Datasets:

rishitdagli
/

nerf-gs-datasets


	==============================================================================
	Feature extraction
	==============================================================================

	Processed file [1/62]
	Name: DJI_20200223_163016_842.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12849
	Processed file [2/62]
	Name: DJI_20200223_163017_967.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8198
	Processed file [3/62]
	Name: DJI_20200223_163018_942.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8760
	Processed file [4/62]
	Name: DJI_20200223_163019_752.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8417
	Processed file [5/62]
	Name: DJI_20200223_163020_712.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8708
	Processed file [6/62]
	Name: DJI_20200223_163021_627.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9034
	Processed file [7/62]
	Name: DJI_20200223_163022_557.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9621
	Processed file [8/62]
	Name: DJI_20200223_163023_427.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9614
	Processed file [9/62]
	Name: DJI_20200223_163024_597.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9515
	Processed file [10/62]
	Name: DJI_20200223_163025_977.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9313
	Processed file [11/62]
	Name: DJI_20200223_163028_017.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8334
	Processed file [12/62]
	Name: DJI_20200223_163029_038.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8637
	Processed file [13/62]
	Name: DJI_20200223_163029_877.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8406
	Processed file [14/62]
	Name: DJI_20200223_163030_687.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8423
	Processed file [15/62]
	Name: DJI_20200223_163031_602.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13782
	Processed file [16/62]
	Name: DJI_20200223_163032_532.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13230
	Processed file [17/62]
	Name: DJI_20200223_163033_432.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13196
	Processed file [18/62]
	Name: DJI_20200223_163034_287.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13460
	Processed file [19/62]
	Name: DJI_20200223_163035_787.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12190
	Processed file [20/62]
	Name: DJI_20200223_163036_792.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12649
	Processed file [21/62]
	Name: DJI_20200223_163042_402.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13155
	Processed file [22/62]
	Name: DJI_20200223_163043_257.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13040
	Processed file [23/62]
	Name: DJI_20200223_163045_537.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12895
	Processed file [24/62]
	Name: DJI_20200223_163046_438.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13946
	Processed file [25/62]
	Name: DJI_20200223_163047_307.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8451
	Processed file [26/62]
	Name: DJI_20200223_163048_057.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8555
	Processed file [27/62]
	Name: DJI_20200223_163049_048.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8661
	Processed file [28/62]
	Name: DJI_20200223_163050_292.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9988
	Processed file [29/62]
	Name: DJI_20200223_163052_122.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9604
	Processed file [30/62]
	Name: DJI_20200223_163053_007.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9730
	Processed file [31/62]
	Name: DJI_20200223_163053_863.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8672
	Processed file [32/62]
	Name: DJI_20200223_163054_672.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8641
	Processed file [33/62]
	Name: DJI_20200223_163055_437.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9077
	Processed file [34/62]
	Name: DJI_20200223_163056_232.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8775
	Processed file [35/62]
	Name: DJI_20200223_163056_982.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8588
	Processed file [36/62]
	Name: DJI_20200223_163057_732.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12830
	Processed file [37/62]
	Name: DJI_20200223_163058_602.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13424
	Processed file [38/62]
	Name: DJI_20200223_163101_047.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12494
	Processed file [39/62]
	Name: DJI_20200223_163101_947.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12384
	Processed file [40/62]
	Name: DJI_20200223_163102_892.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12829
	Processed file [41/62]
	Name: DJI_20200223_163103_777.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13565
	Processed file [42/62]
	Name: DJI_20200223_163104_557.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13616
	Processed file [43/62]
	Name: DJI_20200223_163105_427.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8255
	Processed file [44/62]
	Name: DJI_20200223_163106_343.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8557
	Processed file [45/62]
	Name: DJI_20200223_163156_668.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13483
	Processed file [46/62]
	Name: DJI_20200223_163157_823.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8811
	Processed file [47/62]
	Name: DJI_20200223_163159_803.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9551
	Processed file [48/62]
	Name: DJI_20200223_163200_643.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9409
	Processed file [49/62]
	Name: DJI_20200223_163201_633.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9495
	Processed file [50/62]
	Name: DJI_20200223_163202_443.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 9011
	Processed file [51/62]
	Name: DJI_20200223_163203_267.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8857
	Processed file [52/62]
	Name: DJI_20200223_163204_077.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13783
	Processed file [53/62]
	Name: DJI_20200223_163204_859.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8354
	Processed file [54/62]
	Name: DJI_20200223_163205_713.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 12134
	Processed file [55/62]
	Name: DJI_20200223_163206_598.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13255
	Processed file [56/62]
	Name: DJI_20200223_163208_008.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 11354
	Processed file [57/62]
	Name: DJI_20200223_163208_938.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 10686
	Processed file [58/62]
	Name: DJI_20200223_163209_763.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 11215
	Processed file [59/62]
	Name: DJI_20200223_163210_513.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 11928
	Processed file [60/62]
	Name: DJI_20200223_163222_378.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13452
	Processed file [61/62]
	Name: DJI_20200223_163224_103.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 13585
	Processed file [62/62]
	Name: DJI_20200223_163225_243.jpg
	Dimensions: 4032 x 3024
	Camera: #1 - SIMPLE_RADIAL
	Focal Length: 3225.60px (Prior)
	Features: 8836
	Elapsed time: 0.117 [minutes]

	==============================================================================
	Exhaustive feature matching
	==============================================================================

	Matching block [1/2, 1/2] in 39.140s
	Matching block [1/2, 2/2] in 1.973s
	Matching block [2/2, 1/2] in 14.243s
	Matching block [2/2, 2/2] in 1.578s
	Elapsed time: 0.953 [minutes]

	==============================================================================
	Loading database
	==============================================================================

	Loading cameras... 1 in 0.000s
	Loading matches... 1891 in 0.045s
	Loading images... 62 in 0.024s (connected 62)
	Building correspondence graph... in 0.483s (ignored 0)

	Elapsed time: 0.009 [minutes]


	==============================================================================
	Initializing with image pair #23 and #37
	==============================================================================


	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.115519e+03 0.00e+00 4.11e+05 0.00e+00 0.00e+00 1.00e+04 0 5.84e-03 1.53e-02
	1 5.177896e+02 5.98e+02 1.98e+05 3.19e+00 9.20e-01 2.45e+04 1 8.46e-03 2.38e-02
	2 4.481811e+02 6.96e+01 4.33e+04 4.79e+00 9.66e-01 7.34e+04 1 7.91e-03 3.17e-02
	3 4.439861e+02 4.20e+00 1.35e+03 6.62e+00 9.97e-01 2.20e+05 1 7.86e-03 3.96e-02
	4 4.437088e+02 2.77e-01 1.57e+03 6.09e+00 9.64e-01 6.61e+05 1 7.86e-03 4.75e-02
	5 4.436968e+02 1.20e-02 1.03e+04 8.09e+00 4.88e-02 3.81e+05 1 7.87e-03 5.53e-02
	6 4.433699e+02 3.27e-01 2.96e+03 4.03e+00 9.47e-01 1.14e+06 1 7.88e-03 6.32e-02
	7 4.438458e+02 -4.76e-01 0.00e+00 1.00e+01 -1.75e+00 5.71e+05 1 2.53e-03 6.58e-02
	8 4.432731e+02 9.68e-02 5.53e+03 5.45e+00 6.00e-01 5.76e+05 1 7.87e-03 7.37e-02
	9 4.431346e+02 1.38e-01 4.67e+03 5.02e+00 7.50e-01 6.58e+05 1 7.90e-03 8.16e-02
	10 4.430282e+02 1.06e-01 4.95e+03 5.18e+00 6.71e-01 6.85e+05 1 7.93e-03 8.95e-02
	11 4.429214e+02 1.07e-01 4.33e+03 4.86e+00 7.27e-01 7.56e+05 1 7.94e-03 9.75e-02
	12 4.428353e+02 8.61e-02 4.17e+03 4.78e+00 6.97e-01 8.05e+05 1 7.91e-03 1.05e-01
	13 4.427576e+02 7.77e-02 3.70e+03 4.51e+00 7.24e-01 8.85e+05 1 7.86e-03 1.13e-01
	14 4.426942e+02 6.34e-02 3.42e+03 4.35e+00 7.14e-01 9.60e+05 1 7.86e-03 1.21e-01
	15 4.426402e+02 5.41e-02 3.02e+03 4.09e+00 7.31e-01 1.06e+06 1 7.86e-03 1.29e-01
	16 4.425967e+02 4.35e-02 2.72e+03 3.89e+00 7.29e-01 1.18e+06 1 7.87e-03 1.37e-01
	17 4.425612e+02 3.55e-02 2.36e+03 3.64e+00 7.43e-01 1.33e+06 1 7.86e-03 1.45e-01
	18 4.425336e+02 2.76e-02 2.06e+03 3.40e+00 7.46e-01 1.51e+06 1 7.92e-03 1.53e-01
	19 4.425124e+02 2.13e-02 1.74e+03 3.13e+00 7.60e-01 1.76e+06 1 7.87e-03 1.61e-01
	20 4.424968e+02 1.56e-02 1.46e+03 2.87e+00 7.68e-01 2.08e+06 1 7.86e-03 1.68e-01
	21 4.424857e+02 1.11e-02 1.17e+03 2.57e+00 7.86e-01 2.56e+06 1 7.86e-03 1.76e-01
	22 4.424783e+02 7.35e-03 9.08e+02 2.27e+00 8.00e-01 3.26e+06 1 7.85e-03 1.84e-01
	23 4.424738e+02 4.52e-03 6.56e+02 1.93e+00 8.25e-01 4.50e+06 1 7.85e-03 1.92e-01
	24 4.424714e+02 2.43e-03 4.38e+02 1.58e+00 8.51e-01 6.86e+06 1 7.90e-03 2.00e-01
	25 4.424703e+02 1.08e-03 2.43e+02 1.18e+00 8.91e-01 1.31e+07 1 7.86e-03 2.08e-01
	26 4.424700e+02 3.31e-04 9.94e+01 7.53e-01 9.38e-01 3.94e+07 1 7.91e-03 2.16e-01
	27 4.424699e+02 4.85e-05 1.84e+01 3.24e-01 9.85e-01 1.18e+08 1 7.86e-03 2.24e-01
	28 4.424699e+02 1.33e-06 1.85e+00 5.15e-02 1.00e+00 3.55e+08 1 7.90e-03 2.31e-01
	29 4.424699e+02 2.37e-09 3.05e-02 2.91e-03 1.01e+00 1.06e+09 1 7.86e-03 2.39e-01


	Bundle adjustment report
	------------------------
	Residuals : 9780
	Parameters : 7342
	Iterations : 30
	Time : 0.23976 [s]
	Initial cost : 0.33773 [px]
	Final cost : 0.212702 [px]
	Termination : Convergence

	=> Filtered observations: 0
	=> Filtered images: 0

	==============================================================================
	Registering image #36 (3)
	==============================================================================

	=> Image sees 1901 / 9751 points

	Pose refinement report
	----------------------
	Residuals : 3802
	Parameters : 8
	Iterations : 13
	Time : 0.0466001 [s]
	Initial cost : 0.404088 [px]
	Final cost : 0.368368 [px]
	Termination : Convergence

	=> Continued observations: 1901
	=> Added observations: 7335

	Bundle adjustment report
	------------------------
	Residuals : 28252
	Parameters : 17185
	Iterations : 26
	Time : 0.703662 [s]
	Initial cost : 0.614719 [px]
	Final cost : 0.293214 [px]
	Termination : No convergence

	=> Merged observations: 4
	=> Completed observations: 47
	=> Filtered observations: 353
	=> Changed observations: 0.028600

	Bundle adjustment report
	------------------------
	Residuals : 26950
	Parameters : 16243
	Iterations : 9
	Time : 0.236927 [s]
	Initial cost : 0.326678 [px]
	Final cost : 0.316996 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 13
	=> Filtered observations: 13
	=> Changed observations: 0.001929

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 0
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.749771e+03 0.00e+00 1.57e+02 0.00e+00 0.00e+00 1.00e+04 0 1.69e-02 4.03e-02
	1 2.741389e+03 8.38e+00 8.72e+01 2.02e+00 1.00e+00 3.00e+04 1 2.62e-02 6.66e-02
	2 2.741381e+03 8.68e-03 2.13e+01 2.35e-01 1.00e+00 9.00e+04 1 2.45e-02 9.10e-02
	3 2.741381e+03 2.26e-04 1.91e+00 7.03e-02 1.01e+00 2.70e+05 1 2.44e-02 1.16e-01
	4 2.741381e+03 9.60e-06 1.71e+00 3.53e-02 1.00e+00 8.10e+05 1 2.45e-02 1.40e-01
	5 2.741381e+03 1.99e-06 1.49e+00 3.92e-02 1.00e+00 2.43e+06 1 2.43e-02 1.64e-01
	6 2.741381e+03 2.27e-07 1.64e+00 1.68e-02 1.00e+00 7.29e+06 1 2.46e-02 1.89e-01
	7 2.741381e+03 4.80e-09 3.38e-01 2.63e-03 1.03e+00 2.19e+07 1 2.46e-02 2.14e-01
	8 2.741381e+03 -3.59e-11 0.00e+00 1.54e-04 -2.17e+00 1.09e+07 1 8.26e-03 2.22e-01
	9 2.741381e+03 -5.00e-12 0.00e+00 1.51e-04 -3.03e-01 2.73e+06 1 7.95e-03 2.30e-01
	10 2.741381e+03 2.41e-11 1.88e-02 1.37e-04 1.48e+00 8.20e+06 1 2.40e-02 2.54e-01


	Bundle adjustment report
	------------------------
	Residuals : 26922
	Parameters : 16219
	Iterations : 11
	Time : 0.254918 [s]
	Initial cost : 0.319591 [px]
	Final cost : 0.319103 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 0
	=> Filtered observations: 2
	=> Changed observations: 0.000149
	=> Filtered images: 0

	==============================================================================
	Registering image #21 (4)
	==============================================================================

	=> Image sees 3665 / 9928 points

	Pose refinement report
	----------------------
	Residuals : 7334
	Parameters : 6
	Iterations : 10
	Time : 0.0636489 [s]
	Initial cost : 0.55434 [px]
	Final cost : 0.449759 [px]
	Termination : Convergence

	=> Continued observations: 3663
	=> Added observations: 3588

	Bundle adjustment report
	------------------------
	Residuals : 41418
	Parameters : 21046
	Iterations : 22
	Time : 0.974846 [s]
	Initial cost : 0.360132 [px]
	Final cost : 0.335012 [px]
	Termination : Convergence

	=> Merged observations: 33
	=> Completed observations: 230
	=> Filtered observations: 109
	=> Changed observations: 0.017963

	Bundle adjustment report
	------------------------
	Residuals : 41632
	Parameters : 21142
	Iterations : 8
	Time : 0.36216 [s]
	Initial cost : 0.384354 [px]
	Final cost : 0.374671 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 80
	=> Filtered observations: 3
	=> Changed observations: 0.003987

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 1
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 6.031615e+03 0.00e+00 5.47e+03 0.00e+00 0.00e+00 1.00e+04 0 2.82e-02 6.77e-02
	1 6.011154e+03 2.05e+01 5.32e+02 3.99e+00 1.00e+00 3.00e+04 1 4.64e-02 1.14e-01
	2 6.010935e+03 2.18e-01 3.54e+02 2.09e+00 1.00e+00 9.00e+04 1 4.27e-02 1.57e-01
	3 6.010871e+03 6.41e-02 1.46e+02 1.66e+00 1.00e+00 2.70e+05 1 4.22e-02 1.99e-01
	4 6.010865e+03 6.22e-03 4.12e+01 5.36e-01 1.00e+00 8.10e+05 1 4.20e-02 2.41e-01
	5 6.010865e+03 3.18e-04 8.21e+00 3.62e-01 1.00e+00 2.43e+06 1 4.21e-02 2.83e-01
	6 6.010865e+03 2.64e-05 2.00e+00 1.60e-01 1.01e+00 7.29e+06 1 4.17e-02 3.25e-01
	7 6.010865e+03 5.40e-07 1.96e+00 2.50e-02 1.01e+00 2.19e+07 1 4.18e-02 3.67e-01
	8 6.010865e+03 2.25e-09 3.44e-01 1.53e-03 1.02e+00 6.56e+07 1 4.18e-02 4.09e-01
	9 6.010865e+03 -5.91e-11 0.00e+00 5.61e-05 -1.40e+01 3.28e+07 1 1.51e-02 4.24e-01
	10 6.010865e+03 -5.09e-11 0.00e+00 5.58e-05 -1.22e+01 8.20e+06 1 1.45e-02 4.38e-01
	11 6.010865e+03 5.46e-12 1.53e-02 5.40e-05 6.20e-01 8.32e+06 1 4.19e-02 4.80e-01


	Bundle adjustment report
	------------------------
	Residuals : 41782
	Parameters : 21235
	Iterations : 12
	Time : 0.482308 [s]
	Initial cost : 0.379946 [px]
	Final cost : 0.379292 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 0
	=> Filtered observations: 16
	=> Changed observations: 0.000766

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 5.933520e+03 0.00e+00 1.40e+02 0.00e+00 0.00e+00 1.00e+04 0 3.13e-02 6.98e-02
	1 5.933250e+03 2.70e-01 4.35e+01 1.53e+00 1.00e+00 3.00e+04 1 4.76e-02 1.17e-01
	2 5.933197e+03 5.38e-02 3.14e+01 2.13e+00 1.00e+00 9.00e+04 1 4.23e-02 1.60e-01
	3 5.933174e+03 2.25e-02 2.31e+01 2.28e+00 1.00e+00 2.70e+05 1 4.23e-02 2.02e-01
	4 5.933169e+03 4.82e-03 1.95e+00 2.06e+00 1.00e+00 8.10e+05 1 4.21e-02 2.44e-01
	5 5.933168e+03 1.45e-03 2.45e+01 1.66e+00 1.00e+00 2.43e+06 1 4.19e-02 2.86e-01
	6 5.933168e+03 1.64e-04 4.69e+00 6.65e-01 1.01e+00 7.29e+06 1 5.15e-02 3.38e-01
	7 5.933168e+03 3.42e-06 1.69e+00 1.03e-01 1.01e+00 2.19e+07 1 4.47e-02 3.82e-01
	8 5.933168e+03 1.46e-08 7.79e-01 6.34e-03 1.04e+00 6.56e+07 1 4.18e-02 4.24e-01
	9 5.933168e+03 -1.56e-10 0.00e+00 2.31e-04 -6.60e+00 3.28e+07 1 1.50e-02 4.39e-01
	10 5.933168e+03 -1.21e-10 0.00e+00 2.30e-04 -5.35e+00 8.20e+06 1 1.46e-02 4.54e-01
	11 5.933168e+03 -8.19e-11 0.00e+00 2.23e-04 -3.93e+00 1.03e+06 1 1.47e-02 4.69e-01
	12 5.933168e+03 -1.26e-10 0.00e+00 1.72e-04 -5.73e+00 6.41e+04 1 1.46e-02 4.83e-01
	13 5.933168e+03 -1.02e-10 0.00e+00 4.00e-05 -7.49e+00 2.00e+03 1 1.47e-02 4.98e-01
	14 5.933168e+03 -1.38e-10 0.00e+00 5.10e-06 -1.62e+01 3.13e+01 1 1.45e-02 5.12e-01
	15 5.933168e+03 -1.38e-10 0.00e+00 6.10e-07 -3.82e+01 2.44e-01 1 1.46e-02 5.27e-01
	16 5.933168e+03 -8.09e-11 0.00e+00 3.62e-08 -7.87e+01 9.55e-04 1 1.46e-02 5.42e-01
	17 5.933168e+03 -1.53e-10 0.00e+00 1.80e-10 -2.01e+04 1.86e-06 1 1.46e-02 5.56e-01
	18 5.933168e+03 -3.27e-11 0.00e+00 3.40e-13 -3.38e+06 1.82e-09 1 1.46e-02 5.71e-01


