e+05 6.95e+00 3.12e-01 3.06e+04 1 6.70e-02 2.60e+00 37 1.433221e+04 7.23e+00 4.10e+05 6.51e+00 3.09e-01 2.90e+04 1 7.38e-02 2.68e+00 38 1.432519e+04 7.02e+00 4.07e+05 6.08e+00 3.06e-01 2.74e+04 1 6.74e-02 2.74e+00 39 1.431837e+04 6.83e+00 4.04e+05 5.68e+00 3.03e-01 2.58e+04 1 6.81e-02 2.81e+00 40 1.431172e+04 6.64e+00 4.02e+05 5.30e+00 3.00e-01 2.43e+04 1 6.74e-02 2.88e+00 41 1.430525e+04 6.47e+00 3.99e+05 4.93e+00 2.97e-01 2.27e+04 1 6.80e-02 2.95e+00 42 1.429894e+04 6.31e+00 3.97e+05 4.58e+00 2.94e-01 2.12e+04 1 6.76e-02 3.02e+00 43 1.429279e+04 6.15e+00 3.95e+05 4.25e+00 2.91e-01 1.98e+04 1 6.86e-02 3.08e+00 44 1.428678e+04 6.01e+00 3.93e+05 3.93e+00 2.88e-01 1.84e+04 1 6.66e-02 3.15e+00 45 1.428092e+04 5.86e+00 3.91e+05 3.63e+00 2.86e-01 1.71e+04 1 6.71e-02 3.22e+00 46 1.427520e+04 5.72e+00 3.89e+05 3.35e+00 2.83e-01 1.58e+04 1 7.55e-02 3.29e+00 47 1.426961e+04 5.59e+00 3.87e+05 3.08e+00 2.80e-01 1.45e+04 1 6.74e-02 3.36e+00 48 1.426415e+04 5.46e+00 3.85e+05 2.83e+00 2.78e-01 1.34e+04 1 6.70e-02 3.43e+00 49 1.425883e+04 5.32e+00 3.82e+05 2.59e+00 2.75e-01 1.22e+04 1 6.69e-02 3.50e+00 50 1.425364e+04 5.19e+00 3.79e+05 2.38e+00 2.73e-01 1.12e+04 1 6.67e-02 3.56e+00 Bundle adjustment report ------------------------ Residuals : 52656 Parameters : 21133 Iterations : 51 Time : 3.56287 [s] Initial cost : 0.532332 [px] Final cost : 0.520282 [px] Termination : No convergence => Completed observations: 4039 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.153601 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.282101e+04 0.00e+00 5.36e+05 0.00e+00 0.00e+00 1.00e+04 0 5.04e-02 1.02e-01 1 2.006776e+04 2.75e+03 2.36e+06 3.93e+01 7.92e-01 1.25e+04 1 8.55e-02 1.88e-01 2 2.139124e+04 -1.32e+03 0.00e+00 3.84e+01 -1.56e+00 6.24e+03 1 3.14e-02 2.19e-01 3 1.953035e+04 5.37e+02 1.71e+06 2.03e+01 6.62e-01 6.46e+03 1 7.79e-02 2.97e-01 4 1.963110e+04 -1.01e+02 0.00e+00 1.95e+01 -3.11e-01 3.23e+03 1 3.14e-02 3.28e-01 5 1.927523e+04 2.55e+02 7.33e+05 1.00e+01 8.37e-01 4.66e+03 1 8.04e-02 4.09e-01 6 1.936111e+04 -8.59e+01 0.00e+00 1.39e+01 -1.06e+00 2.33e+03 1 3.17e-02 4.40e-01 7 1.922547e+04 4.98e+01 4.47e+05 7.04e+00 7.30e-01 2.58e+03 1 7.96e-02 5.20e-01 8 1.921595e+04 9.52e+00 5.29e+05 7.67e+00 2.70e-01 2.35e+03 1 7.96e-02 6.00e-01 9 1.919337e+04 2.26e+01 4.19e+05 6.91e+00 5.83e-01 2.36e+03 1 8.72e-02 6.87e-01 10 1.917685e+04 1.65e+01 3.33e+05 6.88e+00 6.18e-01 2.40e+03 1 8.11e-02 7.68e-01 11 1.916296e+04 1.39e+01 2.30e+05 6.91e+00 7.40e-01 2.70e+03 1 7.96e-02 8.48e-01 12 1.915288e+04 1.01e+01 1.63e+05 7.68e+00 8.04e-01 3.48e+03 1 7.98e-02 9.28e-01 13 1.914396e+04 8.92e+00 1.25e+05 9.75e+00 8.60e-01 5.55e+03 1 7.91e-02 1.01e+00 14 1.913371e+04 1.02e+01 1.11e+05 1.52e+01 8.99e-01 1.13e+04 1 8.69e-02 1.09e+00 15 1.911859e+04 1.51e+01 1.07e+05 2.93e+01 9.31e-01 3.15e+04 1 8.21e-02 1.18e+00 16 1.909201e+04 2.66e+01 9.81e+04 7.26e+01 9.00e-01 6.45e+04 1 8.03e-02 1.26e+00 17 1.906777e+04 2.42e+01 7.83e+04 1.19e+02 6.15e-01 6.53e+04 1 7.91e-02 1.34e+00 18 1.903556e+04 3.22e+01 5.13e+04 9.53e+01 8.32e-01 9.25e+04 1 8.02e-02 1.42e+00 19 1.901759e+04 1.80e+01 5.59e+04 9.91e+01 6.99e-01 9.87e+04 1 7.95e-02 1.50e+00 20 1.900152e+04 1.61e+01 3.34e+04 7.61e+01 8.53e-01 1.53e+05 1 8.05e-02 1.58e+00 21 1.899368e+04 7.84e+00 3.15e+04 7.37e+01 7.60e-01 1.78e+05 1 8.48e-02 1.66e+00 22 1.898847e+04 5.21e+00 1.51e+04 5.07e+01 9.02e-01 3.71e+05 1 8.19e-02 1.74e+00 23 1.898668e+04 1.79e+00 1.12e+04 4.36e+01 8.51e-01 5.67e+05 1 7.99e-02 1.82e+00 24 1.898609e+04 5.89e-01 2.65e+03 2.10e+01 9.71e-01 1.70e+06 1 8.00e-02 1.90e+00 25 1.898604e+04 5.13e-02 4.69e+02 8.51e+00 9.90e-01 5.10e+06 1 9.31e-02 2.00e+00 26 1.898604e+04 1.91e-03 2.23e+01 1.34e+00 9.99e-01 1.53e+07 1 8.93e-02 2.08e+00 27 1.898604e+04 6.84e-05 1.97e+00 9.97e-02 1.00e+00 4.59e+07 1 8.31e-02 2.17e+00 28 1.898604e+04 8.62e-07 1.73e-01 5.53e-03 1.00e+00 1.38e+08 1 8.27e-02 2.25e+00 Bundle adjustment report ------------------------ Residuals : 60734 Parameters : 21130 Iterations : 29 Time : 2.252 [s] Initial cost : 0.612987 [px] Final cost : 0.559115 [px] Termination : Convergence => Completed observations: 278 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.009352 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.023432e+04 0.00e+00 1.32e+05 0.00e+00 0.00e+00 1.00e+04 0 5.30e-02 1.01e-01 1 1.971306e+04 5.21e+02 2.33e+05 3.98e+00 9.90e-01 3.00e+04 1 8.69e-02 1.88e-01 2 1.970518e+04 7.87e+00 3.20e+04 8.24e+00 9.88e-01 9.00e+04 1 8.16e-02 2.70e-01 3 1.970422e+04 9.62e-01 2.64e+03 1.72e+01 9.92e-01 2.70e+05 1 8.02e-02 3.50e-01 4 1.970360e+04 6.20e-01 3.70e+03 2.46e+01 9.49e-01 8.10e+05 1 8.87e-02 4.39e-01 5 1.970339e+04 2.12e-01 1.91e+03 1.74e+01 9.60e-01 2.43e+06 1 8.12e-02 5.20e-01 6 1.970337e+04 2.28e-02 1.96e+02 4.99e+00 9.96e-01 7.29e+06 1 9.42e-02 6.14e-01 7 1.970337e+04 9.82e-04 1.36e+01 5.93e-01 1.00e+00 2.19e+07 1 8.66e-02 7.01e-01 8 1.970337e+04 3.69e-05 1.97e+00 4.43e-02 1.00e+00 6.56e+07 1 8.75e-02 7.89e-01 9 1.970337e+04 2.42e-07 4.67e-02 2.45e-03 1.00e+00 1.97e+08 1 8.20e-02 8.71e-01 Bundle adjustment report ------------------------ Residuals : 61278 Parameters : 21130 Iterations : 10 Time : 0.871691 [s] Initial cost : 0.574635 [px] Final cost : 0.567046 [px] Termination : Convergence => Completed observations: 23 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000783 => Filtered images: 0 ============================================================================== Registering image #8 (22) ============================================================================== => Image sees 561 / 2841 points Pose refinement report ---------------------- Residuals : 1030 Parameters : 6 Iterations : 21 Time : 0.0206561 [s] Initial cost : 0.666336 [px] Final cost : 0.654905 [px] Termination : Convergence => Continued observations: 512 => Added observations: 2996 Bundle adjustment report ------------------------ Residuals : 35998 Parameters : 10697 Iterations : 26 Time : 0.759792 [s] Initial cost : 1.09587 [px] Final cost : 1.01455 [px] Termination : No convergence => Merged observations: 31 => Completed observations: 559 => Filtered observations: 222 => Changed observations: 0.044004 Bundle adjustment report ------------------------ Residuals : 36674 Parameters : 10535 Iterations : 6 Time : 0.186112 [s] Initial cost : 0.608308 [px] Final cost : 0.586996 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 96 => Filtered observations: 2 => Changed observations: 0.006173 ============================================================================== Retriangulation ============================================================================== => Completed observations: 8 => Merged observations: 0 => Retriangulated observations: 133 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.102910e+07 0.00e+00 4.58e+07 0.00e+00 0.00e+00 1.00e+04 0 5.98e-02 1.14e-01 1 1.052110e+09 -1.04e+09 0.00e+00 4.89e+02 -1.40e+02 5.00e+03 1 4.07e-02 1.54e-01 2 6.994169e+08 -6.88e+08 0.00e+00 3.00e+02 -9.39e+01 1.25e+03 1 3.60e-02 1.90e-01 3 1.695033e+08 -1.58e+08 0.00e+00 1.64e+02 -2.26e+01 1.56e+02 1 3.64e-02 2.27e-01 4 8.612439e+06 2.42e+06 2.08e+08 9.84e+01 3.88e-01 1.55e+02 1 9.24e-02 3.19e-01 5 4.567508e+06 4.04e+06 1.77e+07 4.27e+01 9.95e-01 4.64e+02 1 1.00e-01 4.20e-01 6 4.514045e+06 5.35e+04 7.32e+07 3.25e+01 1.73e-01 3.62e+02 1 9.49e-02 5.15e-01 7 4.139438e+06 3.75e+05 1.20e+07 2.20e+01 9.76e-01 1.09e+03 1 9.59e-02 6.11e-01 8 4.093155e+06 4.63e+04 4.06e+07 4.90e+01 2.10e-01 9.10e+02 1 9.42e-02 7.05e-01 9 3.805010e+06 2.88e+05 1.46e+07 4.30e+01 9.93e-01 2.73e+03 1 9.98e-02 8.05e-01 10 3.780161e+06 2.48e+04 5.09e+07 8.84e+01 1.30e-01 1.94e+03 1 9.39e-02 8.99e-01 11 3.485159e+06 2.95e+05 7.23e+06 5.82e+01 1.05e+00 5.83e+03 1 9.47e-02 9.93e-01 12 3.432114e+06 5.30e+04 2.28e+07 6.89e+01 4.31e-01 5.81e+03 1 9.53e-02 1.09e+00 13 3.301228e+06 1.31e+05 9.23e+06 2.34e+00 9.84e-01 1.74e+04 1 9.55e-02 1.18e+00 14 3.307742e+06 -6.51e+03 0.00e+00 1.70e+02 -9.28e-02 8.72e+03 1 3.81e-02 1.22e+00 15 3.261355e+06 3.99e+04 9.85e+06 9.67e+01 7.99e-01 1.11e+04 1 9.40e-02 1.32e+00 16 3.223306e+06 3.80e+04 6.48e+06 1.88e+02 9.43e-01 3.33e+04 1 9.38e-02 1.41e+00 17 3.244411e+06 -2.11e+04 0.00e+00 6.17e+02 -5.16e-01 1.66e+04 1 4.35e-02 1.45e+00 18 3.200145e+06 2.32e+04 6.34e+06 3.61e+02 7.97e-01 2.10e+04 1 9.14e-02 1.55e+00 19 3.178816e+06 2.13e+04 5.19e+06 5.31e+02 8.14e-01 2.79e+04 1 9.23e-02 1.64e+00 20 3.174038e+06 4.78e+03 5.08e+06 7.94e+02 1.98e-01 2.29e+04 1 9.23e-02 1.73e+00 21 3.152329e+06 2.17e+04 3.25e+06 7.80e+02 6.49e-01 2.35e+04 1 1.00e-01 1.83e+00 22 3.148157e+06 4.17e+03 3.99e+06 9.07e+02 1.65e-01 1.81e+04 1 9.41e-02 1.92e+00 23 3.126202e+06 2.20e+04 2.78e+06 8.19e+02 6.84e-01 1.91e+04 1 9.18e-02 2.02e+00 24 3.122689e+06 3.51e+03 3.65e+06 9.54e+02 1.62e-01 1.46e+04 1 9.23e-02 2.11e+00 25 3.102066e+06 2.06e+04 2.49e+06 8.43e+02 7.32e-01 1.62e+04 1 9.23e-02 2.20e+00 26 3.099149e+06 2.92e+03 3.58e+06 1.02e+03 1.54e-01 1.22e+04 1 9.50e-02 2.30e+00 27 3.077924e+06 2.12e+04 2.29e+06 8.93e+02 8.04e-01 1.57e+04 1 9.34e-02 2.39e+00 28 3.079194e+06 -1.27e+03 0.00e+00 1.26e+03 -6.48e-02 7.85e+03 1 3.65e-02 2.43e+00 29 3.062155e+06 1.58e+04 1.16e+06 6.90e+02 1.07e+00 2.36e+04 1 9.98e-02 2.53e+00 30 3.176418e+06 -1.14e+05 0.00e+00 2.04e+03 -4.61e+00 1.18e+04 1 3.72e-02 2.56e+00 31 3.047578e+06 1.46e+04 3.13e+06 1.15e+03 8.44e-01 1.75e+04 1 9.05e-02 2.65e+00 32 4.296458e+07 -3.99e+07 0.00e+00 1.43e+03 -3.28e+02 8.73e+03 1 3.64e-02 2.69e+00 33 3.409391e+07 -3.10e+07 0.00e+00 8.55e+02 -2.69e+02 2.18e+03 1 3.56e-02 2.73e+00 34 1.664257e+07 -1.36e+07 0.00e+00 3.40e+02 -1.28e+02 2.73e+02 1 3.50e-02 2.76e+00 35 3.555482e+06 -5.08e+05 0.00e+00 8.75e+01 -6.02e+00 1.71e+01 1 3.53e-02 2.80e+00 36 3.003286e+06 4.43e+04 3.37e+05 1.16e+01 1.22e+00 5.12e+01 1 9.97e-02 2.90e+00 37 3.069243e+06 -6.60e+04 0.00e+00 1.21e+00 -9.12e-01 2.56e+01 1 3.71e-02 2.93e+00 38 2.968919e+06 3.44e+04 6.92e+05 2.29e+00 6.96e-01 2.72e+01 1 9.23e-02 3.02e+00 39 2.952093e+06 1.68e+04 1.78e+05 8.13e+00 9.50e-01 8.17e+01 1 9.40e-02 3.12e+00 40 2.934872e+06 1.72e+04 2.35e+05 3.03e+01 9.55e-01 2.45e+02 1 9.27e-02 3.21e+00 41 2.911375e+06 2.35e+04 9.43e+05 7.57e+01 6.96e-01 2.61e+02 1 9.21e-02 3.30e+00 42 2.880229e+06 3.11e+04 5.46e+05 6.30e+01 9.31e-01 7.23e+02 1 9.09e-02 3.39e+00 43 2.886550e+06 -6.32e+03 0.00e+00 8.95e+01 -2.53e-01 3.62e+02 1 3.64e-02 3.43e+00 44 2.864991e+06 1.52e+04 6.12e+05 5.65e+01 8.25e-01 4.99e+02 1 9.76e-02 3.53e+00 45 2.855441e+06 9.55e+03 8.34e+05 3.79e+01 7.35e-01 5.56e+02 1 9.44e-02 3.62e+00 46 2.848438e+06 7.00e+03 5.31e+05 1.47e+01 8.66e-01 9.17e+02 1 9.22e-02 3.72e+00 47 2.845960e+06 2.48e+03 8.21e+05 6.10e+00 5.42e-01 9.17e+02 1 9.23e-02 3.81e+00 48 2.842217e+06 3.74e+03 3.56e+05 3.18e+00 9.12e-01 2.08e+03 1 1.01e-01 3.91e+00 49 2.842492e+06 -2.75e+02 0.00e+00 8.15e+00 -8.99e-02 1.04e+03 1 3.72e-02 3.95e+00 50 2.840588e+06 1.63e+03 3.13e+05 5.89e+00 8.71e-01 1.76e+03 1 9.07e-02 4.04e+00 Bundle adjustment report ------------------------ Residuals : 69482 Parameters : 24268 Iterations : 51 Time : 4.0379 [s] Initial cost : 12.5989 [px] Final cost : 6.39393 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 15980 => Changed observations: 0.460090 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.477762e+04 0.00e+00 3.17e+06 0.00e+00 0.00e+00 1.00e+04 0 3.53e-02 6.48e-02 1 2.965216e+04 1.51e+04 6.59e+06 7.14e+01 8.29e-01 1.40e+04 1 5.48e-02 1.20e-01 2 2.534583e+04 4.31e+03 3.02e+06 3.54e+01 8.98e-01 2.83e+04 1 5.28e-02 1.72e-01 3 2.367403e+04 1.67e+03 3.72e+06 1.28e+02 6.47e-01 2.90e+04 1 5.23e-02 2.25e-01 4 2.174845e+04 1.93e+03 2.37e+06 1.38e+02 8.27e-01 4.04e+04 1 5.24e-02 2.77e-01 5 2.072742e+04 1.02e+03 3.31e+06 1.94e+02 6.00e-01 4.07e+04 1 5.24e-02 3.30e-01 6 1.961689e+04 1.11e+03 2.65e+06 1.96e+02 6.86e-01 4.29e+04 1 5.79e-02 3.88e-01 7 1.893269e+04 6.84e+02 3.18e+06 2.07e+02 5.37e-01 4.29e+04 1 5.26e-02 4.40e-01 8 1.840655e+04 5.26e+02 3.95e+06 2.07e+02 4.31e-01 4.28e+04 1 5.42e-02 4.94e-01 9 1.806738e+04 3.39e+02 4.77e+06 2.07e+02 2.74e-01 3.92e+04 1 5.41e-02 5.49e-01 10 1.761784e+04 4.50e+02 4.90e+06 1.90e+02 3.34e-01 3.78e+04 1 5.48e-02 6.03e-01 11 1.742197e+04 1.96e+02 5.50e+06 1.83e+02 1.51e-01 2.82e+04 1 5.37e-02 6.57e-01 12 1.657747e+04 8.45e+02 3.88e+06 1.37e+02 6.09e-01 2.85e+04 1 5.46e-02 7.12e-01 13 1.651107e+04 6.64e+01 4.58e+06 1.39e+02 8.10e-02 1.79e+04 1 5.99e-02 7.72e-01 14 1.577862e+04 7.32e+02 2.33e+06 8.73e+01 7.89e-01 2.23e+04 1 5.54e-02 8.27e-01 15 1.590580e+04 -1.27e+02 0.00e+00 1.09e+02 -3.15e-01 1.11e+04 1 2.06e-02 8.48e-01 16 1.551429e+04 2.64e+02 1.05e+06 5.43e+01 8.69e-01 1.86e+04 1 5.31e-02 9.01e-01 17 1.561619e+04 -1.02e+02 0.00e+00 9.10e+01 -4.76e-01 9.32e+03 1 2.02e-02 9.21e-01 18 1.540733e+04 1.07e+02 8.02e+05 4.55e+01 8.24e-01 1.28e+04 1 5.38e-02 9.75e-01 19 1.535163e+04 5.57e+01 1.57e+06 6.24e+01 3.87e-01 1.26e+04 1 5.36e-02 1.03e+00 20 1.525060e+04 1.01e+02 1.72e+06 6.17e+01 4.88e-01 1.26e+04 1 5.49e-02 1.08e+00 21 1.515760e+04 9.30e+01 1.91e+06 6.18e+01 4.15e-01 1.26e+04 1 5.40e-02 1.14e+00 22 1.506915e+04 8.85e+01 2.10e+06 6.15e+01 3.58e-01 1.23e+04 1 5.42e-02 1.19e+00 23 1.497657e+04 9.26e+01 2.22e+06 6.02e+01 3.41e-01 1.19e+04 1 5.35e-02 1.25e+00 24 1.488056e+04 9.60e+01 2.29e+06 5.85e+01 3.36e-01 1.15e+04 1 5.36e-02 1.30e+00 25 1.478043e+04 1.00e+02 2.29e+06 5.66e+01 3.44e-01 1.12e+04 1 5.36e-02 1.35e+00 26 1.467706e+04 1.03e+02 2.24e+06 5.51e+01 3.60e-01 1.09e+04 1 5.89e-02 1.41e+00 27 1.456898e+04 1.08e+02 2.12e+06 5.41e+01 3.94e-01 1.08e+04 1 5.41e-02 1.47e+00 28 1.445630e+04 1.13e+02 1.93e+06 5.38e+01 4.48e-01 1.08e+04 1 5.47e-02 1.52e+00 29 1.434022e+04 1.16e+02 1.66e+06 5.40e+01 5.28e-01 1.08e+04 1 5.44e-02 1.57e+00 30 1.422764e+04 1.13e+02 1.33e+06 5.41e+01 6.23e-01 1.10e+04 1 5.46e-02 1.63e+00 31 1.412817e+04 9.95e+01 1.04e+06 5.50e+01 6.99e-01 1.17e+04 1 5.45e-02 1.68e+00 32 1.404113e+04 8.70e+01 8.75e+05 5.87e+01 7.37e-01 1.31e+04 1 5.48e-02 1.74e+00 33 1.395699e+04 8.41e+01 8.02e+05 6.56e+01 7.57e-01 1.52e+04 1 6.07e-02 1.80e+00 34 1.386901e+04 8.80e+01 7.88e+05 7.57e+01 7.65e-01 1.78e+04 1 5.47e-02 1.85e+00 35 1.377284e+04 9.62e+01 7.99e+05 8.86e+01 7.69e-01 2.11e+04 1 5.54e-02 1.91e+00 36 1.366614e+04 1.07e+02 8.19e+05 1.04e+02 7.69e-01 2.50e+04 1 5.44e-02 1.96e+00 37 1.354733e+04 1.19e+02 8.35e+05 1.23e+02 7.68e-01 2.96e+04 1 5.52e-02 2.02e+00 38 1.341594e+04 1.31e+02 8.39e+05 1.44e+02 7.62e-01 3.46e+04 1 5.53e-02 2.07e+00 39 1.327245e+04 1.43e+02 8.19e+05 1.66e+02 7.52e-01 3.97e+04 1 5.43e-02 2.13e+00 40 1.311898e+04 1.53e+02 7.66e+05 1.87e+02 7.36e-01 4.44e+04 1 5.43e-02 2.18e+00 41 1.295850e+04 1.60e+02 6.78e+05 2.06e+02 7.16e-01 4.82e+04 1 5.35e-02 2.24e+00 42 1.279444e+04 1.64e+02 5.67e+05 2.19e+02 6.93e-01 5.12e+04 1 5.27e-02 2.29e+00 43 1.262949e+04 1.65e+02 4.51e+05 2.27e+02 6.71e-01 5.33e+04 1 5.26e-02 2.34e+00 44 1.246579e+04 1.64e+02 3.45e+05 2.31e+02 6.51e-01 5.49e+04 1 5.26e-02 2.40e+00 45 1.230475e+04 1.61e+02 3.74e+05 2.31e+02 6.35e-01 5.60e+04 1 5.76e-02 2.45e+00 46 1.214734e+04 1.57e+02 4.09e+05 2.29e+02 6.21e-01 5.68e+04 1 5.30e-02 2.51e+00 47 1.199417e+04 1.53e+02 4.36e+05 2.25e+02 6.09e-01 5.74e+04 1 5.29e-02 2.56e+00 48 1.184562e+04 1.49e+02 4.57e+05 2.20e+02 6.00e-01 5.78e+04 1 5.31e-02 2.61e+00 49 1.170190e+04 1.44e+02 4.72e+05 2.15e+02 5.93e-01 5.82e+04 1 5.24e-02 2.66e+00 50 1.156312e+04 1.39e+02 4.83e+05 2.09e+02 5.88e-01 5.85e+04 1 5.29e-02 2.72e+00 Bundle adjustment report ------------------------ Residuals : 37520 Parameters : 17434 Iterations : 51 Time : 2.71795 [s] Initial cost : 1.09244 [px] Final cost : 0.555145 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 50 => Filtered observations: 7 => Changed observations: 0.003038 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.154356e+04 0.00e+00 4.90e+05 0.00e+00 0.00e+00 1.00e+04 0 3.47e-02 6.90e-02 1 1.137002e+04 1.74e+02 2.61e+04 3.56e+01 9.99e-01 3.00e+04 1 5.43e-02 1.23e-01 2 1.130625e+04 6.38e+01 1.90e+05 1.03e+02 8.70e-01 5.05e+04 1 5.26e-02 1.76e-01 3 1.124921e+04 5.70e+01 4.77e+05 1.68e+02 4.56e-01 5.05e+04 1 5.40e-02 2.30e-01 4 1.113759e+04 1.12e+02 4.69e+05 1.62e+02 6.26e-01 5.13e+04 1 5.34e-02 2.83e-01 5 1.103239e+04 1.05e+02 4.71e+05 1.59e+02 6.06e-01 5.18e+04 1 5.33e-02 3.37e-01 6 1.092936e+04 1.03e+02 4.68e+05 1.55e+02 6.02e-01 5.22e+04 1 5.31e-02 3.90e-01 7 1.082958e+04 9.98e+01 4.62e+05 1.50e+02 5.98e-01 5.26e+04 1 5.34e-02 4.43e-01 8 1.073301e+04 9.66e+01 4.53e+05 1.46e+02 5.98e-01 5.30e+04 1 5.31e-02 4.96e-01 9 1.063977e+04 9.32e+01 4.41e+05 1.41e+02 5.99e-01 5.34e+04 1 5.30e-02 5.50e-01 10 1.054992e+04 8.99e+01 4.26e+05 1.36e+02 6.02e-01 5.39e+04 1 5.31e-02 6.03e-01 11 1.046349e+04 8.64e+01 4.10e+05 1.31e+02 6.07e-01 5.44e+04 1 5.31e-02 6.56e-01 12 1.038048e+04 8.30e+01 3.92e+05 1.26e+02 6.14e-01 5.51e+04 1 5.88e-02 7.15e-01 13 1.030083e+04 7.96e+01 3.73e+05 1.22e+02 6.22e-01 5.59e+04 1 5.39e-02 7.68e-01 14 1.022447e+04 7.64e+01 3.59e+05 1.17e+02 6.31e-01 5.69e+04 1 5.36e-02 8.22e-01 15 1.015125e+04 7.32e+01 3.46e+05 1.13e+02 6.40e-01 5.82e+04 1 5.31e-02 8.75e-01 16 1.008101e+04 7.02e+01 3.33e+05 1.09e+02 6.51e-01 5.98e+04 1 5.33e-02 9.29e-01 17 1.001350e+04 6.75e+01 3.19e+05 1.06e+02 6.61e-01 6.19e+04 1 5.37e-02 9.82e-01 18 9.948470e+03 6.50e+01 3.05e+05 1.02e+02 6.72e-01 6.45e+04 1 5.78e-02 1.04e+00 19 9.885612e+03 6.29e+01 2.92e+05 9.95e+01 6.83e-01 6.79e+04 1 5.37e-02 1.09e+00 20 9.824597e+03 6.10e+01 2.78e+05 9.70e+01 6.94e-01 7.21e+04 1 5.38e-02 1.15e+00 21 9.765079e+03 5.95e+01 2.65e+05 9.46e+01 7.05e-01 7.74e+04 1 5.38e-02 1.20e+00 22 9.706711e+03 5.84e+01 2.53e+05 9.25e+01 7.15e-01 8.40e+04 1 5.33e-02 1.25e+00 23 9.649167e+03 5.75e+01 2.40e+05 9.03e+01 7.25e-01 9.24e+04 1 5.34e-02 1.31e+00 24 9.592174e+03 5.70e+01 2.28e+05 8.80e+01 7.33e-01 1.03e+05 1 5.33e-02 1.36e+00 25 9.535571e+03 5.66e+01 2.15e+05 8.50e+01 7.39e-01 1.15e+05 1 5.34e-02 1.41e+00 26 9.479392e+03 5.62e+01 2.00e+05 8.07e+01 7.43e-01 1.30e+05 1 5.30e-02 1.47e+00 27 9.423958e+03 5.54e+01 1.84e+05 7.46e+01 7.42e-01 1.47e+05 1 5.33e-02 1.52e+00 28 9.369885e+03 5.41e+01 1.83e+05 6.60e+01 7.36e-01 1.64e+05 1 5.41e-02 1.58e+00 29 9.317938e+03 5.19e+01 2.10e+05 5.46e+01 7.27e-01 1.81e+05 1 5.73e-02 1.63e+00 30 9.268817e+03 4.91e+01 2.30e+05 4.11e+01 7.18e-01 1.98e+05 1 5.78e-02 1.69e+00 31 9.223049e+03 4.58e+01 2.41e+05 2.66e+01 7.12e-01 2.14e+05 1 5.64e-02 1.75e+00 32 9.180992e+03 4.21e+01 2.42e+05 1.22e+01 7.09e-01 2.31e+05 1 5.36e-02 1.80e+00 33 9.142835e+03 3.82e+01 2.37e+05 1.34e+00 7.09e-01 2.49e+05 1 5.35e-02 1.85e+00 34 9.108623e+03 3.42e+01 2.27e+05 1.35e+01 7.11e-01 2.69e+05 1 5.29e-02 1.91e+00 35 9.078277e+03 3.03e+01 2.14e+05 2.42e+01 7.13e-01 2.92e+05 1 5.32e-02 1.96e+00 36 9.051635e+03 2.66e+01 1.98e+05 3.33e+01 7.16e-01 3.18e+05 1 5.38e-02 2.01e+00 37 9.028486e+03 2.31e+01 1.81e+05 4.08e+01 7.19e-01 3.46e+05 1 5.83e-02 2.07e+00 38 9.008592e+03 1.99e+01 1.62e+05 4.65e+01 7.22e-01 3.79e+05 1 5.27e-02 2.13e+00 39 8.991702e+03 1.69e+01 1.43e+05 5.06e+01 7.25e-01 4.18e+05 1 5.27e-02 2.18e+00 40 8.977552e+03 1.42e+01 1.24e+05 5.32e+01 7.30e-01 4.62e+05 1 6.91e-02 2.25e+00 41 8.965869e+03 1.17e+01 1.05e+05 5.42e+01 7.35e-01 5.16e+05 1 5.52e-02 2.30e+00 42 8.956374e+03 9.50e+00 8.66e+04 5.40e+01 7.42e-01 5.82e+05 1 5.29e-02 2.36e+00 43 8.948784e+03 7.59e+00 6.96e+04 5.27e+01 7.50e-01 6.66e+05 1 5.27e-02 2.41e+00 44 8.942823e+03 5.96e+00 5.40e+04 5.04e+01 7.60e-01 7.76e+05 1 5.33e-02 2.46e+00 45 8.938226e+03 4.60e+00 3.98e+04 4.74e+01 7.72e-01 9.24e+05 1 5.25e-02 2.51e+00 46 8.934744e+03 3.48e+00 3.07e+04 4.37e+01 7.85e-01 1.13e+06 1 5.26e-02 2.57e+00 47 8.932155e+03 2.59e+00 2.53e+04 3.95e+01 8.00e-01 1.45e+06 1 5.30e-02 2.62e+00 48 8.930264e+03 1.89e+00 2.09e+04 3.47e+01 8.17e-01 1.94e+06 1 5.27e-02 2.67e+00 49 8.928916e+03 1.35e+00 1.89e+04 2.94e+01 8.35e-01 2.78e+06 1 5.82e-02 2.73e+00 50 8.927996e+03 9.20e-01 1.64e+04 2.37e+01 8.56e-01 4.35e+06 1 5.28e-02 2.78e+00 Bundle adjustment report ------------------------ Residuals : 37506 Parameters : 17410 Iterations : 51 Time : 2.784 [s] Initial cost : 0.554778 [px] Final cost : 0.487895 [px] Termination : No convergence => Completed observations: 4873 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.259958 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.846481e+04 0.00e+00 3.48e+05 0.00e+00 0.00e+00 1.00e+04 0 4.44e-02 8.17e-02 1 1.465865e+04 3.81e+03 1.70e+06 6.09e+00 9.40e-01 3.00e+04 1 7.20e-02 1.54e-01 2 1.427253e+04 3.86e+02 6.86e+05 4.76e+01 7.77e-01 3.61e+04 1 7.40e-02 2.28e-01 3 1.407785e+04 1.95e+02 2.34e+05 5.01e+01 9.37e-01 1.08e+05 1 7.06e-02 2.98e-01 4 1.399559e+04 8.23e+01 1.98e+05 1.06e+02 8.31e-01 1.52e+05 1 6.96e-02 3.68e-01 5 1.393521e+04 6.04e+01 8.72e+04 9.51e+01 9.02e-01 3.17e+05 1 6.96e-02 4.38e-01 6 1.390116e+04 3.41e+01 1.69e+05 8.71e+01 7.89e-01 3.93e+05 1 6.97e-02 5.07e-01 7 1.388082e+04 2.03e+01 7.62e+04 3.52e+01 9.36e-01 1.17e+06 1 6.97e-02 5.77e-01 8 1.387565e+04 5.18e+00 5.35e+04 1.25e+00 8.87e-01 2.18e+06 1 6.96e-02 6.47e-01 9 1.387459e+04 1.05e+00 5.79e+03 1.32e+01 9.90e-01 6.54e+06 1 6.87e-02 7.15e-01 10 1.387456e+04 2.99e-02 2.20e+02 6.19e+00 9.95e-01 1.96e+07 1 6.93e-02 7.85e-01 11 1.387456e+04 4.80e-04 9.05e+00 8.42e-01 1.00e+00 5.89e+07 1 6.90e-02 8.54e-01 12 1.387456e+04 4.50e-06 9.92e-01 4.78e-02 1.00e+00 1.77e+08 1 7.53e-02 9.29e-01 Bundle adjustment report ------------------------ Residuals : 47248 Parameters : 17410 Iterations : 13 Time : 0.929966 [s] Initial cost : 0.625145 [px] Final cost : 0.541898 [px] Termination : Convergence => Completed observations: 368 => Merged observations: 0 => Filtered observations: 11 => Changed observations: 0.016043 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.515765e+04 0.00e+00 1.27e+05 0.00e+00 0.00e+00 1.00e+04 0 4.60e-02 8.33e-02 1 1.462542e+04 5.32e+02 1.27e+05 2.67e+00 9.96e-01 3.00e+04 1 7.32e-02 1.56e-01 2 1.461444e+04 1.10e+01 5.54e+04 7.04e+00 9.66e-01 9.00e+04 1 7.16e-02 2.28e-01 3 1.461006e+04 4.38e+00 1.47e+04 1.28e+01 9.87e-01 2.70e+05 1 7.87e-02 3.07e-01 4 1.460762e+04 2.44e+00 8.11e+03 1.48e+01 9.93e-01 8.10e+05 1 7.30e-02 3.80e-01 5 1.460657e+04 1.06e+00 8.03e+03 2.96e+00 9.82e-01 2.43e+06 1 7.35e-02 4.53e-01 6 1.460637e+04 1.97e-01 1.97e+03 6.64e+00 9.93e-01 7.29e+06 1 7.32e-02 5.27e-01 7 1.460634e+04 2.62e-02 4.56e+02 3.41e+00 9.97e-01 2.19e+07 1 7.28e-02 6.00e-01 8 1.460634e+04 2.15e-03 5.04e+01 6.16e-01 1.00e+00 6.56e+07 1 7.28e-02 6.72e-01 9 1.460634e+04 3.31e-05 1.98e+00 5.67e-02 1.00e+00 1.97e+08 1 7.17e-02 7.44e-01 10 1.460634e+04 7.13e-08 2.24e-02 2.27e-03 1.01e+00 5.90e+08 1 7.04e-02 8.15e-01 Bundle adjustment report ------------------------ Residuals : 47962 Parameters : 17410 Iterations : 11 Time : 0.815493 [s] Initial cost : 0.56217 [px] Final cost : 0.551851 [px] Termination : Convergence => Completed observations: 44 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.002002 => Filtered images: 0 ============================================================================== Registering image #10 (23) ============================================================================== => Image sees 593 / 3038 points Pose refinement report ---------------------- Residuals : 1080 Parameters : 6 Iterations : 12 Time : 0.0130599 [s] Initial cost : 0.837868 [px] Final cost : 0.61616 [px] Termination : Convergence => Continued observations: 537 => Added observations: 2204 Bundle adjustment report ------------------------ Residuals : 33444 Parameters : 10148 Iterations : 26 Time : 0.690418 [s] Initial cost : 1.46333 [px] Final cost : 1.31649 [px] Termination : No convergence => Merged observations: 6 => Completed observations: 398 => Filtered observations: 431 => Changed observations: 0.048547 Bundle adjustment report ------------------------ Residuals : 33382 Parameters : 9914 Iterations : 16 Time : 0.405612 [s] Initial cost : 0.641831 [px] Final cost : 0.576824 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 324 => Filtered observations: 2 => Changed observations: 0.018988 ============================================================================== Retriangulation ============================================================================== => Completed observations: 41 => Merged observations: 11 => Retriangulated observations: 424 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.133557e+07 0.00e+00 4.97e+07 0.00e+00 0.00e+00 1.00e+04 0 4.57e-02 8.89e-02 1 4.465890e+08 -4.35e+08 0.00e+00 1.47e+02 -6.53e+01 5.00e+03 1 3.18e-02 1.21e-01 2 2.060831e+08 -1.95e+08 0.00e+00 1.62e+02 -2.99e+01 1.25e+03 1 2.76e-02 1.48e-01 3 2.201336e+07 -1.07e+07 0.00e+00 3.07e+02 -1.78e+00 1.56e+02 1 2.78e-02 1.76e-01 4 6.686120e+06 4.65e+06 6.97e+07 1.46e+02 9.05e-01 3.34e+02 1 7.94e-02 2.56e-01 5 5.766548e+06 9.20e+05 4.83e+07 3.85e+01 9.28e-01 8.92e+02 1 8.56e-02 3.41e-01 6 5.689160e+06 7.74e+04 1.04e+08 9.66e+01 1.81e-01 7.08e+02 1 7.30e-02 4.14e-01 7 5.200294e+06 4.89e+05 2.52e+07 1.06e+02 9.75e-01 2.12e+03 1 7.25e-02 4.87e-01 8 5.326911e+06 -1.27e+05 0.00e+00 3.45e+02 -5.04e-01 1.06e+03 1 2.90e-02 5.16e-01 9 5.076053e+06 1.24e+05 3.59e+07 1.92e+02 7.60e-01 1.23e+03 1 7.14e-02 5.87e-01 10 4.941417e+06 1.35e+05 2.67e+07 2.44e+02 8.21e-01 1.68e+03 1 7.18e-02 6.59e-01 11 5.292910e+06 -3.51e+05 0.00e+00 3.91e+02 -1.85e+00 8.38e+02 1 2.83e-02 6.87e-01 12 4.910550e+06 3.09e+04 9.44e+06 2.30e+02 2.25e-01 7.19e+02 1 7.18e-02 7.59e-01 13 4.771877e+06 1.39e+05 5.83e+06 9.13e+00 6.70e-01 7.49e+02 1 7.22e-02 8.32e-01 14 4.674952e+06 9.69e+04 5.32e+06 1.39e+02 8.99e-01 1.52e+03 1 7.77e-02 9.09e-01 15 4.595135e+06 7.98e+04 1.35e+07 2.16e+02 1.14e+00 4.56e+03 1 7.23e-02 9.82e-01 16 3.608357e+07 -3.15e+07 0.00e+00 4.50e+02 -1.23e+02 2.28e+03 1 2.90e-02 1.01e+00 17 2.767952e+07 -2.31e+07 0.00e+00 2.45e+02 -1.12e+02 5.70e+02 1 2.78e-02 1.04e+00 18 1.593170e+07 -1.13e+07 0.00e+00 7.96e+01 -7.55e+01 7.12e+01 1 2.76e-02 1.07e+00 19 5.855554e+06 -1.26e+06 0.00e+00 1.61e+01 -1.12e+01 4.45e+00 1 2.79e-02 1.09e+00 20 4.536189e+06 5.89e+04 1.62e+06 1.68e+00 1.52e+00 1.34e+01 1 7.30e-02 1.17e+00 21 4.497959e+06 3.82e+04 9.73e+05 2.39e+00 5.04e-01 1.34e+01 1 8.00e-02 1.25e+00 22 4.459682e+06 3.83e+04 3.96e+05 5.71e+00 9.73e-01 4.01e+01 1 7.43e-02 1.32e+00 23 4.432095e+06 2.76e+04 3.94e+05 1.76e+01 9.88e-01 1.20e+02 1 7.43e-02 1.40e+00 24 4.387082e+06 4.50e+04 4.36e+05 3.99e+01 9.22e-01 3.02e+02 1 7.21e-02 1.47e+00 25 4.358219e+06 2.89e+04 9.72e+05 4.05e+01 5.20e-01 3.02e+02 1 7.23e-02 1.54e+00 26 4.307159e+06 5.11e+04 6.68e+05 1.51e+00 9.76e-01 9.05e+02 1 7.29e-02 1.61e+00 27 4.291668e+06 1.55e+04 3.24e+06 3.56e+01 3.69e-01 8.89e+02 1 7.19e-02 1.68e+00 28 4.236551e+06 5.51e+04 2.61e+06 4.95e+01 9.79e-01 2.67e+03 1 7.30e-02 1.76e+00 29 4.212981e+06 2.36e+04 1.43e+07 1.35e+02 3.81e-01 2.63e+03 1 7.19e-02 1.83e+00 30 4.140922e+06 7.21e+04 7.75e+06 1.33e+02 9.25e-01 6.79e+03 1 7.44e-02 1.90e+00 31 4.135478e+06 5.44e+03 2.36e+07 2.95e+02 8.42e-02 4.31e+03 1 8.08e-02 1.99e+00 32 4.055736e+06 7.97e+04 3.92e+06 1.79e+02 9.80e-01 1.29e+04 1 7.23e-02 2.06e+00 33 4.045645e+06 1.01e+04 1.45e+07 4.25e+02 2.75e-01 1.19e+04 1 7.31e-02 2.13e+00 34 4.004687e+06 4.10e+04 2.72e+06 3.10e+02 9.62e-01 3.56e+04 1 7.26e-02 2.20e+00 35 4.000754e+06 3.93e+03 7.20e+06 5.01e+02 1.76e-01 2.80e+04 1 7.93e-02 2.28e+00 36 3.961162e+06 3.96e+04 3.78e+06 8.59e+01 1.13e+00 8.39e+04 1 7.28e-02 2.36e+00 37 4.361589e+06 -4.00e+05 0.00e+00 4.57e+02 -1.50e+01 4.19e+04 1 2.88e-02 2.38e+00 38 3.962610e+06 -1.45e+03 0.00e+00 2.74e+02 -6.26e-02 1.05e+04 1 2.81e-02 2.41e+00 39 3.937107e+06 2.41e+04 1.80e+06 1.05e+02 1.43e+00 3.15e+04 1 7.11e-02 2.48e+00 40 3.983343e+06 -4.62e+04 0.00e+00 3.33e+02 -1.98e+00 1.57e+04 1 2.88e-02 2.51e+00 41 3.925347e+06 1.18e+04 7.74e+06 2.03e+02 6.40e-01 1.61e+04 1 7.13e-02 2.58e+00 42 3.989016e+06 -6.37e+04 0.00e+00 2.90e+01 -2.29e+00 8.04e+03 1 2.94e-02 2.61e+00 43 4.052917e+06 -1.28e+05 0.00e+00 6.01e+00 -5.89e+00 2.01e+03 1 2.78e-02 2.64e+00 44 3.912600e+06 1.27e+04 1.01e+06 4.22e+00 8.55e-01 3.12e+03 1 7.11e-02 2.71e+00 45 3.909560e+06 3.04e+03 3.19e+05 5.56e+00 1.03e+00 9.37e+03 1 7.18e-02 2.78e+00 46 3.906292e+06 3.27e+03 7.97e+05 3.06e+01 9.11e-01 2.11e+04 1 7.20e-02 2.86e+00 47 3.903607e+06 2.69e+03 8.45e+05 5.98e+01 9.17e-01 5.04e+04 1 7.70e-02 2.93e+00 48 3.906540e+06 -2.93e+03 0.00e+00 7.17e+01 -8.29e-01 2.52e+04 1 3.06e-02 2.96e+00 49 3.901691e+06 1.92e+03 1.71e+06 5.54e+01 9.07e-01 5.49e+04 1 7.16e-02 3.04e+00 50 3.901151e+06 5.41e+02 1.57e+07 5.87e+01 1.94e-01 4.46e+04 1 7.34e-02 3.11e+00 Bundle adjustment report ------------------------ Residuals : 55032 Parameters : 20047 Iterations : 51 Time : 3.10986 [s] Initial cost : 14.3521 [px] Final cost : 8.41955 [px] Termination : No convergence => Completed observations: 127 => Merged observations: 0 => Filtered observations: 10184 => Changed observations: 0.374727 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.174682e+04 0.00e+00 1.19e+06 0.00e+00 0.00e+00 1.00e+04 0 3.34e-02 6.04e-02 1 2.461303e+04 1.71e+04 2.01e+06 6.29e+01 9.69e-01 3.00e+04 1 5.55e-02 1.16e-01 2 2.140903e+04 3.20e+03 1.73e+06 4.17e+01 8.45e-01 4.46e+04 1 5.03e-02 1.66e-01 3 1.968133e+04 1.73e+03 3.01e+06 8.84e+01 5.46e-01 4.47e+04 1 5.02e-02 2.16e-01 4 1.761713e+04 2.06e+03 2.61e+06 8.83e+01 6.62e-01 4.63e+04 1 4.97e-02 2.66e-01 5 1.619489e+04 1.42e+03 2.32e+06 8.98e+01 6.27e-01 4.70e+04 1 4.95e-02 3.16e-01 6 1.509363e+04 1.10e+03 2.00e+06 8.92e+01 6.32e-01 4.79e+04 1 4.96e-02 3.65e-01 7 1.425898e+04 8.35e+02 1.72e+06 8.83e+01 6.33e-01 4.88e+04 1 4.94e-02 4.15e-01 8 1.360626e+04 6.53e+02 1.46e+06 8.69e+01 6.46e-01 5.01e+04 1 5.04e-02 4.65e-01 9 1.308594e+04 5.20e+02 1.22e+06 8.56e+01 6.67e-01 5.20e+04 1 4.94e-02 5.15e-01 10 1.266354e+04 4.22e+02 9.98e+05 8.50e+01 6.94e-01 5.52e+04 1 4.99e-02 5.64e-01 11 1.231465e+04 3.49e+02 8.03e+05 8.58e+01 7.18e-01 6.02e+04 1 4.90e-02 6.14e-01 12 1.201969e+04 2.95e+02 6.36e+05 8.84e+01 7.29e-01 6.66e+04 1 4.90e-02 6.63e-01 13 1.176424e+04 2.55e+02 6.74e+05 9.21e+01 7.21e-01 7.29e+04 1 4.99e-02 7.12e-01 14 1.153861e+04 2.26e+02 7.70e+05 9.48e+01 6.99e-01 7.78e+04 1 4.97e-02 7.62e-01 15 1.133594e+04 2.03e+02 8.42e+05 9.52e+01 6.76e-01 8.13e+04 1 5.42e-02 8.16e-01 16 1.115191e+04 1.84e+02 8.90e+05 9.39e+01 6.62e-01 8.42e+04 1 4.98e-02 8.66e-01 17 1.098453e+04 1.67e+02 9.23e+05 9.19e+01 6.54e-01 8.67e+04 1 5.18e-02 9.18e-01 18 1.083359e+04 1.51e+02 9.49e+05 8.96e+01 6.47e-01 8.90e+04 1 5.28e-02 9.71e-01 19 1.069894e+04 1.35e+02 9.68e+05 8.69e+01 6.36e-01 9.08e+04 1 5.18e-02 1.02e+00 20 1.057930e+04 1.20e+02 9.76e+05 8.39e+01 6.20e-01 9.21e+04 1 4.93e-02 1.07e+00 21 1.047266e+04 1.07e+02 9.71e+05 8.04e+01 6.04e-01 9.29e+04 1 5.23e-02 1.12e+00 22 1.037705e+04 9.56e+01 9.55e+05 7.66e+01 5.89e-01 9.35e+04 1 5.17e-02 1.18e+00 23 1.029091e+04 8.61e+01 9.30e+05 7.28e+01 5.76e-01 9.38e+04 1 4.95e-02 1.23e+00 24 1.021307e+04 7.78e+01 9.00e+05 6.90e+01 5.67e-01 9.40e+04 1 4.95e-02 1.28e+00 25 1.014261e+04 7.05e+01 8.67e+05 6.54e+01 5.60e-01 9.42e+04 1 4.89e-02 1.32e+00 26 1.007879e+04 6.38e+01 8.30e+05 6.20e+01 5.56e-01 9.43e+04 1 5.02e-02 1.37e+00 27 1.002097e+04 5.78e+01 7.92e+05 5.87e+01 5.53e-01 9.44e+04 1 4.96e-02 1.42e+00 28 9.968599e+03 5.24e+01 7.52e+05 5.57e+01 5.53e-01 9.45e+04 1 5.02e-02 1.47e+00 29 9.921203e+03 4.74e+01 7.10e+05 5.29e+01 5.54e-01 9.46e+04 1 4.90e-02 1.52e+00 30 9.878366e+03 4.28e+01 6.68e+05 5.02e+01 5.58e-01 9.48e+04 1 4.96e-02 1.57e+00 31 9.839723e+03 3.86e+01 6.26e+05 4.78e+01 5.63e-01 9.50e+04 1 4.89e-02 1.62e+00 32 9.804946e+03 3.48e+01 5.84e+05 4.55e+01 5.69e-01 9.52e+04 1 4.92e-02 1.67e+00 33 9.773733e+03 3.12e+01 5.42e+05 4.34e+01 5.77e-01 9.56e+04 1 4.94e-02 1.72e+00 34 9.745803e+03 2.79e+01 5.01e+05 4.15e+01 5.86e-01 9.61e+04 1 4.98e-02 1.77e+00 35 9.720886e+03 2.49e+01 4.62e+05 3.97e+01 5.96e-01 9.68e+04 1 5.40e-02 1.82e+00 36 9.698720e+03 2.22e+01 4.25e+05 3.81e+01 6.06e-01 9.77e+04 1 4.99e-02 1.87e+00 37 9.679051e+03 1.97e+01 3.90e+05 3.66e+01 6.17e-01 9.90e+04 1 4.98e-02 1.92e+00 38 9.661631e+03 1.74e+01 3.57e+05 3.54e+01 6.27e-01 1.01e+05 1 5.10e-02 1.97e+00 39 9.646226e+03 1.54e+01 3.27e+05 3.42e+01 6.37e-01 1.03e+05 1 4.94e-02 2.02e+00 40 9.632615e+03 1.36e+01 3.00e+05 3.33e+01 6.47e-01 1.05e+05 1 5.03e-02 2.07e+00 41 9.620597e+03 1.20e+01 2.74e+05 3.25e+01 6.56e-01 1.09e+05 1 4.99e-02 2.12e+00 42 9.609989e+03 1.06e+01 2.51e+05 3.18e+01 6.65e-01 1.13e+05 1 5.49e-02 2.18e+00 43 9.600630e+03 9.36e+00 2.30e+05 3.12e+01 6.73e-01 1.18e+05 1 5.00e-02 2.23e+00 44 9.592379e+03 8.25e+00 2.11e+05 3.08e+01 6.82e-01 1.24e+05 1 4.99e-02 2.28e+00 45 9.585111e+03 7.27e+00 1.93e+05 3.05e+01 6.90e-01 1.31e+05 1 4.92e-02 2.33e+00 46 9.578717e+03 6.39e+00 1.76e+05 3.03e+01 6.98e-01 1.39e+05 1 4.95e-02 2.38e+00 47 9.573102e+03 5.61e+00 1.61e+05 3.02e+01 7.06e-01 1.50e+05 1 4.97e-02 2.43e+00 48 9.568184e+03 4.92e+00 1.46e+05 3.02e+01 7.15e-01 1.63e+05 1 4.98e-02 2.48e+00 49 9.563888e+03 4.30e+00 1.33e+05 3.02e+01 7.23e-01 1.79e+05 1 4.97e-02 2.53e+00 50 9.560151e+03 3.74e+00 1.20e+05 3.04e+01 7.32e-01 1.99e+05 1 4.95e-02 2.58e+00 Bundle adjustment report ------------------------ Residuals : 34918 Parameters : 15610 Iterations : 51 Time : 2.57762 [s] Initial cost : 1.09342 [px] Final cost : 0.523248 [px] Termination : No convergence => Completed observations: 4025 => Merged observations: 4 => Filtered observations: 19 => Changed observations: 0.231857 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.774860e+04 0.00e+00 2.12e+05 0.00e+00 0.00e+00 1.00e+04 0 4.01e-02 7.27e-02 1 1.545115e+04 2.30e+03 2.77e+06 1.53e+01 6.31e-01 1.02e+04 1 6.51e-02 1.38e-01 2 1.406533e+04 1.39e+03 1.16e+06 2.23e+00 8.42e-01 1.50e+04 1 6.47e-02 2.03e-01 3 1.376714e+04 2.98e+02 9.28e+05 9.29e-01 5.77e-01 1.50e+04 1 6.59e-02 2.68e-01 4 1.346244e+04 3.05e+02 6.03e+05 8.80e-01 7.88e-01 1.86e+04 1 6.27e-02 3.31e-01 5 1.329980e+04 1.63e+02 4.63e+05 1.19e+00 7.41e-01 2.09e+04 1 6.40e-02 3.95e-01 6 1.316995e+04 1.30e+02 5.51e+05 1.39e+00 7.92e-01 2.61e+04 1 6.27e-02 4.58e-01 7 1.308580e+04 8.42e+01 7.77e+05 1.65e+00 6.47e-01 2.68e+04 1 6.25e-02 5.20e-01 8 1.300288e+04 8.29e+01 7.43e+05 1.52e+00 6.81e-01 2.81e+04 1 6.82e-02 5.89e-01 9 1.293719e+04 6.57e+01 7.27e+05 1.34e+00 6.42e-01 2.88e+04 1 6.35e-02 6.52e-01 10 1.287838e+04 5.88e+01 6.68e+05 1.07e+00 6.58e-01 2.97e+04 1 6.26e-02 7.15e-01 11 1.282883e+04 4.96e+01 6.11e+05 7.60e-01 6.59e-01 3.07e+04 1 6.34e-02 7.78e-01 12 1.278664e+04 4.22e+01 5.50e+05 4.16e-01 6.71e-01 3.20e+04 1 6.27e-02 8.41e-01 13 1.275139e+04 3.52e+01 4.91e+05 5.34e-02 6.80e-01 3.36e+04 1 6.24e-02 9.03e-01 14 1.272218e+04 2.92e+01 4.35e+05 3.70e-01 6.92e-01 3.56e+04 1 6.30e-02 9.66e-01 15 1.269829e+04 2.39e+01 3.82e+05 8.14e-01 7.03e-01 3.81e+04 1 6.23e-02 1.03e+00 16 1.267901e+04 1.93e+01 3.33e+05 1.30e+00 7.15e-01 4.14e+04 1 6.26e-02 1.09e+00 17 1.266370e+04 1.53e+01 2.87e+05 1.85e+00 7.27e-01 4.57e+04 1 6.36e-02 1.15e+00 18 1.265175e+04 1.19e+01 2.45e+05 2.48e+00 7.40e-01 5.14e+04 1 6.48e-02 1.22e+00 19 1.264263e+04 9.12e+00 2.05e+05 3.22e+00 7.54e-01 5.92e+04 1 6.77e-02 1.29e+00 20 1.263583e+04 6.80e+00 1.69e+05 4.11e+00 7.69e-01 7.01e+04 1 7.73e-02 1.36e+00 21 1.263089e+04 4.94e+00 1.36e+05 5.22e+00 7.87e-01 8.64e+04 1 6.32e-02 1.43e+00 22 1.262738e+04 3.51e+00 1.07e+05 6.66e+00 8.08e-01 1.13e+05 1 6.37e-02 1.49e+00 23 1.262490e+04 2.49e+00 8.09e+04 8.64e+00 8.36e-01 1.62e+05 1 6.81e-02 1.56e+00 24 1.262303e+04 1.87e+00 5.97e+04 1.16e+01 8.72e-01 2.75e+05 1 6.34e-02 1.62e+00 25 1.262136e+04 1.67e+00 4.40e+04 1.64e+01 9.12e-01 6.24e+05 1 6.30e-02 1.69e+00 26 1.261941e+04 1.95e+00 3.54e+04 2.26e+01 9.39e-01 1.87e+06 1 6.29e-02 1.75e+00 27 1.261713e+04 2.28e+00 2.93e+04 1.88e+01 9.38e-01 5.62e+06 1 6.24e-02 1.81e+00 28 1.261579e+04 1.34e+00 1.79e+04 2.25e+00 9.28e-01 1.52e+07 1 6.24e-02 1.87e+00 29 1.261550e+04 2.92e-01 4.29e+03 2.42e+00 9.83e-01 4.55e+07 1 6.33e-02 1.94e+00 30 1.261549e+04 1.11e-02 1.74e+02 6.74e-01 9.99e-01 1.36e+08 1 6.27e-02 2.00e+00 31 1.261549e+04 3.63e-05 1.99e+00 4.50e-02 1.00e+00 4.09e+08 1 6.26e-02 2.06e+00 32 1.261549e+04 2.19e-08 7.65e-03 6.16e-04 1.01e+00 1.23e+09 1 6.26e-02 2.13e+00 Bundle adjustment report ------------------------ Residuals : 42930 Parameters : 15598 Iterations : 33 Time : 2.12615 [s] Initial cost : 0.642986 [px] Final cost : 0.54209 [px] Termination : Convergence => Completed observations: 673 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.031912 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.476601e+04 0.00e+00 2.32e+05 0.00e+00 0.00e+00 1.00e+04 0 4.43e-02 7.72e-02 1 1.400514e+04 7.61e+02 1.21e+06 1.94e+00 7.03e-01 1.07e+04 1 6.99e-02 1.47e-01 2 1.366076e+04 3.44e+02 1.89e+05 1.50e-01 9.83e-01 3.21e+04 1 6.65e-02 2.14e-01 3 1.364151e+04 1.92e+01 2.40e+05 6.00e-01 7.98e-01 4.08e+04 1 6.57e-02 2.79e-01 4 1.363071e+04 1.08e+01 1.28e+05 1.40e+00 9.09e-01 9.00e+04 1 6.56e-02 3.45e-01 5 1.362681e+04 3.90e+00 1.06e+05 4.23e+00 8.41e-01 1.32e+05 1 7.06e-02 4.16e-01 6 1.362518e+04 1.64e+00 2.86e+04 6.04e+00 9.68e-01 3.95e+05 1 6.57e-02 4.81e-01 7 1.362487e+04 3.07e-01 7.74e+03 1.12e+01 9.84e-01 1.19e+06 1 6.51e-02 5.46e-01 8 1.362482e+04 4.44e-02 4.67e+02 1.05e+01 9.87e-01 3.56e+06 1 6.51e-02 6.12e-01 9 1.362481e+04 9.35e-03 1.08e+02 4.02e+00 9.99e-01 1.07e+07 1 6.49e-02 6.77e-01 10 1.362481e+04 1.79e-03 3.13e+01 4.21e-01 9.99e-01 3.20e+07 1 6.56e-02 7.42e-01 11 1.362481e+04 9.45e-05 2.30e+00 3.80e-02 9.99e-01 9.60e+07 1 6.74e-02 8.10e-01 12 1.362481e+04 7.63e-07 1.84e-01 6.12e-03 1.00e+00 2.88e+08 1 6.72e-02 8.77e-01 Bundle adjustment report ------------------------ Residuals : 44252 Parameters : 15598 Iterations : 13 Time : 0.877733 [s] Initial cost : 0.57765 [px] Final cost : 0.55488 [px] Termination : Convergence => Completed observations: 138 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.006418 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.421888e+04 0.00e+00 6.25e+04 0.00e+00 0.00e+00 1.00e+04 0 4.25e-02 7.66e-02 1 1.395974e+04 2.59e+02 1.35e+05 3.82e-01 9.86e-01 3.00e+04 1 6.97e-02 1.46e-01 2 1.395412e+04 5.61e+00 1.64e+04 3.81e-01 9.90e-01 9.00e+04 1 7.29e-02 2.19e-01 3 1.395371e+04 4.14e-01 5.27e+03 1.43e+00 9.93e-01 2.70e+05 1 6.86e-02 2.88e-01 4 1.395363e+04 8.20e-02 2.27e+03 3.88e+00 9.96e-01 8.10e+05 1 6.94e-02 3.57e-01 5 1.395360e+04 2.48e-02 3.52e+02 6.10e+00 9.96e-01 2.43e+06 1 6.74e-02 4.25e-01 6 1.395360e+04 4.71e-03 8.62e+01 4.33e+00 9.95e-01 7.29e+06 1 7.07e-02 4.96e-01 7 1.395360e+04 2.93e-04 7.14e+00 1.14e+00 1.00e+00 2.19e+07 1 6.76e-02 5.63e-01 8 1.395360e+04 8.24e-06 9.55e-01 9.20e-02 1.00e+00 6.56e+07 1 6.72e-02 6.31e-01 Bundle adjustment report ------------------------ Residuals : 44520 Parameters : 15598 Iterations : 9 Time : 0.631392 [s] Initial cost : 0.565139 [px] Final cost : 0.559842 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001258 => Filtered images: 0 ============================================================================== Registering image #9 (24) ============================================================================== => Image sees 657 / 2829 points Pose refinement report ---------------------- Residuals : 1260 Parameters : 6 Iterations : 5 Time : 0.0063982 [s] Initial cost : 0.515883 [px] Final cost : 0.515112 [px] Termination : Convergence => Continued observations: 629 => Added observations: 3455 Bundle adjustment report ------------------------ Residuals : 35966 Parameters : 11426 Iterations : 26 Time : 0.779836 [s] Initial cost : 1.48994 [px] Final cost : 1.38475 [px] Termination : No convergence => Merged observations: 35 => Completed observations: 485 => Filtered observations: 417 => Changed observations: 0.051438 Bundle adjustment report ------------------------ Residuals : 36110 Parameters : 11222 Iterations : 11 Time : 0.329801 [s] Initial cost : 0.620955 [px] Final cost : 0.57127 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 265 => Filtered observations: 4 => Changed observations: 0.015147 ============================================================================== Retriangulation ============================================================================== => Completed observations: 63 => Merged observations: 0 => Retriangulated observations: 2340 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.219096e+07 0.00e+00 4.70e+07 0.00e+00 0.00e+00 1.00e+04 0 4.94e-02 9.54e-02 1 1.030317e+09 -1.01e+09 0.00e+00 1.95e+03 -6.83e+01 5.00e+03 1 3.32e-02 1.29e-01 2 5.139756e+08 -4.92e+08 0.00e+00 1.39e+03 -3.39e+01 1.25e+03 1 2.95e-02 1.58e-01 3 7.630819e+07 -5.41e+07 0.00e+00 7.81e+02 -3.94e+00 1.56e+02 1 2.97e-02 1.88e-01 4 1.075948e+07 1.14e+07 2.08e+08 2.88e+02 9.06e-01 3.37e+02 1 7.56e-02 2.63e-01 5 9.004616e+06 1.75e+06 2.31e+07 1.51e+02 9.60e-01 1.01e+03 1 8.29e-02 3.46e-01 6 9.419392e+06 -4.15e+05 0.00e+00 1.48e+02 -7.17e-01 5.05e+02 1 3.14e-02 3.78e-01 7 8.726804e+06 2.78e+05 3.21e+07 9.26e+01 7.11e-01 5.46e+02 1 7.76e-02 4.55e-01 8 8.401358e+06 3.25e+05 3.41e+07 6.01e+01 8.18e-01 7.34e+02 1 7.89e-02 5.34e-01 9 8.199106e+06 2.02e+05 5.41e+07 5.17e+01 5.09e-01 7.34e+02 1 8.44e-02 6.19e-01 10 7.860791e+06 3.38e+05 5.88e+07 3.63e+01 6.57e-01 7.58e+02 1 7.81e-02 6.97e-01 11 7.550413e+06 3.10e+05 4.93e+07 2.24e+01 7.26e-01 8.35e+02 1 7.65e-02 7.73e-01 12 7.302826e+06 2.48e+05 2.64e+07 5.29e+00 8.78e-01 1.47e+03 1 7.67e-02 8.50e-01 13 7.166416e+06 1.36e+05 2.62e+07 2.08e+01 6.88e-01 1.56e+03 1 