	Bundle adjustment report
	------------------------
	Residuals : 41728
	Parameters : 21202
	Iterations : 19
	Time : 0.587975 [s]
	Initial cost : 0.377088 [px]
	Final cost : 0.377077 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 0
	=> Filtered observations: 0
	=> Changed observations: 0.000000
	=> Filtered images: 0

	==============================================================================
	Registering image #22 (5)
	==============================================================================

	=> Image sees 4562 / 9977 points

	Pose refinement report
	----------------------
	Residuals : 9160
	Parameters : 6
	Iterations : 13
	Time : 0.097044 [s]
	Initial cost : 0.559331 [px]
	Final cost : 0.483247 [px]
	Termination : Convergence

	=> Continued observations: 4560
	=> Added observations: 2385

	Bundle adjustment report
	------------------------
	Residuals : 55618
	Parameters : 24148
	Iterations : 26
	Time : 0.850947 [s]
	Initial cost : 0.404144 [px]
	Final cost : 0.377871 [px]
	Termination : No convergence

	=> Merged observations: 94
	=> Completed observations: 258
	=> Filtered observations: 169
	=> Changed observations: 0.018735

	Bundle adjustment report
	------------------------
	Residuals : 55752
	Parameters : 24139
	Iterations : 9
	Time : 0.335261 [s]
	Initial cost : 0.436442 [px]
	Final cost : 0.426313 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 87
	=> Filtered observations: 1
	=> Changed observations: 0.003157

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 4
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.039870e+04 0.00e+00 9.53e+03 0.00e+00 0.00e+00 1.00e+04 0 1.88e-02 7.54e-02
	1 1.036899e+04 2.97e+01 6.42e+00 8.04e+00 1.00e+00 3.00e+04 1 4.40e-02 1.19e-01
	2 1.036886e+04 1.30e-01 3.51e+00 2.34e+00 1.00e+00 9.00e+04 1 3.13e-02 1.51e-01
	3 1.036884e+04 1.37e-02 2.17e+01 1.88e+00 1.00e+00 2.70e+05 1 2.93e-02 1.80e-01
	4 1.036884e+04 5.94e-03 2.15e+01 2.24e+00 1.00e+00 8.10e+05 1 2.96e-02 2.10e-01
	5 1.036883e+04 2.70e-03 5.51e+01 2.10e+00 1.00e+00 2.43e+06 1 3.04e-02 2.40e-01
	6 1.036883e+04 3.61e-04 1.20e+01 9.39e-01 1.00e+00 7.29e+06 1 3.07e-02 2.71e-01
	7 1.036883e+04 8.84e-06 8.65e-01 1.59e-01 1.01e+00 2.19e+07 1 3.10e-02 3.02e-01
	8 1.036883e+04 4.40e-08 1.14e+00 1.03e-02 1.03e+00 6.56e+07 1 3.19e-02 3.34e-01
	9 1.036883e+04 -2.11e-10 0.00e+00 4.18e-04 -1.81e+00 3.28e+07 1 2.17e-02 3.56e-01
	10 1.036883e+04 -8.55e-11 0.00e+00 4.16e-04 -5.49e-01 8.20e+06 1 2.17e-02 3.77e-01
	11 1.036883e+04 -1.02e-10 0.00e+00 4.01e-04 -7.14e-01 1.03e+06 1 2.23e-02 4.00e-01
	12 1.036883e+04 -2.36e-10 0.00e+00 3.03e-04 -2.16e+00 6.41e+04 1 2.25e-02 4.22e-01
	13 1.036883e+04 5.46e-12 1.87e-02 6.93e-05 5.85e-01 6.44e+04 1 3.04e-02 4.53e-01


	Bundle adjustment report
	------------------------
	Residuals : 55928
	Parameters : 24226
	Iterations : 14
	Time : 0.456433 [s]
	Initial cost : 0.431196 [px]
	Final cost : 0.430576 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 0
	=> Filtered observations: 6
	=> Changed observations: 0.000215
	=> Filtered images: 0

	==============================================================================
	Registering image #20 (6)
	==============================================================================

	=> Image sees 4636 / 9517 points

	Pose refinement report
	----------------------
	Residuals : 9290
	Parameters : 6
	Iterations : 38
	Time : 0.314961 [s]
	Initial cost : 0.716994 [px]
	Final cost : 0.616792 [px]
	Termination : Convergence

	=> Continued observations: 4629
	=> Added observations: 2717

	Bundle adjustment report
	------------------------
	Residuals : 70582
	Parameters : 27424
	Iterations : 26
	Time : 1.01307 [s]
	Initial cost : 0.483762 [px]
	Final cost : 0.431745 [px]
	Termination : No convergence

	=> Merged observations: 81
	=> Completed observations: 215
	=> Filtered observations: 278
	=> Changed observations: 0.016265

	Bundle adjustment report
	------------------------
	Residuals : 70362
	Parameters : 27274
	Iterations : 9
	Time : 0.404836 [s]
	Initial cost : 0.514652 [px]
	Final cost : 0.501764 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 66
	=> Filtered observations: 2
	=> Changed observations: 0.002501

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 5
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.792680e+04 0.00e+00 2.92e+03 0.00e+00 0.00e+00 1.00e+04 0 2.46e-02 9.96e-02
	1 1.789709e+04 2.97e+01 1.68e+01 5.99e+00 1.00e+00 3.00e+04 1 5.14e-02 1.51e-01
	2 1.789700e+04 8.71e-02 2.70e+01 9.73e-01 1.00e+00 9.00e+04 1 3.92e-02 1.90e-01
	3 1.789699e+04 9.34e-03 6.30e+01 1.09e+00 9.96e-01 2.70e+05 1 3.75e-02 2.28e-01
	4 1.789698e+04 9.03e-03 1.08e+02 2.10e+00 9.98e-01 8.10e+05 1 3.76e-02 2.65e-01
	5 1.789698e+04 3.98e-03 7.86e+01 2.02e+00 1.00e+00 2.43e+06 1 3.85e-02 3.04e-01
	6 1.789698e+04 4.31e-04 1.16e+01 8.06e-01 1.01e+00 7.29e+06 1 3.84e-02 3.42e-01
	7 1.789698e+04 8.75e-06 1.70e+00 1.22e-01 1.02e+00 2.19e+07 1 3.86e-02 3.81e-01
	8 1.789698e+04 4.53e-08 9.30e-01 7.89e-03 1.04e+00 6.56e+07 1 4.04e-02 4.22e-01
	9 1.789698e+04 1.93e-10 6.05e-02 3.86e-04 1.28e+00 1.97e+08 1 4.07e-02 4.62e-01


	Bundle adjustment report
	------------------------
	Residuals : 70500
	Parameters : 27328
	Iterations : 10
	Time : 0.467611 [s]
	Initial cost : 0.504263 [px]
	Final cost : 0.503843 [px]
	Termination : Convergence

	=> Merged observations: 1
	=> Completed observations: 0
	=> Filtered observations: 3
	=> Changed observations: 0.000113
	=> Filtered images: 0

	==============================================================================
	Registering image #15 (7)
	==============================================================================

	=> Image sees 4958 / 10067 points

	Pose refinement report
	----------------------
	Residuals : 9900
	Parameters : 6
	Iterations : 18
	Time : 0.143569 [s]
	Initial cost : 0.718898 [px]
	Final cost : 0.550468 [px]
	Termination : Convergence

	=> Continued observations: 4932
	=> Added observations: 4255

	Bundle adjustment report
	------------------------
	Residuals : 84394
	Parameters : 25837
	Iterations : 26
	Time : 1.15205 [s]
	Initial cost : 0.488817 [px]
	Final cost : 0.460799 [px]
	Termination : No convergence

	=> Merged observations: 126
	=> Completed observations: 293
	=> Filtered observations: 299
	=> Changed observations: 0.017015

	Bundle adjustment report
	------------------------
	Residuals : 84344
	Parameters : 25729
	Iterations : 4
	Time : 0.238299 [s]
	Initial cost : 0.549535 [px]
	Final cost : 0.537475 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 94
	=> Filtered observations: 3
	=> Changed observations: 0.002774

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 4
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.569157e+04 0.00e+00 1.09e+05 0.00e+00 0.00e+00 1.00e+04 0 2.95e-02 1.26e-01
	1 2.521736e+04 4.74e+02 6.05e+05 4.11e+01 9.27e-01 2.65e+04 1 6.21e-02 1.88e-01
	2 2.513105e+04 8.63e+01 2.02e+05 3.20e+01 9.56e-01 7.95e+04 1 4.54e-02 2.34e-01
	3 2.508649e+04 4.46e+01 2.41e+05 8.49e+01 8.61e-01 1.28e+05 1 4.46e-02 2.78e-01
	4 2.504443e+04 4.21e+01 2.11e+05 1.06e+02 8.75e-01 2.21e+05 1 4.54e-02 3.24e-01
	5 2.501486e+04 2.96e+01 2.15e+05 1.14e+02 8.22e-01 3.01e+05 1 4.51e-02 3.69e-01
	6 2.499709e+04 1.78e+01 1.16e+05 8.43e+01 9.05e-01 6.43e+05 1 4.38e-02 4.13e-01
	7 2.499099e+04 6.10e+00 6.83e+04 6.44e+01 9.04e-01 1.36e+06 1 4.63e-02 4.59e-01
	8 2.498965e+04 1.34e+00 1.34e+04 2.86e+01 9.85e-01 4.08e+06 1 4.45e-02 5.04e-01
	9 2.498959e+04 5.99e-02 8.11e+02 7.11e+00 1.01e+00 1.22e+07 1 4.63e-02 5.50e-01
	10 2.498959e+04 4.30e-04 6.42e+00 6.85e-01 1.03e+00 3.67e+07 1 4.48e-02 5.95e-01
	11 2.498959e+04 1.30e-06 1.50e+00 3.62e-02 1.05e+00 1.10e+08 1 4.97e-02 6.44e-01
	12 2.498959e+04 3.69e-09 3.79e-01 1.85e-03 1.07e+00 3.31e+08 1 4.67e-02 6.91e-01
	13 2.498959e+04 -4.00e-10 0.00e+00 8.74e-05 -4.24e+01 1.65e+08 1 3.12e-02 7.22e-01
	14 2.498959e+04 -1.16e-10 0.00e+00 8.73e-05 -9.33e+00 4.13e+07 1 3.31e-02 7.56e-01
	15 2.498959e+04 -4.15e-10 0.00e+00 8.68e-05 -4.41e+01 5.17e+06 1 3.06e-02 7.86e-01
	16 2.498959e+04 -4.22e-10 0.00e+00 8.20e-05 -4.50e+01 3.23e+05 1 3.13e-02 8.18e-01
	17 2.498959e+04 -4.44e-10 0.00e+00 4.33e-05 -5.44e+01 1.01e+04 1 3.16e-02 8.49e-01
	18 2.498959e+04 -4.44e-10 0.00e+00 4.40e-06 -8.73e+01 1.58e+02 1 3.15e-02 8.81e-01
	19 2.498959e+04 -2.00e-10 0.00e+00 4.68e-07 -5.00e+01 1.23e+00 1 3.15e-02 9.12e-01
	20 2.498959e+04 -3.35e-10 0.00e+00 2.52e-08 -1.50e+02 4.81e-03 1 3.17e-02 9.44e-01
	21 2.498959e+04 -6.40e-10 0.00e+00 1.17e-10 -2.07e+04 9.40e-06 1 3.19e-02 9.76e-01
	22 2.498959e+04 -3.75e-10 0.00e+00 2.16e-13 -5.87e+06 9.18e-09 1 3.28e-02 1.01e+00
	23 2.498959e+04 -3.64e-11 0.00e+00 6.94e-18 0.00e+00 4.48e-12 1 3.06e-02 1.04e+00


	Bundle adjustment report
	------------------------
	Residuals : 88988
	Parameters : 32473
	Iterations : 24
	Time : 1.07728 [s]
	Initial cost : 0.537316 [px]
	Final cost : 0.529924 [px]
	Termination : Convergence

	=> Merged observations: 21
	=> Completed observations: 8
	=> Filtered observations: 6
	=> Changed observations: 0.000787

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.508276e+04 0.00e+00 2.15e+04 0.00e+00 0.00e+00 1.00e+04 0 2.88e-02 1.26e-01
	1 2.503496e+04 4.78e+01 1.29e+03 3.38e+00 1.00e+00 3.00e+04 1 6.25e-02 1.88e-01
	2 2.503481e+04 1.56e-01 3.18e+02 9.56e-01 1.00e+00 9.00e+04 1 4.54e-02 2.34e-01
	3 2.503475e+04 5.45e-02 2.87e+02 2.07e+00 9.99e-01 2.70e+05 1 4.65e-02 2.80e-01
	4 2.503469e+04 6.14e-02 5.44e+02 3.78e+00 1.00e+00 8.10e+05 1 4.62e-02 3.26e-01
	5 2.503466e+04 2.72e-02 4.33e+02 3.54e+00 1.00e+00 2.43e+06 1 4.79e-02 3.74e-01
	6 2.503466e+04 2.93e-03 6.48e+01 1.39e+00 1.01e+00 7.29e+06 1 4.89e-02 4.23e-01
	7 2.503466e+04 5.98e-05 1.94e+00 2.08e-01 1.02e+00 2.19e+07 1 4.69e-02 4.70e-01
	8 2.503466e+04 3.22e-07 2.00e+00 1.36e-02 1.04e+00 6.56e+07 1 4.59e-02 5.16e-01
	9 2.503466e+04 1.15e-09 2.02e-01 6.89e-04 1.21e+00 1.97e+08 1 5.17e-02 5.68e-01
	10 2.503466e+04 -2.04e-10 0.00e+00 3.40e-05 -7.96e+01 9.84e+07 1 3.47e-02 6.02e-01
	11 2.503466e+04 3.64e-12 1.05e-02 3.40e-05 2.90e+00 2.95e+08 1 4.56e-02 6.48e-01


	Bundle adjustment report
	------------------------
	Residuals : 89018
	Parameters : 32470
	Iterations : 12
	Time : 0.654438 [s]
	Initial cost : 0.530822 [px]
	Final cost : 0.530313 [px]
	Termination : Convergence

	=> Merged observations: 6
	=> Completed observations: 0
	=> Filtered observations: 1
	=> Changed observations: 0.000157
	=> Filtered images: 0

	==============================================================================
	Registering image #16 (8)
	==============================================================================

	=> Image sees 5631 / 10006 points

	Pose refinement report
	----------------------
	Residuals : 11272
	Parameters : 6
	Iterations : 13
	Time : 0.130678 [s]
	Initial cost : 0.55092 [px]
	Final cost : 0.473042 [px]
	Termination : Convergence

	=> Continued observations: 5606
	=> Added observations: 3343

	Bundle adjustment report
	------------------------
	Residuals : 97040
	Parameters : 24913
	Iterations : 15
	Time : 0.710393 [s]
	Initial cost : 0.477671 [px]
	Final cost : 0.461818 [px]
	Termination : Convergence

	=> Merged observations: 146
	=> Completed observations: 250
	=> Filtered observations: 328
	=> Changed observations: 0.014922

	Bundle adjustment report
	------------------------
	Residuals : 96814
	Parameters : 24757
	Iterations : 4
	Time : 0.255998 [s]
	Initial cost : 0.549213 [px]
	Final cost : 0.539107 [px]
	Termination : Convergence

	=> Merged observations: 33
	=> Completed observations: 105
	=> Filtered observations: 8
	=> Changed observations: 0.003016

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 5
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.089795e+04 0.00e+00 2.90e+05 0.00e+00 0.00e+00 1.00e+04 0 3.34e-02 1.53e-01
	1 3.068469e+04 2.13e+02 1.20e+05 1.47e+01 9.96e-01 3.00e+04 1 7.08e-02 2.24e-01
	2 3.067382e+04 1.09e+01 3.24e+04 9.87e+00 9.93e-01 9.00e+04 1 5.24e-02 2.76e-01
	3 3.066636e+04 7.46e+00 3.47e+04 2.50e+01 9.84e-01 2.70e+05 1 5.50e-02 3.31e-01
	4 3.065813e+04 8.23e+00 6.95e+04 4.48e+01 9.38e-01 8.10e+05 1 5.52e-02 3.87e-01
	5 3.065409e+04 4.04e+00 5.63e+04 4.15e+01 9.19e-01 1.97e+06 1 5.29e-02 4.40e-01
	6 3.065330e+04 7.86e-01 8.06e+03 1.58e+01 9.96e-01 5.90e+06 1 5.57e-02 4.95e-01
	7 3.065328e+04 1.98e-02 2.60e+02 2.91e+00 1.01e+00 1.77e+07 1 5.36e-02 5.49e-01
	8 3.065328e+04 9.18e-05 1.97e+00 2.27e-01 1.04e+00 5.31e+07 1 5.30e-02 6.02e-01
	9 3.065328e+04 2.97e-07 1.97e+00 1.20e-02 1.05e+00 1.59e+08 1 5.53e-02 6.57e-01
	10 3.065328e+04 2.62e-10 2.17e-01 6.17e-04 3.22e-01 1.52e+08 1 5.29e-02 7.10e-01
	11 3.065328e+04 2.07e-10 1.10e-02 3.03e-05 1.08e+02 4.57e+08 1 5.24e-02 7.63e-01


	Bundle adjustment report
	------------------------
	Residuals : 106868
	Parameters : 36409
	Iterations : 12
	Time : 0.770178 [s]
	Initial cost : 0.537701 [px]
	Final cost : 0.535568 [px]
	Termination : Convergence

	=> Merged observations: 6
	=> Completed observations: 5
	=> Filtered observations: 7
	=> Changed observations: 0.000337
	=> Filtered images: 0

	==============================================================================
	Registering image #17 (9)
	==============================================================================

	=> Image sees 5932 / 9898 points

	Pose refinement report
	----------------------
	Residuals : 11940
	Parameters : 6
	Iterations : 11
	Time : 0.109106 [s]
	Initial cost : 0.637694 [px]
	Final cost : 0.471412 [px]
	Termination : Convergence

	=> Continued observations: 5904
	=> Added observations: 3150

	Bundle adjustment report
	------------------------
	Residuals : 109418
	Parameters : 25075
	Iterations : 17
	Time : 0.850354 [s]
	Initial cost : 0.478946 [px]
	Final cost : 0.462812 [px]
	Termination : Convergence

	=> Merged observations: 383
	=> Completed observations: 228
	=> Filtered observations: 369
	=> Changed observations: 0.017913

	Bundle adjustment report
	------------------------
	Residuals : 109088
	Parameters : 24814
	Iterations : 3
	Time : 0.22515 [s]
	Initial cost : 0.545882 [px]
	Final cost : 0.537081 [px]
	Termination : Convergence

	=> Merged observations: 22
	=> Completed observations: 135
	=> Filtered observations: 2
	=> Changed observations: 0.002915

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 10
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.637651e+04 0.00e+00 1.64e+05 0.00e+00 0.00e+00 1.00e+04 0 3.84e-02 1.83e-01
	1 3.622809e+04 1.48e+02 6.00e+04 1.41e+01 9.98e-01 3.00e+04 1 7.98e-02 2.63e-01
	2 3.622275e+04 5.34e+00 5.53e+03 9.44e+00 1.00e+00 9.00e+04 1 6.98e-02 3.33e-01
	3 3.622059e+04 2.16e+00 2.58e+03 1.45e+01 1.00e+00 2.70e+05 1 6.71e-02 4.00e-01
	4 3.621843e+04 2.16e+00 1.44e+04 2.20e+01 9.92e-01 8.10e+05 1 7.10e-02 4.71e-01
	5 3.621760e+04 8.33e-01 1.09e+04 1.84e+01 9.89e-01 2.43e+06 1 6.88e-02 5.40e-01
	6 3.621752e+04 8.33e-02 1.29e+03 6.40e+00 1.01e+00 7.29e+06 1 6.48e-02 6.05e-01
	7 3.621752e+04 1.31e-03 2.15e+01 8.44e-01 1.02e+00 2.19e+07 1 6.43e-02 6.69e-01
	8 3.621752e+04 4.76e-06 1.87e+00 4.84e-02 1.04e+00 6.56e+07 1 6.65e-02 7.36e-01
	9 3.621752e+04 1.10e-08 7.17e-01 2.10e-03 1.06e+00 1.97e+08 1 6.65e-02 8.02e-01
	10 3.621752e+04 6.55e-11 3.50e-02 8.90e-05 5.00e+00 5.90e+08 1 6.52e-02 8.67e-01


	Bundle adjustment report
	------------------------
	Residuals : 124822
	Parameters : 39871
	Iterations : 11
	Time : 0.876094 [s]
	Initial cost : 0.53984 [px]
	Final cost : 0.538659 [px]
	Termination : Convergence

	=> Merged observations: 12
	=> Completed observations: 9
	=> Filtered observations: 15
	=> Changed observations: 0.000577

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.618463e+04 0.00e+00 3.47e+03 0.00e+00 0.00e+00 1.00e+04 0 4.04e-02 1.83e-01
	1 3.616445e+04 2.02e+01 3.12e+02 2.71e+00 1.00e+00 3.00e+04 1 7.86e-02 2.62e-01
	2 3.616440e+04 4.99e-02 1.36e+02 6.91e-01 1.00e+00 9.00e+04 1 6.35e-02 3.25e-01
	3 3.616436e+04 3.72e-02 1.75e+02 1.67e+00 9.99e-01 2.70e+05 1 6.51e-02 3.91e-01
	4 3.616432e+04 3.84e-02 2.97e+02 2.84e+00 1.00e+00 8.10e+05 1 6.42e-02 4.55e-01
	5 3.616431e+04 1.46e-02 1.96e+02 2.41e+00 1.00e+00 2.43e+06 1 6.44e-02 5.19e-01
	6 3.616431e+04 1.27e-03 2.30e+01 8.41e-01 1.01e+00 7.29e+06 1 6.59e-02 5.85e-01
	7 3.616431e+04 2.04e-05 1.99e+00 1.11e-01 1.02e+00 2.19e+07 1 6.30e-02 6.48e-01
	8 3.616431e+04 8.46e-08 1.65e+00 6.38e-03 1.04e+00 6.56e+07 1 6.16e-02 7.10e-01
	9 3.616431e+04 -6.62e-10 0.00e+00 2.77e-04 -3.35e+00 3.28e+07 1 4.33e-02 7.53e-01
	10 3.616431e+04 -2.62e-10 0.00e+00 2.76e-04 -1.23e+00 8.20e+06 1 4.18e-02 7.95e-01
	11 3.616431e+04 -2.33e-10 0.00e+00 2.68e-04 -1.08e+00 1.03e+06 1 4.27e-02 8.38e-01
	12 3.616431e+04 -4.80e-10 0.00e+00 2.15e-04 -2.46e+00 6.41e+04 1 4.14e-02 8.79e-01
	13 3.616431e+04 -4.95e-10 0.00e+00 5.33e-05 -3.95e+00 2.00e+03 1 4.05e-02 9.20e-01
	14 3.616431e+04 -3.86e-10 0.00e+00 5.18e-06 -4.41e+00 3.13e+01 1 4.11e-02 9.61e-01
	15 3.616431e+04 -1.67e-10 0.00e+00 4.92e-07 -2.23e+00 2.44e-01 1 4.09e-02 1.00e+00
	16 3.616431e+04 -2.26e-10 0.00e+00 1.73e-08 -9.39e+00 9.55e-04 1 4.08e-02 1.04e+00
	17 3.616431e+04 -8.00e-10 0.00e+00 7.06e-11 -5.97e+03 1.86e-06 1 4.11e-02 1.08e+00
	18 3.616431e+04 -2.91e-10 0.00e+00 1.29e-13 -1.04e+06 1.82e-09 1 4.07e-02 1.12e+00


	Bundle adjustment report
	------------------------
	Residuals : 124752
	Parameters : 39841
	Iterations : 19
	Time : 1.17319 [s]
	Initial cost : 0.538565 [px]
	Final cost : 0.538414 [px]
	Termination : Convergence

	=> Merged observations: 1
	=> Completed observations: 0
	=> Filtered observations: 1
	=> Changed observations: 0.000032
	=> Filtered images: 0

	==============================================================================
	Registering image #18 (10)
	==============================================================================

	=> Image sees 5863 / 9450 points

	Pose refinement report
	----------------------
	Residuals : 11804
	Parameters : 6
	Iterations : 11
	Time : 0.109661 [s]
	Initial cost : 0.614866 [px]
	Final cost : 0.502859 [px]
	Termination : Convergence

	=> Continued observations: 5849
	=> Added observations: 3292

	Bundle adjustment report
	------------------------
	Residuals : 117802
	Parameters : 23788
	Iterations : 26
	Time : 1.3403 [s]
	Initial cost : 0.480259 [px]
	Final cost : 0.462176 [px]
	Termination : No convergence

	=> Merged observations: 183
	=> Completed observations: 315
	=> Filtered observations: 398
	=> Changed observations: 0.015212

	Bundle adjustment report
	------------------------
	Residuals : 117548
	Parameters : 23602
	Iterations : 3
	Time : 0.233309 [s]
	Initial cost : 0.553825 [px]
	Final cost : 0.54558 [px]
	Termination : Convergence

	=> Merged observations: 40
	=> Completed observations: 122
	=> Filtered observations: 9
	=> Changed observations: 0.002909

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 16
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.240289e+04 0.00e+00 6.34e+04 0.00e+00 0.00e+00 1.00e+04 0 4.68e-02 2.15e-01
	1 4.210581e+04 2.97e+02 1.37e+05 2.22e+01 9.99e-01 3.00e+04 1 9.25e-02 3.07e-01
	2 4.208543e+04 2.04e+01 1.07e+04 2.06e+01 1.00e+00 9.00e+04 1 7.82e-02 3.86e-01
	3 4.206857e+04 1.69e+01 4.69e+04 4.06e+01 9.87e-01 2.70e+05 1 7.82e-02 4.64e-01
	4 4.205286e+04 1.57e+01 1.18e+05 6.19e+01 9.27e-01 7.18e+05 1 7.60e-02 5.40e-01
	5 4.204660e+04 6.25e+00 6.57e+04 4.66e+01 9.44e-01 2.15e+06 1 7.73e-02 6.17e-01
	6 4.204577e+04 8.35e-01 7.78e+03 1.63e+01 9.97e-01 6.46e+06 1 7.73e-02 6.94e-01
	7 4.204576e+04 1.23e-02 1.23e+02 2.10e+00 1.01e+00 1.94e+07 1 7.67e-02 7.71e-01
	8 4.204576e+04 2.45e-05 1.83e+00 1.08e-01 1.03e+00 5.82e+07 1 7.83e-02 8.50e-01
	9 4.204576e+04 3.84e-08 9.90e-01 3.83e-03 1.03e+00 1.75e+08 1 7.60e-02 9.26e-01


	Bundle adjustment report
	------------------------
	Residuals : 142954
	Parameters : 43516
	Iterations : 10
	Time : 0.935036 [s]
	Initial cost : 0.544627 [px]
	Final cost : 0.542329 [px]
	Termination : Convergence

	=> Merged observations: 16
	=> Completed observations: 6
	=> Filtered observations: 45
	=> Changed observations: 0.000937

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.188416e+04 0.00e+00 1.10e+04 0.00e+00 0.00e+00 1.00e+04 0 4.55e-02 2.19e-01
	1 4.183440e+04 4.98e+01 1.97e+02 5.34e+00 1.00e+00 3.00e+04 1 8.74e-02 3.06e-01
	2 4.183421e+04 1.89e-01 1.52e+01 1.11e+00 1.00e+00 9.00e+04 1 7.20e-02 3.78e-01
	3 4.183420e+04 6.44e-03 1.36e+01 6.07e-01 1.00e+00 2.70e+05 1 7.09e-02 4.49e-01
	4 4.183420e+04 5.29e-03 3.74e+01 9.06e-01 1.00e+00 8.10e+05 1 7.21e-02 5.21e-01
	5 4.183420e+04 1.74e-03 2.26e+01 6.99e-01 1.00e+00 2.43e+06 1 7.12e-02 5.92e-01
	6 4.183420e+04 1.24e-04 2.22e+00 2.18e-01 1.01e+00 7.29e+06 1 7.21e-02 6.64e-01
	7 4.183420e+04 1.52e-06 1.98e+00 2.50e-02 1.02e+00 2.19e+07 1 7.25e-02 7.37e-01
	8 4.183420e+04 3.75e-09 4.36e-01 1.19e-03 8.58e-01 3.45e+07 1 7.28e-02 8.10e-01


	Bundle adjustment report
	------------------------
	Residuals : 142710
	Parameters : 43420
	Iterations : 9
	Time : 0.819185 [s]
	Initial cost : 0.541748 [px]
	Final cost : 0.541425 [px]
	Termination : Convergence

	=> Merged observations: 2
	=> Completed observations: 0
	=> Filtered observations: 1
	=> Changed observations: 0.000042
	=> Filtered images: 0

	==============================================================================
	Registering image #19 (11)
	==============================================================================

	=> Image sees 5944 / 8647 points

	Pose refinement report
	----------------------
	Residuals : 12008
	Parameters : 6
	Iterations : 7
	Time : 0.069572 [s]
	Initial cost : 0.515669 [px]
	Final cost : 0.480717 [px]
	Termination : Convergence

	=> Continued observations: 5922
	=> Added observations: 2256

	Bundle adjustment report
	------------------------
	Residuals : 127004
	Parameters : 22213
	Iterations : 25
	Time : 1.32221 [s]
	Initial cost : 0.472194 [px]
	Final cost : 0.458765 [px]
	Termination : Convergence

	=> Merged observations: 322
	=> Completed observations: 223
	=> Filtered observations: 306
	=> Changed observations: 0.013401

	Bundle adjustment report
	------------------------
	Residuals : 126910
	Parameters : 22087
	Iterations : 3
	Time : 0.236609 [s]
	Initial cost : 0.548197 [px]
	Final cost : 0.541544 [px]
	Termination : Convergence

	=> Merged observations: 30
	=> Completed observations: 68
	=> Filtered observations: 5
	=> Changed observations: 0.001623

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 14
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.740462e+04 0.00e+00 2.28e+05 0.00e+00 0.00e+00 1.00e+04 0 4.97e-02 2.41e-01
	1 4.721119e+04 1.93e+02 5.19e+04 1.30e+01 9.99e-01 3.00e+04 1 9.54e-02 3.36e-01
	2 4.720447e+04 6.72e+00 2.74e+03 1.08e+01 1.00e+00 9.00e+04 1 8.24e-02 4.19e-01
	3 4.719961e+04 4.85e+00 7.55e+03 1.84e+01 1.00e+00 2.70e+05 1 8.81e-02 5.07e-01
	4 4.719521e+04 4.40e+00 3.00e+04 2.67e+01 9.85e-01 8.10e+05 1 8.50e-02 5.92e-01
	5 4.719376e+04 1.45e+00 1.78e+04 2.01e+01 9.85e-01 2.43e+06 1 8.40e-02 6.76e-01
	6 4.719364e+04 1.19e-01 1.61e+03 6.10e+00 1.00e+00 7.29e+06 1 8.18e-02 7.58e-01
	7 4.719364e+04 1.31e-03 1.95e+01 6.81e-01 1.01e+00 2.19e+07 1 8.05e-02 8.38e-01
	8 4.719364e+04 3.01e-06 1.78e+00 3.14e-02 1.03e+00 6.56e+07 1 8.12e-02 9.20e-01
	9 4.719364e+04 3.92e-09 3.90e-01 1.04e-03 9.51e-01 1.97e+08 1 8.14e-02 1.00e+00


	Bundle adjustment report
	------------------------
	Residuals : 158958
	Parameters : 45835
	Iterations : 10
	Time : 1.0107 [s]
	Initial cost : 0.546096 [px]
	Final cost : 0.54488 [px]
	Termination : Convergence

	=> Merged observations: 7
	=> Completed observations: 0
	=> Filtered observations: 33
	=> Changed observations: 0.000503

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.706711e+04 0.00e+00 2.27e+03 0.00e+00 0.00e+00 1.00e+04 0 4.94e-02 2.38e-01
	1 4.704746e+04 1.97e+01 8.46e+00 2.36e+00 1.00e+00 3.00e+04 1 9.80e-02 3.36e-01
	2 4.704738e+04 7.44e-02 2.58e+01 7.65e-01 1.00e+00 9.00e+04 1 8.65e-02 4.23e-01
	3 4.704737e+04 1.31e-02 5.87e+01 8.58e-01 9.99e-01 2.70e+05 1 8.43e-02 5.07e-01
	4 4.704736e+04 1.11e-02 8.68e+01 1.32e+00 1.00e+00 8.10e+05 1 8.71e-02 5.94e-01
	5 4.704735e+04 3.48e-03 4.54e+01 9.97e-01 1.00e+00 2.43e+06 1 8.48e-02 6.79e-01
	6 4.704735e+04 2.35e-04 3.96e+00 3.01e-01 1.01e+00 7.29e+06 1 8.51e-02 7.64e-01
	7 4.704735e+04 2.70e-06 1.66e+00 3.34e-02 1.01e+00 2.19e+07 1 9.11e-02 8.56e-01
	8 4.704735e+04 7.52e-09 5.01e-01 1.53e-03 1.08e+00 6.56e+07 1 8.32e-02 9.39e-01


	Bundle adjustment report
	------------------------
	Residuals : 158694
	Parameters : 45751
	Iterations : 9
	Time : 0.948809 [s]
	Initial cost : 0.544601 [px]
	Final cost : 0.544487 [px]
	Termination : Convergence

	=> Merged observations: 1
	=> Completed observations: 0
	=> Filtered observations: 0
	=> Changed observations: 0.000013
	=> Filtered images: 0

	==============================================================================
	Registering image #24 (12)
	==============================================================================

	=> Image sees 6109 / 10024 points

	Pose refinement report
	----------------------
	Residuals : 12306
	Parameters : 6
	Iterations : 10
	Time : 0.104122 [s]
	Initial cost : 0.620859 [px]
	Final cost : 0.537282 [px]
	Termination : Convergence

	=> Continued observations: 6082
	=> Added observations: 2910

	Bundle adjustment report
	------------------------
	Residuals : 134904
	Parameters : 23587
	Iterations : 26
	Time : 1.49552 [s]
	Initial cost : 0.483786 [px]
	Final cost : 0.463421 [px]
	Termination : No convergence

	=> Merged observations: 244
	=> Completed observations: 341
	=> Filtered observations: 342
	=> Changed observations: 0.013743

	Bundle adjustment report
	------------------------
	Residuals : 134854
	Parameters : 23467
	Iterations : 3
	Time : 0.25318 [s]
	Initial cost : 0.558469 [px]
	Final cost : 0.551413 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 139
	=> Filtered observations: 20
	=> Changed observations: 0.002655

	==============================================================================
	Registering image #1 (13)
	==============================================================================

	=> Image sees 5749 / 8295 points

	Pose refinement report
	----------------------
	Residuals : 11616
	Parameters : 6
	Iterations : 11
	Time : 0.103147 [s]
	Initial cost : 0.540698 [px]
	Final cost : 0.5184 [px]
	Termination : Convergence

	=> Continued observations: 5726
	=> Added observations: 1953

	Bundle adjustment report
	------------------------
	Residuals : 136076
	Parameters : 21607
	Iterations : 23
	Time : 1.30826 [s]
	Initial cost : 0.479798 [px]
	Final cost : 0.462868 [px]
	Termination : Convergence

	=> Merged observations: 401
	=> Completed observations: 225
	=> Filtered observations: 350
	=> Changed observations: 0.014345

	Bundle adjustment report
	------------------------
	Residuals : 135898
	Parameters : 21466
	Iterations : 3
	Time : 0.240455 [s]
	Initial cost : 0.556547 [px]
	Final cost : 0.549682 [px]
	Termination : Convergence

	=> Merged observations: 0
	=> Completed observations: 63
	=> Filtered observations: 5
	=> Changed observations: 0.001001

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 26
	=> Completed observations: 0
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 6.033432e+04 0.00e+00 4.50e+05 0.00e+00 0.00e+00 1.00e+04 0 5.63e-02 3.02e-01
	1 5.971257e+04 6.22e+02 1.44e+04 2.31e+01 1.00e+00 3.00e+04 1 1.15e-01 4.17e-01
	2 5.965792e+04 5.47e+01 5.83e+04 1.96e+01 9.94e-01 9.00e+04 1 9.79e-02 5.15e-01
	3 5.964294e+04 1.50e+01 7.03e+04 2.92e+01 9.78e-01 2.70e+05 1 1.05e-01 6.20e-01
	4 5.963548e+04 7.46e+00 4.78e+04 3.57e+01 9.81e-01 8.10e+05 1 1.05e-01 7.25e-01
	5 5.963399e+04 1.49e+00 1.24e+04 1.98e+01 9.96e-01 2.43e+06 1 1.05e-01 8.30e-01
	6 5.963393e+04 5.86e-02 5.35e+02 4.21e+00 1.01e+00 7.29e+06 1 1.01e-01 9.31e-01
	7 5.963393e+04 3.11e-04 3.30e+00 3.28e-01 1.01e+00 2.19e+07 1 9.82e-02 1.03e+00
	8 5.963393e+04 4.59e-07 1.97e+00 1.13e-02 1.03e+00 6.56e+07 1 9.98e-02 1.13e+00
	9 5.963393e+04 -1.75e-10 0.00e+00 3.09e-04 -3.86e-01 3.28e+07 1 6.85e-02 1.20e+00
	10 5.963393e+04 2.55e-10 1.06e-01 3.08e-04 6.49e-01 3.37e+07 1 9.84e-02 1.30e+00


	Bundle adjustment report
	------------------------
	Residuals : 191938
	Parameters : 51145
	Iterations : 11
	Time : 1.30716 [s]
	Initial cost : 0.560663 [px]
	Final cost : 0.557399 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 44
	=> Filtered observations: 35
	=> Changed observations: 0.001032

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 5.967086e+04 0.00e+00 1.25e+03 0.00e+00 0.00e+00 1.00e+04 0 6.09e-02 2.97e-01
	1 5.961301e+04 5.78e+01 1.98e+02 8.93e+00 9.99e-01 3.00e+04 1 1.17e-01 4.15e-01
	2 5.961267e+04 3.41e-01 2.72e+01 2.09e+00 9.99e-01 9.00e+04 1 9.54e-02 5.10e-01
	3 5.961266e+04 1.26e-02 4.56e+01 9.22e-01 9.99e-01 2.70e+05 1 9.82e-02 6.08e-01
	4 5.961265e+04 6.24e-03 3.92e+01 1.09e+00 1.00e+00 8.10e+05 1 9.99e-02 7.08e-01
	5 5.961265e+04 1.17e-03 1.08e+01 6.03e-01 1.00e+00 2.43e+06 1 9.78e-02 8.06e-01
	6 5.961265e+04 4.18e-05 2.00e+00 1.28e-01 1.01e+00 7.29e+06 1 1.02e-01 9.08e-01
	7 5.961265e+04 2.50e-07 1.91e+00 9.94e-03 1.02e+00 2.19e+07 1 1.00e-01 1.01e+00
	8 5.961265e+04 3.49e-10 1.00e-01 3.43e-04 9.14e-01 5.04e+07 1 9.95e-02 1.11e+00


	Bundle adjustment report
	------------------------
	Residuals : 191816
	Parameters : 51070
	Iterations : 9
	Time : 1.11939 [s]
	Initial cost : 0.557749 [px]
	Final cost : 0.557477 [px]
	Termination : Convergence

	=> Merged observations: 4
	=> Completed observations: 0
	=> Filtered observations: 4
	=> Changed observations: 0.000083
	=> Filtered images: 0

	==============================================================================
	Registering image #14 (14)
	==============================================================================

	=> Image sees 4440 / 6399 points

	Pose refinement report
	----------------------
	Residuals : 9004
	Parameters : 6
	Iterations : 11
	Time : 0.0837789 [s]
	Initial cost : 0.671802 [px]
	Final cost : 0.530049 [px]
	Termination : Convergence