7.66e-02 9.27e-01 14 7.005399e+06 1.61e+05 1.27e+07 4.53e+01 9.08e-01 3.40e+03 1 7.66e-02 1.00e+00 15 6.939776e+06 6.56e+04 2.48e+07 1.57e+02 3.99e-01 3.37e+03 1 7.66e-02 1.08e+00 16 6.766396e+06 1.73e+05 1.43e+07 1.99e+02 8.93e-01 6.56e+03 1 7.89e-02 1.16e+00 17 6.726050e+06 4.03e+04 3.35e+07 4.58e+02 3.18e-01 6.26e+03 1 7.69e-02 1.24e+00 18 6.592511e+06 1.34e+05 1.90e+07 5.09e+02 8.79e-01 1.11e+04 1 7.78e-02 1.31e+00 19 6.612558e+06 -2.00e+04 0.00e+00 9.65e+02 -2.28e-01 5.53e+03 1 3.61e-02 1.35e+00 20 6.535146e+06 5.74e+04 1.28e+07 5.15e+02 9.02e-01 1.15e+04 1 7.69e-02 1.43e+00 21 6.591312e+06 -5.62e+04 0.00e+00 1.09e+03 -8.64e-01 5.75e+03 1 3.04e-02 1.46e+00 22 6.498246e+06 3.69e+04 1.28e+07 5.82e+02 8.46e-01 8.62e+03 1 7.79e-02 1.54e+00 23 6.489929e+06 8.32e+03 2.45e+07 9.13e+02 1.68e-01 6.66e+03 1 7.97e-02 1.62e+00 24 6.427874e+06 6.21e+04 1.22e+07 8.07e+02 8.35e-01 9.52e+03 1 8.66e-02 1.70e+00 25 6.448203e+06 -2.03e+04 0.00e+00 1.21e+03 -3.85e-01 4.76e+03 1 3.17e-02 1.73e+00 26 6.392546e+06 3.53e+04 7.05e+06 6.50e+02 9.36e-01 1.41e+04 1 7.88e-02 1.81e+00 27 6.722273e+06 -3.30e+05 0.00e+00 1.82e+03 -6.10e+00 7.04e+03 1 3.12e-02 1.84e+00 28 6.383538e+06 9.01e+03 1.51e+07 9.85e+02 2.64e-01 6.37e+03 1 8.04e-02 1.92e+00 29 6.345695e+06 3.78e+04 1.01e+07 9.74e+02 7.01e-01 6.81e+03 1 7.98e-02 2.00e+00 30 6.324709e+06 2.10e+04 1.10e+07 1.10e+03 4.58e-01 6.80e+03 1 7.67e-02 2.08e+00 31 6.297669e+06 2.70e+04 9.50e+06 1.17e+03 5.12e-01 6.80e+03 1 7.72e-02 2.16e+00 32 6.272364e+06 2.53e+04 8.45e+06 1.22e+03 4.87e-01 6.80e+03 1 7.66e-02 2.23e+00 33 6.248315e+06 2.40e+04 8.39e+06 1.26e+03 4.76e-01 6.80e+03 1 7.78e-02 2.31e+00 34 6.225763e+06 2.26e+04 8.62e+06 1.29e+03 4.70e-01 6.80e+03 1 8.48e-02 2.40e+00 35 6.204744e+06 2.10e+04 8.62e+06 1.31e+03 4.69e-01 6.80e+03 1 7.82e-02 2.48e+00 36 6.185346e+06 1.94e+04 8.47e+06 1.32e+03 4.72e-01 6.80e+03 1 7.70e-02 2.55e+00 37 6.167573e+06 1.78e+04 8.17e+06 1.32e+03 4.77e-01 6.80e+03 1 7.79e-02 2.63e+00 38 6.151379e+06 1.62e+04 7.78e+06 1.32e+03 4.84e-01 6.80e+03 1 8.47e-02 2.71e+00 39 6.136670e+06 1.47e+04 7.33e+06 1.32e+03 4.92e-01 6.80e+03 1 7.71e-02 2.79e+00 40 6.123326e+06 1.33e+04 6.86e+06 1.31e+03 5.01e-01 6.80e+03 1 7.66e-02 2.87e+00 41 6.111217e+06 1.21e+04 6.38e+06 1.31e+03 5.11e-01 6.80e+03 1 7.64e-02 2.95e+00 42 6.100216e+06 1.10e+04 5.92e+06 1.30e+03 5.22e-01 6.80e+03 1 7.68e-02 3.02e+00 43 6.090204e+06 1.00e+04 5.49e+06 1.29e+03 5.33e-01 6.80e+03 1 7.70e-02 3.10e+00 44 6.081073e+06 9.13e+03 5.09e+06 1.28e+03 5.45e-01 6.81e+03 1 7.66e-02 3.18e+00 45 6.072722e+06 8.35e+03 4.73e+06 1.27e+03 5.56e-01 6.82e+03 1 7.92e-02 3.25e+00 46 6.065065e+06 7.66e+03 4.40e+06 1.26e+03 5.67e-01 6.83e+03 1 7.84e-02 3.33e+00 47 6.058021e+06 7.04e+03 4.12e+06 1.25e+03 5.77e-01 6.86e+03 1 9.04e-02 3.42e+00 48 6.051517e+06 6.50e+03 3.88e+06 1.25e+03 5.87e-01 6.89e+03 1 7.75e-02 3.50e+00 49 6.045488e+06 6.03e+03 3.66e+06 1.24e+03 5.95e-01 6.94e+03 1 7.78e-02 3.58e+00 50 6.039877e+06 5.61e+03 3.48e+06 1.24e+03 6.03e-01 7.00e+03 1 8.52e-02 3.66e+00 Bundle adjustment report ------------------------ Residuals : 58204 Parameters : 21937 Iterations : 51 Time : 3.6657 [s] Initial cost : 19.5259 [px] Final cost : 10.1868 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 17129 => Changed observations: 0.588585 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.219218e+04 0.00e+00 3.11e+06 0.00e+00 0.00e+00 1.00e+04 0 2.29e-02 4.24e-02 1 4.122456e+04 -9.03e+03 0.00e+00 1.44e+02 -6.48e-01 5.00e+03 1 1.37e-02 5.61e-02 2 2.861412e+04 3.58e+03 3.11e+07 1.27e+02 2.66e-01 4.53e+03 1 3.40e-02 9.01e-02 3 1.900018e+04 9.61e+03 9.20e+06 3.92e+01 9.23e-01 1.15e+04 1 3.39e-02 1.24e-01 4 1.761358e+04 1.39e+03 4.04e+06 3.67e+00 9.07e-01 2.50e+04 1 3.39e-02 1.58e-01 5 1.662799e+04 9.86e+02 1.04e+06 6.77e+01 9.82e-01 7.49e+04 1 3.40e-02 1.92e-01 6 1.551035e+04 1.12e+03 2.10e+06 2.34e+02 8.47e-01 1.13e+05 1 3.38e-02 2.26e-01 7 1.455339e+04 9.57e+02 2.38e+06 3.60e+02 7.40e-01 1.27e+05 1 3.57e-02 2.62e-01 8 1.371074e+04 8.43e+02 2.57e+06 4.08e+02 7.52e-01 1.46e+05 1 3.40e-02 2.96e-01 9 1.309331e+04 6.17e+02 2.71e+06 4.71e+02 6.86e-01 1.53e+05 1 3.38e-02 3.29e-01 10 1.254661e+04 5.47e+02 2.38e+06 4.96e+02 7.10e-01 1.66e+05 1 3.43e-02 3.64e-01 11 1.212167e+04 4.25e+02 2.17e+06 5.37e+02 6.75e-01 1.73e+05 1 3.40e-02 3.98e-01 12 1.175334e+04 3.68e+02 1.86e+06 5.60e+02 6.76e-01 1.81e+05 1 3.40e-02 4.32e-01 13 1.144880e+04 3.05e+02 1.58e+06 5.83e+02 6.50e-01 1.86e+05 1 3.40e-02 4.66e-01 14 1.118525e+04 2.64e+02 1.31e+06 5.96e+02 6.33e-01 1.90e+05 1 3.39e-02 5.00e-01 15 1.095770e+04 2.28e+02 1.06e+06 6.02e+02 6.09e-01 1.92e+05 1 3.37e-02 5.34e-01 16 1.075746e+04 2.00e+02 8.38e+05 6.02e+02 5.87e-01 1.93e+05 1 3.41e-02 5.68e-01 17 1.057945e+04 1.78e+02 6.55e+05 5.98e+02 5.62e-01 1.93e+05 1 3.39e-02 6.02e-01 18 1.041967e+04 1.60e+02 5.50e+05 5.90e+02 5.35e-01 1.93e+05 1 3.40e-02 6.36e-01 19 1.027551e+04 1.44e+02 6.86e+05 5.80e+02 5.03e-01 1.93e+05 1 3.96e-02 6.75e-01 20 1.014560e+04 1.30e+02 9.48e+05 5.69e+02 4.62e-01 1.93e+05 1 3.42e-02 7.09e-01 21 1.002928e+04 1.16e+02 1.27e+06 5.57e+02 4.11e-01 1.92e+05 1 3.42e-02 7.44e-01 22 9.924264e+03 1.05e+02 1.63e+06 5.41e+02 3.58e-01 1.87e+05 1 3.42e-02 7.78e-01 23 9.822721e+03 1.02e+02 1.97e+06 5.16e+02 3.29e-01 1.80e+05 1 3.40e-02 8.12e-01 24 9.722186e+03 1.01e+02 2.25e+06 4.84e+02 3.14e-01 1.71e+05 1 3.40e-02 8.46e-01 25 9.622946e+03 9.92e+01 2.45e+06 4.49e+02 3.03e-01 1.62e+05 1 3.40e-02 8.80e-01 26 9.524022e+03 9.89e+01 2.58e+06 4.13e+02 3.01e-01 1.52e+05 1 3.39e-02 9.14e-01 27 9.428133e+03 9.59e+01 2.64e+06 3.80e+02 2.96e-01 1.42e+05 1 3.43e-02 9.48e-01 28 9.331391e+03 9.67e+01 2.64e+06 3.47e+02 3.05e-01 1.34e+05 1 3.93e-02 9.87e-01 29 9.242920e+03 8.85e+01 2.64e+06 3.20e+02 2.91e-01 1.25e+05 1 3.38e-02 1.02e+00 30 9.146520e+03 9.64e+01 2.54e+06 2.92e+02 3.28e-01 1.20e+05 1 3.40e-02 1.06e+00 31 9.072317e+03 7.42e+01 2.55e+06 2.74e+02 2.72e-01 1.10e+05 1 3.40e-02 1.09e+00 32 8.967599e+03 1.05e+02 2.30e+06 2.45e+02 3.92e-01 1.09e+05 1 3.38e-02 1.12e+00 33 8.912263e+03 5.53e+01 2.38e+06 2.38e+02 2.40e-01 9.55e+04 1 3.40e-02 1.16e+00 34 8.796746e+03 1.16e+02 1.95e+06 2.04e+02 4.93e-01 9.55e+04 1 3.40e-02 1.19e+00 35 8.746320e+03 5.04e+01 2.00e+06 2.01e+02 2.85e-01 8.85e+04 1 3.43e-02 1.23e+00 36 8.667028e+03 7.93e+01 1.77e+06 1.82e+02 4.39e-01 8.83e+04 1 3.40e-02 1.26e+00 37 8.617397e+03 4.96e+01 1.79e+06 1.78e+02 3.23e-01 8.45e+04 1 3.40e-02 1.29e+00 38 8.554556e+03 6.28e+01 1.65e+06 1.68e+02 4.09e-01 8.40e+04 1 3.39e-02 1.33e+00 39 8.504922e+03 4.96e+01 1.63e+06 1.64e+02 3.57e-01 8.21e+04 1 3.39e-02 1.36e+00 40 8.451008e+03 5.39e+01 1.54e+06 1.57e+02 3.98e-01 8.14e+04 1 3.41e-02 1.40e+00 41 8.402321e+03 4.87e+01 1.48e+06 1.53e+02 3.86e-01 8.04e+04 1 3.42e-02 1.43e+00 42 8.353813e+03 4.85e+01 1.40e+06 1.49e+02 4.05e-01 7.99e+04 1 3.41e-02 1.46e+00 43 8.307617e+03 4.62e+01 1.34e+06 1.45e+02 4.12e-01 7.95e+04 1 3.39e-02 1.50e+00 44 8.262945e+03 4.47e+01 1.26e+06 1.42e+02 4.25e-01 7.92e+04 1 3.38e-02 1.53e+00 45 8.220010e+03 4.29e+01 1.19e+06 1.39e+02 4.38e-01 7.90e+04 1 3.41e-02 1.57e+00 46 8.178756e+03 4.13e+01 1.12e+06 1.36e+02 4.53e-01 7.90e+04 1 3.40e-02 1.60e+00 47 8.139185e+03 3.96e+01 1.05e+06 1.34e+02 4.69e-01 7.89e+04 1 3.41e-02 1.63e+00 48 8.101298e+03 3.79e+01 9.98e+05 1.31e+02 4.88e-01 7.89e+04 1 3.72e-02 1.67e+00 49 8.065115e+03 3.62e+01 9.40e+05 1.29e+02 5.08e-01 7.89e+04 1 3.54e-02 1.71e+00 50 8.030664e+03 3.45e+01 8.82e+05 1.27e+02 5.30e-01 7.90e+04 1 3.38e-02 1.74e+00 Bundle adjustment report ------------------------ Residuals : 23946 Parameters : 12961 Iterations : 51 Time : 1.74079 [s] Initial cost : 1.15947 [px] Final cost : 0.579108 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 48 => Changed observations: 0.004343 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.387659e+03 0.00e+00 8.20e+05 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 4.23e-02 1 8.808958e+03 -1.42e+03 0.00e+00 1.21e+01 -7.77e+00 5.00e+03 1 1.33e-02 5.56e-02 2 7.719898e+03 -3.32e+02 0.00e+00 5.72e+00 -1.99e+00 1.25e+03 1 1.17e-02 6.74e-02 3 7.269063e+03 1.19e+02 7.27e+05 1.82e+00 8.56e-01 1.95e+03 1 3.36e-02 1.01e-01 4 7.257578e+03 1.15e+01 1.22e+06 1.79e+00 2.70e-01 1.78e+03 1 3.38e-02 1.35e-01 5 7.223816e+03 3.38e+01 7.07e+05 1.70e+00 7.78e-01 2.15e+03 1 3.37e-02 1.69e-01 6 7.209680e+03 1.41e+01 4.77e+05 2.30e+00 7.65e-01 2.52e+03 1 3.71e-02 2.06e-01 7 7.199742e+03 9.94e+00 2.49e+05 3.00e+00 8.94e-01 4.93e+03 1 3.53e-02 2.41e-01 8 7.189929e+03 9.81e+00 2.14e+05 6.60e+00 9.16e-01 1.17e+04 1 3.39e-02 2.75e-01 9 7.173197e+03 1.67e+01 2.95e+05 1.71e+01 8.93e-01 2.27e+04 1 3.39e-02 3.09e-01 10 7.154960e+03 1.82e+01 6.84e+05 3.46e+01 5.90e-01 2.29e+04 1 3.38e-02 3.43e-01 11 7.128634e+03 2.63e+01 6.61e+05 3.55e+01 6.86e-01 2.41e+04 1 3.39e-02 3.77e-01 12 7.106413e+03 2.22e+01 7.27e+05 3.79e+01 6.03e-01 2.43e+04 1 3.39e-02 4.11e-01 13 7.083555e+03 2.29e+01 7.34e+05 3.87e+01 6.05e-01 2.46e+04 1 3.38e-02 4.44e-01 14 7.061735e+03 2.18e+01 7.35e+05 3.95e+01 5.92e-01 2.47e+04 1 3.52e-02 4.80e-01 15 7.040590e+03 2.11e+01 7.25e+05 4.02e+01 5.89e-01 2.49e+04 1 3.48e-02 5.14e-01 16 7.020148e+03 2.04e+01 7.09e+05 4.08e+01 5.90e-01 2.50e+04 1 3.62e-02 5.51e-01 17 7.000373e+03 1.98e+01 6.87e+05 4.13e+01 5.95e-01 2.52e+04 1 3.44e-02 5.85e-01 18 6.981247e+03 1.91e+01 6.62e+05 4.19e+01 6.03e-01 2.54e+04 1 3.38e-02 6.19e-01 19 6.962749e+03 1.85e+01 6.35e+05 4.25e+01 6.14e-01 2.57e+04 1 3.37e-02 6.53e-01 20 6.944853e+03 1.79e+01 6.07e+05 4.33e+01 6.25e-01 2.61e+04 1 3.39e-02 6.87e-01 21 6.927517e+03 1.73e+01 5.80e+05 4.42e+01 6.38e-01 2.67e+04 1 3.38e-02 7.20e-01 22 6.910674e+03 1.68e+01 5.55e+05 4.54e+01 6.50e-01 2.74e+04 1 3.36e-02 7.54e-01 23 6.894237e+03 1.64e+01 5.33e+05 4.68e+01 6.62e-01 2.84e+04 1 3.38e-02 7.88e-01 24 6.878096e+03 1.61e+01 5.14e+05 4.87e+01 6.73e-01 2.96e+04 1 3.40e-02 8.22e-01 25 6.862127e+03 1.60e+01 4.97e+05 5.10e+01 6.84e-01 3.12e+04 1 3.43e-02 8.56e-01 26 6.846192e+03 1.59e+01 4.84e+05 5.39e+01 6.95e-01 3.31e+04 1 3.45e-02 8.91e-01 27 6.830143e+03 1.60e+01 4.73e+05 5.75e+01 7.05e-01 3.56e+04 1 3.85e-02 9.29e-01 28 6.813819e+03 1.63e+01 4.65e+05 6.19e+01 7.14e-01 3.86e+04 1 3.46e-02 9.64e-01 29 6.797044e+03 1.68e+01 4.58e+05 6.73e+01 7.24e-01 4.24e+04 1 3.43e-02 9.98e-01 30 6.779617e+03 1.74e+01 4.52e+05 7.41e+01 7.33e-01 4.71e+04 1 3.41e-02 1.03e+00 31 6.761315e+03 1.83e+01 4.47e+05 8.25e+01 7.41e-01 5.31e+04 1 3.41e-02 1.07e+00 32 6.741883e+03 1.94e+01 4.41e+05 9.30e+01 7.49e-01 6.06e+04 1 3.43e-02 1.10e+00 33 6.721053e+03 2.08e+01 4.32e+05 1.06e+02 7.55e-01 6.98e+04 1 3.46e-02 1.14e+00 34 6.698585e+03 2.25e+01 4.16e+05 1.22e+02 7.58e-01 8.09e+04 1 3.43e-02 1.17e+00 35 6.674357e+03 2.42e+01 3.89e+05 1.41e+02 7.55e-01 9.33e+04 1 3.43e-02 1.20e+00 36 6.648481e+03 2.59e+01 3.46e+05 1.62e+02 7.44e-01 1.06e+05 1 3.89e-02 1.24e+00 37 6.621320e+03 2.72e+01 3.32e+05 1.82e+02 7.27e-01 1.16e+05 1 4.75e-02 1.29e+00 38 6.593330e+03 2.80e+01 3.61e+05 1.98e+02 7.07e-01 1.25e+05 1 3.66e-02 1.33e+00 39 6.564941e+03 2.84e+01 3.74e+05 2.11e+02 6.89e-01 1.33e+05 1 3.38e-02 1.36e+00 40 6.536514e+03 2.84e+01 3.73e+05 2.20e+02 6.74e-01 1.38e+05 1 3.41e-02 1.40e+00 41 6.508333e+03 2.82e+01 3.64e+05 2.26e+02 6.61e-01 1.43e+05 1 3.38e-02 1.43e+00 42 6.480601e+03 2.77e+01 3.50e+05 2.30e+02 6.51e-01 1.47e+05 1 3.37e-02 1.46e+00 43 6.453450e+03 2.72e+01 3.37e+05 2.32e+02 6.41e-01 1.51e+05 1 3.38e-02 1.50e+00 44 6.426957e+03 2.65e+01 3.34e+05 2.33e+02 6.34e-01 1.53e+05 1 3.36e-02 1.53e+00 45 6.401159e+03 2.58e+01 3.31e+05 2.33e+02 6.26e-01 1.56e+05 1 3.38e-02 1.56e+00 46 6.376070e+03 2.51e+01 3.28e+05 2.32e+02 6.20e-01 1.58e+05 1 3.39e-02 1.60e+00 47 6.351688e+03 2.44e+01 3.25e+05 2.30e+02 6.14e-01 1.60e+05 1 3.43e-02 1.63e+00 48 6.328002e+03 2.37e+01 3.23e+05 2.28e+02 6.09e-01 1.62e+05 1 3.39e-02 1.67e+00 49 6.304999e+03 2.30e+01 3.22e+05 2.25e+02 6.04e-01 1.63e+05 1 3.39e-02 1.70e+00 50 6.282664e+03 2.23e+01 3.22e+05 2.22e+02 6.00e-01 1.65e+05 1 3.37e-02 1.73e+00 Bundle adjustment report ------------------------ Residuals : 23848 Parameters : 12922 Iterations : 51 Time : 1.73429 [s] Initial cost : 0.55658 [px] Final cost : 0.51327 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.001006 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 6.123346e+03 0.00e+00 3.15e+05 0.00e+00 0.00e+00 1.00e+04 0 2.25e-02 4.21e-02 1 6.079338e+03 4.40e+01 1.82e+03 1.72e+01 1.00e+00 3.00e+04 1 3.49e-02 7.70e-02 2 6.063347e+03 1.60e+01 1.22e+04 4.80e+01 9.99e-01 9.00e+04 1 3.42e-02 1.11e-01 3 6.028851e+03 3.45e+01 1.03e+05 1.42e+02 9.31e-01 2.51e+05 1 3.47e-02 1.46e-01 4 6.090025e+03 -6.12e+01 0.00e+00 3.88e+02 -7.55e-01 1.26e+05 1 1.22e-02 1.58e-01 5 5.993716e+03 3.51e+01 2.26e+05 1.97e+02 7.78e-01 1.52e+05 1 3.82e-02 1.96e-01 6 5.958225e+03 3.55e+01 2.98e+05 2.34e+02 6.36e-01 1.55e+05 1 3.38e-02 2.30e-01 7 5.915116e+03 4.31e+01 2.70e+05 2.36e+02 6.75e-01 1.61e+05 1 3.39e-02 2.64e-01 8 5.874723e+03 4.04e+01 2.99e+05 2.43e+02 6.34e-01 1.65e+05 1 3.39e-02 2.98e-01 9 5.833901e+03 4.08e+01 3.19e+05 2.44e+02 6.27e-01 1.67e+05 1 3.37e-02 3.32e-01 10 5.794341e+03 3.96e+01 3.37e+05 2.44e+02 6.11e-01 1.69e+05 1 3.52e-02 3.67e-01 11 5.755714e+03 3.86e+01 3.50e+05 2.42e+02 6.00e-01 1.71e+05 1 3.40e-02 4.01e-01 12 5.718192e+03 3.75e+01 3.62e+05 2.40e+02 5.89e-01 1.72e+05 1 3.41e-02 4.35e-01 13 5.681792e+03 3.64e+01 3.71e+05 2.37e+02 5.80e-01 1.72e+05 1 3.77e-02 4.73e-01 14 5.646537e+03 3.53e+01 3.79e+05 2.33e+02 5.72e-01 1.73e+05 1 3.47e-02 5.08e-01 15 5.612432e+03 3.41e+01 3.85e+05 2.29e+02 5.64e-01 1.73e+05 1 3.40e-02 5.42e-01 16 5.579469e+03 3.30e+01 3.90e+05 2.25e+02 5.57e-01 1.73e+05 1 3.45e-02 5.76e-01 17 5.547634e+03 3.18e+01 3.94e+05 2.21e+02 5.51e-01 1.74e+05 1 3.38e-02 6.10e-01 18 5.516905e+03 3.07e+01 3.98e+05 2.16e+02 5.45e-01 1.74e+05 1 3.40e-02 6.44e-01 19 5.487252e+03 2.97e+01 4.00e+05 2.12e+02 5.39e-01 1.74e+05 1 3.39e-02 6.78e-01 20 5.458648e+03 2.86e+01 4.02e+05 2.07e+02 5.34e-01 1.74e+05 1 3.54e-02 7.13e-01 21 5.431057e+03 2.76e+01 4.03e+05 2.03e+02 5.29e-01 1.74e+05 1 3.47e-02 7.48e-01 22 5.404445e+03 2.66e+01 4.04e+05 1.98e+02 5.24e-01 1.74e+05 1 3.66e-02 7.85e-01 23 5.378778e+03 2.57e+01 4.04e+05 1.94e+02 5.19e-01 1.74e+05 1 3.45e-02 8.19e-01 24 5.354019e+03 2.48e+01 4.03e+05 1.89e+02 5.14e-01 1.74e+05 1 3.40e-02 8.53e-01 25 5.330134e+03 2.39e+01 4.02e+05 1.85e+02 5.10e-01 1.74e+05 1 3.47e-02 8.88e-01 26 5.307088e+03 2.30e+01 4.00e+05 1.80e+02 5.05e-01 1.74e+05 1 3.44e-02 9.22e-01 27 5.284847e+03 2.22e+01 3.98e+05 1.76e+02 5.01e-01 1.74e+05 1 3.43e-02 9.57e-01 28 5.263380e+03 2.15e+01 3.95e+05 1.72e+02 4.98e-01 1.74e+05 1 3.50e-02 9.92e-01 29 5.242656e+03 2.07e+01 3.91e+05 1.68e+02 4.94e-01 1.74e+05 1 3.40e-02 1.03e+00 30 5.222645e+03 2.00e+01 3.87e+05 1.63e+02 4.91e-01 1.74e+05 1 3.43e-02 1.06e+00 31 5.203322e+03 1.93e+01 3.82e+05 1.59e+02 4.88e-01 1.74e+05 1 3.39e-02 1.09e+00 32 5.184659e+03 1.87e+01 3.76e+05 1.55e+02 4.86e-01 1.74e+05 1 3.50e-02 1.13e+00 33 5.166632e+03 1.80e+01 3.69e+05 1.51e+02 4.84e-01 1.74e+05 1 3.40e-02 1.16e+00 34 5.149221e+03 1.74e+01 3.62e+05 1.48e+02 4.82e-01 1.74e+05 1 3.80e-02 1.20e+00 35 5.132402e+03 1.68e+01 3.54e+05 1.44e+02 4.81e-01 1.74e+05 1 3.48e-02 1.24e+00 36 5.116156e+03 1.62e+01 3.50e+05 1.40e+02 4.80e-01 1.74e+05 1 3.40e-02 1.27e+00 37 5.100465e+03 1.57e+01 3.52e+05 1.36e+02 4.79e-01 1.74e+05 1 3.41e-02 1.30e+00 38 5.085308e+03 1.52e+01 3.54e+05 1.33e+02 4.79e-01 1.74e+05 1 3.39e-02 1.34e+00 39 5.070669e+03 1.46e+01 3.56e+05 1.29e+02 4.78e-01 1.74e+05 1 3.42e-02 1.37e+00 40 5.056530e+03 1.41e+01 3.59e+05 1.26e+02 4.78e-01 1.74e+05 1 3.41e-02 1.41e+00 41 5.042871e+03 1.37e+01 3.62e+05 1.22e+02 4.78e-01 1.74e+05 1 3.40e-02 1.44e+00 42 5.029676e+03 1.32e+01 3.65e+05 1.19e+02 4.78e-01 1.74e+05 1 3.40e-02 1.47e+00 43 5.016925e+03 1.28e+01 3.68e+05 1.16e+02 4.78e-01 1.74e+05 1 3.86e-02 1.51e+00 44 5.004599e+03 1.23e+01 3.72e+05 1.13e+02 4.78e-01 1.74e+05 1 3.41e-02 1.55e+00 45 4.992678e+03 1.19e+01 3.77e+05 1.10e+02 4.76e-01 1.74e+05 1 3.40e-02 1.58e+00 46 4.981141e+03 1.15e+01 3.82e+05 1.07e+02 4.75e-01 1.74e+05 1 3.38e-02 1.61e+00 47 4.969967e+03 1.12e+01 3.88e+05 1.04e+02 4.72e-01 1.74e+05 1 3.41e-02 1.65e+00 48 4.959136e+03 1.08e+01 3.93e+05 1.02e+02 4.69e-01 1.74e+05 1 3.40e-02 1.68e+00 49 4.948628e+03 1.05e+01 3.99e+05 9.91e+01 4.66e-01 1.74e+05 1 3.37e-02 1.72e+00 50 4.938426e+03 1.02e+01 4.05e+05 9.65e+01 4.62e-01 1.73e+05 1 3.40e-02 1.75e+00 Bundle adjustment report ------------------------ Residuals : 23824 Parameters : 12907 Iterations : 51 Time : 1.75145 [s] Initial cost : 0.506976 [px] Final cost : 0.455289 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 5 => Changed observations: 0.000756 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.920431e+03 0.00e+00 4.19e+05 0.00e+00 0.00e+00 1.00e+04 0 2.24e-02 4.21e-02 1 4.894615e+03 2.58e+01 4.25e+04 6.62e+00 9.95e-01 3.00e+04 1 3.53e-02 7.74e-02 2 4.892511e+03 2.10e+00 1.23e+05 1.67e+01 6.12e-01 3.03e+04 1 3.39e-02 1.11e-01 3 4.888958e+03 3.55e+00 7.07e+04 1.69e+01 8.53e-01 4.69e+04 1 3.39e-02 1.45e-01 4 4.886004e+03 2.95e+00 1.21e+05 2.63e+01 6.57e-01 4.84e+04 1 3.40e-02 1.79e-01 5 4.881631e+03 4.37e+00 8.64e+04 2.74e+01 8.42e-01 7.13e+04 1 3.38e-02 2.13e-01 6 4.877433e+03 4.20e+00 1.02e+05 4.06e+01 7.42e-01 8.04e+04 1 3.36e-02 2.47e-01 7 4.871995e+03 5.44e+00 8.96e+04 4.59e+01 8.38e-01 1.16e+05 1 3.39e-02 2.81e-01 8 4.866922e+03 5.07e+00 1.78e+05 6.60e+01 6.57e-01 1.20e+05 1 3.39e-02 3.15e-01 9 4.860291e+03 6.63e+00 1.86e+05 6.75e+01 7.22e-01 1.32e+05 1 3.46e-02 3.49e-01 10 4.854377e+03 5.91e+00 2.20e+05 7.30e+01 6.32e-01 1.34e+05 1 3.41e-02 3.83e-01 11 4.847839e+03 6.54e+00 2.26e+05 7.31e+01 6.46e-01 1.38e+05 1 3.40e-02 4.17e-01 12 4.841539e+03 6.30e+00 2.37e+05 7.35e+01 6.21e-01 1.40e+05 1 3.95e-02 4.57e-01 13 4.835262e+03 6.28e+00 2.43e+05 7.30e+01 6.13e-01 1.41e+05 1 3.43e-02 4.91e-01 14 4.829132e+03 6.13e+00 2.48e+05 7.21e+01 6.01e-01 1.42e+05 1 3.40e-02 5.25e-01 15 4.823153e+03 5.98e+00 2.51e+05 7.09e+01 5.91e-01 1.43e+05 1 3.46e-02 5.60e-01 16 4.817342e+03 5.81e+00 2.54e+05 6.95e+01 5.82e-01 1.44e+05 1 3.41e-02 5.94e-01 17 4.811707e+03 5.64e+00 2.56e+05 6.80e+01 5.72e-01 1.44e+05 1 3.41e-02 6.28e-01 18 4.806247e+03 5.46e+00 2.57e+05 6.64e+01 5.63e-01 1.45e+05 1 3.40e-02 6.62e-01 19 4.800960e+03 5.29e+00 2.59e+05 6.47e+01 5.53e-01 1.45e+05 1 3.39e-02 6.96e-01 20 4.795839e+03 5.12e+00 2.60e+05 6.29e+01 5.43e-01 1.45e+05 1 3.90e-02 7.35e-01 21 4.790876e+03 4.96e+00 2.62e+05 6.12e+01 5.33e-01 1.45e+05 1 3.43e-02 7.69e-01 22 4.786061e+03 4.81e+00 2.64e+05 5.95e+01 5.23e-01 1.45e+05 1 3.40e-02 8.03e-01 23 4.781385e+03 4.68e+00 2.66e+05 5.77e+01 5.12e-01 1.45e+05 1 3.39e-02 8.37e-01 24 4.776836e+03 4.55e+00 2.68e+05 5.61e+01 5.01e-01 1.45e+05 1 3.39e-02 8.71e-01 25 4.772406e+03 4.43e+00 2.70e+05 5.44e+01 4.90e-01 1.45e+05 1 3.38e-02 9.05e-01 26 4.768084e+03 4.32e+00 2.72e+05 5.28e+01 4.79e-01 1.45e+05 1 3.41e-02 9.39e-01 27 4.763859e+03 4.22e+00 2.75e+05 5.13e+01 4.68e-01 1.45e+05 1 3.39e-02 9.73e-01 28 4.759721e+03 4.14e+00 2.77e+05 4.98e+01 4.58e-01 1.45e+05 1 3.40e-02 1.01e+00 29 4.755660e+03 4.06e+00 2.79e+05 4.83e+01 4.48e-01 1.45e+05 1 3.40e-02 1.04e+00 30 4.751667e+03 3.99e+00 2.81e+05 4.69e+01 4.40e-01 1.44e+05 1 3.39e-02 1.08e+00 31 4.747731e+03 3.94e+00 2.82e+05 4.54e+01 4.32e-01 1.44e+05 1 3.39e-02 1.11e+00 32 4.743847e+03 3.88e+00 2.83e+05 4.40e+01 4.26e-01 1.44e+05 1 3.44e-02 1.14e+00 33 4.740006e+03 3.84e+00 2.83e+05 4.26e+01 4.21e-01 1.43e+05 1 3.42e-02 1.18e+00 34 4.736204e+03 3.80e+00 2.83e+05 4.12e+01 4.17e-01 1.42e+05 1 3.39e-02 1.21e+00 35 4.732433e+03 3.77e+00 2.82e+05 3.99e+01 4.15e-01 1.42e+05 1 3.39e-02 1.25e+00 36 4.728689e+03 3.74e+00 2.81e+05 3.86e+01 4.13e-01 1.41e+05 1 3.40e-02 1.28e+00 37 4.724961e+03 3.73e+00 2.79e+05 3.74e+01 4.13e-01 1.40e+05 1 3.39e-02 1.31e+00 38 4.721238e+03 3.72e+00 2.77e+05 3.61e+01 4.13e-01 1.39e+05 1 3.45e-02 1.35e+00 39 4.717505e+03 3.73e+00 2.75e+05 3.50e+01 4.13e-01 1.39e+05 1 3.41e-02 1.38e+00 40 4.713745e+03 3.76e+00 2.72e+05 3.39e+01 4.14e-01 1.38e+05 1 3.39e-02 1.42e+00 41 4.709936e+03 3.81e+00 2.69e+05 3.28e+01 4.14e-01 1.37e+05 1 3.63e-02 1.45e+00 42 4.706054e+03 3.88e+00 2.66e+05 3.18e+01 4.12e-01 1.37e+05 1 3.69e-02 1.49e+00 43 4.702083e+03 3.97e+00 2.63e+05 3.08e+01 4.05e-01 1.36e+05 1 3.42e-02 1.52e+00 44 4.698018e+03 4.06e+00 2.59e+05 2.99e+01 3.90e-01 1.34e+05 1 3.38e-02 1.56e+00 45 4.693886e+03 4.13e+00 2.54e+05 2.88e+01 3.62e-01 1.31e+05 1 3.41e-02 1.59e+00 46 4.689684e+03 4.20e+00 2.43e+05 2.75e+01 3.23e-01 1.26e+05 1 3.40e-02 1.63e+00 47 4.685209e+03 4.48e+00 2.24e+05 2.56e+01 2.94e-01 1.18e+05 1 3.41e-02 1.66e+00 48 4.680229e+03 4.98e+00 1.98e+05 2.33e+01 2.77e-01 1.08e+05 1 3.39e-02 1.69e+00 49 4.674466e+03 5.76e+00 2.01e+05 2.08e+01 2.75e-01 9.89e+04 1 3.71e-02 1.73e+00 50 4.667735e+03 6.73e+00 2.06e+05 1.85e+01 2.85e-01 9.16e+04 1 3.54e-02 1.77e+00 Bundle adjustment report ------------------------ Residuals : 23814 Parameters : 12901 Iterations : 51 Time : 1.76695 [s] Initial cost : 0.454554 [px] Final cost : 0.442728 [px] Termination : No convergence => Completed observations: 3830 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.322667 => Filtered images: 0 ============================================================================== Registering image #12 (25) ============================================================================== => Image sees 569 / 3364 points Pose refinement report ---------------------- Residuals : 1026 Parameters : 6 Iterations : 17 Time : 0.017025 [s] Initial cost : 0.742484 [px] Final cost : 0.716771 [px] Termination : Convergence => Continued observations: 512 => Added observations: 3206 Bundle adjustment report ------------------------ Residuals : 29392 Parameters : 11234 Iterations : 26 Time : 0.62674 [s] Initial cost : 1.75926 [px] Final cost : 1.59247 [px] Termination : No convergence => Merged observations: 12 => Completed observations: 439 => Filtered observations: 1181 => Changed observations: 0.110032 Bundle adjustment report ------------------------ Residuals : 27914 Parameters : 10808 Iterations : 26 Time : 0.618247 [s] Initial cost : 0.706038 [px] Final cost : 0.569301 [px] Termination : No convergence => Merged observations: 45 => Completed observations: 1016 => Filtered observations: 3 => Changed observations: 0.075697 ============================================================================== Retriangulation ============================================================================== => Completed observations: 95 => Merged observations: 7 => Retriangulated observations: 7557 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.113283e+07 0.00e+00 4.64e+07 0.00e+00 0.00e+00 1.00e+04 0 4.62e-02 9.14e-02 1 5.440192e+08 -5.23e+08 0.00e+00 6.73e+02 -3.48e+01 5.00e+03 1 3.07e-02 1.22e-01 2 2.361557e+08 -2.15e+08 0.00e+00 5.18e+02 -1.46e+01 1.25e+03 1 2.71e-02 1.49e-01 3 4.345063e+07 -2.23e+07 0.00e+00 2.93e+02 -1.59e+00 1.56e+02 1 2.75e-02 1.77e-01 4 9.566945e+06 1.16e+07 2.61e+08 1.39e+02 8.70e-01 2.63e+02 1 7.11e-02 2.48e-01 5 7.543534e+06 2.02e+06 9.18e+06 5.11e+01 9.98e-01 7.90e+02 1 7.84e-02 3.27e-01 6 7.483963e+06 5.96e+04 5.99e+07 1.44e+01 1.88e-01 6.36e+02 1 7.24e-02 3.99e-01 7 7.122164e+06 3.62e+05 4.11e+07 1.19e+01 8.17e-01 8.53e+02 1 7.24e-02 4.71e-01 8 7.093054e+06 2.91e+04 7.75e+07 2.86e+01 9.23e-02 5.53e+02 1 7.38e-02 5.45e-01 9 6.747869e+06 3.45e+05 5.08e+07 2.37e+01 7.87e-01 6.82e+02 1 8.08e-02 6.26e-01 10 6.544579e+06 2.03e+05 3.41e+07 3.33e+01 7.80e-01 8.27e+02 1 7.16e-02 6.98e-01 11 6.329417e+06 2.15e+05 1.63e+07 3.92e+01 9.21e-01 2.04e+03 1 7.25e-02 7.70e-01 12 6.328507e+06 9.10e+02 6.25e+07 6.47e+01 2.66e-03 1.03e+03 1 7.23e-02 8.42e-01 13 5.787981e+06 5.41e+05 1.10e+07 1.96e+01 1.04e+00 3.09e+03 1 7.28e-02 9.15e-01 14 6.324348e+06 -5.36e+05 0.00e+00 1.57e+01 -1.44e+00 1.54e+03 1 2.76e-02 9.43e-01 15 5.639637e+06 1.48e+05 3.51e+07 4.72e+00 6.30e-01 1.57e+03 1 7.07e-02 1.01e+00 16 5.353488e+06 2.86e+05 4.10e+07 1.81e+01 8.49e-01 2.38e+03 1 7.15e-02 1.09e+00 17 5.454059e+06 -1.01e+05 0.00e+00 6.20e+01 -2.54e-01 1.19e+03 1 2.76e-02 1.11e+00 18 5.107275e+06 2.46e+05 3.75e+07 2.40e+01 8.51e-01 1.82e+03 1 7.12e-02 1.18e+00 19 5.027495e+06 7.98e+04 6.35e+07 6.02e+01 2.89e-01 1.69e+03 1 7.18e-02 1.26e+00 20 4.735262e+06 2.92e+05 3.03e+07 7.67e+01 8.77e-01 2.97e+03 1 7.78e-02 1.33e+00 21 4.620542e+06 1.15e+05 2.34e+07 1.66e+02 6.24e-01 3.01e+03 1 7.38e-02 1.41e+00 22 4.463536e+06 1.57e+05 1.50e+07 1.81e+02 9.32e-01 8.45e+03 1 7.21e-02 1.48e+00 23 4.590766e+06 -1.27e+05 0.00e+00 5.08e+02 -6.44e-01 4.22e+03 1 2.80e-02 1.51e+00 24 4.365138e+06 9.84e+04 2.09e+07 2.60e+02 7.89e-01 5.24e+03 1 8.36e-02 1.59e+00 25 4.251735e+06 1.13e+05 2.00e+07 3.25e+02 8.28e-01 7.29e+03 1 7.42e-02 1.67e+00 26 4.156573e+06 9.52e+04 2.60e+07 4.59e+02 6.52e-01 7.50e+03 1 7.26e-02 1.74e+00 27 4.034590e+06 1.22e+05 1.88e+07 4.86e+02 8.35e-01 1.07e+04 1 7.13e-02 1.81e+00 28 3.973635e+06 6.10e+04 2.22e+07 7.04e+02 5.40e-01 1.07e+04 1 7.18e-02 1.88e+00 29 3.884790e+06 8.88e+04 1.24e+07 7.19e+02 7.76e-01 1.29e+04 1 7.17e-02 1.95e+00 30 3.837400e+06 4.74e+04 1.37e+07 8.75e+02 5.67e-01 1.29e+04 1 7.14e-02 2.02e+00 31 3.781792e+06 5.56e+04 1.06e+07 8.96e+02 6.83e-01 1.36e+04 1 7.19e-02 2.10e+00 32 3.742787e+06 3.90e+04 8.66e+06 9.57e+02 6.09e-01 1.37e+04 1 7.33e-02 2.17e+00 33 3.707768e+06 3.50e+04 7.07e+06 9.79e+02 6.20e-01 1.39e+04 1 7.21e-02 2.24e+00 34 3.678991e+06 2.88e+04 6.08e+06 9.97e+02 6.02e-01 1.41e+04 1 7.27e-02 2.31e+00 35 3.654176e+06 2.48e+04 5.76e+06 1.00e+03 6.01e-01 1.42e+04 1 7.94e-02 2.39e+00 36 3.632766e+06 2.14e+04 5.44e+06 1.01e+03 6.00e-01 1.43e+04 1 7.19e-02 2.47e+00 37 3.614102e+06 1.87e+04 5.12e+06 1.00e+03 6.03e-01 1.44e+04 1 7.23e-02 2.54e+00 38 3.597713e+06 1.64e+04 4.84e+06 1.00e+03 6.07e-01 1.46e+04 1 7.94e-02 2.62e+00 39 3.583207e+06 1.45e+04 4.58e+06 9.97e+02 6.12e-01 1.47e+04 1 7.25e-02 2.69e+00 40 3.570263e+06 1.29e+04 4.36e+06 9.94e+02 6.17e-01 1.49e+04 1 7.34e-02 2.76e+00 41 3.558622e+06 1.16e+04 4.16e+06 9.92e+02 6.21e-01 1.51e+04 1 7.20e-02 2.84e+00 42 3.548071e+06 1.06e+04 4.00e+06 9.91e+02 6.26e-01 1.54e+04 1 7.11e-02 2.91e+00 43 3.538439e+06 9.63e+03 3.86e+06 9.92e+02 6.29e-01 1.56e+04 1 7.26e-02 2.98e+00 44 3.529586e+06 8.85e+03 3.74e+06 9.94e+02 6.33e-01 1.59e+04 1 7.79e-02 3.06e+00 45 3.521401e+06 8.18e+03 3.65e+06 9.98e+02 6.35e-01 1.63e+04 1 7.94e-02 3.14e+00 46 3.513792e+06 7.61e+03 3.57e+06 1.00e+03 6.38e-01 1.66e+04 1 7.18e-02 3.21e+00 47 3.506685e+06 7.11e+03 3.50e+06 1.01e+03 6.39e-01 1.70e+04 1 7.19e-02 3.28e+00 48 3.500018e+06 6.67e+03 3.44e+06 1.02e+03 6.41e-01 1.74e+04 1 7.65e-02 3.36e+00 49 3.493742e+06 6.28e+03 3.40e+06 1.03e+03 6.42e-01 1.78e+04 1 7.44e-02 3.43e+00 50 3.487814e+06 5.93e+03 3.36e+06 1.03e+03 6.43e-01 1.82e+04 1 7.15e-02 3.50e+00 Bundle adjustment report ------------------------ Residuals : 54714 Parameters : 23440 Iterations : 51 Time : 3.50477 [s] Initial cost : 19.653 [px] Final cost : 7.98413 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 40 => Filtered observations: 12416 => Changed observations: 0.455313 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.521034e+04 0.00e+00 5.38e+06 0.00e+00 0.00e+00 1.00e+04 0 3.26e-02 5.82e-02 1 2.084488e+04 1.44e+04 1.21e+07 2.14e+01 9.45e-01 3.00e+04 1 4.57e-02 1.04e-01 2 1.957776e+04 1.27e+03 1.41e+07 1.82e+02 5.06e-01 3.00e+04 1 4.30e-02 1.47e-01 3 1.787342e+04 1.70e+03 8.02e+06 2.34e+02 8.17e-01 4.03e+04 1 4.27e-02 1.90e-01 4 1.718698e+04 6.86e+02 8.38e+06 3.38e+02 6.12e-01 4.07e+04 1 4.27e-02 2.32e-01 5 1.636791e+04 8.19e+02 5.26e+06 3.48e+02 8.11e-01 5.37e+04 1 4.27e-02 2.75e-01 6 1.583157e+04 5.36e+02 5.64e+06 4.61e+02 6.63e-01 5.57e+04 1 4.25e-02 3.18e-01 7 1.520059e+04 6.31e+02 4.03e+06 4.73e+02 7.64e-01 6.52e+04 1 4.29e-02 3.60e-01 8 1.470813e+04 4.92e+02 3.83e+06 5.48e+02 6.45e-01 6.68e+04 1 4.28e-02 4.03e-01 9 1.416982e+04 5.38e+02 2.98e+06 5.51e+02 6.82e-01 7.02e+04 1 4.27e-02 4.46e-01 10 1.370630e+04 4.64e+02 2.55e+06 5.68e+02 6.31e-01 7.15e+04 1 4.25e-02 4.89e-01 11 1.326315e+04 4.43e+02 2.13e+06 5.66e+02 6.25e-01 7.26e+04 1 4.26e-02 5.31e-01 12 1.286272e+04 4.00e+02 1.82e+06 5.63e+02 6.05e-01 7.33e+04 1 4.26e-02 5.74e-01 13 1.249738e+04 3.65e+02 1.56e+06 5.55e+02 5.92e-01 7.38e+04 1 4.34e-02 6.17e-01 14 1.216692e+04 3.30e+02 1.35e+06 5.46e+02 5.79e-01 7.41e+04 1 4.36e-02 6.61e-01 15 1.186869e+04 2.98e+02 1.18e+06 5.35e+02 5.67e-01 7.43e+04 1 4.37e-02 7.05e-01 16 1.160002e+04 2.69e+02 1.04e+06 5.24e+02 5.56e-01 7.44e+04 1 4.30e-02 7.48e-01 17 1.135806e+04 2.42e+02 9.21e+05 5.12e+02 5.46e-01 7.44e+04 1 4.25e-02 7.90e-01 18 1.114001e+04 2.18e+02 8.20e+05 5.00e+02 5.36e-01 7.45e+04 1 4.76e-02 8.38e-01 19 1.094313e+04 1.97e+02 7.36e+05 4.87e+02 5.27e-01 7.45e+04 1 4.33e-02 8.81e-01 20 1.076489e+04 1.78e+02 6.64e+05 4.75e+02 5.18e-01 7.45e+04 1 4.38e-02 9.25e-01 21 1.060298e+04 1.62e+02 6.03e+05 4.63e+02 5.11e-01 7.45e+04 1 4.20e-02 9.67e-01 22 1.045530e+04 1.48e+02 5.50e+05 4.51e+02 5.04e-01 7.45e+04 1 4.21e-02 1.01e+00 23 1.032000e+04 1.35e+02 5.05e+05 4.39e+02 4.99e-01 7.45e+04 1 4.35e-02 1.05e+00 24 1.019548e+04 1.25e+02 4.66e+05 4.28e+02 4.95e-01 7.45e+04 1 4.73e-02 1.10e+00 25 1.008033e+04 1.15e+02 4.34e+05 4.16e+02 4.92e-01 7.45e+04 1 4.22e-02 1.14e+00 26 9.973362e+03 1.07e+02 4.08e+05 4.05e+02 4.91e-01 7.45e+04 1 4.24e-02 1.18e+00 27 9.873565e+03 9.98e+01 3.85e+05 3.93e+02 4.92e-01 7.45e+04 1 4.21e-02 1.23e+00 28 9.780084e+03 9.35e+01 3.63e+05 3.82e+02 4.94e-01 7.45e+04 1 4.19e-02 1.27e+00 29 9.692205e+03 8.79e+01 3.44e+05 3.71e+02 4.97e-01 7.45e+04 1 4.21e-02 1.31e+00 30 9.609329e+03 8.29e+01 3.25e+05 3.61e+02 5.01e-01 7.45e+04 1 4.21e-02 1.35e+00 31 9.530964e+03 7.84e+01 3.08e+05 3.50e+02 5.07e-01 7.45e+04 1 4.25e-02 1.40e+00 32 9.456702e+03 7.43e+01 2.92e+05 3.40e+02 5.13e-01 7.45e+04 1 4.19e-02 1.44e+00 33 9.386213e+03 7.05e+01 2.77e+05 3.29e+02 5.21e-01 7.45e+04 1 4.21e-02 1.48e+00 34 9.319229e+03 6.70e+01 2.63e+05 3.19e+02 5.30e-01 7.45e+04 1 4.22e-02 1.52e+00 35 9.255531e+03 6.37e+01 2.49e+05 3.09e+02 5.39e-01 7.45e+04 1 4.20e-02 1.56e+00 36 9.194939e+03 6.06e+01 2.36e+05 3.00e+02 5.48e-01 7.46e+04 1 4.21e-02 1.61e+00 37 9.137300e+03 5.76e+01 2.24e+05 2.90e+02 5.58e-01 7.47e+04 1 4.24e-02 1.65e+00 38 9.082477e+03 5.48e+01 2.12e+05 2.81e+02 5.68e-01 7.49e+04 1 4.19e-02 1.69e+00 39 9.030337e+03 5.21e+01 2.02e+05 2.73e+02 5.77e-01 7.52e+04 1 4.19e-02 1.73e+00 40 8.980749e+03 4.96e+01 1.91e+05 2.64e+02 5.86e-01 7.56e+04 1 4.32e-02 1.78e+00 41 8.933582e+03 4.72e+01 1.82e+05 2.56e+02 5.95e-01 7.61e+04 1 5.88e-02 1.83e+00 42 8.888701e+03 4.49e+01 1.73e+05 2.49e+02 6.03e-01 7.67e+04 1 4.54e-02 1.88e+00 43 8.845977e+03 4.27e+01 1.65e+05 2.42e+02 6.10e-01 7.76e+04 1 4.29e-02 1.92e+00 44 8.805288e+03 4.07e+01 1.58e+05 2.36e+02 6.16e-01 7.85e+04 1 4.26e-02 1.97e+00 45 8.766522e+03 3.88e+01 1.51e+05 2.29e+02 6.21e-01 7.97e+04 1 4.33e-02 2.01e+00 46 8.729581e+03 3.69e+01 1.45e+05 2.24e+02 6.26e-01 8.10e+04 1 4.28e-02 2.05e+00 47 8.694382e+03 3.52e+01 1.39e+05 2.18e+02 6.31e-01 8.25e+04 1 4.73e-02 2.10e+00 48 8.660856e+03 3.35e+01 1.34e+05 2.13e+02 6.35e-01 8.41e+04 1 4.31e-02 2.14e+00 49 8.628947e+03 3.19e+01 1.28e+05 2.08e+02 6.38e-01 8.59e+04 1 4.25e-02 2.18e+00 50 8.598609e+03 3.03e+01 1.23e+05 2.03e+02 6.42e-01 8.79e+04 1 4.26e-02 2.23e+00 Bundle adjustment report ------------------------ Residuals : 29872 Parameters : 16549 Iterations : 51 Time : 2.22796 [s] Initial cost : 1.08568 [px] Final cost : 0.536515 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 635 => Filtered observations: 46 => Changed observations: 0.045595 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.680239e+03 0.00e+00 2.31e+05 0.00e+00 0.00e+00 1.00e+04 0 2.86e-02 5.42e-02 1 8.124168e+03 5.56e+02 5.97e+05 1.93e+01 9.76e-01 3.00e+04 1 4.52e-02 9.94e-02 2 8.053033e+03 7.11e+01 1.02e+06 7.46e+01 6.52e-01 3.09e+04 1 4.32e-02 1.43e-01 3 7.977589e+03 7.54e+01 2.12e+05 7.88e+01 9.43e-01 9.26e+04 1 4.32e-02 1.86e-01 4 7.953831e+03 2.38e+01 5.90e+05 2.27e+02 2.98e-01 8.69e+04 1 4.33e-02 2.29e-01 5 7.861727e+03 9.21e+01 2.07e+05 2.01e+02 8.04e-01 1.12e+05 1 4.33e-02 2.73e-01 6 7.816929e+03 4.48e+01 2.60e+05 2.44e+02 5.04e-01 1.12e+05 1 4.31e-02 3.16e-01 7 7.747739e+03 6.92e+01 2.72e+05 2.28e+02 6.62e-01 1.16e+05 1 4.45e-02 3.60e-01 8 7.688171e+03 5.96e+01 2.93e+05 2.21e+02 6.44e-01 1.19e+05 1 4.40e-02 4.04e-01 9 7.630974e+03 5.72e+01 3.04e+05 2.11e+02 6.60e-01 1.23e+05 1 4.38e-02 4.48e-01 10 7.577784e+03 5.32e+01 3.15e+05 2.03e+02 6.61e-01 1.27e+05 1 4.35e-02 4.92e-01 11 7.527468e+03 5.03e+01 3.23e+05 1.95e+02 6.67e-01 1.32e+05 1 4.34e-02 5.35e-01 12 7.480125e+03 4.73e+01 3.31e+05 1.87e+02 6.69e-01 1.37e+05 1 4.29e-02 5.78e-01 13 7.435508e+03 4.46e+01 3.37e+05 1.79e+02 6.72e-01 1.43e+05 1 4.81e-02 6.26e-01 14 7.393606e+03 4.19e+01 3.41e+05 1.71e+02 6.74e-01 1.49e+05 1 4.31e-02 6.69e-01 15 7.354360e+03 3.92e+01 3.43e+05 1.63e+02 6.75e-01 1.56e+05 1 4.31e-02 7.12e-01 16 7.317754e+03 3.66e+01 3.43e+05 1.55e+02 6.76e-01 1.63e+05 1 4.59e-02 7.58e-01 17 7.283748e+03 3.40e+01 3.41e+05 1.46e+02 6.76e-01 1.71e+05 1 4.47e-02 8.03e-01 18 7.252289e+03 3.15e+01 3.36e+05 1.37e+02 6.77e-01 1.79e+05 1 4.80e-02 8.51e-01 19 7.223287e+03 2.90e+01 3.29e+05 1.29e+02 6.77e-01 1.87e+05 1 4.33e-02 8.94e-01 20 7.196622e+03 2.67e+01 3.20e+05 1.20e+02 6.77e-01 1.95e+05 1 4.30e-02 9.37e-01 21 7.172135e+03 2.45e+01 3.10e+05 1.11e+02 6.77e-01 2.04e+05 1 4.33e-02 9.81e-01 22 7.149635e+03 2.25e+01 2.99e+05 1.02e+02 6.78e-01 2.14e+05 1 4.28e-02 1.02e+00 23 7.128905e+03 2.07e+01 2.87e+05 9.42e+01 6.78e-01 2.24e+05 1 4.28e-02 1.07e+00 24 7.109709e+03 1.92e+01 2.75e+05 8.62e+01 6.79e-01 2.35e+05 1 4.30e-02 1.11e+00 25 7.091802e+03 1.79e+01 2.63e+05 7.87e+01 6.80e-01 2.47e+05 1 4.29e-02 1.15e+00 26 7.074940e+03 1.69e+01 2.59e+05 7.18e+01 6.81e-01 2.59e+05 1 4.26e-02 1.19e+00 27 7.058887e+03 1.61e+01 2.55e+05 6.54e+01 6.82e-01 2.72e+05 1 4.28e-02 1.24e+00 28 7.043426e+03 1.55e+01 2.52e+05 5.97e+01 6.83e-01 2.86e+05 1 4.33e-02 1.28e+00 29 7.028362e+03 1.51e+01 2.51e+05 5.45e+01 6.83e-01 3.01e+05 1 4.27e-02 1.32e+00 30 7.013532e+03 1.48e+01 2.51e+05 5.00e+01 6.83e-01 3.16e+05 1 4.34e-02 1.37e+00 31 6.998804e+03 1.47e+01 2.52e+05 4.61e+01 6.81e-01 3.32e+05 1 4.26e-02 1.41e+00 32 6.984083e+03 1.47e+01 2.54e+05 4.27e+01 6.78e-01 3.48e+05 1 4.27e-02 1.45e+00 33 6.969311e+03 1.48e+01 2.56e+05 3.99e+01 6.74e-01 3.63e+05 1 4.28e-02 1.50e+00 34 6.954460e+03 1.49e+01 2.61e+05 3.76e+01 6.69e-01 3.78e+05 1 4.30e-02 1.54e+00 35 6.939533e+03 1.49e+01 2.71e+05 3.58e+01 6.63e-01 3.91e+05 1 4.28e-02 1.58e+00 36 6.924553e+03 1.50e+01 2.80e+05 3.43e+01 6.57e-01 4.04e+05 1 4.74e-02 1.63e+00 37 6.909560e+03 1.50e+01 2.88e+05 3.32e+01 6.51e-01 4.15e+05 1 4.30e-02 1.67e+00 38 6.894600e+03 1.50e+01 2.95e+05 3.23e+01 6.44e-01 4.25e+05 1 4.26e-02 1.71e+00 39 6.879727e+03 1.49e+01 3.01e+05 3.15e+01 6.37e-01 4.34e+05 1 4.29e-02 1.76e+00 40 6.864990e+03 1.47e+01 3.06e+05 3.10e+01 6.31e-01 4.42e+05 1 4.29e-02 1.80e+00 41 6.850438e+03 1.46e+01 3.10e+05 3.05e+01 6.25e-01 4.49e+05 1 4.74e-02 1.85e+00 42 6.836114e+03 1.43e+01 3.12e+05 3.02e+01 6.20e-01 4.56e+05 1 4.32e-02 1.89e+00 43 6.822057e+03 1.41e+01 3.14e+05 2.98e+01 6.15e-01 4.61e+05 1 4.27e-02 1.93e+00 44 6.808299e+03 1.38e+01 3.14e+05 2.95e+01 6.10e-01 4.66e+05 1 4.33e-02 1.98e+00 45 6.794868e+03 1.34e+01 3.14e+05 2.92e+01 6.07e-01 4.71e+05 1 4.24e-02 2.02e+00 46 6.781787e+03 1.31e+01 3.12e+05 2.89e+01 6.04e-01 4.75e+05 1 4.26e-02 2.06e+00 47 6.769075e+03 1.27e+01 3.10e+05 2.86e+01 6.01e-01 4.79e+05 1 4.23e-02 2.10e+00 48 6.756746e+03 1.23e+01 3.07e+05 2.82e+01 5.99e-01 4.83e+05 1 4.24e-02 2.15e+00 49 6.744811e+03 1.19e+01 3.04e+05 2.79e+01 5.98e-01 4.86e+05 1 4.25e-02 2.19e+00 50 6.733280e+03 1.15e+01 2.99e+05 2.76e+01 5.97e-01 4.90e+05 1 4.21e-02 2.23e+00 Bundle adjustment report ------------------------ Residuals : 29780 Parameters : 16099 Iterations : 51 Time : 2.23182 [s] Initial cost : 0.539888 [px] Final cost : 0.475501 [px] Termination : No convergence => Completed observations: 5489 => Merged observations: 300 => Filtered observations: 6 => Changed observations: 0.389187 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.010529e+04 0.00e+00 1.07e+06 0.00e+00 0.00e+00 1.00e+04 0 3.90e-02 7.18e-02 1 1.348998e+04 6.62e+03 8.12e+05 3.43e+00 9.97e-01 3.00e+04 1 6.30e-02 1.35e-01 2 1.308162e+04 4.08e+02 4.93e+05 8.86e+01 9.12e-01 6.83e+04 1 6.04e-02 1.95e-01 3 1.294602e+04 1.36e+02 8.74e+05 1.94e+02 4.90e-01 6.83e+04 1 6.00e-02 2.55e-01 4 1.275279e+04 1.93e+02 3.64e+05 1.72e+02 8.03e-01 8.79e+04 1 6.06e-02 3.16e-01 5 1.269130e+04 6.15e+01 2.21e+05 1.89e+02 5.29e-01 8.79e+04 1 6.52e-02 3.81e-01 6 1.261940e+04 7.19e+01 1.57e+05 1.61e+02 7.21e-01 9.62e+04 1 6.06e-02 4.42e-01 7 1.257532e+04 4.41e+01 1.34e+05 1.49e+02 6.85e-01 1.01e+05 1 6.03e-02 5.02e-01 8 1.253683e+04 3.85e+01 1.05e+05 1.31e+02 7.55e-01 1.17e+05 1 6.06e-02 5.63e-01 9 1.250512e+04 3.17e+01 9.45e+04 1.23e+02 7.56e-01 1.35e+05 1 6.56e-02 6.28e-01 10 1.247375e+04 3.14e+01 8.14e+04 1.13e+02 7.97e-01 1.71e+05 1 6.00e-02 6.88e-01 11 1.244254e+04 3.12e+01 1.55e+05 1.09e+02 7.76e-01 2.05e+05 1 5.99e-02 7.48e-01 12 1.241031e+04 3.22e+01 2.68e+05 9.55e+01 7.36e-01 2.29e+05 1 6.01e-02 8.08e-01 13 1.237979e+04 3.05e+01 3.80e+05 7.66e+01 6.41e-01 2.35e+05 1 6.08e-02 8.69e-01 14 1.234853e+04 3.13e+01 4.35e+05 5.71e+01 5.99e-01 2.37e+05 1 6.08e-02 9.30e-01 15 1.231768e+04 3.08e+01 4.70e+05 4.29e+01 5.61e-01 2.37e+05 1 6.01e-02 9.90e-01 16 1.228694e+04 3.07e+01 4.93e+05 3.30e+01 5.37e-01 2.37e+05 1 6.00e-02 1.05e+00 17 1.225646e+04 3.05e+01 5.09e+05 2.61e+01 5.18e-01 2.37e+05 1 5.98e-02 1.11e+00 18 1.222634e+04 3.01e+01 5.23e+05 2.13e+01 5.04e-01 2.37e+05 1 6.03e-02 1.17e+00 19 1.219662e+04 2.97e+01 5.34e+05 1.80e+01 4.91e-01 2.37e+05 1 6.12e-02 1.23e+00 20 1.216735e+04 2.93e+01 5.43e+05 1.57e+01 4.81e-01 2.37e+05 1 6.22e-02 1.29e+00 21 1.213856e+04 2.88e+01 5.49e+05 1.40e+01 4.72e-01 2.37e+05 1 6.33e-02 1.36e+00 22 1.211025e+04 2.83e+01 5.54e+05 1.28e+01 4.65e-01 2.37e+05 1 6.74e-02 1.42e+00 23 1.208244e+04 2.78e+01 5.58e+05 1.18e+01 4.58e-01 2.37e+05 1 6.21e-02 1.49e+00 24 1.205514e+04 2.73e+01 5.60e+05 1.12e+01 4.52e-01 2.37e+05 1 6.19e-02 1.55e+00 25 1.202834e+04 2.68e+01 5.61e+05 1.06e+01 4.47e-01 2.36e+05 1 6.76e-02 1.62e+00 26 1.200206e+04 2.63e+01 5.61e+05 1.02e+01 4.43e-01 2.36e+05 1 6.26e-02 1.68e+00 27 1.197631e+04 2.58e+01 5.60e+05 9.79e+00 4.40e-01 2.36e+05 1 6.15e-02 1.74e+00 28 1.195108e+04 2.52e+01 5.58e+05 9.47e+00 4.37e-01 2.35e+05 1 6.10e-02 1.80e+00 29 1.192640e+04 2.47e+01 5.55e+05 9.19e+00 4.34e-01 2.35e+05 1 6.02e-02 1.86e+00 30 1.190226e+04 2.41e+01 5.52e+05 8.95e+00 4.32e-01 2.34e+05 1 6.05e-02 1.92e+00 31 1.187867e+04 2.36e+01 5.48e+05 8.72e+00 4.31e-01 2.33e+05 1 6.04e-02 1.98e+00 32 1.185564e+04 2.30e+01 5.43e+05 8.51e+00 4.30e-01 2.33e+05 1 6.06e-02 2.04e+00 33 1.183316e+04 2.25e+01 5.38e+05 8.32e+00 4.29e-01 2.32e+05 1 6.13e-02 2.10e+00 34 1.181125e+04 2.19e+01 5.32e+05 8.13e+00 4.28e-01 2.31e+05 1 6.01e-02 2.16e+00 35 1.178989e+04 2.14e+01 5.26e+05 7.96e+00 4.28e-01 2.31e+05 1 6.03e-02 2.22e+00 36 1.176910e+04 2.08e+01 5.20e+05 7.80e+00 4.28e-01 2.30e+05 1 6.06e-02 2.29e+00 37 1.174887e+04 2.02e+01 5.13e+05 7.64e+00 4.28e-01 2.29e+05 1 6.01e-02 2.35e+00 38 1.172919e+04 1.97e+01 5.06e+05 7.50e+00 4.28e-01 2.29e+05 1 6.61e-02 2.41e+00 39 1.171007e+04 1.91e+01 4.98e+05 7.35e+00 4.29e-01 2.28e+05 1 6.08e-02 2.47e+00 40 1.169150e+04 1.86e+01 4.91e+05 7.22e+00 4.30e-01 2.27e+05 1 6.02e-02 2.53e+00 41 1.167347e+04 1.80e+01 4.83e+05 7.09e+00 4.31e-01 2.27e+05 1 6.02e-02 2.59e+00 42 1.165598e+04 1.75e+01 4.75e+05 6.96e+00 4.32e-01 2.26e+05 1 6.59e-02 2.66e+00 43 1.163903e+04 1.70e+01 4.67e+05 6.84e+00 4.33e-01 2.26e+05 1 6.05e-02 2.72e+00 44 1.162261e+04 1.64e+01 4.58e+05 6.73e+00 4.34e-01 2.25e+05 1 6.00e-02 2.78e+00 45 1.160671e+04 1.59e+01 4.50e+05 6.62e+00 4.36e-01 2.25e+05 1 6.01e-02 2.84e+00 46 1.159132e+04 1.54e+01 4.41e+05 6.51e+00 4.38e-01 2.24e+05 1 6.01e-02 2.90e+00 47 1.157644e+04 1.49e+01 4.32e+05 6.40e+00 4.40e-01 2.24e+05 1 6.02e-02 2.96e+00 48 1.156207e+04 1.44e+01 4.23e+05 6.30e+00 4.42e-01 2.23e+05 1 6.02e-02 3.02e+00 49 1.154819e+04 1.39e+01 4.14e+05 6.20e+00 4.44e-01 2.23e+05 1 6.11e-02 3.08e+00 50 1.153480e+04 1.34e+01 4.05e+05 6.10e+00 4.47e-01 2.23e+05 1 6.11e-02 3.14e+00 Bundle adjustment report ------------------------ Residuals : 40746 Parameters : 15943 Iterations : 51 Time : 3.14344 [s] Initial cost : 0.702446 [px] Final cost : 0.532062 [px] Termination : No convergence => Completed observations: 1190 => Merged observations: 146 => Filtered observations: 20 => Changed observations: 0.066559 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.572914e+04 0.00e+00 3.88e+05 0.00e+00 0.00e+00 1.00e+04 0 4.11e-02 7.41e-02 1 1.360178e+04 2.13e+03 8.28e+04 2.57e+00 9.99e-01 3.00e+04 1 6.66e-02 1.41e-01 2 1.353302e+04 6.88e+01 2.23e+05 2.08e+01 9.23e-01 7.59e+04 1 6.64e-02 2.07e-01 3 1.347835e+04 5.47e+01 2.66e+05 4.71e+01 7.65e-01 8.92e+04 1 6.71e-02 2.74e-01 4 1.343766e+04 4.07e+01 3.84e+05 4.58e+01 6.95e-01 9.48e+04 1 6.44e-02 3.39e-01 5 1.340633e+04 3.13e+01 4.30e+05 4.00e+01 5.95e-01 9.55e+04 1 6.40e-02 4.03e-01 6 1.337431e+04 3.20e+01 4.31e+05 3.34e+01 6.01e-01 9.63e+04 1 6.87e-02 4.71e-01 7 1.334383e+04 3.05e+01 4.32e+05 2.83e+01 5.87e-01 9.68e+04 1 6.44e-02 