	=> Continued observations: 4411
	=> Added observations: 1380

	Bundle adjustment report
	------------------------
	Residuals : 130632
	Parameters : 16144
	Iterations : 25
	Time : 1.28008 [s]
	Initial cost : 0.477597 [px]
	Final cost : 0.466861 [px]
	Termination : Convergence

	=> Merged observations: 320
	=> Completed observations: 186
	=> Filtered observations: 326
	=> Changed observations: 0.012738

	Bundle adjustment report
	------------------------
	Residuals : 130406
	Parameters : 16012
	Iterations : 3
	Time : 0.220014 [s]
	Initial cost : 0.563586 [px]
	Final cost : 0.557566 [px]
	Termination : Convergence

	=> Merged observations: 19
	=> Completed observations: 85
	=> Filtered observations: 6
	=> Changed observations: 0.001687

	==============================================================================
	Registering image #3 (15)
	==============================================================================

	=> Image sees 4319 / 6281 points

	Pose refinement report
	----------------------
	Residuals : 8734
	Parameters : 6
	Iterations : 10
	Time : 0.0758371 [s]
	Initial cost : 0.606633 [px]
	Final cost : 0.565308 [px]
	Termination : Convergence

	=> Continued observations: 4272
	=> Added observations: 1545

	Bundle adjustment report
	------------------------
	Residuals : 131282
	Parameters : 15892
	Iterations : 23
	Time : 1.16377 [s]
	Initial cost : 0.49239 [px]
	Final cost : 0.480421 [px]
	Termination : Convergence

	=> Merged observations: 333
	=> Completed observations: 181
	=> Filtered observations: 431
	=> Changed observations: 0.014396

	Bundle adjustment report
	------------------------
	Residuals : 130856
	Parameters : 15754
	Iterations : 3
	Time : 0.223974 [s]
	Initial cost : 0.570322 [px]
	Final cost : 0.563883 [px]
	Termination : Convergence

	=> Merged observations: 46
	=> Completed observations: 64
	=> Filtered observations: 7
	=> Changed observations: 0.001788

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 40
	=> Completed observations: 40
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 7.119045e+04 0.00e+00 1.99e+06 0.00e+00 0.00e+00 1.00e+04 0 6.71e-02 3.60e-01
	1 7.066445e+04 5.26e+02 5.74e+03 1.07e+01 1.00e+00 3.00e+04 1 1.26e-01 4.87e-01
	2 7.066104e+04 3.41e+00 6.95e+03 9.29e+00 9.99e-01 9.00e+04 1 1.11e-01 5.97e-01
	3 7.065743e+04 3.61e+00 1.17e+04 1.85e+01 9.98e-01 2.70e+05 1 1.10e-01 7.08e-01
	4 7.065508e+04 2.35e+00 1.31e+04 2.20e+01 9.97e-01 8.10e+05 1 1.10e-01 8.17e-01
	5 7.065464e+04 4.37e-01 3.69e+03 1.18e+01 1.00e+00 2.43e+06 1 1.13e-01 9.30e-01
	6 7.065463e+04 1.54e-02 1.53e+02 2.44e+00 1.01e+00 7.29e+06 1 1.09e-01 1.04e+00
	7 7.065463e+04 8.30e-05 2.00e+00 1.83e-01 1.01e+00 2.19e+07 1 1.16e-01 1.16e+00
	8 7.065463e+04 1.14e-07 9.93e-01 5.98e-03 1.02e+00 6.56e+07 1 1.11e-01 1.27e+00


	Bundle adjustment report
	------------------------
	Residuals : 214496
	Parameters : 54382
	Iterations : 9
	Time : 1.2784 [s]
	Initial cost : 0.576105 [px]
	Final cost : 0.573932 [px]
	Termination : Convergence

	=> Merged observations: 3
	=> Completed observations: 0
	=> Filtered observations: 7
	=> Changed observations: 0.000093
	=> Filtered images: 0

	==============================================================================
	Registering image #2 (16)
	==============================================================================

	=> Image sees 4527 / 6024 points

	Pose refinement report
	----------------------
	Residuals : 9260
	Parameters : 6
	Iterations : 10
	Time : 0.0776088 [s]
	Initial cost : 0.600776 [px]
	Final cost : 0.560194 [px]
	Termination : Convergence

	=> Continued observations: 4499
	=> Added observations: 1325

	Bundle adjustment report
	------------------------
	Residuals : 128472
	Parameters : 14620
	Iterations : 16
	Time : 0.768415 [s]
	Initial cost : 0.495112 [px]
	Final cost : 0.485465 [px]
	Termination : Convergence

	=> Merged observations: 399
	=> Completed observations: 204
	=> Filtered observations: 470
	=> Changed observations: 0.016704

	Bundle adjustment report
	------------------------
	Residuals : 127828
	Parameters : 14365
	Iterations : 3
	Time : 0.204026 [s]
	Initial cost : 0.58364 [px]
	Final cost : 0.576795 [px]
	Termination : Convergence

	=> Merged observations: 89
	=> Completed observations: 107
	=> Filtered observations: 13
	=> Changed observations: 0.003270

	==============================================================================
	Registering image #4 (17)
	==============================================================================

	=> Image sees 4611 / 6284 points

	Pose refinement report
	----------------------
	Residuals : 9392
	Parameters : 6
	Iterations : 11
	Time : 0.0923629 [s]
	Initial cost : 0.670274 [px]
	Final cost : 0.615896 [px]
	Termination : Convergence

	=> Continued observations: 4575
	=> Added observations: 1285

	Bundle adjustment report
	------------------------
	Residuals : 121902
	Parameters : 13513
	Iterations : 20
	Time : 0.918443 [s]
	Initial cost : 0.523747 [px]
	Final cost : 0.510251 [px]
	Termination : Convergence

	=> Merged observations: 393
	=> Completed observations: 167
	=> Filtered observations: 578
	=> Changed observations: 0.018671

	Bundle adjustment report
	------------------------
	Residuals : 121264
	Parameters : 13354
	Iterations : 3
	Time : 0.194759 [s]
	Initial cost : 0.611763 [px]
	Final cost : 0.60465 [px]
	Termination : Convergence

	=> Merged observations: 25
	=> Completed observations: 107
	=> Filtered observations: 7
	=> Changed observations: 0.002293

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 45
	=> Completed observations: 18
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 8.543907e+04 0.00e+00 2.07e+06 0.00e+00 0.00e+00 1.00e+04 0 7.00e-02 3.73e-01
	1 8.429372e+04 1.15e+03 1.21e+05 2.06e+01 1.00e+00 3.00e+04 1 1.41e-01 5.14e-01
	2 8.424561e+04 4.81e+01 1.75e+04 2.22e+01 1.00e+00 9.00e+04 1 1.21e-01 6.35e-01
	3 8.421823e+04 2.74e+01 2.66e+04 3.57e+01 1.00e+00 2.70e+05 1 1.26e-01 7.61e-01
	4 8.420255e+04 1.57e+01 7.84e+04 4.06e+01 9.81e-01 8.10e+05 1 1.23e-01 8.84e-01
	5 8.419957e+04 2.98e+00 2.20e+04 2.08e+01 9.93e-01 2.43e+06 1 1.25e-01 1.01e+00
	6 8.419946e+04 1.08e-01 8.22e+02 4.04e+00 1.00e+00 7.29e+06 1 1.23e-01 1.13e+00
	7 8.419946e+04 4.48e-04 3.53e+00 2.86e-01 1.01e+00 2.19e+07 1 1.24e-01 1.26e+00
	8 8.419946e+04 5.33e-07 1.95e+00 8.81e-03 1.02e+00 6.56e+07 1 1.24e-01 1.38e+00
	9 8.419946e+04 -2.76e-10 0.00e+00 2.21e-04 -7.23e-01 3.28e+07 1 8.08e-02 1.46e+00
	10 8.419946e+04 2.76e-10 7.70e-02 2.20e-04 6.51e-01 3.37e+07 1 1.15e-01 1.58e+00


	Bundle adjustment report
	------------------------
	Residuals : 236806
	Parameters : 57049
	Iterations : 11
	Time : 1.58891 [s]
	Initial cost : 0.600664 [px]
	Final cost : 0.596291 [px]
	Termination : Convergence

	=> Merged observations: 25
	=> Completed observations: 5
	=> Filtered observations: 8
	=> Changed observations: 0.000321
	=> Filtered images: 0

	==============================================================================
	Registering image #5 (18)
	==============================================================================

	=> Image sees 4514 / 6297 points

	Pose refinement report
	----------------------
	Residuals : 9208
	Parameters : 6
	Iterations : 11
	Time : 0.088521 [s]
	Initial cost : 0.668647 [px]
	Final cost : 0.568808 [px]
	Termination : Convergence

	=> Continued observations: 4479
	=> Added observations: 1382

	Bundle adjustment report
	------------------------
	Residuals : 112848
	Parameters : 13084
	Iterations : 23
	Time : 0.978412 [s]
	Initial cost : 0.530005 [px]
	Final cost : 0.515168 [px]
	Termination : Convergence

	=> Merged observations: 353
	=> Completed observations: 197
	=> Filtered observations: 409
	=> Changed observations: 0.016996

	Bundle adjustment report
	------------------------
	Residuals : 112596
	Parameters : 12979
	Iterations : 3
	Time : 0.196638 [s]
	Initial cost : 0.626409 [px]
	Final cost : 0.619104 [px]
	Termination : Convergence

	=> Merged observations: 64
	=> Completed observations: 85
	=> Filtered observations: 7
	=> Changed observations: 0.002771

	==============================================================================
	Registering image #6 (19)
	==============================================================================

	=> Image sees 4364 / 6550 points

	Pose refinement report
	----------------------
	Residuals : 8936
	Parameters : 6
	Iterations : 12
	Time : 0.093854 [s]
	Initial cost : 0.647831 [px]
	Final cost : 0.58202 [px]
	Termination : Convergence

	=> Continued observations: 4329
	=> Added observations: 1473

	Bundle adjustment report
	------------------------
	Residuals : 110104
	Parameters : 12559
	Iterations : 26
	Time : 1.0467 [s]
	Initial cost : 0.536908 [px]
	Final cost : 0.521734 [px]
	Termination : No convergence

	=> Merged observations: 190
	=> Completed observations: 200
	=> Filtered observations: 405
	=> Changed observations: 0.014441

	Bundle adjustment report
	------------------------
	Residuals : 109940
	Parameters : 12490
	Iterations : 3
	Time : 0.180474 [s]
	Initial cost : 0.63804 [px]
	Final cost : 0.630738 [px]
	Termination : Convergence

	=> Merged observations: 30
	=> Completed observations: 93
	=> Filtered observations: 10
	=> Changed observations: 0.002420

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 43
	=> Completed observations: 107
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 9.713377e+04 0.00e+00 2.56e+04 0.00e+00 0.00e+00 1.00e+04 0 6.90e-02 4.12e-01
	1 9.602044e+04 1.11e+03 1.37e+04 1.05e+01 1.00e+00 3.00e+04 1 1.51e-01 5.63e-01
	2 9.601624e+04 4.20e+00 3.36e+03 5.20e+00 9.99e-01 9.00e+04 1 1.37e-01 7.01e-01
	3 9.601456e+04 1.67e+00 5.88e+03 9.08e+00 9.97e-01 2.70e+05 1 1.31e-01 8.32e-01
	4 9.601360e+04 9.65e-01 5.69e+03 1.02e+01 9.97e-01 8.10e+05 1 1.35e-01 9.67e-01
	5 9.601344e+04 1.55e-01 1.38e+03 5.11e+00 9.99e-01 2.43e+06 1 1.31e-01 1.10e+00
	6 9.601344e+04 4.52e-03 4.78e+01 9.60e-01 1.00e+00 7.29e+06 1 1.48e-01 1.25e+00
	7 9.601344e+04 1.93e-05 1.93e+00 6.32e-02 1.01e+00 2.19e+07 1 1.31e-01 1.38e+00
	8 9.601344e+04 1.91e-08 4.57e-01 1.68e-03 1.01e+00 6.56e+07 1 1.31e-01 1.51e+00


	Bundle adjustment report
	------------------------
	Residuals : 259650
	Parameters : 60304
	Iterations : 9
	Time : 1.5215 [s]
	Initial cost : 0.611633 [px]
	Final cost : 0.608096 [px]
	Termination : Convergence

	=> Merged observations: 31
	=> Completed observations: 19
	=> Filtered observations: 19
	=> Changed observations: 0.000531

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 9.609770e+04 0.00e+00 1.75e+04 0.00e+00 0.00e+00 1.00e+04 0 7.57e-02 4.12e-01
	1 9.604006e+04 5.76e+01 3.00e+02 2.66e+00 1.00e+00 3.00e+04 1 1.56e-01 5.68e-01
	2 9.603998e+04 7.33e-02 1.43e+01 7.19e-01 1.00e+00 9.00e+04 1 1.34e-01 7.02e-01
	3 9.603997e+04 9.48e-03 2.69e+01 5.92e-01 9.99e-01 2.70e+05 1 1.38e-01 8.40e-01
	4 9.603997e+04 5.44e-03 3.15e+01 6.55e-01 9.99e-01 8.10e+05 1 1.39e-01 9.80e-01
	5 9.603997e+04 8.66e-04 7.76e+00 3.28e-01 1.00e+00 2.43e+06 1 1.40e-01 1.12e+00
	6 9.603997e+04 2.47e-05 1.99e+00 6.13e-02 1.00e+00 7.29e+06 1 1.40e-01 1.26e+00
	7 9.603997e+04 1.06e-07 9.92e-01 4.02e-03 1.00e+00 2.19e+07 1 1.38e-01 1.40e+00


	Bundle adjustment report
	------------------------
	Residuals : 259656
	Parameters : 60289
	Iterations : 8
	Time : 1.4115 [s]
	Initial cost : 0.608355 [px]
	Final cost : 0.608173 [px]
	Termination : Convergence

	=> Merged observations: 3
	=> Completed observations: 0
	=> Filtered observations: 2
	=> Changed observations: 0.000039
	=> Filtered images: 0

	==============================================================================
	Registering image #13 (20)
	==============================================================================

	=> Image sees 4674 / 6357 points

	Pose refinement report
	----------------------
	Residuals : 9688
	Parameters : 6
	Iterations : 18
	Time : 0.142251 [s]
	Initial cost : 0.697692 [px]
	Final cost : 0.616714 [px]
	Termination : Convergence

	=> Continued observations: 4648
	=> Added observations: 1304

	Bundle adjustment report
	------------------------
	Residuals : 111514
	Parameters : 12700
	Iterations : 26
	Time : 1.05686 [s]
	Initial cost : 0.547752 [px]
	Final cost : 0.534296 [px]
	Termination : No convergence

	=> Merged observations: 283
	=> Completed observations: 197
	=> Filtered observations: 610
	=> Changed observations: 0.019549

	Bundle adjustment report
	------------------------
	Residuals : 110894
	Parameters : 12559
	Iterations : 3
	Time : 0.200405 [s]
	Initial cost : 0.646589 [px]
	Final cost : 0.639128 [px]
	Termination : Convergence

	=> Merged observations: 48
	=> Completed observations: 95
	=> Filtered observations: 5
	=> Changed observations: 0.002669

	==============================================================================
	Registering image #12 (21)
	==============================================================================

	=> Image sees 4471 / 6515 points

	Pose refinement report
	----------------------
	Residuals : 9158
	Parameters : 6
	Iterations : 10
	Time : 0.078316 [s]
	Initial cost : 0.642055 [px]
	Final cost : 0.593307 [px]
	Termination : Convergence

	=> Continued observations: 4436
	=> Added observations: 1379

	Bundle adjustment report
	------------------------
	Residuals : 104342
	Parameters : 11782
	Iterations : 19
	Time : 0.786118 [s]
	Initial cost : 0.555471 [px]
	Final cost : 0.540772 [px]
	Termination : Convergence

	=> Merged observations: 248
	=> Completed observations: 208
	=> Filtered observations: 471
	=> Changed observations: 0.017768

	Bundle adjustment report
	------------------------
	Residuals : 103800
	Parameters : 11659
	Iterations : 3
	Time : 0.173708 [s]
	Initial cost : 0.656803 [px]
	Final cost : 0.649816 [px]
	Termination : Convergence

	=> Merged observations: 65
	=> Completed observations: 106
	=> Filtered observations: 8
	=> Changed observations: 0.003449

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 81
	=> Completed observations: 62
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.115583e+05 0.00e+00 3.30e+05 0.00e+00 0.00e+00 1.00e+04 0 8.36e-02 5.01e-01
	1 1.093659e+05 2.19e+03 1.12e+05 2.14e+01 1.00e+00 3.00e+04 1 1.68e-01 6.70e-01
	2 1.093124e+05 5.35e+01 2.22e+03 1.12e+01 1.00e+00 9.00e+04 1 1.48e-01 8.17e-01
	3 1.093068e+05 5.55e+00 2.62e+03 1.07e+01 1.00e+00 2.70e+05 1 1.51e-01 9.68e-01
	4 1.093050e+05 1.78e+00 8.93e+03 1.25e+01 9.97e-01 8.10e+05 1 1.52e-01 1.12e+00
	5 1.093047e+05 2.92e-01 2.62e+03 6.46e+00 9.97e-01 2.43e+06 1 1.52e-01 1.27e+00
	6 1.093047e+05 8.77e-03 9.41e+01 1.23e+00 1.00e+00 7.29e+06 1 1.50e-01 1.42e+00
	7 1.093047e+05 3.67e-05 1.97e+00 8.02e-02 1.01e+00 2.19e+07 1 1.44e-01 1.57e+00
	8 1.093047e+05 3.45e-08 5.41e-01 2.03e-03 1.01e+00 6.56e+07 1 1.48e-01 1.71e+00


	Bundle adjustment report
	------------------------
	Residuals : 282234
	Parameters : 63280
	Iterations : 9
	Time : 1.72924 [s]
	Initial cost : 0.628704 [px]
	Final cost : 0.622322 [px]
	Termination : Convergence

	=> Merged observations: 48
	=> Completed observations: 38
	=> Filtered observations: 21
	=> Changed observations: 0.000758

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.094995e+05 0.00e+00 1.30e+04 0.00e+00 0.00e+00 1.00e+04 0 7.72e-02 4.48e-01
	1 1.093980e+05 1.01e+02 4.68e+02 3.23e+00 1.00e+00 3.00e+04 1 1.57e-01 6.05e-01
	2 1.093979e+05 8.96e-02 1.30e+01 4.35e-01 1.00e+00 9.00e+04 1 1.49e-01 7.54e-01
	3 1.093979e+05 6.34e-03 2.04e+00 3.82e-01 1.00e+00 2.70e+05 1 1.43e-01 8.97e-01
	4 1.093979e+05 2.73e-03 1.45e+01 4.50e-01 9.99e-01 8.10e+05 1 1.42e-01 1.04e+00
	5 1.093979e+05 4.41e-04 4.00e+00 2.30e-01 9.98e-01 2.43e+06 1 1.44e-01 1.18e+00
	6 1.093979e+05 1.28e-05 1.97e+00 4.33e-02 1.00e+00 7.29e+06 1 1.44e-01 1.33e+00
	7 1.093979e+05 5.37e-08 7.66e-01 2.82e-03 9.92e-01 2.19e+07 1 1.47e-01 1.47e+00


	Bundle adjustment report
	------------------------
	Residuals : 282266
	Parameters : 63262
	Iterations : 8
	Time : 1.48796 [s]
	Initial cost : 0.62284 [px]
	Final cost : 0.622551 [px]
	Termination : Convergence

	=> Merged observations: 10
	=> Completed observations: 0
	=> Filtered observations: 6
	=> Changed observations: 0.000113
	=> Filtered images: 0

	==============================================================================
	Registering image #7 (22)
	==============================================================================

	=> Image sees 4571 / 6781 points

	Pose refinement report
	----------------------
	Residuals : 9398
	Parameters : 6
	Iterations : 9
	Time : 0.0711679 [s]
	Initial cost : 0.594411 [px]
	Final cost : 0.582134 [px]
	Termination : Convergence

	=> Continued observations: 4541
	=> Added observations: 1391

	Bundle adjustment report
	------------------------
	Residuals : 104724
	Parameters : 12298
	Iterations : 26
	Time : 0.976144 [s]
	Initial cost : 0.55374 [px]
	Final cost : 0.537867 [px]
	Termination : No convergence