5.36e-01 8 1.331420e+04 2.96e+01 4.32e+05 2.41e+01 5.81e-01 9.72e+04 1 6.48e-02 6.01e-01 9 1.328541e+04 2.88e+01 4.30e+05 2.07e+01 5.76e-01 9.75e+04 1 6.40e-02 6.65e-01 10 1.325743e+04 2.80e+01 4.27e+05 1.80e+01 5.72e-01 9.78e+04 1 6.40e-02 7.29e-01 11 1.323026e+04 2.72e+01 4.22e+05 1.58e+01 5.70e-01 9.81e+04 1 6.39e-02 7.93e-01 12 1.320393e+04 2.63e+01 4.17e+05 1.41e+01 5.68e-01 9.83e+04 1 6.39e-02 8.57e-01 13 1.317844e+04 2.55e+01 4.11e+05 1.26e+01 5.68e-01 9.86e+04 1 6.46e-02 9.21e-01 14 1.315382e+04 2.46e+01 4.04e+05 1.15e+01 5.68e-01 9.88e+04 1 6.54e-02 9.87e-01 15 1.313007e+04 2.37e+01 3.96e+05 1.06e+01 5.69e-01 9.91e+04 1 6.54e-02 1.05e+00 16 1.310721e+04 2.29e+01 3.87e+05 9.79e+00 5.71e-01 9.94e+04 1 6.51e-02 1.12e+00 17 1.308524e+04 2.20e+01 3.78e+05 9.17e+00 5.73e-01 9.97e+04 1 6.50e-02 1.18e+00 18 1.306416e+04 2.11e+01 3.68e+05 8.65e+00 5.76e-01 1.00e+05 1 6.99e-02 1.25e+00 19 1.304399e+04 2.02e+01 3.58e+05 8.23e+00 5.79e-01 1.00e+05 1 6.47e-02 1.32e+00 20 1.302471e+04 1.93e+01 3.48e+05 7.88e+00 5.82e-01 1.01e+05 1 6.41e-02 1.38e+00 21 1.300631e+04 1.84e+01 3.37e+05 7.58e+00 5.85e-01 1.01e+05 1 6.91e-02 1.45e+00 22 1.298879e+04 1.75e+01 3.27e+05 7.33e+00 5.89e-01 1.02e+05 1 6.66e-02 1.52e+00 23 1.297214e+04 1.67e+01 3.16e+05 7.12e+00 5.93e-01 1.03e+05 1 6.43e-02 1.58e+00 24 1.295633e+04 1.58e+01 3.05e+05 6.93e+00 5.97e-01 1.03e+05 1 6.43e-02 1.65e+00 25 1.294136e+04 1.50e+01 2.95e+05 6.77e+00 6.02e-01 1.04e+05 1 6.45e-02 1.71e+00 26 1.292719e+04 1.42e+01 2.84e+05 6.63e+00 6.06e-01 1.05e+05 1 6.41e-02 1.77e+00 27 1.291382e+04 1.34e+01 2.74e+05 6.51e+00 6.10e-01 1.06e+05 1 6.40e-02 1.84e+00 28 1.290121e+04 1.26e+01 2.63e+05 6.39e+00 6.14e-01 1.08e+05 1 6.46e-02 1.90e+00 29 1.288935e+04 1.19e+01 2.53e+05 6.29e+00 6.18e-01 1.09e+05 1 6.42e-02 1.97e+00 30 1.287820e+04 1.11e+01 2.44e+05 6.19e+00 6.22e-01 1.11e+05 1 6.40e-02 2.03e+00 31 1.286775e+04 1.05e+01 2.34e+05 6.10e+00 6.26e-01 1.13e+05 1 6.51e-02 2.10e+00 32 1.285797e+04 9.78e+00 2.24e+05 6.02e+00 6.30e-01 1.15e+05 1 6.41e-02 2.16e+00 33 1.284883e+04 9.14e+00 2.15e+05 5.93e+00 6.34e-01 1.17e+05 1 6.40e-02 2.22e+00 34 1.284032e+04 8.52e+00 2.06e+05 5.85e+00 6.38e-01 1.19e+05 1 6.91e-02 2.29e+00 35 1.283240e+04 7.92e+00 1.97e+05 5.77e+00 6.42e-01 1.22e+05 1 6.46e-02 2.36e+00 36 1.282505e+04 7.34e+00 1.88e+05 5.69e+00 6.45e-01 1.25e+05 1 6.42e-02 2.42e+00 37 1.281826e+04 6.79e+00 1.80e+05 5.61e+00 6.49e-01 1.29e+05 1 6.88e-02 2.49e+00 38 1.281200e+04 6.26e+00 1.71e+05 5.52e+00 6.53e-01 1.32e+05 1 6.51e-02 2.56e+00 39 1.280624e+04 5.76e+00 1.63e+05 5.43e+00 6.56e-01 1.36e+05 1 6.44e-02 2.62e+00 40 1.280097e+04 5.27e+00 1.54e+05 5.34e+00 6.60e-01 1.41e+05 1 6.42e-02 2.68e+00 41 1.279616e+04 4.81e+00 1.46e+05 5.24e+00 6.64e-01 1.46e+05 1 6.41e-02 2.75e+00 42 1.279179e+04 4.37e+00 1.38e+05 5.14e+00 6.68e-01 1.52e+05 1 6.43e-02 2.81e+00 43 1.278785e+04 3.95e+00 1.30e+05 5.04e+00 6.72e-01 1.59e+05 1 6.42e-02 2.88e+00 44 1.278430e+04 3.55e+00 1.22e+05 4.92e+00 6.76e-01 1.66e+05 1 6.47e-02 2.94e+00 45 1.278112e+04 3.17e+00 1.14e+05 4.80e+00 6.81e-01 1.74e+05 1 6.44e-02 3.01e+00 46 1.277830e+04 2.82e+00 1.07e+05 4.67e+00 6.85e-01 1.83e+05 1 6.47e-02 3.07e+00 47 1.277582e+04 2.49e+00 9.90e+04 4.54e+00 6.90e-01 1.94e+05 1 6.51e-02 3.14e+00 48 1.277365e+04 2.17e+00 9.15e+04 4.39e+00 6.95e-01 2.06e+05 1 6.47e-02 3.20e+00 49 1.277176e+04 1.88e+00 8.41e+04 4.24e+00 7.01e-01 2.21e+05 1 6.86e-02 3.27e+00 50 1.277015e+04 1.62e+00 7.68e+04 4.07e+00 7.06e-01 2.37e+05 1 6.48e-02 3.33e+00 Bundle adjustment report ------------------------ Residuals : 43086 Parameters : 15877 Iterations : 51 Time : 3.33544 [s] Initial cost : 0.604205 [px] Final cost : 0.544415 [px] Termination : No convergence => Completed observations: 640 => Merged observations: 26 => Filtered observations: 11 => Changed observations: 0.031426 => Filtered images: 0 ============================================================================== Registering image #11 (26) ============================================================================== => Image sees 711 / 2882 points Pose refinement report ---------------------- Residuals : 1278 Parameters : 6 Iterations : 7 Time : 0.008847 [s] Initial cost : 0.565118 [px] Final cost : 0.495112 [px] Termination : Convergence => Continued observations: 633 => Added observations: 3775 Bundle adjustment report ------------------------ Residuals : 44240 Parameters : 15128 Iterations : 26 Time : 0.91203 [s] Initial cost : 1.48904 [px] Final cost : 1.39434 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 440 => Filtered observations: 1177 => Changed observations: 0.074076 Bundle adjustment report ------------------------ Residuals : 42772 Parameters : 14858 Iterations : 22 Time : 0.738046 [s] Initial cost : 0.667653 [px] Final cost : 0.573004 [px] Termination : Convergence => Merged observations: 39 => Completed observations: 954 => Filtered observations: 13 => Changed observations: 0.046968 ============================================================================== Retriangulation ============================================================================== => Completed observations: 61 => Merged observations: 0 => Retriangulated observations: 1338 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.096948e+07 0.00e+00 5.61e+07 0.00e+00 0.00e+00 1.00e+04 0 4.72e-02 9.17e-02 1 7.929063e+07 -6.83e+07 0.00e+00 7.95e+02 -9.04e+00 5.00e+03 1 3.74e-02 1.29e-01 2 3.068596e+07 -1.97e+07 0.00e+00 6.08e+02 -2.67e+00 1.25e+03 1 3.14e-02 1.60e-01 3 6.856659e+06 4.11e+06 3.30e+08 4.21e+02 5.89e-01 1.26e+03 1 7.35e-02 2.34e-01 4 3.950911e+06 2.91e+06 6.10e+07 4.84e+00 9.33e-01 3.58e+03 1 7.42e-02 3.08e-01 5 4.715363e+06 -7.64e+05 0.00e+00 4.14e+01 -1.76e+00 1.79e+03 1 3.68e-02 3.45e-01 6 3.781652e+06 1.69e+05 4.80e+07 1.03e+01 4.79e-01 1.79e+03 1 7.39e-02 4.19e-01 7 3.570589e+06 2.11e+05 3.84e+07 2.83e+01 7.63e-01 2.09e+03 1 7.49e-02 4.94e-01 8 3.479383e+06 9.12e+04 3.71e+07 4.82e+01 6.33e-01 2.14e+03 1 7.63e-02 5.70e-01 9 3.381664e+06 9.77e+04 2.31e+07 6.24e+01 8.42e-01 3.14e+03 1 7.47e-02 6.45e-01 10 3.306449e+06 7.52e+04 1.67e+07 1.06e+02 8.40e-01 4.59e+03 1 7.53e-02 7.20e-01 11 3.228704e+06 7.77e+04 1.10e+07 1.48e+02 8.72e-01 7.81e+03 1 7.50e-02 7.95e-01 12 3.160148e+06 6.86e+04 1.04e+07 1.51e+02 8.00e-01 9.97e+03 1 7.52e-02 8.71e-01 13 3.093610e+06 6.65e+04 6.35e+06 5.86e+01 9.26e-01 2.62e+04 1 7.46e-02 9.45e-01 14 3.061378e+06 3.22e+04 1.63e+07 7.63e+01 4.63e-01 2.62e+04 1 7.43e-02 1.02e+00 15 2.987326e+06 7.41e+04 6.93e+06 2.47e+02 9.74e-01 7.87e+04 1 7.46e-02 1.09e+00 16 3.027414e+06 -4.01e+04 0.00e+00 9.24e+02 -8.24e-01 3.93e+04 1 2.93e-02 1.12e+00 17 2.951849e+06 3.55e+04 5.14e+06 5.67e+02 9.00e-01 8.04e+04 1 8.06e-02 1.20e+00 18 3.103438e+06 -1.52e+05 0.00e+00 1.31e+03 -2.50e+00 4.02e+04 1 2.95e-02 1.23e+00 19 2.920203e+06 3.16e+04 1.19e+07 8.21e+02 6.22e-01 4.08e+04 1 7.34e-02 1.31e+00 20 2.881156e+06 3.90e+04 3.02e+07 8.77e+02 4.20e-01 4.06e+04 1 8.29e-02 1.39e+00 21 2.777759e+06 1.03e+05 1.28e+07 8.90e+02 7.74e-01 4.87e+04 1 7.61e-02 1.47e+00 22 2.714547e+06 6.32e+04 1.30e+07 8.40e+02 6.87e-01 5.14e+04 1 7.65e-02 1.54e+00 23 2.659407e+06 5.51e+04 8.72e+06 7.34e+02 8.40e-01 7.51e+04 1 7.88e-02 1.62e+00 24 2.663915e+06 -4.51e+03 0.00e+00 5.98e+02 -1.02e-01 3.75e+04 1 3.13e-02 1.65e+00 25 2.627819e+06 3.16e+04 1.78e+07 4.35e+02 8.04e-01 4.84e+04 1 7.61e-02 1.73e+00 26 2.609523e+06 1.83e+04 2.69e+07 3.31e+02 4.96e-01 4.84e+04 1 7.87e-02 1.81e+00 27 2.589969e+06 1.96e+04 2.90e+07 1.40e+02 4.07e-01 4.81e+04 1 7.80e-02 1.89e+00 28 2.560833e+06 2.91e+04 2.14e+07 2.76e+01 5.51e-01 4.81e+04 1 7.88e-02 1.96e+00 29 2.539599e+06 2.12e+04 2.07e+07 2.54e+01 4.93e-01 4.81e+04 1 8.32e-02 2.05e+00 30 2.520578e+06 1.90e+04 2.21e+07 4.00e+01 5.21e-01 4.81e+04 1 7.64e-02 2.12e+00 31 2.505683e+06 1.49e+04 2.11e+07 3.93e+01 5.15e-01 4.81e+04 1 8.33e-02 2.21e+00 32 2.492981e+06 1.27e+04 1.87e+07 3.35e+01 5.55e-01 4.82e+04 1 7.59e-02 2.28e+00 33 2.482935e+06 1.00e+04 1.58e+07 2.70e+01 5.84e-01 4.84e+04 1 8.18e-02 2.37e+00 34 2.475053e+06 7.88e+03 1.31e+07 2.17e+01 6.17e-01 4.90e+04 1 7.56e-02 2.44e+00 35 2.468992e+06 6.06e+03 1.08e+07 1.81e+01 6.42e-01 5.02e+04 1 7.50e-02 2.52e+00 36 2.464244e+06 4.75e+03 9.05e+06 1.60e+01 6.64e-01 5.20e+04 1 7.58e-02 2.59e+00 37 2.460475e+06 3.77e+03 7.67e+06 1.52e+01 6.80e-01 5.46e+04 1 7.44e-02 2.67e+00 38 2.457405e+06 3.07e+03 6.60e+06 1.52e+01 6.94e-01 5.80e+04 1 7.50e-02 2.74e+00 39 2.454871e+06 2.53e+03 5.76e+06 1.57e+01 7.03e-01 6.21e+04 1 7.43e-02 2.82e+00 40 2.452749e+06 2.12e+03 5.06e+06 1.65e+01 7.11e-01 6.72e+04 1 7.76e-02 2.89e+00 41 2.450968e+06 1.78e+03 4.47e+06 1.75e+01 7.16e-01 7.31e+04 1 7.56e-02 2.97e+00 42 2.449468e+06 1.50e+03 3.95e+06 1.85e+01 7.22e-01 8.01e+04 1 7.48e-02 3.04e+00 43 2.448215e+06 1.25e+03 3.48e+06 1.95e+01 7.25e-01 8.81e+04 1 7.45e-02 3.12e+00 44 2.447173e+06 1.04e+03 3.04e+06 2.05e+01 7.30e-01 9.77e+04 1 8.12e-02 3.20e+00 45 2.446319e+06 8.55e+02 2.64e+06 2.16e+01 7.33e-01 1.09e+05 1 7.62e-02 3.28e+00 46 2.445624e+06 6.95e+02 2.26e+06 2.29e+01 7.38e-01 1.22e+05 1 7.67e-02 3.35e+00 47 2.445070e+06 5.54e+02 1.91e+06 2.47e+01 7.41e-01 1.37e+05 1 8.38e-02 3.44e+00 48 2.444633e+06 4.37e+02 1.57e+06 2.70e+01 7.46e-01 1.56e+05 1 7.80e-02 3.51e+00 49 2.444296e+06 3.37e+02 1.27e+06 3.02e+01 7.47e-01 1.77e+05 1 7.80e-02 3.59e+00 50 2.444038e+06 2.58e+02 9.96e+05 3.41e+01 7.54e-01 2.04e+05 1 7.67e-02 3.67e+00 Bundle adjustment report ------------------------ Residuals : 56366 Parameters : 21235 Iterations : 51 Time : 3.67033 [s] Initial cost : 13.9503 [px] Final cost : 6.58484 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 21 => Filtered observations: 11723 => Changed observations: 0.416705 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.611388e+04 0.00e+00 2.52e+06 0.00e+00 0.00e+00 1.00e+04 0 3.26e-02 6.03e-02 1 2.411471e+04 1.20e+04 3.52e+06 7.03e+01 8.78e-01 1.76e+04 1 5.10e-02 1.11e-01 2 2.111480e+04 3.00e+03 6.36e+05 1.73e+01 9.70e-01 5.29e+04 1 4.87e-02 1.60e-01 3 2.029776e+04 8.17e+02 2.08e+06 1.44e+02 5.08e-01 5.29e+04 1 4.89e-02 2.09e-01 4 1.932441e+04 9.73e+02 1.47e+06 1.50e+02 6.76e-01 5.53e+04 1 4.92e-02 2.58e-01 5 1.892369e+04 4.01e+02 2.12e+06 1.59e+02 4.74e-01 5.53e+04 1 4.82e-02 3.07e-01 6 1.870096e+04 2.23e+02 2.81e+06 1.60e+02 3.11e-01 5.25e+04 1 4.88e-02 3.55e-01 7 1.856527e+04 1.36e+02 3.36e+06 1.54e+02 1.91e-01 4.24e+04 1 4.83e-02 4.04e-01 8 1.823422e+04 3.31e+02 2.95e+06 1.27e+02 4.46e-01 4.24e+04 1 4.85e-02 4.52e-01 9 1.823152e+04 2.71e+00 3.51e+06 1.29e+02 4.71e-03 2.15e+04 1 5.34e-02 5.06e-01 10 1.764462e+04 5.87e+02 1.26e+06 6.65e+01 8.91e-01 4.12e+04 1 4.77e-02 5.53e-01 11 1.820589e+04 -5.61e+02 0.00e+00 1.29e+02 -2.49e+00 2.06e+04 1 1.74e-02 5.71e-01 12 1.755446e+04 9.02e+01 1.17e+06 6.48e+01 5.90e-01 2.07e+04 1 4.72e-02 6.18e-01 13 1.748412e+04 7.03e+01 1.26e+06 6.58e+01 4.90e-01 2.07e+04 1 5.02e-02 6.68e-01 14 1.741249e+04 7.16e+01 1.33e+06 6.62e+01 4.66e-01 2.07e+04 1 4.92e-02 7.17e-01 15 1.733924e+04 7.32e+01 1.38e+06 6.65e+01 4.53e-01 2.07e+04 1 4.80e-02 7.65e-01 16 1.726353e+04 7.57e+01 1.40e+06 6.68e+01 4.53e-01 2.07e+04 1 4.75e-02 8.13e-01 17 1.718524e+04 7.83e+01 1.38e+06 6.69e+01 4.65e-01 2.07e+04 1 4.76e-02 8.61e-01 18 1.710492e+04 8.03e+01 1.33e+06 6.70e+01 4.87e-01 2.07e+04 1 4.68e-02 9.07e-01 19 1.702360e+04 8.13e+01 1.26e+06 6.71e+01 5.16e-01 2.07e+04 1 4.76e-02 9.55e-01 20 1.694266e+04 8.09e+01 1.16e+06 6.70e+01 5.51e-01 2.07e+04 1 4.74e-02 1.00e+00 21 1.686372e+04 7.89e+01 1.05e+06 6.70e+01 5.89e-01 2.08e+04 1 4.81e-02 1.05e+00 22 1.678808e+04 7.56e+01 9.52e+05 6.73e+01 6.25e-01 2.12e+04 1 4.93e-02 1.10e+00 23 1.671610e+04 7.20e+01 8.65e+05 6.81e+01 6.56e-01 2.18e+04 1 4.73e-02 1.15e+00 24 1.664697e+04 6.91e+01 7.98e+05 7.00e+01 6.79e-01 2.29e+04 1 4.74e-02 1.19e+00 25 1.657927e+04 6.77e+01 7.51e+05 7.30e+01 6.98e-01 2.44e+04 1 4.76e-02 1.24e+00 26 1.651148e+04 6.78e+01 7.20e+05 7.74e+01 7.12e-01 2.64e+04 1 4.74e-02 1.29e+00 27 1.644215e+04 6.93e+01 7.01e+05 8.32e+01 7.23e-01 2.89e+04 1 4.73e-02 1.34e+00 28 1.637002e+04 7.21e+01 6.89e+05 9.04e+01 7.31e-01 3.21e+04 1 4.73e-02 1.38e+00 29 1.629392e+04 7.61e+01 6.81e+05 9.92e+01 7.38e-01 3.60e+04 1 4.76e-02 1.43e+00 30 1.621282e+04 8.11e+01 6.73e+05 1.10e+02 7.42e-01 4.06e+04 1 4.73e-02 1.48e+00 31 1.612588e+04 8.69e+01 6.61e+05 1.22e+02 7.44e-01 4.59e+04 1 5.22e-02 1.53e+00 32 1.603251e+04 9.34e+01 6.43e+05 1.35e+02 7.42e-01 5.18e+04 1 4.73e-02 1.58e+00 33 1.593259e+04 9.99e+01 6.14e+05 1.48e+02 7.37e-01 5.79e+04 1 4.89e-02 1.63e+00 34 1.582649e+04 1.06e+02 5.73e+05 1.61e+02 7.29e-01 6.41e+04 1 4.94e-02 1.68e+00 35 1.571501e+04 1.11e+02 5.21e+05 1.72e+02 7.19e-01 7.00e+04 1 5.09e-02 1.73e+00 36 1.559914e+04 1.16e+02 4.65e+05 1.80e+02 7.10e-01 7.56e+04 1 4.77e-02 1.78e+00 37 1.547997e+04 1.19e+02 4.10e+05 1.85e+02 7.03e-01 8.10e+04 1 4.79e-02 1.82e+00 38 1.535850e+04 1.21e+02 3.60e+05 1.89e+02 6.98e-01 8.64e+04 1 4.70e-02 1.87e+00 39 1.523565e+04 1.23e+02 3.17e+05 1.90e+02 6.96e-01 9.20e+04 1 4.69e-02 1.92e+00 40 1.511216e+04 1.23e+02 2.96e+05 1.90e+02 6.96e-01 9.79e+04 1 4.70e-02 1.96e+00 41 1.498861e+04 1.24e+02 2.84e+05 1.88e+02 6.99e-01 1.04e+05 1 4.82e-02 2.01e+00 42 1.486538e+04 1.23e+02 2.73e+05 1.86e+02 7.03e-01 1.12e+05 1 4.68e-02 2.06e+00 43 1.474268e+04 1.23e+02 2.64e+05 1.83e+02 7.08e-01 1.21e+05 1 4.76e-02 2.11e+00 44 1.462059e+04 1.22e+02 2.57e+05 1.80e+02 7.14e-01 1.31e+05 1 4.73e-02 2.16e+00 45 1.449903e+04 1.22e+02 2.52e+05 1.76e+02 7.21e-01 1.43e+05 1 4.72e-02 2.20e+00 46 1.437786e+04 1.21e+02 2.50e+05 1.72e+02 7.28e-01 1.58e+05 1 4.77e-02 2.25e+00 47 1.425694e+04 1.21e+02 2.52e+05 1.66e+02 7.35e-01 1.77e+05 1 5.93e-02 2.31e+00 48 1.413627e+04 1.21e+02 2.57e+05 1.60e+02 7.41e-01 1.99e+05 1 4.94e-02 2.36e+00 49 1.401622e+04 1.20e+02 2.64e+05 1.52e+02 7.43e-01 2.25e+05 1 4.73e-02 2.41e+00 50 1.389779e+04 1.18e+02 2.73e+05 1.41e+02 7.39e-01 2.52e+05 1 4.73e-02 2.45e+00 Bundle adjustment report ------------------------ Residuals : 32916 Parameters : 15898 Iterations : 51 Time : 2.45411 [s] Initial cost : 1.04745 [px] Final cost : 0.649784 [px] Termination : No convergence => Completed observations: 1871 => Merged observations: 17 => Filtered observations: 53 => Changed observations: 0.117937 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.898121e+04 0.00e+00 5.94e+05 0.00e+00 0.00e+00 1.00e+04 0 3.52e-02 6.81e-02 1 1.587813e+04 3.10e+03 4.87e+05 5.13e+00 9.89e-01 3.00e+04 1 5.59e-02 1.24e-01 2 1.603789e+04 -1.60e+02 0.00e+00 2.89e+01 -2.50e-01 1.50e+04 1 1.98e-02 1.44e-01 3 1.552747e+04 3.51e+02 6.85e+05 1.40e+01 8.37e-01 2.16e+04 1 5.54e-02 1.99e-01 4 1.530799e+04 2.19e+02 1.14e+06 2.25e+01 5.45e-01 2.17e+04 1 5.58e-02 2.55e-01 5 1.499877e+04 3.09e+02 9.28e+05 2.06e+01 7.26e-01 2.39e+04 1 5.36e-02 3.09e-01 6 1.478105e+04 2.18e+02 8.98e+05 2.02e+01 6.72e-01 2.49e+04 1 5.36e-02 3.62e-01 7 1.457580e+04 2.05e+02 7.62e+05 1.88e+01 7.29e-01 2.75e+04 1 5.34e-02 4.16e-01 8 1.440710e+04 1.69e+02 7.11e+05 1.84e+01 7.15e-01 2.99e+04 1 5.35e-02 4.69e-01 9 1.424840e+04 1.59e+02 6.28e+05 1.76e+01 7.47e-01 3.40e+04 1 5.39e-02 5.23e-01 10 1.410504e+04 1.43e+02 5.91e+05 1.74e+01 7.43e-01 3.84e+04 1 5.37e-02 5.77e-01 11 1.396461e+04 1.40e+02 5.35e+05 1.68e+01 7.64e-01 4.50e+04 1 5.33e-02 6.30e-01 12 1.382846e+04 1.36e+02 5.07e+05 1.66e+01 7.61e-01 5.25e+04 1 5.32e-02 6.84e-01 13 1.368869e+04 1.40e+02 4.64e+05 1.59e+01 7.74e-01 6.29e+04 1 5.34e-02 7.37e-01 14 1.354575e+04 1.43e+02 4.38e+05 1.50e+01 7.65e-01 7.39e+04 1 5.32e-02 7.90e-01 15 1.339457e+04 1.51e+02 4.00e+05 1.32e+01 7.65e-01 8.68e+04 1 5.34e-02 8.44e-01 16 1.323785e+04 1.57e+02 4.21e+05 1.09e+01 7.45e-01 9.84e+04 1 5.34e-02 8.97e-01 17 1.307408e+04 1.64e+02 4.68e+05 7.90e+00 7.33e-01 1.09e+05 1 5.34e-02 9.50e-01 18 1.290832e+04 1.66e+02 5.06e+05 4.67e+00 7.10e-01 1.18e+05 1 5.31e-02 1.00e+00 19 1.274069e+04 1.68e+02 5.21e+05 1.54e+00 6.96e-01 1.26e+05 1 5.75e-02 1.06e+00 20 1.257515e+04 1.66e+02 5.28e+05 1.45e+00 6.80e-01 1.32e+05 1 5.31e-02 1.11e+00 21 1.241218e+04 1.63e+02 5.26e+05 3.85e+00 6.69e-01 1.37e+05 1 5.34e-02 1.17e+00 22 1.225360e+04 1.59e+02 5.24e+05 5.88e+00 6.59e-01 1.42e+05 1 5.84e-02 1.23e+00 23 1.209986e+04 1.54e+02 5.46e+05 7.54e+00 6.53e-01 1.46e+05 1 5.36e-02 1.28e+00 24 1.195155e+04 1.48e+02 5.60e+05 8.90e+00 6.48e-01 1.50e+05 1 5.98e-02 1.34e+00 25 1.180885e+04 1.43e+02 5.68e+05 1.00e+01 6.45e-01 1.54e+05 1 5.35e-02 1.39e+00 26 1.167183e+04 1.37e+02 5.70e+05 1.10e+01 6.42e-01 1.57e+05 1 5.34e-02 1.45e+00 27 1.154048e+04 1.31e+02 5.68e+05 1.18e+01 6.41e-01 1.61e+05 1 5.32e-02 1.50e+00 28 1.141468e+04 1.26e+02 5.64e+05 1.25e+01 6.41e-01 1.65e+05 1 5.39e-02 1.55e+00 29 1.129429e+04 1.20e+02 5.58e+05 1.32e+01 6.41e-01 1.69e+05 1 5.32e-02 1.61e+00 30 1.117912e+04 1.15e+02 5.50e+05 1.38e+01 6.42e-01 1.72e+05 1 5.44e-02 1.66e+00 31 1.106899e+04 1.10e+02 5.40e+05 1.44e+01 6.43e-01 1.77e+05 1 5.32e-02 1.71e+00 32 1.096371e+04 1.05e+02 5.30e+05 1.51e+01 6.44e-01 1.81e+05 1 5.40e-02 1.77e+00 33 1.086307e+04 1.01e+02 5.20e+05 1.57e+01 6.45e-01 1.85e+05 1 5.36e-02 1.82e+00 34 1.076689e+04 9.62e+01 5.09e+05 1.63e+01 6.47e-01 1.90e+05 1 5.33e-02 1.88e+00 35 1.067500e+04 9.19e+01 4.97e+05 1.70e+01 6.49e-01 1.95e+05 1 5.33e-02 1.93e+00 36 1.058723e+04 8.78e+01 4.85e+05 1.77e+01 6.51e-01 2.01e+05 1 5.33e-02 1.98e+00 37 1.050340e+04 8.38e+01 4.73e+05 1.84e+01 6.54e-01 2.07e+05 1 5.30e-02 2.04e+00 38 1.042338e+04 8.00e+01 4.60e+05 1.91e+01 6.56e-01 2.14e+05 1 5.82e-02 2.09e+00 39 1.034702e+04 7.64e+01 4.46e+05 1.99e+01 6.59e-01 2.21e+05 1 5.32e-02 2.15e+00 40 1.027419e+04 7.28e+01 4.32e+05 2.07e+01 6.63e-01 2.29e+05 1 5.33e-02 2.20e+00 41 1.020476e+04 6.94e+01 4.18e+05 2.15e+01 6.67e-01 2.37e+05 1 5.79e-02 2.26e+00 42 1.013861e+04 6.62e+01 4.02e+05 2.23e+01 6.71e-01 2.47e+05 1 5.37e-02 2.31e+00 43 1.007562e+04 6.30e+01 3.86e+05 2.32e+01 6.76e-01 2.59e+05 1 5.38e-02 2.37e+00 44 1.001568e+04 5.99e+01 3.68e+05 2.41e+01 6.82e-01 2.72e+05 1 5.33e-02 2.42e+00 45 9.958682e+03 5.70e+01 3.49e+05 2.51e+01 6.88e-01 2.87e+05 1 5.33e-02 2.47e+00 46 9.904528e+03 5.42e+01 3.29e+05 2.61e+01 6.94e-01 3.05e+05 1 5.41e-02 2.53e+00 47 9.853118e+03 5.14e+01 3.08e+05 2.72e+01 7.01e-01 3.26e+05 1 5.35e-02 2.58e+00 48 9.804367e+03 4.88e+01 2.84e+05 2.84e+01 7.08e-01 3.51e+05 1 5.30e-02 2.63e+00 49 9.758209e+03 4.62e+01 2.58e+05 2.97e+01 7.16e-01 3.82e+05 1 5.31e-02 2.69e+00 50 9.714606e+03 4.36e+01 2.30e+05 3.11e+01 7.23e-01 4.19e+05 1 5.36e-02 2.74e+00 Bundle adjustment report ------------------------ Residuals : 36552 Parameters : 15859 Iterations : 51 Time : 2.74052 [s] Initial cost : 0.72062 [px] Final cost : 0.515534 [px] Termination : No convergence => Completed observations: 1917 => Merged observations: 5 => Filtered observations: 7 => Changed observations: 0.105548 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.600761e+04 0.00e+00 4.42e+05 0.00e+00 0.00e+00 1.00e+04 0 3.94e-02 7.04e-02 1 1.313333e+04 2.87e+03 1.53e+05 6.54e+00 1.00e+00 3.00e+04 1 6.45e-02 1.35e-01 2 1.297272e+04 1.61e+02 3.25e+05 2.75e+01 9.53e-01 9.00e+04 1 6.00e-02 1.95e-01 3 1.281054e+04 1.62e+02 1.57e+05 5.92e+01 9.42e-01 2.70e+05 1 5.93e-02 2.54e-01 4 1.269370e+04 1.17e+02 5.06e+05 1.00e+02 4.44e-01 2.70e+05 1 6.37e-02 3.18e-01 5 1.246455e+04 2.29e+02 4.40e+05 5.26e+01 6.94e-01 2.86e+05 1 5.98e-02 3.78e-01 6 1.233337e+04 1.31e+02 5.97e+05 1.98e+01 5.15e-01 2.86e+05 1 5.92e-02 4.37e-01 7 1.220314e+04 1.30e+02 6.69e+05 4.59e+00 5.22e-01 2.86e+05 1 6.50e-02 5.02e-01 8 1.208577e+04 1.17e+02 7.01e+05 2.06e+01 5.23e-01 2.86e+05 1 5.97e-02 5.62e-01 9 1.198074e+04 1.05e+02 6.82e+05 3.07e+01 5.37e-01 2.87e+05 1 6.10e-02 6.23e-01 10 1.188894e+04 9.18e+01 6.38e+05 3.66e+01 5.54e-01 2.87e+05 1 6.09e-02 6.84e-01 11 1.181014e+04 7.88e+01 5.86e+05 3.98e+01 5.71e-01 2.88e+05 1 6.03e-02 7.44e-01 12 1.174315e+04 6.70e+01 5.33e+05 4.11e+01 5.88e-01 2.89e+05 1 7.43e-02 8.18e-01 13 1.168638e+04 5.68e+01 4.83e+05 4.12e+01 6.03e-01 2.92e+05 1 6.20e-02 8.80e-01 14 1.163817e+04 4.82e+01 4.39e+05 4.05e+01 6.17e-01 2.96e+05 1 5.98e-02 9.40e-01 15 1.159704e+04 4.11e+01 4.01e+05 3.93e+01 6.28e-01 3.01e+05 1 6.06e-02 1.00e+00 16 1.156172e+04 3.53e+01 3.68e+05 3.79e+01 6.38e-01 3.07e+05 1 6.01e-02 1.06e+00 17 1.153118e+04 3.05e+01 3.39e+05 3.63e+01 6.47e-01 3.15e+05 1 5.96e-02 1.12e+00 18 1.150463e+04 2.66e+01 3.15e+05 3.46e+01 6.53e-01 3.25e+05 1 6.05e-02 1.18e+00 19 1.148142e+04 2.32e+01 2.93e+05 3.29e+01 6.59e-01 3.35e+05 1 5.97e-02 1.24e+00 20 1.146106e+04 2.04e+01 2.74e+05 3.12e+01 6.64e-01 3.48e+05 1 6.37e-02 1.30e+00 21 1.144314e+04 1.79e+01 2.56e+05 2.95e+01 6.69e-01 3.62e+05 1 6.12e-02 1.37e+00 22 1.142735e+04 1.58e+01 2.40e+05 2.78e+01 6.72e-01 3.77e+05 1 6.12e-02 1.43e+00 23 1.141344e+04 1.39e+01 2.25e+05 2.61e+01 6.76e-01 3.94e+05 1 7.49e-02 1.50e+00 24 1.140119e+04 1.23e+01 2.11e+05 2.44e+01 6.80e-01 4.13e+05 1 6.88e-02 1.57e+00 25 1.139042e+04 1.08e+01 1.97e+05 2.28e+01 6.83e-01 4.35e+05 1 6.25e-02 1.63e+00 26 1.138097e+04 9.45e+00 1.84e+05 2.12e+01 6.87e-01 4.59e+05 1 6.16e-02 1.70e+00 27 1.137270e+04 8.27e+00 1.72e+05 1.97e+01 6.90e-01 4.85e+05 1 6.16e-02 1.76e+00 28 1.136550e+04 7.20e+00 1.60e+05 1.82e+01 6.94e-01 5.15e+05 1 6.12e-02 1.82e+00 29 1.135925e+04 6.25e+00 1.48e+05 1.67e+01 6.98e-01 5.50e+05 1 6.11e-02 1.88e+00 30 1.135387e+04 5.38e+00 1.37e+05 1.54e+01 7.02e-01 5.89e+05 1 6.13e-02 1.94e+00 31 1.134926e+04 4.61e+00 1.26e+05 1.40e+01 7.07e-01 6.34e+05 1 6.18e-02 2.00e+00 32 1.134534e+04 3.92e+00 1.15e+05 1.27e+01 7.12e-01 6.86e+05 1 6.08e-02 2.06e+00 33 1.134204e+04 3.30e+00 1.04e+05 1.15e+01 7.18e-01 7.48e+05 1 6.00e-02 2.12e+00 34 1.133930e+04 2.74e+00 9.39e+04 1.04e+01 7.24e-01 8.22e+05 1 5.97e-02 2.18e+00 35 1.133705e+04 2.25e+00 8.39e+04 9.25e+00 7.31e-01 9.11e+05 1 5.97e-02 2.24e+00 36 1.133523e+04 1.82e+00 7.41e+04 8.21e+00 7.38e-01 1.02e+06 1 5.96e-02 2.30e+00 37 1.133379e+04 1.44e+00 6.46e+04 7.21e+00 7.47e-01 1.16e+06 1 6.48e-02 2.37e+00 38 1.133269e+04 1.11e+00 5.54e+04 6.27e+00 7.57e-01 1.34e+06 1 5.96e-02 2.43e+00 39 1.133186e+04 8.28e-01 4.65e+04 5.39e+00 7.68e-01 1.59e+06 1 6.42e-02 2.49e+00 40 1.133126e+04 5.93e-01 3.79e+04 4.55e+00 7.82e-01 1.93e+06 1 6.03e-02 2.55e+00 41 1.133086e+04 4.02e-01 2.97e+04 3.77e+00 7.99e-01 2.46e+06 1 5.99e-02 2.61e+00 42 1.133061e+04 2.52e-01 2.20e+04 3.02e+00 8.20e-01 3.34e+06 1 6.02e-02 2.67e+00 43 1.133047e+04 1.41e-01 1.49e+04 2.32e+00 8.48e-01 5.03e+06 1 5.98e-02 2.73e+00 44 1.133040e+04 6.52e-02 8.72e+03 1.66e+00 8.85e-01 9.24e+06 1 6.02e-02 2.79e+00 45 1.133038e+04 2.18e-02 3.81e+03 1.03e+00 9.33e-01 2.63e+07 1 6.01e-02 2.85e+00 46 1.133038e+04 3.76e-03 8.51e+02 4.66e-01 9.84e-01 7.89e+07 1 6.00e-02 2.91e+00 47 1.133038e+04 1.51e-04 3.17e+01 9.04e-02 1.01e+00 2.37e+08 1 5.99e-02 2.97e+00 48 1.133038e+04 5.12e-07 3.44e-01 7.50e-03 1.02e+00 7.10e+08 1 5.97e-02 3.03e+00 Bundle adjustment report ------------------------ Residuals : 40372 Parameters : 15853 Iterations : 49 Time : 3.03195 [s] Initial cost : 0.629685 [px] Final cost : 0.529764 [px] Termination : Convergence => Completed observations: 1006 => Merged observations: 32 => Filtered observations: 15 => Changed observations: 0.052165 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.455387e+04 0.00e+00 3.08e+05 0.00e+00 0.00e+00 1.00e+04 0 4.56e-02 8.01e-02 1 1.279236e+04 1.76e+03 7.40e+04 1.86e+00 1.00e+00 3.00e+04 1 6.67e-02 1.47e-01 2 1.273271e+04 5.96e+01 3.26e+04 1.14e+01 9.97e-01 9.00e+04 1 6.37e-02 2.11e-01 3 1.268034e+04 5.24e+01 3.03e+04 2.87e+01 9.91e-01 2.70e+05 1 6.90e-02 2.80e-01 4 1.263203e+04 4.83e+01 2.78e+05 4.87e+01 7.08e-01 2.91e+05 1 6.43e-02 3.44e-01 5 1.258838e+04 4.36e+01 3.33e+05 2.01e+01 6.93e-01 3.09e+05 1 6.41e-02 4.08e-01 6 1.255291e+04 3.55e+01 2.90e+05 1.25e+00 7.40e-01 3.47e+05 1 7.20e-02 4.80e-01 7 1.252873e+04 2.42e+01 2.46e+05 1.62e+01 7.46e-01 3.94e+05 1 6.38e-02 5.44e-01 8 1.251180e+04 1.69e+01 1.96e+05 2.58e+01 7.72e-01 4.70e+05 1 6.47e-02 6.09e-01 9 1.250070e+04 1.11e+01 1.61e+05 3.17e+01 7.75e-01 5.64e+05 1 6.47e-02 6.73e-01 10 1.249335e+04 7.36e+00 1.23e+05 3.31e+01 7.99e-01 7.17e+05 1 6.41e-02 7.38e-01 11 1.248888e+04 4.46e+00 9.51e+04 3.15e+01 8.07e-01 9.32e+05 1 6.42e-02 8.02e-01 12 1.248628e+04 2.60e+00 6.63e+04 2.64e+01 8.39e-01 1.35e+06 1 6.46e-02 8.66e-01 13 1.248497e+04 1.31e+00 4.48e+04 1.97e+01 8.58e-01 2.14e+06 1 6.60e-02 9.32e-01 14 1.248440e+04 5.72e-01 2.45e+04 1.14e+01 9.05e-01 4.55e+06 1 6.60e-02 9.98e-01 15 1.248422e+04 1.74e-01 1.02e+04 4.20e+00 9.45e-01 1.37e+07 1 6.57e-02 1.06e+00 16 1.248419e+04 2.61e-02 1.65e+03 1.87e-01 9.90e-01 4.10e+07 1 6.86e-02 1.13e+00 17 1.248419e+04 6.89e-04 4.10e+01 1.70e-01 1.00e+00 1.23e+08 1 6.51e-02 1.20e+00 18 1.248419e+04 1.75e-06 4.55e-01 1.62e-02 1.00e+00 3.69e+08 1 6.52e-02 1.26e+00 Bundle adjustment report ------------------------ Residuals : 42354 Parameters : 15841 Iterations : 19 Time : 1.26445 [s] Initial cost : 0.586195 [px] Final cost : 0.542916 [px] Termination : Convergence => Completed observations: 360 => Merged observations: 53 => Filtered observations: 11 => Changed observations: 0.020022 => Filtered images: 0 ============================================================================== Registering image #15 (27) ============================================================================== => Image sees 897 / 3329 points Pose refinement report ---------------------- Residuals : 1704 Parameters : 6 Iterations : 9 Time : 0.0153251 [s] Initial cost : 0.641623 [px] Final cost : 0.627783 [px] Termination : Convergence => Continued observations: 844 => Added observations: 2735 Bundle adjustment report ------------------------ Residuals : 35488 Parameters : 12032 Iterations : 26 Time : 0.832717 [s] Initial cost : 1.37059 [px] Final cost : 1.31626 [px] Termination : No convergence => Merged observations: 60 => Completed observations: 698 => Filtered observations: 492 => Changed observations: 0.070118 Bundle adjustment report ------------------------ Residuals : 35930 Parameters : 11747 Iterations : 7 Time : 0.241739 [s] Initial cost : 0.600438 [px] Final cost : 0.566078 [px] Termination : Convergence => Merged observations: 4 => Completed observations: 218 => Filtered observations: 2 => Changed observations: 0.012411 ============================================================================== Retriangulation ============================================================================== => Completed observations: 81 => Merged observations: 0 => Retriangulated observations: 3587 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.128603e+07 0.00e+00 6.04e+07 0.00e+00 0.00e+00 1.00e+04 0 5.17e-02 9.85e-02 1 1.586253e+08 -1.37e+08 0.00e+00 6.11e+02 -9.54e+00 5.00e+03 1 3.45e-02 1.33e-01 2 8.270443e+07 -6.14e+07 0.00e+00 4.70e+02 -4.32e+00 1.25e+03 1 3.11e-02 1.64e-01 3 2.011920e+07 1.17e+06 7.38e+08 3.65e+02 8.50e-02 7.95e+02 1 7.80e-02 2.42e-01 4 7.361928e+06 1.28e+07 3.40e+07 9.25e-01 9.94e-01 2.39e+03 1 7.85e-02 3.21e-01 5 8.239512e+06 -8.78e+05 0.00e+00 5.17e+01 -1.71e+00 1.19e+03 1 3.13e-02 3.52e-01 6 7.206530e+06 1.55e+05 5.53e+07 4.19e+01 4.16e-01 1.19e+03 1 7.76e-02 4.30e-01 7 6.797231e+06 4.09e+05 3.08e+07 3.08e+01 9.06e-01 2.55e+03 1 7.96e-02 5.09e-01 8 7.054306e+06 -2.57e+05 0.00e+00 6.02e+01 -6.16e-01 1.28e+03 1 3.13e-02 5.41e-01 9 6.554303e+06 2.43e+05 3.61e+07 3.47e+01 7.90e-01 1.59e+03 1 8.07e-02 6.21e-01 10 6.239527e+06 3.15e+05 5.06e+07 3.55e+01 7.09e-01 1.71e+03 1 7.96e-02 7.01e-01 11 5.834148e+06 4.05e+05 4.72e+07 5.45e+01 7.12e-01 1.85e+03 1 8.00e-02 7.81e-01 12 5.552563e+06 2.82e+05 6.39e+07 1.01e+02 5.58e-01 1.86e+03 1 8.70e-02 8.68e-01 13 5.221662e+06 3.31e+05 3.92e+07 1.08e+02 7.56e-01 2.14e+03 1 8.93e-02 9.57e-01 14 5.039208e+06 1.82e+05 2.32e+07 1.25e+02 7.82e-01 2.61e+03 1 8.32e-02 1.04e+00 15 4.933396e+06 1.06e+05 2.07e+07 1.43e+02 7.57e-01 3.02e+03 1 8.63e-02 1.13e+00 16 4.848627e+06 8.48e+04 1.48e+07 1.57e+02 8.25e-01 4.17e+03 1 7.98e-02 1.21e+00 17 4.779719e+06 6.89e+04 1.26e+07 2.00e+02 8.13e-01 5.52e+03 1 8.20e-02 1.29e+00 18 4.701237e+06 7.85e+04 1.24e+07 2.45e+02 9.03e-01 1.16e+04 1 7.92e-02 1.37e+00 19 4.684461e+06 1.68e+04 2.17e+07 4.68e+02 1.52e-01 8.68e+03 1 7.92e-02 1.45e+00 20 4.675466e+06 8.99e+03 1.64e+07 4.47e+02 6.12e-02 5.18e+03 1 7.95e-02 1.53e+00 21 4.532157e+06 1.43e+05 6.90e+06 2.84e+02 9.14e-01 1.20e+04 1 7.93e-02 1.61e+00 22 4.505947e+06 2.62e+04 3.89e+06 6.14e+02 6.98e-01 1.28e+04 1 7.86e-02 1.68e+00 23 4.483455e+06 2.25e+04 2.03e+06 6.08e+02 7.79e-01 1.55e+04 1 7.96e-02 1.76e+00 24 4.469701e+06 1.38e+04 2.02e+06 6.74e+02 6.07e-01 1.56e+04 1 8.55e-02 1.85e+00 25 4.453445e+06 1.63e+04 1.78e+06 6.28e+02 7.44e-01 1.77e+04 1 7.96e-02 1.93e+00 26 4.441724e+06 1.17e+04 1.96e+06 6.52e+02 6.64e-01 1.83e+04 1 8.63e-02 2.02e+00 27 4.429734e+06 1.20e+04 1.84e+06 6.25e+02 7.30e-01 2.03e+04 1 7.98e-02 2.10e+00 28 4.419820e+06 9.91e+03 1.96e+06 6.40e+02 6.90e-01 2.15e+04 1 8.05e-02 2.18e+00 29 4.410072e+06 9.75e+03 1.92e+06 6.30e+02 7.22e-01 2.35e+04 1 8.60e-02 2.26e+00 30 4.401420e+06 8.65e+03 2.02e+06 6.42e+02 7.00e-01 2.51e+04 1 7.87e-02 2.34e+00 31 4.393061e+06 8.36e+03 2.01e+06 6.41e+02 7.15e-01 2.73e+04 1 7.88e-02 2.42e+00 32 4.385426e+06 7.64e+03 2.13e+06 6.52e+02 7.02e-01 2.92e+04 1 7.84e-02 2.50e+00 33 4.378181e+06 7.25e+03 2.36e+06 6.55e+02 7.07e-01 3.14e+04 1 7.88e-02 2.58e+00 34 4.371533e+06 6.65e+03 2.67e+06 6.63e+02 6.99e-01 3.36e+04 1 8.05e-02 2.66e+00 35 4.365354e+06 6.18e+03 2.92e+06 6.66e+02 7.00e-01 3.59e+04 1 7.85e-02 2.74e+00 36 4.359736e+06 5.62e+03 3.19e+06 6.70e+02 6.95e-01 3.81e+04 1 7.83e-02 2.81e+00 37 4.354629e+06 5.11e+03 3.39e+06 6.71e+02 6.93e-01 4.05e+04 1 8.64e-02 2.90e+00 38 4.350059e+06 4.57e+03 3.56e+06 6.70e+02 6.89e-01 4.28e+04 1 8.55e-02 2.99e+00 39 4.345992e+06 4.07e+03 3.65e+06 6.68e+02 6.87e-01 4.51e+04 1 7.93e-02 3.07e+00 40 4.342413e+06 3.58e+03 3.68e+06 6.63e+02 6.84e-01 4.75e+04 1 7.92e-02 3.14e+00 41 4.339284e+06 3.13e+03 3.65e+06 6.56e+02 6.83e-01 5.00e+04 1 8.03e-02 3.23e+00 42 4.336566e+06 2.72e+03 3.58e+06 6.48e+02 6.81e-01 5.25e+04 1 7.86e-02 3.30e+00 43 4.334215e+06 2.35e+03 3.48e+06 6.38e+02 6.80e-01 5.51e+04 1 7.87e-02 3.38e+00 44 4.332188e+06 2.03e+03 3.36e+06 6.27e+02 6.80e-01 5.78e+04 1 8.06e-02 3.46e+00 45 4.330443e+06 1.75e+03 3.23e+06 6.15e+02 6.81e-01 6.06e+04 1 7.88e-02 3.54e+00 46 4.328940e+06 1.50e+03 3.11e+06 6.02e+02 6.82e-01 6.37e+04 1 7.92e-02 3.62e+00 47 4.327644e+06 1.30e+03 2.99e+06 5.89e+02 6.83e-01 6.70e+04 1 7.82e-02 3.70e+00 48 4.326523e+06 1.12e+03 2.88e+06 5.76e+02 6.85e-01 7.06e+04 1 7.92e-02 3.78e+00 49 4.325551e+06 9.72e+02 2.79e+06 5.63e+02 6.88e-01 7.45e+04 1 8.56e-02 3.86e+00 50 4.324703e+06 8.47e+02 2.72e+06 5.50e+02 6.91e-01 7.89e+04 1 7.98e-02 3.94e+00 Bundle adjustment report ------------------------ Residuals : 58390 Parameters : 22321 Iterations : 51 Time : 3.94551 [s] Initial cost : 19.0932 [px] Final cost : 8.60615 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 14641 => Changed observations: 0.501490 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.466388e+04 0.00e+00 5.49e+06 0.00e+00 0.00e+00 1.00e+04 0 2.86e-02 5.30e-02 1 2.623222e+04 8.43e+03 2.54e+07 5.18e+01 5.49e-01 1.00e+04 1 4.43e-02 9.73e-02 2 1.865346e+04 7.58e+03 3.53e+06 2.28e+01 9.72e-01 3.00e+04 1 4.25e-02 1.40e-01 3 1.793629e+04 7.17e+02 4.45e+06 1.42e+02 6.18e-01 3.04e+04 1 4.36e-02 1.84e-01 4 1.706976e+04 8.67e+02 1.60e+06 1.55e+02 9.29e-01 8.24e+04 1 4.27e-02 2.26e-01 5 1.696370e+04 1.06e+02 4.03e+06 4.42e+02 1.56e-01 6.22e+04 1 4.27e-02 2.69e-01 6 1.624201e+04 7.22e+02 1.88e+06 3.39e+02 8.46e-01 9.29e+04 1 4.24e-02 3.11e-01 7 1.632134e+04 -7.93e+01 0.00e+00 5.16e+02 -1.92e-01 4.65e+04 1 1.54e-02 3.27e-01 8 1.598575e+04 2.56e+02 9.76e+05 2.56e+02 8.77e-01 8.11e+04 1 4.22e-02 3.69e-01 9 1.600926e+04 -2.35e+01 0.00e+00 4.53e+02 -9.36e-02 4.06e+04 1 1.54e-02 3.84e-01 10 1.585074e+04 1.35e+02 7.03e+05 2.25e+02 8.75e-01 7.00e+04 1 4.18e-02 4.26e-01 11 1.581048e+04 4.03e+01 1.86e+06 3.91e+02 2.13e-01 5.89e+04 1 4.26e-02 4.69e-01 12 1.560739e+04 2.03e+02 1.26e+06 3.28e+02 7.40e-01 6.63e+04 1 4.25e-02 5.11e-01 13 1.551306e+04 9.43e+01 1.45e+06 3.68e+02 4.76e-01 6.62e+04 1 4.26e-02 5.54e-01 14 1.539020e+04 1.23e+02 1.34e+06 3.66e+02 5.61e-01 6.64e+04 1 4.23e-02 5.96e-01 15 1.527753e+04 1.13e+02 1.24e+06 3.64e+02 5.56e-01 6.65e+04 1 4.46e-02 6.41e-01 16 1.517319e+04 1.04e+02 1.14e+06 3.62e+02 5.55e-01 6.65e+04 1 4.25e-02 6.84e-01 17 1.507634e+04 9.68e+01 1.04e+06 3.59e+02 5.53e-01 6.66e+04 1 4.26e-02 7.26e-01 18 1.498627e+04 9.01e+01 9.49e+05 3.55e+02 5.51e-01 6.67e+04 1 4.28e-02 7.69e-01 19 1.490236e+04 8.39e+01 8.64e+05 3.52e+02 5.50e-01 6.68e+04 1 4.30e-02 8.12e-01 20 1.482407e+04 7.83e+01 7.85e+05 3.48e+02 5.48e-01 6.68e+04 1 4.61e-02 8.58e-01 21 1.475088e+04 7.32e+01 7.12e+05 3.44e+02 5.45e-01 6.69e+04 1 4.43e-02 9.03e-01 22 1.468235e+04 6.85e+01 6.45e+05 3.39e+02 5.43e-01 6.69e+04 1 4.25e-02 9.45e-01 23 1.461805e+04 6.43e+01 5.84e+05 3.35e+02 5.40e-01 6.69e+04 1 4.24e-02 9.88e-01 24 1.455760e+04 6.05e+01 5.29e+05 3.30e+02 5.37e-01 6.70e+04 1 4.79e-02 1.04e+00 25 1.450064e+04 5.70e+01 4.80e+05 3.25e+02 5.35e-01 6.70e+04 1 4.27e-02 1.08e+00 26 1.444685e+04 5.38e+01 4.36e+05 3.20e+02 5.32e-01 6.70e+04 1 4.26e-02 1.12e+00 27 1.439594e+04 5.09e+01 3.97e+05 3.14e+02 5.30e-01 6.70e+04 1 4.31e-02 1.16e+00 28 1.434764e+04 4.83e+01 3.62e+05 3.09e+02 5.28e-01 6.70e+04 1 4.29e-02 1.21e+00 29 1.430172e+04 4.59e+01 3.32e+05 3.03e+02 5.27e-01 6.71e+04 1 4.29e-02 1.25e+00 30 1.425798e+04 4.37e+01 3.05e+05 2.98e+02 5.26e-01 6.71e+04 1 4.27e-02 1.29e+00 31 1.421622e+04 4.18e+01 2.82e+05 2.92e+02 5.26e-01 6.71e+04 1 4.28e-02 1.34e+00 32 1.417630e+04 3.99e+01 2.61e+05 2.87e+02 5.27e-01 6.71e+04 1 4.25e-02 1.38e+00 33 1.413806e+04 3.82e+01 2.43e+05 2.81e+02 5.28e-01 6.71e+04 1 4.30e-02 1.42e+00 34 1.410140e+04 3.67e+01 2.27e+05 2.75e+02 5.30e-01 6.71e+04 1 4.29e-02 1.46e+00 35 1.406620e+04 3.52e+01 2.13e+05 2.70e+02 5.32e-01 6.71e+04 1 4.26e-02 1.51e+00 36 1.403237e+04 3.38e+01 2.01e+05 2.64e+02 5.35e-01 6.71e+04 1 4.23e-02 1.55e+00 37 1.399985e+04 3.25e+01 1.90e+05 2.58e+02 5.39e-01 6.72e+04 1 4.28e-02 1.59e+00 38 1.396855e+04 3.13e+01 1.80e+05 2.53e+02 5.43e-01 6.72e+04 1 5.37e-02 1.65e+00 39 1.393843e+04 3.01e+01 1.71e+05 2.47e+02 5.47e-01 6.73e+04 1 4.49e-02 1.69e+00 40 1.390943e+04 2.90e+01 1.63e+05 2.42e+02 5.52e-01 6.74e+04 1 4.23e-02 1.73e+00 41 1.388151e+04 2.79e+01 1.55e+05 2.36e+02 5.57e-01 6.75e+04 1 4.27e-02 1.78e+00 42 1.385463e+04 2.69e+01 1.48e+05 2.31e+02 5.63e-01 6.76e+04 1 4.24e-02 1.82e+00 43 1.382875e+04 2.59e+01 1.42e+05 2.25e+02 5.68e-01 6.78e+04 1 4.29e-02 1.86e+00 44 1.380383e+04 2.49e+01 1.36e+05 2.20e+02 5.73e-01 6.80e+04 1 4.85e-02 1.91e+00 45 1.377985e+04 2.40e+01 1.30e+05 2.15e+02 5.79e-01 6.82e+04 1 4.28e-02 1.95e+00 46 1.375676e+04 2.31e+01 1.25e+05 2.10e+02 5.84e-01 6.86e+04 1 4.25e-02 1.99e+00 47 1.373453e+04 2.22e+01 1.21e+05 2.06e+02 5.89e-01 6.90e+04 1 4.76e-02 2.04e+00 48 1.371314e+04 2.14e+01 1.16e+05 2.01e+02 5.94e-01 6.94e+04 1 4.25e-02 2.08e+00 49 1.369255e+04 2.06e+01 1.12e+05 1.97e+02 5.99e-01 7.00e+04 1 4.26e-02 2.13e+00 50 1.367272e+04 1.98e+01 1.08e+05 1.93e+02 6.03e-01 7.06e+04 1 4.31e-02 2.17e+00 Bundle adjustment report ------------------------ Residuals : 29108 Parameters : 15271 Iterations : 51 Time : 2.17132 [s] Initial cost : 1.09127 [px] Final cost : 0.685364 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 31 => Filtered observations: 65 => Changed observations: 0.006596 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.231325e+04 0.00e+00 1.54e+05 0.00e+00 0.00e+00 1.00e+04 0 2.84e-02 5.31e-02 1 1.192086e+04 3.92e+02 6.89e+04 2.01e+01 9.99e-01 3.00e+04 1 4.36e-02 9.66e-02 2 1.170365e+04 2.17e+02 1.66e+05 5.87e+01 9.84e-01 9.00e+04 1 5.09e-02 1.48e-01 3 1.143535e+04 2.68e+02 1.20e+06 1.78e+02 6.22e-01 9.13e+04 1 4.31e-02 1.91e-01 4 1.109110e+04 3.44e+02 1.09e+06 1.80e+02 6.78e-01 9.57e+04 1 4.24e-02 2.33e-01 5 1.081199e+04 2.79e+02 1.23e+06 1.88e+02 5.93e-01 9.63e+04 1 4.23e-02 2.75e-01 6 1.053210e+04 2.80e+02 1.22e+06 1.89e+02 6.01e-01 9.71e+04 1 4.25e-02 3.18e-01 7 1.027165e+04 2.60e+02 1.19e+06 1.90e+02 5.98e-01 9.78e+04 1 4.25e-02 3.61e-01 8 1.002785e+04 2.44e+02 1.15e+06 1.91e+02 6.01e-01 9.87e+04 1 4.23e-02 4.03e-01 9 9.800122e+03 2.28e+02 1.09e+06 1.91e+02 6.06e-01 9.96e+04 1 4.40e-02 4.47e-01 10 9.587132e+03 2.13e+02 1.03e+06 1.91e+02 6.12e-01 1.01e+05 1 4.25e-02 4.89e-01 11 9.387673e+03 1.99e+02 9.72e+05 1.92e+02 6.18e-01 1.02e+05 1 4.24e-02 5.32e-01 12 9.200653e+03 1.87e+02 9.13e+05 1.92e+02 6.24e-01 1.04e+05 1 4.22e-02 5.74e-01 13 9.025106e+03 1.76e+02 8.56e+05 1.92e+02 6.29e-01 1.05e+05 1 4.21e-02 6.16e-01 14 8.860201e+03 1.65e+02 8.01e+05 1.92e+02 6.34e-01 1.08e+05 1 4.24e-02 6.59e-01 15 8.705235e+03 1.55e+02 7.47e+05 1.93e+02 6.39e-01 1.10e+05 1 4.68e-02 7.05e-01 16 8.559638e+03 1.46e+02 6.96e+05 1.93e+02 6.43e-01 1.13e+05 1 4.30e-02 7.48e-01 17 8.422951e+03 1.37e+02 6.45e+05 1.93e+02 6.47e-01 1.15e+05 1 4.24e-02 7.91e-01 18 8.294813e+03 1.28e+02 5.97e+05 1.93e+02 6.51e-01 1.19e+05 1 4.68e-02 8.38e-01 19 8.174941e+03 1.20e+02 5.49e+05 1.93e+02 6.54e-01 1.22e+05 1 4.25e-02 8.80e-01 20 8.063112e+03 1.12e+02 5.02e+05 1.93e+02 6.57e-01 1.26e+05 1 4.23e-02 9.23e-01 21 7.959140e+03 1.04e+02 4.56e+05 1.93e+02 6.59e-01 1.30e+05 1 4.31e-02 9.66e-01 22 7.862861e+03 9.63e+01 4.11e+05 1.92e+02 6.61e-01 1.35e+05 1 4.24e-02 1.01e+00 23 7.774118e+03 8.87e+01 3.68e+05 1.91e+02 6.63e-01 1.40e+05 1 4.26e-02 1.05e+00 24 7.692743e+03 8.14e+01 3.26e+05 1.90e+02 6.64e-01 1.45e+05 1 4.21e-02 1.09e+00 25 7.618551e+03 7.42e+01 2.85e+05 1.88e+02 6.65e-01 1.50e+05 1 4.23e-02 1.14e+00 26 7.551325e+03 6.72e+01 2.47e+05 1.85e+02 6.66e-01 1.56e+05 1 4.26e-02 1.18e+00 27 7.490809e+03 6.05e+01 2.12e+05 1.82e+02 6.67e-01 1.62e+05 1 4.26e-02 1.22e+00 28 7.436710e+03 5.41e+01 1.79e+05 1.79e+02 6.67e-01 1.68e+05 1 4.24e-02 1.26e+00 29 7.388690e+03 4.80e+01 1.50e+05 1.74e+02 6.67e-01 1.75e+05 1 4.27e-02 1.31e+00 30 7.346379e+03 4.23e+01 1.23e+05 1.70e+02 6.67e-01 1.82e+05 1 4.45e-02 1.35e+00 31 7.309373e+03 3.70e+01 1.01e+05 1.64e+02 6.68e-01 1.89e+05 1 4.19e-02 1.39e+00 32 7.277251e+03 3.21e+01 8.65e+04 1.58e+02 6.69e-01 1.96e+05 1 4.18e-02 1.43e+00 33 7.249580e+03 2.77e+01 8.06e+04 1.52e+02 6.70e-01 2.04e+05 1 4.16e-02 1.48e+00 34 7.225927e+03 2.37e+01 7.46e+04 1.45e+02 6.73e-01 2.13e+05 1 4.17e-02 1.52e+00 35 7.205866e+03 2.01e+01 6.85e+04 1.38e+02 6.76e-01 2.23e+05 1 4.18e-02 1.56e+00 36 7.188987e+03 1.69e+01 6.24e+04 1.31e+02 6.80e-01 2.34e+05 1 4.17e-02 1.60e+00 37 7.174900e+03 1.41e+01 5.65e+04 1.23e+02 6.84e-01 2.46e+05 1 4.17e-02 1.64e+00 38 7.163240e+03 1.17e+01 5.09e+04 1.16e+02 6.89e-01 2.60e+05 1 4.18e-02 1.68e+00 39 7.153669e+03 9.57e+00 4.56e+04 1.09e+02 6.96e-01 2.77e+05 1 4.94e-02 1.73e+00 40 7.145882e+03 7.79e+00 4.06e+04 1.02e+02 7.02e-01 2.96e+05 1 4.23e-02 1.78e+00 41 7.139599e+03 6.28e+00 3.59e+04 9.48e+01 7.10e-01 3.20e+05 1 4.22e-02 1.82e+00 42 7.134571e+03 5.03e+00 3.16e+04 8.79e+01 7.19e-01 3.50e+05 1 4.69e-02 1.86e+00 43 7.130578e+03 3.99e+00 2.77e+04 8.11e+01 7.30e-01 3.87e+05 1 4.16e-02 1.91e+00 44 7.127422e+03 3.16e+00 2.42e+04 7.44e+01 7.41e-01 4.36e+05 1 4.24e-02 1.95e+00 45 7.124932e+03 2.49e+00 2.11e+04 6.78e+01 7.55e-01 5.03e+05 1 4.22e-02 1.99e+00 46 7.122954e+03 1.98e+00 1.83e+04 6.12e+01 7.71e-01 5.98e+05 1 4.22e-02 2.03e+00 47 7.121356e+03 1.60e+00 2.16e+04 5.44e+01 7.84e-01 7.32e+05 1 4.23e-02 2.08e+00 48 7.120034e+03 1.32e+00 3.37e+04 4.69e+01 7.84e-01 8.97e+05 1 4.21e-02 2.12e+00 49 7.118925e+03 1.11e+00 4.95e+04 3.76e+01 7.49e-01 1.02e+06 1 4.21e-02 2.16e+00 50 7.117966e+03 9.59e-01 6.04e+04 2.63e+01 7.02e-01 1.09e+06 1 4.18e-02 2.20e+00 Bundle adjustment report ------------------------ Residuals : 28978 Parameters : 15199 Iterations : 51 Time : 2.20252 [s] Initial cost : 0.651857 [px] Final cost : 0.495614 [px] Termination : No convergence => Completed observations: 3951 => Merged observations: 57 => Filtered observations: 13 => Changed observations: 0.277521 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.611345e+04 0.00e+00 5.66e+05 0.00e+00 0.00e+00 1.00e+04 0 3.54e-02 6.46e-02 1 1.148348e+04 4.63e+03 4.01e+05 9.59e+00 9.96e-01 3.00e+04 1 5.73e-02 1.22e-01 2 1.106561e+04 4.18e+02 5.52e+05 1.48e+01 9.13e-01 6.89e+04 1 5.49e-02 1.77e-01 3 1.085585e+04 2.10e+02 1.31e+06 2.34e+01 5.34e-01 6.90e+04 1 5.46e-02 2.32e-01 4 1.056657e+04 2.89e+02 6.98e+05 2.02e+01 8.30e-01 9.66e+04 1 5.45e-02 2.86e-01 5 1.045412e+04 1.12e+02 6.93e+05 2.76e+01 6.01e-01 9.74e+04 1 5.48e-02 3.41e-01 6 1.032573e+04 1.28e+02 4.11e+05 2.86e+01 7.86e-01 1.20e+05 1 5.46e-02 3.96e-01 7 1.024938e+04 7.64e+01 4.46e+05 3.66e+01 6.52e-01 1.23e+05 1 5.46e-02 4.50e-01 8 1.016935e+04 8.00e+01 3.91e+05 3.86e+01 7.41e-01 1.39e+05 1 5.93e-02 5.09e-01 9 1.011017e+04 5.92e+01 4.22e+05 4.35e+01 6.64e-01 1.44e+05 1 5.48e-02 5.64e-01 10 1.005332e+04 5.68e+01 3.99e+05 4.42e+01 6.94e-01 1.53e+05 1 5.96e-02 6.24e-01 11 1.000664e+04 4.67e+01 4.00e+05 4.50e+01 6.59e-01 1.58e+05 1 5.51e-02 6.79e-01 12 9.964294e+03 4.23e+01 3.85e+05 4.38e+01 6.61e-01 1.63e+05 1 5.53e-02 7.34e-01 13 9.927423e+03 3.69e+01 3.74e+05 4.20e+01 6.46e-01 1.67e+05 1 5.48e-02 7.89e-01 14 9.894298e+03 3.31e+01 3.60e+05 3.94e+01 6.42e-01 1.71e+05 1 5.55e-02 8.45e-01 15 9.864526e+03 2.98e+01 3.47e+05 3.63e+01 6.35e-01 1.75e+05 1 5.48e-02 9.00e-01 16 9.837404e+03 2.71e+01 3.36e+05 3.28e+01 6.31e-01 1.78e+05 1 5.48e-02 9.54e-01 17 9.812484e+03 2.49e+01 3.25e+05 2.92e+01 6.27e-01 1.81e+05 1 5.55e-02 1.01e+00 18 9.789372e+03 2.31e+01 3.15e+05 2.56e+01 6.24e-01 1.84e+05 1 5.48e-02 1.06e+00 19 9.767770e+03 2.16e+01 3.07e+05 2.20e+01 6.22e-01 1.87e+05 1 5.48e-02 1.12e+00 20 9.747439e+03 2.03e+01 2.99e+05 1.84e+01 6.20e-01 1.89e+05 1 5.45e-02 1.17e+00 21 9.728198e+03 1.92e+01 2.92e+05 1.51e+01 6.18e-01 1.92e+05 1 5.52e-02 1.23e+00 22 9.709906e+03 1.83e+01 2.86e+05 1.18e+01 6.17e-01 1.94e+05 1 5.48e-02 1.28e+00 23 9.692453e+03 1.75e+01 2.81e+05 8.82e+00 6.16e-01 1.97e+05 1 5.49e-02 1.34e+00 24 9.675757e+03 1.67e+01 2.76e+05 6.00e+00 6.15e-01 1.99e+05 1 5.44e-02 1.39e+00 25 9.659756e+03 1.60e+01 2.71e+05 3.38e+00 6.15e-01 2.02e+05 1 5.47e-02 1.45e+00 26 9.644400e+03 1.54e+01 2.66e+05 9.74e-01 6.14e-01 2.04e+05 1 5.91e-02 1.51e+00 27 9.629655e+03 1.47e+01 2.62e+05 1.24e+00 6.14e-01 2.06e+05 1 5.49e-02 1.56e+00 28 9.615491e+03 1.42e+01 2.57e+05 3.25e+00 6.14e-01 2.09e+05 1 5.94e-02 1.62e+00 29 9.601888e+03 1.36e+01 2.52e+05 5.07e+00 6.15e-01 2.11e+05 1 5.50e-02 1.68e+00 30 9.588831e+03 1.31e+01 2.47e+05 6.72e+00 6.15e-01 2.14e+05 1 5.65e-02 1.73e+00 31 9.576306e+03 1.25e+01 2.43e+05 8.19e+00 6.16e-01 2.17e+05 1 5.46e-02 1.79e+00 32 9.564304e+03 1.20e+01 2.38e+05 9.52e+00 6.17e-01 2.20e+05 1 5.47e-02 1.84e+00 33 9.552816e+03 1.15e+01 2.32e+05 1.07e+01 6.18e-01 2.22e+05 1 5.46e-02 1.90e+00 34 9.541835e+03 1.10e+01 2.27e+05 1.17e+01 6.19e-01 2.26e+05 1 5.51e-02 1.95e+00 35 9.531354e+03 1.05e+01 2.21e+05 1.27e+01 6.21e-01 2.29e+05 1 5.53e-02 2.01e+00 36 9.521367e+03 9.99e+00 2.16e+05 1.35e+01 6.23e-01 2.32e+05 1 5.54e-02 2.06e+00 37 9.511868e+03 9.50e+00 2.10e+05 1.42e+01 6.25e-01 2.36e+05 1 5.62e-02 2.12e+00 38 9.502849e+03 9.02e+00 2.04e+05 1.48e+01 6.27e-01 2.40e+05 1 5.64e-02 2.18e+00 39 9.494302e+03 8.55e+00 1.98e+05 1.53e+01 6.30e-01 2.44e+05 1 5.57e-02 2.23e+00 40 9.486220e+03 8.08e+00 1.92e+05 1.58e+01 6.32e-01 2.49e+05 1 5.49e-02 2.29e+00 41 9.478594e+03 7.63e+00 1.86e+05 1.62e+01 6.35e-01 2.54e+05 1 5.48e-02 2.34e+00 42 9.471415e+03 7.18e+00 1.79e+05 1.65e+01 6.37e-01 2.59e+05 1 5.47e-02 2.40e+00 43 9.464673e+03 6.74e+00 1.73e+05 1.67e+01 6.40e-01 2.65e+05 1 5.46e-02 2.45e+00 44 9.458358e+03 6.32e+00 1.66e+05 1.69e+01 6.43e-01 2.71e+05 1 5.58e-02 2.51e+00 45 9.452457e+03 5.90e+00 1.60e+05 1.71e+01 6.46e-01 2.78e+05 1 5.78e-02 2.56e+00 46 9.446961e+03 5.50e+00 1.54e+05 1.72e+01 6.49e-01 2.86e+05 1 5.59e-02 2.62e+00 47 9.441856e+03 5.10e+00 1.47e+05 1.73e+01 6.53e-01 2.94e+05 1 5.83e-02 2.68e+00 48 9.437131e+03 4.73e+00 1.41e+05 1.73e+01 6.56e-01 3.03e+05 1 5.53e-02 2.73e+00 49 9.432772e+03 4.36e+00 1.34e+05 1.73e+01 6.59e-01 3.14e+05 1 5.48e-02 2.79e+00 50 9.428766e+03 4.01e+00 1.28e+05 1.72e+01 6.63e-01 3.25e+05 1 5.45e-02 2.84e+00 Bundle adjustment report ------------------------ Residuals : 36854 Parameters : 15157 Iterations : 51 Time : 2.84429 [s] Initial cost : 0.661229 [px] Final cost : 0.505807 [px] Termination : No convergence => Completed observations: 1324 => Merged observations: 93 => Filtered observations: 5 => Changed observations: 0.077169 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.354495e+04 0.00e+00 3.88e+05 0.00e+00 0.00e+00 1.00e+04 0 3.81e-02 6.91e-02 1 1.141877e+04 2.13e+03 1.05e+05 5.89e+00 9.99e-01 3.00e+04 1 6.17e-02 1.31e-01 2 1.128235e+04 1.36e+02 2.46e+05 1.41e+00 9.06e-01 6.45e+04 1 5.92e-02 1.90e-01 3 1.122510e+04 5.72e+01 7.61e+05 5.93e+00 4.09e-01 6.41e+04 1 5.89e-02 2.49e-01 4 1.110638e+04 1.19e+02 4.76e+05 6.99e+00 8.07e-01 8.34e+04 1 5.92e-02 3.08e-01 5 1.105637e+04 5.00e+01 5.04e+05 8.52e+00 6.38e-01 8.52e+04 1 5.95e-02 3.68e-01 6 1.100762e+04 4.88e+01 3.54e+05 6.96e+00 7.88e-01 1.05e+05 1 5.93e-02 4.27e-01 7 1.098018e+04 2.74e+01 3.51e+05 5.51e+00 6.82e-01 1.11e+05 1 5.91e-02 4.86e-01 8 1.095549e+04 2.47e+01 2.57e+05 2.45e+00 7.82e-01 1.35e+05 1 5.91e-02 5.45e-01 9 1.093991e+04 1.56e+01 2.42e+05 1.27e+00 7.16e-01 1.47e+05 1 5.89e-02 6.04e-01 10 1.092665e+04 1.33e+01 1.81e+05 5.48e+00 7.90e-01 1.83e+05 1 6.39e-02 6.68e-01 11 1.091762e+04 9.03e+00 1.66e+05 1.14e+01 7.48e-01 2.08e+05 1 5.90e-02 7.27e-01 12 1.091000e+04 7.62e+00 1.26e+05 1.70e+01 8.09e-01 2.72e+05 1 6.32e-02 7.90e-01 13 1.090448e+04 5.52e+00 1.16e+05 2.58e+01 7.75e-01 3.27e+05 1 6.01e-02 8.51e-01 14 1.089989e+04 4.59e+00 8.62e+04 3.23e+01 8.26e-01 4.52e+05 1 5.90e-02 9.10e-01 15 1.089669e+04 3.20e+00 7.50e+04 4.22e+01 7.83e-01 5.53e+05 1 5.89e-02 9.69e-01 16 1.089430e+04 2.39e+00 4.79e+04 4.41e+01 8.26e-01 7.64e+05 1 6.03e-02 1.03e+00 17 1.089291e+04 1.39e+00 3.34e+04 4.58e+01 7.84e-01 9.36e+05 1 6.06e-02 1.09e+00 18 1.089206e+04 8.53e-01 1.71e+04 3.78e+01 8.55e-01 1.46e+06 1 5.90e-02 1.15e+00 19 1.089169e+04 3.63e-01 1.04e+04 3.19e+01 8.46e-01 2.18e+06 1 5.84e-02 1.21e+00 20 1.089155e+04 1.43e-01 4.22e+03 2.01e+01 9.33e-01 6.24e+06 1 5.84e-02 1.27e+00 21 1.089152e+04 2.88e-02 1.88e+03 1.10e+01 9.64e-01 1.87e+07 1 5.85e-02 1.32e+00 22 1.089152e+04 2.31e-03 1.82e+02 2.23e+00 9.98e-01 5.62e+07 1 5.83e-02 1.38e+00 23 1.089152e+04 2.34e-05 2.79e+00 1.31e-01 1.00e+00 1.68e+08 1 5.91e-02 1.44e+00 24 1.089152e+04 5.71e-08 1.50e-02 1.84e-03 1.00e+00 5.05e+08 1 5.85e-02 1.50e+00 Bundle adjustment report ------------------------ Residuals : 39492 Parameters : 15118 Iterations : 25 Time : 1.50058 [s] Initial cost : 0.585645 [px] Final cost : 0.525158 [px] Termination : Convergence => Completed observations: 659 => Merged observations: 113 => Filtered observations: 4 => Changed observations: 0.039299 => Filtered images: 0 ============================================================================== Registering image #14 (28) ============================================================================== => Image sees 669 / 2624 points Pose refinement report ---------------------- Residuals : 1288 Parameters : 6 Iterations : 10 Time : 0.0128939 [s] Initial cost : 0.67718 [px] Final cost : 0.591018 [px] Termination : Convergence => Continued observations: 640 => Added observations: 3501 Bundle adjustment report ------------------------ Residuals : 37666 Parameters : 12746 Iterations : 26 Time : 0.829407 [s] Initial cost : 1.39696 [px] Final cost : 1.29972 [px] Termination : No convergence => Merged observations: 67 => Completed observations: 1145 => Filtered observations: 482 => Changed observations: 0.089355 Bundle adjustment report ------------------------ Residuals : 38992 Parameters : 12515 Iterations : 7 Time : 0.239376 [s] Initial cost : 0.616886 [px] Final cost : 0.567618 [px] Termination : Convergence => Merged observations: 39 => Completed observations: 335 => Filtered observations: 2 => Changed observations: 0.019163 ============================================================================== Retriangulation ============================================================================== => Completed observations: 55 => Merged observations: 0 => Retriangulated observations: 531 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.717682e+07 0.00e+00 2.86e+07 0.00e+00 0.00e+00 1.00e+04 0 4.52e-02 9.01e-02 1 2.048104e+08 -1.88e+08 0.00e+00 2.78e+02 -1.58e+01 5.00e+03 1 3.11e-02 1.21e-01 2 9.229506e+07 -7.51e+07 0.00e+00 2.89e+02 -6.45e+00 1.25e+03 1 2.72e-02 1.48e-01 3 1.666105e+07 5.16e+05 4.46e+08 2.80e+02 4.67e-02 7.16e+02 1 6.97e-02 2.18e-01 4 6.498997e+06 1.02e+07 1.21e+08 4.36e+00 9.49e-01 2.15e+03 1 6.97e-02 2.88e-01 5 7.518768e+06 -1.02e+06 0.00e+00 5.04e+01 -1.03e+00 1.07e+03 1 2.85e-02 3.16e-01 6 5.969710e+06 5.29e+05 6.91e+07 3.12e+01 6.31e-01 1.09e+03 1 6.91e-02 3.86e-01 7 5.541764e+06 4.28e+05 3.14e+07 2.44e+01 8.37e-01 1.58e+03 1 7.00e-02 4.56e-01 8 5.372624e+06 1.69e+05 3.43e+07 2.62e+01 5.76e-01 1.58e+03 1 6.99e-02 5.26e-01 9 5.072460e+06 3.00e+05 2.21e+07 1.46e+01 9.26e-01 4.17e+03 1 6.99e-02 5.95e-01 10 5.280181e+06 -2.08e+05 0.00e+00 7.96e+01 -4.99e-01 2.08e+03 1 2.82e-02 6.24e-01 11 4.806010e+06 2.66e+05 2.48e+07 1.21e+01 8.50e-01 3.17e+03 1 6.93e-02 6.93e-01 12 4.578527e+06 2.27e+05 4.63e+07 2.06e+02 6.19e-01 3.22e+03 1 7.01e-02 7.63e-01 13 4.238857e+06 3.40e+05 5.77e+07 3.05e+02 7.05e-01 3.45e+03 1 7.11e-02 8.34e-01 14 3.898412e+06 3.40e+05 2.80e+07 3.88e+02 8.80e-01 6.16e+03 1 7.02e-02 9.04e-01 15 3.752123e+06 1.46e+05 2.34e+07 6.97e+02 6.69e-01 6.41e+03 1 7.60e-02 9.80e-01 16 3.606325e+06 1.46e+05 1.03e+07 6.86e+02 8.84e-01 1.17e+04 1 7.41e-02 1.05e+00 17 3.616282e+06 -9.96e+03 0.00e+00 1.12e+03 -9.87e-02 5.87e+03 1 3.03e-02 1.09e+00 18 3.542676e+06 6.36e+04 4.81e+06 6.00e+02 8.91e-01 1.12e+04 1 7.08e-02 1.16e+00 19 3.543271e+06 -5.95e+02 0.00e+00 1.02e+03 -9.36e-03 5.62e+03 1 2.80e-02 1.18e+00 20 3.505620e+06 3.71e+04 2.40e+06 5.40e+02 8.98e-01 1.13e+04 1 7.11e-02 1.25e+00 21 3.506450e+06 -8.30e+02 0.00e+00 9.82e+02 -1.72e-02 5.66e+03 1 3.15e-02 1.29e+00 22 3.479081e+06 2.65e+04 1.39e+06 5.17e+02 8.91e-01 1.09e+04 1 7.61e-02 1.36e+00 23 3.473434e+06 5.65e+03 3.93e+06 9.07e+02 1.50e-01 8.09e+03 1 7.71e-02 1.44e+00 24 3.428010e+06 4.54e+04 2.31e+06 6.53e+02 8.82e-01 1.46e+04 1 7.45e-02 1.51e+00 25 3.439662e+06 -1.17e+04 0.00e+00 1.06e+03 -3.52e-01 7.31e+03 1 2.95e-02 1.54e+00 26 3.409565e+06 1.84e+04 1.75e+06 5.58e+02 8.59e-01 1.16e+04 1 7.27e-02 1.62e+00 27 3.401982e+06 7.58e+03 4.43e+06 8.21e+02 3.45e-01 1.13e+04 1 7.25e-02 1.69e+00 28 3.381005e+06 2.10e+04 3.82e+06 7.59e+02 7.11e-01 1.22e+04 1 7.22e-02 1.76e+00 29 3.366653e+06 1.44e+04 4.06e+06 7.69e+02 6.35e-01 1.24e+04 1 7.52e-02 1.84e+00 30 3.352434e+06 1.42e+04 3.80e+06 7.42e+02 6.94e-01 1.32e+04 1 7.30e-02 1.91e+00 31 3.340556e+06 1.19e+04 3.87e+06 7.44e+02 6.74e-01 1.38e+04 1 9.45e-02 2.00e+00 32 3.329337e+06 1.12e+04 3.78e+06 7.35e+02 6.94e-01 1.46e+04 1 8.62e-02 2.09e+00 33 3.319224e+06 1.01e+04 3.84e+06 7.39e+02 6.86e-01 1.54e+04 1 7.34e-02 2.16e+00 34 3.309630e+06 9.59e+03 3.83e+06 7.40e+02 6.94e-01 1.64e+04 1 7.30e-02 2.24e+00 35 3.300677e+06 8.95e+03 3.88e+06 7.47e+02 6.90e-01 1.73e+04 1 7.30e-02 2.31e+00 36 3.292112e+06 8.57e+03 3.91e+06 7.52e+02 6.94e-01 1.84e+04 1 7.29e-02 2.38e+00 37 3.283938e+06 8.17e+03 3.98e+06 7.61e+02 6.92e-01 1.95e+04 1 7.24e-02 2.46e+00 38 3.276039e+06 7.90e+03 4.06e+06 7.70e+02 6.91e-01 2.07e+04 1 7.38e-02 2.53e+00 39 3.268480e+06 7.56e+03 4.13e+06 7.80e+02 6.88e-01 2.18e+04 1 7.28e-02 2.60e+00 40 3.261225e+06 7.26e+03 4.14e+06 7.86e+02 6.88e-01 2.30e+04 1 7.20e-02 2.67e+00 41 3.254263e+06 6.96e+03 4.14e+06 7.93e+02 6.88e-01 2.43e+04 1 7.39e-02 2.75e+00 42 3.247557e+06 6.71e+03 4.14e+06 8.00e+02 6.88e-01 2.57e+04 1 7.29e-02 2.82e+00 43 3.241086e+06 6.47e+03 4.12e+06 8.07e+02 6.87e-01 2.71e+04 1 7.20e-02 2.89e+00 44 3.234826e+06 6.26e+03 4.10e+06 8.15e+02 6.87e-01 2.86e+04 1 7.25e-02 2.97e+00 45 3.228759e+06 6.07e+03 4.07e+06 8.22e+02 6.87e-01 3.02e+04 1 8.10e-02 3.05e+00 46 3.222866e+06 5.89e+03 4.03e+06 8.29e+02 6.87e-01 3.19e+04 1 8.10e-02 3.13e+00 47 3.217133e+06 5.73e+03 3.98e+06 8.36e+02 6.87e-01 3.36e+04 1 7.50e-02 3.20e+00 48 3.211544e+06 5.59e+03 3.92e+06 8.42e+02 6.87e-01 3.55e+04 1 7.23e-02 3.27e+00 49 3.206084e+06 5.46e+03 3.85e+06 8.49e+02 6.87e-01 3.74e+04 1 7.49e-02 3.35e+00 50 3.200742e+06 5.34e+03 3.76e+06 8.55e+02 6.87e-01 3.95e+04 1 7.64e-02 3.43e+00 Bundle adjustment report ------------------------ Residuals : 52248 Parameters : 18820 Iterations : 51 Time : 3.42809 [s] Initial cost : 18.1316 [px] Final cost : 7.82691 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 12474 => Changed observations: 0.477492 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.044213e+04 0.00e+00 4.39e+06 0.00e+00 0.00e+00 1.00e+04 0 2.85e-02 5.29e-02 1 1.738482e+04 1.31e+04 2.62e+06 1.70e+02 9.48e-01 3.00e+04 1 4.61e-02 9.91e-02 2 1.594920e+04 1.44e+03 4.61e+06 3.37e+01 6.36e-01 3.06e+04 1 4.47e-02 1.44e-01 3 1.472400e+04 1.23e+03 3.49e+06 9.23e+01 7.72e-01 3.65e+04 1 4.46e-02 1.88e-01 4 1.406813e+04 6.56e+02 3.02e+06 1.24e+02 7.06e-01 3.93e+04 1 4.50e-02 2.34e-01 5 1.351364e+04 5.54e+02 2.13e+06 1.37e+02 8.02e-01 5.04e+04 1 4.45e-02 2.78e-01 6 1.312300e+04 3.91e+02 1.95e+06 1.77e+02 7.63e-01 5.89e+04 1 4.47e-02 3.23e-01 7 1.276202e+04 3.61e+02 1.42e+06 2.09e+02 8.35e-01 8.43e+04 1 4.38e-02 3.67e-01 8 1.246148e+04 3.01e+02 1.24e+06 2.99e+02 8.00e-01 1.07e+05 1 4.44e-02 4.11e-01 9 1.218278e+04 2.79e+02 1.02e+06 3.80e+02 8.15e-01 1.43e+05 1 4.11e-02 4.52e-01 10 1.198478e+04 1.98e+02 8.91e+05 5.00e+02 6.35e-01 1.46e+05 1 4.13e-02 4.94e-01 11 1.178291e+04 2.02e+02 7.51e+05 5.01e+02 6.57e-01 1.51e+05 1 4.54e-02 5.39e-01 12 1.162704e+04 1.56e+02 7.48e+05 5.07e+02 5.84e-01 1.51e+05 1 4.11e-02 5.80e-01 13 1.148651e+04 1.41e+02 7.12e+05 4.98e+02 5.67e-01 1.52e+05 1 4.77e-02 6.28e-01 14 1.136337e+04 1.23e+02 6.73e+05 4.88e+02 5.44e-01 1.52e+05 1 4.13e-02 6.69e-01 15 1.125323e+04 1.10e+02 6.31e+05 4.78e+02 5.28e-01 1.52e+05 1 4.08e-02 7.10e-01 16 1.115378e+04 9.94e+01 5.87e+05 4.67e+02 5.16e-01 1.52e+05 1 4.09e-02 7.51e-01 17 1.106338e+04 9.04e+01 5.41e+05 4.56e+02 5.08e-01 1.52e+05 1 4.08e-02 7.92e-01 18 1.098086e+04 8.25e+01 4.94e+05 4.45e+02 5.01e-01 1.52e+05 1 4.11e-02 8.33e-01 19 1.090532e+04 7.55e+01 4.52e+05 4.34e+02 4.95e-01 1.52e+05 1 4.13e-02 8.74e-01 20 1.083605e+04 6.93e+01 4.35e+05 4.24e+02 4.89e-01 1.52e+05 1 4.11e-02 9.16e-01 21 1.077243e+04 6.36e+01 4.19e+05 4.14e+02 4.85e-01 1.52e+05 1 4.07e-02 9.56e-01 22 1.071394e+04 5.85e+01 4.02e+05 4.04e+02 4.80e-01 1.52e+05 1 4.05e-02 9.97e-01 23 1.066012e+04 5.38e+01 3.87e+05 3.94e+02 4.76e-01 1.52e+05 1 4.06e-02 1.04e+00 24 1.061054e+04 4.96e+01 3.71e+05 3.84e+02 4.72e-01 1.52e+05 1 4.07e-02 1.08e+00 25 1.056484e+04 4.57e+01 3.56e+05 3.74e+02 4.69e-01 1.52e+05 1 4.03e-02 1.12e+00 26 1.052267e+04 4.22e+01 3.40e+05 3.64e+02 4.66e-01 1.52e+05 1 4.04e-02 1.16e+00 27 1.048372e+04 3.89e+01 3.25e+05 3.54e+02 4.64e-01 1.52e+05 1 4.03e-02 1.20e+00 28 1.044772e+04 3.60e+01 3.10e+05 3.44e+02 4.63e-01 1.52e+05 1 4.06e-02 1.24e+00 29 1.041440e+04 3.33e+01 2.96e+05 3.34e+02 4.64e-01 1.52e+05 1 3.99e-02 1.28e+00 30 1.038352e+04 3.09e+01 2.81e+05 3.24e+02 4.65e-01 1.52e+05 1 4.02e-02 1.32e+00 31 1.035488e+04 2.86e+01 2.66e+05 3.14e+02 4.67e-01 1.52e+05 1 4.00e-02 1.36e+00 32 1.032828e+04 2.66e+01 2.52e+05 3.04e+02 4.70e-01 1.52e+05 1 3.99e-02 1.40e+00 33 1.030354e+04 2.47e+01 2.38e+05 2.94e+02 4.75e-01 1.51e+05 1 4.06e-02 1.44e+00 34 1.028050e+04 2.30e+01 2.25e+05 2.85e+02 4.81e-01 1.51e+05 1 3.99e-02 1.48e+00 35 1.025902e+04 2.15e+01 2.12e+05 2.75e+02 4.89e-01 1.51e+05 1 4.01e-02 1.52e+00 36 1.023897e+04 2.00e+01 1.99e+05 2.66e+02 4.98e-01 1.51e+05 1 4.44e-02 1.57e+00 37 1.022024e+04 1.87e+01 1.86e+05 2.56e+02 5.08e-01 1.51e+05 1 4.10e-02 1.61e+00 38 1.020273e+04 1.75e+01 1.74e+05 2.47e+02 5.20e-01 1.51e+05 1 4.51e-02 1.65e+00 39 1.018635e+04 1.64e+01 1.63e+05 2.38e+02 5.32e-01 1.52e+05 1 4.02e-02 1.69e+00 40 1.017103e+04 1.53e+01 1.52e+05 2.29e+02 5.46e-01 1.52e+05 1 4.06e-02 1.73e+00 41 1.015669e+04 1.43e+01 1.41e+05 2.20e+02 5.60e-01 1.52e+05 1 4.02e-02 1.77e+00 42 1.014328e+04 1.34e+01 1.32e+05 2.11e+02 5.75e-01 1.52e+05 1 4.03e-02 1.81e+00 43 1.013072e+04 1.26e+01 1.23e+05 2.03e+02 5.89e-01 1.53e+05 1 4.04e-02 1.85e+00 44 1.011894e+04 1.18e+01 1.15e+05 1.96e+02 6.02e-01 1.55e+05 1 3.99e-02 1.89e+00 45 1.010787e+04 1.11e+01 1.08e+05 1.89e+02 6.14e-01 1.56e+05 1 4.02e-02 1.93e+00 46 1.009743e+04 1.04e+01 1.01e+05 1.83e+02 6.25e-01 1.59e+05 1 3.98e-02 1.97e+00 47 1.008754e+04 9.89e+00 9.59e+04 1.77e+02 6.35e-01 1.62e+05 1 3.97e-02 2.01e+00 48 1.007813e+04 9.41e+00 9.11e+04 1.72e+02 6.43e-01 1.66e+05 1 4.00e-02 2.05e+00 49 1.006915e+04 8.99e+00 8.70e+04 1.68e+02 6.51e-01 1.71e+05 1 3.99e-02 2.09e+00 50 1.006052e+04 8.63e+00 8.33e+04 1.63e+02 6.58e-01 1.76e+05 1 3.99e-02 2.13e+00 Bundle adjustment report ------------------------ Residuals : 27296 Parameters : 13396 Iterations : 51 Time : 2.13325 [s] Initial cost : 1.05606 [px] Final cost : 0.607101 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 43 => Changed observations: 0.003151 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.902002e+03 0.00e+00 1.40e+05 0.00e+00 0.00e+00 1.00e+04 0 2.64e-02 4.87e-02 1 8.619145e+03 2.83e+02 1.66e+05 2.26e+01 9.98e-01 3.00e+04 1 4.26e-02 9.13e-02 2 8.497449e+03 1.22e+02 2.71e+05 6.62e+01 9.62e-01 9.00e+04 1 4.02e-02 1.32e-01 3 8.398118e+03 9.93e+01 9.58e+05 1.88e+02 5.03e-01 9.00e+04 1 4.03e-02 1.72e-01 4 8.199016e+03 1.99e+02 5.31e+05 1.84e+02 8.11e-01 1.18e+05 1 4.01e-02 2.12e-01 5 8.077155e+03 1.22e+02 5.50e+05 2.36e+02 6.10e-01 1.20e+05 1 4.06e-02 2.53e-01 6 7.927362e+03 1.50e+02 4.74e+05 2.33e+02 7.30e-01 1.33e+05 1 4.04e-02 2.93e-01 7 7.815140e+03 1.12e+02 5.18e+05 2.51e+02 6.53e-01 1.37e+05 1 4.02e-02 3.33e-01 8 7.705925e+03 1.09e+02 4.91e+05 2.50e+02 6.81e-01 1.43e+05 1 4.05e-02 3.74e-01 9 7.614165e+03 9.18e+01 4.80e+05 2.54e+02 6.52e-01 1.48e+05 1 4.46e-02 4.18e-01 10 7.530960e+03 8.32e+01 4.50e+05 2.52e+02 6.52e-01 1.52e+05 1 4.17e-02 4.60e-01 11 7.457965e+03 7.30e+01 4.19e+05 2.50e+02 6.41e-01 1.55e+05 1 4.54e-02 5.06e-01 12 7.392947e+03 6.50e+01 3.85e+05 2.45e+02 6.36e-01 1.59e+05 1 4.09e-02 5.46e-01 13 7.335299e+03 5.76e+01 3.51e+05 2.39e+02 6.30e-01 1.61e+05 1 3.99e-02 5.86e-01 14 7.284013e+03 5.13e+01 3.18e+05 2.33e+02 6.27e-01 1.64e+05 1 3.97e-02 6.26e-01 15 7.238315e+03 4.57e+01 2.87e+05 2.25e+02 6.24e-01 1.67e+05 1 4.03e-02 6.66e-01 16 7.197472e+03 4.08e+01 2.58e+05 2.18e+02 6.23e-01 1.69e+05 1 4.01e-02 7.07e-01 17 7.160844e+03 3.66e+01 2.32e+05 2.10e+02 6.23e-01 1.72e+05 1 3.99e-02 7.46e-01 18 7.127872e+03 3.30e+01 2.10e+05 2.02e+02 6.25e-01 1.74e+05 1 4.01e-02 7.87e-01 19 7.098077e+03 2.98e+01 1.90e+05 1.94e+02 6.27e-01 1.77e+05 1 4.00e-02 8.27e-01 20 7.071044e+03 2.70e+01 1.73e+05 1.86e+02 6.31e-01 1.81e+05 1 3.99e-02 8.67e-01 21 7.046422e+03 2.46e+01 1.58e+05 1.79e+02 6.35e-01 1.84e+05 1 4.00e-02 9.07e-01 22 7.023906e+03 2.25e+01 1.46e+05 1.72e+02 6.40e-01 1.88e+05 1 3.97e-02 9.46e-01 23 7.003235e+03 2.07e+01 1.36e+05 1.65e+02 6.45e-01 1.93e+05 1 4.00e-02 9.86e-01 24 6.984183e+03 1.91e+01 1.27e+05 1.59e+02 6.51e-01 1.99e+05 1 3.97e-02 1.03e+00 25 6.966556e+03 1.76e+01 1.20e+05 1.52e+02 6.56e-01 2.05e+05 1 4.15e-02 1.07e+00 26 6.950185e+03 1.64e+01 1.13e+05 1.47e+02 6.61e-01 2.12e+05 1 3.99e-02 1.11e+00 27 6.934923e+03 1.53e+01 1.08e+05 1.41e+02 6.66e-01 2.20e+05 1 4.01e-02 1.15e+00 28 6.920644e+03 1.43e+01 1.04e+05 1.36e+02 6.70e-01 2.29e+05 1 4.01e-02 1.19e+00 29 6.907238e+03 1.34e+01 1.00e+05 1.31e+02 6.75e-01 2.39e+05 1 4.00e-02 1.23e+00 30 6.894608e+03 1.26e+01 9.88e+04 1.27e+02 6.79e-01 2.50e+05 1 4.05e-02 1.27e+00 31 6.882672e+03 1.19e+01 9.79e+04 1.22e+02 6.83e-01 2.63e+05 1 4.01e-02 1.31e+00 32 6.871357e+03 1.13e+01 9.76e+04 1.17e+02 6.86e-01 2.78e+05 1 4.00e-02 1.35e+00 33 6.860599e+03 1.08e+01 9.78e+04 1.13e+02 6.90e-01 2.94e+05 1 4.04e-02 1.39e+00 34 6.850344e+03 1.03e+01 9.85e+04 1.09e+02 6.93e-01 3.12e+05 1 4.53e-02 1.43e+00 35 6.840548e+03 9.80e+00 9.97e+04 1.04e+02 6.96e-01 3.32e+05 1 4.17e-02 1.48e+00 36 6.831173e+03 9.38e+00 1.01e+05 9.99e+01 6.98e-01 3.54e+05 1 4.58e-02 1.52e+00 37 6.822191e+03 8.98e+00 1.03e+05 9.54e+01 7.00e-01 3.78e+05 1 4.05e-02 1.56e+00 38 6.813582e+03 8.61e+00 1.05e+05 9.08e+01 7.02e-01 4.04e+05 1 4.03e-02 1.60e+00 39 6.805335e+03 8.25e+00 1.08e+05 8.62e+01 7.03e-01 4.33e+05 1 4.03e-02 1.64e+00 40 6.797447e+03 7.89e+00 1.10e+05 8.15e+01 7.03e-01 4.65e+05 1 4.08e-02 1.68e+00 41 6.789920e+03 7.53e+00 1.12e+05 7.67e+01 7.04e-01 4.98e+05 1 4.02e-02 1.72e+00 42 6.782763e+03 7.16e+00 1.13e+05 7.18e+01 7.03e-01 5.34e+05 1 4.07e-02 1.77e+00 43 6.775986e+03 6.78e+00 1.14e+05 6.70e+01 7.03e-01 5.73e+05 1 4.08e-02 1.81e+00 44 6.769603e+03 6.38e+00 1.14e+05 6.23e+01 7.03e-01 6.14e+05 1 4.05e-02 1.85e+00 45 6.763626e+03 5.98e+00 1.13e+05 5.77e+01 7.03e-01 6.58e+05 1 4.06e-02 1.89e+00 46 6.758064e+03 5.56e+00 1.12e+05 5.33e+01 7.03e-01 7.05e+05 1 4.04e-02 1.93e+00 47 6.752923e+03 5.14e+00 1.09e+05 4.91e+01 7.03e-01 7.56e+05 1 4.04e-02 1.97e+00 48 6.748206e+03 4.72e+00 1.06e+05 4.52e+01 7.04e-01 8.11e+05 1 4.07e-02 2.01e+00 49 6.743909e+03 4.30e+00 1.02e+05 4.15e+01 7.06e-01 8.72e+05 1 4.29e-02 2.05e+00 50 6.740025e+03 3.88e+00 9.78e+04 3.82e+01 7.07e-01 9.39e+05 1 4.11e-02 2.09e+00 Bundle adjustment report ------------------------ Residuals : 27210 Parameters : 13369 Iterations : 51 Time : 2.09334 [s] Initial cost : 0.571978 [px] Final cost : 0.497699 [px] Termination : No convergence => Completed observations: 3019 => Merged observations: 0 => Filtered observations: 7 => Changed observations: 0.222418 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.375020e+04 0.00e+00 4.13e+05 0.00e+00 0.00e+00 1.00e+04 0 3.22e-02 5.87e-02 1 1.061102e+04 3.14e+03 1.19e+06 1.66e+01 9.49e-01 3.00e+04 1 5.21e-02 1.11e-01 2 1.013480e+04 4.76e+02 5.06e+05 1.80e+01 9.76e-01 9.00e+04 1 5.00e-02 1.61e-01 3 9.886167e+03 2.49e+02 3.92e+05 7.99e+01 9.19e-01 2.20e+05 1 4.94e-02 2.10e-01 4 9.729396e+03 1.57e+02 5.97e+05 1.77e+02 6.82e-01 2.31e+05 1 4.96e-02 2.60e-01 5 9.586769e+03 1.43e+02 2.91e+05 1.64e+02 8.35e-01 3.31e+05 1 5.37e-02 3.14e-01 6 9.560716e+03 2.61e+01 4.94e+05 2.00e+02 2.52e-01 2.95e+05 1 5.08e-02 3.64e-01 7 9.472421e+03 8.83e+01 2.89e+05 1.55e+02 7.26e-01 3.25e+05 1 5.55e-02 4.20e-01 8 9.434347e+03 3.81e+01 2.42e+05 1.48e+02 5.60e-01 3.26e+05 1 4.99e-02 4.70e-01 9 9.396844e+03 3.75e+01 1.71e+05 1.29e+02 6.75e-01 3.40e+05 1 4.99e-02 5.20e-01 10 9.371362e+03 2.55e+01 1.46e+05 1.17e+02 6.70e-01 3.54e+05 1 5.01e-02 5.70e-01 11 9.351775e+03 1.96e+01 1.21e+05 1.05e+02 7.00e-01 3.78e+05 1 5.01e-02 6.20e-01 12 9.337224e+03 1.46e+01 1.04e+05 9.60e+01 7.07e-01 4.07e+05 1 5.02e-02 6.70e-01 13 9.325964e+03 1.13e+01 8.76e+04 8.76e+01 7.24e-01 4.48e+05 1 5.01e-02 7.20e-01 14 9.317386e+03 8.58e+00 7.57e+04 8.05e+01 7.32e-01 4.98e+05 1 5.02e-02 7.71e-01 15 9.310804e+03 6.58e+00 6.84e+04 7.36e+01 7.46e-01 5.65e+05 1 4.95e-02 8.20e-01 16 9.305875e+03 4.93e+00 6.19e+04 6.71e+01 7.55e-01 6.51e+05 1 4.99e-02 8.70e-01 17 9.302240e+03 3.64e+00 5.50e+04 6.06e+01 7.69e-01 7.72e+05 1 4.98e-02 9.20e-01 18 9.299661e+03 2.58e+00 4.82e+04 5.43e+01 7.82e-01 9.41e+05 1 4.96e-02 9.70e-01 19 9.297896e+03 1.76e+00 4.07e+04 4.78e+01 8.01e-01 1.20e+06 1 4.90e-02 1.02e+00 20 9.296758e+03 1.14e+00 3.29e+04 4.15e+01 8.23e-01 1.65e+06 1 4.92e-02 1.07e+00 21 9.296071e+03 6.87e-01 2.42e+04 3.50e+01 8.54e-01 2.56e+06 1 4.92e-02 1.12e+00 22 9.295698e+03 3.73e-01 1.47e+04 2.85e+01 8.89e-01 4.82e+06 1 4.91e-02 1.17e+00 23 9.295535e+03 1.63e-01 6.53e+03 2.12e+01 8.93e-01 9.39e+06 1 4.89e-02 1.22e+00 24 9.295486e+03 4.93e-02 5.60e+03 1.15e+01 9.03e-01 1.97e+07 1 4.90e-02 1.26e+00 25 9.295477e+03 9.47e-03 1.27e+03 4.23e+00 9.83e-01 5.90e+07 1 5.21e-02 1.32e+00 26 9.295476e+03 4.73e-04 7.55e+01 9.58e-01 1.03e+00 1.77e+08 1 5.25e-02 1.37e+00 27 9.295476e+03 6.53e-06 1.38e+00 1.11e-01 1.11e+00 5.31e+08 1 5.50e-02 1.42e+00 28 9.295476e+03 1.11e-07 5.63e-02 1.34e-02 1.13e+00 1.59e+09 1 4.98e-02 1.47e+00 Bundle adjustment report ------------------------ Residuals : 33234 Parameters : 13363 Iterations : 29 Time : 1.47446 [s] Initial cost : 0.643225 [px] Final cost : 0.528865 [px] Termination : Convergence => Completed observations: 515 => Merged observations: 0 => Filtered observations: 12 => Changed observations: 0.031715 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.106876e+04 0.00e+00 1.63e+05 0.00e+00 0.00e+00 1.00e+04 0 3.31e-02 5.92e-02 1 1.017095e+04 8.98e+02 1.21e+05 9.06e+00 9.98e-01 3.00e+04 1 5.32e-02 1.12e-01 2 1.013240e+04 3.85e+01 4.92e+04 9.01e-01 9.96e-01 9.00e+04 1 5.16e-02 1.64e-01 3 1.009125e+04 4.12e+01 2.22e+05 4.69e+00 8.95e-01 1.78e+05 1 5.16e-02 2.16e-01 4 1.006560e+04 2.56e+01 4.18e+05 8.68e-01 5.51e-01 1.78e+05 1 5.16e-02 2.67e-01 5 1.002881e+04 3.68e+01 2.35e+05 4.83e+00 8.18e-01 2.40e+05 1 5.13e-02 3.19e-01 6 1.001098e+04 1.78e+01 2.34e+05 1.03e+01 5.98e-01 2.42e+05 1 5.14e-02 3.70e-01 7 9.989436e+03 2.15e+01 2.08e+05 1.08e+01 7.30e-01 2.68e+05 1 5.15e-02 4.22e-01 8 9.973478e+03 1.60e+01 2.41e+05 1.03e+01 6.31e-01 2.73e+05 1 5.15e-02 4.73e-01 9 9.956523e+03 1.70e+01 2.44e+05 7.91e+00 6.54e-01 2.81e+05 1 5.16e-02 5.25e-01 10 9.940769e+03 1.58e+01 2.57e+05 5.35e+00 6.22e-01 2.85e+05 1 5.15e-02 5.76e-01 11 9.925072e+03 1.57e+01 2.66e+05 2.79e+00 6.11e-01 2.88e+05 1 5.15e-02 6.28e-01 12 9.909669e+03 1.54e+01 2.75e+05 5.12e-01 5.97e-01 2.90e+05 1 5.13e-02 6.79e-01 13 9.894465e+03 1.52e+01 2.82e+05 1.41e+00 5.86e-01 2.92e+05 1 5.14e-02 7.30e-01 14 9.879472e+03 1.50e+01 2.87e+05 2.99e+00 5.76e-01 2.93e+05 1 5.12e-02 7.82e-01 15 9.864695e+03 1.48e+01 2.91e+05 4.24e+00 5.68e-01 2.94e+05 1 5.74e-02 8.39e-01 16 9.850138e+03 1.46e+01 2.94e+05 5.22e+00 5.62e-01 2.94e+05 1 5.54e-02 8.95e-01 17 9.835811e+03 1.43e+01 2.97e+05 5.98e+00 5.56e-01 2.95e+05 1 5.39e-02 9.49e-01 18 9.821717e+03 1.41e+01 2.98e+05 6.55e+00 5.51e-01 2.95e+05 1 5.15e-02 1.00e+00 19 9.807865e+03 1.39e+01 2.99e+05 6.98e+00 5.47e-01 2.95e+05 1 5.22e-02 1.05e+00 20 9.794257e+03 1.36e+01 2.99e+05 7.30e+00 5.43e-01 2.95e+05 1 5.22e-02 1.10e+00 21 9.780900e+03 1.34e+01 2.98e+05 7.53e+00 5.40e-01 2.95e+05 1 5.17e-02 1.16e+00 22 9.767797e+03 1.31e+01 2.98e+05 7.69e+00 5.38e-01 2.96e+05 1 5.18e-02 1.21e+00 23 9.754953e+03 1.28e+01 2.96e+05 7.80e+00 5.36e-01 2.96e+05 1 5.16e-02 1.26e+00 24 9.742370e+03 1.26e+01 2.94e+05 7.87e+00 5.35e-01 2.96e+05 1 5.13e-02 1.31e+00 25 9.730052e+03 1.23e+01 2.92e+05 7.90e+00 5.34e-01 2.96e+05 1 5.20e-02 1.36e+00 26 9.718001e+03 1.21e+01 2.90e+05 7.92e+00 5.33e-01 2.96e+05 1 5.21e-02 1.42e+00 27 9.706222e+03 1.18e+01 2.87e+05 7.92e+00 5.33e-01 2.96e+05 1 5.16e-02 1.47e+00 28 9.694715e+03 1.15e+01 2.84e+05 7.90e+00 5.33e-01 2.96e+05 1 5.13e-02 1.52e+00 29 9.683484e+03 1.12e+01 2.81e+05 7.88e+00 5.33e-01 2.96e+05 1 5.15e-02 1.57e+00 30 9.672531e+03 1.10e+01 2.77e+05 7.86e+00 5.34e-01 2.96e+05 1 5.24e-02 1.62e+00 31 9.661857e+03 1.07e+01 2.73e+05 7.83e+00 5.35e-01 2.96e+05 1 5.22e-02 1.67e+00 32 9.651464e+03 1.04e+01 2.69e+05 7.80e+00 5.37e-01 2.97e+05 1 5.16e-02 1.73e+00 33 9.641353e+03 1.01e+01 2.65e+05 7.77e+00 5.38e-01 2.97e+05 1 5.15e-02 1.78e+00 34 9.631526e+03 9.83e+00 2.60e+05 7.74e+00 5.40e-01 2.97e+05 1 5.22e-02 1.83e+00 35 9.621982e+03 9.54e+00 2.55e+05 7.71e+00 5.42e-01 2.97e+05 1 5.70e-02 1.89e+00 36 9.612723e+03 9.26e+00 2.50e+05 7.68e+00 5.45e-01 2.97e+05 1 5.61e-02 1.94e+00 37 9.603749e+03 8.97e+00 2.45e+05 7.65e+00 5.48e-01 2.97e+05 1 5.14e-02 1.99e+00 38 9.595058e+03 8.69e+00 2.40e+05 7.62e+00 5.51e-01 2.98e+05 1 5.18e-02 2.05e+00 39 9.586650e+03 8.41e+00 2.35e+05 7.59e+00 5.54e-01 2.98e+05 1 5.18e-02 2.10e+00 40 9.578524e+03 8.13e+00 2.30e+05 7.57e+00 5.57e-01 2.99e+05 1 5.15e-02 2.15e+00 41 9.570678e+03 7.85e+00 2.24e+05 7.54e+00 5.60e-01 2.99e+05 1 5.15e-02 2.20e+00 42 9.563109e+03 7.57e+00 2.19e+05 7.52e+00 5.64e-01 3.00e+05 1 5.19e-02 2.25e+00 43 9.555816e+03 7.29e+00 2.13e+05 7.49e+00 5.68e-01 3.00e+05 1 5.16e-02 2.30e+00 44 9.548793e+03 7.02e+00 2.08e+05 7.47e+00 5.71e-01 3.01e+05 1 5.15e-02 2.36e+00 45 9.542039e+03 6.75e+00 2.02e+05 7.45e+00 5.75e-01 3.02e+05 1 5.15e-02 2.41e+00 46 9.535548e+03 6.49e+00 1.97e+05 7.43e+00 5.79e-01 3.04e+05 1 5.27e-02 2.46e+00 47 9.529315e+03 6.23e+00 1.91e+05 7.42e+00 5.83e-01 3.05e+05 1 5.14e-02 2.51e+00 48 9.523336e+03 5.98e+00 1.86e+05 7.40e+00 5.86e-01 3.07e+05 1 5.15e-02 2.56e+00 49 9.517606e+03 5.73e+00 1.81e+05 7.38e+00 5.90e-01 3.08e+05 1 5.14e-02 2.61e+00 50 9.512118e+03 5.49e+00 1.76e+05 7.37e+00 5.94e-01 3.10e+05 1 5.15e-02 2.67e+00 Bundle adjustment report ------------------------ Residuals : 34240 Parameters : 13357 Iterations : 51 Time : 2.66699 [s] Initial cost : 0.568568 [px] Final cost : 0.527074 [px] Termination : No convergence => Completed observations: 254 => Merged observations: 0 => Filtered observations: 3 => Changed observations: 0.015012 => Filtered images: 0 ============================================================================== Registering image #17 (29) ============================================================================== => Image sees 688 / 3041 points Pose refinement report ---------------------- Residuals : 1256 Parameters : 6 Iterations : 13 Time : 0.015763 [s] Initial cost : 0.702913 [px] Final cost : 0.651007 [px] Termination : Convergence => Continued observations: 628 => Added observations: 3346 Bundle adjustment report ------------------------ Residuals : 30862 Parameters : 10553 Iterations : 26 Time : 0.757651 [s] Initial cost : 1.72687 [px] Final cost : 1.61794 [px] Termination : No convergence => Merged observations: 70 => Completed observations: 884 => Filtered observations: 621 => Changed observations: 0.101280 Bundle adjustment report ------------------------ Residuals : 31388 Parameters : 10229 Iterations : 7 Time : 0.204367 [s] Initial cost : 0.641045 [px] Final cost : 0.577527 [px] Termination : Convergence => Merged observations: 7 => Completed observations: 416 => Filtered observations: 4 => Changed observations: 0.027001 ============================================================================== Retriangulation ============================================================================== => Completed observations: 79 => Merged observations: 0 => Retriangulated observations: 6305 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.196162e+07 0.00e+00 4.11e+07 0.00e+00 0.00e+00 1.00e+04 0 5.65e-02 1.03e-01 1 1.186149e+07 1.00e+05 3.38e+08 9.89e+00 1.33e-02 5.20e+03 1 9.08e-02 1.94e-01 2 4.398253e+06 7.46e+06 4.14e+07 1.32e+02 9.81e-01 1.56e+04 1 7.99e-02 2.74e-01 3 5.308593e+06 -9.10e+05 0.00e+00 7.32e+02 -2.10e+00 7.80e+03 1 3.00e-02 3.04e-01 4 4.266327e+06 1.32e+05 6.15e+07 3.60e+02 3.55e-01 7.62e+03 1 7.51e-02 3.79e-01 5 3.927649e+06 3.39e+05 2.55e+07 3.74e+02 9.08e-01 1.66e+04 1 7.59e-02 4.55e-01 6 4.821825e+06 -8.94e+05 0.00e+00 1.02e+03 -5.21e+00 8.32e+03 1 3.07e-02 4.86e-01 7 1.950134e+07 -1.56e+07 0.00e+00 5.09e+02 -1.12e+02 2.08e+03 1 2.89e-02 5.15e-01 8 3.832693e+06 9.50e+04 2.52e+06 1.21e+02 9.84e-01 6.24e+03 1 7.57e-02 5.90e-01 9 3.791952e+06 4.07e+04 1.47e+07 2.80e+02 7.91e-01 7.78e+03 1 7.57e-02 6.66e-01 10 4.032682e+06 -2.41e+05 0.00e+00 3.63e+02 -4.34e+00 3.89e+03 1 2.97e-02 6.96e-01 11 3.802642e+06 -1.07e+04 0.00e+00 1.82e+02 -2.77e-01 9.72e+02 1 2.89e-02 7.25e-01 12 3.768915e+06 2.30e+04 4.29e+05 4.69e+01 1.02e+00 2.92e+03 1 7.50e-02 8.00e-01 13 3.751599e+06 1.73e+04 2.99e+06 1.27e+02 9.43e-01 8.75e+03 1 7.61e-02 8.76e-01 14 4.827991e+06 -1.08e+06 0.00e+00 3.61e+02 -3.06e+01 4.37e+03 1 2.99e-02 9.06e-01 15 3.732865e+06 1.87e+04 3.82e+06 1.85e+02 8.76e-01 7.63e+03 1 7.55e-02 9.81e-01 16 3.718501e+06 1.44e+04 1.17e+07 3.04e+02 5.34e-01 7.63e+03 1 7.64e-02 1.06e+00 17 3.689808e+06 2.87e+04 4.25e+06 2.81e+02 9.79e-01 2.29e+04 1 8.46e-02 1.14e+00 18 3.705859e+06 -1.61e+04 0.00e+00 6.84e+02 -6.31e-01 1.14e+04 1 3.62e-02 1.18e+00 19 3.675724e+06 1.41e+04 7.72e+06 3.77e+02 8.67e-01 1.90e+04 1 7.51e-02 1.25e+00 20 3.664811e+06 1.09e+04 1.92e+07 5.16e+02 6.44e-01 1.94e+04 1 7.65e-02 1.33e+00 21 3.651917e+06 1.29e+04 4.47e+06 4.41e+02 8.96e-01 3.86e+04 1 7.76e-02 1.41e+00 22 3.650423e+06 1.49e+03 2.53e+07 6.39e+02 1.56e-01 2.91e+04 1 7.79e-02 1.49e+00 23 3.639570e+06 1.09e+04 4.43e+06 4.02e+02 9.24e-01 7.45e+04 1 7.76e-02 1.56e+00 24 3.645312e+06 -5.74e+03 0.00e+00 7.07e+02 -9.41e-01 3.73e+04 1 3.12e-02 1.59e+00 25 3.636768e+06 2.80e+03 1.02e+07 4.09e+02 7.12e-01 4.03e+04 1 7.72e-02 1.67e+00 26 3.634029e+06 2.74e+03 8.00e+06 3.71e+02 7.89e-01 5.00e+04 1 7.93e-02 1.75e+00 27 3.631966e+06 2.06e+03 1.27e+07 3.81e+02 7.06e-01 5.38e+04 1 7.78e-02 1.83e+00 28 3.629839e+06 2.13e+03 1.16e+07 3.48e+02 7.79e-01 6.51e+04 1 7.81e-02 1.91e+00 29 3.628081e+06 1.76e+03 1.74e+07 3.52e+02 7.15e-01 7.07e+04 1 7.75e-02 1.98e+00 30 3.626231e+06 1.85e+03 1.76e+07 3.24e+02 7.74e-01 8.46e+04 1 7.79e-02 2.06e+00 31 3.624602e+06 1.63e+03 2.75e+07 3.20e+02 7.24e-01 9.30e+04 1 8.54e-02 2.15e+00 32 3.622896e+06 1.71e+03 3.22e+07 2.89e+02 7.75e-01 1.11e+05 1 8.41e-02 2.23e+00 33 3.621386e+06 1.51e+03 6.71e+07 2.72e+02 7.42e-01 1.26e+05 1 7.73e-02 2.31e+00 34 3.619892e+06 1.49e+03 1.05e+08 2.24e+02 8.26e-01 1.74e+05 1 7.64e-02 2.39e+00 35 3.618790e+06 1.10e+03 3.53e+08 1.81e+02 8.35e-01 2.49e+05 1 7.60e-02 2.46e+00 36 3.618169e+06 6.21e+02 2.55e+08 9.59e+01 9.71e-01 7.46e+05 1 7.66e-02 2.54e+00 37 3.618628e+06 -4.59e+02 0.00e+00 5.96e+01 -1.72e+00 3.73e+05 1 2.99e-02 2.57e+00 38 3.618016e+06 1.53e+02 6.61e+08 4.19e+01 9.52e-01 1.12e+06 1 7.49e-02 2.64e+00 39 3.617919e+06 9.65e+01 4.53e+09 2.42e+01 7.70e-01 1.33e+06 1 7.70e-02 2.72e+00 40 3.617881e+06 3.87e+01 1.80e+09 2.59e+00 9.45e-01 3.98e+06 1 7.59e-02 2.80e+00 41 3.617866e+06 1.45e+01 4.40e+09 7.73e-01 7.97e-01 5.04e+06 1 7.63e-02 2.87e+00 42 3.617859e+06 7.39e+00 3.01e+09 5.78e-02 9.06e-01 1.08e+07 1 7.61e-02 2.95e+00 43 3.617854e+06 4.35e+00 5.04e+09 1.07e+00 8.66e-01 1.78e+07 1 7.64e-02 3.03e+00 44 3.617852e+06 2.33e+00 6.20e+09 2.68e-01 8.68e-01 2.97e+07 1 7.68e-02 3.10e+00 45 3.617851e+06 1.35e+00 6.86e+09 6.50e-01 8.92e-01 5.72e+07 1 9.08e-02 3.19e+00 46 3.617850e+06 9.53e-01 2.41e+09 4.31e-01 9.88e-01 1.72e+08 1 7.66e-02 3.27e+00 47 3.617850e+06 0.00e+00 2.41e+09 0.00e+00 0.00e+00 8.58e+07 1 2.44e-02 3.29e+00 48 3.617850e+06 0.00e+00 2.41e+09 0.00e+00 0.00e+00 2.14e+07 1 2.33e-02 3.32e+00 49 3.617849e+06 2.03e-01 4.68e+08 3.54e-01 1.00e+00 6.43e+07 1 7.65e-02 3.39e+00 50 3.617849e+06 6.58e-01 1.27e+08 2.97e-01 1.00e+00 1.93e+08 1 7.62e-02 3.47e+00 Bundle adjustment report ------------------------ Residuals : 56808 Parameters : 22567 Iterations : 51 Time : 3.47173 [s] Initial cost : 14.5108 [px] Final cost : 7.98032 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 64 => Filtered observations: 12367 => Changed observations: 0.437650 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.330860e+04 0.00e+00 4.04e+06 0.00e+00 0.00e+00 1.00e+04 0 3.19e-02 5.89e-02 1 2.039535e+04 1.29e+04 1.05e+07 1.08e+02 7.99e-01 1.27e+04 1 5.43e-02 1.13e-01 2 1.634319e+04 4.05e+03 1.10e+06 5.93e+01 9.90e-01 3.82e+04 1 4.78e-02 1.61e-01 3 1.544936e+04 8.94e+02 2.12e+06 1.26e+02 7.58e-01 4.43e+04 1 4.77e-02 2.09e-01 4 1.466111e+04 7.88e+02 1.81e+06 1.35e+02 6.93e-01 4.70e+04 1 4.75e-02 2.56e-01 5 1.503349e+04 -3.72e+02 0.00e+00 1.37e+02 -3.65e-01 2.35e+04 1 1.76e-02 2.74e-01 6 1.414010e+04 5.21e+02 4.41e+05 6.92e+01 7.18e-01 2.56e+04 1 4.75e-02 3.21e-01 7 1.372283e+04 4.17e+02 4.30e+05 7.41e+01 7.89e-01 3.17e+04 1 4.75e-02 3.69e-01 8 1.332194e+04 4.01e+02 5.56e+05 8.99e+01 8.80e-01 5.64e+04 1 4.78e-02 4.17e-01 9 1.298071e+04 3.41e+02 1.32e+06 1.54e+02 6.31e-01 5.74e+04 1 4.74e-02 4.64e-01 10 1.250046e+04 4.80e+02 1.08e+06 1.52e+02 8.01e-01 7.34e+04 1 4.80e-02 5.12e-01 11 1.215067e+04 3.50e+02 1.27e+06 1.86e+02 6.71e-01 7.65e+04 1 4.69e-02 5.59e-01 12 1.176103e+04 3.90e+02 9.92e+05 1.86e+02 7.75e-01 9.16e+04 1 4.70e-02 6.06e-01 13 1.146045e+04 3.01e+02 9.48e+05 2.12e+02 7.13e-01 9.93e+04 1 5.21e-02 6.59e-01 14 1.116748e+04 2.93e+02 8.00e+05 2.17e+02 7.67e-01 1.17e+05 1 5.20e-02 7.11e-01 15 1.093285e+04 2.35e+02 7.72e+05 2.41e+02 7.19e-01 1.28e+05 1 4.73e-02 7.58e-01 16 1.071456e+04 2.18e+02 6.41e+05 2.46e+02 7.41e-01 1.44e+05 1 4.73e-02 8.05e-01 17 1.053594e+04 1.79e+02 5.56e+05 2.57e+02 6.97e-01 1.53e+05 1 4.66e-02 8.52e-01 18 1.037232e+04 1.64e+02 4.37e+05 2.53e+02 7.05e-01 1.65e+05 1 4.70e-02 8.99e-01 19 1.023340e+04 1.39e+02 3.49e+05 2.50e+02 6.83e-01 1.73e+05 1 4.67e-02 9.46e-01 20 1.010869e+04 1.25e+02 3.25e+05 2.41e+02 6.89e-01 1.83e+05 1 4.71e-02 9.93e-01 21 1.000083e+04 1.08e+02 3.00e+05 2.33e+02 6.83e-01 1.93e+05 1 4.73e-02 1.04e+00 22 9.906216e+03 9.46e+01 2.82e+05 2.22e+02 6.88e-01 2.03e+05 1 4.72e-02 1.09e+00 23 9.824852e+03 8.14e+01 2.66e+05 2.13e+02 6.88e-01 2.15e+05 1 4.68e-02 1.13e+00 24 9.755081e+03 6.98e+01 2.43e+05 2.02e+02 6.92e-01 2.28e+05 1 4.66e-02 1.18e+00 25 9.696122e+03 5.90e+01 2.18e+05 1.92e+02 6.93e-01 2.42e+05 1 4.66e-02 1.23e+00 26 9.646722e+03 4.94e+01 1.91e+05 1.81e+02 6.94e-01 2.57e+05 1 4.67e-02 1.27e+00 27 9.605828e+03 4.09e+01 1.64e+05 1.70e+02 6.92e-01 2.72e+05 1 4.69e-02 1.32e+00 28 9.572245e+03 3.36e+01 1.37e+05 1.59e+02 6.89e-01 2.87e+05 1 4.67e-02 1.37e+00 29 9.544842e+03 2.74e+01 1.12e+05 1.47e+02 6.85e-01 3.03e+05 1 4.66e-02 1.41e+00 30 9.522505e+03 2.23e+01 8.99e+04 1.35e+02 6.80e-01 3.18e+05 1 4.66e-02 1.46e+00 31 9.504228e+03 1.83e+01 7.07e+04 1.23e+02 6.76e-01 3.32e+05 1 4.76e-02 1.51e+00 32 9.489137e+03 1.51e+01 6.49e+04 1.11e+02 6.73e-01 3.46e+05 1 4.69e-02 1.56e+00 33 9.476510e+03 1.26e+01 6.29e+04 1.01e+02 6.71e-01 3.61e+05 1 4.68e-02 1.60e+00 34 9.465772e+03 1.07e+01 6.24e+04 9.09e+01 6.71e-01 3.76e+05 1 5.16e-02 1.65e+00 35 9.456482e+03 9.29e+00 6.28e+04 8.20e+01 6.72e-01 3.92e+05 1 5.26e-02 1.71e+00 36 9.448305e+03 8.18e+00 6.37e+04 7.41e+01 6.74e-01 4.09e+05 1 5.04e-02 1.76e+00 37 9.440993e+03 7.31e+00 6.48e+04 6.70e+01 6.75e-01 4.27e+05 1 4.88e-02 1.81e+00 38 9.434366e+03 6.63e+00 6.57e+04 6.07e+01 6.76e-01 4.47e+05 1 4.72e-02 1.85e+00 39 9.428295e+03 6.07e+00 6.62e+04 5.51e+01 6.76e-01 4.67e+05 1 4.77e-02 1.90e+00 40 9.422692e+03 5.60e+00 6.63e+04 4.99e+01 6.75e-01 4.88e+05 1 4.79e-02 1.95e+00 41 9.417491e+03 5.20e+00 6.59e+04 4.52e+01 6.74e-01 5.10e+05 1 4.77e-02 2.00e+00 42 9.412649e+03 4.84e+00 6.49e+04 4.09e+01 6.72e-01 5.31e+05 1 4.79e-02 2.04e+00 43 9.408135e+03 4.51e+00 6.34e+04 3.69e+01 6.70e-01 5.53e+05 1 4.81e-02 2.09e+00 44 9.403924e+03 4.21e+00 6.61e+04 3.32e+01 6.69e-01 5.75e+05 1 4.79e-02 2.14e+00 45 9.399996e+03 3.93e+00 6.88e+04 2.98e+01 6.67e-01 5.97e+05 1 4.76e-02 2.19e+00 46 9.396336e+03 3.66e+00 7.08e+04 2.66e+01 6.65e-01 6.20e+05 1 4.74e-02 2.24e+00 47 9.392929e+03 3.41e+00 7.21e+04 2.37e+01 6.64e-01 6.42e+05 1 4.72e-02 2.28e+00 48 9.389759e+03 3.17e+00 7.28e+04 2.11e+01 6.63e-01 6.65e+05 1 4.70e-02 2.33e+00 49 9.386815e+03 2.94e+00 7.29e+04 1.86e+01 6.62e-01 6.88e+05 1 4.69e-02 2.38e+00 50 9.384083e+03 2.73e+00 7.25e+04 1.64e+01 6.62e-01 7.12e+05 1 4.68e-02 2.42e+00 Bundle adjustment report ------------------------ Residuals : 32074 Parameters : 16843 Iterations : 51 Time : 2.42404 [s] Initial cost : 1.01906 [px] Final cost : 0.540903 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 351 => Filtered observations: 23 => Changed observations: 0.023321 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.876085e+03 0.00e+00 1.23e+05 0.00e+00 0.00e+00 1.00e+04 0 3.14e-02 5.89e-02 1 8.425978e+03 4.50e+02 1.23e+06 1.95e+01 8.74e-01 1.72e+04 1 4.90e-02 1.08e-01 2 8.243938e+03 1.82e+02 3.68e+05 1.32e+01 8.77e-01 3.02e+04 1 4.71e-02 1.55e-01 3 8.189103e+03 5.48e+01 7.86e+05 5.72e+00 3.24e-01 2.89e+04 1 5.12e-02 2.06e-01 4 8.021817e+03 1.67e+02 5.31e+05 1.13e+00 7.53e-01 3.32e+04 1 5.25e-02 2.59e-01 5 7.917634e+03 1.04e+02 4.55e+05 1.14e-01 7.08e-01 3.58e+04 1 4.76e-02 3.07e-01 6 7.820271e+03 9.74e+01 3.21e+05 2.63e-01 8.33e-01 5.07e+04 1 4.67e-02 3.53e-01 7 7.762506e+03 5.78e+01 5.12e+05 9.92e-01 5.62e-01 5.08e+04 1 4.63e-02 4.00e-01 8 7.676164e+03 8.63e+01 4.13e+05 1.65e+00 7.48e-01 5.78e+04 1 4.70e-02 4.47e-01 9 7.605158e+03 7.10e+01 3.09e+05 2.42e+00 8.10e-01 7.59e+04 1 4.67e-02 4.93e-01 10 7.544576e+03 6.06e+01 2.56e+05 3.41e+00 8.22e-01 1.04e+05 1 4.69e-02 5.40e-01 11 7.485036e+03 5.95e+01 1.97e+05 4.50e+00 8.27e-01 1.44e+05 1 4.70e-02 5.87e-01 12 7.427632e+03 5.74e+01 2.53e+05 6.08e+00 7.66e-01 1.69e+05 1 4.73e-02 6.35e-01 13 7.369845e+03 5.78e+01 2.80e+05 8.00e+00 7.68e-01 2.00e+05 1 4.68e-02 6.81e-01 14 7.316991e+03 5.29e+01 3.08e+05 1.19e+01 7.32e-01 2.22e+05 1 4.72e-02 7.29e-01 15 7.265387e+03 5.16e+01 3.00e+05 1.72e+01 7.46e-01 2.52e+05 1 4.68e-02 7.75e-01 16 7.218335e+03 4.71e+01 3.02e+05 2.50e+01 7.25e-01 2.77e+05 1 4.68e-02 8.22e-01 17 7.173042e+03 4.53e+01 2.86e+05 3.39e+01 7.30e-01 3.07e+05 1 4.69e-02 8.69e-01 18 7.131116e+03 4.19e+01 2.85e+05 4.43e+01 7.12e-01 3.33e+05 1 4.69e-02 9.16e-01 19 7.091112e+03 4.00e+01 2.75e+05 5.43e+01 7.07e-01 3.58e+05 1 4.68e-02 9.63e-01 20 7.053774e+03 3.73e+01 2.66e+05 6.38e+01 6.90e-01 3.79e+05 1 4.71e-02 1.01e+00 21 7.018438e+03 3.53e+01 2.53e+05 7.15e+01 6.80e-01 3.98e+05 1 4.78e-02 1.06e+00 22 6.985320e+03 3.31e+01 2.42e+05 7.75e+01 6.68e-01 4.13e+05 1 4.74e-02 1.11e+00 23 6.954167e+03 3.12e+01 2.32e+05 8.16e+01 6.61e-01 4.28e+05 1 4.84e-02 1.15e+00 24 6.924986e+03 2.92e+01 2.24e+05 8.41e+01 6.54e-01 4.41e+05 1 4.71e-02 1.20e+00 25 6.897680e+03 2.73e+01 2.17e+05 8.53e+01 6.50e-01 4.53e+05 1 5.67e-02 1.26e+00 26 6.872201e+03 2.55e+01 2.12e+05 8.53e+01 6.46e-01 4.64e+05 1 4.77e-02 1.31e+00 27 6.848479e+03 2.37e+01 2.09e+05 8.44e+01 6.43e-01 4.76e+05 1 4.70e-02 1.35e+00 28 6.826443e+03 2.20e+01 2.06e+05 8.28e+01 6.40e-01 4.86e+05 1 4.67e-02 1.40e+00 29 6.806016e+03 2.04e+01 2.03e+05 8.06e+01 6.37e-01 4.97e+05 1 4.67e-02 1.45e+00 30 6.787118e+03 1.89e+01 2.00e+05 7.80e+01 6.34e-01 5.06e+05 1 4.65e-02 1.49e+00 31 6.769666e+03 1.75e+01 1.97e+05 7.51e+01 6.30e-01 5.15e+05 1 4.69e-02 1.54e+00 32 6.753575e+03 1.61e+01 1.93e+05 7.19e+01 6.27e-01 5.24e+05 1 4.67e-02 1.59e+00 33 6.738760e+03 1.48e+01 1.88e+05 6.86e+01 6.23e-01 5.32e+05 1 4.79e-02 1.63e+00 34 6.725139e+03 1.36e+01 1.84e+05 6.52e+01 6.20e-01 5.39e+05 1 4.69e-02 1.68e+00 35 6.712628e+03 1.25e+01 1.81e+05 6.17e+01 6.17e-01 5.46e+05 1 4.68e-02 1.73e+00 36 6.701149e+03 1.15e+01 1.78e+05 5.83e+01 6.14e-01 5.53e+05 1 4.68e-02 1.77e+00 37 6.690626e+03 1.05e+01 1.73e+05 5.50e+01 6.12e-01 5.59e+05 1 4.69e-02 1.82e+00 38 6.680985e+03 9.64e+00 1.68e+05 5.18e+01 6.10e-01 5.65e+05 1 4.66e-02 1.87e+00 