	=> Merged observations: 236
	=> Completed observations: 197
	=> Filtered observations: 420
	=> Changed observations: 0.016290

	Bundle adjustment report
	------------------------
	Residuals : 104368
	Parameters : 12163
	Iterations : 3
	Time : 0.166636 [s]
	Initial cost : 0.656735 [px]
	Final cost : 0.650106 [px]
	Termination : Convergence

	=> Merged observations: 78
	=> Completed observations: 70
	=> Filtered observations: 10
	=> Changed observations: 0.003028

	==============================================================================
	Registering image #35 (23)
	==============================================================================

	=> Image sees 4846 / 6505 points

	Pose refinement report
	----------------------
	Residuals : 10024
	Parameters : 6
	Iterations : 15
	Time : 0.125985 [s]
	Initial cost : 0.731113 [px]
	Final cost : 0.588738 [px]
	Termination : Convergence

	=> Continued observations: 4794
	=> Added observations: 1075

	Bundle adjustment report
	------------------------
	Residuals : 126526
	Parameters : 11113
	Iterations : 26
	Time : 1.1445 [s]
	Initial cost : 0.537094 [px]
	Final cost : 0.527989 [px]
	Termination : No convergence

	=> Merged observations: 424
	=> Completed observations: 161
	=> Filtered observations: 636
	=> Changed observations: 0.019300

	Bundle adjustment report
	------------------------
	Residuals : 124256
	Parameters : 10768
	Iterations : 3
	Time : 0.1957 [s]
	Initial cost : 0.659366 [px]
	Final cost : 0.652914 [px]
	Termination : Convergence

	=> Merged observations: 60
	=> Completed observations: 127
	=> Filtered observations: 11
	=> Changed observations: 0.003187

	==============================================================================
	Registering image #25 (24)
	==============================================================================

	=> Image sees 4692 / 6431 points

	Pose refinement report
	----------------------
	Residuals : 9782
	Parameters : 6
	Iterations : 13
	Time : 0.101188 [s]
	Initial cost : 0.591314 [px]
	Final cost : 0.58513 [px]
	Termination : Convergence

	=> Continued observations: 4650
	=> Added observations: 1294

	Bundle adjustment report
	------------------------
	Residuals : 111926
	Parameters : 10516
	Iterations : 24
	Time : 0.935858 [s]
	Initial cost : 0.556702 [px]
	Final cost : 0.545096 [px]
	Termination : Convergence

	=> Merged observations: 444
	=> Completed observations: 183
	=> Filtered observations: 556
	=> Changed observations: 0.021139

	Bundle adjustment report
	------------------------
	Residuals : 111242
	Parameters : 10324
	Iterations : 3
	Time : 0.179847 [s]
	Initial cost : 0.660366 [px]
	Final cost : 0.653368 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 118
	=> Filtered observations: 11
	=> Changed observations: 0.002679

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 109
	=> Completed observations: 236
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.304419e+05 0.00e+00 1.07e+06 0.00e+00 0.00e+00 1.00e+04 0 8.73e-02 5.11e-01
	1 1.292042e+05 1.24e+03 7.30e+03 9.36e+00 1.00e+00 3.00e+04 1 1.86e-01 6.97e-01
	2 1.291822e+05 2.20e+01 3.30e+04 1.75e+01 9.96e-01 9.00e+04 1 1.66e-01 8.63e-01
	3 1.291555e+05 2.67e+01 8.06e+04 3.22e+01 9.87e-01 2.70e+05 1 1.68e-01 1.03e+00
	4 1.291404e+05 1.51e+01 8.70e+04 3.48e+01 9.77e-01 8.10e+05 1 1.67e-01 1.20e+00
	5 1.291379e+05 2.49e+00 1.92e+04 1.67e+01 9.91e-01 2.43e+06 1 1.68e-01 1.37e+00
	6 1.291378e+05 7.02e-02 5.77e+02 2.91e+00 9.99e-01 7.29e+06 1 1.70e-01 1.54e+00
	7 1.291378e+05 2.07e-04 2.16e+00 1.70e-01 1.01e+00 2.19e+07 1 1.73e-01 1.71e+00
	8 1.291378e+05 1.48e-07 8.65e-01 3.73e-03 1.02e+00 6.56e+07 1 1.66e-01 1.87e+00


	Bundle adjustment report
	------------------------
	Residuals : 316194
	Parameters : 67189
	Iterations : 9
	Time : 1.88999 [s]
	Initial cost : 0.642291 [px]
	Final cost : 0.639072 [px]
	Termination : Convergence

	=> Merged observations: 43
	=> Completed observations: 95
	=> Filtered observations: 48
	=> Changed observations: 0.001176

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.291785e+05 0.00e+00 1.25e+04 0.00e+00 0.00e+00 1.00e+04 0 8.86e-02 5.10e-01
	1 1.290809e+05 9.76e+01 9.28e+01 4.33e+00 1.00e+00 3.00e+04 1 1.84e-01 6.94e-01
	2 1.290808e+05 1.25e-01 2.19e+01 6.19e-01 1.00e+00 9.00e+04 1 1.63e-01 8.57e-01
	3 1.290808e+05 3.32e-02 8.71e+01 1.07e+00 9.99e-01 2.70e+05 1 1.70e-01 1.03e+00
	4 1.290807e+05 1.87e-02 1.06e+02 1.17e+00 9.98e-01 8.10e+05 1 1.69e-01 1.20e+00
	5 1.290807e+05 2.67e-03 2.34e+01 5.52e-01 9.97e-01 2.43e+06 1 1.60e-01 1.36e+00
	6 1.290807e+05 6.59e-05 2.00e+00 9.53e-02 9.99e-01 7.29e+06 1 1.66e-01 1.52e+00
	7 1.290807e+05 2.28e-07 1.04e+00 5.54e-03 1.01e+00 2.19e+07 1 1.60e-01 1.68e+00
	8 1.290807e+05 3.20e-10 3.44e-02 1.21e-04 1.78e+00 6.56e+07 1 1.59e-01 1.84e+00


	Bundle adjustment report
	------------------------
	Residuals : 316090
	Parameters : 67120
	Iterations : 9
	Time : 1.85821 [s]
	Initial cost : 0.639278 [px]
	Final cost : 0.639036 [px]
	Termination : Convergence

	=> Merged observations: 2
	=> Completed observations: 0
	=> Filtered observations: 10
	=> Changed observations: 0.000076
	=> Filtered images: 0

	==============================================================================
	Registering image #11 (25)
	==============================================================================

	=> Image sees 4210 / 6089 points

	Pose refinement report
	----------------------
	Residuals : 8670
	Parameters : 6
	Iterations : 10
	Time : 0.0743711 [s]
	Initial cost : 0.676881 [px]
	Final cost : 0.593926 [px]
	Termination : Convergence

	=> Continued observations: 4160
	=> Added observations: 1461

	Bundle adjustment report
	------------------------
	Residuals : 95820
	Parameters : 10465
	Iterations : 13
	Time : 0.498001 [s]
	Initial cost : 0.577515 [px]
	Final cost : 0.564213 [px]
	Termination : Convergence

	=> Merged observations: 227
	=> Completed observations: 221
	=> Filtered observations: 557
	=> Changed observations: 0.020977

	Bundle adjustment report
	------------------------
	Residuals : 100158
	Parameters : 10285
	Iterations : 3
	Time : 0.163502 [s]
	Initial cost : 0.670179 [px]
	Final cost : 0.662366 [px]
	Termination : Convergence

	=> Merged observations: 52
	=> Completed observations: 125
	=> Filtered observations: 11
	=> Changed observations: 0.003754

	==============================================================================
	Registering image #34 (26)
	==============================================================================

	=> Image sees 4798 / 6558 points

	Pose refinement report
	----------------------
	Residuals : 10046
	Parameters : 6
	Iterations : 10
	Time : 0.0865948 [s]
	Initial cost : 0.670926 [px]
	Final cost : 0.57244 [px]
	Termination : Convergence

	=> Continued observations: 4758
	=> Added observations: 1079

	Bundle adjustment report
	------------------------
	Residuals : 123786
	Parameters : 10648
	Iterations : 26
	Time : 1.19786 [s]
	Initial cost : 0.543563 [px]
	Final cost : 0.534531 [px]
	Termination : No convergence

	=> Merged observations: 393
	=> Completed observations: 188
	=> Filtered observations: 572
	=> Changed observations: 0.018629

	Bundle adjustment report
	------------------------
	Residuals : 123078
	Parameters : 10486
	Iterations : 3
	Time : 0.194582 [s]
	Initial cost : 0.645447 [px]
	Final cost : 0.639148 [px]
	Termination : Convergence

	=> Merged observations: 115
	=> Completed observations: 109
	=> Filtered observations: 10
	=> Changed observations: 0.003802

	==============================================================================
	Registering image #26 (27)
	==============================================================================

	=> Image sees 4626 / 6422 points

	Pose refinement report
	----------------------
	Residuals : 9632
	Parameters : 6
	Iterations : 17
	Time : 0.137986 [s]
	Initial cost : 0.717565 [px]
	Final cost : 0.617002 [px]
	Termination : Convergence

	=> Continued observations: 4578
	=> Added observations: 1376

	Bundle adjustment report
	------------------------
	Residuals : 103738
	Parameters : 9898
	Iterations : 26
	Time : 0.961408 [s]
	Initial cost : 0.580748 [px]
	Final cost : 0.56863 [px]
	Termination : No convergence

	=> Merged observations: 414
	=> Completed observations: 176
	=> Filtered observations: 699
	=> Changed observations: 0.024851

	Bundle adjustment report
	------------------------
	Residuals : 108126
	Parameters : 9850
	Iterations : 3
	Time : 0.174076 [s]
	Initial cost : 0.681399 [px]
	Final cost : 0.673983 [px]
	Termination : Convergence

	=> Merged observations: 26
	=> Completed observations: 123
	=> Filtered observations: 13
	=> Changed observations: 0.002997

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 125
	=> Completed observations: 258
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.497575e+05 0.00e+00 1.66e+06 0.00e+00 0.00e+00 1.00e+04 0 8.76e-02 5.93e-01
	1 1.484931e+05 1.26e+03 4.36e+03 9.37e+00 1.00e+00 3.00e+04 1 2.06e-01 7.99e-01
	2 1.484913e+05 1.78e+00 8.77e+02 2.78e+00 1.00e+00 9.00e+04 1 1.95e-01 9.94e-01
	3 1.484912e+05 1.57e-01 5.04e+02 2.21e+00 9.98e-01 2.70e+05 1 1.80e-01 1.17e+00
	4 1.484911e+05 5.07e-02 3.08e+02 2.04e+00 9.97e-01 8.10e+05 1 1.90e-01 1.36e+00
	5 1.484911e+05 7.03e-03 6.14e+01 9.35e-01 9.96e-01 2.43e+06 1 1.84e-01 1.55e+00
	6 1.484911e+05 1.68e-04 1.98e+00 1.58e-01 9.98e-01 7.29e+06 1 1.86e-01 1.73e+00
	7 1.484911e+05 5.45e-07 1.57e+00 8.86e-03 1.01e+00 2.19e+07 1 1.93e-01 1.93e+00
	8 1.484911e+05 -6.11e-10 0.00e+00 1.81e-04 -1.62e+00 1.09e+07 1 1.24e-01 2.05e+00
	9 1.484911e+05 8.15e-10 4.45e-02 1.80e-04 2.16e+00 3.28e+07 1 1.81e-01 2.23e+00


	Bundle adjustment report
	------------------------
	Residuals : 349028
	Parameters : 71128
	Iterations : 10
	Time : 2.24937 [s]
	Initial cost : 0.655034 [px]
	Final cost : 0.652259 [px]
	Termination : Convergence

	=> Merged observations: 41
	=> Completed observations: 28
	=> Filtered observations: 36
	=> Changed observations: 0.000602

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.484895e+05 0.00e+00 1.19e+04 0.00e+00 0.00e+00 1.00e+04 0 8.25e-02 5.61e-01
	1 1.484170e+05 7.25e+01 9.61e+01 3.05e+00 1.00e+00 3.00e+04 1 1.97e-01 7.57e-01
	2 1.484169e+05 1.17e-01 2.65e+00 7.73e-01 1.00e+00 9.00e+04 1 1.71e-01 9.28e-01
	3 1.484169e+05 1.77e-03 1.96e+00 1.20e-01 1.00e+00 2.70e+05 1 1.71e-01 1.10e+00
	4 1.484169e+05 1.23e-04 1.99e+00 8.18e-02 9.98e-01 8.10e+05 1 1.80e-01 1.28e+00
	5 1.484169e+05 1.66e-05 2.00e+00 3.87e-02 9.96e-01 2.43e+06 1 1.78e-01 1.46e+00
	6 1.484169e+05 3.93e-07 1.25e+00 6.55e-03 9.97e-01 7.29e+06 1 1.80e-01 1.64e+00
	7 1.484169e+05 1.11e-09 1.03e-01 3.66e-04 8.73e-01 1.25e+07 1 1.83e-01 1.82e+00


	Bundle adjustment report
	------------------------
	Residuals : 349026
	Parameters : 71116
	Iterations : 8
	Time : 1.83771 [s]
	Initial cost : 0.652257 [px]
	Final cost : 0.652098 [px]
	Termination : Convergence

	=> Merged observations: 4
	=> Completed observations: 26
	=> Filtered observations: 10
	=> Changed observations: 0.000229
	=> Filtered images: 0

	==============================================================================
	Registering image #40 (28)
	==============================================================================

	=> Image sees 6721 / 9259 points

	Pose refinement report
	----------------------
	Residuals : 13856
	Parameters : 6
	Iterations : 21
	Time : 0.228432 [s]
	Initial cost : 0.692367 [px]
	Final cost : 0.635662 [px]
	Termination : Convergence

	=> Continued observations: 6668
	=> Added observations: 1767

	Bundle adjustment report
	------------------------
	Residuals : 143032
	Parameters : 16045
	Iterations : 26
	Time : 1.39947 [s]
	Initial cost : 0.566681 [px]
	Final cost : 0.552362 [px]
	Termination : No convergence

	=> Merged observations: 380
	=> Completed observations: 169
	=> Filtered observations: 965
	=> Changed observations: 0.021170

	Bundle adjustment report
	------------------------
	Residuals : 140936
	Parameters : 16015
	Iterations : 3
	Time : 0.234283 [s]
	Initial cost : 0.659543 [px]
	Final cost : 0.652661 [px]
	Termination : Convergence

	=> Merged observations: 68
	=> Completed observations: 154
	=> Filtered observations: 22
	=> Changed observations: 0.003463

	==============================================================================
	Registering image #41 (29)
	==============================================================================

	=> Image sees 6680 / 9261 points

	Pose refinement report
	----------------------
	Residuals : 13888
	Parameters : 6
	Iterations : 13
	Time : 0.15472 [s]
	Initial cost : 0.590454 [px]
	Final cost : 0.58041 [px]
	Termination : Convergence

	=> Continued observations: 6629
	=> Added observations: 1841

	Bundle adjustment report
	------------------------
	Residuals : 141352
	Parameters : 15550
	Iterations : 23
	Time : 1.20966 [s]
	Initial cost : 0.556218 [px]
	Final cost : 0.544426 [px]
	Termination : Convergence

	=> Merged observations: 548
	=> Completed observations: 230
	=> Filtered observations: 777
	=> Changed observations: 0.022002

	Bundle adjustment report
	------------------------
	Residuals : 140338
	Parameters : 15319
	Iterations : 3
	Time : 0.223833 [s]
	Initial cost : 0.653202 [px]
	Final cost : 0.646683 [px]
	Termination : Convergence

	=> Merged observations: 54
	=> Completed observations: 164
	=> Filtered observations: 11
	=> Changed observations: 0.003264

	==============================================================================
	Registering image #42 (30)
	==============================================================================

	=> Image sees 6677 / 9247 points

	Pose refinement report
	----------------------
	Residuals : 13912
	Parameters : 6
	Iterations : 15
	Time : 0.165485 [s]
	Initial cost : 0.691356 [px]
	Final cost : 0.600836 [px]
	Termination : Convergence

	=> Continued observations: 6613
	=> Added observations: 1904

	Bundle adjustment report
	------------------------
	Residuals : 137876
	Parameters : 15190
	Iterations : 26
	Time : 1.31446 [s]
	Initial cost : 0.579319 [px]
	Final cost : 0.565682 [px]
	Termination : No convergence

	=> Merged observations: 645
	=> Completed observations: 247
	=> Filtered observations: 871
	=> Changed observations: 0.025574

	Bundle adjustment report
	------------------------
	Residuals : 138036
	Parameters : 14980
	Iterations : 3
	Time : 0.216342 [s]
	Initial cost : 0.672142 [px]
	Final cost : 0.664962 [px]
	Termination : Convergence

	=> Merged observations: 55
	=> Completed observations: 178
	=> Filtered observations: 48
	=> Changed observations: 0.004071

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 223
	=> Completed observations: 383
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.827659e+05 0.00e+00 7.82e+06 0.00e+00 0.00e+00 1.00e+04 0 1.00e-01 6.46e-01
	1 1.780668e+05 4.70e+03 1.21e+05 2.27e+01 1.00e+00 3.00e+04 1 2.24e-01 8.70e-01
	2 1.779647e+05 1.02e+02 1.49e+05 3.41e+01 9.93e-01 9.00e+04 1 2.02e-01 1.07e+00
	3 1.778590e+05 1.06e+02 3.03e+05 5.38e+01 9.72e-01 2.70e+05 1 2.04e-01 1.28e+00
	4 1.778068e+05 5.22e+01 2.66e+05 5.10e+01 9.55e-01 8.10e+05 1 2.08e-01 1.48e+00
	5 1.777987e+05 8.07e+00 4.44e+04 2.05e+01 9.88e-01 2.43e+06 1 2.10e-01 1.69e+00
	6 1.777985e+05 1.68e-01 9.25e+02 2.96e+00 9.98e-01 7.29e+06 1 1.92e-01 1.89e+00
	7 1.777985e+05 2.75e-04 2.00e+00 1.38e-01 1.01e+00 2.19e+07 1 2.00e-01 2.09e+00
	8 1.777985e+05 1.40e-07 6.36e-01 2.40e-03 1.02e+00 6.56e+07 1 2.07e-01 2.29e+00


	Bundle adjustment report
	------------------------
	Residuals : 396832
	Parameters : 77005
	Iterations : 9
	Time : 2.31205 [s]
	Initial cost : 0.678647 [px]
	Final cost : 0.669362 [px]
	Termination : Convergence

	=> Merged observations: 128
	=> Completed observations: 131
	=> Filtered observations: 50
	=> Changed observations: 0.001557

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.784084e+05 0.00e+00 7.90e+04 0.00e+00 0.00e+00 1.00e+04 0 1.01e-01 6.60e-01
	1 1.781952e+05 2.13e+02 1.89e+03 5.04e+00 1.00e+00 3.00e+04 1 2.28e-01 8.88e-01
	2 1.781943e+05 8.61e-01 8.86e+02 2.34e+00 9.99e-01 9.00e+04 1 2.09e-01 1.10e+00
	3 1.781939e+05 4.55e-01 1.33e+03 3.35e+00 9.97e-01 2.70e+05 1 2.07e-01 1.30e+00
	4 1.781937e+05 2.11e-01 1.09e+03 3.18e+00 9.96e-01 8.10e+05 1 2.10e-01 1.51e+00
	5 1.781936e+05 2.38e-02 1.80e+02 1.30e+00 9.95e-01 2.43e+06 1 2.05e-01 1.72e+00
	6 1.781936e+05 4.30e-04 3.66e+00 1.88e-01 9.97e-01 7.29e+06 1 2.02e-01 1.92e+00
	7 1.781936e+05 1.02e-06 1.70e+00 8.78e-03 1.00e+00 2.19e+07 1 1.97e-01 2.12e+00
	8 1.781936e+05 1.43e-09 4.44e-02 1.52e-04 2.35e+00 6.56e+07 1 1.98e-01 2.32e+00