39 6.672157e+03 8.83e+00 1.63e+05 4.87e+01 6.09e-01 5.71e+05 1 4.65e-02 1.91e+00 40 6.664078e+03 8.08e+00 1.57e+05 4.57e+01 6.08e-01 5.77e+05 1 4.67e-02 1.96e+00 41 6.656686e+03 7.39e+00 1.51e+05 4.29e+01 6.08e-01 5.83e+05 1 4.66e-02 2.01e+00 42 6.649923e+03 6.76e+00 1.45e+05 4.02e+01 6.08e-01 5.89e+05 1 4.75e-02 2.06e+00 43 6.643737e+03 6.19e+00 1.38e+05 3.76e+01 6.09e-01 5.95e+05 1 4.73e-02 2.10e+00 44 6.638077e+03 5.66e+00 1.32e+05 3.53e+01 6.10e-01 6.01e+05 1 4.70e-02 2.15e+00 45 6.632898e+03 5.18e+00 1.26e+05 3.30e+01 6.12e-01 6.08e+05 1 4.69e-02 2.20e+00 46 6.628157e+03 4.74e+00 1.20e+05 3.09e+01 6.14e-01 6.15e+05 1 5.22e-02 2.25e+00 47 6.623816e+03 4.34e+00 1.14e+05 2.90e+01 6.16e-01 6.23e+05 1 5.21e-02 2.30e+00 48 6.619839e+03 3.98e+00 1.09e+05 2.71e+01 6.19e-01 6.32e+05 1 4.72e-02 2.35e+00 49 6.616193e+03 3.65e+00 1.05e+05 2.54e+01 6.21e-01 6.41e+05 1 4.68e-02 2.40e+00 50 6.612848e+03 3.34e+00 1.00e+05 2.38e+01 6.24e-01 6.51e+05 1 4.69e-02 2.44e+00 Bundle adjustment report ------------------------ Residuals : 32026 Parameters : 16600 Iterations : 51 Time : 2.44303 [s] Initial cost : 0.526453 [px] Final cost : 0.454405 [px] Termination : No convergence => Completed observations: 6352 => Merged observations: 382 => Filtered observations: 2 => Changed observations: 0.420658 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.025323e+04 0.00e+00 1.34e+06 0.00e+00 0.00e+00 1.00e+04 0 4.33e-02 7.87e-02 1 1.396380e+04 6.29e+03 6.76e+05 1.25e+01 9.94e-01 3.00e+04 1 7.21e-02 1.51e-01 2 1.349704e+04 4.67e+02 5.88e+05 1.06e+01 9.14e-01 6.91e+04 1 6.99e-02 2.21e-01 3 1.326031e+04 2.37e+02 7.11e+05 5.64e+00 7.60e-01 8.04e+04 1 6.84e-02 2.89e-01 4 1.308700e+04 1.73e+02 4.85e+05 1.34e+01 8.43e-01 1.19e+05 1 6.85e-02 3.58e-01 5 1.299584e+04 9.12e+01 5.85e+05 1.37e+01 6.60e-01 1.23e+05 1 6.87e-02 4.26e-01 6 1.289637e+04 9.95e+01 3.89e+05 4.15e+00 8.20e-01 1.67e+05 1 6.84e-02 4.95e-01 7 1.283183e+04 6.45e+01 4.51e+05 9.43e+00 6.75e-01 1.74e+05 1 6.87e-02 5.63e-01 8 1.276029e+04 7.15e+01 3.45e+05 2.17e+01 7.92e-01 2.17e+05 1 6.89e-02 6.32e-01 9 1.270871e+04 5.16e+01 3.85e+05 3.84e+01 6.85e-01 2.29e+05 1 6.75e-02 7.00e-01 10 1.265610e+04 5.26e+01 3.21e+05 4.74e+01 7.61e-01 2.67e+05 1 7.39e-02 7.74e-01 11 1.261699e+04 3.91e+01 3.27e+05 5.87e+01 6.97e-01 2.84e+05 1 7.38e-02 8.48e-01 12 1.258108e+04 3.59e+01 2.80e+05 6.21e+01 7.43e-01 3.21e+05 1 6.94e-02 9.17e-01 13 1.255392e+04 2.72e+01 2.65e+05 6.58e+01 7.10e-01 3.47e+05 1 6.90e-02 9.86e-01 14 1.253086e+04 2.31e+01 2.28e+05 6.39e+01 7.40e-01 3.90e+05 1 6.88e-02 1.05e+00 15 1.251341e+04 1.75e+01 2.07e+05 6.18e+01 7.27e-01 4.30e+05 1 6.75e-02 1.12e+00 16 1.249940e+04 1.40e+01 1.77e+05 5.61e+01 7.50e-01 4.92e+05 1 6.83e-02 1.19e+00 17 1.248897e+04 1.04e+01 1.58e+05 5.03e+01 7.46e-01 5.58e+05 1 6.77e-02 1.26e+00 18 1.248099e+04 7.98e+00 1.33e+05 4.25e+01 7.66e-01 6.58e+05 1 6.74e-02 1.33e+00 19 1.247525e+04 5.74e+00 1.14e+05 3.48e+01 7.68e-01 7.77e+05 1 7.93e-02 1.41e+00 20 1.247111e+04 4.14e+00 9.32e+04 2.63e+01 7.89e-01 9.62e+05 1 7.12e-02 1.48e+00 21 1.246833e+04 2.78e+00 7.62e+04 1.85e+01 7.97e-01 1.22e+06 1 6.86e-02 1.55e+00 22 1.246652e+04 1.80e+00 5.70e+04 1.13e+01 8.24e-01 1.67e+06 1 6.80e-02 1.61e+00 23 1.246549e+04 1.03e+00 4.05e+04 5.43e+00 8.42e-01 2.46e+06 1 6.80e-02 1.68e+00 24 1.246497e+04 5.16e-01 2.41e+04 1.21e+00 8.83e-01 4.46e+06 1 6.79e-02 1.75e+00 25 1.246479e+04 1.87e-01 1.15e+04 1.01e+00 9.22e-01 1.11e+07 1 7.82e-02 1.83e+00 26 1.246475e+04 3.78e-02 2.88e+03 1.22e+00 9.73e-01 3.34e+07 1 6.79e-02 1.90e+00 27 1.246475e+04 1.98e-03 1.56e+02 3.79e-01 9.98e-01 1.00e+08 1 6.83e-02 1.96e+00 28 1.246475e+04 8.94e-06 1.80e+00 3.24e-02 1.00e+00 3.01e+08 1 6.76e-02 2.03e+00 29 1.246475e+04 5.64e-09 5.72e-03 9.26e-04 9.81e-01 9.03e+08 1 6.73e-02 2.10e+00 Bundle adjustment report ------------------------ Residuals : 44726 Parameters : 16399 Iterations : 30 Time : 2.09931 [s] Initial cost : 0.672926 [px] Final cost : 0.527912 [px] Termination : Convergence => Completed observations: 1011 => Merged observations: 222 => Filtered observations: 16 => Changed observations: 0.055851 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.564528e+04 0.00e+00 2.71e+05 0.00e+00 0.00e+00 1.00e+04 0 4.46e-02 8.03e-02 1 1.415000e+04 1.50e+03 2.83e+04 8.22e-01 1.00e+00 3.00e+04 1 7.34e-02 1.54e-01 2 1.407945e+04 7.06e+01 5.95e+04 8.93e+00 9.92e-01 9.00e+04 1 7.30e-02 2.27e-01 3 1.403205e+04 4.74e+01 1.60e+05 2.73e+01 9.26e-01 2.37e+05 1 7.13e-02 2.98e-01 4 1.400514e+04 2.69e+01 2.33e+05 3.18e+01 7.67e-01 2.80e+05 1 7.09e-02 3.69e-01 5 1.398427e+04 2.09e+01 9.80e+04 6.61e+00 9.28e-01 7.46e+05 1 7.16e-02 4.41e-01 6 1.397506e+04 9.21e+00 1.56e+05 3.35e+01 6.90e-01 7.90e+05 1 7.15e-02 5.12e-01 7 1.396788e+04 7.18e+00 5.34e+04 3.79e+01 9.29e-01 2.14e+06 1 7.09e-02 5.83e-01 8 1.396626e+04 1.61e+00 5.88e+04 4.62e+01 6.96e-01 2.27e+06 1 8.09e-02 6.64e-01 9 1.396525e+04 1.01e+00 1.27e+04 1.66e+01 9.76e-01 6.82e+06 1 7.61e-02 7.40e-01 10 1.396514e+04 1.16e-01 6.54e+03 5.19e+00 9.52e-01 2.05e+07 1 7.20e-02 8.12e-01 11 1.396512e+04 1.36e-02 6.30e+02 1.12e-01 9.94e-01 6.14e+07 1 7.13e-02 8.83e-01 12 1.396512e+04 1.73e-04 8.89e+00 1.20e-01 9.99e-01 1.84e+08 1 7.11e-02 9.55e-01 13 1.396512e+04 2.24e-07 5.15e-02 5.80e-03 1.00e+00 5.52e+08 1 7.14e-02 1.03e+00 Bundle adjustment report ------------------------ Residuals : 46716 Parameters : 16309 Iterations : 14 Time : 1.0269 [s] Initial cost : 0.578707 [px] Final cost : 0.546751 [px] Termination : Convergence => Completed observations: 179 => Merged observations: 6 => Filtered observations: 11 => Changed observations: 0.008391 => Filtered images: 0 ============================================================================== Registering image #16 (30) ============================================================================== => Image sees 894 / 2497 points Pose refinement report ---------------------- Residuals : 1704 Parameters : 6 Iterations : 9 Time : 0.0153351 [s] Initial cost : 0.618267 [px] Final cost : 0.578285 [px] Termination : Convergence => Continued observations: 849 => Added observations: 2949 Bundle adjustment report ------------------------ Residuals : 43728 Parameters : 13511 Iterations : 26 Time : 0.910476 [s] Initial cost : 1.41904 [px] Final cost : 1.35439 [px] Termination : No convergence => Merged observations: 71 => Completed observations: 830 => Filtered observations: 639 => Changed observations: 0.069867 Bundle adjustment report ------------------------ Residuals : 44110 Parameters : 13190 Iterations : 6 Time : 0.218436 [s] Initial cost : 0.602143 [px] Final cost : 0.573694 [px] Termination : Convergence => Merged observations: 4 => Completed observations: 326 => Filtered observations: 0 => Changed observations: 0.014843 ============================================================================== Retriangulation ============================================================================== => Completed observations: 77 => Merged observations: 0 => Retriangulated observations: 319 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.580749e+07 0.00e+00 3.59e+07 0.00e+00 0.00e+00 1.00e+04 0 4.96e-02 9.31e-02 1 5.681259e+07 -4.10e+07 0.00e+00 3.97e+02 -4.21e+00 5.00e+03 1 3.49e-02 1.28e-01 2 3.394918e+07 -1.81e+07 0.00e+00 2.30e+02 -1.91e+00 1.25e+03 1 3.07e-02 1.59e-01 3 1.456491e+07 1.24e+06 2.70e+08 5.80e+01 1.40e-01 9.09e+02 1 7.65e-02 2.35e-01 4 6.722894e+06 7.84e+06 4.02e+07 3.84e+01 9.89e-01 2.73e+03 1 7.73e-02 3.13e-01 5 6.893837e+06 -1.71e+05 0.00e+00 3.51e+02 -3.05e-01 1.36e+03 1 3.14e-02 3.44e-01 6 6.444168e+06 2.79e+05 2.90e+07 1.86e+02 6.85e-01 1.44e+03 1 9.00e-02 4.34e-01 7 6.162291e+06 2.82e+05 1.63e+07 1.55e+02 8.68e-01 2.39e+03 1 7.87e-02 5.13e-01 8 6.004729e+06 1.58e+05 2.21e+07 3.35e+02 6.49e-01 2.46e+03 1 7.81e-02 5.91e-01 9 5.805171e+06 2.00e+05 1.35e+07 3.28e+02 8.79e-01 4.36e+03 1 7.70e-02 6.68e-01 10 5.695634e+06 1.10e+05 2.10e+07 6.45e+02 6.03e-01 4.40e+03 1 7.69e-02 7.45e-01 11 5.539106e+06 1.57e+05 1.12e+07 6.51e+02 8.49e-01 6.66e+03 1 7.78e-02 8.23e-01 12 5.477988e+06 6.11e+04 1.26e+07 1.04e+03 4.51e-01 6.65e+03 1 7.70e-02 9.00e-01 13 5.376393e+06 1.02e+05 8.21e+06 1.02e+03 6.68e-01 6.91e+03 1 7.72e-02 9.77e-01 14 5.310102e+06 6.63e+04 8.53e+06 1.10e+03 6.05e-01 6.98e+03 1 7.70e-02 1.05e+00 15 5.257841e+06 5.23e+04 7.53e+06 1.08e+03 5.94e-01 7.02e+03 1 7.90e-02 1.13e+00 16 5.214717e+06 4.31e+04 7.18e+06 1.10e+03 6.04e-01 7.09e+03 1 7.91e-02 1.21e+00 17 5.180744e+06 3.40e+04 6.48e+06 1.07e+03 5.92e-01 7.13e+03 1 7.77e-02 1.29e+00 18 5.151515e+06 2.92e+04 6.13e+06 1.07e+03 6.05e-01 7.20e+03 1 7.97e-02 1.37e+00 19 5.126750e+06 2.48e+04 5.63e+06 1.06e+03 6.08e-01 7.27e+03 1 8.87e-02 1.46e+00 20 5.104860e+06 2.19e+04 5.34e+06 1.06e+03 6.19e-01 7.37e+03 1 7.74e-02 1.54e+00 21 5.085164e+06 1.97e+04 4.99e+06 1.05e+03 6.30e-01 7.50e+03 1 7.83e-02 1.61e+00 22 5.066999e+06 1.82e+04 4.77e+06 1.06e+03 6.40e-01 7.67e+03 1 7.73e-02 1.69e+00 23 5.049744e+06 1.73e+04 4.54e+06 1.07e+03 6.53e-01 7.90e+03 1 7.68e-02 1.77e+00 24 5.033007e+06 1.67e+04 4.39e+06 1.09e+03 6.63e-01 8.18e+03 1 7.73e-02 1.85e+00 25 5.016315e+06 1.67e+04 4.29e+06 1.12e+03 6.74e-01 8.54e+03 1 7.72e-02 1.92e+00 26 4.999445e+06 1.69e+04 4.28e+06 1.16e+03 6.79e-01 8.96e+03 1 7.76e-02 2.00e+00 27 4.982159e+06 1.73e+04 4.35e+06 1.20e+03 6.83e-01 9.42e+03 1 7.73e-02 2.08e+00 28 4.964502e+06 1.77e+04 4.53e+06 1.25e+03 6.81e-01 9.89e+03 1 7.66e-02 2.15e+00 29 4.946573e+06 1.79e+04 4.81e+06 1.30e+03 6.78e-01 1.04e+04 1 7.80e-02 2.23e+00 30 4.928686e+06 1.79e+04 5.16e+06 1.34e+03 6.73e-01 1.08e+04 1 7.85e-02 2.31e+00 31 4.911133e+06 1.76e+04 5.54e+06 1.38e+03 6.67e-01 1.12e+04 1 7.81e-02 2.39e+00 32 4.894230e+06 1.69e+04 5.87e+06 1.42e+03 6.62e-01 1.16e+04 1 9.02e-02 2.48e+00 33 4.878176e+06 1.61e+04 6.12e+06 1.45e+03 6.58e-01 1.20e+04 1 7.69e-02 2.56e+00 34 4.863104e+06 1.51e+04 6.26e+06 1.47e+03 6.54e-01 1.24e+04 1 7.68e-02 2.63e+00 35 4.849054e+06 1.40e+04 6.30e+06 1.48e+03 6.53e-01 1.27e+04 1 7.67e-02 2.71e+00 36 4.836021e+06 1.30e+04 6.27e+06 1.50e+03 6.51e-01 1.31e+04 1 7.71e-02 2.79e+00 37 4.823962e+06 1.21e+04 6.19e+06 1.51e+03 6.51e-01 1.34e+04 1 7.76e-02 2.86e+00 38 4.812825e+06 1.11e+04 6.08e+06 1.52e+03 6.50e-01 1.38e+04 1 7.69e-02 2.94e+00 39 4.802549e+06 1.03e+04 5.97e+06 1.54e+03 6.49e-01 1.42e+04 1 7.70e-02 3.02e+00 40 4.793079e+06 9.47e+03 5.86e+06 1.55e+03 6.47e-01 1.46e+04 1 7.83e-02 3.10e+00 41 4.784362e+06 8.72e+03 5.76e+06 1.56e+03 6.44e-01 1.49e+04 1 7.87e-02 3.18e+00 42 4.776351e+06 8.01e+03 5.73e+06 1.57e+03 6.41e-01 1.53e+04 1 7.93e-02 3.26e+00 43 4.769000e+06 7.35e+03 5.73e+06 1.58e+03 6.38e-01 1.56e+04 1 7.91e-02 3.33e+00 44 4.762266e+06 6.73e+03 5.71e+06 1.59e+03 6.34e-01 1.59e+04 1 8.58e-02 3.42e+00 45 4.756108e+06 6.16e+03 5.66e+06 1.60e+03 6.30e-01 1.62e+04 1 8.69e-02 3.51e+00 46 4.750484e+06 5.62e+03 5.58e+06 1.61e+03 6.26e-01 1.64e+04 1 8.01e-02 3.59e+00 47 4.745350e+06 5.13e+03 5.47e+06 1.62e+03 6.21e-01 1.67e+04 1 7.92e-02 3.67e+00 48 4.740665e+06 4.68e+03 5.35e+06 1.63e+03 6.18e-01 1.69e+04 1 7.95e-02 3.75e+00 49 4.736389e+06 4.28e+03 5.21e+06 1.64e+03 6.14e-01 1.71e+04 1 7.86e-02 3.82e+00 50 4.732481e+06 3.91e+03 5.13e+06 1.64e+03 6.11e-01 1.73e+04 1 7.97e-02 3.90e+00 Bundle adjustment report ------------------------ Residuals : 56474 Parameters : 19027 Iterations : 51 Time : 3.90572 [s] Initial cost : 16.7304 [px] Final cost : 9.1542 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 6 => Filtered observations: 15731 => Changed observations: 0.557318 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.055352e+04 0.00e+00 4.89e+06 0.00e+00 0.00e+00 1.00e+04 0 2.42e-02 4.43e-02 1 1.712886e+04 1.34e+04 5.18e+06 8.25e+01 9.73e-01 3.00e+04 1 3.76e-02 8.19e-02 2 1.609033e+04 1.04e+03 3.75e+06 9.26e+01 9.10e-01 6.68e+04 1 3.72e-02 1.19e-01 3 1.591917e+04 1.71e+02 9.65e+06 3.30e+02 2.32e-01 5.79e+04 1 3.64e-02 1.56e-01 4 1.515129e+04 7.68e+02 5.43e+06 2.82e+02 8.05e-01 7.50e+04 1 3.62e-02 1.92e-01 5 1.493639e+04 2.15e+02 7.54e+06 3.56e+02 3.70e-01 7.37e+04 1 3.68e-02 2.29e-01 6 1.450600e+04 4.30e+02 6.27e+06 3.38e+02 6.22e-01 7.48e+04 1 3.62e-02 2.65e-01 7 1.418510e+04 3.21e+02 5.75e+06 3.34e+02 5.88e-01 7.52e+04 1 3.63e-02 3.01e-01 8 1.389943e+04 2.86e+02 5.24e+06 3.28e+02 6.00e-01 7.58e+04 1 3.66e-02 3.38e-01 9 1.364861e+04 2.51e+02 4.84e+06 3.25e+02 6.03e-01 7.64e+04 1 3.62e-02 3.74e-01 10 1.342448e+04 2.24e+02 4.48e+06 3.23e+02 6.08e-01 7.72e+04 1 3.63e-02 4.10e-01 11 1.322310e+04 2.01e+02 4.17e+06 3.24e+02 6.13e-01 7.81e+04 1 3.64e-02 4.47e-01 12 1.304123e+04 1.82e+02 3.90e+06 3.25e+02 6.17e-01 7.91e+04 1 4.30e-02 4.90e-01 13 1.287629e+04 1.65e+02 3.65e+06 3.28e+02 6.21e-01 8.02e+04 1 3.85e-02 5.28e-01 14 1.272610e+04 1.50e+02 3.43e+06 3.31e+02 6.24e-01 8.15e+04 1 3.63e-02 5.64e-01 15 1.258879e+04 1.37e+02 3.23e+06 3.35e+02 6.27e-01 8.28e+04 1 3.66e-02 6.01e-01 16 1.246277e+04 1.26e+02 3.05e+06 3.39e+02 6.30e-01 8.43e+04 1 3.63e-02 6.37e-01 17 1.234669e+04 1.16e+02 2.88e+06 3.43e+02 6.32e-01 8.59e+04 1 3.61e-02 6.74e-01 18 1.223939e+04 1.07e+02 2.73e+06 3.48e+02 6.34e-01 8.76e+04 1 3.61e-02 7.10e-01 19 1.213987e+04 9.95e+01 2.60e+06 3.53e+02 6.36e-01 8.94e+04 1 3.65e-02 7.46e-01 20 1.204727e+04 9.26e+01 2.47e+06 3.58e+02 6.37e-01 9.12e+04 1 3.62e-02 7.83e-01 21 1.196083e+04 8.64e+01 2.35e+06 3.63e+02 6.38e-01 9.32e+04 1 3.63e-02 8.19e-01 22 1.187988e+04 8.09e+01 2.24e+06 3.69e+02 6.39e-01 9.52e+04 1 3.63e-02 8.55e-01 23 1.180383e+04 7.60e+01 2.14e+06 3.75e+02 6.39e-01 9.73e+04 1 3.62e-02 8.91e-01 24 1.173216e+04 7.17e+01 2.05e+06 3.81e+02 6.39e-01 9.95e+04 1 3.64e-02 9.28e-01 25 1.166439e+04 6.78e+01 1.96e+06 3.88e+02 6.40e-01 1.02e+05 1 3.61e-02 9.64e-01 26 1.160009e+04 6.43e+01 1.88e+06 3.94e+02 6.39e-01 1.04e+05 1 3.63e-02 1.00e+00 27 1.153887e+04 6.12e+01 1.80e+06 4.01e+02 6.39e-01 1.06e+05 1 3.63e-02 1.04e+00 28 1.148037e+04 5.85e+01 1.73e+06 4.08e+02 6.39e-01 1.09e+05 1 3.61e-02 1.07e+00 29 1.142427e+04 5.61e+01 1.66e+06 4.15e+02 6.38e-01 1.11e+05 1 3.69e-02 1.11e+00 30 1.137028e+04 5.40e+01 1.59e+06 4.22e+02 6.37e-01 1.13e+05 1 3.78e-02 1.15e+00 31 1.131814e+04 5.21e+01 1.53e+06 4.29e+02 6.36e-01 1.16e+05 1 3.67e-02 1.18e+00 32 1.126760e+04 5.05e+01 1.47e+06 4.36e+02 6.34e-01 1.18e+05 1 3.66e-02 1.22e+00 33 1.121846e+04 4.91e+01 1.41e+06 4.43e+02 6.33e-01 1.20e+05 1 3.66e-02 1.26e+00 34 1.117052e+04 4.79e+01 1.35e+06 4.49e+02 6.31e-01 1.22e+05 1 3.68e-02 1.29e+00 35 1.112362e+04 4.69e+01 1.30e+06 4.56e+02 6.28e-01 1.24e+05 1 3.68e-02 1.33e+00 36 1.107762e+04 4.60e+01 1.24e+06 4.62e+02 6.26e-01 1.26e+05 1 3.71e-02 1.37e+00 37 1.103239e+04 4.52e+01 1.19e+06 4.68e+02 6.23e-01 1.28e+05 1 3.68e-02 1.41e+00 38 1.098783e+04 4.46e+01 1.14e+06 4.73e+02 6.20e-01 1.30e+05 1 3.72e-02 1.44e+00 39 1.094384e+04 4.40e+01 1.10e+06 4.78e+02 6.17e-01 1.32e+05 1 3.68e-02 1.48e+00 40 1.090037e+04 4.35e+01 1.05e+06 4.82e+02 6.14e-01 1.33e+05 1 4.73e-02 1.53e+00 41 1.085734e+04 4.30e+01 1.00e+06 4.86e+02 6.10e-01 1.35e+05 1 3.70e-02 1.56e+00 42 1.081472e+04 4.26e+01 9.62e+05 4.89e+02 6.06e-01 1.36e+05 1 3.67e-02 1.60e+00 43 1.077248e+04 4.22e+01 9.20e+05 4.91e+02 6.02e-01 1.37e+05 1 3.69e-02 1.64e+00 44 1.073058e+04 4.19e+01 8.81e+05 4.94e+02 5.98e-01 1.38e+05 1 3.66e-02 1.67e+00 45 1.068902e+04 4.16e+01 8.43e+05 4.95e+02 5.94e-01 1.39e+05 1 3.65e-02 1.71e+00 46 1.064777e+04 4.12e+01 8.07e+05 4.96e+02 5.90e-01 1.40e+05 1 3.65e-02 1.75e+00 47 1.060684e+04 4.09e+01 7.72e+05 4.97e+02 5.85e-01 1.41e+05 1 3.62e-02 1.78e+00 48 1.056623e+04 4.06e+01 7.40e+05 4.97e+02 5.81e-01 1.41e+05 1 3.64e-02 1.82e+00 49 1.052594e+04 4.03e+01 7.09e+05 4.97e+02 5.76e-01 1.42e+05 1 3.72e-02 1.86e+00 50 1.048598e+04 4.00e+01 6.80e+05 4.97e+02 5.72e-01 1.42e+05 1 3.64e-02 1.89e+00 Bundle adjustment report ------------------------ Residuals : 24624 Parameters : 12292 Iterations : 51 Time : 1.89379 [s] Initial cost : 1.11391 [px] Final cost : 0.652567 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 51 => Changed observations: 0.004467 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.337385e+03 0.00e+00 6.93e+05 0.00e+00 0.00e+00 1.00e+04 0 2.37e-02 4.40e-02 1 9.074196e+03 2.63e+02 4.06e+04 5.76e-01 1.00e+00 3.00e+04 1 3.73e-02 8.14e-02 2 8.917553e+03 1.57e+02 1.14e+05 8.52e+01 9.96e-01 9.00e+04 1 3.68e-02 1.18e-01 3 8.690029e+03 2.28e+02 1.19e+06 3.07e+02 8.45e-01 1.34e+05 1 3.62e-02 1.54e-01 4 8.589168e+03 1.01e+02 2.63e+06 4.64e+02 3.35e-01 1.30e+05 1 3.65e-02 1.91e-01 5 8.347598e+03 2.42e+02 2.24e+06 4.42e+02 6.18e-01 1.31e+05 1 3.65e-02 2.27e-01 6 8.161830e+03 1.86e+02 1.94e+06 4.43e+02 5.99e-01 1.32e+05 1 3.62e-02 2.64e-01 7 7.995937e+03 1.66e+02 1.64e+06 4.42e+02 6.25e-01 1.34e+05 1 3.64e-02 3.00e-01 8 7.850613e+03 1.45e+02 1.38e+06 4.44e+02 6.36e-01 1.37e+05 1 3.61e-02 3.36e-01 9 7.719714e+03 1.31e+02 1.18e+06 4.49e+02 6.44e-01 1.41e+05 1 3.56e-02 3.72e-01 10 7.599514e+03 1.20e+02 1.08e+06 4.56e+02 6.47e-01 1.44e+05 1 3.61e-02 4.08e-01 11 7.487249e+03 1.12e+02 9.99e+05 4.63e+02 6.46e-01 1.48e+05 1 3.57e-02 4.44e-01 12 7.381268e+03 1.06e+02 9.30e+05 4.70e+02 6.43e-01 1.51e+05 1 3.58e-02 4.80e-01 13 7.280575e+03 1.01e+02 8.69e+05 4.76e+02 6.38e-01 1.55e+05 1 3.60e-02 5.16e-01 14 7.184606e+03 9.60e+01 8.13e+05 4.81e+02 6.32e-01 1.58e+05 1 3.56e-02 5.51e-01 15 7.093028e+03 9.16e+01 7.59e+05 4.85e+02 6.25e-01 1.60e+05 1 4.03e-02 5.91e-01 16 7.005630e+03 8.74e+01 7.08e+05 4.87e+02 6.17e-01 1.62e+05 1 4.08e-02 6.32e-01 17 6.922256e+03 8.34e+01 6.63e+05 4.87e+02 6.10e-01 1.64e+05 1 3.56e-02 6.68e-01 18 6.842767e+03 7.95e+01 6.21e+05 4.86e+02 6.02e-01 1.65e+05 1 3.60e-02 7.04e-01 19 6.767025e+03 7.57e+01 5.80e+05 4.85e+02 5.94e-01 1.66e+05 1 3.57e-02 7.40e-01 20 6.694885e+03 7.21e+01 5.42e+05 4.82e+02 5.86e-01 1.67e+05 1 3.57e-02 7.75e-01 21 6.626193e+03 6.87e+01 5.06e+05 4.78e+02 5.78e-01 1.68e+05 1 3.60e-02 8.11e-01 22 6.560790e+03 6.54e+01 4.72e+05 4.74e+02 5.71e-01 1.68e+05 1 3.61e-02 8.48e-01 23 6.498512e+03 6.23e+01 4.40e+05 4.69e+02 5.63e-01 1.69e+05 1 3.59e-02 8.83e-01 24 6.439196e+03 5.93e+01 4.21e+05 4.64e+02 5.55e-01 1.69e+05 1 3.58e-02 9.19e-01 25 6.382676e+03 5.65e+01 4.17e+05 4.59e+02 5.48e-01 1.69e+05 1 3.57e-02 9.55e-01 26 6.328784e+03 5.39e+01 4.12e+05 4.54e+02 5.40e-01 1.69e+05 1 3.58e-02 9.91e-01 27 6.277331e+03 5.15e+01 4.08e+05 4.48e+02 5.33e-01 1.69e+05 1 3.64e-02 1.03e+00 28 6.228090e+03 4.92e+01 4.03e+05 4.42e+02 5.26e-01 1.69e+05 1 3.56e-02 1.06e+00 29 6.180870e+03 4.72e+01 3.98e+05 4.37e+02 5.19e-01 1.69e+05 1 3.84e-02 1.10e+00 30 6.135661e+03 4.52e+01 3.92e+05 4.31e+02 5.12e-01 1.69e+05 1 3.82e-02 1.14e+00 31 6.092416e+03 4.32e+01 3.87e+05 4.25e+02 5.04e-01 1.69e+05 1 3.58e-02 1.18e+00 32 6.050968e+03 4.14e+01 3.83e+05 4.20e+02 4.97e-01 1.69e+05 1 3.68e-02 1.21e+00 33 6.011181e+03 3.98e+01 3.78e+05 4.14e+02 4.90e-01 1.69e+05 1 3.61e-02 1.25e+00 34 5.972935e+03 3.82e+01 3.73e+05 4.09e+02 4.84e-01 1.69e+05 1 3.56e-02 1.28e+00 35 5.936122e+03 3.68e+01 3.68e+05 4.03e+02 4.78e-01 1.69e+05 1 3.60e-02 1.32e+00 36 5.900646e+03 3.55e+01 3.63e+05 3.98e+02 4.72e-01 1.69e+05 1 3.59e-02 1.36e+00 37 5.866420e+03 3.42e+01 3.57e+05 3.93e+02 4.67e-01 1.69e+05 1 3.57e-02 1.39e+00 38 5.833366e+03 3.31e+01 3.52e+05 3.87e+02 4.62e-01 1.69e+05 1 3.63e-02 1.43e+00 39 5.801414e+03 3.20e+01 3.46e+05 3.82e+02 4.58e-01 1.69e+05 1 4.98e-02 1.48e+00 40 5.770505e+03 3.09e+01 3.40e+05 3.76e+02 4.54e-01 1.69e+05 1 4.24e-02 1.52e+00 41 5.740583e+03 2.99e+01 3.34e+05 3.71e+02 4.50e-01 1.69e+05 1 3.85e-02 1.56e+00 42 5.711602e+03 2.90e+01 3.27e+05 3.65e+02 4.47e-01 1.68e+05 1 4.06e-02 1.60e+00 43 5.683520e+03 2.81e+01 3.21e+05 3.59e+02 4.45e-01 1.68e+05 1 4.33e-02 1.64e+00 44 5.656300e+03 2.72e+01 3.14e+05 3.54e+02 4.43e-01 1.68e+05 1 3.73e-02 1.68e+00 45 5.629909e+03 2.64e+01 3.07e+05 3.48e+02 4.41e-01 1.68e+05 1 3.66e-02 1.72e+00 46 5.604316e+03 2.56e+01 3.00e+05 3.42e+02 4.40e-01 1.67e+05 1 3.68e-02 1.75e+00 47 5.579495e+03 2.48e+01 2.93e+05 3.37e+02 4.39e-01 1.67e+05 1 3.61e-02 1.79e+00 48 5.555420e+03 2.41e+01 2.85e+05 3.31e+02 4.39e-01 1.67e+05 1 3.60e-02 1.83e+00 49 5.532065e+03 2.34e+01 2.78e+05 3.25e+02 4.39e-01 1.67e+05 1 3.63e-02 1.86e+00 50 5.509410e+03 2.27e+01 2.71e+05 3.20e+02 4.39e-01 1.66e+05 1 3.60e-02 1.90e+00 Bundle adjustment report ------------------------ Residuals : 24512 Parameters : 12226 Iterations : 51 Time : 1.89854 [s] Initial cost : 0.617196 [px] Final cost : 0.474093 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 13 => Filtered observations: 0 => Changed observations: 0.001061 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.547613e+03 0.00e+00 2.69e+05 0.00e+00 0.00e+00 1.00e+04 0 2.42e-02 4.43e-02 1 5.504268e+03 4.33e+01 1.18e+03 1.81e+01 1.00e+00 3.00e+04 1 3.83e-02 8.26e-02 2 5.500573e+03 3.69e+00 8.87e+03 5.76e+01 9.92e-01 9.00e+04 1 3.62e-02 1.19e-01 3 5.492088e+03 8.49e+00 7.65e+04 1.72e+02 7.74e-01 1.08e+05 1 3.59e-02 1.55e-01 4 5.481742e+03 1.03e+01 1.08e+05 2.03e+02 6.74e-01 1.12e+05 1 3.60e-02 1.91e-01 5 5.469376e+03 1.24e+01 1.15e+05 2.10e+02 6.79e-01 1.18e+05 1 3.58e-02 2.26e-01 6 5.456855e+03 1.25e+01 1.25e+05 2.17e+02 6.44e-01 1.21e+05 1 3.61e-02 2.63e-01 7 5.443730e+03 1.31e+01 1.28e+05 2.20e+02 6.37e-01 1.23e+05 1 3.69e-02 3.00e-01 8 5.430504e+03 1.32e+01 1.31e+05 2.22e+02 6.25e-01 1.25e+05 1 3.61e-02 3.36e-01 9 5.417172e+03 1.33e+01 1.33e+05 2.23e+02 6.17e-01 1.27e+05 1 3.62e-02 3.72e-01 10 5.403844e+03 1.33e+01 1.33e+05 2.23e+02 6.10e-01 1.28e+05 1 3.63e-02 4.08e-01 11 5.390563e+03 1.33e+01 1.33e+05 2.22e+02 6.05e-01 1.30e+05 1 3.62e-02 4.44e-01 12 5.377372e+03 1.32e+01 1.33e+05 2.21e+02 6.01e-01 1.31e+05 1 3.63e-02 4.81e-01 13 5.364297e+03 1.31e+01 1.32e+05 2.20e+02 5.97e-01 1.32e+05 1 3.63e-02 5.17e-01 14 5.351362e+03 1.29e+01 1.31e+05 2.18e+02 5.95e-01 1.32e+05 1 3.60e-02 5.53e-01 15 5.338583e+03 1.28e+01 1.29e+05 2.17e+02 5.92e-01 1.33e+05 1 3.64e-02 5.90e-01 16 5.325972e+03 1.26e+01 1.28e+05 2.15e+02 5.90e-01 1.34e+05 1 3.65e-02 6.26e-01 17 5.313541e+03 1.24e+01 1.26e+05 2.13e+02 5.89e-01 1.35e+05 1 3.62e-02 6.62e-01 18 5.301297e+03 1.22e+01 1.24e+05 2.11e+02 5.88e-01 1.36e+05 1 4.12e-02 7.04e-01 19 5.289247e+03 1.21e+01 1.22e+05 2.09e+02 5.87e-01 1.36e+05 1 4.06e-02 7.44e-01 20 5.277395e+03 1.19e+01 1.20e+05 2.06e+02 5.87e-01 1.37e+05 1 3.63e-02 7.81e-01 21 5.265744e+03 1.17e+01 1.18e+05 2.04e+02 5.87e-01 1.38e+05 1 3.63e-02 8.17e-01 22 5.254298e+03 1.14e+01 1.16e+05 2.02e+02 5.87e-01 1.38e+05 1 3.63e-02 8.53e-01 23 5.243058e+03 1.12e+01 1.14e+05 1.99e+02 5.87e-01 1.39e+05 1 3.63e-02 8.90e-01 24 5.232025e+03 1.10e+01 1.12e+05 1.97e+02 5.88e-01 1.40e+05 1 3.63e-02 9.26e-01 25 5.221200e+03 1.08e+01 1.10e+05 1.94e+02 5.88e-01 1.41e+05 1 3.63e-02 9.62e-01 26 5.210582e+03 1.06e+01 1.08e+05 1.92e+02 5.89e-01 1.42e+05 1 3.63e-02 9.99e-01 27 5.200172e+03 1.04e+01 1.05e+05 1.89e+02 5.90e-01 1.42e+05 1 3.63e-02 1.03e+00 28 5.189967e+03 1.02e+01 1.03e+05 1.87e+02 5.91e-01 1.43e+05 1 3.63e-02 1.07e+00 29 5.179966e+03 1.00e+01 1.01e+05 1.85e+02 5.93e-01 1.44e+05 1 3.63e-02 1.11e+00 30 5.170169e+03 9.80e+00 9.89e+04 1.82e+02 5.94e-01 1.45e+05 1 3.63e-02 1.14e+00 31 5.160573e+03 9.60e+00 9.68e+04 1.80e+02 5.96e-01 1.46e+05 1 3.64e-02 1.18e+00 32 5.151175e+03 9.40e+00 9.47e+04 1.77e+02 5.97e-01 1.47e+05 1 3.61e-02 1.22e+00 33 5.141974e+03 9.20e+00 9.26e+04 1.75e+02 5.99e-01 1.48e+05 1 3.64e-02 1.25e+00 34 5.132966e+03 9.01e+00 9.06e+04 1.72e+02 6.01e-01 1.50e+05 1 3.70e-02 1.29e+00 35 5.124149e+03 8.82e+00 8.86e+04 1.70e+02 6.02e-01 1.51e+05 1 3.64e-02 1.33e+00 36 5.115520e+03 8.63e+00 8.66e+04 1.68e+02 6.04e-01 1.52e+05 1 3.64e-02 1.36e+00 37 5.107075e+03 8.44e+00 8.47e+04 1.65e+02 6.06e-01 1.54e+05 1 3.65e-02 1.40e+00 38 5.098812e+03 8.26e+00 8.28e+04 1.63e+02 6.08e-01 1.55e+05 1 3.59e-02 1.44e+00 39 5.090727e+03 8.09e+00 8.09e+04 1.61e+02 6.10e-01 1.57e+05 1 3.61e-02 1.47e+00 40 5.082817e+03 7.91e+00 7.91e+04 1.59e+02 6.12e-01 1.59e+05 1 3.66e-02 1.51e+00 41 5.075078e+03 7.74e+00 7.73e+04 1.56e+02 6.14e-01 1.61e+05 1 3.57e-02 1.54e+00 42 5.067507e+03 7.57e+00 7.55e+04 1.54e+02 6.16e-01 1.63e+05 1 3.59e-02 1.58e+00 43 5.060100e+03 7.41e+00 7.38e+04 1.52e+02 6.19e-01 1.65e+05 1 3.61e-02 1.62e+00 44 5.052854e+03 7.25e+00 7.22e+04 1.50e+02 6.21e-01 1.67e+05 1 3.57e-02 1.65e+00 45 5.045766e+03 7.09e+00 7.05e+04 1.48e+02 6.23e-01 1.70e+05 1 3.59e-02 1.69e+00 46 5.038832e+03 6.93e+00 6.89e+04 1.46e+02 6.25e-01 1.73e+05 1 4.38e-02 1.73e+00 47 5.032048e+03 6.78e+00 6.74e+04 1.44e+02 6.27e-01 1.75e+05 1 3.72e-02 1.77e+00 48 5.025411e+03 6.64e+00 6.59e+04 1.42e+02 6.30e-01 1.79e+05 1 3.61e-02 1.80e+00 49 5.018918e+03 6.49e+00 6.44e+04 1.40e+02 6.32e-01 1.82e+05 1 3.57e-02 1.84e+00 50 5.012565e+03 6.35e+00 6.29e+04 1.38e+02 6.35e-01 1.86e+05 1 3.60e-02 1.88e+00 Bundle adjustment report ------------------------ Residuals : 24512 Parameters : 12220 Iterations : 51 Time : 1.87679 [s] Initial cost : 0.475733 [px] Final cost : 0.452211 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000082 => Filtered images: 30 => Relaxing the initialization constraints. ============================================================================== Initializing with image pair #13 and #1 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.732261e+02 0.00e+00 3.42e+04 0.00e+00 0.00e+00 1.00e+04 0 4.79e-03 9.04e-03 1 7.444649e+02 2.88e+01 1.10e+04 1.62e+01 8.88e-01 1.87e+04 1 6.55e-03 1.56e-02 2 7.387984e+02 5.67e+00 7.94e+02 1.40e+01 9.98e-01 5.61e+04 1 6.31e-03 2.20e-02 3 7.375271e+02 1.27e+00 1.20e+03 2.53e+01 9.72e-01 1.68e+05 1 6.31e-03 2.83e-02 4 7.365783e+02 9.49e-01 1.54e+03 3.50e+01 8.85e-01 3.09e+05 1 6.30e-03 3.46e-02 5 7.362255e+02 3.53e-01 6.29e+02 2.26e+01 9.43e-01 9.28e+05 1 6.39e-03 4.10e-02 6 7.361986e+02 2.70e-02 1.19e+03 1.79e+01 3.46e-01 9.01e+05 1 6.33e-03 4.74e-02 7 7.361378e+02 6.08e-02 6.70e+02 1.09e+01 7.52e-01 1.03e+06 1 6.31e-03 5.37e-02 8 7.361146e+02 2.32e-02 8.21e+02 1.14e+01 4.33e-01 1.03e+06 1 6.28e-03 6.00e-02 9 7.360801e+02 3.45e-02 8.02e+02 1.12e+01 5.44e-01 1.03e+06 1 6.37e-03 6.64e-02 10 7.360467e+02 3.34e-02 7.93e+02 1.11e+01 5.41e-01 1.03e+06 1 6.28e-03 7.27e-02 11 7.360137e+02 3.30e-02 7.85e+02 1.10e+01 5.44e-01 1.03e+06 1 6.25e-03 7.90e-02 12 7.359811e+02 3.26e-02 7.78e+02 1.10e+01 5.47e-01 1.03e+06 1 6.37e-03 8.54e-02 13 7.359490e+02 3.22e-02 7.70e+02 1.09e+01 5.49e-01 1.04e+06 1 6.30e-03 9.17e-02 14 7.359171e+02 3.18e-02 7.63e+02 1.09e+01 5.51e-01 1.04e+06 1 6.32e-03 9.80e-02 15 7.358857e+02 3.15e-02 7.56e+02 1.09e+01 5.53e-01 1.04e+06 1 7.10e-03 1.05e-01 16 7.358546e+02 3.11e-02 7.50e+02 1.08e+01 5.55e-01 1.04e+06 1 7.54e-03 1.13e-01 17 7.358238e+02 3.08e-02 7.44e+02 1.08e+01 5.57e-01 1.04e+06 1 6.27e-03 1.19e-01 18 7.357933e+02 3.05e-02 7.38e+02 1.07e+01 5.59e-01 1.04e+06 1 6.31e-03 1.25e-01 19 7.357632e+02 3.01e-02 7.33e+02 1.07e+01 5.61e-01 1.04e+06 1 6.28e-03 1.32e-01 20 7.357334e+02 2.98e-02 7.27e+02 1.07e+01 5.62e-01 1.05e+06 1 6.35e-03 1.38e-01 21 7.357038e+02 2.95e-02 7.23e+02 1.06e+01 5.64e-01 1.05e+06 1 6.26e-03 1.44e-01 22 7.356746e+02 2.92e-02 7.18e+02 1.06e+01 5.65e-01 1.05e+06 1 6.30e-03 1.51e-01 23 7.356456e+02 2.90e-02 7.13e+02 1.06e+01 5.67e-01 1.05e+06 1 6.25e-03 1.57e-01 24 7.356169e+02 2.87e-02 7.09e+02 1.06e+01 5.68e-01 1.06e+06 1 6.29e-03 1.63e-01 25 7.355885e+02 2.84e-02 7.05e+02 1.05e+01 5.69e-01 1.06e+06 1 6.30e-03 1.70e-01 26 7.355603e+02 2.82e-02 7.02e+02 1.05e+01 5.70e-01 1.06e+06 1 6.26e-03 1.76e-01 27 7.355324e+02 2.79e-02 6.98e+02 1.05e+01 5.71e-01 1.06e+06 1 6.41e-03 1.82e-01 28 7.355047e+02 2.77e-02 6.95e+02 1.05e+01 5.71e-01 1.07e+06 1 6.31e-03 1.89e-01 29 7.354772e+02 2.75e-02 6.91e+02 1.05e+01 5.72e-01 1.07e+06 1 6.70e-03 1.95e-01 30 7.354500e+02 2.72e-02 6.88e+02 1.04e+01 5.73e-01 1.07e+06 1 6.29e-03 2.02e-01 31 7.354230e+02 2.70e-02 6.86e+02 1.04e+01 5.73e-01 1.08e+06 1 6.34e-03 2.08e-01 32 7.353962e+02 2.68e-02 6.83e+02 1.04e+01 5.74e-01 1.08e+06 1 6.39e-03 2.14e-01 33 7.353696e+02 2.66e-02 6.80e+02 1.04e+01 5.74e-01 1.08e+06 1 6.42e-03 2.21e-01 34 7.353432e+02 2.64e-02 6.78e+02 1.04e+01 5.75e-01 1.09e+06 1 6.35e-03 2.27e-01 35 7.353170e+02 2.62e-02 6.75e+02 1.04e+01 5.75e-01 1.09e+06 1 6.34e-03 2.34e-01 36 7.352910e+02 2.60e-02 6.73e+02 1.04e+01 5.76e-01 1.10e+06 1 6.43e-03 2.40e-01 37 7.352653e+02 2.58e-02 6.71e+02 1.03e+01 5.76e-01 1.10e+06 1 6.37e-03 2.46e-01 38 7.352397e+02 2.56e-02 6.69e+02 1.03e+01 5.76e-01 1.10e+06 1 6.25e-03 2.53e-01 39 7.352143e+02 2.54e-02 6.67e+02 1.03e+01 5.77e-01 1.11e+06 1 6.31e-03 2.59e-01 40 7.351890e+02 2.52e-02 6.65e+02 1.03e+01 5.77e-01 1.11e+06 1 6.29e-03 2.65e-01 41 7.351640e+02 2.50e-02 6.63e+02 1.03e+01 5.77e-01 1.12e+06 1 6.31e-03 2.72e-01 42 7.351391e+02 2.49e-02 6.61e+02 1.03e+01 5.77e-01 1.12e+06 1 6.28e-03 2.78e-01 43 7.351145e+02 2.47e-02 6.59e+02 1.03e+01 5.77e-01 1.12e+06 1 6.35e-03 2.84e-01 44 7.350899e+02 2.45e-02 6.57e+02 1.03e+01 5.77e-01 1.13e+06 1 6.29e-03 2.91e-01 45 7.350656e+02 2.43e-02 6.55e+02 1.03e+01 5.78e-01 1.13e+06 1 6.37e-03 2.97e-01 46 7.350414e+02 2.42e-02 6.54e+02 1.03e+01 5.78e-01 1.14e+06 1 6.28e-03 3.03e-01 47 7.350174e+02 2.40e-02 6.52e+02 1.02e+01 5.78e-01 1.14e+06 1 6.38e-03 3.10e-01 48 7.349936e+02 2.38e-02 6.50e+02 1.02e+01 5.78e-01 1.15e+06 1 6.34e-03 3.16e-01 49 7.349699e+02 2.37e-02 6.49e+02 1.02e+01 5.78e-01 1.15e+06 1 6.29e-03 3.22e-01 50 7.349463e+02 2.35e-02 6.47e+02 1.02e+01 5.78e-01 1.15e+06 1 6.28e-03 3.29e-01 51 7.349230e+02 2.34e-02 6.46e+02 1.02e+01 5.78e-01 1.16e+06 1 6.28e-03 3.35e-01 52 7.348998e+02 2.32e-02 6.44e+02 1.02e+01 5.78e-01 1.16e+06 1 6.44e-03 3.41e-01 53 7.348767e+02 2.31e-02 6.43e+02 1.02e+01 5.78e-01 1.17e+06 1 6.34e-03 3.48e-01 54 7.348538e+02 2.29e-02 6.41e+02 1.02e+01 5.78e-01 1.17e+06 1 6.29e-03 3.54e-01 55 7.348311e+02 2.28e-02 6.40e+02 1.02e+01 5.78e-01 1.18e+06 1 6.29e-03 3.60e-01 56 7.348084e+02 2.26e-02 6.38e+02 1.02e+01 5.78e-01 1.18e+06 1 6.28e-03 3.67e-01 57 7.347860e+02 2.25e-02 6.37e+02 1.02e+01 5.78e-01 1.19e+06 1 6.26e-03 3.73e-01 58 7.347637e+02 2.23e-02 6.35e+02 1.02e+01 5.78e-01 1.19e+06 1 6.26e-03 3.79e-01 59 7.347415e+02 2.22e-02 6.34e+02 1.02e+01 5.78e-01 1.19e+06 1 6.30e-03 3.86e-01 60 7.347195e+02 2.20e-02 6.33e+02 1.02e+01 5.78e-01 1.20e+06 1 6.26e-03 3.92e-01 61 7.346976e+02 2.19e-02 6.31e+02 1.01e+01 5.78e-01 1.20e+06 1 6.25e-03 3.98e-01 62 7.346759e+02 2.17e-02 6.30e+02 1.01e+01 5.78e-01 1.21e+06 1 6.30e-03 4.04e-01 63 7.346543e+02 2.16e-02 6.28e+02 1.01e+01 5.78e-01 1.21e+06 1 6.44e-03 4.11e-01 64 7.346328e+02 2.15e-02 6.27e+02 1.01e+01 5.78e-01 1.22e+06 1 6.27e-03 4.17e-01 65 7.346115e+02 2.13e-02 6.26e+02 1.01e+01 5.78e-01 1.22e+06 1 6.31e-03 4.24e-01 66 7.345903e+02 2.12e-02 6.24e+02 1.01e+01 5.78e-01 1.23e+06 1 6.27e-03 4.30e-01 67 7.345693e+02 2.10e-02 6.23e+02 1.01e+01 5.78e-01 1.23e+06 1 6.26e-03 4.36e-01 68 7.345484e+02 2.09e-02 6.22e+02 1.01e+01 5.78e-01 1.24e+06 1 6.39e-03 4.43e-01 69 7.345276e+02 2.08e-02 6.20e+02 1.01e+01 5.78e-01 1.24e+06 1 6.36e-03 4.49e-01 70 7.345069e+02 2.07e-02 6.19e+02 1.01e+01 5.78e-01 1.25e+06 1 6.26e-03 4.55e-01 71 7.344864e+02 2.05e-02 6.18e+02 1.01e+01 5.78e-01 1.25e+06 1 6.35e-03 4.62e-01 72 7.344660e+02 2.04e-02 6.17e+02 1.01e+01 5.78e-01 1.25e+06 1 6.33e-03 4.68e-01 73 7.344457e+02 2.03e-02 6.15e+02 1.01e+01 5.78e-01 1.26e+06 1 6.27e-03 4.74e-01 74 7.344256e+02 2.01e-02 6.14e+02 1.01e+01 5.78e-01 1.26e+06 1 6.41e-03 4.81e-01 75 7.344056e+02 2.00e-02 6.13e+02 1.01e+01 5.78e-01 1.27e+06 1 6.40e-03 4.87e-01 76 7.343857e+02 1.99e-02 6.11e+02 1.01e+01 5.78e-01 1.27e+06 1 6.34e-03 4.93e-01 77 7.343659e+02 1.98e-02 6.10e+02 1.00e+01 5.78e-01 1.28e+06 1 6.73e-03 5.00e-01 78 7.343463e+02 1.96e-02 6.09e+02 1.00e+01 5.78e-01 1.28e+06 1 6.84e-03 5.07e-01 79 7.343268e+02 1.95e-02 6.08e+02 1.00e+01 5.78e-01 1.29e+06 1 6.39e-03 5.13e-01 80 7.343074e+02 1.94e-02 6.06e+02 1.00e+01 5.78e-01 1.29e+06 1 6.29e-03 5.20e-01 81 7.342881e+02 1.93e-02 6.05e+02 1.00e+01 5.78e-01 1.30e+06 1 6.34e-03 5.26e-01 82 7.342689e+02 1.92e-02 6.04e+02 1.00e+01 5.78e-01 1.30e+06 1 6.28e-03 5.32e-01 83 7.342499e+02 1.90e-02 6.03e+02 1.00e+01 5.78e-01 1.31e+06 1 6.34e-03 5.39e-01 84 7.342310e+02 1.89e-02 6.01e+02 1.00e+01 5.78e-01 1.31e+06 1 6.33e-03 5.45e-01 85 7.342122e+02 1.88e-02 6.00e+02 1.00e+01 5.78e-01 1.32e+06 1 6.34e-03 5.52e-01 86 7.341935e+02 1.87e-02 5.99e+02 9.99e+00 5.77e-01 1.32e+06 1 6.29e-03 5.58e-01 87 7.341749e+02 1.86e-02 5.98e+02 9.99e+00 5.77e-01 1.33e+06 1 6.27e-03 5.64e-01 88 7.341564e+02 1.85e-02 5.97e+02 9.98e+00 5.77e-01 1.33e+06 1 6.32e-03 5.70e-01 89 7.341381e+02 1.84e-02 5.95e+02 9.98e+00 5.77e-01 1.34e+06 1 6.39e-03 5.77e-01 90 7.341198e+02 1.82e-02 5.94e+02 9.97e+00 5.77e-01 1.34e+06 1 6.27e-03 5.83e-01 91 7.341017e+02 1.81e-02 5.93e+02 9.97e+00 5.77e-01 1.35e+06 1 6.32e-03 5.89e-01 92 7.340837e+02 1.80e-02 5.92e+02 9.96e+00 5.77e-01 1.35e+06 1 6.26e-03 5.96e-01 93 7.340658e+02 1.79e-02 5.91e+02 9.95e+00 5.77e-01 1.36e+06 1 6.30e-03 6.02e-01 94 7.340480e+02 1.78e-02 5.89e+02 9.95e+00 5.77e-01 1.36e+06 1 6.44e-03 6.09e-01 95 7.340303e+02 1.77e-02 5.88e+02 9.94e+00 5.77e-01 1.37e+06 1 6.35e-03 6.15e-01 96 7.340127e+02 1.76e-02 5.87e+02 9.94e+00 5.77e-01 1.37e+06 1 6.38e-03 6.21e-01 97 7.339952e+02 1.75e-02 5.86e+02 9.93e+00 5.77e-01 1.38e+06 1 6.29e-03 6.28e-01 98 7.339778e+02 1.74e-02 5.85e+02 9.93e+00 5.77e-01 1.38e+06 1 6.32e-03 6.34e-01 99 7.339605e+02 1.73e-02 5.84e+02 9.92e+00 5.77e-01 1.39e+06 1 6.38e-03 6.40e-01 100 7.339434e+02 1.72e-02 5.82e+02 9.91e+00 5.77e-01 1.39e+06 1 6.26e-03 6.47e-01 Bundle adjustment report ------------------------ Residuals : 6248 Parameters : 4693 Iterations : 101 Time : 0.646861 [s] Initial cost : 0.351789 [px] Final cost : 0.342737 [px] Termination : No convergence => Filtered observations: 2 => Filtered images: 0 ============================================================================== Registering image #34 (3) ============================================================================== => Image sees 901 / 2985 points Pose refinement report ---------------------- Residuals : 1558 Parameters : 6 Iterations : 38 Time : 0.056849 [s] Initial cost : 0.873426 [px] Final cost : 0.84855 [px] Termination : Convergence => Continued observations: 779 => Added observations: 1756 Bundle adjustment report ------------------------ Residuals : 11314 Parameters : 7066 Iterations : 26 Time : 0.342264 [s] Initial cost : 0.78485 [px] Final cost : 0.58282 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 296 => Changed observations: 0.052501 Bundle adjustment report ------------------------ Residuals : 10724 Parameters : 7045 Iterations : 26 Time : 0.333149 [s] Initial cost : 0.548318 [px] Final cost : 0.482957 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.002238 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 2.540164e+03 0.00e+00 2.22e+04 0.00e+00 0.00e+00 1.00e+04 0 8.76e-03 1.68e-02 1 2.530538e+03 9.63e+00 2.08e+02 3.22e+00 1.00e+00 3.00e+04 1 1.32e-02 3.00e-02 2 2.527125e+03 3.41e+00 1.94e+03 1.21e+01 9.86e-01 9.00e+04 1 1.26e-02 4.26e-02 3 2.520911e+03 6.21e+00 1.71e+04 3.84e+01 6.03e-01 9.08e+04 1 1.26e-02 5.52e-02 4 2.510682e+03 1.02e+01 1.72e+04 3.97e+01 7.11e-01 9.82e+04 1 1.31e-02 6.83e-02 5 2.501103e+03 9.58e+00 1.99e+04 4.35e+01 6.31e-01 1.00e+05 1 1.29e-02 8.12e-02 6 2.490263e+03 1.08e+01 2.04e+04 4.47e+01 6.48e-01 1.03e+05 1 1.29e-02 9.41e-02 7 2.479441e+03 1.08e+01 2.14e+04 4.60e+01 6.29e-01 1.04e+05 1 1.26e-02 1.07e-01 8 2.468315e+03 1.11e+01 2.19e+04 4.68e+01 6.26e-01 1.06e+05 1 1.27e-02 1.19e-01 9 2.457088e+03 1.12e+01 2.25e+04 4.75e+01 6.20e-01 1.08e+05 1 1.27e-02 1.32e-01 10 2.445760e+03 1.13e+01 2.29e+04 4.79e+01 6.17e-01 1.09e+05 1 1.26e-02 1.45e-01 11 2.434374e+03 1.14e+01 2.33e+04 4.83e+01 6.14e-01 1.10e+05 1 1.27e-02 1.58e-01 12 2.422951e+03 1.14e+01 2.37e+04 4.86e+01 6.12e-01 1.12e+05 1 1.27e-02 1.70e-01 13 2.411510e+03 1.14e+01 2.40e+04 4.88e+01 6.10e-01 1.13e+05 1 1.29e-02 1.83e-01 14 2.400065e+03 1.14e+01 2.44e+04 4.90e+01 6.09e-01 1.14e+05 1 1.29e-02 1.96e-01 15 2.388628e+03 1.14e+01 2.46e+04 4.91e+01 6.08e-01 1.15e+05 1 1.28e-02 2.09e-01 16 2.377208e+03 1.14e+01 2.49e+04 4.92e+01 6.07e-01 1.16e+05 1 1.32e-02 2.22e-01 17 2.365814e+03 1.14e+01 2.52e+04 4.93e+01 6.07e-01 1.17e+05 1 1.26e-02 2.35e-01 18 2.354451e+03 1.14e+01 2.54e+04 4.93e+01 6.06e-01 1.19e+05 1 1.26e-02 2.47e-01 19 2.343126e+03 1.13e+01 2.56e+04 4.94e+01 6.06e-01 1.20e+05 1 1.27e-02 2.60e-01 20 2.331844e+03 1.13e+01 2.59e+04 4.94e+01 6.06e-01 1.21e+05 1 1.27e-02 2.73e-01 21 2.320609e+03 1.12e+01 2.61e+04 4.94e+01 6.06e-01 1.22e+05 1 1.26e-02 2.86e-01 22 2.309424e+03 1.12e+01 2.63e+04 4.94e+01 6.06e-01 1.23e+05 1 1.27e-02 2.98e-01 23 2.298294e+03 1.11e+01 2.65e+04 4.94e+01 6.06e-01 1.24e+05 1 1.27e-02 3.11e-01 24 2.287222e+03 1.11e+01 2.67e+04 4.94e+01 6.06e-01 1.26e+05 1 1.27e-02 3.24e-01 25 2.276210e+03 1.10e+01 2.68e+04 4.94e+01 6.06e-01 1.27e+05 1 1.27e-02 3.37e-01 26 2.265261e+03 1.09e+01 2.70e+04 4.94e+01 6.06e-01 1.28e+05 1 1.27e-02 3.49e-01 27 2.254377e+03 1.09e+01 2.72e+04 4.94e+01 6.07e-01 1.29e+05 1 1.26e-02 3.62e-01 28 2.243561e+03 1.08e+01 2.74e+04 4.93e+01 6.07e-01 1.30e+05 1 1.26e-02 3.74e-01 29 2.232816e+03 1.07e+01 2.75e+04 4.93e+01 6.07e-01 1.32e+05 1 1.28e-02 3.87e-01 30 2.222142e+03 1.07e+01 2.77e+04 4.93e+01 6.07e-01 1.33e+05 1 1.27e-02 4.00e-01 31 2.211543e+03 1.06e+01 2.78e+04 4.92e+01 6.08e-01 1.34e+05 1 1.27e-02 4.13e-01 32 2.201019e+03 1.05e+01 2.80e+04 4.92e+01 6.08e-01 1.36e+05 1 1.35e-02 4.26e-01 33 2.190574e+03 1.04e+01 2.81e+04 4.91e+01 6.08e-01 1.37e+05 1 1.26e-02 4.39e-01 34 2.180207e+03 1.04e+01 2.83e+04 4.91e+01 6.08e-01 1.39e+05 1 1.27e-02 4.52e-01 35 2.169922e+03 1.03e+01 2.84e+04 4.90e+01 6.09e-01 1.40e+05 1 1.28e-02 4.64e-01 36 2.159720e+03 1.02e+01 2.85e+04 4.89e+01 6.09e-01 1.41e+05 1 1.27e-02 4.77e-01 37 2.149601e+03 1.01e+01 2.87e+04 4.89e+01 6.09e-01 1.43e+05 1 1.34e-02 4.91e-01 38 2.139569e+03 1.00e+01 2.88e+04 4.88e+01 6.10e-01 1.45e+05 1 1.27e-02 5.03e-01 39 2.129624e+03 9.95e+00 2.89e+04 4.87e+01 6.10e-01 1.46e+05 1 1.26e-02 5.16e-01 40 2.119768e+03 9.86e+00 2.90e+04 4.86e+01 6.10e-01 1.48e+05 1 1.28e-02 5.29e-01 41 2.110001e+03 9.77e+00 2.91e+04 4.85e+01 6.11e-01 1.49e+05 1 1.33e-02 5.42e-01 42 2.100327e+03 9.67e+00 2.92e+04 4.84e+01 6.11e-01 1.51e+05 1 1.66e-02 5.59e-01 43 2.090745e+03 9.58e+00 2.93e+04 4.83e+01 6.11e-01 1.53e+05 1 1.27e-02 5.71e-01 44 2.081257e+03 9.49e+00 2.94e+04 4.83e+01 6.12e-01 1.54e+05 1 1.50e-02 5.86e-01 45 2.071864e+03 9.39e+00 2.95e+04 4.82e+01 6.12e-01 1.56e+05 1 1.49e-02 6.01e-01 46 2.062569e+03 9.30e+00 2.96e+04 4.81e+01 6.12e-01 1.58e+05 1 1.28e-02 6.14e-01 47 2.053371e+03 9.20e+00 2.96e+04 4.79e+01 6.13e-01 1.60e+05 1 1.28e-02 6.27e-01 48 2.044272e+03 9.10e+00 2.97e+04 4.78e+01 6.13e-01 1.62e+05 1 1.27e-02 6.40e-01 49 2.035273e+03 9.00e+00 2.98e+04 4.77e+01 6.13e-01 1.63e+05 1 1.26e-02 6.52e-01 50 2.026375e+03 8.90e+00 2.98e+04 4.76e+01 6.14e-01 1.65e+05 1 1.27e-02 6.65e-01 51 2.017580e+03 8.80e+00 2.99e+04 4.75e+01 6.14e-01 1.67e+05 1 1.28e-02 6.78e-01 52 2.008888e+03 8.69e+00 2.99e+04 4.74e+01 6.14e-01 1.69e+05 1 1.29e-02 6.91e-01 53 2.000300e+03 8.59e+00 3.00e+04 4.72e+01 6.15e-01 1.71e+05 1 1.26e-02 7.03e-01 54 1.991818e+03 8.48e+00 3.00e+04 4.71e+01 6.15e-01 1.74e+05 1 1.27e-02 7.16e-01 55 1.983442e+03 8.38e+00 3.00e+04 4.70e+01 6.15e-01 1.76e+05 1 1.27e-02 7.29e-01 56 1.975173e+03 8.27e+00 3.01e+04 4.68e+01 6.16e-01 1.78e+05 1 1.26e-02 7.41e-01 57 1.967012e+03 8.16e+00 3.01e+04 4.67e+01 6.16e-01 1.80e+05 1 1.27e-02 7.54e-01 58 1.958960e+03 8.05e+00 3.01e+04 4.65e+01 6.16e-01 1.83e+05 1 1.28e-02 7.67e-01 59 1.951017e+03 7.94e+00 3.01e+04 4.64e+01 6.17e-01 1.85e+05 1 1.26e-02 7.79e-01 60 1.943185e+03 7.83e+00 3.01e+04 4.62e+01 6.17e-01 1.87e+05 1 1.29e-02 7.92e-01 61 1.935464e+03 7.72e+00 3.01e+04 4.61e+01 6.17e-01 1.90e+05 1 1.26e-02 8.05e-01 62 1.927855e+03 7.61e+00 3.01e+04 4.59e+01 6.18e-01 1.92e+05 1 1.26e-02 8.18e-01 63 1.920359e+03 7.50e+00 3.01e+04 4.57e+01 6.18e-01 1.95e+05 1 1.29e-02 8.31e-01 64 1.912975e+03 7.38e+00 3.00e+04 4.56e+01 6.18e-01 1.97e+05 1 1.26e-02 8.43e-01 65 1.905706e+03 7.27e+00 3.00e+04 4.54e+01 6.19e-01 2.00e+05 1 1.26e-02 8.56e-01 66 1.898550e+03 7.16e+00 3.00e+04 4.52e+01 6.19e-01 2.03e+05 1 1.30e-02 8.69e-01 67 1.891509e+03 7.04e+00 2.99e+04 4.50e+01 6.20e-01 2.06e+05 1 1.27e-02 8.82e-01 68 1.884583e+03 6.93e+00 2.99e+04 4.49e+01 6.20e-01 2.09e+05 1 1.28e-02 8.94e-01 69 1.877773e+03 6.81e+00 2.98e+04 4.47e+01 6.20e-01 2.12e+05 1 1.27e-02 9.07e-01 70 1.871078e+03 6.69e+00 2.97e+04 4.45e+01 6.21e-01 2.15e+05 1 1.27e-02 9.20e-01 71 1.864500e+03 6.58e+00 2.97e+04 4.43e+01 6.21e-01 2.18e+05 1 1.28e-02 9.33e-01 72 1.858038e+03 6.46e+00 2.96e+04 4.41e+01 6.22e-01 2.21e+05 1 1.27e-02 9.45e-01 73 1.851693e+03 6.35e+00 2.95e+04 4.39e+01 6.22e-01 2.24e+05 1 1.26e-02 9.58e-01 74 1.845465e+03 6.23e+00 2.94e+04 4.37e+01 6.22e-01 2.27e+05 1 1.26e-02 9.71e-01 75 1.839354e+03 6.11e+00 2.93e+04 4.35e+01 6.23e-01 2.31e+05 1 1.26e-02 9.83e-01 76 1.833360e+03 5.99e+00 2.92e+04 4.32e+01 6.23e-01 2.34e+05 1 1.27e-02 9.96e-01 77 1.827483e+03 5.88e+00 2.91e+04 4.30e+01 6.24e-01 2.38e+05 1 1.27e-02 1.01e+00 78 1.821724e+03 5.76e+00 2.89e+04 4.28e+01 6.24e-01 2.42e+05 1 1.26e-02 1.02e+00 79 1.816081e+03 5.64e+00 2.88e+04 4.26e+01 6.24e-01 2.45e+05 1 1.27e-02 1.03e+00 80 1.810556e+03 5.53e+00 2.87e+04 4.23e+01 6.25e-01 2.49e+05 1 1.26e-02 1.05e+00 81 1.805148e+03 5.41e+00 2.85e+04 4.21e+01 6.25e-01 2.53e+05 1 1.28e-02 1.06e+00 82 