	Bundle adjustment report
	------------------------
	Residuals : 396984
	Parameters : 76975
	Iterations : 9
	Time : 2.33469 [s]
	Initial cost : 0.67038 [px]
	Final cost : 0.669977 [px]
	Termination : Convergence

	=> Merged observations: 35
	=> Completed observations: 54
	=> Filtered observations: 12
	=> Changed observations: 0.000509

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.783402e+05 0.00e+00 1.62e+04 0.00e+00 0.00e+00 1.00e+04 0 1.03e-01 6.55e-01
	1 1.782952e+05 4.50e+01 2.91e+02 2.93e+00 1.00e+00 3.00e+04 1 2.47e-01 9.02e-01
	2 1.782951e+05 9.46e-02 8.41e+01 8.32e-01 9.99e-01 9.00e+04 1 2.25e-01 1.13e+00
	3 1.782950e+05 3.55e-02 1.05e+02 9.32e-01 9.97e-01 2.70e+05 1 2.12e-01 1.34e+00
	4 1.782950e+05 1.64e-02 8.52e+01 8.86e-01 9.96e-01 8.10e+05 1 2.10e-01 1.55e+00
	5 1.782950e+05 1.85e-03 1.40e+01 3.61e-01 9.95e-01 2.43e+06 1 2.12e-01 1.76e+00
	6 1.782950e+05 3.33e-05 1.96e+00 5.24e-02 9.97e-01 7.29e+06 1 2.21e-01 1.98e+00
	7 1.782950e+05 7.93e-08 6.16e-01 2.44e-03 1.01e+00 2.19e+07 1 2.32e-01 2.21e+00


	Bundle adjustment report
	------------------------
	Residuals : 397024
	Parameters : 76966
	Iterations : 8
	Time : 2.23214 [s]
	Initial cost : 0.670218 [px]
	Final cost : 0.670133 [px]
	Termination : Convergence

	=> Merged observations: 12
	=> Completed observations: 22
	=> Filtered observations: 4
	=> Changed observations: 0.000191
	=> Filtered images: 0

	==============================================================================
	Registering image #8 (31)
	==============================================================================

	=> Image sees 4592 / 6531 points

	Pose refinement report
	----------------------
	Residuals : 9600
	Parameters : 6
	Iterations : 10
	Time : 0.0854659 [s]
	Initial cost : 0.613384 [px]
	Final cost : 0.590978 [px]
	Termination : Convergence

	=> Continued observations: 4558
	=> Added observations: 1357

	Bundle adjustment report
	------------------------
	Residuals : 97010
	Parameters : 10738
	Iterations : 26
	Time : 0.94832 [s]
	Initial cost : 0.58082 [px]
	Final cost : 0.5662 [px]
	Termination : No convergence

	=> Merged observations: 344
	=> Completed observations: 172
	=> Filtered observations: 465
	=> Changed observations: 0.020225

	Bundle adjustment report
	------------------------
	Residuals : 96702
	Parameters : 10615
	Iterations : 3
	Time : 0.163503 [s]
	Initial cost : 0.701148 [px]
	Final cost : 0.694234 [px]
	Termination : Convergence

	=> Merged observations: 37
	=> Completed observations: 82
	=> Filtered observations: 12
	=> Changed observations: 0.002709

	==============================================================================
	Registering image #27 (32)
	==============================================================================

	=> Image sees 4529 / 6358 points

	Pose refinement report
	----------------------
	Residuals : 9534
	Parameters : 6
	Iterations : 9
	Time : 0.073019 [s]
	Initial cost : 0.595442 [px]
	Final cost : 0.576137 [px]
	Termination : Convergence

	=> Continued observations: 4485
	=> Added observations: 1265

	Bundle adjustment report
	------------------------
	Residuals : 95720
	Parameters : 9391
	Iterations : 26
	Time : 0.921826 [s]
	Initial cost : 0.582928 [px]
	Final cost : 0.569854 [px]
	Termination : No convergence

	=> Merged observations: 296
	=> Completed observations: 195
	=> Filtered observations: 578
	=> Changed observations: 0.022336

	Bundle adjustment report
	------------------------
	Residuals : 95232
	Parameters : 9259
	Iterations : 3
	Time : 0.167305 [s]
	Initial cost : 0.69665 [px]
	Final cost : 0.688788 [px]
	Termination : Convergence

	=> Merged observations: 94
	=> Completed observations: 101
	=> Filtered observations: 8
	=> Changed observations: 0.004263

	==============================================================================
	Registering image #39 (33)
	==============================================================================

	=> Image sees 6877 / 8939 points

	Pose refinement report
	----------------------
	Residuals : 14434
	Parameters : 6
	Iterations : 12
	Time : 0.136971 [s]
	Initial cost : 0.600787 [px]
	Final cost : 0.567703 [px]
	Termination : Convergence

	=> Continued observations: 6828
	=> Added observations: 1783

	Bundle adjustment report
	------------------------
	Residuals : 140740
	Parameters : 14260
	Iterations : 17
	Time : 0.868242 [s]
	Initial cost : 0.564125 [px]
	Final cost : 0.554157 [px]
	Termination : Convergence

	=> Merged observations: 357
	=> Completed observations: 286
	=> Filtered observations: 698
	=> Changed observations: 0.019056

	Bundle adjustment report
	------------------------
	Residuals : 139924
	Parameters : 14059
	Iterations : 4
	Time : 0.265576 [s]
	Initial cost : 0.679307 [px]
	Final cost : 0.671873 [px]
	Termination : Convergence

	=> Merged observations: 73
	=> Completed observations: 147
	=> Filtered observations: 5
	=> Changed observations: 0.003216

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 179
	=> Completed observations: 331
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.014926e+05 0.00e+00 3.43e+05 0.00e+00 0.00e+00 1.00e+04 0 1.11e-01 7.26e-01
	1 1.999315e+05 1.56e+03 1.66e+04 9.51e+00 1.00e+00 3.00e+04 1 2.63e-01 9.89e-01
	2 1.999272e+05 4.27e+00 3.89e+03 5.96e+00 1.00e+00 9.00e+04 1 2.29e-01 1.22e+00
	3 1.999244e+05 2.83e+00 7.91e+03 8.43e+00 9.97e-01 2.70e+05 1 2.24e-01 1.44e+00
	4 1.999231e+05 1.31e+00 6.77e+03 7.93e+00 9.95e-01 8.10e+05 1 2.39e-01 1.68e+00
	5 1.999229e+05 1.47e-01 1.10e+03 3.20e+00 9.95e-01 2.43e+06 1 2.34e-01 1.92e+00
	6 1.999229e+05 2.61e-03 2.24e+01 4.60e-01 9.97e-01 7.29e+06 1 2.41e-01 2.16e+00
	7 1.999229e+05 6.10e-06 2.00e+00 2.14e-02 1.01e+00 2.19e+07 1 2.31e-01 2.39e+00
	8 1.999229e+05 3.32e-09 1.06e-01 3.76e-04 9.96e-01 6.56e+07 1 2.28e-01 2.62e+00


	Bundle adjustment report
	------------------------
	Residuals : 436174
	Parameters : 81571
	Iterations : 9
	Time : 2.63472 [s]
	Initial cost : 0.679672 [px]
	Final cost : 0.67702 [px]
	Termination : Convergence

	=> Merged observations: 66
	=> Completed observations: 147
	=> Filtered observations: 64
	=> Changed observations: 0.001270

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.999853e+05 0.00e+00 8.00e+03 0.00e+00 0.00e+00 1.00e+04 0 1.12e-01 7.09e-01
	1 1.998799e+05 1.05e+02 8.04e+02 2.62e+00 1.00e+00 3.00e+04 1 2.57e-01 9.65e-01
	2 1.998795e+05 3.26e-01 4.19e+02 1.75e+00 9.99e-01 9.00e+04 1 2.43e-01 1.21e+00
	3 1.998793e+05 2.68e-01 7.57e+02 2.75e+00 9.98e-01 2.70e+05 1 2.44e-01 1.45e+00
	4 1.998792e+05 1.24e-01 6.40e+02 2.60e+00 9.96e-01 8.10e+05 1 2.48e-01 1.70e+00
	5 1.998791e+05 1.37e-02 1.03e+02 1.05e+00 9.95e-01 2.43e+06 1 2.43e-01 1.94e+00
	6 1.998791e+05 2.41e-04 2.05e+00 1.50e-01 9.97e-01 7.29e+06 1 2.24e-01 2.17e+00
	7 1.998791e+05 5.65e-07 1.12e+00 6.96e-03 1.01e+00 2.19e+07 1 2.26e-01 2.39e+00
	8 1.998791e+05 1.43e-09 3.24e-02 1.22e-04 4.63e+00 6.56e+07 1 2.23e-01 2.62e+00


	Bundle adjustment report
	------------------------
	Residuals : 436144
	Parameters : 81535
	Iterations : 9
	Time : 2.63698 [s]
	Initial cost : 0.677149 [px]
	Final cost : 0.676969 [px]
	Termination : Convergence

	=> Merged observations: 13
	=> Completed observations: 129
	=> Filtered observations: 8
	=> Changed observations: 0.000688

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 1.999791e+05 0.00e+00 8.43e+03 0.00e+00 0.00e+00 1.00e+04 0 1.02e-01 7.06e-01
	1 1.999597e+05 1.94e+01 1.05e+02 9.10e-01 1.00e+00 3.00e+04 1 2.57e-01 9.63e-01
	2 1.999597e+05 2.50e-02 2.64e+01 4.09e-01 9.99e-01 9.00e+04 1 2.36e-01 1.20e+00
	3 1.999597e+05 1.71e-02 4.71e+01 6.88e-01 9.98e-01 2.70e+05 1 2.30e-01 1.43e+00
	4 1.999597e+05 7.94e-03 4.10e+01 6.56e-01 9.96e-01 8.10e+05 1 2.23e-01 1.65e+00
	5 1.999597e+05 8.75e-04 6.67e+00 2.64e-01 9.95e-01 2.43e+06 1 2.20e-01 1.87e+00
	6 1.999597e+05 1.54e-05 2.00e+00 3.80e-02 9.97e-01 7.29e+06 1 2.21e-01 2.09e+00
	7 1.999597e+05 3.46e-08 4.22e-01 1.76e-03 9.63e-01 2.19e+07 1 2.36e-01 2.33e+00


	Bundle adjustment report
	------------------------
	Residuals : 436154
	Parameters : 81517
	Iterations : 8
	Time : 2.34681 [s]
	Initial cost : 0.67713 [px]
	Final cost : 0.677098 [px]
	Termination : Convergence

	=> Merged observations: 2
	=> Completed observations: 0
	=> Filtered observations: 1
	=> Changed observations: 0.000014
	=> Filtered images: 0

	==============================================================================
	Registering image #52 (34)
	==============================================================================

	=> Image sees 6986 / 9394 points

	Pose refinement report
	----------------------
	Residuals : 14680
	Parameters : 6
	Iterations : 16
	Time : 0.193868 [s]
	Initial cost : 0.702207 [px]
	Final cost : 0.637565 [px]
	Termination : Convergence

	=> Continued observations: 6938
	=> Added observations: 1513

	Bundle adjustment report
	------------------------
	Residuals : 139196
	Parameters : 14734
	Iterations : 20
	Time : 1.01977 [s]
	Initial cost : 0.594532 [px]
	Final cost : 0.58078 [px]
	Termination : Convergence

	=> Merged observations: 413
	=> Completed observations: 212
	=> Filtered observations: 892
	=> Changed observations: 0.021797

	Bundle adjustment report
	------------------------
	Residuals : 138182
	Parameters : 14584
	Iterations : 3
	Time : 0.222695 [s]
	Initial cost : 0.707879 [px]
	Final cost : 0.700849 [px]
	Termination : Convergence

	=> Merged observations: 103
	=> Completed observations: 111
	=> Filtered observations: 15
	=> Changed observations: 0.003314

	==============================================================================
	Registering image #33 (35)
	==============================================================================

	=> Image sees 5050 / 6555 points

	Pose refinement report
	----------------------
	Residuals : 10874
	Parameters : 6
	Iterations : 21
	Time : 0.184597 [s]
	Initial cost : 0.792989 [px]
	Final cost : 0.647178 [px]
	Termination : Convergence

	=> Continued observations: 5000
	=> Added observations: 1053

	Bundle adjustment report
	------------------------
	Residuals : 112458
	Parameters : 8965
	Iterations : 26
	Time : 1.12504 [s]
	Initial cost : 0.601265 [px]
	Final cost : 0.591616 [px]
	Termination : No convergence

	=> Merged observations: 485
	=> Completed observations: 177
	=> Filtered observations: 811
	=> Changed observations: 0.026196

	Bundle adjustment report
	------------------------
	Residuals : 111188
	Parameters : 8713
	Iterations : 3
	Time : 0.177161 [s]
	Initial cost : 0.726761 [px]
	Final cost : 0.71974 [px]
	Termination : Convergence

	=> Merged observations: 50
	=> Completed observations: 124
	=> Filtered observations: 40
	=> Changed observations: 0.003849

	==============================================================================
	Registering image #38 (36)
	==============================================================================

	=> Image sees 6794 / 8641 points

	Pose refinement report
	----------------------
	Residuals : 14322
	Parameters : 6
	Iterations : 9
	Time : 0.102369 [s]
	Initial cost : 0.620017 [px]
	Final cost : 0.555707 [px]
	Termination : Convergence

	=> Continued observations: 6746
	=> Added observations: 1528

	Bundle adjustment report
	------------------------
	Residuals : 136362
	Parameters : 13189
	Iterations : 26
	Time : 1.29131 [s]
	Initial cost : 0.57541 [px]
	Final cost : 0.561859 [px]
	Termination : No convergence

	=> Merged observations: 375
	=> Completed observations: 301
	=> Filtered observations: 730
	=> Changed observations: 0.020622

	Bundle adjustment report
	------------------------
	Residuals : 135862
	Parameters : 13033
	Iterations : 3
	Time : 0.218279 [s]
	Initial cost : 0.687083 [px]
	Final cost : 0.679852 [px]
	Termination : Convergence

	=> Merged observations: 89
	=> Completed observations: 106
	=> Filtered observations: 11
	=> Changed observations: 0.003032

	==============================================================================
	Registering image #32 (37)
	==============================================================================

	=> Image sees 4673 / 6475 points

	Pose refinement report
	----------------------
	Residuals : 10006
	Parameters : 6
	Iterations : 15
	Time : 0.11795 [s]
	Initial cost : 0.792334 [px]
	Final cost : 0.630346 [px]
	Termination : Convergence

	=> Continued observations: 4616
	=> Added observations: 1205

	Bundle adjustment report
	------------------------
	Residuals : 100582
	Parameters : 8377
	Iterations : 26
	Time : 1.01575 [s]
	Initial cost : 0.615472 [px]
	Final cost : 0.602725 [px]
	Termination : No convergence

	=> Merged observations: 353
	=> Completed observations: 193
	=> Filtered observations: 771
	=> Changed observations: 0.026188

	Bundle adjustment report
	------------------------
	Residuals : 99578
	Parameters : 8155
	Iterations : 3
	Time : 0.161634 [s]
	Initial cost : 0.720561 [px]
	Final cost : 0.713533 [px]
	Termination : Convergence

	=> Merged observations: 48
	=> Completed observations: 140
	=> Filtered observations: 8
	=> Changed observations: 0.003937

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 284
	=> Completed observations: 542
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.380748e+05 0.00e+00 5.94e+05 0.00e+00 0.00e+00 1.00e+04 0 1.23e-01 8.19e-01
	1 2.351513e+05 2.92e+03 1.71e+02 1.38e+01 1.00e+00 3.00e+04 1 2.73e-01 1.09e+00
	2 2.351449e+05 6.44e+00 1.15e+03 6.36e+00 1.00e+00 9.00e+04 1 2.60e-01 1.35e+00
	3 2.351416e+05 3.24e+00 6.92e+03 9.31e+00 9.98e-01 2.70e+05 1 2.57e-01 1.61e+00
	4 2.351402e+05 1.48e+00 7.19e+03 8.97e+00 9.96e-01 8.10e+05 1 2.73e-01 1.88e+00
	5 2.351400e+05 1.63e-01 1.16e+03 3.61e+00 9.97e-01 2.43e+06 1 2.67e-01 2.15e+00
	6 2.351400e+05 2.91e-03 2.42e+01 5.21e-01 1.00e+00 7.29e+06 1 2.62e-01 2.41e+00
	7 2.351400e+05 7.16e-06 2.00e+00 2.51e-02 1.01e+00 2.19e+07 1 2.56e-01 2.67e+00
	8 2.351400e+05 3.78e-09 1.14e-01 4.84e-04 8.56e-01 3.43e+07 1 2.40e-01 2.91e+00


	Bundle adjustment report
	------------------------
	Residuals : 489820
	Parameters : 86719
	Iterations : 9
	Time : 2.92898 [s]
	Initial cost : 0.69717 [px]
	Final cost : 0.692859 [px]
	Termination : Convergence

	=> Merged observations: 89
	=> Completed observations: 128
	=> Filtered observations: 56
	=> Changed observations: 0.001115

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.354849e+05 0.00e+00 4.04e+03 0.00e+00 0.00e+00 1.00e+04 0 1.22e-01 8.24e-01
	1 2.353479e+05 1.37e+02 3.42e+01 2.28e+00 1.00e+00 3.00e+04 1 2.87e-01 1.11e+00
	2 2.353478e+05 1.04e-01 1.35e+01 4.04e-01 1.00e+00 9.00e+04 1 2.75e-01 1.39e+00
	3 2.353478e+05 5.10e-03 1.51e+01 3.10e-01 9.98e-01 2.70e+05 1 2.76e-01 1.66e+00
	4 2.353478e+05 1.95e-03 1.01e+01 2.73e-01 9.97e-01 8.10e+05 1 2.55e-01 1.92e+00
	5 2.353478e+05 2.10e-04 2.00e+00 1.08e-01 9.97e-01 2.43e+06 1 2.52e-01 2.17e+00
	6 2.353478e+05 3.71e-06 2.00e+00 1.55e-02 1.00e+00 7.29e+06 1 2.60e-01 2.43e+00
	7 2.353478e+05 8.93e-09 1.97e-01 7.42e-04 9.82e-01 2.19e+07 1 2.71e-01 2.70e+00


	Bundle adjustment report
	------------------------
	Residuals : 489868
	Parameters : 86683
	Iterations : 8
	Time : 2.72286 [s]
	Initial cost : 0.693333 [px]
	Final cost : 0.693131 [px]
	Termination : Convergence

	=> Merged observations: 15
	=> Completed observations: 23
	=> Filtered observations: 20
	=> Changed observations: 0.000237
	=> Filtered images: 0

	==============================================================================
	Registering image #9 (38)
	==============================================================================

	=> Image sees 4343 / 6110 points

	Pose refinement report
	----------------------
	Residuals : 9172
	Parameters : 6
	Iterations : 12
	Time : 0.13271 [s]
	Initial cost : 0.694876 [px]
	Final cost : 0.620122 [px]
	Termination : Convergence

	=> Continued observations: 4292
	=> Added observations: 1148

	Bundle adjustment report
	------------------------
	Residuals : 88986
	Parameters : 9769
	Iterations : 26
	Time : 0.881587 [s]
	Initial cost : 0.605025 [px]
	Final cost : 0.587754 [px]
	Termination : No convergence

	=> Merged observations: 353
	=> Completed observations: 161
	=> Filtered observations: 492
	=> Changed observations: 0.022610

	Bundle adjustment report
	------------------------
	Residuals : 87146
	Parameters : 9796
	Iterations : 3
	Time : 0.144342 [s]
	Initial cost : 0.731987 [px]
	Final cost : 0.72417 [px]
	Termination : Convergence

	=> Merged observations: 82
	=> Completed observations: 86
	=> Filtered observations: 37
	=> Changed observations: 0.004705

	==============================================================================
	Registering image #31 (39)
	==============================================================================

	=> Image sees 4545 / 6613 points

	Pose refinement report
	----------------------
	Residuals : 9654
	Parameters : 6
	Iterations : 12
	Time : 0.093538 [s]
	Initial cost : 0.704756 [px]
	Final cost : 0.604658 [px]
	Termination : Convergence