1.799857e+03 5.29e+00 2.83e+04 4.19e+01 6.26e-01 2.57e+05 1 1.28e-02 1.07e+00 83 1.794683e+03 5.17e+00 2.82e+04 4.16e+01 6.26e-01 2.62e+05 1 1.31e-02 1.09e+00 84 1.789625e+03 5.06e+00 2.80e+04 4.14e+01 6.27e-01 2.66e+05 1 1.27e-02 1.10e+00 85 1.784683e+03 4.94e+00 2.78e+04 4.11e+01 6.27e-01 2.70e+05 1 1.26e-02 1.11e+00 86 1.779857e+03 4.83e+00 2.76e+04 4.09e+01 6.28e-01 2.75e+05 1 1.27e-02 1.12e+00 87 1.775146e+03 4.71e+00 2.74e+04 4.06e+01 6.28e-01 2.80e+05 1 1.27e-02 1.14e+00 88 1.770550e+03 4.60e+00 2.72e+04 4.03e+01 6.29e-01 2.85e+05 1 1.26e-02 1.15e+00 89 1.766069e+03 4.48e+00 2.70e+04 4.01e+01 6.29e-01 2.90e+05 1 1.26e-02 1.16e+00 90 1.761701e+03 4.37e+00 2.68e+04 3.98e+01 6.30e-01 2.95e+05 1 1.26e-02 1.17e+00 91 1.757447e+03 4.25e+00 2.66e+04 3.95e+01 6.30e-01 3.00e+05 1 1.27e-02 1.19e+00 92 1.753306e+03 4.14e+00 2.63e+04 3.92e+01 6.31e-01 3.06e+05 1 1.26e-02 1.20e+00 93 1.749277e+03 4.03e+00 2.61e+04 3.90e+01 6.31e-01 3.11e+05 1 1.36e-02 1.21e+00 94 1.745359e+03 3.92e+00 2.58e+04 3.87e+01 6.32e-01 3.17e+05 1 1.31e-02 1.23e+00 95 1.741552e+03 3.81e+00 2.56e+04 3.84e+01 6.33e-01 3.23e+05 1 1.29e-02 1.24e+00 96 1.737854e+03 3.70e+00 2.53e+04 3.81e+01 6.33e-01 3.29e+05 1 1.26e-02 1.25e+00 97 1.734265e+03 3.59e+00 2.50e+04 3.78e+01 6.34e-01 3.36e+05 1 1.27e-02 1.26e+00 98 1.730785e+03 3.48e+00 2.48e+04 3.75e+01 6.35e-01 3.42e+05 1 1.26e-02 1.28e+00 99 1.727411e+03 3.37e+00 2.45e+04 3.72e+01 6.35e-01 3.49e+05 1 1.27e-02 1.29e+00 100 1.724144e+03 3.27e+00 2.42e+04 3.68e+01 6.36e-01 3.56e+05 1 1.26e-02 1.30e+00 Bundle adjustment report ------------------------ Residuals : 10748 Parameters : 7063 Iterations : 101 Time : 1.3027 [s] Initial cost : 0.486146 [px] Final cost : 0.400519 [px] Termination : No convergence => Completed observations: 199 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.037030 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.425140e+03 0.00e+00 3.67e+04 0.00e+00 0.00e+00 1.00e+04 0 9.58e-03 1.86e-02 1 2.142831e+03 2.82e+02 4.01e+02 1.34e+00 1.00e+00 3.00e+04 1 1.37e-02 3.24e-02 2 2.131674e+03 1.12e+01 5.75e+03 1.10e+00 9.99e-01 9.00e+04 1 1.33e-02 4.57e-02 3 2.113604e+03 1.81e+01 4.71e+04 1.41e+01 9.08e-01 1.97e+05 1 1.32e-02 5.90e-02 4 2.117191e+03 -3.59e+00 0.00e+00 5.41e+01 -1.19e-01 9.87e+04 1 4.47e-03 6.35e-02 5 2.098438e+03 1.52e+01 4.88e+04 2.39e+01 8.70e-01 1.66e+05 1 1.38e-02 7.73e-02 6 2.090091e+03 8.35e+00 1.16e+05 5.03e+01 3.49e-01 1.61e+05 1 1.33e-02 9.06e-02 7 2.067457e+03 2.26e+01 9.69e+04 5.34e+01 6.53e-01 1.66e+05 1 1.33e-02 1.04e-01 8 2.048973e+03 1.85e+01 9.35e+04 5.64e+01 6.11e-01 1.68e+05 1 1.34e-02 1.17e-01 9 2.030715e+03 1.83e+01 8.80e+04 5.69e+01 6.33e-01 1.71e+05 1 1.32e-02 1.31e-01 10 2.013732e+03 1.70e+01 8.46e+04 5.70e+01 6.34e-01 1.74e+05 1 1.33e-02 1.44e-01 11 1.997653e+03 1.61e+01 8.14e+04 5.66e+01 6.40e-01 1.78e+05 1 1.32e-02 1.57e-01 12 1.982494e+03 1.52e+01 7.88e+04 5.59e+01 6.44e-01 1.83e+05 1 1.33e-02 1.70e-01 13 1.968164e+03 1.43e+01 7.64e+04 5.52e+01 6.48e-01 1.87e+05 1 1.34e-02 1.84e-01 14 1.954616e+03 1.35e+01 7.43e+04 5.44e+01 6.51e-01 1.93e+05 1 1.32e-02 1.97e-01 15 1.941802e+03 1.28e+01 7.23e+04 5.36e+01 6.53e-01 1.98e+05 1 1.34e-02 2.11e-01 16 1.929682e+03 1.21e+01 7.05e+04 5.28e+01 6.55e-01 2.05e+05 1 1.34e-02 2.24e-01 17 1.918225e+03 1.15e+01 6.87e+04 5.20e+01 6.57e-01 2.11e+05 1 1.32e-02 2.37e-01 18 1.907403e+03 1.08e+01 6.69e+04 5.11e+01 6.59e-01 2.18e+05 1 1.75e-02 2.55e-01 19 1.897191e+03 1.02e+01 6.52e+04 5.03e+01 6.61e-01 2.26e+05 1 1.33e-02 2.68e-01 20 1.887570e+03 9.62e+00 6.34e+04 4.94e+01 6.62e-01 2.34e+05 1 1.36e-02 2.82e-01 21 1.878520e+03 9.05e+00 6.17e+04 4.86e+01 6.64e-01 2.42e+05 1 1.74e-02 2.99e-01 22 1.870021e+03 8.50e+00 5.99e+04 4.77e+01 6.65e-01 2.51e+05 1 1.34e-02 3.13e-01 23 1.862058e+03 7.96e+00 5.81e+04 4.68e+01 6.67e-01 2.61e+05 1 1.32e-02 3.26e-01 24 1.854614e+03 7.44e+00 5.63e+04 4.60e+01 6.69e-01 2.71e+05 1 1.32e-02 3.39e-01 25 1.847671e+03 6.94e+00 5.45e+04 4.50e+01 6.70e-01 2.83e+05 1 1.32e-02 3.52e-01 26 1.841212e+03 6.46e+00 5.26e+04 4.41e+01 6.72e-01 2.95e+05 1 1.34e-02 3.66e-01 27 1.835223e+03 5.99e+00 5.07e+04 4.32e+01 6.74e-01 3.08e+05 1 1.35e-02 3.79e-01 28 1.829685e+03 5.54e+00 4.88e+04 4.22e+01 6.76e-01 3.22e+05 1 1.33e-02 3.92e-01 29 1.824582e+03 5.10e+00 4.69e+04 4.13e+01 6.78e-01 3.37e+05 1 1.32e-02 4.06e-01 30 1.819896e+03 4.69e+00 4.49e+04 4.03e+01 6.80e-01 3.53e+05 1 1.33e-02 4.19e-01 31 1.815611e+03 4.29e+00 4.29e+04 3.92e+01 6.83e-01 3.71e+05 1 1.33e-02 4.32e-01 32 1.811709e+03 3.90e+00 4.09e+04 3.82e+01 6.85e-01 3.91e+05 1 1.33e-02 4.46e-01 33 1.808171e+03 3.54e+00 3.89e+04 3.71e+01 6.88e-01 4.13e+05 1 1.33e-02 4.59e-01 34 1.804981e+03 3.19e+00 3.68e+04 3.61e+01 6.90e-01 4.37e+05 1 1.32e-02 4.72e-01 35 1.802121e+03 2.86e+00 3.48e+04 3.49e+01 6.93e-01 4.64e+05 1 1.33e-02 4.85e-01 36 1.799571e+03 2.55e+00 3.27e+04 3.38e+01 6.97e-01 4.94e+05 1 1.34e-02 4.99e-01 37 1.797315e+03 2.26e+00 3.06e+04 3.26e+01 7.00e-01 5.28e+05 1 1.34e-02 5.12e-01 38 1.795332e+03 1.98e+00 2.86e+04 3.14e+01 7.04e-01 5.67e+05 1 1.32e-02 5.26e-01 39 1.793606e+03 1.73e+00 2.65e+04 3.02e+01 7.08e-01 6.11e+05 1 1.32e-02 5.39e-01 40 1.792118e+03 1.49e+00 2.44e+04 2.89e+01 7.13e-01 6.62e+05 1 1.34e-02 5.52e-01 41 1.790848e+03 1.27e+00 2.23e+04 2.76e+01 7.18e-01 7.22e+05 1 1.33e-02 5.65e-01 42 1.789779e+03 1.07e+00 2.03e+04 2.63e+01 7.24e-01 7.93e+05 1 1.33e-02 5.79e-01 43 1.788893e+03 8.86e-01 1.82e+04 2.48e+01 7.30e-01 8.79e+05 1 1.33e-02 5.92e-01 44 1.788170e+03 7.22e-01 1.62e+04 2.34e+01 7.37e-01 9.83e+05 1 1.32e-02 6.05e-01 45 1.787594e+03 5.76e-01 1.42e+04 2.19e+01 7.45e-01 1.12e+06 1 1.34e-02 6.19e-01 46 1.787146e+03 4.48e-01 1.22e+04 2.03e+01 7.55e-01 1.28e+06 1 1.33e-02 6.32e-01 47 1.786809e+03 3.37e-01 1.03e+04 1.86e+01 7.66e-01 1.51e+06 1 1.32e-02 6.45e-01 48 1.786565e+03 2.44e-01 8.47e+03 1.68e+01 7.79e-01 1.83e+06 1 1.33e-02 6.59e-01 49 1.786398e+03 1.67e-01 6.69e+03 1.49e+01 7.95e-01 2.30e+06 1 1.32e-02 6.72e-01 50 1.786292e+03 1.06e-01 5.01e+03 1.29e+01 8.15e-01 3.07e+06 1 1.33e-02 6.85e-01 51 1.786231e+03 6.06e-02 3.46e+03 1.07e+01 8.41e-01 4.48e+06 1 1.32e-02 6.99e-01 52 1.786202e+03 2.93e-02 2.09e+03 8.33e+00 8.75e-01 7.75e+06 1 1.32e-02 7.12e-01 53 1.786191e+03 1.06e-02 9.83e+02 5.70e+00 9.20e-01 1.90e+07 1 1.33e-02 7.25e-01 54 1.786189e+03 2.16e-03 2.64e+02 2.96e+00 9.70e-01 5.69e+07 1 1.32e-02 7.38e-01 55 1.786189e+03 1.28e-04 1.61e+01 7.29e-01 9.98e-01 1.71e+08 1 1.33e-02 7.52e-01 56 1.786189e+03 6.75e-07 1.02e+00 6.34e-02 1.00e+00 5.12e+08 1 1.33e-02 7.65e-01 57 1.786189e+03 4.56e-10 5.35e-03 1.95e-03 9.60e-01 1.54e+09 1 1.39e-02 7.79e-01 Bundle adjustment report ------------------------ Residuals : 11146 Parameters : 7063 Iterations : 58 Time : 0.779294 [s] Initial cost : 0.466454 [px] Final cost : 0.400317 [px] Termination : Convergence => Completed observations: 43 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.007716 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.900527e+03 0.00e+00 5.03e+03 0.00e+00 0.00e+00 1.00e+04 0 9.17e-03 1.74e-02 1 1.859277e+03 4.12e+01 1.23e+01 2.94e-01 1.00e+00 3.00e+04 1 1.40e-02 3.14e-02 2 1.859199e+03 7.84e-02 7.01e+01 2.60e-01 1.00e+00 9.00e+04 1 1.33e-02 4.48e-02 3 1.858991e+03 2.07e-01 5.61e+02 1.75e+00 9.99e-01 2.70e+05 1 1.34e-02 5.82e-02 4 1.858481e+03 5.11e-01 4.18e+03 8.27e+00 9.71e-01 8.10e+05 1 1.33e-02 7.15e-02 5 1.857912e+03 5.69e-01 2.29e+04 2.63e+01 5.42e-01 8.10e+05 1 1.34e-02 8.49e-02 6 1.856983e+03 9.29e-01 1.38e+04 2.24e+01 8.38e-01 1.17e+06 1 1.34e-02 9.83e-02 7 1.856524e+03 4.59e-01 1.45e+04 2.36e+01 6.96e-01 1.25e+06 1 1.34e-02 1.12e-01 8 1.856134e+03 3.90e-01 7.93e+03 1.76e+01 8.67e-01 2.07e+06 1 1.35e-02 1.25e-01 9 1.855970e+03 1.64e-01 7.32e+03 1.69e+01 7.64e-01 2.43e+06 1 1.35e-02 1.39e-01 10 1.855872e+03 9.81e-02 2.93e+03 1.07e+01 9.24e-01 6.20e+06 1 1.35e-02 1.52e-01 11 1.855846e+03 2.53e-02 1.90e+03 8.61e+00 8.81e-01 1.11e+07 1 1.34e-02 1.66e-01 12 1.855841e+03 5.54e-03 2.55e+02 3.15e+00 9.89e-01 3.34e+07 1 1.33e-02 1.79e-01 13 1.855841e+03 1.56e-04 1.43e+01 7.44e-01 9.99e-01 1.00e+08 1 1.34e-02 1.93e-01 14 1.855841e+03 7.92e-07 1.39e+00 6.16e-02 1.00e+00 3.00e+08 1 1.37e-02 2.06e-01 15 1.855841e+03 5.04e-10 3.79e-03 1.76e-03 9.68e-01 9.01e+08 1 1.33e-02 2.20e-01 Bundle adjustment report ------------------------ Residuals : 11232 Parameters : 7063 Iterations : 16 Time : 0.219911 [s] Initial cost : 0.411347 [px] Final cost : 0.406482 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000178 => Filtered images: 0 ============================================================================== Registering image #2 (4) ============================================================================== => Image sees 1133 / 2790 points Pose refinement report ---------------------- Residuals : 2260 Parameters : 6 Iterations : 9 Time : 0.02053 [s] Initial cost : 0.567487 [px] Final cost : 0.53874 [px] Termination : Convergence => Continued observations: 1130 => Added observations: 1336 Bundle adjustment report ------------------------ Residuals : 16166 Parameters : 8899 Iterations : 16 Time : 0.345822 [s] Initial cost : 0.422968 [px] Final cost : 0.396154 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 43 => Filtered observations: 63 => Changed observations: 0.013114 Bundle adjustment report ------------------------ Residuals : 16126 Parameters : 8890 Iterations : 11 Time : 0.236063 [s] Initial cost : 0.461005 [px] Final cost : 0.448624 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000744 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.268168e+03 0.00e+00 2.85e+03 0.00e+00 0.00e+00 1.00e+04 0 1.36e-02 2.58e-02 1 3.262756e+03 5.41e+00 1.73e+01 7.19e-01 1.00e+00 3.00e+04 1 2.08e-02 4.67e-02 2 3.262750e+03 5.80e-03 5.56e+00 8.17e-01 9.99e-01 9.00e+04 1 2.01e-02 6.68e-02 3 3.262745e+03 5.15e-03 7.44e+00 1.58e+00 1.00e+00 2.70e+05 1 2.03e-02 8.72e-02 4 3.262740e+03 5.16e-03 3.23e+01 2.24e+00 9.99e-01 8.10e+05 1 2.06e-02 1.08e-01 5 3.262735e+03 4.89e-03 8.59e+01 8.36e-01 9.99e-01 2.43e+06 1 2.00e-02 1.28e-01 6 3.262732e+03 3.11e-03 1.28e+02 1.52e+00 9.95e-01 7.29e+06 1 2.02e-02 1.48e-01 7 3.262731e+03 6.96e-04 4.78e+01 1.42e+00 9.96e-01 2.19e+07 1 2.05e-02 1.69e-01 8 3.262731e+03 3.21e-05 2.69e+00 3.61e-01 9.99e-01 6.56e+07 1 2.01e-02 1.89e-01 9 3.262731e+03 1.94e-07 6.59e-01 3.01e-02 1.00e+00 1.97e+08 1 2.01e-02 2.09e-01 10 3.262731e+03 1.66e-10 3.18e-03 8.41e-04 1.07e+00 5.90e+08 1 2.00e-02 2.29e-01 Bundle adjustment report ------------------------ Residuals : 16138 Parameters : 8896 Iterations : 11 Time : 0.229225 [s] Initial cost : 0.450015 [px] Final cost : 0.449641 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #33 (5) ============================================================================== => Image sees 1184 / 2853 points Pose refinement report ---------------------- Residuals : 2354 Parameters : 6 Iterations : 9 Time : 0.0214739 [s] Initial cost : 0.619586 [px] Final cost : 0.601157 [px] Termination : Convergence => Continued observations: 1171 => Added observations: 832 Bundle adjustment report ------------------------ Residuals : 20144 Parameters : 10063 Iterations : 23 Time : 0.608922 [s] Initial cost : 0.481656 [px] Final cost : 0.428272 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 47 => Filtered observations: 64 => Changed observations: 0.013503 Bundle adjustment report ------------------------ Residuals : 20110 Parameters : 10033 Iterations : 9 Time : 0.240811 [s] Initial cost : 0.492111 [px] Final cost : 0.480444 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000995 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 4.662615e+03 0.00e+00 1.89e+03 0.00e+00 0.00e+00 1.00e+04 0 1.74e-02 3.20e-02 1 4.655016e+03 7.60e+00 3.02e+01 2.41e-01 1.00e+00 3.00e+04 1 2.69e-02 5.90e-02 2 4.654968e+03 4.80e-02 1.51e+01 8.77e-02 1.00e+00 9.00e+04 1 2.61e-02 8.51e-02 3 4.654957e+03 1.13e-02 5.13e+00 4.39e-02 1.00e+00 2.70e+05 1 2.60e-02 1.11e-01 4 4.654955e+03 1.18e-03 1.92e+00 1.75e-01 1.00e+00 8.10e+05 1 2.59e-02 1.37e-01 5 4.654955e+03 7.78e-04 5.41e+00 5.02e-01 9.99e-01 2.43e+06 1 2.60e-02 1.63e-01 6 4.654954e+03 3.96e-04 5.57e+00 5.73e-01 9.99e-01 7.29e+06 1 2.60e-02 1.89e-01 7 4.654954e+03 5.09e-05 1.97e+00 2.56e-01 9.98e-01 2.19e+07 1 2.60e-02 2.15e-01 8 4.654954e+03 1.11e-06 1.47e+00 4.13e-02 9.99e-01 6.56e+07 1 2.62e-02 2.41e-01 9 4.654954e+03 3.19e-09 1.41e-02 2.22e-03 1.01e+00 1.97e+08 1 2.62e-02 2.68e-01 Bundle adjustment report ------------------------ Residuals : 20132 Parameters : 10045 Iterations : 10 Time : 0.268181 [s] Initial cost : 0.481251 [px] Final cost : 0.480855 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #32 (6) ============================================================================== => Image sees 1218 / 2703 points Pose refinement report ---------------------- Residuals : 2426 Parameters : 6 Iterations : 9 Time : 0.0221379 [s] Initial cost : 0.676632 [px] Final cost : 0.593692 [px] Termination : Convergence => Continued observations: 1204 => Added observations: 951 Bundle adjustment report ------------------------ Residuals : 24442 Parameters : 11401 Iterations : 26 Time : 0.880149 [s] Initial cost : 0.489562 [px] Final cost : 0.441356 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 47 => Filtered observations: 78 => Changed observations: 0.014892 Bundle adjustment report ------------------------ Residuals : 24380 Parameters : 11359 Iterations : 9 Time : 0.313079 [s] Initial cost : 0.51831 [px] Final cost : 0.506728 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000902 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 6.315734e+03 0.00e+00 3.07e+03 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 4.00e-02 1 6.305163e+03 1.06e+01 2.36e+01 9.33e-01 1.00e+00 3.00e+04 1 3.29e-02 7.30e-02 2 6.305132e+03 3.09e-02 1.16e+01 1.89e+00 1.00e+00 9.00e+04 1 3.20e-02 1.05e-01 3 6.305112e+03 2.08e-02 2.39e+01 3.80e+00 9.99e-01 2.70e+05 1 3.18e-02 1.37e-01 4 6.305100e+03 1.20e-02 4.20e+01 5.03e+00 9.97e-01 8.10e+05 1 3.21e-02 1.69e-01 5 6.305096e+03 3.09e-03 2.05e+01 3.35e+00 9.98e-01 2.43e+06 1 3.19e-02 2.01e-01 6 6.305096e+03 3.27e-04 4.03e+00 1.03e+00 9.99e-01 7.29e+06 1 3.17e-02 2.33e-01 7 6.305096e+03 2.38e-05 2.00e+00 1.71e-01 9.99e-01 2.19e+07 1 3.18e-02 2.64e-01 8 6.305096e+03 5.03e-07 4.84e-01 1.73e-02 1.00e+00 6.56e+07 1 3.19e-02 2.96e-01 9 6.305096e+03 1.51e-09 1.41e-02 8.18e-04 9.81e-01 1.97e+08 1 3.22e-02 3.29e-01 Bundle adjustment report ------------------------ Residuals : 24402 Parameters : 11368 Iterations : 10 Time : 0.329128 [s] Initial cost : 0.508744 [px] Final cost : 0.508315 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #35 (7) ============================================================================== => Image sees 1280 / 3361 points Pose refinement report ---------------------- Residuals : 2554 Parameters : 6 Iterations : 8 Time : 0.0207171 [s] Initial cost : 0.62945 [px] Final cost : 0.61696 [px] Termination : Convergence => Continued observations: 1271 => Added observations: 943 Bundle adjustment report ------------------------ Residuals : 24756 Parameters : 9161 Iterations : 23 Time : 0.699644 [s] Initial cost : 0.516446 [px] Final cost : 0.45838 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 39 => Filtered observations: 73 => Changed observations: 0.010203 Bundle adjustment report ------------------------ Residuals : 24690 Parameters : 9140 Iterations : 6 Time : 0.186789 [s] Initial cost : 0.551554 [px] Final cost : 0.541798 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 8 => Filtered observations: 2 => Changed observations: 0.001136 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.900856e+03 0.00e+00 2.00e+04 0.00e+00 0.00e+00 1.00e+04 0 2.62e-02 4.88e-02 1 7.888749e+03 1.21e+01 1.87e+02 2.80e-01 1.00e+00 3.00e+04 1 4.17e-02 9.05e-02 2 7.888408e+03 3.41e-01 1.35e+02 3.48e+00 1.00e+00 9.00e+04 1 3.82e-02 1.29e-01 3 7.888186e+03 2.22e-01 1.88e+02 7.49e+00 9.99e-01 2.70e+05 1 3.96e-02 1.68e-01 4 7.888074e+03 1.12e-01 2.75e+02 9.66e+00 9.95e-01 8.10e+05 1 3.87e-02 2.07e-01 5 7.888045e+03 2.91e-02 1.66e+02 6.14e+00 9.96e-01 2.43e+06 1 4.09e-02 2.48e-01 6 7.888042e+03 3.03e-03 3.50e+01 1.74e+00 9.99e-01 7.29e+06 1 3.88e-02 2.87e-01 7 7.888042e+03 1.77e-04 2.54e+00 2.49e-01 9.99e-01 2.19e+07 1 3.85e-02 3.25e-01 8 7.888042e+03 2.60e-06 1.52e+00 2.07e-02 1.00e+00 6.56e+07 1 3.81e-02 3.64e-01 9 7.888042e+03 5.53e-09 1.34e-02 7.84e-04 9.99e-01 1.97e+08 1 3.79e-02 4.01e-01 Bundle adjustment report ------------------------ Residuals : 28774 Parameters : 12697 Iterations : 10 Time : 0.402053 [s] Initial cost : 0.524007 [px] Final cost : 0.523582 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000070 => Filtered images: 0 ============================================================================== Registering image #24 (8) ============================================================================== => Image sees 1383 / 2594 points Pose refinement report ---------------------- Residuals : 2780 Parameters : 6 Iterations : 7 Time : 0.020257 [s] Initial cost : 0.5911 [px] Final cost : 0.560586 [px] Termination : Convergence => Continued observations: 1371 => Added observations: 781 Bundle adjustment report ------------------------ Residuals : 26446 Parameters : 8849 Iterations : 21 Time : 0.664253 [s] Initial cost : 0.508195 [px] Final cost : 0.481059 [px] Termination : Convergence => Merged observations: 97 => Completed observations: 73 => Filtered observations: 104 => Changed observations: 0.019451 Bundle adjustment report ------------------------ Residuals : 26400 Parameters : 8807 Iterations : 5 Time : 0.159547 [s] Initial cost : 0.569209 [px] Final cost : 0.557438 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000782 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 9.577986e+03 0.00e+00 2.85e+04 0.00e+00 0.00e+00 1.00e+04 0 2.96e-02 5.45e-02 1 9.560711e+03 1.73e+01 4.20e+02 7.26e+00 1.00e+00 3.00e+04 1 4.59e-02 1.01e-01 2 9.560019e+03 6.92e-01 2.31e+02 1.00e+01 1.00e+00 9.00e+04 1 4.41e-02 1.45e-01 3 9.559457e+03 5.61e-01 1.03e+03 1.84e+01 9.88e-01 2.70e+05 1 4.47e-02 1.89e-01 4 9.559173e+03 2.85e-01 1.41e+03 2.03e+01 9.60e-01 8.10e+05 1 4.42e-02 2.34e-01 5 9.559105e+03 6.79e-02 5.31e+02 1.05e+01 9.84e-01 2.43e+06 1 4.88e-02 2.82e-01 6 9.559098e+03 7.07e-03 8.77e+01 2.34e+00 9.98e-01 7.29e+06 1 4.44e-02 3.27e-01 7 9.559097e+03 3.96e-04 6.82e+00 2.79e-01 1.00e+00 2.19e+07 1 4.95e-02 3.76e-01 8 9.559097e+03 5.05e-06 1.90e+00 2.11e-02 1.00e+00 6.56e+07 1 4.49e-02 4.21e-01 9 9.559097e+03 9.17e-09 8.24e-03 7.20e-04 1.00e+00 1.97e+08 1 4.40e-02 4.65e-01 Bundle adjustment report ------------------------ Residuals : 33036 Parameters : 13711 Iterations : 10 Time : 0.466062 [s] Initial cost : 0.538448 [px] Final cost : 0.537916 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #36 (9) ============================================================================== => Image sees 1142 / 2391 points Pose refinement report ---------------------- Residuals : 2298 Parameters : 6 Iterations : 10 Time : 0.0226369 [s] Initial cost : 0.692602 [px] Final cost : 0.597756 [px] Termination : Convergence => Continued observations: 1131 => Added observations: 531 Bundle adjustment report ------------------------ Residuals : 25390 Parameters : 6920 Iterations : 26 Time : 0.747449 [s] Initial cost : 0.521619 [px] Final cost : 0.48736 [px] Termination : No convergence => Merged observations: 66 => Completed observations: 45 => Filtered observations: 81 => Changed observations: 0.013786 Bundle adjustment report ------------------------ Residuals : 25570 Parameters : 7253 Iterations : 5 Time : 0.154686 [s] Initial cost : 0.586926 [px] Final cost : 0.578401 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 12 => Filtered observations: 1 => Changed observations: 0.000943 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.108513e+04 0.00e+00 2.23e+04 0.00e+00 0.00e+00 1.00e+04 0 3.31e-02 6.01e-02 1 1.105747e+04 2.77e+01 7.75e+01 9.64e-01 1.00e+00 3.00e+04 1 5.11e-02 1.11e-01 2 1.105740e+04 7.02e-02 3.56e+01 1.93e+00 1.00e+00 9.00e+04 1 4.93e-02 1.61e-01 3 1.105736e+04 3.90e-02 5.06e+01 3.52e+00 1.00e+00 2.70e+05 1 4.94e-02 2.10e-01 4 1.105734e+04 2.31e-02 9.02e+01 3.75e+00 9.99e-01 8.10e+05 1 5.06e-02 2.61e-01 5 1.105732e+04 1.58e-02 9.65e+01 2.00e+00 9.99e-01 2.43e+06 1 5.00e-02 3.11e-01 6 1.105732e+04 5.96e-03 5.98e+01 6.39e-01 9.99e-01 7.29e+06 1 4.98e-02 3.60e-01 7 1.105732e+04 5.60e-04 7.63e+00 1.50e-01 1.00e+00 2.19e+07 1 4.98e-02 4.10e-01 8 1.105732e+04 8.56e-06 1.93e+00 1.77e-02 1.00e+00 6.56e+07 1 4.99e-02 4.60e-01 9 1.105732e+04 1.79e-08 9.33e-03 7.22e-04 1.00e+00 1.97e+08 1 4.96e-02 5.10e-01 Bundle adjustment report ------------------------ Residuals : 36312 Parameters : 14443 Iterations : 10 Time : 0.510509 [s] Initial cost : 0.552517 [px] Final cost : 0.551823 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.000275 => Filtered images: 0 ============================================================================== Registering image #37 (10) ============================================================================== => Image sees 1133 / 2773 points Pose refinement report ---------------------- Residuals : 2284 Parameters : 6 Iterations : 7 Time : 0.0159221 [s] Initial cost : 0.592224 [px] Final cost : 0.591919 [px] Termination : Convergence => Continued observations: 1118 => Added observations: 952 Bundle adjustment report ------------------------ Residuals : 24174 Parameters : 6854 Iterations : 26 Time : 0.725009 [s] Initial cost : 0.551728 [px] Final cost : 0.507136 [px] Termination : No convergence => Merged observations: 86 => Completed observations: 37 => Filtered observations: 105 => Changed observations: 0.016386 Bundle adjustment report ------------------------ Residuals : 24062 Parameters : 6812 Iterations : 4 Time : 0.113808 [s] Initial cost : 0.60343 [px] Final cost : 0.594316 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.000722 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.242778e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 3.76e-02 6.81e-02 1 1.240833e+04 1.95e+01 1.26e+02 8.01e-01 1.00e+00 3.00e+04 1 5.87e-02 1.27e-01 2 1.240817e+04 1.56e-01 3.27e+01 8.63e-01 1.00e+00 9.00e+04 1 5.70e-02 1.84e-01 3 1.240811e+04 5.66e-02 2.59e+01 1.06e+00 1.00e+00 2.70e+05 1 5.58e-02 2.40e-01 4 1.240810e+04 9.86e-03 5.20e+00 4.57e-01 1.00e+00 8.10e+05 1 5.60e-02 2.96e-01 5 1.240810e+04 2.53e-03 7.43e+00 9.37e-02 1.00e+00 2.43e+06 1 5.66e-02 3.52e-01 6 1.240810e+04 1.07e-03 8.77e+00 9.38e-02 1.00e+00 7.29e+06 1 5.93e-02 4.12e-01 7 1.240810e+04 1.28e-04 1.96e+00 4.69e-02 1.00e+00 2.19e+07 1 6.07e-02 4.72e-01 8 1.240810e+04 2.58e-06 9.11e-01 7.32e-03 1.00e+00 6.56e+07 1 5.56e-02 5.28e-01 Bundle adjustment report ------------------------ Residuals : 40338 Parameters : 15733 Iterations : 9 Time : 0.528765 [s] Initial cost : 0.55506 [px] Final cost : 0.55462 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 0 => Changed observations: 0.000347 => Filtered images: 0 ============================================================================== Registering image #31 (11) ============================================================================== => Image sees 992 / 2349 points Pose refinement report ---------------------- Residuals : 1950 Parameters : 6 Iterations : 11 Time : 0.0212359 [s] Initial cost : 0.717681 [px] Final cost : 0.605011 [px] Termination : Convergence => Continued observations: 971 => Added observations: 650 Bundle adjustment report ------------------------ Residuals : 23418 Parameters : 5810 Iterations : 26 Time : 0.674839 [s] Initial cost : 0.587546 [px] Final cost : 0.536781 [px] Termination : No convergence => Merged observations: 18 => Completed observations: 29 => Filtered observations: 121 => Changed observations: 0.012951 Bundle adjustment report ------------------------ Residuals : 23236 Parameters : 5774 Iterations : 5 Time : 0.139213 [s] Initial cost : 0.616866 [px] Final cost : 0.608104 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 11 => Filtered observations: 0 => Changed observations: 0.000854 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 1.362445e+04 0.00e+00 2.21e+04 0.00e+00 0.00e+00 1.00e+04 0 4.02e-02 7.67e-02 1 1.362120e+04 3.25e+00 1.75e+02 2.94e+00 1.00e+00 3.00e+04 1 6.31e-02 1.40e-01 2 1.362069e+04 5.09e-01 3.46e+02 8.03e+00 9.99e-01 9.00e+04 1 6.07e-02 2.01e-01 3 1.362028e+04 4.07e-01 9.34e+02 1.36e+01 9.91e-01 2.70e+05 1 6.08e-02 2.61e-01 4 1.362011e+04 1.73e-01 9.18e+02 1.31e+01 9.83e-01 8.10e+05 1 6.16e-02 3.23e-01 5 1.362008e+04 3.32e-02 2.71e+02 5.71e+00 9.96e-01 2.43e+06 1 6.19e-02 3.85e-01 6 1.362007e+04 6.26e-03 6.26e+01 1.07e+00 9.99e-01 7.29e+06 1 6.15e-02 4.46e-01 7 1.362007e+04 7.93e-04 1.06e+01 1.33e-01 1.00e+00 2.19e+07 1 6.18e-02 5.08e-01 8 1.362007e+04 1.92e-05 1.97e+00 1.47e-02 1.00e+00 6.56e+07 1 6.08e-02 5.69e-01 9 1.362007e+04 6.53e-08 3.47e-02 7.31e-04 1.00e+00 1.97e+08 1 6.12e-02 6.30e-01 Bundle adjustment report ------------------------ Residuals : 43422 Parameters : 16612 Iterations : 10 Time : 0.631435 [s] Initial cost : 0.56015 [px] Final cost : 0.56006 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #30 (12) ============================================================================== => Image sees 1274 / 2524 points Pose refinement report ---------------------- Residuals : 2544 Parameters : 6 Iterations : 8 Time : 0.020462 [s] Initial cost : 0.595783 [px] Final cost : 0.594152 [px] Termination : Convergence => Continued observations: 1251 => Added observations: 777 Bundle adjustment report ------------------------ Residuals : 24842 Parameters : 6449 Iterations : 26 Time : 0.720587 [s] Initial cost : 0.60568 [px] Final cost : 0.55839 [px] Termination : No convergence => Merged observations: 115 => Completed observations: 53 => Filtered observations: 124 => Changed observations: 0.021422 Bundle adjustment report ------------------------ Residuals : 24730 Parameters : 6392 Iterations : 5 Time : 0.150232 [s] Initial cost : 0.626853 [px] Final cost : 0.615447 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.001768 ============================================================================== Registering image #29 (13) ============================================================================== => Image sees 740 / 1733 points Pose refinement report ---------------------- Residuals : 1450 Parameters : 6 Iterations : 8 Time : 0.0115039 [s] Initial cost : 0.613115 [px] Final cost : 0.609714 [px] Termination : Convergence => Continued observations: 721 => Added observations: 445 Bundle adjustment report ------------------------ Residuals : 18520 Parameters : 4493 Iterations : 26 Time : 0.567157 [s] Initial cost : 0.676946 [px] Final cost : 0.624792 [px] Termination : No convergence => Merged observations: 36 => Completed observations: 21 => Filtered observations: 102 => Changed observations: 0.013787 Bundle adjustment report ------------------------ Residuals : 18374 Parameters : 4445 Iterations : 5 Time : 0.111523 [s] Initial cost : 0.669945 [px] Final cost : 0.661016 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 10 => Filtered observations: 0 => Changed observations: 0.002793 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged observations: 0 => Retriangulated observations: 10 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.744698e+05 0.00e+00 1.45e+06 0.00e+00 0.00e+00 1.00e+04 0 4.74e-02 8.64e-02 1 5.178326e+04 2.23e+05 6.25e+04 9.25e+01 1.00e+00 3.00e+04 1 7.58e-02 1.62e-01 2 5.083666e+04 9.47e+02 4.68e+05 1.59e+02 9.35e-01 8.75e+04 1 7.08e-02 2.33e-01 3 5.086068e+04 -2.40e+01 0.00e+00 2.67e+02 -6.03e-02 4.37e+04 1 2.69e-02 2.60e-01 4 5.056975e+04 2.67e+02 1.27e+05 1.67e+02 8.12e-01 5.79e+04 1 7.02e-02 3.30e-01 5 5.045728e+04 1.12e+02 1.14e+05 1.54e+02 7.02e-01 6.19e+04 1 7.75e-02 4.08e-01 6 5.038173e+04 7.55e+01 6.39e+04 1.15e+02 8.35e-01 8.86e+04 1 7.24e-02 4.80e-01 7 5.035144e+04 3.03e+01 5.12e+04 1.01e+02 7.65e-01 1.04e+05 1 7.24e-02 5.53e-01 8 5.033355e+04 1.79e+01 2.50e+04 6.98e+01 8.95e-01 2.05e+05 1 7.97e-02 6.32e-01 9 5.032724e+04 6.31e+00 1.90e+04 5.80e+01 8.55e-01 3.19e+05 1 8.20e-02 7.15e-01 10 5.032465e+04 2.59e+00 6.59e+03 2.96e+01 9.68e-01 9.57e+05 1 7.34e-02 7.88e-01 11 5.032346e+04 1.19e+00 5.15e+03 1.32e+01 9.88e-01 2.87e+06 1 7.05e-02 8.58e-01 12 5.032269e+04 7.67e-01 5.50e+03 3.35e+00 9.86e-01 8.61e+06 1 7.12e-02 9.30e-01 13 5.032251e+04 1.79e-01 1.95e+03 1.01e+00 9.92e-01 2.58e+07 1 7.02e-02 1.00e+00 14 5.032250e+04 8.74e-03 1.07e+02 2.20e-01 1.00e+00 7.75e+07 1 7.15e-02 1.07e+00 15 5.032250e+04 5.12e-05 1.96e+00 2.09e-02 1.00e+00 2.32e+08 1 7.12e-02 1.14e+00 16 5.032250e+04 4.63e-08 7.32e-02 1.22e-03 9.93e-01 6.97e+08 1 7.17e-02 1.21e+00 Bundle adjustment report ------------------------ Residuals : 49594 Parameters : 18193 Iterations : 17 Time : 1.21552 [s] Initial cost : 2.35252 [px] Final cost : 1.00732 [px] Termination : Convergence => Completed observations: 27 => Merged observations: 0 => Filtered observations: 93 => Changed observations: 0.004839 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.818879e+04 0.00e+00 3.39e+05 0.00e+00 0.00e+00 1.00e+04 0 4.58e-02 8.43e-02 1 1.714547e+04 1.04e+03 6.79e+04 5.98e+01 9.97e-01 3.00e+04 1 7.34e-02 1.58e-01 2 1.662349e+04 5.22e+02 1.52e+05 1.30e+02 9.72e-01 9.00e+04 1 7.12e-02 2.29e-01 3 1.661070e+04 1.28e+01 3.11e+05 2.55e+02 4.42e-02 5.12e+04 1 7.07e-02 3.00e-01 4 1.629377e+04 3.17e+02 6.21e+04 1.08e+02 9.66e-01 1.54e+05 1 7.55e-02 3.75e-01 5 1.630610e+04 -1.23e+01 0.00e+00 1.69e+02 -2.20e-01 7.68e+04 1 2.67e-02 4.02e-01 6 1.626227e+04 3.15e+01 6.62e+04 1.11e+02 7.11e-01 8.31e+04 1 7.52e-02 4.77e-01 7 1.623727e+04 2.50e+01 3.45e+04 7.89e+01 8.78e-01 1.46e+05 1 7.03e-02 5.48e-01 8 1.622744e+04 9.82e+00 3.05e+04 7.26e+01 7.89e-01 1.81e+05 1 7.15e-02 6.19e-01 9 1.622223e+04 5.21e+00 1.13e+04 4.21e+01 9.41e-01 5.44e+05 1 7.26e-02 6.92e-01 10 1.622068e+04 1.55e+00 8.37e+03 2.95e+01 9.36e-01 1.61e+06 1 7.07e-02 7.63e-01 11 1.621985e+04 8.24e-01 4.73e+03 9.36e+00 9.88e-01 4.84e+06 1 7.06e-02 8.33e-01 12 1.621958e+04 2.76e-01 2.68e+03 2.24e+00 9.91e-01 1.45e+07 1 7.25e-02 9.06e-01 13 1.621955e+04 2.60e-02 3.23e+02 5.50e-01 9.99e-01 4.36e+07 1 7.13e-02 9.77e-01 14 1.621955e+04 3.70e-04 5.25e+00 6.51e-02 1.00e+00 1.31e+08 1 8.17e-02 1.06e+00 15 1.621955e+04 6.64e-07 2.65e-01 2.57e-03 1.00e+00 3.92e+08 1 7.93e-02 1.14e+00 Bundle adjustment report ------------------------ Residuals : 49462 Parameters : 18145 Iterations : 16 Time : 1.13932 [s] Initial cost : 0.60641 [px] Final cost : 0.572642 [px] Termination : Convergence => Completed observations: 20 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.001011 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.627900e+04 0.00e+00 4.17e+04 0.00e+00 0.00e+00 1.00e+04 0 4.64e-02 8.43e-02 1 1.625283e+04 2.62e+01 2.18e+02 2.16e+00 1.00e+00 3.00e+04 1 7.83e-02 1.63e-01 2 1.625232e+04 5.06e-01 1.86e+02 4.72e+00 1.00e+00 9.00e+04 1 7.19e-02 2.35e-01 3 1.625210e+04 2.28e-01 3.88e+02 8.47e+00 9.98e-01 2.70e+05 1 7.56e-02 3.10e-01 4 1.625201e+04 8.37e-02 4.24e+02 8.80e+00 9.94e-01 8.10e+05 1 7.05e-02 3.81e-01 5 1.625200e+04 1.24e-02 1.00e+02 4.08e+00 9.98e-01 2.43e+06 1 7.10e-02 4.52e-01 6 1.625200e+04 6.33e-04 7.14e+00 7.46e-01 1.00e+00 7.29e+06 1 7.14e-02 5.23e-01 7 1.625200e+04 7.13e-05 1.97e+00 6.69e-02 1.00e+00 2.19e+07 1 7.19e-02 5.95e-01 8 1.625200e+04 3.18e-06 8.50e-01 6.45e-03 1.00e+00 6.56e+07 1 7.07e-02 6.66e-01 Bundle adjustment report ------------------------ Residuals : 49492 Parameters : 18145 Iterations : 9 Time : 0.666829 [s] Initial cost : 0.573517 [px] Final cost : 0.573041 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000040 => Filtered images: 0 ============================================================================== Registering image #38 (14) ============================================================================== => Image sees 961 / 1991 points Pose refinement report ---------------------- Residuals : 1932 Parameters : 6 Iterations : 10 Time : 0.0195382 [s] Initial cost : 0.722441 [px] Final cost : 0.595271 [px] Termination : Convergence => Continued observations: 943 => Added observations: 581 Bundle adjustment report ------------------------ Residuals : 24230 Parameters : 6188 Iterations : 26 Time : 0.698422 [s] Initial cost : 0.601707 [px] Final cost : 0.557141 [px] Termination : No convergence => Merged observations: 74 => Completed observations: 46 => Filtered observations: 124 => Changed observations: 0.018616 Bundle adjustment report ------------------------ Residuals : 24100 Parameters : 6131 Iterations : 5 Time : 0.13833 [s] Initial cost : 0.610926 [px] Final cost : 0.600451 [px] Termination : Convergence => Merged observations: 20 => Completed observations: 14 => Filtered observations: 2 => Changed observations: 0.002761 ============================================================================== Registering image #39 (15) ============================================================================== => Image sees 1041 / 2578 points Pose refinement report ---------------------- Residuals : 2122 Parameters : 6 Iterations : 6 Time : 0.012753 [s] Initial cost : 0.598638 [px] Final cost : 0.597615 [px] Termination : Convergence => Continued observations: 1027 => Added observations: 949 Bundle adjustment report ------------------------ Residuals : 21396 Parameters : 5768 Iterations : 26 Time : 0.631906 [s] Initial cost : 0.612297 [px] Final cost : 0.579284 [px] Termination : No convergence => Merged observations: 127 => Completed observations: 67 => Filtered observations: 101 => Changed observations: 0.022840 Bundle adjustment report ------------------------ Residuals : 21342 Parameters : 5702 Iterations : 5 Time : 0.129244 [s] Initial cost : 0.634477 [px] Final cost : 0.62339 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 13 => Filtered observations: 1 => Changed observations: 0.002483 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged 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 1.888423e+04 0.00e+00 3.85e+04 0.00e+00 0.00e+00 1.00e+04 0 4.71e-02 9.25e-02 1 1.885286e+04 3.14e+01 3.11e+02 2.53e-01 1.00e+00 3.00e+04 1 7.81e-02 1.71e-01 2 1.885223e+04 6.24e-01 2.27e+02 1.03e+00 1.00e+00 9.00e+04 1 7.31e-02 2.44e-01 3 1.885198e+04 2.55e-01 2.43e+02 1.48e+00 1.00e+00 2.70e+05 1 7.27e-02 3.16e-01 4 1.885187e+04 1.02e-01 1.83e+02 1.33e+00 1.00e+00 8.10e+05 1 7.31e-02 3.90e-01 5 1.885184e+04 3.29e-02 6.96e+01 5.89e-01 1.00e+00 2.43e+06 1 7.21e-02 4.62e-01 6 1.885182e+04 1.83e-02 7.42e+01 7.11e-02 1.00e+00 7.29e+06 1 7.25e-02 5.34e-01 7 1.885182e+04 5.74e-03 5.47e+01 1.53e-01 1.00e+00 2.19e+07 1 7.24e-02 6.07e-01 8 1.885182e+04 3.93e-04 5.21e+00 4.93e-02 1.00e+00 6.56e+07 1 7.24e-02 6.79e-01 9 1.885182e+04 4.16e-06 1.36e+00 5.11e-03 1.00e+00 1.97e+08 1 8.01e-02 7.59e-01 10 1.885182e+04 6.34e-09 5.62e-03 1.58e-04 1.06e+00 5.90e+08 1 7.26e-02 8.32e-01 Bundle adjustment report ------------------------ Residuals : 56324 Parameters : 20122 Iterations : 11 Time : 0.833092 [s] Initial cost : 0.579032 [px] Final cost : 0.578535 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 10 => Filtered observations: 0 => Changed observations: 0.000391 => Filtered images: 0 ============================================================================== Registering image #40 (16) ============================================================================== => Image sees 923 / 1939 points Pose refinement report ---------------------- Residuals : 1864 Parameters : 6 Iterations : 6 Time : 0.011261 [s] Initial cost : 0.602047 [px] Final cost : 0.601349 [px] Termination : Convergence => Continued observations: 909 => Added observations: 503 Bundle adjustment report ------------------------ Residuals : 21100 Parameters : 5576 Iterations : 26 Time : 0.600732 [s] Initial cost : 0.594471 [px] Final cost : 0.563562 [px] Termination : No convergence => Merged observations: 57 => Completed observations: 40 => Filtered observations: 115 => Changed observations: 0.018328 Bundle adjustment report ------------------------ Residuals : 20964 Parameters : 5516 Iterations : 5 Time : 0.119943 [s] Initial cost : 0.620314 [px] Final cost : 0.609729 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 1 => Changed observations: 0.001565 ============================================================================== Registering image #3 (17) ============================================================================== => Image sees 714 / 2106 points Pose refinement report ---------------------- Residuals : 1426 Parameters : 6 Iterations : 9 Time : 0.0126729 [s] Initial cost : 0.625367 [px] Final cost : 0.606197 [px] Termination : Convergence => Continued observations: 704 => Added observations: 693 Bundle adjustment report ------------------------ Residuals : 17324 Parameters : 4790 Iterations : 26 Time : 0.522589 [s] Initial cost : 0.630703 [px] Final cost : 0.604669 [px] Termination : No convergence => Merged observations: 28 => Completed observations: 39 => Filtered observations: 76 => Changed observations: 0.013415 Bundle adjustment report ------------------------ Residuals : 17260 Parameters : 4760 Iterations : 5 Time : 0.102335 [s] Initial cost : 0.636923 [px] Final cost : 0.626935 [px] Termination : Convergence => Merged observations: 23 => Completed observations: 12 => Filtered observations: 0 => Changed observations: 0.003293 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 0 => Retriangulated observations: 11 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.597988e+05 0.00e+00 2.79e+06 0.00e+00 0.00e+00 1.00e+04 0 5.14e-02 9.99e-02 1 1.216771e+05 3.38e+05 8.09e+05 9.44e+01 1.02e+00 3.00e+04 1 8.34e-02 1.83e-01 2 1.181983e+05 3.48e+03 2.21e+06 1.44e+02 8.95e-01 5.91e+04 1 7.99e-02 2.63e-01 3 1.170993e+05 1.10e+03 7.56e+05 1.63e+02 8.77e-01 1.03e+05 1 8.07e-02 3.44e-01 4 1.168184e+05 2.81e+02 2.26e+05 1.37e+02 8.61e-01 1.65e+05 1 8.86e-02 4.32e-01 5 1.167517e+05 6.67e+01 6.48e+04 8.91e+01 9.06e-01 3.57e+05 1 8.39e-02 5.16e-01 6 1.167410e+05 1.07e+01 1.81e+04 5.29e+01 9.30e-01 9.75e+05 1 8.67e-02 6.03e-01 7 1.167395e+05 1.49e+00 2.90e+03 2.02e+01 9.89e-01 2.93e+06 1 8.10e-02 6.84e-01 8 1.167392e+05 3.16e-01 1.96e+03 4.22e+00 9.98e-01 8.78e+06 1 8.25e-02 7.67e-01 9 1.167391e+05 8.85e-02 1.05e+03 9.68e-01 9.97e-01 2.63e+07 1 8.20e-02 8.49e-01 10 1.167391e+05 5.92e-03 9.08e+01 2.28e-01 1.00e+00 7.90e+07 1 8.23e-02 9.31e-01 11 1.167391e+05 5.84e-05 1.94e+00 2.65e-02 1.00e+00 2.37e+08 1 8.16e-02 1.01e+00 12 1.167391e+05 9.07e-08 2.07e-01 2.28e-03 1.02e+00 7.11e+08 1 8.15e-02 1.09e+00 Bundle adjustment report ------------------------ Residuals : 61804 Parameters : 21730 Iterations : 13 Time : 1.09554 [s] Initial cost : 2.72757 [px] Final cost : 1.37436 [px] Termination : Convergence => Completed observations: 32 => Merged observations: 29 => Filtered observations: 180 => Changed observations: 0.007799 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.671429e+04 0.00e+00 1.32e+06 0.00e+00 0.00e+00 1.00e+04 0 5.03e-02 9.70e-02 1 2.315005e+04 3.56e+03 8.69e+05 6.19e+01 9.87e-01 3.00e+04 1 8.30e-02 1.80e-01 2 2.168901e+04 1.46e+03 1.74e+06 1.33e+02 8.72e-01 5.11e+04 1 8.62e-02 2.66e-01 3 2.107087e+04 6.18e+02 7.63e+05 1.45e+02 8.79e-01 9.03e+04 1 8.07e-02 3.47e-01 4 2.089386e+04 1.77e+02 2.54e+05 1.36e+02 8.15e-01 1.20e+05 1 8.80e-02 4.35e-01 5 2.083433e+04 5.95e+01 6.56e+04 8.88e+01 8.96e-01 2.40e+05 1 8.03e-02 5.15e-01 6 2.082307e+04 1.13e+01 2.90e+04 6.32e+01 8.60e-01 3.82e+05 1 8.16e-02 5.97e-01 7 2.082022e+04 2.85e+00 6.49e+03 2.80e+01 9.72e-01 1.15e+06 1 8.25e-02 6.80e-01 8 2.081961e+04 6.09e-01 3.03e+03 1.07e+01 9.92e-01 3.44e+06 1 8.09e-02 7.60e-01 9 2.081931e+04 3.06e-01 2.60e+03 2.35e+00 9.95e-01 1.03e+07 1 8.04e-02 8.41e-01 10 2.081925e+04 5.41e-02 7.00e+02 6.08e-01 9.98e-01 3.10e+07 1 8.12e-02 9.22e-01 11 2.081925e+04 1.79e-03 2.78e+01 1.07e-01 1.00e+00 9.29e+07 1 8.14e-02 1.00e+00 12 2.081925e+04 7.86e-06 1.81e+00 6.63e-03 1.00e+00 2.79e+08 1 7.98e-02 1.08e+00 13 2.081925e+04 5.17e-09 4.43e-03 1.10e-04 1.01e+00 8.36e+08 1 8.05e-02 1.16e+00 Bundle adjustment report ------------------------ Residuals : 61508 Parameters : 21670 Iterations : 14 Time : 1.16512 [s] Initial cost : 0.659031 [px] Final cost : 0.581791 [px] Termination : Convergence => Completed observations: 119 => Merged observations: 0 => Filtered observations: 10 => Changed observations: 0.004195 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.107991e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 1.06e-01 1 2.095870e+04 1.21e+02 9.07e+03 1.56e+00 1.00e+00 3.00e+04 1 9.07e-02 1.97e-01 2 2.095307e+04 5.62e+00 6.22e+03 3.03e+00 1.00e+00 9.00e+04 1 8.12e-02 2.78e-01 3 2.095238e+04 6.98e-01 1.33e+03 3.63e+00 1.00e+00 2.70e+05 1 8.31e-02 3.61e-01 4 2.095232e+04 5.35e-02 1.32e+02 2.45e+00 1.00e+00 8.10e+05 1 8.11e-02 4.43e-01 5 2.095232e+04 2.26e-03 1.12e+01 8.22e-01 1.00e+00 2.43e+06 1 8.12e-02 5.24e-01 6 2.095232e+04 3.69e-04 2.54e+00 9.37e-02 1.00e+00 7.29e+06 1 8.70e-02 6.11e-01 7 2.095232e+04 9.44e-05 1.87e+00 1.43e-02 1.00e+00 2.19e+07 1 8.08e-02 6.92e-01 8 2.095232e+04 5.25e-06 1.04e+00 5.48e-03 1.00e+00 6.56e+07 1 8.14e-02 7.73e-01 9 2.095232e+04 4.42e-08 1.52e-02 5.04e-04 1.01e+00 1.97e+08 1 8.03e-02 8.53e-01 Bundle adjustment report ------------------------ Residuals : 61726 Parameters : 21670 Iterations : 10 Time : 0.85459 [s] Initial cost : 0.584387 [px] Final cost : 0.582615 [px] Termination : Convergence => Completed observations: 3 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000130 => Filtered images: 0 ============================================================================== Registering image #4 (18) ============================================================================== => Image sees 894 / 2130 points Pose refinement report ---------------------- Residuals : 1788 Parameters : 6 Iterations : 8 Time : 0.0142412 [s] Initial cost : 0.587017 [px] Final cost : 0.582733 [px] Termination : Convergence => Continued observations: 877 => Added observations: 724 Bundle adjustment report ------------------------ Residuals : 20230 Parameters : 5633 Iterations : 26 Time : 0.579667 [s] Initial cost : 0.782672 [px] Final cost : 0.740833 [px] Termination : No convergence => Merged observations: 88 => Completed observations: 60 => Filtered observations: 131 => Changed observations: 0.025428 Bundle adjustment report ------------------------ Residuals : 20120 Parameters : 5555 Iterations : 5 Time : 0.112678 [s] Initial cost : 0.610813 [px] Final cost : 0.599222 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 14 => Filtered observations: 0 => Changed observations: 0.001832 ============================================================================== Registering image #5 (19) ============================================================================== => Image sees 735 / 2271 points Pose refinement report ---------------------- Residuals : 1464 Parameters : 6 Iterations : 11 Time : 0.016072 [s] Initial cost : 0.591771 [px] Final cost : 0.583859 [px] Termination : Convergence => Continued observations: 721 => Added observations: 808 Bundle adjustment report ------------------------ Residuals : 16100 Parameters : 4760 Iterations : 26 Time : 0.495687 [s] Initial cost : 0.622916 [px] Final cost : 0.577568 [px] Termination : No convergence => Merged observations: 59 => Completed observations: 42 => Filtered observations: 70 => Changed observations: 0.017731 Bundle adjustment report ------------------------ Residuals : 16074 Parameters : 4724 Iterations : 4 Time : 0.084693 [s] Initial cost : 0.608959 [px] Final cost : 0.599979 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000623 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 28 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.888089e+06 0.00e+00 4.87e+06 0.00e+00 0.00e+00 1.00e+04 0 5.80e-02 1.13e-01 1 1.281890e+06 6.06e+05 5.78e+06 1.55e+02 9.90e-01 3.00e+04 1 9.64e-02 2.10e-01 2 1.274362e+06 7.53e+03 1.28e+07 4.45e+02 3.14e-01 2.85e+04 1 9.23e-02 3.02e-01 3 1.256094e+06 1.83e+04 1.30e+06 3.41e+02 9.13e-01 6.51e+04 1 9.24e-02 3.95e-01 4 1.258928e+06 -2.83e+03 0.00e+00 5.01e+02 -7.93e-01 3.26e+04 1 3.77e-02 4.32e-01 5 1.253903e+06 2.19e+03 7.96e+05 3.07e+02 7.07e-01 3.51e+04 1 8.91e-02 5.22e-01 6 1.252793e+06 1.11e+03 4.78e+05 2.58e+02 7.31e-01 3.89e+04 1 8.99e-02 6.11e-01 7 1.252256e+06 5.37e+02 3.22e+05 2.22e+02 7.18e-01 4.24e+04 1 9.10e-02 7.02e-01 8 1.251949e+06 3.07e+02 2.18e+05 1.88e+02 7.48e-01 4.83e+04 1 1.28e-01 8.30e-01 9 1.251779e+06 1.71e+02 1.60e+05 1.64e+02 7.49e-01 5.51e+04 1 1.06e-01 9.36e-01 10 1.251673e+06 1.05e+02 1.15e+05 1.40e+02 7.80e-01 6.69e+04 1 9.33e-02 1.03e+00 11 1.251611e+06 6.18e+01 8.70e+04 1.23e+02 7.86e-01 8.23e+04 1 1.01e-01 1.13e+00 12 1.251574e+06 3.73e+01 6.15e+04 1.03e+02 8.19e-01 1.11e+05 1 9.97e-02 1.23e+00 13 1.251554e+06 2.00e+01 4.37e+04 8.72e+01 8.32e-01 1.57e+05 1 9.61e-02 1.33e+00 14 1.251544e+06 9.88e+00 2.61e+04 6.75e+01 8.79e-01 2.78e+05 1 9.78e-02 1.42e+00 15 1.251541e+06 3.69e+00 1.38e+04 4.93e+01 9.15e-01 6.47e+05 1 9.63e-02 1.52e+00 16 1.251540e+06 9.59e-01 4.10e+03 2.76e+01 9.89e-01 1.94e+06 1 9.55e-02 1.62e+00 17 1.251540e+06 1.27e-01 4.36e+02 8.64e+00 1.03e+00 5.83e+06 1 9.22e-02 1.71e+00 18 1.251540e+06 2.75e-02 2.58e+02 1.27e+00 1.01e+00 1.75e+07 1 9.66e-02 1.80e+00 19 1.251540e+06 4.34e-03 7.24e+01 8.70e-02 9.99e-01 5.24e+07 1 9.17e-02 1.90e+00 20 1.251540e+06 1.32e-04 2.71e+00 4.37e-03 1.00e+00 1.57e+08 1 9.98e-02 2.00e+00 21 1.251540e+06 6.10e-07 1.90e-01 2.94e-04 1.02e+00 4.72e+08 1 9.14e-02 2.09e+00 Bundle adjustment report ------------------------ Residuals : 67888 Parameters : 23668 Iterations : 22 Time : 2.08898 [s] Initial cost : 5.27369 [px] Final cost : 4.29364 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 47 => Filtered observations: 1702 => Changed observations: 0.051526 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.428995e+04 0.00e+00 2.57e+06 0.00e+00 0.00e+00 1.00e+04 0 5.55e-02 1.07e-01 1 3.074333e+04 1.35e+04 1.97e+06 1.24e+02 9.81e-01 3.00e+04 1 8.98e-02 1.97e-01 2 2.581655e+04 4.93e+03 2.71e+06 3.14e+02 8.21e-01 4.07e+04 1 8.65e-02 2.84e-01 3 2.370125e+04 2.12e+03 1.49e+06 3.53e+02 6.56e-01 4.20e+04 1 8.75e-02 3.71e-01 4 2.221225e+04 1.49e+03 7.72e+05 3.00e+02 7.21e-01 4.60e+04 1 8.60e-02 4.57e-01 5 2.144193e+04 7.70e+02 5.31e+05 2.67e+02 6.76e-01 4.81e+04 1 8.50e-02 5.42e-01 6 2.091624e+04 5.26e+02 3.36e+05 2.25e+02 7.31e-01 5.34e+04 1 8.53e-02 6.28e-01 7 2.060596e+04 3.10e+02 2.38e+05 1.98e+02 7.24e-01 5.87e+04 1 9.27e-02 7.20e-01 8 2.039642e+04 2.10e+02 1.63e+05 1.69e+02 7.65e-01 6.89e+04 1 9.52e-02 8.15e-01 9 2.026752e+04 1.29e+02 1.21e+05 1.48e+02 7.66e-01 8.12e+04 1 8.79e-02 9.03e-01 10 2.018449e+04 8.30e+01 8.57e+04 1.25e+02 8.03e-01 1.05e+05 1 8.63e-02 9.90e-01 11 2.013757e+04 4.69e+01 6.23e+04 1.06e+02 8.11e-01 1.38e+05 1 8.62e-02 1.08e+00 12 2.011236e+04 2.52e+01 3.90e+04 8.33e+01 8.53e-01 2.12e+05 1 8.51e-02 1.16e+00 13 2.010180e+04 1.06e+01 2.32e+04 6.37e+01 8.73e-01 3.63e+05 1 8.74e-02 1.25e+00 14 2.009826e+04 3.53e+00 9.87e+03 4.04e+01 9.29e-01 9.87e+05 1 8.80e-02 1.34e+00 15 2.009736e+04 8.99e-01 4.17e+03 2.09e+01 9.70e-01 2.96e+06 1 8.61e-02 1.42e+00 16 2.009701e+04 3.51e-01 2.93e+03 6.08e+00 9.94e-01 8.89e+06 1 8.65e-02 1.51e+00 17 2.009693e+04 8.58e-02 1.22e+03 1.57e+00 9.97e-01 2.67e+07 1 8.70e-02 1.60e+00 18 2.009692e+04 4.77e-03 8.52e+01 3.31e-01 1.00e+00 8.00e+07 1 9.42e-02 1.69e+00 19 2.009692e+04 3.75e-05 1.99e+00 2.86e-02 1.00e+00 2.40e+08 1 8.59e-02 1.78e+00 20 2.009692e+04 4.04e-08 1.37e-02 7.66e-04 1.00e+00 7.20e+08 1 9.44e-02 1.87e+00 Bundle adjustment report ------------------------ Residuals : 64484 Parameters : 23332 Iterations : 21 Time : 1.87213 [s] Initial cost : 0.828756 [px] Final cost : 0.558263 [px] Termination : Convergence => Completed observations: 1255 => Merged observations: 12 => Filtered observations: 7 => Changed observations: 0.039514 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.280226e+04 0.00e+00 3.04e+05 0.00e+00 0.00e+00 1.00e+04 0 5.66e-02 1.09e-01 1 2.189396e+04 9.08e+02 5.46e+04 1.23e+01 1.00e+00 3.00e+04 1 9.36e-02 2.03e-01 2 2.183814e+04 5.58e+01 2.90e+04 2.04e+01 9.99e-01 9.00e+04 1 9.15e-02 2.94e-01 3 2.182548e+04 1.27e+01 2.06e+04 3.34e+01 9.87e-01 2.70e+05 1 9.16e-02 3.86e-01 4 2.182274e+04 2.74e+00 9.29e+03 3.35e+01 9.54e-01 8.10e+05 1 9.18e-02 4.78e-01 5 2.182232e+04 4.17e-01 1.78e+03 1.63e+01 9.83e-01 2.43e+06 1 8.99e-02 5.68e-01 6 2.182231e+04 1.65e-02 6.26e+01 3.09e+00 1.00e+00 7.29e+06 1 9.08e-02 6.59e-01 7 2.182231e+04 6.99e-04 7.01e+00 1.43e-01 1.00e+00 2.19e+07 1 9.02e-02 7.49e-01 8 2.182231e+04 4.01e-05 1.99e+00 1.98e-02 1.00e+00 6.56e+07 1 1.00e-01 8.49e-01 9 2.182231e+04 3.69e-07 9.81e-02 2.42e-03 1.00e+00 1.97e+08 1 1.02e-01 9.51e-01 Bundle adjustment report ------------------------ Residuals : 66980 Parameters : 23326 Iterations : 10 Time : 0.952811 [s] Initial cost : 0.583467 [px] Final cost : 0.570792 [px] Termination : Convergence => Completed observations: 37 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.001135 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.205803e+04 0.00e+00 6.30e+04 0.00e+00 0.00e+00 1.00e+04 0 5.80e-02 1.12e-01 1 2.198641e+04 7.16e+01 2.29e+02 3.27e-01 1.00e+00 3.00e+04 1 9.38e-02 2.06e-01 2 2.198616e+04 2.57e-01 1.03e+02 1.52e+00 1.00e+00 9.00e+04 1 8.94e-02 2.96e-01 3 2.198609e+04 6.85e-02 1.22e+02 2.82e+00 1.00e+00 2.70e+05 1 9.06e-02 3.86e-01 4 2.198607e+04 2.06e-02 7.74e+01 3.01e+00 9.99e-01 8.10e+05 1 9.01e-02 4.77e-01 5 2.198606e+04 7.28e-03 2.25e+01 1.48e+00 1.00e+00 2.43e+06 1 9.04e-02 5.67e-01 6 2.198606e+04 4.57e-03 2.75e+01 1.62e-01 1.00e+00 7.29e+06 1 8.96e-02 6.57e-01 7 2.198606e+04 1.30e-03 1.48e+01 1.02e-01 1.00e+00 2.19e+07 1 9.61e-02 7.53e-01 8 2.198606e+04 7.77e-05 1.90e+00 3.51e-02 1.00e+00 6.56e+07 1 1.03e-01 8.56e-01 9 2.198606e+04 7.05e-07 1.79e-01 3.41e-03 1.00e+00 1.97e+08 1 1.03e-01 9.59e-01 Bundle adjustment report ------------------------ Residuals : 67052 Parameters : 23326 Iterations : 10 Time : 0.960473 [s] Initial cost : 0.573558 [px] Final cost : 0.572622 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #6 (20) ============================================================================== => Image sees 902 / 2190 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 7 Time : 0.01266 [s] Initial cost : 0.60217 [px] Final cost : 0.600815 [px] Termination : Convergence => Continued observations: 889 => Added observations: 731 Bundle adjustment report ------------------------ Residuals : 26974 Parameters : 7391 Iterations : 26 Time : 0.660912 [s] Initial cost : 0.658017 [px] Final cost : 0.622841 [px] Termination : No convergence => Merged observations: 73 => Completed observations: 46 => Filtered observations: 99 => Changed observations: 0.015379 Bundle adjustment report ------------------------ Residuals : 26886 Parameters : 7343 Iterations : 4 Time : 0.11016 [s] Initial cost : 0.599906 [px] Final cost : 0.588453 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 18 => Filtered observations: 0 => Changed observations: 0.001698 ============================================================================== Registering image #7 (21) ============================================================================== => Image sees 700 / 2461 points Pose refinement report ---------------------- Residuals : 1332 Parameters : 6 Iterations : 10 Time : 0.014246 [s] Initial cost : 0.663929 [px] Final cost : 0.595395 [px] Termination : Convergence => Continued observations: 659 => Added observations: 942 Bundle adjustment report ------------------------ Residuals : 15592 Parameters : 4994 Iterations : 26 Time : 0.484427 [s] Initial cost : 1.10186 [px] Final cost : 1.04829 [px] Termination : No convergence => Merged observations: 24 => Completed observations: 28 => Filtered observations: 130 => Changed observations: 0.019526 Bundle adjustment report ------------------------ Residuals : 15412 Parameters : 4913 Iterations : 4 Time : 0.0774848 [s] Initial cost : 0.59529 [px] Final cost : 0.584169 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.001625 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 68 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.937444e+06 0.00e+00 5.48e+07 0.00e+00 0.00e+00 1.00e+04 0 6.45e-02 1.23e-01 1 1.570126e+09 -1.56e+09 0.00e+00 5.76e+01 -2.66e+02 5.00e+03 1 4.36e-02 1.66e-01 2 1.347000e+09 -1.34e+09 0.00e+00 4.72e+00 -2.29e+02 1.25e+03 1 3.81e-02 2.05e-01 3 7.943533e+08 -7.84e+08 0.00e+00 1.06e+01 -1.38e+02 1.56e+02 1 3.90e-02 2.44e-01 4 8.959813e+07 -7.97e+07 0.00e+00 5.00e+01 -1.54e+01 9.77e+00 1 4.39e-02 2.88e-01 5 6.491618e+06 3.45e+06 4.26e+07 1.15e+01 9.84e-01 2.93e+01 1 9.92e-02 3.87e-01 6 5.728931e+06 7.63e+05 3.99e+07 1.79e+01 9.28e-01 7.82e+01 1 1.08e-01 4.95e-01 7 5.310272e+06 4.19e+05 4.55e+07 2.12e+01 8.43e-01 1.16e+02 1 9.91e-02 5.94e-01 8 5.049928e+06 2.60e+05 2.76e+07 9.48e+00 9.17e-01 2.75e+02 1 9.97e-02 6.93e-01 9 4.952313e+06 9.76e+04 5.99e+07 2.42e+00 4.17e-01 2.73e+02 1 1.02e-01 7.95e-01 10 4.706417e+06 2.46e+05 2.01e+07 6.23e+00 9.68e-01 8.20e+02 1 1.01e-01 8.96e-01 11 4.831477e+06 -1.25e+05 0.00e+00 2.09e+01 -6.06e-01 4.10e+02 1 4.03e-02 9.37e-01 12 4.605395e+06 1.01e+05 3.12e+07 1.22e+01 7.57e-01 4.75e+02 1 1.01e-01 1.04e+00 13 4.481882e+06 1.24e+05 2.14e+07 1.32e+01 9.26e-01 1.25e+03 1 1.00e-01 1.14e+00 14 4.515096e+06 -3.32e+04 0.00e+00 2.62e+01 -1.93e-01 6.25e+02 1 4.13e-02 1.18e+00 15 4.382932e+06 9.89e+04 2.44e+07 1.70e+01 8.65e-01 1.02e+03 1 1.04e-01 1.28e+00 16 4.285679e+06 9.73e+04 3.45e+07 2.42e+01 7.18e-01 1.12e+03 1 1.07e-01 1.39e+00 17 4.144518e+06 1.41e+05 2.16e+07 2.89e+01 9.69e-01 3.35e+03 1 1.05e-01 1.50e+00 18 4.209510e+06 -6.50e+04 0.00e+00 8.87e+01 -4.02e-01 1.68e+03 1 3.90e-02 1.53e+00 19 4.044114e+06 1.00e+05 2.82e+07 5.22e+01 8.21e-01 2.28e+03 1 9.59e-02 1.63e+00 20 3.921616e+06 1.22e+05 1.93e+07 8.81e+01 9.88e-01 6.83e+03 1 9.73e-02 1.73e+00 21 3.869072e+06 5.25e+04 3.43e+07 3.15e+02 5.02e-01 6.83e+03 1 9.68e-02 1.82e+00 22 3.763184e+06 1.06e+05 1.01e+07 4.18e+02 9.54e-01 2.05e+04 1 9.75e-02 1.92e+00 23 4.064478e+06 -3.01e+05 0.00e+00 1.16e+03 -4.21e+00 1.03e+04 1 3.83e-02 1.96e+00 24 3.845065e+06 -8.19e+04 0.00e+00 6.61e+02 -1.36e+00 2.56e+03 1 3.78e-02 2.00e+00 25 3.748592e+06 1.46e+04 6.84e+06 1.93e+02 4.00e-01 2.54e+03 1 9.68e-02 2.09e+00 26 3.737124e+06 1.15e+04 3.52e+06 1.92e+02 3.01e-01 2.39e+03 1 9.66e-02 2.19e+00 27 3.741312e+06 -4.19e+03 0.00e+00 2.02e+02 -9.14e-02 1.20e+03 1 3.83e-02 2.23e+00 28 3.725092e+06 1.20e+04 3.74e+06 1.05e+02 3.98e-01 1.19e+03 1 1.03e-01 2.33e+00 29 3.703359e+06 2.17e+04 2.71e+05 9.77e+01 9.69e-01 3.56e+03 1 9.92e-02 2.43e+00 30 3.647063e+06 5.63e+04 2.09e+07 3.15e+02 6.90e-01 3.76e+03 1 1.06e-01 2.54e+00 31 3.477454e+06 1.70e+05 8.70e+06 3.12e+02 1.17e+00 1.13e+04 1 9.84e-02 2.64e+00 32 4.618728e+06 -1.14e+06 0.00e+00 8.35e+02 -4.49e+00 5.65e+03 1 3.92e-02 2.68e+00 33 3.588771e+06 -1.11e+05 0.00e+00 4.43e+02 -5.78e-01 1.41e+03 1 3.74e-02 2.71e+00 34 3.401599e+06 7.59e+04 1.00e+07 1.18e+02 8.95e-01 2.78e+03 1 9.59e-02 2.81e+00 35 3.320458e+06 8.11e+04 1.88e+07 2.34e+02 9.16e-01 6.59e+03 1 9.75e-02 2.91e+00 36 3.278105e+06 4.24e+04 4.51e+07 5.35e+02 3.60e-01 6.45e+03 1 9.71e-02 3.00e+00 37 3.157053e+06 1.21e+05 1.30e+07 5.16e+02 9.58e-01 1.93e+04 1 9.91e-02 3.10e+00 38 3.333336e+06 -1.76e+05 0.00e+00 1.37e+03 -2.50e+00 9.67e+03 1 3.83e-02 3.14e+00 39 3.130972e+06 2.61e+04 1.43e+07 7.43e+02 5.25e-01 9.67e+03 1 9.81e-02 3.24e+00 40 3.096168e+06 3.48e+04 4.41e+06 6.98e+02 7.55e-01 1.11e+04 1 1.04e-01 3.34e+00 41 3.080785e+06 1.54e+04 4.01e+06 7.50e+02 5.24e-01 1.11e+04 1 9.82e-02 3.44e+00 42 3.063712e+06 1.71e+04 3.06e+06 6.98e+02 6.54e-01 1.15e+04 1 1.06e-01 3.55e+00 43 3.052165e+06 1.15e+04 2.59e+06 6.70e+02 6.25e-01 1.17e+04 1 1.08e-01 3.65e+00 44 3.042885e+06 9.28e+03 2.16e+06 6.34e+02 6.49e-01 1.20e+04 1 1.09e-01 3.76e+00 45 3.035673e+06 7.21e+03 1.88e+06 6.07e+02 6.51e-01 1.23e+04 1 1.06e-01 3.87e+00 46 3.029754e+06 5.92e+03 1.66e+06 5.83e+02 6.62e-01 1.28e+04 1 1.03e-01 3.97e+00 47 3.024842e+06 4.91e+03 1.50e+06 5.64e+02 6.68e-01 1.33e+04 1 1.00e-01 4.07e+00 48 3.020655e+06 4.19e+03 1.37e+06 5.47e+02 6.76e-01 1.39e+04 1 9.69e-02 4.17e+00 49 3.017035e+06 3.62e+03 1.28e+06 5.35e+02 6.81e-01 1.46e+04 1 9.72e-02 4.27e+00 50 3.013855e+06 3.18e+03 1.21e+06 5.24e+02 6.86e-01 1.53e+04 1 1.05e-01 4.37e+00 Bundle adjustment report ------------------------ Residuals : 73388 Parameters : 25552 Iterations : 51 Time : 4.37407 [s] Initial cost : 11.6366 [px] Final cost : 6.40839 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 7 => Filtered observations: 10348 => Changed observations: 0.282199 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.424747e+04 0.00e+00 3.24e+06 0.00e+00 0.00e+00 1.00e+04 0 5.09e-02 9.14e-02 1 3.684753e+04 1.74e+04 1.02e+07 8.08e+01 6.83e-01 1.05e+04 1 7.05e-02 1.62e-01 2 2.873342e+04 8.11e+03 7.83e+06 8.80e+01 7.23e-01 1.15e+04 1 6.79e-02 2.30e-01 3 2.494060e+04 3.79e+03 4.96e+06 1.02e+02 7.59e-01 1.34e+04 1 6.72e-02 2.97e-01 4 2.283954e+04 2.10e+03 2.83e+06 1.24e+02 8.37e-01 1.93e+04 1 6.70e-02 3.64e-01 5 2.151635e+04 1.32e+03 1.70e+06 1.83e+02 8.77e-01 3.38e+04 1 6.73e-02 4.32e-01 6 2.053238e+04 9.84e+02 1.16e+06 3.21e+02 8.16e-01 4.53e+04 1 6.74e-02 4.99e-01 7 1.993535e+04 5.97e+02 8.20e+05 4.22e+02 6.25e-01 4.60e+04 1 6.91e-02 5.68e-01 8 1.944867e+04 4.87e+02 5.47e+05 4.15e+02 5.91e-01 4.62e+04 1 6.75e-02 6.36e-01 9 1.909898e+04 3.50e+02 5.04e+05 4.03e+02 5.21e-01 4.63e+04 1 6.70e-02 7.03e-01 10 1.880880e+04 2.90e+02 4.69e+05 3.88e+02 4.94e-01 4.63e+04 1 6.79e-02 7.71e-01 11 1.855615e+04 2.53e+02 4.40e+05 3.71e+02 4.85e-01 4.63e+04 1 6.91e-02 8.40e-01 12 1.832878e+04 2.27e+02 4.11e+05 3.54e+02 4.88e-01 4.63e+04 1 6.82e-02 9.08e-01 13 1.812105e+04 2.08e+02 3.81e+05 3.38e+02 4.98e-01 4.63e+04 1 7.64e-02 9.84e-01 14 1.793000e+04 1.91e+02 3.51e+05 3.21e+02 5.13e-01 4.63e+04 1 7.02e-02 1.05e+00 15 1.775384e+04 1.76e+02 3.22e+05 3.05e+02 5.30e-01 4.63e+04 1 7.56e-02 1.13e+00 16 1.759137e+04 1.62e+02 2.94e+05 2.90e+02 5.50e-01 4.63e+04 1 7.02e-02 1.20e+00 17 1.744163e+04 1.50e+02 2.69e+05 2.75e+02 5.70e-01 4.64e+04 1 6.96e-02 1.27e+00 18 1.730366e+04 1.38e+02 2.45e+05 2.61e+02 5.90e-01 4.67e+04 1 6.79e-02 1.34e+00 19 1.717640e+04 1.27e+02 2.25e+05 2.48e+02 6.08e-01 4.72e+04 1 6.71e-02 1.41e+00 20 1.705860e+04 1.18e+02 2.07e+05 2.36e+02 6.24e-01 4.79e+04 1 6.75e-02 1.47e+00 21 1.694893e+04 1.10e+02 1.92e+05 2.26e+02 6.38e-01 4.89e+04 1 6.75e-02 1.54e+00 22 1.684606e+04 1.03e+02 1.79e+05 2.17e+02 6.50e-01 5.03e+04 1 6.70e-02 1.61e+00 23 1.674881e+04 9.72e+01 1.69e+05 2.10e+02 6.59e-01 5.20e+04 1 6.77e-02 1.67e+00 24 1.665616e+04 9.27e+01 1.59e+05 2.03e+02 6.67e-01 5.40e+04 1 7.05e-02 1.75e+00 25 1.656728e+04 8.89e+01 1.80e+05 1.97e+02 6.73e-01 5.63e+04 1 7.61e-02 1.82e+00 26 1.648150e+04 8.58e+01 2.08e+05 1.91e+02 6.77e-01 5.89e+04 1 6.70e-02 1.89e+00 27 1.639832e+04 8.32e+01 2.42e+05 1.86e+02 6.80e-01 6.18e+04 1 7.50e-02 1.96e+00 28 1.631740e+04 8.09e+01 2.81e+05 1.80e+02 6.82e-01 6.50e+04 1 6.84e-02 2.03e+00 29 1.623850e+04 7.89e+01 3.26e+05 1.75e+02 6.81e-01 6.82e+04 1 6.84e-02 2.10e+00 30 1.616156e+04 7.69e+01 3.78e+05 1.68e+02 6.77e-01 7.13e+04 1 7.28e-02 2.17e+00 31 1.608663e+04 7.49e+01 4.33e+05 1.61e+02 6.70e-01 7.42e+04 1 6.77e-02 2.24e+00 32 1.601386e+04 7.28e+01 4.89e+05 1.54e+02 6.59e-01 7.67e+04 1 6.78e-02 2.31e+00 33 1.594344e+04 7.04e+01 5.44e+05 1.45e+02 6.45e-01 7.86e+04 1 6.86e-02 2.38e+00 34 1.587551e+04 6.79e+01 5.93e+05 1.36e+02 6.29e-01 8.00e+04 1 6.76e-02 2.45e+00 35 1.581017e+04 6.53e+01 6.35e+05 1.26e+02 6.11e-01 8.09e+04 1 6.71e-02 2.51e+00 36 1.574745e+04 6.27e+01 6.69e+05 1.17e+02 5.93e-01 8.14e+04 1 6.84e-02 2.58e+00 37 1.568732e+04 6.01e+01 6.97e+05 1.08e+02 5.74e-01 8.17e+04 1 6.73e-02 2.65e+00 38 1.562969e+04 5.76e+01 7.19e+05 9.97e+01 5.55e-01 8.18e+04 1 6.73e-02 2.72e+00 39 1.557448e+04 5.52e+01 7.38e+05 9.21e+01 5.37e-01 8.18e+04 1 6.88e-02 2.78e+00 40 1.552159e+04 5.29e+01 7.53e+05 8.52e+01 5.18e-01 8.18e+04 1 6.99e-02 2.85e+00 41 1.547089e+04 5.07e+01 7.68e+05 7.91e+01 4.99e-01 8.18e+04 1 6.82e-02 2.92e+00 42 1.542227e+04 4.86e+01 7.81e+05 7.36e+01 4.81e-01 8.18e+04 1 7.74e-02 3.00e+00 43 1.537559e+04 4.67e+01 7.94e+05 6.87e+01 4.63e-01 8.18e+04 1 7.00e-02 3.07e+00 44 1.533068e+04 4.49e+01 8.05e+05 6.43e+01 4.46e-01 8.17e+04 1 7.58e-02 3.15e+00 45 1.528738e+04 4.33e+01 8.15e+05 6.03e+01 4.30e-01 8.15e+04 1 6.91e-02 3.21e+00 46 1.524551e+04 4.19e+01 8.23e+05 5.66e+01 4.17e-01 8.11e+04 1 6.88e-02 3.28e+00 47 1.520495e+04 4.06e+01 8.27e+05 5.32e+01 4.05e-01 8.05e+04 1 6.79e-02 3.35e+00 48 1.516564e+04 3.93e+01 8.29e+05 5.01e+01 3.96e-01 7.98e+04 1 6.73e-02 3.42e+00 49 1.512756e+04 3.81e+01 8.27e+05 4.71e+01 3.89e-01 7.90e+04 1 6.75e-02 3.49e+00 50 1.509073e+04 3.68e+01 8.23e+05 4.44e+01 3.82e-01 7.79e+04 1 6.70e-02 3.55e+00 Bundle adjustment report ------------------------ Residuals : 52692 Parameters : 21154 Iterations : 51 Time : 3.55456 [s] Initial cost : 1.01465 [px] Final cost : 0.535159 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 21 => Filtered observations: 16 => Changed observations: 0.001404 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.492736e+04 0.00e+00 7.85e+05 0.00e+00 0.00e+00 1.00e+04 0 4.43e-02 8.53e-02 1 1.481210e+04 1.15e+02 3.87e+04 6.15e+00 9.98e-01 3.00e+04 1 7.07e-02 1.56e-01 2 1.479510e+04 1.70e+01 9.92e+04 1.95e+01 9.01e-01 6.20e+04 1 6.79e-02 2.24e-01 3 1.478903e+04 6.07e+00 4.38e+05 3.86e+01 2.12e-01 5.20e+04 1 6.88e-02 2.93e-01 4 1.475713e+04 3.19e+01 3.25e+05 3.13e+01 7.46e-01 5.91e+04 1 6.95e-02 3.62e-01 5 1.474215e+04 1.50e+01 4.25e+05 3.37e+01 4.62e-01 5.91e+04 1 7.72e-02 4.40e-01 6 1.472165e+04 2.05e+01 4.32e+05 3.21e+01 5.37e-01 5.91e+04 1 7.02e-02 5.10e-01 7 1.470201e+04 1.96e+01 4.39e+05 3.06e+01 5.22e-01 5.91e+04 1 7.91e-02 5.89e-01 8 1.468307e+04 1.89e+01 4.44e+05 2.92e+01 5.07e-01 5.91e+04 1 8.16e-02 6.71e-01 9 1.466482e+04 1.83e+01 4.50e+05 2.79e+01 4.92e-01 5.91e+04 1 8.18e-02 7.52e-01 10 1.464720e+04 1.76e+01 4.55e+05 2.67e+01 4.77e-01 5.91e+04 1 7.77e-02 8.30e-01 11 1.463020e+04 1.70e+01 4.61e+05 2.56e+01 4.62e-01 5.91e+04 1 6.89e-02 8.99e-01 12 1.461378e+04 1.64e+01 4.66e+05 2.46e+01 4.47e-01 5.90e+04 1 6.89e-02 9.68e-01 13 1.459790e+04 1.59e+01 4.72e+05 2.36e+01 4.32e-01 5.88e+04 1 6.86e-02 1.04e+00 14 1.458251e+04 1.54e+01 4.77e+05 2.26e+01 4.19e-01 5.86e+04 1 6.96e-02 1.11e+00 15 1.456758e+04 1.49e+01 4.81e+05 2.16e+01 4.07e-01 5.82e+04 1 6.91e-02 1.18e+00 16 1.455308e+04 1.45e+01 4.84e+05 2.07e+01 3.97e-01 5.77e+04 1 6.97e-02 1.25e+00 17 1.453900e+04 1.41e+01 4.85e+05 1.98e+01 3.88e-01 5.71e+04 1 6.80e-02 1.31e+00 18 1.452532e+04 1.37e+01 4.85e+05 1.89e+01 3.80e-01 5.63e+04 1 6.95e-02 1.38e+00 19 1.451205e+04 1.33e+01 4.84e+05 1.80e+01 3.74e-01 5.54e+04 1 7.44e-02 1.46e+00 20 1.449920e+04 1.28e+01 4.82e+05 1.72e+01 3.68e-01 5.44e+04 1 6.80e-02 1.53e+00 21 1.448677e+04 1.24e+01 4.79e+05 1.63e+01 3.63e-01 5.33e+04 1 7.68e-02 1.60e+00 22 1.447476e+04 1.20e+01 4.75e+05 1.55e+01 3.59e-01 5.21e+04 1 6.88e-02 1.67e+00 23 1.446317e+04 1.16e+01 4.71e+05 1.48e+01 3.55e-01 5.09e+04 1 6.82e-02 1.74e+00 24 1.445199e+04 1.12e+01 4.66e+05 1.40e+01 3.51e-01 4.96e+04 1 6.90e-02 1.81e+00 25 1.444120e+04 1.08e+01 4.61e+05 1.33e+01 3.47e-01 4.82e+04 1 6.83e-02 1.88e+00 26 1.443081e+04 1.04e+01 4.56e+05 1.26e+01 3.43e-01 4.68e+04 1 6.79e-02 1.94e+00 27 1.442080e+04 1.00e+01 4.51e+05 1.19e+01 3.40e-01 4.53e+04 1 6.86e-02 2.01e+00 28 1.441115e+04 9.65e+00 4.45e+05 1.13e+01 3.37e-01 4.38e+04 1 6.94e-02 2.08e+00 29 1.440185e+04 9.30e+00 4.40e+05 1.06e+01 3.34e-01 4.22e+04 1 7.05e-02 2.15e+00 30 1.439287e+04 8.97e+00 4.35e+05 1.00e+01 3.31e-01 4.06e+04 1 6.97e-02 2.22e+00 31 1.438421e+04 8.66e+00 4.31e+05 9.47e+00 3.28e-01 3.90e+04 1 7.08e-02 2.29e+00 32 1.437585e+04 8.36e+00 4.26e+05 8.92e+00 3.24e-01 3.74e+04 1 7.08e-02 2.36e+00 33 1.436777e+04 8.08e+00 4.22e+05 8.40e+00 3.21e-01 3.58e+04 1 8.06e-02 2.44e+00 34 1.435995e+04 7.82e+00 4.18e+05 7.90e+00 3.18e-01 3.41e+04 1 7.03e-02 2.52e+00 35 1.435237e+04 7.57e+00 4.14e+05 7.42e+00 3.15e-01 3.25e+04 1 7.67e-02 2.59e+00 36 1.434503e+04 7.34e+00 4.10e+05 6.96e+00 3.12e-01 3.09e+04 1 7.06e-02 2.66e+00 37 1.433791e+04 7.12e+00 4.07e+05 6.52e+00 3.09e-01 2.93e+04 1 6.94e-02 2.73e+00 38 1.433100e+04 6.91e+00 4.03e+05 6.10e+00 3.07e-01 2.77e+04 1 6.88e-02 2.80e+00 39 1.432428e+04 6.72e+00 4.01e+05 5.70e+00 3.04e-01 2.61e+04 1 7.07e-02 2.87e+00 40 1.431774e+04 6.54e+00 3.98e+05 5.31e+00 3.01e-01 2.45e+04 1 6.97e-02 2.94e+00 41 1.431137e+04 6.37e+00 3.95e+05 4.95e+00 2.98e-01 2.30e+04 1 7.02e-02 3.01e+00 42 1.430517e+04 6.20e+00 3.93e+05 4.60e+00 2.95e-01 2.15e+04 1 7.00e-02 3.08e+00 43 1.429912e+04 6.05e+00 3.91e+05 4.27e+00 2.92e-01 2.01e+04 1 7.19e-02 3.15e+00 44 1.429322e+04 5.90e+00 3.89e+05 3.95e+00 2.89e-01 1.87e+04 1 7.03e-02 3.22e+00 45 1.428746e+04 5.76e+00 3.87e+05 3.65e+00 2.86e-01 1.73e+04 1 7.07e-02 3.29e+00 46 1.428184e+04 5.62e+00 3.84e+05 3.37e+00 2.84e-01 1.60e+04 1 7.18e-02 3.37e+00 47 1.427635e+04 5.49e+00 3.82e+05 3.10e+00 2.81e-01 1.48e+04 1 7.85e-02 3.45e+00 48 1.427100e+04 5.35e+00 3.80e+05 2.85e+00 2.78e-01 1.36e+04 1 6.92e-02 3.51e+00 49 1.426577e+04 5.23e+00 3.77e+05 2.62e+00 2.77e-01 1.25e+04 1 7.28e-02 3.59e+00 50 1.426070e+04 5.07e+00 3.75e+05 2.40e+00 2.73e-01 1.14e+04 1 7.18e-02 3.66e+00 Bundle adjustment report ------------------------ Residuals : 52660 Parameters : 21133 Iterations : 51 Time : 3.66035 [s] Initial cost : 0.532416 [px] Final cost : 0.520391 [px] Termination : No convergence => Completed observations: 4031 => Merged observations: 5 => Filtered observations: 0 => Changed observations: 0.153285 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.279216e+04 0.00e+00 5.37e+05 0.00e+00 0.00e+00 1.00e+04 0 5.17e-02 9.86e-02 1 1.999302e+04 2.80e+03 2.24e+06 3.86e+01 8.08e-01 1.30e+04 1 8.47e-02 1.83e-01 2 2.143603e+04 -1.44e+03 0.00e+00 3.94e+01 -1.82e+00 6.52e+03 1 3.23e-02 2.16e-01 3 1.951905e+04 4.74e+02 1.73e+06 2.08e+01 6.28e-01 6.63e+03 1 7.98e-02 2.95e-01 4 1.960918e+04 -9.01e+01 0.00e+00 1.96e+01 -2.73e-01 3.32e+03 1 3.19e-02 3.27e-01 5 1.925696e+04 2.62e+02 7.26e+05 1.01e+01 8.43e-01 4.89e+03 1 8.10e-02 4.08e-01 6 1.935438e+04 -9.74e+01 0.00e+00 1.43e+01 -1.21e+00 2.45e+03 1 3.30e-02 4.41e-01 7 1.920911e+04 4.78e+01 4.61e+05 7.25e+00 7.10e-01 2.64e+03 1 7.97e-02 5.21e-01 8 1.919847e+04 1.06e+01 5.26e+05 7.69e+00 2.94e-01 2.47e+03 1 8.15e-02 6.03e-01 9 1.917752e+04 2.10e+01 4.37e+05 7.11e+00 5.42e-01 2.47e+03 1 8.36e-02 6.86e-01 10 1.916043e+04 1.71e+01 3.48e+05 7.05e+00 6.04e-01 2.49e+03 1 8.81e-02 7.75e-01 11 1.914600e+04 1.44e+01 2.39e+05 7.05e+00 7.32e-01 2.77e+03 1 8.17e-02 8.56e-01 12 1.913573e+04 1.03e+01 1.66e+05 7.74e+00 8.01e-01 3.54e+03 1 8.80e-02 9.44e-01 13 1.912692e+04 8.81e+00 1.26e+05 9.75e+00 8.57e-01 5.59e+03 1 8.25e-02 1.03e+00 14 1.911696e+04 9.95e+00 1.10e+05 1.50e+01 8.99e-01 1.13e+04 1 8.16e-02 1.11e+00 15 1.910229e+04 1.47e+01 1.06e+05 2.90e+01 9.31e-01 3.15e+04 1 8.33e-02 1.19e+00 16 1.907636e+04 2.59e+01 9.66e+04 7.15e+01 9.02e-01 6.57e+04 1 8.34e-02 1.28e+00 17 1.905269e+04 2.37e+01 7.86e+04 1.19e+02 6.08e-01 6.64e+04 1 8.33e-02 1.36e+00 18 1.902066e+04 3.20e+01 5.11e+04 9.51e+01 8.33e-01 9.42e+04 1 8.27e-02 1.44e+00 19 1.900299e+04 1.77e+01 5.55e+04 9.88e+01 6.99e-01 1.01e+05 1 8.31e-02 1.52e+00 20 1.898722e+04 1.58e+01 3.29e+04 7.56e+01 8.55e-01 1.56e+05 1 8.35e-02 1.61e+00 21 1.897960e+04 7.62e+00 3.10e+04 7.32e+01 7.61e-01 1.82e+05 1 8.36e-02 1.69e+00 22 1.897457e+04 5.02e+00 1.46e+04 5.00e+01 9.04e-01 3.86e+05 1 8.86e-02 1.78e+00 23 1.897288e+04 1.69e+00 1.08e+04 4.28e+01 8.53e-01 5.96e+05 1 8.29e-02 1.86e+00 24 1.897234e+04 5.40e-01 2.46e+03 2.02e+01 9.73e-01 1.79e+06 1 8.83e-02 1.95e+00 25 1.897230e+04 4.40e-02 4.08e+02 7.89e+00 9.91e-01 5.36e+06 1 8.22e-02 2.03e+00 26 1.897230e+04 1.60e-03 1.94e+01 1.20e+00 9.99e-01 1.61e+07 1 8.32e-02 2.12e+00 27 1.897230e+04 5.95e-05 1.91e+00 8.82e-02 1.00e+00 4.83e+07 1 8.22e-02 2.20e+00 28 1.897230e+04 6.89e-07 1.39e-01 4.86e-03 1.00e+00 1.45e+08 1 8.31e-02 2.28e+00 Bundle adjustment report ------------------------ Residuals : 60722 Parameters : 21130 Iterations : 29 Time : 2.28341 [s] Initial cost : 0.61266 [px] Final cost : 0.558968 [px] Termination : Convergence => Completed observations: 282 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.009486 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.022651e+04 0.00e+00 1.22e+05 0.00e+00 0.00e+00 1.00e+04 0 5.43e-02 1.16e-01 1 1.970387e+04 5.23e+02 2.58e+05 4.13e+00 9.87e-01 3.00e+04 1 8.68e-02 2.03e-01 2 1.969458e+04 9.29e+00 3.48e+04 8.41e+00 9.88e-01 9.00e+04 1 8.44e-02 2.87e-01 3 1.969355e+04 1.02e+00 2.81e+03 1.76e+01 9.92e-01 2.70e+05 1 8.55e-02 3.73e-01 4 1.969291e+04 6.46e-01 3.84e+03 2.51e+01 9.47e-01 8.10e+05 1 9.07e-02 4.63e-01 5 1.969268e+04 2.21e-01 1.98e+03 1.78e+01 9.59e-01 2.43e+06 1 8.36e-02 5.47e-01 6 1.969266e+04 2.35e-02 1.98e+02 5.08e+00 9.96e-01 7.29e+06 1 9.09e-02 6.38e-01 7 1.969266e+04 8.82e-04 1.21e+01 5.96e-01 9.99e-01 2.19e+07 1 8.27e-02 7.21e-01 8 1.969266e+04 3.21e-05 1.93e+00 4.27e-02 1.00e+00 6.56e+07 1 8.36e-02 8.04e-01 9 1.969266e+04 2.10e-07 4.38e-02 2.29e-03 1.00e+00 1.97e+08 1 8.45e-02 8.89e-01 Bundle adjustment report ------------------------ Residuals : 61274 Parameters : 21130 Iterations : 10 Time : 0.890148 [s] Initial cost : 0.574543 [px] Final cost : 0.56691 [px] Termination : Convergence => Completed observations: 24 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000816 => Filtered images: 0 ============================================================================== Registering image #8 (22) ============================================================================== => Image sees 561 / 2841 points Pose refinement report ---------------------- Residuals : 1030 Parameters : 6 Iterations : 21 Time : 0.0211589 [s] Initial cost : 0.666336 [px] Final cost : 0.654905 [px] Termination : Convergence => Continued observations: 512 => Added observations: 2996 Bundle adjustment report ------------------------ Residuals : 35966 Parameters : 10685 Iterations : 26 Time : 0.769999 [s] Initial cost : 1.09624 [px] Final cost : 1.01488 [px] Termination : No convergence => Merged observations: 31 => Completed observations: 559 => Filtered observations: 222 => Changed observations: 0.044042 Bundle adjustment report ------------------------ Residuals : 36642 Parameters : 10523 Iterations : 6 Time : 0.182447 [s] Initial cost : 0.60817 [px] Final cost : 0.586856 [px] Termination : Convergence => Merged observations: 18 => Completed observations: 96 => Filtered observations: 2 => Changed observations: 0.006178 ============================================================================== Retriangulation ============================================================================== => Completed observations: 8 => Merged observations: 0 => Retriangulated observations: 133 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.102912e+07 0.00e+00 4.58e+07 0.00e+00 0.00e+00 1.00e+04 0 5.91e-02 1.13e-01 1 1.052347e+09 -1.04e+09 0.00e+00 4.89e+02 -1.40e+02 5.00e+03 1 4.57e-02 1.58e-01 2 6.995355e+08 -6.89e+08 0.00e+00 3.00e+02 -9.39e+01 1.25e+03 1 3.94e-02 1.98e-01 3 1.695012e+08 -1.58e+08 0.00e+00 1.64e+02 -2.26e+01 1.56e+02 1 3.68e-02 2.35e-01 4 8.611936e+06 2.42e+06 2.08e+08 9.84e+01 3.88e-01 1.55e+02 1 9.54e-02 3.30e-01 5 4.567576e+06 4.04e+06 1.77e+07 4.27e+01 9.95e-01 4.64e+02 1 9.73e-02 4.27e-01 6 4.514172e+06 5.34e+04 7.32e+07 3.25e+01 1.73e-01 3.62e+02 1 9.90e-02 5.26e-01 7 4.139563e+06 3.75e+05 1.20e+07 2.20e+01 9.76e-01 1.09e+03 1 1.03e-01 6.29e-01 8 4.093239e+06 4.63e+04 4.07e+07 4.90e+01 2.11e-01 9.10e+02 1 9.47e-02 7.24e-01 9 3.805240e+06 2.88e+05 1.46e+07 4.30e+01 9.93e-01 2.73e+03 1 9.42e-02 8.18e-01 10 3.780559e+06 2.47e+04 5.09e+07 8.85e+01 1.29e-01 1.94e+03 1 9.39e-02 9.12e-01 11 3.485403e+06 2.95e+05 7.23e+06 5.82e+01 1.05e+00 5.82e+03 1 9.29e-02 1.01e+00 12 3.432166e+06 5.32e+04 2.27e+07 6.91e+01 4.32e-01 5.80e+03 1 9.41e-02 1.10e+00 13 3.301386e+06 1.31e+05 9.23e+06 2.56e+00 9.84e-01 1.74e+04 1 9.35e-02 1.19e+00 14 3.307856e+06 -6.47e+03 0.00e+00 1.69e+02 -9.21e-02 8.71e+03 1 3.77e-02 1.23e+00 15 3.261473e+06 3.99e+04 9.85e+06 9.64e+01 7.99e-01 1.11e+04 1 9.43e-02 1.32e+00 16 3.223390e+06 3.81e+04 6.49e+06 1.87e+02 9.43e-01 3.32e+04 1 9.34e-02 1.42e+00 17 3.244449e+06 -2.11e+04 0.00e+00 6.16e+02 -5.14e-01 1.66e+04 1 4.46e-02 1.46e+00 18 3.200194e+06 2.32e+04 6.35e+06 3.60e+02 7.97e-01 2.10e+04 1 9.53e-02 1.56e+00 19 3.178829e+06 2.14e+04 5.20e+06 5.30e+02 8.14e-01 2.80e+04 1 1.02e-01 1.66e+00 20 3.174083e+06 4.75e+03 5.09e+06 7.94e+02 1.97e-01 2.29e+04 1 9.60e-02 1.76e+00 21 3.152223e+06 2.19e+04 3.24e+06 7.79e+02 6.52e-01 2.35e+04 1 9.35e-02 1.85e+00 22 3.148150e+06 4.07e+03 3.99e+06 9.07e+02 1.62e-01 1.80e+04 1 9.48e-02 1.94e+00 23 3.125941e+06 2.22e+04 2.75e+06 8.14e+02 6.93e-01 1.91e+04 1 9.42e-02 2.04e+00 24 3.122802e+06 3.14e+03 3.66e+06 9.55e+02 1.47e-01 1.41e+04 1 9.44e-02 2.13e+00 25 3.101286e+06 2.15e+04 2.33e+06 8.20e+02 7.67e-01 1.66e+04 1 9.46e-02 2.23e+00 26 3.101222e+06 6.39e+01 3.78e+06 1.05e+03 3.54e-03 8.40e+03 1 9.57e-02 2.32e+00 27 3.075051e+06 2.62e+04 1.07e+06 6.47e+02 9.95e-01 2.52e+04 1 9.61e-02 2.42e+00 28 3.203223e+06 -1.28e+05 0.00e+00 1.85e+03 -6.69e+00 1.26e+04 1 4.40e-02 2.46e+00 29 3.070904e+06 4.15e+03 2.95e+06 1.03e+03 3.40e-01 1.22e+04 1 9.48e-02 2.56e+00 30 3.048187e+06 2.27e+04 3.23e+06 1.17e+03 8.66e-01 2.00e+04 1 1.03e-01 2.66e+00 31 2.443658e+07 -2.14e+07 0.00e+00 1.70e+03 -1.93e+02 1.00e+04 1 4.26e-02 2.70e+00 32 2.003901e+07 -1.70e+07 0.00e+00 1.01e+03 -1.64e+02 2.51e+03 1 4.25e-02 2.75e+00 33 1.068137e+07 -7.63e+06 0.00e+00 3.92e+02 -8.03e+01 3.13e+02 1 4.32e-02 2.79e+00 34 3.286590e+06 -2.38e+05 0.00e+00 1.01e+02 -3.18e+00 1.96e+01 1 3.74e-02 2.83e+00 35 3.005348e+06 4.28e+04 3.42e+05 1.28e+01 1.23e+00 5.87e+01 1 9.26e-02 2.92e+00 36 3.155836e+06 -1.50e+05 0.00e+00 2.62e+00 -1.87e+00 2.94e+01 1 3.90e-02 2.96e+00 37 2.971094e+06 3.43e+04 9.25e+05 4.18e+00 6.25e-01 2.98e+01 1 9.30e-02 3.05e+00 38 2.949035e+06 2.21e+04 1.80e+05 8.98e+00 9.42e-01 8.95e+01 1 9.40e-02 3.15e+00 39 2.930991e+06 1.80e+04 2.64e+05 3.30e+01 9.52e-01 2.68e+02 1 9.28e-02 3.24e+00 40 2.908206e+06 2.28e+04 1.02e+06 8.03e+01 6.60e-01 2.77e+02 1 9.35e-02 3.33e+00 41 2.876449e+06 3.18e+04 5.36e+05 6.30e+01 9.31e-01 7.70e+02 1 9.20e-02 3.43e+00 42 2.885590e+06 -9.14e+03 0.00e+00 8.58e+01 -3.94e-01 3.85e+02 1 4.11e-02 3.47e+00 43 2.862570e+06 1.39e+04 6.66e+05 5.43e+01 8.05e-01 4.99e+02 1 9.34e-02 3.56e+00 44 2.853363e+06 9.21e+03 7.40e+05 3.29e+01 7.81e-01 6.07e+02 1 9.96e-02 3.66e+00 45 2.847680e+06 5.68e+03 5.83e+05 1.39e+01 8.21e-01 8.26e+02 1 9.29e-02 3.75e+00 46 2.844561e+06 3.12e+03 5.78e+05 4.18e+00 7.53e-01 9.49e+02 1 9.26e-02 3.85e+00 47 2.841991e+06 2.57e+03 3.94e+05 2.58e+00 8.57e-01 1.49e+03 1 9.15e-02 3.94e+00 48 2.840417e+06 1.57e+03 5.95e+05 6.31e+00 6.44e-01 1.53e+03 1 9.20e-02 4.03e+00 49 2.838336e+06 2.08e+03 3.42e+05 8.13e+00 8.89e-01 2.90e+03 1 9.31e-02 4.12e+00 50 2.837568e+06 7.69e+02 8.84e+05 1.14e+01 3.39e-01 2.81e+03 1 9.11e-02 4.21e+00 Bundle adjustment report ------------------------ Residuals : 69480 Parameters : 24268 Iterations : 51 Time : 4.2145 [s] Initial cost : 12.5991 [px] Final cost : 6.39062 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 4 => Filtered observations: 16058 => Changed observations: 0.462349 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.471370e+04 0.00e+00 3.13e+06 0.00e+00 0.00e+00 1.00e+04 0 3.63e-02 6.79e-02 1 2.972439e+04 1.50e+04 5.61e+06 8.33e+01 8.25e-01 1.38e+04 1 5.49e-02 1.23e-01 2 2.531540e+04 4.41e+03 2.81e+06 3.02e+01 9.15e-01 3.21e+04 1 5.43e-02 1.77e-01 3 2.395581e+04 1.36e+03 4.47e+06 1.44e+02 5.07e-01 3.21e+04 1 5.76e-02 2.35e-01 4 2.171685e+04 2.24e+03 2.80e+06 1.53e+02 8.03e-01 4.13e+04 1 5.45e-02 2.89e-01 5 2.063560e+04 1.08e+03 3.37e+06 1.99e+02 5.99e-01 4.16e+04 1 5.47e-02 3.44e-01 6 1.954742e+04 1.09e+03 2.69e+06 2.01e+02 6.62e-01 4.31e+04 1 5.84e-02 4.03e-01 7 1.886094e+04 6.86e+02 3.33e+06 2.08e+02 5.26e-01 4.31e+04 1 5.54e-02 4.58e-01 8 1.835414e+04 5.07e+02 4.10e+06 2.09e+02 4.08e-01 4.28e+04 1 5.41e-02 5.12e-01 9 1.802423e+04 3.30e+02 4.92e+06 2.08e+02 2.60e-01 3.85e+04 1 5.37e-02 5.66e-01 10 1.752894e+04 4.95e+02 4.89e+06 1.87e+02 3.59e-01 3.77e+04 1 5.36e-02 6.19e-01 11 1.738560e+04 1.43e+02 5.60e+06 1.84e+02 1.12e-01 2.57e+04 1 5.27e-02 6.72e-01 12 1.638986e+04 9.96e+02 3.35e+06 1.25e+02 7.13e-01 2.78e+04 1 5.27e-02 7.25e-01 13 1.641465e+04 -2.48e+01 0.00e+00 1.36e+02 -3.69e-02 1.39e+04 1 1.95e-02 7.45e-01 14 1.589919e+04 4.91e+02 1.21e+06 6.80e+01 9.04e-01 2.95e+04 1 5.23e-02 7.97e-01 15 1.656823e+04 -6.69e+02 0.00e+00 1.45e+02 -2.02e+00 1.48e+04 1 1.92e-02 8.16e-01 16 1.577546e+04 1.24e+02 1.44e+06 7.24e+01 6.27e-01 1.50e+04 1 5.18e-02 8.68e-01 17 1.565283e+04 1.23e+02 1.65e+06 7.36e+01 5.60e-01 1.50e+04 1 5.26e-02 9.21e-01 18 1.553346e+04 1.19e+02 1.84e+06 7.38e+01 4.98e-01 1.50e+04 1 5.27e-02 9.73e-01 19 1.542221e+04 1.11e+02 2.06e+06 7.38e+01 4.24e-01 1.50e+04 1 5.38e-02 1.03e+00 20 1.531966e+04 1.03e+02 2.30e+06 7.36e+01 3.53e-01 1.46e+04 1 5.29e-02 1.08e+00 21 1.521370e+04 1.06e+02 2.46e+06 7.18e+01 3.28e-01 1.40e+04 1 5.27e-02 1.13e+00 22 1.510378e+04 1.10e+02 2.56e+06 6.91e+01 3.19e-01 1.34e+04 1 5.26e-02 1.19e+00 23 1.499150e+04 1.12e+02 2.60e+06 6.61e+01 3.16e-01 1.28e+04 1 5.91e-02 1.24e+00 24 1.487656e+04 1.15e+02 2.58e+06 6.31e+01 3.23e-01 1.22e+04 1 5.33e-02 1.30e+00 25 1.476042e+04 1.16e+02 2.51e+06 6.06e+01 3.35e-01 1.18e+04 1 5.28e-02 1.35e+00 26 1.464080e+04 1.20e+02 2.39e+06 5.87e+01 3.64e-01 1.16e+04 1 5.50e-02 1.41e+00 27 1.451845e+04 1.22e+02 2.20e+06 5.77e+01 4.06e-01 1.15e+04 1 5.59e-02 1.46e+00 28 1.439210e+04 1.26e+02 1.93e+06 5.76e+01 4.75e-01 1.15e+04 1 5.29e-02 1.51e+00 29 1.426610e+04 1.26e+02 1.59e+06 5.78e+01 5.67e-01 1.15e+04 1 5.24e-02 1.57e+00 30 1.415072e+04 1.15e+02 1.23e+06 5.80e+01 6.61e-01 1.19e+04 1 5.24e-02 1.62e+00 31 1.405272e+04 9.80e+01 9.76e+05 6.01e+01 7.20e-01 1.30e+04 1 5.24e-02 1.67e+00 32 1.396441e+04 8.83e+01 8.49e+05 6.56e+01 7.48e-01 1.48e+04 1 5.26e-02 1.72e+00 33 1.387570e+04 8.87e+01 8.03e+05 7.45e+01 7.63e-01 1.73e+04 1 5.24e-02 1.78e+00 34 1.378087e+04 9.48e+01 8.04e+05 8.68e+01 7.67e-01 2.05e+04 1 5.26e-02 1.83e+00 35 1.367621e+04 1.05e+02 8.18e+05 1.02e+02 7.69e-01 2.42e+04 1 5.25e-02 1.88e+00 36 1.356004e+04 1.16e+02 8.36e+05 1.20e+02 7.67e-01 2.86e+04 1 5.26e-02 1.93e+00 37 1.343127e+04 1.29e+02 8.42e+05 1.40e+02 7.63e-01 3.35e+04 1 5.35e-02 1.99e+00 38 1.329042e+04 1.41e+02 8.29e+05 1.62e+02 7.54e-01 3.85e+04 1 5.48e-02 2.04e+00 39 1.313897e+04 1.51e+02 7.83e+05 1.84e+02 7.39e-01 4.33e+04 1 5.44e-02 2.10e+00 40 1.298005e+04 1.59e+02 7.03e+05 2.03e+02 7.19e-01 4.72e+04 1 5.27e-02 2.15e+00 41 1.281669e+04 1.63e+02 5.96e+05 2.17e+02 6.97e-01 5.03e+04 1 5.26e-02 2.20e+00 42 1.265196e+04 1.65e+02 4.81e+05 2.27e+02 6.75e-01 5.26e+04 1 5.71e-02 2.26e+00 43 1.248790e+04 1.64e+02 3.73e+05 2.31e+02 6.55e-01 5.42e+04 1 5.27e-02 2.31e+00 44 1.232614e+04 1.62e+02 3.82e+05 2.32e+02 6.37e-01 5.53e+04 1 5.26e-02 2.37e+00 45 1.216768e+04 1.58e+02 4.17e+05 2.31e+02 6.23e-01 5.61e+04 1 5.35e-02 2.42e+00 46 1.201324e+04 1.54e+02 4.45e+05 2.27e+02 6.10e-01 5.67e+04 1 5.64e-02 2.48e+00 47 1.186324e+04 1.50e+02 4.68e+05 2.23e+02 6.00e-01 5.72e+04 1 5.25e-02 2.53e+00 48 1.171793e+04 1.45e+02 4.85e+05 2.17e+02 5.92e-01 5.76e+04 1 5.27e-02 2.58e+00 49 1.157744e+04 1.40e+02 4.97e+05 2.11e+02 5.86e-01 5.79e+04 1 5.32e-02 2.63e+00 50 1.144183e+04 1.36e+02 5.05e+05 2.05e+02 5.81e-01 5.81e+04 1 5.27e-02 2.69e+00 Bundle adjustment report ------------------------ Residuals : 37362 Parameters : 17398 Iterations : 51 Time : 2.68716 [s] Initial cost : 1.09397 [px] Final cost : 0.553392 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 55 => Filtered observations: 7 => Changed observations: 0.003319 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.143606e+04 0.00e+00 5.12e+05 0.00e+00 0.00e+00 1.00e+04 0 3.46e-02 6.52e-02 1 1.125388e+04 1.82e+02 2.87e+04 3.52e+01 9.99e-01 3.00e+04 1 5.47e-02 1.20e-01 2 1.119205e+04 6.18e+01 2.04e+05 1.02e+02 8.56e-01 4.69e+04 1 5.22e-02 1.72e-01 3 1.113132e+04 6.07e+01 4.48e+05 1.54e+02 5.20e-01 4.69e+04 1 5.23e-02 2.24e-01 4 1.102867e+04 1.03e+02 4.42e+05 1.50e+02 6.50e-01 4.82e+04 1 5.32e-02 2.78e-01 5 1.093262e+04 9.60e+01 4.54e+05 1.49e+02 6.18e-01 4.89e+04 1 5.36e-02 3.31e-01 6 1.083656e+04 9.61e+01 4.55e+05 1.46e+02 6.15e-01 4.95e+04 1 5.33e-02 3.85e-01 7 1.074292e+04 9.36e+01 4.53e+05 1.42e+02 6.10e-01 5.00e+04 1 5.24e-02 4.37e-01 8 1.065160e+04 9.13e+01 4.46e+05 1.39e+02 6.08e-01 5.05e+04 1 5.28e-02 4.90e-01 9 1.056289e+04 8.87e+01 4.36e+05 1.35e+02 6.09e-01 5.10e+04 1 5.72e-02 5.47e-01 10 1.047693e+04 8.60e+01 4.22e+05 1.31e+02 6.13e-01 5.16e+04 1 5.24e-02 6.00e-01 11 1.039383e+04 8.31e+01 4.05e+05 1.27e+02 6.18e-01 5.23e+04 1 5.25e-02 6.52e-01 12 1.031364e+04 8.02e+01 3.88e+05 1.23e+02 6.25e-01 5.32e+04 1 5.24e-02 7.04e-01 13 1.023634e+04 7.73e+01 3.69e+05 1.19e+02 6.33e-01 5.42e+04 1 5.72e-02 7.62e-01 14 1.016187e+04 7.45e+01 3.50e+05 1.15e+02 6.43e-01 5.55e+04 1 5.22e-02 8.14e-01 15 1.009009e+04 7.18e+01 3.31e+05 1.12e+02 6.53e-01 5.71e+04 1 5.24e-02 8.66e-01 16 1.002083e+04 6.93e+01 3.17e+05 1.09e+02 6.63e-01 5.91e+04 1 5.41e-02 9.21e-01 17 9.953831e+03 6.70e+01 3.04e+05 1.06e+02 6.73e-01 6.17e+04 1 5.28e-02 9.73e-01 18 9.888818e+03 6.50e+01 2.92e+05 1.04e+02 6.84e-01 6.49e+04 1 5.25e-02 1.03e+00 19 9.825477e+03 6.33e+01 2.80e+05 1.02e+02 6.94e-01 6.90e+04 1 5.32e-02 1.08e+00 20 9.763480e+03 6.20e+01 2.68e+05 1.00e+02 7.04e-01 7.40e+04 1 5.30e-02 1.13e+00 21 9.702500e+03 6.10e+01 2.56e+05 9.89e+01 7.14e-01 8.03e+04 1 5.28e-02 1.19e+00 22 9.642226e+03 6.03e+01 2.44e+05 9.75e+01 7.23e-01 8.81e+04 1 5.29e-02 1.24e+00 23 9.582392e+03 5.98e+01 2.32e+05 9.59e+01 7.31e-01 9.78e+04 1 5.38e-02 1.29e+00 24 9.522828e+03 5.96e+01 2.20e+05 9.37e+01 7.38e-01 1.10e+05 1 5.39e-02 1.35e+00 25 9.463531e+03 5.93e+01 2.07e+05 9.06e+01 7.43e-01 1.24e+05 1 5.37e-02 1.40e+00 26 9.404767e+03 5.88e+01 1.92e+05 8.58e+01 7.43e-01 1.40e+05 1 5.79e-02 1.46e+00 27 9.347135e+03 5.76e+01 1.75e+05 7.84e+01 7.39e-01 1.57e+05 1 6.32e-02 1.52e+00 28 9.291476e+03 5.57e+01 2.03e+05 6.81e+01 7.31e-01 1.74e+05 1 5.92e-02 1.58e+00 29 9.238630e+03 5.28e+01 2.29e+05 5.50e+01 