	=> Continued observations: 4474
	=> Added observations: 1262

	Bundle adjustment report
	------------------------
	Residuals : 97536
	Parameters : 8266
	Iterations : 26
	Time : 1.00395 [s]
	Initial cost : 0.626261 [px]
	Final cost : 0.613329 [px]
	Termination : No convergence

	=> Merged observations: 285
	=> Completed observations: 170
	=> Filtered observations: 690
	=> Changed observations: 0.023479

	Bundle adjustment report
	------------------------
	Residuals : 96652
	Parameters : 8071
	Iterations : 3
	Time : 0.167265 [s]
	Initial cost : 0.7436 [px]
	Final cost : 0.735885 [px]
	Termination : Convergence

	=> Merged observations: 68
	=> Completed observations: 120
	=> Filtered observations: 22
	=> Changed observations: 0.004345

	==============================================================================
	Registering image #45 (40)
	==============================================================================

	=> Image sees 5682 / 8488 points

	Pose refinement report
	----------------------
	Residuals : 11980
	Parameters : 6
	Iterations : 10
	Time : 0.0994709 [s]
	Initial cost : 0.628048 [px]
	Final cost : 0.602787 [px]
	Termination : Convergence

	=> Continued observations: 5616
	=> Added observations: 1643

	Bundle adjustment report
	------------------------
	Residuals : 125710
	Parameters : 11782
	Iterations : 18
	Time : 0.842427 [s]
	Initial cost : 0.593001 [px]
	Final cost : 0.577656 [px]
	Termination : Convergence

	=> Merged observations: 360
	=> Completed observations: 189
	=> Filtered observations: 785
	=> Changed observations: 0.021223

	Bundle adjustment report
	------------------------
	Residuals : 124680
	Parameters : 11599
	Iterations : 3
	Time : 0.193924 [s]
	Initial cost : 0.702814 [px]
	Final cost : 0.695656 [px]
	Termination : Convergence

	=> Merged observations: 117
	=> Completed observations: 133
	=> Filtered observations: 34
	=> Changed observations: 0.004556

	==============================================================================
	Registering image #43 (41)
	==============================================================================

	=> Image sees 4759 / 6058 points

	Pose refinement report
	----------------------
	Residuals : 10560
	Parameters : 6
	Iterations : 9
	Time : 0.106126 [s]
	Initial cost : 0.665555 [px]
	Final cost : 0.626252 [px]
	Termination : Convergence

	=> Continued observations: 4708
	=> Added observations: 1218

	Bundle adjustment report
	------------------------
	Residuals : 96434
	Parameters : 7762
	Iterations : 26
	Time : 0.976458 [s]
	Initial cost : 0.624872 [px]
	Final cost : 0.612926 [px]
	Termination : No convergence

	=> Merged observations: 645
	=> Completed observations: 254
	=> Filtered observations: 1029
	=> Changed observations: 0.039986

	Bundle adjustment report
	------------------------
	Residuals : 99744
	Parameters : 7585
	Iterations : 3
	Time : 0.182062 [s]
	Initial cost : 0.730588 [px]
	Final cost : 0.72268 [px]
	Termination : Convergence

	=> Merged observations: 54
	=> Completed observations: 172
	=> Filtered observations: 99
	=> Changed observations: 0.006517

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 504
	=> Completed observations: 864
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.787750e+05 0.00e+00 2.25e+07 0.00e+00 0.00e+00 1.00e+04 0 1.22e-01 8.97e-01
	1 2.636217e+05 1.52e+04 2.57e+04 1.08e+01 1.00e+00 3.00e+04 1 3.12e-01 1.21e+00
	2 2.636019e+05 1.98e+01 2.26e+04 1.18e+01 9.98e-01 9.00e+04 1 2.77e-01 1.49e+00
	3 2.635829e+05 1.90e+01 5.02e+04 1.95e+01 9.94e-01 2.70e+05 1 2.82e-01 1.77e+00
	4 2.635746e+05 8.35e+00 4.06e+04 1.79e+01 9.92e-01 8.10e+05 1 2.70e-01 2.04e+00
	5 2.635737e+05 8.89e-01 5.98e+03 6.95e+00 9.95e-01 2.43e+06 1 2.67e-01 2.31e+00
	6 2.635737e+05 1.48e-02 1.13e+02 9.57e-01 9.99e-01 7.29e+06 1 2.67e-01 2.57e+00
	7 2.635737e+05 3.10e-05 2.00e+00 4.31e-02 1.01e+00 2.19e+07 1 2.76e-01 2.85e+00
	8 2.635737e+05 1.53e-08 1.87e-01 7.56e-04 9.30e-01 6.02e+07 1 2.70e-01 3.12e+00


	Bundle adjustment report
	------------------------
	Residuals : 535526
	Parameters : 91873
	Iterations : 9
	Time : 3.14216 [s]
	Initial cost : 0.7215 [px]
	Final cost : 0.701553 [px]
	Termination : Convergence

	=> Merged observations: 202
	=> Completed observations: 314
	=> Filtered observations: 141
	=> Changed observations: 0.002454

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.640884e+05 0.00e+00 3.48e+05 0.00e+00 0.00e+00 1.00e+04 0 1.29e-01 9.08e-01
	1 2.638179e+05 2.70e+02 2.61e+02 5.31e+00 1.00e+00 3.00e+04 1 3.14e-01 1.22e+00
	2 2.638177e+05 2.62e-01 2.66e+01 8.43e-01 1.00e+00 9.00e+04 1 2.69e-01 1.49e+00
	3 2.638177e+05 1.78e-02 4.61e+01 5.91e-01 9.98e-01 2.70e+05 1 2.74e-01 1.77e+00
	4 2.638177e+05 7.21e-03 3.50e+01 5.26e-01 9.97e-01 8.10e+05 1 2.67e-01 2.03e+00
	5 2.638176e+05 7.28e-04 4.98e+00 2.01e-01 9.96e-01 2.43e+06 1 2.77e-01 2.31e+00
	6 2.638176e+05 1.17e-05 1.99e+00 2.74e-02 9.98e-01 7.29e+06 1 2.75e-01 2.58e+00
	7 2.638176e+05 2.58e-08 2.85e-01 1.22e-03 1.02e+00 2.19e+07 1 2.69e-01 2.85e+00


	Bundle adjustment report
	------------------------
	Residuals : 535588
	Parameters : 91777
	Iterations : 8
	Time : 2.87646 [s]
	Initial cost : 0.702197 [px]
	Final cost : 0.701837 [px]
	Termination : Convergence

	=> Merged observations: 24
	=> Completed observations: 37
	=> Filtered observations: 26
	=> Changed observations: 0.000325
	=> Filtered images: 0

	==============================================================================
	Registering image #44 (42)
	==============================================================================

	=> Image sees 4725 / 6277 points

	Pose refinement report
	----------------------
	Residuals : 10388
	Parameters : 6
	Iterations : 8
	Time : 0.073585 [s]
	Initial cost : 0.636848 [px]
	Final cost : 0.579099 [px]
	Termination : Convergence

	=> Continued observations: 4682
	=> Added observations: 1181

	Bundle adjustment report
	------------------------
	Residuals : 95446
	Parameters : 9205
	Iterations : 26
	Time : 1.00461 [s]
	Initial cost : 0.637404 [px]
	Final cost : 0.626261 [px]
	Termination : No convergence

	=> Merged observations: 467
	=> Completed observations: 206
	=> Filtered observations: 853
	=> Changed observations: 0.031976

	Bundle adjustment report
	------------------------
	Residuals : 94436
	Parameters : 8974
	Iterations : 3
	Time : 0.148243 [s]
	Initial cost : 0.764345 [px]
	Final cost : 0.756329 [px]
	Termination : Convergence

	=> Merged observations: 39
	=> Completed observations: 231
	=> Filtered observations: 15
	=> Changed observations: 0.006036

	==============================================================================
	Registering image #30 (43)
	==============================================================================

	=> Image sees 4858 / 7018 points

	Pose refinement report
	----------------------
	Residuals : 10464
	Parameters : 6
	Iterations : 12
	Time : 0.102878 [s]
	Initial cost : 0.710309 [px]
	Final cost : 0.613679 [px]
	Termination : Convergence

	=> Continued observations: 4802
	=> Added observations: 1443

	Bundle adjustment report
	------------------------
	Residuals : 88204
	Parameters : 8989
	Iterations : 26
	Time : 0.92247 [s]
	Initial cost : 0.633294 [px]
	Final cost : 0.615476 [px]
	Termination : No convergence

	=> Merged observations: 281
	=> Completed observations: 235
	=> Filtered observations: 784
	=> Changed observations: 0.029477

	Bundle adjustment report
	------------------------
	Residuals : 87558
	Parameters : 8779
	Iterations : 3
	Time : 0.143817 [s]
	Initial cost : 0.746306 [px]
	Final cost : 0.73898 [px]
	Termination : Convergence

	=> Merged observations: 142
	=> Completed observations: 137
	=> Filtered observations: 13
	=> Changed observations: 0.006670

	==============================================================================
	Registering image #28 (44)
	==============================================================================

	=> Image sees 4934 / 6478 points

	Pose refinement report
	----------------------
	Residuals : 10690
	Parameters : 6
	Iterations : 10
	Time : 0.0972159 [s]
	Initial cost : 0.6375 [px]
	Final cost : 0.590154 [px]
	Termination : Convergence

	=> Continued observations: 4878
	=> Added observations: 1263

	Bundle adjustment report
	------------------------
	Residuals : 91230
	Parameters : 9181
	Iterations : 26
	Time : 0.977568 [s]
	Initial cost : 0.612257 [px]
	Final cost : 0.597542 [px]
	Termination : No convergence

	=> Merged observations: 562
	=> Completed observations: 247
	=> Filtered observations: 644
	=> Changed observations: 0.031854

	Bundle adjustment report
	------------------------
	Residuals : 89548
	Parameters : 9265
	Iterations : 3
	Time : 0.145518 [s]
	Initial cost : 0.72418 [px]
	Final cost : 0.71524 [px]
	Termination : Convergence

	=> Merged observations: 127
	=> Completed observations: 137
	=> Filtered observations: 29
	=> Changed observations: 0.006544

	==============================================================================
	Registering image #10 (45)
	==============================================================================

	=> Image sees 4749 / 5903 points

	Pose refinement report
	----------------------
	Residuals : 10226
	Parameters : 6
	Iterations : 9
	Time : 0.0774181 [s]
	Initial cost : 0.654249 [px]
	Final cost : 0.590045 [px]
	Termination : Convergence

	=> Continued observations: 4700
	=> Added observations: 1033

	Bundle adjustment report
	------------------------
	Residuals : 87252
	Parameters : 8653
	Iterations : 26
	Time : 0.875248 [s]
	Initial cost : 0.612711 [px]
	Final cost : 0.598267 [px]
	Termination : No convergence

	=> Merged observations: 369
	=> Completed observations: 249
	=> Filtered observations: 578
	=> Changed observations: 0.027415

	Bundle adjustment report
	------------------------
	Residuals : 86864
	Parameters : 8536
	Iterations : 3
	Time : 0.136281 [s]
	Initial cost : 0.735868 [px]
	Final cost : 0.729114 [px]
	Termination : Convergence

	=> Merged observations: 41
	=> Completed observations: 110
	=> Filtered observations: 13
	=> Changed observations: 0.003776

	==============================================================================
	Registering image #29 (46)
	==============================================================================

	=> Image sees 4863 / 6830 points

	Pose refinement report
	----------------------
	Residuals : 10528
	Parameters : 6
	Iterations : 10
	Time : 0.0842721 [s]
	Initial cost : 0.62003 [px]
	Final cost : 0.59956 [px]
	Termination : Convergence

	=> Continued observations: 4809
	=> Added observations: 1169

	Bundle adjustment report
	------------------------
	Residuals : 89256
	Parameters : 8791
	Iterations : 26
	Time : 0.938436 [s]
	Initial cost : 0.619865 [px]
	Final cost : 0.60374 [px]
	Termination : No convergence

	=> Merged observations: 722
	=> Completed observations: 262
	=> Filtered observations: 700
	=> Changed observations: 0.037734

	Bundle adjustment report
	------------------------
	Residuals : 87778
	Parameters : 8599
	Iterations : 3
	Time : 0.140534 [s]
	Initial cost : 0.72691 [px]
	Final cost : 0.718599 [px]
	Termination : Convergence

	=> Merged observations: 144
	=> Completed observations: 157
	=> Filtered observations: 40
	=> Changed observations: 0.007770

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 363
	=> Completed observations: 885
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.008986e+05 0.00e+00 8.13e+06 0.00e+00 0.00e+00 1.00e+04 0 1.42e-01 1.00e+00
	1 2.962288e+05 4.67e+03 1.32e+04 1.39e+01 1.00e+00 3.00e+04 1 3.40e-01 1.34e+00
	2 2.962042e+05 2.46e+01 1.40e+04 1.39e+01 9.98e-01 9.00e+04 1 2.96e-01 1.64e+00
	3 2.961780e+05 2.61e+01 6.25e+04 2.28e+01 9.93e-01 2.70e+05 1 3.06e-01 1.95e+00
	4 2.961667e+05 1.13e+01 5.32e+04 2.10e+01 9.90e-01 8.10e+05 1 3.04e-01 2.25e+00
	5 2.961656e+05 1.17e+00 7.61e+03 8.01e+00 9.94e-01 2.43e+06 1 3.04e-01 2.55e+00
	6 2.961655e+05 1.84e-02 1.35e+02 1.07e+00 9.97e-01 7.29e+06 1 2.98e-01 2.85e+00
	7 2.961655e+05 3.37e-05 2.00e+00 4.50e-02 1.00e+00 2.19e+07 1 3.00e-01 3.15e+00
	8 2.961655e+05 1.62e-08 1.48e-01 6.71e-04 1.13e+00 6.56e+07 1 3.10e-01 3.46e+00


	Bundle adjustment report
	------------------------
	Residuals : 592470
	Parameters : 97456
	Iterations : 9
	Time : 3.48845 [s]
	Initial cost : 0.712651 [px]
	Final cost : 0.707024 [px]
	Termination : Convergence

	=> Merged observations: 131
	=> Completed observations: 589
	=> Filtered observations: 150
	=> Changed observations: 0.002937

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.962600e+05 0.00e+00 9.52e+04 0.00e+00 0.00e+00 1.00e+04 0 1.43e-01 1.01e+00
	1 2.960314e+05 2.29e+02 8.47e+01 2.97e+00 1.00e+00 3.00e+04 1 3.48e-01 1.36e+00
	2 2.960312e+05 1.56e-01 5.92e+00 4.96e-01 1.00e+00 9.00e+04 1 3.06e-01 1.66e+00
	3 2.960312e+05 2.51e-02 5.15e+01 6.42e-01 9.98e-01 2.70e+05 1 3.16e-01 1.98e+00
	4 2.960312e+05 1.04e-02 4.78e+01 6.02e-01 9.96e-01 8.10e+05 1 3.15e-01 2.30e+00
	5 2.960312e+05 1.02e-03 6.74e+00 2.28e-01 9.95e-01 2.43e+06 1 3.28e-01 2.62e+00
	6 2.960312e+05 1.55e-05 2.00e+00 3.02e-02 9.96e-01 7.29e+06 1 3.27e-01 2.95e+00
	7 2.960312e+05 3.15e-08 2.75e-01 1.26e-03 1.06e+00 2.19e+07 1 3.23e-01 3.27e+00


	Bundle adjustment report
	------------------------
	Residuals : 592336
	Parameters : 97303
	Iterations : 8
	Time : 3.29815 [s]
	Initial cost : 0.707217 [px]
	Final cost : 0.706943 [px]
	Termination : Convergence

	=> Merged observations: 23
	=> Completed observations: 102
	=> Filtered observations: 28
	=> Changed observations: 0.000517

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 2.959347e+05 0.00e+00 2.12e+04 0.00e+00 0.00e+00 1.00e+04 0 1.32e-01 9.85e-01
	1 2.958838e+05 5.09e+01 1.34e+01 6.60e-01 1.00e+00 3.00e+04 1 3.25e-01 1.31e+00
	2 2.958838e+05 4.64e-03 1.99e+00 5.09e-02 1.00e+00 9.00e+04 1 3.06e-01 1.62e+00
	3 2.958838e+05 1.56e-04 2.00e+00 5.46e-02 9.97e-01 2.70e+05 1 3.00e-01 1.92e+00
	4 2.958838e+05 5.66e-05 1.99e+00 4.51e-02 9.96e-01 8.10e+05 1 3.01e-01 2.22e+00
	5 2.958838e+05 5.50e-06 2.00e+00 1.68e-02 9.95e-01 2.43e+06 1 2.90e-01 2.51e+00
	6 2.958838e+05 8.31e-08 4.77e-01 2.22e-03 9.92e-01 7.29e+06 1 2.98e-01 2.81e+00


	Bundle adjustment report
	------------------------
	Residuals : 592326
	Parameters : 97291
	Iterations : 7
	Time : 2.82984 [s]
	Initial cost : 0.706834 [px]
	Final cost : 0.706773 [px]
	Termination : Convergence

	=> Merged observations: 4
	=> Completed observations: 0
	=> Filtered observations: 8
	=> Changed observations: 0.000041
	=> Filtered images: 0

	==============================================================================
	Registering image #46 (47)
	==============================================================================

	=> Image sees 4614 / 6331 points

	Pose refinement report
	----------------------
	Residuals : 9946
	Parameters : 6
	Iterations : 10
	Time : 0.082268 [s]
	Initial cost : 0.70806 [px]
	Final cost : 0.606096 [px]
	Termination : Convergence

	=> Continued observations: 4560
	=> Added observations: 921

	Bundle adjustment report
	------------------------
	Residuals : 89748
	Parameters : 8773
	Iterations : 25
	Time : 0.867286 [s]
	Initial cost : 0.610521 [px]
	Final cost : 0.596792 [px]
	Termination : Convergence

	=> Merged observations: 439
	=> Completed observations: 159
	=> Filtered observations: 745
	=> Changed observations: 0.029928

	Bundle adjustment report
	------------------------
	Residuals : 88620
	Parameters : 8524
	Iterations : 3
	Time : 0.158643 [s]
	Initial cost : 0.714796 [px]
	Final cost : 0.706725 [px]
	Termination : Convergence

	=> Merged observations: 32
	=> Completed observations: 143
	=> Filtered observations: 13
	=> Changed observations: 0.004243

	==============================================================================
	Registering image #51 (48)
	==============================================================================

	=> Image sees 4881 / 6265 points

	Pose refinement report
	----------------------
	Residuals : 10740
	Parameters : 6
	Iterations : 15
	Time : 0.128249 [s]
	Initial cost : 0.718832 [px]
	Final cost : 0.687289 [px]
	Termination : Convergence

	=> Continued observations: 4815
	=> Added observations: 1090

	Bundle adjustment report
	------------------------
	Residuals : 107208
	Parameters : 7414
	Iterations : 26
	Time : 1.11095 [s]
	Initial cost : 0.637149 [px]
	Final cost : 0.626411 [px]
	Termination : No convergence

	=> Merged observations: 419
	=> Completed observations: 143
	=> Filtered observations: 958
	=> Changed observations: 0.028356

	Bundle adjustment report
	------------------------
	Residuals : 101474
	Parameters : 7033
	Iterations : 3
	Time : 0.171662 [s]
	Initial cost : 0.774302 [px]
	Final cost : 0.766617 [px]
	Termination : Convergence

	=> Merged observations: 58
	=> Completed observations: 143
	=> Filtered observations: 88
	=> Changed observations: 0.005696

	==============================================================================
	Registering image #50 (49)
	==============================================================================

	=> Image sees 4891 / 6366 points

	Pose refinement report
	----------------------
	Residuals : 10676
	Parameters : 6
	Iterations : 13
	Time : 0.113196 [s]
	Initial cost : 0.763053 [px]
	Final cost : 0.694177 [px]
	Termination : Convergence