7.21e-01 1.91e+05 1 5.27e-02 1.63e+00 30 9.189249e+03 4.94e+01 2.44e+05 4.01e+01 7.12e-01 2.06e+05 1 5.29e-02 1.69e+00 31 9.143763e+03 4.55e+01 2.49e+05 2.49e+01 7.08e-01 2.22e+05 1 5.67e-02 1.74e+00 32 9.102413e+03 4.13e+01 2.46e+05 1.02e+01 7.06e-01 2.39e+05 1 5.30e-02 1.80e+00 33 9.065273e+03 3.71e+01 2.37e+05 3.34e+00 7.08e-01 2.58e+05 1 5.24e-02 1.85e+00 34 9.032271e+03 3.30e+01 2.25e+05 1.54e+01 7.10e-01 2.78e+05 1 5.23e-02 1.90e+00 35 9.003235e+03 2.90e+01 2.09e+05 2.58e+01 7.14e-01 3.02e+05 1 5.26e-02 1.95e+00 36 8.977929e+03 2.53e+01 1.93e+05 3.46e+01 7.17e-01 3.29e+05 1 5.24e-02 2.01e+00 37 8.956093e+03 2.18e+01 1.74e+05 4.18e+01 7.20e-01 3.60e+05 1 5.27e-02 2.06e+00 38 8.937455e+03 1.86e+01 1.55e+05 4.72e+01 7.23e-01 3.95e+05 1 5.50e-02 2.11e+00 39 8.921741e+03 1.57e+01 1.36e+05 5.10e+01 7.27e-01 4.36e+05 1 5.22e-02 2.17e+00 40 8.908671e+03 1.31e+01 1.16e+05 5.32e+01 7.32e-01 4.84e+05 1 5.23e-02 2.22e+00 41 8.897962e+03 1.07e+01 9.76e+04 5.39e+01 7.38e-01 5.43e+05 1 5.25e-02 2.27e+00 42 8.889328e+03 8.63e+00 7.96e+04 5.34e+01 7.46e-01 6.16e+05 1 5.29e-02 2.32e+00 43 8.882485e+03 6.84e+00 6.29e+04 5.18e+01 7.55e-01 7.10e+05 1 5.29e-02 2.38e+00 44 8.877156e+03 5.33e+00 4.77e+04 4.93e+01 7.65e-01 8.35e+05 1 5.23e-02 2.43e+00 45 8.873080e+03 4.08e+00 3.41e+04 4.60e+01 7.77e-01 1.01e+06 1 5.38e-02 2.48e+00 46 8.870016e+03 3.06e+00 2.80e+04 4.21e+01 7.92e-01 1.26e+06 1 5.40e-02 2.54e+00 47 8.867750e+03 2.27e+00 2.27e+04 3.77e+01 8.07e-01 1.64e+06 1 5.93e-02 2.60e+00 48 8.866104e+03 1.65e+00 2.05e+04 3.27e+01 8.25e-01 2.25e+06 1 5.41e-02 2.65e+00 49 8.864939e+03 1.16e+00 1.83e+04 2.72e+01 8.43e-01 3.33e+06 1 5.39e-02 2.70e+00 50 8.864164e+03 7.75e-01 1.55e+04 2.14e+01 8.64e-01 5.43e+06 1 5.86e-02 2.76e+00 Bundle adjustment report ------------------------ Residuals : 37348 Parameters : 17371 Iterations : 51 Time : 2.76302 [s] Initial cost : 0.553356 [px] Final cost : 0.487175 [px] Termination : No convergence => Completed observations: 4893 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.262129 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.850456e+04 0.00e+00 3.06e+05 0.00e+00 0.00e+00 1.00e+04 0 5.16e-02 9.24e-02 1 1.465121e+04 3.85e+03 1.74e+06 5.16e+00 9.36e-01 2.97e+04 1 7.41e-02 1.67e-01 2 1.425406e+04 3.97e+02 7.40e+05 4.62e+01 7.54e-01 3.42e+04 1 6.97e-02 2.36e-01 3 1.404074e+04 2.13e+02 2.36e+05 4.69e+01 9.40e-01 1.03e+05 1 7.63e-02 3.13e-01 4 1.395758e+04 8.32e+01 2.05e+05 1.00e+02 8.34e-01 1.46e+05 1 6.99e-02 3.83e-01 5 1.389643e+04 6.12e+01 8.57e+04 9.27e+01 9.09e-01 3.22e+05 1 6.95e-02 4.52e-01 6 1.386186e+04 3.46e+01 1.86e+05 8.88e+01 7.64e-01 3.77e+05 1 7.03e-02 5.22e-01 7 1.383949e+04 2.24e+01 7.96e+04 3.48e+01 9.38e-01 1.13e+06 1 7.05e-02 5.93e-01 8 1.383390e+04 5.59e+00 6.16e+04 1.63e+00 8.72e-01 1.93e+06 1 6.99e-02 6.63e-01 9 1.383263e+04 1.28e+00 7.50e+03 1.36e+01 9.89e-01 5.79e+06 1 7.03e-02 7.33e-01 10 1.383259e+04 3.88e-02 4.90e+02 6.97e+00 9.95e-01 1.74e+07 1 7.49e-02 8.08e-01 11 1.383259e+04 4.54e-04 5.60e+00 9.52e-01 1.00e+00 5.21e+07 1 6.95e-02 8.78e-01 12 1.383259e+04 6.25e-07 3.62e-01 3.99e-02 1.01e+00 1.56e+08 1 6.94e-02 9.47e-01 Bundle adjustment report ------------------------ Residuals : 47130 Parameters : 17371 Iterations : 13 Time : 0.94805 [s] Initial cost : 0.6266 [px] Final cost : 0.541755 [px] Termination : Convergence => Completed observations: 376 => Merged observations: 0 => Filtered observations: 11 => Changed observations: 0.016423 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.514290e+04 0.00e+00 1.43e+05 0.00e+00 0.00e+00 1.00e+04 0 4.50e-02 8.17e-02 1 1.459860e+04 5.44e+02 1.32e+05 3.13e+00 9.96e-01 3.00e+04 1 7.28e-02 1.55e-01 2 1.458735e+04 1.12e+01 5.80e+04 7.75e+00 9.63e-01 9.00e+04 1 7.03e-02 2.25e-01 3 1.458311e+04 4.24e+00 1.50e+04 1.45e+01 9.86e-01 2.70e+05 1 7.04e-02 2.95e-01 4 1.458081e+04 2.30e+00 7.02e+03 1.84e+01 9.92e-01 8.10e+05 1 7.01e-02 3.65e-01 5 1.457985e+04 9.69e-01 7.04e+03 7.81e+00 9.85e-01 2.43e+06 1 6.98e-02 4.35e-01 6 1.457967e+04 1.75e-01 1.77e+03 3.71e+00 9.95e-01 7.29e+06 1 7.05e-02 5.06e-01 7 1.457965e+04 2.52e-02 4.38e+02 2.75e+00 9.98e-01 2.19e+07 1 7.08e-02 5.77e-01 8 1.457964e+04 2.12e-03 4.97e+01 5.65e-01 1.00e+00 6.56e+07 1 7.07e-02 6.47e-01 9 1.457964e+04 3.23e-05 1.96e+00 5.53e-02 1.00e+00 1.97e+08 1 7.12e-02 7.19e-01 10 1.457964e+04 6.83e-08 2.15e-02 2.27e-03 1.00e+00 5.90e+08 1 7.59e-02 7.95e-01 Bundle adjustment report ------------------------ Residuals : 47860 Parameters : 17371 Iterations : 11 Time : 0.795523 [s] Initial cost : 0.562494 [px] Final cost : 0.551934 [px] Termination : Convergence => Completed observations: 44 => Merged observations: 0 => Filtered observations: 5 => Changed observations: 0.002048 => Filtered images: 0 ============================================================================== Registering image #10 (23) ============================================================================== => Image sees 585 / 3038 points Pose refinement report ---------------------- Residuals : 1062 Parameters : 6 Iterations : 12 Time : 0.0125651 [s] Initial cost : 0.652641 [px] Final cost : 0.612601 [px] Termination : Convergence => Continued observations: 528 => Added observations: 2228 Bundle adjustment report ------------------------ Residuals : 33512 Parameters : 10181 Iterations : 26 Time : 0.693478 [s] Initial cost : 1.4614 [px] Final cost : 1.31496 [px] Termination : No convergence => Merged observations: 6 => Completed observations: 393 => Filtered observations: 436 => Changed observations: 0.048462 Bundle adjustment report ------------------------ Residuals : 33430 Parameters : 9944 Iterations : 16 Time : 0.41054 [s] Initial cost : 0.642302 [px] Final cost : 0.576456 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 336 => Filtered observations: 2 => Changed observations: 0.019664 ============================================================================== Retriangulation ============================================================================== => Completed observations: 45 => Merged observations: 11 => Retriangulated observations: 424 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.132967e+07 0.00e+00 4.96e+07 0.00e+00 0.00e+00 1.00e+04 0 4.56e-02 8.81e-02 1 4.517396e+08 -4.40e+08 0.00e+00 1.51e+02 -6.62e+01 5.00e+03 1 3.13e-02 1.19e-01 2 2.080060e+08 -1.97e+08 0.00e+00 1.62e+02 -3.02e+01 1.25e+03 1 2.76e-02 1.47e-01 3 2.196920e+07 -1.06e+07 0.00e+00 3.10e+02 -1.78e+00 1.56e+02 1 2.78e-02 1.75e-01 4 6.683222e+06 4.65e+06 6.80e+07 1.48e+02 9.09e-01 3.46e+02 1 7.17e-02 2.47e-01 5 5.788158e+06 8.95e+05 5.00e+07 3.96e+01 9.25e-01 8.91e+02 1 7.26e-02 3.19e-01 6 5.694677e+06 9.35e+04 1.01e+08 9.52e+01 2.21e-01 7.60e+02 1 7.17e-02 3.91e-01 7 5.225740e+06 4.69e+05 2.84e+07 1.12e+02 9.64e-01 2.28e+03 1 7.23e-02 4.63e-01 8 5.403588e+06 -1.78e+05 0.00e+00 3.64e+02 -6.75e-01 1.14e+03 1 2.85e-02 4.92e-01 9 5.098698e+06 1.27e+05 3.90e+07 2.03e+02 7.30e-01 1.26e+03 1 7.14e-02 5.63e-01 10 4.957705e+06 1.41e+05 2.64e+07 2.50e+02 8.17e-01 1.70e+03 1 7.50e-02 6.38e-01 11 5.632411e+06 -6.75e+05 0.00e+00 4.04e+02 -3.35e+00 8.48e+02 1 2.87e-02 6.67e-01 12 4.996167e+06 -3.85e+04 0.00e+00 2.39e+02 -2.62e-01 2.12e+02 1 2.77e-02 6.95e-01 13 4.864338e+06 9.34e+04 1.29e+06 7.47e+01 1.10e+00 6.36e+02 1 7.85e-02 7.73e-01 14 6.750918e+08 -6.70e+08 0.00e+00 2.06e+02 -2.92e+03 3.18e+02 1 2.89e-02 8.02e-01 15 1.098228e+08 -1.05e+08 0.00e+00 1.34e+02 -6.13e+02 7.95e+01 1 2.77e-02 8.30e-01 16 7.152398e+06 -2.29e+06 0.00e+00 4.43e+01 -2.54e+01 9.94e+00 1 2.75e-02 8.57e-01 17 4.826566e+06 3.78e+04 8.87e+05 5.25e+00 1.15e+00 2.98e+01 1 7.23e-02 9.30e-01 18 4.818906e+06 7.66e+03 7.58e+05 5.30e-01 7.62e-01 3.48e+01 1 7.90e-02 1.01e+00 19 4.813439e+06 5.47e+03 7.22e+05 1.48e-01 9.78e-01 1.04e+02 1 7.21e-02 1.08e+00 20 4.800451e+06 1.30e+04 8.12e+05 1.74e+00 1.01e+00 3.13e+02 1 7.23e-02 1.15e+00 21 4.764048e+06 3.64e+04 1.94e+06 4.33e+00 1.04e+00 9.40e+02 1 7.30e-02 1.23e+00 22 4.852132e+06 -8.81e+04 0.00e+00 1.51e+01 -9.75e-01 4.70e+02 1 2.83e-02 1.25e+00 23 4.721216e+06 4.28e+04 3.02e+06 1.76e+01 8.08e-01 6.13e+02 1 7.11e-02 1.33e+00 24 4.852882e+06 -1.32e+05 0.00e+00 7.64e+00 -1.74e+00 3.07e+02 1 2.83e-02 1.35e+00 25 4.678008e+06 4.32e+04 1.39e+06 4.28e+00 8.94e-01 5.99e+02 1 7.35e-02 1.43e+00 26 4.718909e+06 -4.09e+04 0.00e+00 2.82e+01 -7.42e-01 3.00e+02 1 2.96e-02 1.46e+00 27 4.648648e+06 2.94e+04 1.33e+06 1.49e+01 9.19e-01 7.26e+02 1 7.35e-02 1.53e+00 28 4.691936e+06 -4.33e+04 0.00e+00 5.71e+01 -8.18e-01 3.63e+02 1 2.95e-02 1.56e+00 29 4.622485e+06 2.62e+04 1.60e+06 2.92e+01 8.90e-01 6.91e+02 1 7.33e-02 1.63e+00 30 4.606840e+06 1.56e+04 3.79e+06 6.81e+01 3.50e-01 6.73e+02 1 7.36e-02 1.71e+00 31 4.548591e+06 5.82e+04 2.89e+06 7.89e+01 9.44e-01 2.02e+03 1 8.15e-02 1.79e+00 32 4.770554e+06 -2.22e+05 0.00e+00 2.42e+02 -2.94e+00 1.01e+03 1 2.97e-02 1.82e+00 33 4.517212e+06 3.14e+04 4.89e+06 1.22e+02 7.28e-01 1.11e+03 1 7.35e-02 1.89e+00 34 4.475703e+06 4.15e+04 4.41e+06 1.41e+02 8.73e-01 1.90e+03 1 7.27e-02 1.96e+00 35 4.451915e+06 2.38e+04 8.65e+06 2.44e+02 4.45e-01 1.90e+03 1 7.92e-02 2.04e+00 36 4.393162e+06 5.88e+04 5.48e+06 2.52e+02 8.94e-01 3.73e+03 1 7.25e-02 2.12e+00 37 4.402787e+06 -9.63e+03 0.00e+00 4.90e+02 -1.66e-01 1.87e+03 1 2.87e-02 2.15e+00 38 4.360023e+06 3.31e+04 3.96e+06 2.47e+02 9.30e-01 5.12e+03 1 7.16e-02 2.22e+00 39 4.455011e+06 -9.50e+04 0.00e+00 6.75e+02 -1.64e+00 2.56e+03 1 2.88e-02 2.25e+00 40 4.333277e+06 2.67e+04 5.07e+06 3.42e+02 7.85e-01 3.14e+03 1 7.11e-02 2.32e+00 41 4.304604e+06 2.87e+04 4.58e+06 4.28e+02 7.74e-01 3.75e+03 1 7.24e-02 2.39e+00 42 4.277466e+06 2.71e+04 3.94e+06 5.18e+02 7.46e-01 4.26e+03 1 7.53e-02 2.46e+00 43 4.251646e+06 2.58e+04 3.57e+06 5.97e+02 7.31e-01 4.73e+03 1 7.38e-02 2.54e+00 44 4.227385e+06 2.43e+04 3.54e+06 6.74e+02 6.97e-01 5.04e+03 1 7.41e-02 2.61e+00 45 4.202394e+06 2.50e+04 3.25e+06 7.32e+02 6.97e-01 5.36e+03 1 7.40e-02 2.69e+00 46 4.176612e+06 2.58e+04 3.07e+06 7.90e+02 6.84e-01 5.65e+03 1 7.36e-02 2.76e+00 47 4.148290e+06 2.83e+04 3.19e+06 8.34e+02 6.96e-01 6.01e+03 1 8.23e-02 2.84e+00 48 4.118270e+06 3.00e+04 4.27e+06 8.78e+02 6.94e-01 6.38e+03 1 7.46e-02 2.92e+00 49 4.086387e+06 3.19e+04 5.29e+06 9.09e+02 7.04e-01 6.85e+03 1 7.66e-02 2.99e+00 50 4.054272e+06 3.21e+04 6.11e+06 9.38e+02 7.01e-01 7.32e+03 1 7.42e-02 3.07e+00 Bundle adjustment report ------------------------ Residuals : 54970 Parameters : 20032 Iterations : 51 Time : 3.06903 [s] Initial cost : 14.3564 [px] Final cost : 8.58803 [px] Termination : No convergence => Completed observations: 162 => Merged observations: 0 => Filtered observations: 7766 => Changed observations: 0.288448 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 4.602647e+04 0.00e+00 3.69e+06 0.00e+00 0.00e+00 1.00e+04 0 3.74e-02 6.87e-02 1 2.674106e+04 1.93e+04 2.18e+06 1.32e+02 8.18e-01 1.34e+04 1 5.93e-02 1.28e-01 2 2.072457e+04 6.02e+03 1.88e+06 2.85e+01 9.68e-01 4.03e+04 1 5.68e-02 1.85e-01 3 2.004386e+04 6.81e+02 4.86e+06 1.80e+02 2.56e-01 3.61e+04 1 5.69e-02 2.42e-01 4 1.791932e+04 2.12e+03 3.02e+06 1.65e+02 6.68e-01 3.76e+04 1 5.75e-02 2.99e-01 5 1.845986e+04 -5.41e+02 0.00e+00 1.72e+02 -2.88e-01 1.88e+04 1 2.18e-02 3.21e-01 6 1.668261e+04 1.24e+03 1.83e+06 8.54e+01 8.07e-01 2.44e+04 1 5.64e-02 3.78e-01 7 1.735129e+04 -6.69e+02 0.00e+00 1.12e+02 -8.50e-01 1.22e+04 1 2.15e-02 3.99e-01 8 1.627214e+04 4.10e+02 1.36e+06 5.56e+01 7.20e-01 1.33e+04 1 5.59e-02 4.55e-01 9 1.618747e+04 8.47e+01 1.98e+06 6.10e+01 2.02e-01 1.10e+04 1 5.72e-02 5.12e-01 10 1.593653e+04 2.51e+02 1.80e+06 5.02e+01 4.75e-01 1.10e+04 1 5.73e-02 5.70e-01 11 1.584518e+04 9.13e+01 2.06e+06 5.02e+01 2.02e-01 9.08e+03 1 5.67e-02 6.26e-01 12 1.558754e+04 2.58e+02 1.66e+06 4.13e+01 5.22e-01 9.08e+03 1 6.23e-02 6.89e-01 13 1.541920e+04 1.68e+02 1.48e+06 4.11e+01 4.73e-01 9.08e+03 1 5.71e-02 7.46e-01 14 1.520882e+04 2.10e+02 9.98e+05 4.10e+01 7.10e-01 9.81e+03 1 5.66e-02 8.02e-01 15 1.503807e+04 1.71e+02 5.06e+05 4.41e+01 8.84e-01 1.79e+04 1 5.79e-02 8.60e-01 16 1.485553e+04 1.83e+02 3.36e+05 8.02e+01 9.37e-01 5.36e+04 1 6.17e-02 9.22e-01 17 1.451344e+04 3.42e+02 4.71e+05 2.36e+02 8.44e-01 7.97e+04 1 5.65e-02 9.79e-01 18 1.417853e+04 3.35e+02 6.50e+05 3.35e+02 7.08e-01 8.59e+04 1 5.66e-02 1.04e+00 19 1.386515e+04 3.13e+02 6.94e+05 3.43e+02 6.82e-01 9.02e+04 1 5.62e-02 1.09e+00 20 1.360777e+04 2.57e+02 7.28e+05 3.42e+02 6.31e-01 9.19e+04 1 5.65e-02 1.15e+00 21 1.337674e+04 2.31e+02 7.41e+05 3.28e+02 6.25e-01 9.33e+04 1 5.69e-02 1.21e+00 22 1.317337e+04 2.03e+02 7.61e+05 3.14e+02 6.16e-01 9.45e+04 1 5.62e-02 1.26e+00 23 1.298981e+04 1.84e+02 7.83e+05 3.00e+02 6.17e-01 9.57e+04 1 5.72e-02 1.32e+00 24 1.282301e+04 1.67e+02 8.08e+05 2.85e+02 6.18e-01 9.70e+04 1 5.71e-02 1.38e+00 25 1.267034e+04 1.53e+02 8.33e+05 2.71e+02 6.21e-01 9.84e+04 1 5.72e-02 1.43e+00 26 1.252999e+04 1.40e+02 8.58e+05 2.58e+02 6.22e-01 9.98e+04 1 5.72e-02 1.49e+00 27 1.240055e+04 1.29e+02 8.82e+05 2.45e+02 6.23e-01 1.01e+05 1 5.82e-02 1.55e+00 28 1.228086e+04 1.20e+02 9.04e+05 2.33e+02 6.23e-01 1.03e+05 1 5.75e-02 1.61e+00 29 1.216999e+04 1.11e+02 9.22e+05 2.21e+02 6.22e-01 1.04e+05 1 5.75e-02 1.66e+00 30 1.206712e+04 1.03e+02 9.37e+05 2.09e+02 6.20e-01 1.06e+05 1 6.27e-02 1.73e+00 31 1.197154e+04 9.56e+01 9.46e+05 1.98e+02 6.17e-01 1.07e+05 1 5.73e-02 1.78e+00 32 1.188262e+04 8.89e+01 9.50e+05 1.87e+02 6.15e-01 1.09e+05 1 5.71e-02 1.84e+00 33 1.179982e+04 8.28e+01 9.48e+05 1.77e+02 6.12e-01 1.10e+05 1 5.79e-02 1.90e+00 34 1.172264e+04 7.72e+01 9.41e+05 1.67e+02 6.10e-01 1.11e+05 1 6.13e-02 1.96e+00 35 1.165065e+04 7.20e+01 9.28e+05 1.58e+02 6.08e-01 1.12e+05 1 5.73e-02 2.02e+00 36 1.158347e+04 6.72e+01 9.11e+05 1.50e+02 6.07e-01 1.13e+05 1 5.73e-02 2.07e+00 37 1.152078e+04 6.27e+01 8.89e+05 1.41e+02 6.07e-01 1.14e+05 1 5.84e-02 2.13e+00 38 1.146230e+04 5.85e+01 8.62e+05 1.34e+02 6.08e-01 1.15e+05 1 5.82e-02 2.19e+00 39 1.140779e+04 5.45e+01 8.33e+05 1.27e+02 6.10e-01 1.17e+05 1 5.73e-02 2.25e+00 40 1.135705e+04 5.07e+01 8.00e+05 1.21e+02 6.12e-01 1.18e+05 1 5.73e-02 2.31e+00 41 1.130991e+04 4.71e+01 7.65e+05 1.15e+02 6.16e-01 1.20e+05 1 5.78e-02 2.36e+00 42 1.126620e+04 4.37e+01 7.29e+05 1.09e+02 6.20e-01 1.21e+05 1 5.72e-02 2.42e+00 43 1.122578e+04 4.04e+01 6.91e+05 1.04e+02 6.26e-01 1.23e+05 1 5.67e-02 2.48e+00 44 1.118851e+04 3.73e+01 6.52e+05 9.99e+01 6.31e-01 1.25e+05 1 5.79e-02 2.54e+00 45 1.115426e+04 3.43e+01 6.14e+05 9.59e+01 6.38e-01 1.28e+05 1 5.71e-02 2.59e+00 46 1.112288e+04 3.14e+01 5.75e+05 9.23e+01 6.44e-01 1.31e+05 1 5.70e-02 2.65e+00 47 1.109425e+04 2.86e+01 5.37e+05 8.91e+01 6.51e-01 1.35e+05 1 6.16e-02 2.71e+00 48 1.106822e+04 2.60e+01 4.99e+05 8.62e+01 6.58e-01 1.39e+05 1 5.67e-02 2.77e+00 49 1.104465e+04 2.36e+01 4.62e+05 8.37e+01 6.65e-01 1.45e+05 1 5.65e-02 2.82e+00 50 1.102340e+04 2.12e+01 4.26e+05 8.15e+01 6.73e-01 1.51e+05 1 5.65e-02 2.88e+00 Bundle adjustment report ------------------------ Residuals : 39762 Parameters : 16927 Iterations : 51 Time : 2.88195 [s] Initial cost : 1.07589 [px] Final cost : 0.526531 [px] Termination : No convergence => Completed observations: 3332 => Merged observations: 27 => Filtered observations: 15 => Changed observations: 0.169710 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.879592e+04 0.00e+00 5.66e+05 0.00e+00 0.00e+00 1.00e+04 0 4.72e-02 9.05e-02 1 1.654803e+04 2.25e+03 3.36e+06 1.34e+00 6.61e-01 1.03e+04 1 7.27e-02 1.63e-01 2 1.526430e+04 1.28e+03 3.76e+05 1.59e+01 9.84e-01 3.10e+04 1 6.79e-02 2.31e-01 3 1.508677e+04 1.78e+02 5.17e+05 5.28e+01 8.25e-01 4.28e+04 1 6.84e-02 3.00e-01 4 1.494645e+04 1.40e+02 8.54e+05 7.06e+01 7.78e-01 5.16e+04 1 6.85e-02 3.68e-01 5 1.485974e+04 8.67e+01 1.24e+06 8.13e+01 5.39e-01 5.17e+04 1 6.93e-02 4.37e-01 6 1.475659e+04 1.03e+02 1.25e+06 7.73e+01 5.85e-01 5.19e+04 1 6.94e-02 5.07e-01 7 1.466344e+04 9.32e+01 1.25e+06 7.39e+01 5.60e-01 5.20e+04 1 6.99e-02 5.77e-01 8 1.457530e+04 8.81e+01 1.23e+06 7.05e+01 5.51e-01 5.21e+04 1 7.08e-02 6.48e-01 9 1.449184e+04 8.35e+01 1.21e+06 6.72e+01 5.46e-01 5.21e+04 1 6.87e-02 7.16e-01 10 1.441278e+04 7.91e+01 1.18e+06 6.42e+01 5.42e-01 5.21e+04 1 7.32e-02 7.90e-01 11 1.433804e+04 7.47e+01 1.15e+06 6.14e+01 5.41e-01 5.22e+04 1 6.83e-02 8.58e-01 12 1.426756e+04 7.05e+01 1.11e+06 5.88e+01 5.42e-01 5.22e+04 1 6.79e-02 9.26e-01 13 1.420131e+04 6.62e+01 1.07e+06 5.64e+01 5.45e-01 5.22e+04 1 6.86e-02 9.94e-01 14 1.413929e+04 6.20e+01 1.02e+06 5.42e+01 5.50e-01 5.23e+04 1 7.30e-02 1.07e+00 15 1.408149e+04 5.78e+01 9.67e+05 5.22e+01 5.56e-01 5.24e+04 1 6.86e-02 1.14e+00 16 1.402791e+04 5.36e+01 9.13e+05 5.03e+01 5.65e-01 5.25e+04 1 6.81e-02 1.20e+00 17 1.397851e+04 4.94e+01 8.55e+05 4.86e+01 5.75e-01 5.27e+04 1 6.79e-02 1.27e+00 18 1.393324e+04 4.53e+01 7.97e+05 4.71e+01 5.86e-01 5.29e+04 1 6.86e-02 1.34e+00 19 1.389201e+04 4.12e+01 7.38e+05 4.57e+01 5.98e-01 5.33e+04 1 7.27e-02 1.41e+00 20 1.385469e+04 3.73e+01 6.81e+05 4.45e+01 6.11e-01 5.39e+04 1 7.06e-02 1.48e+00 21 1.382108e+04 3.36e+01 6.26e+05 4.35e+01 6.25e-01 5.48e+04 1 6.82e-02 1.55e+00 22 1.379095e+04 3.01e+01 5.74e+05 4.27e+01 6.38e-01 5.59e+04 1 7.02e-02 1.62e+00 23 1.376402e+04 2.69e+01 5.25e+05 4.21e+01 6.50e-01 5.75e+04 1 6.95e-02 1.69e+00 24 1.374003e+04 2.40e+01 4.80e+05 4.17e+01 6.63e-01 5.96e+04 1 6.86e-02 1.76e+00 25 1.371868e+04 2.13e+01 4.38e+05 4.16e+01 6.75e-01 6.22e+04 1 7.48e-02 1.84e+00 26 1.369971e+04 1.90e+01 4.00e+05 4.17e+01 6.86e-01 6.56e+04 1 6.84e-02 1.90e+00 27 1.368289e+04 1.68e+01 3.64e+05 4.21e+01 6.98e-01 6.99e+04 1 6.84e-02 1.97e+00 28 1.366799e+04 1.49e+01 3.31e+05 4.28e+01 7.09e-01 7.55e+04 1 7.29e-02 2.05e+00 29 1.365483e+04 1.32e+01 2.99e+05 4.38e+01 7.21e-01 8.26e+04 1 6.92e-02 2.11e+00 30 1.364324e+04 1.16e+01 2.69e+05 4.52e+01 7.32e-01 9.17e+04 1 6.82e-02 2.18e+00 31 1.363307e+04 1.02e+01 2.40e+05 4.68e+01 7.44e-01 1.04e+05 1 6.85e-02 2.25e+00 32 1.362423e+04 8.84e+00 2.11e+05 4.89e+01 7.56e-01 1.20e+05 1 6.85e-02 2.32e+00 33 1.361662e+04 7.61e+00 1.83e+05 5.12e+01 7.67e-01 1.41e+05 1 6.92e-02 2.39e+00 34 1.361019e+04 6.43e+00 1.53e+05 5.36e+01 7.77e-01 1.70e+05 1 6.82e-02 2.46e+00 35 1.360490e+04 5.28e+00 1.23e+05 5.56e+01 7.84e-01 2.09e+05 1 6.84e-02 2.53e+00 36 1.360074e+04 4.16e+00 9.28e+04 5.65e+01 7.90e-01 2.59e+05 1 6.87e-02 2.59e+00 37 1.359766e+04 3.08e+00 6.42e+04 5.53e+01 7.95e-01 3.26e+05 1 6.89e-02 2.66e+00 38 1.359555e+04 2.11e+00 4.03e+04 5.15e+01 8.06e-01 4.23e+05 1 6.95e-02 2.73e+00 39 1.359424e+04 1.31e+00 2.30e+04 4.54e+01 8.24e-01 5.82e+05 1 7.37e-02 2.81e+00 40 1.359355e+04 6.98e-01 1.18e+04 3.73e+01 8.53e-01 8.96e+05 1 6.95e-02 2.88e+00 41 1.359325e+04 2.99e-01 5.25e+03 2.78e+01 8.92e-01 1.73e+06 1 6.86e-02 2.94e+00 42 1.359316e+04 8.72e-02 1.76e+03 1.73e+01 9.42e-01 5.18e+06 1 6.83e-02 3.01e+00 43 1.359315e+04 1.16e-02 2.89e+02 7.04e+00 9.88e-01 1.55e+07 1 7.34e-02 3.09e+00 44 1.359315e+04 2.76e-04 8.25e+00 1.03e+00 1.00e+00 4.66e+07 1 6.89e-02 3.16e+00 45 1.359315e+04 7.48e-07 4.55e-01 5.13e-02 1.01e+00 1.40e+08 1 6.87e-02 3.22e+00 Bundle adjustment report ------------------------ Residuals : 46396 Parameters : 16915 Iterations : 46 Time : 3.22499 [s] Initial cost : 0.63649 [px] Final cost : 0.541277 [px] Termination : Convergence => Completed observations: 649 => Merged observations: 4 => Filtered observations: 8 => Changed observations: 0.028494 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.564846e+04 0.00e+00 2.09e+05 0.00e+00 0.00e+00 1.00e+04 0 4.50e-02 8.19e-02 1 1.474544e+04 9.03e+02 2.89e+05 4.72e+00 9.94e-01 3.00e+04 1 7.43e-02 1.56e-01 2 1.473124e+04 1.42e+01 9.76e+05 2.62e+00 2.24e-01 2.57e+04 1 7.11e-02 2.27e-01 3 1.466736e+04 6.39e+01 3.42e+05 4.10e-01 9.13e-01 5.88e+04 1 7.10e-02 2.98e-01 4 1.465754e+04 9.82e+00 4.70e+05 2.79e+00 4.52e-01 5.87e+04 1 7.18e-02 3.70e-01 5 1.464156e+04 1.60e+01 1.44e+05 4.56e+00 9.32e-01 1.66e+05 1 7.19e-02 4.42e-01 6 1.463825e+04 3.31e+00 1.35e+05 1.55e+01 7.46e-01 1.88e+05 1 7.15e-02 5.14e-01 7 1.463621e+04 2.04e+00 2.45e+04 1.65e+01 9.78e-01 5.64e+05 1 7.67e-02 5.90e-01 8 1.463552e+04 6.86e-01 1.20e+04 3.27e+01 8.90e-01 1.07e+06 1 7.09e-02 6.61e-01 9 1.463522e+04 3.02e-01 3.62e+03 2.78e+01 8.93e-01 2.09e+06 1 7.07e-02 7.32e-01 10 1.463513e+04 8.28e-02 1.09e+03 1.48e+01 9.68e-01 6.26e+06 1 7.52e-02 8.07e-01 11 1.463513e+04 8.22e-03 1.36e+02 4.61e+00 9.98e-01 1.88e+07 1 7.11e-02 8.79e-01 12 1.463513e+04 2.94e-04 5.83e+00 4.44e-01 1.00e+00 5.63e+07 1 7.14e-02 9.50e-01 13 1.463513e+04 3.81e-06 6.81e-01 7.49e-03 1.00e+00 1.69e+08 1 7.09e-02 1.02e+00 Bundle adjustment report ------------------------ Residuals : 47678 Parameters : 16912 Iterations : 14 Time : 1.02174 [s] Initial cost : 0.572897 [px] Final cost : 0.554038 [px] Termination : Convergence => Completed observations: 89 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.003985 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.501137e+04 0.00e+00 5.55e+04 0.00e+00 0.00e+00 1.00e+04 0 4.60e-02 8.28e-02 1 1.482831e+04 1.83e+02 4.89e+03 1.35e+00 1.00e+00 3.00e+04 1 7.40e-02 1.57e-01 2 1.482654e+04 1.76e+00 2.00e+04 1.22e+00 9.88e-01 9.00e+04 1 7.18e-02 2.29e-01 3 1.482550e+04 1.04e+00 3.05e+04 1.83e+00 9.52e-01 2.70e+05 1 7.55e-02 3.04e-01 4 1.482516e+04 3.41e-01 1.35e+04 1.79e+00 9.69e-01 8.10e+05 1 7.69e-02 3.81e-01 5 1.482510e+04 6.24e-02 1.88e+03 8.24e-01 9.97e-01 2.43e+06 1 7.19e-02 4.53e-01 6 1.482507e+04 2.29e-02 2.78e+02 2.91e-01 9.99e-01 7.29e+06 1 7.62e-02 5.29e-01 7 1.482507e+04 7.42e-03 1.12e+02 4.16e-01 9.99e-01 2.19e+07 1 7.18e-02 6.01e-01 8 1.482506e+04 5.72e-04 1.24e+01 1.85e-01 1.00e+00 6.56e+07 1 7.11e-02 6.72e-01 9 1.482506e+04 6.90e-06 1.18e+00 2.18e-02 1.00e+00 1.97e+08 1 7.49e-02 7.47e-01 10 1.482506e+04 1.16e-08 3.99e-03 6.39e-04 1.02e+00 5.90e+08 1 7.21e-02 8.19e-01 Bundle adjustment report ------------------------ Residuals : 47844 Parameters : 16912 Iterations : 11 Time : 0.820052 [s] Initial cost : 0.56014 [px] Final cost : 0.556653 [px] Termination : Convergence => Completed observations: 19 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000836 => Filtered images: 0 ============================================================================== Registering image #9 (24) ============================================================================== => Image sees 727 / 2829 points Pose refinement report ---------------------- Residuals : 1392 Parameters : 6 Iterations : 8 Time : 0.0112038 [s] Initial cost : 0.582149 [px] Final cost : 0.50153 [px] Termination : Convergence => Continued observations: 693 => Added observations: 3233 Bundle adjustment report ------------------------ Residuals : 35056 Parameters : 11354 Iterations : 26 Time : 0.769778 [s] Initial cost : 1.47599 [px] Final cost : 1.37488 [px] Termination : No convergence => Merged observations: 17 => Completed observations: 501 => Filtered observations: 418 => Changed observations: 0.052747 Bundle adjustment report ------------------------ Residuals : 35222 Parameters : 11162 Iterations : 11 Time : 0.335176 [s] Initial cost : 0.615384 [px] Final cost : 0.564806 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 271 => Filtered observations: 1 => Changed observations: 0.015706 ============================================================================== Retriangulation ============================================================================== => Completed observations: 59 => Merged observations: 0 => Retriangulated observations: 2128 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.889116e+07 0.00e+00 4.65e+07 0.00e+00 0.00e+00 1.00e+04 0 5.18e-02 9.94e-02 1 7.567855e+08 -7.38e+08 0.00e+00 1.57e+03 -5.99e+01 5.00e+03 1 3.50e-02 1.34e-01 2 3.815528e+08 -3.63e+08 0.00e+00 1.15e+03 -2.99e+01 1.25e+03 1 3.08e-02 1.65e-01 3 5.649940e+07 -3.76e+07 0.00e+00 6.77e+02 -3.27e+00 1.56e+02 1 3.07e-02 1.96e-01 4 9.296407e+06 9.59e+06 1.66e+08 2.62e+02 9.16e-01 3.67e+02 1 7.89e-02 2.75e-01 5 7.916192e+06 1.38e+06 3.60e+07 1.40e+02 9.33e-01 1.05e+03 1 8.47e-02 3.60e-01 6 8.333323e+06 -4.17e+05 0.00e+00 1.21e+02 -7.15e-01 5.26e+02 1 3.36e-02 3.93e-01 7 7.602265e+06 3.14e+05 3.63e+07 7.42e+01 7.61e-01 6.12e+02 1 8.67e-02 4.80e-01 8 7.259076e+06 3.43e+05 4.04e+07 5.00e+01 8.17e-01 8.22e+02 1 8.18e-02 5.62e-01 9 7.043513e+06 2.16e+05 6.11e+07 4.93e+01 5.00e-01 8.22e+02 1 8.10e-02 6.43e-01 10 6.717374e+06 3.26e+05 5.70e+07 3.43e+01 6.68e-01 8.55e+02 1 8.75e-02 7.30e-01 11 6.452564e+06 2.65e+05 4.52e+07 1.46e+01 7.71e-01 1.02e+03 1 8.17e-02 8.12e-01 12 6.265307e+06 1.87e+05 2.71e+07 3.63e+00 8.55e-01 1.58e+03 1 8.03e-02 8.93e-01 13 6.134601e+06 1.31e+05 2.12e+07 3.34e+01 7.85e-01 1.94e+03 1 8.14e-02 9.74e-01 14 6.008390e+06 1.26e+05 1.23e+07 7.09e+01 8.75e-01 3.37e+03 1 8.14e-02 1.06e+00 15 5.915506e+06 9.29e+04 2.10e+07 1.73e+02 6.90e-01 3.56e+03 1 8.04e-02 1.14e+00 16 5.803549e+06 1.12e+05 1.43e+07 2.29e+02 8.96e-01 7.06e+03 1 8.10e-02 1.22e+00 17 5.752571e+06 5.10e+04 3.37e+07 5.14e+02 4.59e-01 7.06e+03 1 8.11e-02 1.30e+00 18 5.643839e+06 1.09e+05 1.96e+07 5.98e+02 8.63e-01 1.14e+04 1 8.01e-02 1.38e+00 19 5.645562e+06 -1.72e+03 0.00e+00 1.04e+03 -1.96e-02 5.72e+03 1 3.19e-02 1.41e+00 20 5.586510e+06 5.73e+04 1.15e+07 5.64e+02 9.28e-01 1.53e+04 1 8.67e-02 1.50e+00 21 5.790435e+06 -2.04e+05 0.00e+00 1.48e+03 -2.61e+00 7.65e+03 1 3.13e-02 1.53e+00 22 5.555485e+06 3.10e+04 1.75e+07 8.04e+02 6.13e-01 7.74e+03 1 7.95e-02 1.61e+00 23 5.515198e+06 4.03e+04 1.39e+07 8.99e+02 6.65e-01 8.02e+03 1 7.98e-02 1.69e+00 24 5.483725e+06 3.15e+04 1.33e+07 1.02e+03 5.32e-01 8.03e+03 1 8.73e-02 1.77e+00 25 5.450804e+06 3.29e+04 1.13e+07 1.11e+03 5.18e-01 8.03e+03 1 8.32e-02 1.86e+00 26 5.420343e+06 3.05e+04 9.83e+06 1.19e+03 4.76e-01 8.03e+03 1 8.20e-02 1.94e+00 27 5.391119e+06 2.92e+04 8.82e+06 1.26e+03 4.55e-01 8.02e+03 1 8.47e-02 2.02e+00 28 5.363083e+06 2.80e+04 9.39e+06 1.31e+03 4.45e-01 8.01e+03 1 8.26e-02 2.11e+00 29 5.336199e+06 2.69e+04 9.68e+06 1.36e+03 4.48e-01 8.00e+03 1 8.19e-02 2.19e+00 30 5.310821e+06 2.54e+04 9.77e+06 1.39e+03 4.55e-01 7.99e+03 1 8.18e-02 2.27e+00 31 5.287164e+06 2.37e+04 9.64e+06 1.41e+03 4.67e-01 7.99e+03 1 8.23e-02 2.35e+00 32 5.265355e+06 2.18e+04 9.36e+06 1.43e+03 4.83e-01 7.99e+03 1 8.27e-02 2.44e+00 33 5.245384e+06 2.00e+04 8.95e+06 1.44e+03 5.02e-01 7.99e+03 1 8.77e-02 2.52e+00 34 5.227149e+06 1.82e+04 8.47e+06 1.45e+03 5.26e-01 7.99e+03 1 8.09e-02 2.60e+00 35 5.210481e+06 1.67e+04 7.97e+06 1.45e+03 5.55e-01 8.00e+03 1 7.95e-02 2.68e+00 36 5.195162e+06 1.53e+04 7.48e+06 1.45e+03 5.91e-01 8.05e+03 1 8.72e-02 2.77e+00 37 5.180975e+06 1.42e+04 7.03e+06 1.45e+03 6.28e-01 8.19e+03 1 8.00e-02 2.85e+00 38 5.168192e+06 1.28e+04 6.55e+06 1.45e+03 6.34e-01 8.35e+03 1 8.13e-02 2.93e+00 39 5.158585e+06 9.61e+03 5.67e+06 1.40e+03 5.34e-01 8.35e+03 1 8.15e-02 3.01e+00 40 5.149511e+06 9.07e+03 4.60e+06 1.32e+03 5.66e-01 8.37e+03 1 8.15e-02 3.10e+00 41 5.141233e+06 8.28e+03 3.96e+06 1.30e+03 6.02e-01 8.44e+03 1 8.01e-02 3.18e+00 42 5.134200e+06 7.03e+03 3.45e+06 1.28e+03 6.06e-01 8.52e+03 1 8.06e-02 3.26e+00 43 5.128027e+06 6.17e+03 3.18e+06 1.27e+03 6.04e-01 8.60e+03 1 8.07e-02 3.34e+00 44 5.122335e+06 5.69e+03 2.90e+06 1.26e+03 6.15e-01 8.71e+03 1 8.12e-02 3.42e+00 45 5.117204e+06 5.13e+03 2.76e+06 1.26e+03 6.10e-01 8.80e+03 1 8.90e-02 3.51e+00 46 5.112391e+06 4.81e+03 2.62e+06 1.26e+03 6.16e-01 8.91e+03 1 8.17e-02 3.59e+00 47 5.107941e+06 4.45e+03 2.56e+06 1.27e+03 6.10e-01 9.01e+03 1 8.01e-02 3.67e+00 48 5.103671e+06 4.27e+03 2.49e+06 1.27e+03 6.14e-01 9.11e+03 1 8.59e-02 3.76e+00 49 5.099611e+06 4.06e+03 2.51e+06 1.29e+03 6.11e-01 9.22e+03 1 8.17e-02 3.84e+00 50 5.095674e+06 3.94e+03 2.50e+06 1.30e+03 6.17e-01 9.33e+03 1 7.95e-02 3.92e+00 Bundle adjustment report ------------------------ Residuals : 60812 Parameters : 22765 Iterations : 51 Time : 3.91855 [s] Initial cost : 17.6252 [px] Final cost : 9.1539 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 17166 => Changed observations: 0.564560 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.494314e+04 0.00e+00 3.55e+06 0.00e+00 0.00e+00 1.00e+04 0 2.48e-02 4.61e-02 1 5.366885e+04 -1.87e+04 0.00e+00 2.87e+01 -1.29e+00 5.00e+03 1 1.49e-02 6.10e-02 2 4.247380e+04 -7.53e+03 0.00e+00 4.55e+01 -5.32e-01 1.25e+03 1 1.30e-02 7.40e-02 3 2.811238e+04 6.83e+03 3.04e+07 4.14e+01 5.03e-01 1.25e+03 1 3.65e-02 1.11e-01 4 2.115907e+04 6.95e+03 2.96e+06 9.97e+00 9.85e-01 3.75e+03 1 4.79e-02 1.58e-01 5 2.061751e+04 5.42e+02 1.80e+06 1.32e+00 9.59e-01 1.13e+04 1 4.02e-02 1.99e-01 6 1.988901e+04 7.29e+02 6.03e+05 4.87e+01 9.94e-01 3.38e+04 1 3.73e-02 2.36e-01 7 1.885686e+04 1.03e+03 1.28e+06 1.61e+02 9.70e-01 1.01e+05 1 3.71e-02 2.73e-01 8 1.813341e+04 7.23e+02 7.27e+06 4.39e+02 4.46e-01 1.01e+05 1 3.71e-02 3.10e-01 9 1.676626e+04 1.37e+03 5.52e+06 4.04e+02 7.19e-01 1.10e+05 1 3.71e-02 3.47e-01 10 1.591201e+04 8.54e+02 4.95e+06 4.21e+02 6.49e-01 1.13e+05 1 3.71e-02 3.84e-01 11 1.516614e+04 7.46e+02 3.97e+06 4.16e+02 6.97e-01 1.21e+05 1 3.71e-02 4.22e-01 12 1.460425e+04 5.62e+02 3.47e+06 4.30e+02 6.75e-01 1.26e+05 1 3.72e-02 4.59e-01 13 1.412205e+04 4.82e+02 2.95e+06 4.39e+02 6.93e-01 1.34e+05 1 4.15e-02 5.00e-01 14 1.372269e+04 3.99e+02 2.58e+06 4.58e+02 6.86e-01 1.41e+05 1 3.73e-02 5.38e-01 15 1.337470e+04 3.48e+02 2.22e+06 4.77e+02 6.90e-01 1.49e+05 1 3.68e-02 5.74e-01 16 1.307360e+04 3.01e+02 1.92e+06 4.99e+02 6.84e-01 1.57e+05 1 3.71e-02 6.12e-01 17 1.280752e+04 2.66e+02 1.64e+06 5.21e+02 6.80e-01 1.65e+05 1 3.68e-02 6.48e-01 18 1.257226e+04 2.35e+02 1.38e+06 5.42e+02 6.70e-01 1.72e+05 1 3.69e-02 6.85e-01 19 1.236231e+04 2.10e+02 1.14e+06 5.60e+02 6.59e-01 1.77e+05 1 3.70e-02 7.22e-01 20 1.217433e+04 1.88e+02 9.26e+05 5.75e+02 6.45e-01 1.82e+05 1 3.68e-02 7.59e-01 21 1.200498e+04 1.69e+02 8.09e+05 5.85e+02 6.29e-01 1.85e+05 1 4.17e-02 8.01e-01 22 1.185158e+04 1.53e+02 7.10e+05 5.90e+02 6.12e-01 1.87e+05 1 3.71e-02 8.38e-01 23 1.171171e+04 1.40e+02 6.92e+05 5.93e+02 5.95e-01 1.88e+05 1 3.68e-02 8.75e-01 24 1.158330e+04 1.28e+02 7.18e+05 5.92e+02 5.78e-01 1.89e+05 1 3.72e-02 9.12e-01 25 1.146459e+04 1.19e+02 7.40e+05 5.89e+02 5.62e-01 1.89e+05 1 3.69e-02 9.49e-01 26 1.135406e+04 1.11e+02 7.59e+05 5.85e+02 5.47e-01 1.89e+05 1 3.78e-02 9.87e-01 27 1.125047e+04 1.04e+02 7.77e+05 5.80e+02 5.33e-01 1.90e+05 1 3.80e-02 1.02e+00 28 1.115274e+04 9.77e+01 7.94e+05 5.74e+02 5.19e-01 1.90e+05 1 3.74e-02 1.06e+00 29 1.105998e+04 9.28e+01 8.10e+05 5.69e+02 5.06e-01 1.90e+05 1 3.73e-02 1.10e+00 30 1.097144e+04 8.85e+01 8.26e+05 5.63e+02 4.95e-01 1.90e+05 1 3.73e-02 1.14e+00 31 1.088649e+04 8.50e+01 8.42e+05 5.56e+02 4.84e-01 1.90e+05 1 3.76e-02 1.17e+00 32 1.080459e+04 8.19e+01 8.58e+05 5.50e+02 4.74e-01 1.90e+05 1 3.78e-02 1.21e+00 33 1.072528e+04 7.93e+01 8.73e+05 5.44e+02 4.65e-01 1.89e+05 1 3.74e-02 1.25e+00 34 1.064819e+04 7.71e+01 8.89e+05 5.37e+02 4.57e-01 1.89e+05 1 3.74e-02 1.29e+00 35 1.057301e+04 7.52e+01 9.03e+05 5.31e+02 4.50e-01 1.89e+05 1 3.75e-02 1.32e+00 36 1.049946e+04 7.35e+01 9.18e+05 5.24e+02 4.44e-01 1.89e+05 1 3.73e-02 1.36e+00 37 1.042735e+04 7.21e+01 9.31e+05 5.17e+02 4.39e-01 1.89e+05 1 3.75e-02 1.40e+00 38 1.035648e+04 7.09e+01 9.43e+05 5.10e+02 4.34e-01 1.88e+05 1 3.73e-02 1.44e+00 39 1.028672e+04 6.98e+01 9.55e+05 5.03e+02 4.31e-01 1.88e+05 1 3.76e-02 1.47e+00 40 1.021795e+04 6.88e+01 9.66e+05 4.95e+02 4.28e-01 1.87e+05 1 4.17e-02 1.52e+00 41 1.015006e+04 6.79e+01 9.76e+05 4.88e+02 4.25e-01 1.86e+05 1 3.75e-02 1.55e+00 42 1.008298e+04 6.71e+01 9.85e+05 4.80e+02 4.24e-01 1.86e+05 1 3.73e-02 1.59e+00 43 1.001662e+04 6.64e+01 9.94e+05 4.73e+02 4.22e-01 1.85e+05 1 3.74e-02 1.63e+00 44 9.950926e+03 6.57e+01 1.00e+06 4.65e+02 4.21e-01 1.84e+05 1 3.73e-02 1.67e+00 45 9.885831e+03 6.51e+01 1.01e+06 4.58e+02 4.20e-01 1.84e+05 1 3.83e-02 1.70e+00 46 9.821288e+03 6.45e+01 1.02e+06 4.50e+02 4.19e-01 1.83e+05 1 3.73e-02 1.74e+00 47 9.757253e+03 6.40e+01 1.02e+06 4.43e+02 4.19e-01 1.82e+05 1 3.71e-02 1.78e+00 48 9.693690e+03 6.36e+01 1.03e+06 4.36e+02 4.18e-01 1.81e+05 1 4.18e-02 1.82e+00 49 9.630568e+03 6.31e+01 1.04e+06 4.29e+02 4.18e-01 1.80e+05 1 3.74e-02 1.86e+00 50 9.567865e+03 6.27e+01 1.04e+06 4.21e+02 4.18e-01 1.80e+05 1 3.73e-02 1.89e+00 Bundle adjustment report ------------------------ Residuals : 26478 Parameters : 14071 Iterations : 51 Time : 1.89551 [s] Initial cost : 1.14878 [px] Final cost : 0.601125 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 50 => Changed observations: 0.003777 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.638298e+03 0.00e+00 1.04e+06 0.00e+00 0.00e+00 1.00e+04 0 2.47e-02 4.61e-02 1 8.911968e+03 -2.74e+02 0.00e+00 2.55e+01 -9.98e-01 5.00e+03 1 1.50e-02 6.11e-02 2 8.664927e+03 -2.66e+01 0.00e+00 1.27e+01 -1.02e-01 1.25e+03 1 1.35e-02 7.46e-02 3 8.449415e+03 1.89e+02 1.61e+06 1.41e+00 7.81e-01 1.52e+03 1 3.68e-02 1.11e-01 4 8.388773e+03 6.06e+01 4.12e+05 5.21e+00 9.52e-01 4.56e+03 1 3.71e-02 1.48e-01 5 8.370965e+03 1.78e+01 3.08e+05 1.35e+01 9.07e-01 9.89e+03 1 3.71e-02 1.86e-01 6 8.345955e+03 2.50e+01 1.67e+05 2.48e+01 9.60e-01 2.97e+04 1 3.73e-02 2.23e-01 7 8.320574e+03 2.54e+01 8.73e+05 6.57e+01 4.78e-01 2.97e+04 1 3.73e-02 2.60e-01 8 8.272093e+03 4.85e+01 8.66e+05 6.45e+01 6.82e-01 3.12e+04 1 3.72e-02 2.98e-01 9 8.232030e+03 4.01e+01 9.15e+05 6.77e+01 6.28e-01 3.17e+04 1 3.74e-02 3.35e-01 10 8.191413e+03 4.06e+01 8.96e+05 6.92e+01 6.45e-01 3.25e+04 1 3.72e-02 3.72e-01 11 8.152481e+03 3.89e+01 8.81e+05 7.13e+01 6.44e-01 3.33e+04 1 3.75e-02 4.10e-01 12 8.114028e+03 3.85e+01 8.58e+05 7.34e+01 6.52e-01 3.43e+04 1 3.72e-02 4.47e-01 13 8.076099e+03 3.79e+01 8.35e+05 7.58e+01 6.60e-01 3.54e+04 1 3.72e-02 4.84e-01 14 8.038392e+03 3.77e+01 8.10e+05 7.87e+01 6.69e-01 3.68e+04 1 3.72e-02 5.21e-01 15 8.000726e+03 3.77e+01 7.86e+05 8.21e+01 6.79e-01 3.86e+04 1 3.73e-02 5.59e-01 16 7.962834e+03 3.79e+01 7.64e+05 8.62e+01 6.89e-01 4.08e+04 1 4.09e-02 6.00e-01 17 7.924421e+03 3.84e+01 7.43e+05 9.14e+01 7.00e-01 4.36e+04 1 3.80e-02 6.38e-01 18 7.885116e+03 3.93e+01 7.23e+05 9.78e+01 7.10e-01 4.71e+04 1 3.73e-02 6.75e-01 19 7.844488e+03 4.06e+01 7.05e+05 1.06e+02 7.20e-01 5.14e+04 1 3.71e-02 7.12e-01 20 7.802038e+03 4.25e+01 6.86e+05 1.16e+02 7.29e-01 5.69e+04 1 3.73e-02 7.49e-01 21 7.757239e+03 4.48e+01 6.64e+05 1.28e+02 7.35e-01 6.35e+04 1 3.73e-02 7.87e-01 22 7.709645e+03 4.76e+01 6.35e+05 1.43e+02 7.38e-01 7.12e+04 1 3.73e-02 8.24e-01 23 7.659131e+03 5.05e+01 5.90e+05 1.60e+02 7.32e-01 7.90e+04 1 3.75e-02 8.62e-01 24 7.606189e+03 5.29e+01 5.23e+05 1.77e+02 7.13e-01 8.57e+04 1 4.20e-02 9.04e-01 25 7.551876e+03 5.43e+01 5.90e+05 1.92e+02 6.83e-01 9.01e+04 1 3.80e-02 9.42e-01 26 7.497269e+03 5.46e+01 7.17e+05 2.01e+02 6.46e-01 9.24e+04 1 3.78e-02 9.80e-01 27 7.443145e+03 5.41e+01 8.27e+05 2.06e+02 6.08e-01 9.34e+04 1 3.77e-02 1.02e+00 28 7.390013e+03 5.31e+01 9.20e+05 2.07e+02 5.71e-01 9.37e+04 1 3.77e-02 1.05e+00 29 7.338203e+03 5.18e+01 1.00e+06 2.07e+02 5.34e-01 9.37e+04 1 3.83e-02 1.09e+00 30 7.287898e+03 5.03e+01 1.08e+06 2.06e+02 4.98e-01 9.37e+04 1 3.83e-02 1.13e+00 31 7.239097e+03 4.88e+01 1.15e+06 2.05e+02 4.62e-01 9.36e+04 1 3.77e-02 1.17e+00 32 7.191496e+03 4.76e+01 1.21e+06 2.03e+02 4.30e-01 9.34e+04 1 3.74e-02 1.21e+00 33 7.144426e+03 4.71e+01 1.26e+06 2.02e+02 4.07e-01 9.28e+04 1 3.79e-02 1.24e+00 34 7.097220e+03 4.72e+01 1.30e+06 1.99e+02 3.93e-01 9.19e+04 1 3.77e-02 1.28e+00 35 7.049719e+03 4.75e+01 1.31e+06 1.96e+02 3.87e-01 9.09e+04 1 3.75e-02 1.32e+00 36 7.002102e+03 4.76e+01 1.31e+06 1.92e+02 3.85e-01 8.98e+04 1 3.74e-02 1.36e+00 37 6.954609e+03 4.75e+01 1.30e+06 1.89e+02 3.86e-01 8.87e+04 1 3.79e-02 1.40e+00 38 6.907480e+03 4.71e+01 1.27e+06 1.85e+02 3.90e-01 8.78e+04 1 3.78e-02 1.43e+00 39 6.860915e+03 4.66e+01 1.23e+06 1.82e+02 3.96e-01 8.70e+04 1 3.74e-02 1.47e+00 40 6.815064e+03 4.59e+01 1.18e+06 1.79e+02 4.05e-01 8.64e+04 1 3.74e-02 1.51e+00 41 6.770032e+03 4.50e+01 1.13e+06 1.76e+02 4.16e-01 8.60e+04 1 3.75e-02 1.55e+00 42 6.725888e+03 4.41e+01 1.07e+06 1.74e+02 4.29e-01 8.58e+04 1 3.74e-02 1.58e+00 43 6.682674e+03 4.32e+01 1.01e+06 1.72e+02 4.45e-01 8.56e+04 1 4.17e-02 1.62e+00 44 6.640426e+03 4.22e+01 9.45e+05 1.71e+02 4.64e-01 8.56e+04 1 3.73e-02 1.66e+00 45 6.599195e+03 4.12e+01 8.75e+05 1.69e+02 4.86e-01 8.56e+04 1 3.72e-02 1.70e+00 46 6.559067e+03 4.01e+01 8.02e+05 1.68e+02 5.11e-01 8.56e+04 1 3.73e-02 1.74e+00 47 6.520179e+03 3.89e+01 7.28e+05 1.66e+02 5.38e-01 8.56e+04 1 3.74e-02 1.77e+00 48 6.482696e+03 3.75e+01 6.55e+05 1.65e+02 5.66e-01 8.58e+04 1 3.72e-02 1.81e+00 49 6.446741e+03 3.60e+01 5.87e+05 1.64e+02 5.93e-01 8.64e+04 1 3.73e-02 1.85e+00 50 6.412302e+03 3.44e+01 5.33e+05 1.64e+02 6.16e-01 8.75e+04 1 3.74e-02 1.89e+00 Bundle adjustment report ------------------------ Residuals : 26362 Parameters : 14023 Iterations : 51 Time : 1.88645 [s] Initial cost : 0.572433 [px] Final cost : 0.493194 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 6 => Filtered observations: 2 => Changed observations: 0.000607 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 6.417754e+03 0.00e+00 5.14e+05 0.00e+00 0.00e+00 1.00e+04 0 2.49e-02 4.68e-02 1 6.371345e+03 4.64e+01 8.53e+03 1.79e+01 1.00e+00 3.00e+04 1 3.88e-02 8.56e-02 2 6.360974e+03 1.04e+01 6.38e+04 5.62e+01 9.71e-01 9.00e+04 1 3.73e-02 1.23e-01 3 6.348998e+03 1.20e+01 4.70e+05 1.67e+02 3.88e-01 8.90e+04 1 3.80e-02 1.61e-01 4 6.316336e+03 3.27e+01 4.15e+05 1.64e+02 6.76e-01 9.31e+04 1 3.73e-02 1.98e-01 5 6.286599e+03 2.97e+01 3.99e+05 1.69e+02 6.53e-01 9.58e+04 1 3.73e-02 2.36e-01 6 6.256003e+03 3.06e+01 3.71e+05 1.72e+02 6.68e-01 9.96e+04 1 3.73e-02 2.73e-01 7 6.225749e+03 3.03e+01 3.49e+05 1.77e+02 6.63e-01 1.03e+05 1 3.74e-02 3.10e-01 8 6.195182e+03 3.06e+01 3.25e+05 1.81e+02 6.62e-01 1.07e+05 1 3.74e-02 3.48e-01 9 6.164477e+03 3.07e+01 3.19e+05 1.85e+02 6.56e-01 1.10e+05 1 3.73e-02 3.85e-01 10 6.133543e+03 3.09e+01 3.45e+05 1.88e+02 6.50e-01 1.13e+05 1 3.75e-02 4.23e-01 11 6.102457e+03 3.11e+01 3.71e+05 1.90e+02 6.42e-01 1.16e+05 1 3.74e-02 4.60e-01 12 6.071263e+03 3.12e+01 3.96e+05 1.92e+02 6.34e-01 1.18e+05 1 3.74e-02 4.97e-01 13 6.040040e+03 3.12e+01 4.20e+05 1.92e+02 6.25e-01 1.20e+05 1 3.75e-02 5.35e-01 14 6.008862e+03 3.12e+01 4.42e+05 1.92e+02 6.16e-01 1.22e+05 1 3.75e-02 5.72e-01 15 5.977806e+03 3.11e+01 4.63e+05 1.91e+02 6.08e-01 1.23e+05 1 3.74e-02 6.10e-01 16 5.946946e+03 3.09e+01 4.82e+05 1.90e+02 5.99e-01 1.24e+05 1 3.74e-02 6.47e-01 17 5.916354e+03 3.06e+01 5.00e+05 1.88e+02 5.91e-01 1.25e+05 1 3.74e-02 6.85e-01 18 5.886094e+03 3.03e+01 5.17e+05 1.85e+02 5.82e-01 1.25e+05 1 4.19e-02 7.27e-01 19 5.856226e+03 2.99e+01 5.33e+05 1.82e+02 5.73e-01 1.26e+05 1 3.74e-02 7.64e-01 20 5.826804e+03 2.94e+01 5.48e+05 1.79e+02 5.64e-01 1.26e+05 1 3.74e-02 8.02e-01 21 5.797875e+03 2.89e+01 5.62e+05 1.76e+02 5.55e-01 1.26e+05 1 3.74e-02 8.39e-01 22 5.769481e+03 2.84e+01 5.76e+05 1.73e+02 5.46e-01 1.26e+05 1 3.74e-02 8.77e-01 23 5.741659e+03 2.78e+01 5.89e+05 1.69e+02 5.37e-01 1.26e+05 1 3.74e-02 9.14e-01 24 5.714439e+03 2.72e+01 6.02e+05 1.65e+02 5.26e-01 1.26e+05 1 3.74e-02 9.51e-01 25 5.687846e+03 2.66e+01 6.14e+05 1.62e+02 5.16e-01 1.26e+05 1 3.72e-02 9.89e-01 26 5.661900e+03 2.59e+01 6.26e+05 1.58e+02 5.05e-01 1.26e+05 1 4.19e-02 1.03e+00 27 5.636613e+03 2.53e+01 6.37e+05 1.54e+02 4.94e-01 1.26e+05 1 3.73e-02 1.07e+00 28 5.611990e+03 2.46e+01 6.48e+05 1.51e+02 4.83e-01 1.26e+05 1 3.74e-02 1.11e+00 29 5.588030e+03 2.40e+01 6.58e+05 1.47e+02 4.72e-01 1.26e+05 1 3.74e-02 1.14e+00 30 5.564725e+03 2.33e+01 6.67e+05 1.43e+02 4.61e-01 1.26e+05 1 3.81e-02 1.18e+00 31 5.542060e+03 2.27e+01 6.74e+05 1.39e+02 4.51e-01 1.26e+05 1 3.78e-02 1.22e+00 32 5.520021e+03 2.20e+01 6.79e+05 1.36e+02 4.42e-01 1.26e+05 1 3.76e-02 1.26e+00 33 5.498597e+03 2.14e+01 6.81e+05 1.32e+02 4.35e-01 1.26e+05 1 3.76e-02 1.29e+00 34 5.477785e+03 2.08e+01 6.80e+05 1.28e+02 4.30e-01 1.25e+05 1 3.74e-02 1.33e+00 35 5.457591e+03 2.02e+01 6.76e+05 1.24e+02 4.26e-01 1.25e+05 1 3.75e-02 1.37e+00 36 5.438031e+03 1.96e+01 6.69e+05 1.20e+02 4.24e-01 1.24e+05 1 3.75e-02 1.41e+00 37 5.419123e+03 1.89e+01 6.58e+05 1.16e+02 4.24e-01 1.24e+05 1 3.73e-02 1.44e+00 38 5.400889e+03 1.82e+01 6.43e+05 1.12e+02 4.25e-01 1.23e+05 1 3.74e-02 1.48e+00 39 5.383347e+03 1.75e+01 6.26e+05 1.08e+02 4.28e-01 1.23e+05 1 3.75e-02 1.52e+00 40 5.366514e+03 1.68e+01 6.05e+05 1.04e+02 4.33e-01 1.23e+05 1 3.76e-02 1.56e+00 41 5.350401e+03 1.61e+01 5.81e+05 1.01e+02 4.40e-01 1.23e+05 1 3.74e-02 1.59e+00 42 5.335016e+03 1.54e+01 5.54e+05 9.73e+01 4.48e-01 1.22e+05 1 3.75e-02 1.63e+00 43 5.320365e+03 1.47e+01 5.25e+05 9.39e+01 4.59e-01 1.22e+05 1 3.74e-02 1.67e+00 44 5.306453e+03 1.39e+01 4.93e+05 9.06e+01 4.73e-01 1.22e+05 1 3.76e-02 1.71e+00 45 5.293287e+03 1.32e+01 4.59e+05 8.74e+01 4.89e-01 1.22e+05 1 4.25e-02 1.75e+00 46 5.280878e+03 1.24e+01 4.23e+05 8.42e+01 5.08e-01 1.22e+05 1 3.73e-02 1.79e+00 47 5.269245e+03 1.16e+01 3.85e+05 8.12e+01 5.29e-01 1.22e+05 1 3.72e-02 1.82e+00 48 5.258406e+03 1.08e+01 3.47e+05 7.82e+01 5.52e-01 1.23e+05 1 3.75e-02 1.86e+00 49 5.248374e+03 1.00e+01 3.10e+05 7.53e+01 5.75e-01 1.23e+05 1 3.74e-02 1.90e+00 50 5.239137e+03 9.24e+00 2.75e+05 7.27e+01 5.97e-01 1.24e+05 1 3.75e-02 1.94e+00 Bundle adjustment report ------------------------ Residuals : 26358 Parameters : 14020 Iterations : 51 Time : 1.93652 [s] Initial cost : 0.493441 [px] Final cost : 0.445834 [px] Termination : No convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 24 Elapsed time: 10.482 [minutes]