	=> Continued observations: 4788
	=> Added observations: 1218

	Bundle adjustment report
	------------------------
	Residuals : 98818
	Parameters : 7720
	Iterations : 26
	Time : 1.01046 [s]
	Initial cost : 0.65873 [px]
	Final cost : 0.644708 [px]
	Termination : No convergence

	=> Merged observations: 576
	=> Completed observations: 258
	=> Filtered observations: 1109
	=> Changed observations: 0.039325

	Bundle adjustment report
	------------------------
	Residuals : 97340
	Parameters : 7459
	Iterations : 3
	Time : 0.155846 [s]
	Initial cost : 0.780278 [px]
	Final cost : 0.772189 [px]
	Termination : Convergence

	=> Merged observations: 68
	=> Completed observations: 176
	=> Filtered observations: 32
	=> Changed observations: 0.005671

	==============================================================================
	Registering image #49 (50)
	==============================================================================

	=> Image sees 4807 / 6388 points

	Pose refinement report
	----------------------
	Residuals : 10472
	Parameters : 6
	Iterations : 13
	Time : 0.126273 [s]
	Initial cost : 0.71576 [px]
	Final cost : 0.661807 [px]
	Termination : Convergence

	=> Continued observations: 4741
	=> Added observations: 1326

	Bundle adjustment report
	------------------------
	Residuals : 88536
	Parameters : 8251
	Iterations : 26
	Time : 0.968201 [s]
	Initial cost : 0.655087 [px]
	Final cost : 0.641654 [px]
	Termination : No convergence

	=> Merged observations: 591
	=> Completed observations: 247
	=> Filtered observations: 847
	=> Changed observations: 0.038064

	Bundle adjustment report
	------------------------
	Residuals : 87508
	Parameters : 7984
	Iterations : 3
	Time : 0.1417 [s]
	Initial cost : 0.781109 [px]
	Final cost : 0.773008 [px]
	Termination : Convergence

	=> Merged observations: 136
	=> Completed observations: 206
	=> Filtered observations: 51
	=> Changed observations: 0.008982

	==============================================================================
	Registering image #61 (51)
	==============================================================================

	=> Image sees 6448 / 8350 points

	Pose refinement report
	----------------------
	Residuals : 14036
	Parameters : 6
	Iterations : 13
	Time : 0.142831 [s]
	Initial cost : 0.716974 [px]
	Final cost : 0.651867 [px]
	Termination : Convergence

	=> Continued observations: 6380
	=> Added observations: 1350

	Bundle adjustment report
	------------------------
	Residuals : 125758
	Parameters : 11281
	Iterations : 18
	Time : 0.837128 [s]
	Initial cost : 0.624339 [px]
	Final cost : 0.60826 [px]
	Termination : Convergence

	=> Merged observations: 981
	=> Completed observations: 321
	=> Filtered observations: 970
	=> Changed observations: 0.036133

	Bundle adjustment report
	------------------------
	Residuals : 125018
	Parameters : 11065
	Iterations : 3
	Time : 0.197033 [s]
	Initial cost : 0.74598 [px]
	Final cost : 0.738806 [px]
	Termination : Convergence

	=> Merged observations: 221
	=> Completed observations: 168
	=> Filtered observations: 15
	=> Changed observations: 0.006463

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 468
	=> Completed observations: 1068
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.481203e+05 0.00e+00 8.57e+06 0.00e+00 0.00e+00 1.00e+04 0 1.52e-01 1.21e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 9.1357e+06
	Nonzeros in L: 45451
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.2
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 9.1357e+06
	nnz(L): 45451
	OK
	1 3.411598e+05 6.96e+03 4.09e+04 1.35e+01 1.00e+00 3.00e+04 1 1.06e+00 2.26e+00
	2 3.411246e+05 3.52e+01 3.54e+04 1.70e+01 9.98e-01 9.00e+04 1 3.76e-01 2.64e+00
	3 3.410892e+05 3.54e+01 9.02e+04 2.56e+01 9.93e-01 2.70e+05 1 3.76e-01 3.02e+00
	4 3.410750e+05 1.43e+01 6.53e+04 2.20e+01 9.92e-01 8.10e+05 1 3.79e-01 3.39e+00
	5 3.410736e+05 1.38e+00 8.42e+03 7.99e+00 9.97e-01 2.43e+06 1 3.69e-01 3.76e+00
	6 3.410736e+05 2.04e-02 1.40e+02 1.04e+00 1.00e+00 7.29e+06 1 3.73e-01 4.14e+00
	7 3.410736e+05 3.90e-05 2.00e+00 4.52e-02 1.01e+00 2.19e+07 1 3.78e-01 4.51e+00
	8 3.410736e+05 1.83e-08 1.77e-01 8.03e-04 9.45e-01 6.56e+07 1 3.83e-01 4.90e+00


	Bundle adjustment report
	------------------------
	Residuals : 649490
	Parameters : 102811
	Iterations : 9
	Time : 4.92432 [s]
	Initial cost : 0.732114 [px]
	Final cost : 0.724666 [px]
	Termination : Convergence

	=> Merged observations: 193
	=> Completed observations: 234
	=> Filtered observations: 149
	=> Changed observations: 0.001774

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.413578e+05 0.00e+00 1.56e+05 0.00e+00 0.00e+00 1.00e+04 0 1.53e-01 1.23e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 9.1357e+06
	Nonzeros in L: 45451
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.2
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 9.1357e+06
	nnz(L): 45451
	OK
	1 3.410917e+05 2.66e+02 5.87e+02 2.63e+00 1.00e+00 3.00e+04 1 1.02e+00 2.25e+00
	2 3.410915e+05 1.29e-01 7.10e+00 4.09e-01 1.00e+00 9.00e+04 1 3.49e-01 2.60e+00
	3 3.410915e+05 2.22e-02 4.15e+01 5.54e-01 9.99e-01 2.70e+05 1 3.71e-01 2.97e+00
	4 3.410915e+05 8.53e-03 3.70e+01 5.04e-01 9.98e-01 8.10e+05 1 3.64e-01 3.34e+00
	5 3.410915e+05 7.69e-04 4.71e+00 1.82e-01 9.98e-01 2.43e+06 1 3.64e-01 3.70e+00
	6 3.410915e+05 1.10e-05 2.00e+00 2.34e-02 1.00e+00 7.29e+06 1 3.66e-01 4.07e+00
	7 3.410915e+05 2.21e-08 2.17e-01 1.01e-03 9.96e-01 2.19e+07 1 3.42e-01 4.41e+00


	Bundle adjustment report
	------------------------
	Residuals : 649474
	Parameters : 102706
	Iterations : 8
	Time : 4.43377 [s]
	Initial cost : 0.724977 [px]
	Final cost : 0.724694 [px]
	Termination : Convergence

	=> Merged observations: 40
	=> Completed observations: 186
	=> Filtered observations: 31
	=> Changed observations: 0.000791

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.411001e+05 0.00e+00 2.05e+04 0.00e+00 0.00e+00 1.00e+04 0 1.47e-01 1.19e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 9.1357e+06
	Nonzeros in L: 45451
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.2
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 9.1357e+06
	nnz(L): 45451
	OK
	1 3.410447e+05 5.54e+01 2.59e+01 1.84e+00 1.00e+00 3.00e+04 1 1.03e+00 2.22e+00
	2 3.410447e+05 3.47e-02 3.06e+00 1.93e-01 1.00e+00 9.00e+04 1 3.57e-01 2.58e+00
	3 3.410447e+05 3.10e-04 1.99e+00 6.65e-02 9.99e-01 2.70e+05 1 3.68e-01 2.94e+00
	4 3.410447e+05 8.93e-05 2.00e+00 5.27e-02 9.98e-01 8.10e+05 1 3.64e-01 3.31e+00
	5 3.410447e+05 8.01e-06 2.00e+00 1.86e-02 9.98e-01 2.43e+06 1 3.69e-01 3.68e+00
	6 3.410447e+05 1.14e-07 4.89e-01 2.38e-03 9.98e-01 7.29e+06 1 3.65e-01 4.04e+00


	Bundle adjustment report
	------------------------
	Residuals : 649492
	Parameters : 102691
	Iterations : 7
	Time : 4.06924 [s]
	Initial cost : 0.724693 [px]
	Final cost : 0.724634 [px]
	Termination : Convergence

	=> Merged observations: 15
	=> Completed observations: 0
	=> Filtered observations: 13
	=> Changed observations: 0.000086
	=> Filtered images: 0

	==============================================================================
	Registering image #48 (52)
	==============================================================================

	=> Image sees 4605 / 6058 points

	Pose refinement report
	----------------------
	Residuals : 9980
	Parameters : 6
	Iterations : 11
	Time : 0.0919099 [s]
	Initial cost : 0.643859 [px]
	Final cost : 0.622905 [px]
	Termination : Convergence

	=> Continued observations: 4529
	=> Added observations: 1329

	Bundle adjustment report
	------------------------
	Residuals : 89902
	Parameters : 9226
	Iterations : 26
	Time : 0.917689 [s]
	Initial cost : 0.639819 [px]
	Final cost : 0.624387 [px]
	Termination : No convergence

	=> Merged observations: 310
	=> Completed observations: 200
	=> Filtered observations: 781
	=> Changed observations: 0.028720

	Bundle adjustment report
	------------------------
	Residuals : 88746
	Parameters : 8983
	Iterations : 3
	Time : 0.149107 [s]
	Initial cost : 0.749478 [px]
	Final cost : 0.740633 [px]
	Termination : Convergence

	=> Merged observations: 90
	=> Completed observations: 175
	=> Filtered observations: 17
	=> Changed observations: 0.006355

	==============================================================================
	Registering image #60 (53)
	==============================================================================

	=> Image sees 6688 / 8373 points

	Pose refinement report
	----------------------
	Residuals : 14694
	Parameters : 6
	Iterations : 14
	Time : 0.161087 [s]
	Initial cost : 0.674495 [px]
	Final cost : 0.641445 [px]
	Termination : Convergence

	=> Continued observations: 6612
	=> Added observations: 1353

	Bundle adjustment report
	------------------------
	Residuals : 126128
	Parameters : 11362
	Iterations : 26
	Time : 1.18543 [s]
	Initial cost : 0.631213 [px]
	Final cost : 0.617813 [px]
	Termination : No convergence

	=> Merged observations: 512
	=> Completed observations: 265
	=> Filtered observations: 879
	=> Changed observations: 0.026259

	Bundle adjustment report
	------------------------
	Residuals : 125036
	Parameters : 11122
	Iterations : 3
	Time : 0.1974 [s]
	Initial cost : 0.762042 [px]
	Final cost : 0.755185 [px]
	Termination : Convergence

	=> Merged observations: 126
	=> Completed observations: 150
	=> Filtered observations: 31
	=> Changed observations: 0.004911

	==============================================================================
	Registering image #62 (54)
	==============================================================================

	=> Image sees 4723 / 5854 points

	Pose refinement report
	----------------------
	Residuals : 10630
	Parameters : 6
	Iterations : 22
	Time : 0.184777 [s]
	Initial cost : 0.721994 [px]
	Final cost : 0.679314 [px]
	Termination : Convergence

	=> Continued observations: 4641
	=> Added observations: 1000

	Bundle adjustment report
	------------------------
	Residuals : 91424
	Parameters : 7261
	Iterations : 26
	Time : 0.947203 [s]
	Initial cost : 0.671119 [px]
	Final cost : 0.656691 [px]
	Termination : No convergence

	=> Merged observations: 373
	=> Completed observations: 223
	=> Filtered observations: 960
	=> Changed observations: 0.034039

	Bundle adjustment report
	------------------------
	Residuals : 89188
	Parameters : 7078
	Iterations : 3
	Time : 0.169499 [s]
	Initial cost : 0.786358 [px]
	Final cost : 0.777902 [px]
	Termination : Convergence

	=> Merged observations: 85
	=> Completed observations: 184
	=> Filtered observations: 60
	=> Changed observations: 0.007378

	==============================================================================
	Registering image #54 (55)
	==============================================================================

	=> Image sees 6988 / 8542 points

	Pose refinement report
	----------------------
	Residuals : 15414
	Parameters : 6
	Iterations : 9
	Time : 0.112426 [s]
	Initial cost : 0.614532 [px]
	Final cost : 0.592122 [px]
	Termination : Convergence

	=> Continued observations: 6930
	=> Added observations: 1208

	Bundle adjustment report
	------------------------
	Residuals : 133026
	Parameters : 11215
	Iterations : 26
	Time : 1.25773 [s]
	Initial cost : 0.618972 [px]
	Final cost : 0.605181 [px]
	Termination : No convergence

	=> Merged observations: 940
	=> Completed observations: 298
	=> Filtered observations: 894
	=> Changed observations: 0.032054

	Bundle adjustment report
	------------------------
	Residuals : 132342
	Parameters : 11032
	Iterations : 3
	Time : 0.20929 [s]
	Initial cost : 0.744581 [px]
	Final cost : 0.73761 [px]
	Termination : Convergence

	=> Merged observations: 173
	=> Completed observations: 156
	=> Filtered observations: 65
	=> Changed observations: 0.005954

	==============================================================================
	Registering image #55 (56)
	==============================================================================

	=> Image sees 7000 / 8515 points

	Pose refinement report
	----------------------
	Residuals : 15218
	Parameters : 6
	Iterations : 11
	Time : 0.133746 [s]
	Initial cost : 0.660704 [px]
	Final cost : 0.633985 [px]
	Termination : Convergence

	=> Continued observations: 6927
	=> Added observations: 1237

	Bundle adjustment report
	------------------------
	Residuals : 132372
	Parameters : 11425
	Iterations : 26
	Time : 1.24179 [s]
	Initial cost : 0.627517 [px]
	Final cost : 0.61455 [px]
	Termination : No convergence

	=> Merged observations: 463
	=> Completed observations: 321
	=> Filtered observations: 1056
	=> Changed observations: 0.027800

	Bundle adjustment report
	------------------------
	Residuals : 133598
	Parameters : 11308
	Iterations : 3
	Time : 0.227792 [s]
	Initial cost : 0.747032 [px]
	Final cost : 0.740086 [px]
	Termination : Convergence

	=> Merged observations: 251
	=> Completed observations: 133
	=> Filtered observations: 21
	=> Changed observations: 0.006063

	==============================================================================
	Registering image #53 (57)
	==============================================================================

	=> Image sees 4967 / 5816 points

	Pose refinement report
	----------------------
	Residuals : 11536
	Parameters : 6
	Iterations : 9
	Time : 0.084929 [s]
	Initial cost : 0.668532 [px]
	Final cost : 0.632264 [px]
	Termination : Convergence

	=> Continued observations: 4897
	=> Added observations: 1072

	Bundle adjustment report
	------------------------
	Residuals : 114032
	Parameters : 6637
	Iterations : 26
	Time : 1.15281 [s]
	Initial cost : 0.614977 [px]
	Final cost : 0.605332 [px]
	Termination : No convergence

	=> Merged observations: 820
	=> Completed observations: 257
	=> Filtered observations: 863
	=> Changed observations: 0.034026

	Bundle adjustment report
	------------------------
	Residuals : 109046
	Parameters : 6379
	Iterations : 3
	Time : 0.179015 [s]
	Initial cost : 0.764446 [px]
	Final cost : 0.75718 [px]
	Termination : Convergence

	=> Merged observations: 92
	=> Completed observations: 180
	=> Filtered observations: 58
	=> Changed observations: 0.006052

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 598
	=> Completed observations: 1566
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.014070e+05 0.00e+00 8.38e+06 0.00e+00 0.00e+00 1.00e+04 0 1.58e-01 1.31e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 1.2814e+07
	Nonzeros in L: 56953
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.2
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 1.2814e+07
	nnz(L): 56953
	OK
	1 3.957982e+05 5.61e+03 3.69e+04 1.09e+01 1.00e+00 3.00e+04 1 1.25e+00 2.57e+00
	2 3.957890e+05 9.26e+00 7.11e+03 7.56e+00 9.99e-01 9.00e+04 1 4.24e-01 2.99e+00
	3 3.957815e+05 7.48e+00 1.82e+04 1.09e+01 9.97e-01 2.70e+05 1 4.16e-01 3.41e+00
	4 3.957787e+05 2.78e+00 1.21e+04 8.97e+00 9.97e-01 8.10e+05 1 4.02e-01 3.81e+00
	5 3.957785e+05 2.32e-01 1.39e+03 3.05e+00 9.97e-01 2.43e+06 1 4.04e-01 4.22e+00
	6 3.957785e+05 2.97e-03 1.99e+01 3.68e-01 9.99e-01 7.29e+06 1 4.13e-01 4.63e+00
	7 3.957785e+05 5.06e-06 1.95e+00 1.47e-02 1.01e+00 2.19e+07 1 3.94e-01 5.02e+00
	8 3.957785e+05 2.21e-09 4.87e-02 2.31e-04 1.02e+00 6.56e+07 1 4.02e-01 5.43e+00


	Bundle adjustment report
	------------------------
	Residuals : 727408
	Parameters : 108892
	Iterations : 9
	Time : 5.45477 [s]
	Initial cost : 0.742854 [px]
	Final cost : 0.737627 [px]
	Termination : Convergence

	=> Merged observations: 185
	=> Completed observations: 692
	=> Filtered observations: 156
	=> Changed observations: 0.002840

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 3.963049e+05 0.00e+00 1.37e+05 0.00e+00 0.00e+00 1.00e+04 0 1.63e-01 1.32e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 1.2814e+07
	Nonzeros in L: 56953
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.2
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 1.2814e+07
	nnz(L): 56953
	OK
	1 3.959825e+05 3.22e+02 4.19e+02 4.07e+00 1.00e+00 3.00e+04 1 1.25e+00 2.58e+00
	2 3.959823e+05 1.73e-01 5.01e+01 7.06e-01 1.00e+00 9.00e+04 1 4.13e-01 2.99e+00
	3 3.959823e+05 3.86e-02 9.60e+01 7.51e-01 9.98e-01 2.70e+05 1 4.05e-01 3.40e+00
	4 3.959823e+05 1.39e-02 5.99e+01 6.01e-01 9.98e-01 8.10e+05 1 4.00e-01 3.80e+00
	5 3.959823e+05 1.14e-03 6.50e+00 2.03e-01 9.97e-01 2.43e+06 1 4.04e-01 4.20e+00
	6 3.959823e+05 1.45e-05 2.00e+00 2.43e-02 9.99e-01 7.29e+06 1 4.08e-01 4.61e+00
	7 3.959823e+05 2.28e-08 2.01e-01 9.65e-04 9.24e-01 1.86e+07 1 4.23e-01 5.03e+00


	Bundle adjustment report
	------------------------
	Residuals : 727404
	Parameters : 108772
	Iterations : 8
	Time : 5.06051 [s]
	Initial cost : 0.73812 [px]
	Final cost : 0.737819 [px]
	Termination : Convergence

	=> Merged observations: 39
	=> Completed observations: 23
	=> Filtered observations: 38
	=> Changed observations: 0.000275
	=> Filtered images: 0

	==============================================================================
	Registering image #47 (58)
	==============================================================================

	=> Image sees 4199 / 5145 points

	Pose refinement report
	----------------------
	Residuals : 9138
	Parameters : 6
	Iterations : 10
	Time : 0.077462 [s]
	Initial cost : 0.682944 [px]
	Final cost : 0.615081 [px]
	Termination : Convergence

	=> Continued observations: 4146
	=> Added observations: 767

	Bundle adjustment report
	------------------------
	Residuals : 89066
	Parameters : 8284
	Iterations : 26
	Time : 0.933404 [s]
	Initial cost : 0.624819 [px]
	Final cost : 0.610316 [px]
	Termination : No convergence

	=> Merged observations: 256
	=> Completed observations: 202
	=> Filtered observations: 661
	=> Changed observations: 0.025127

	Bundle adjustment report
	------------------------
	Residuals : 89720
	Parameters : 8083
	Iterations : 3
	Time : 0.140406 [s]
	Initial cost : 0.756695 [px]
	Final cost : 0.748962 [px]
	Termination : Convergence

	=> Merged observations: 97
	=> Completed observations: 107
	=> Filtered observations: 21
	=> Changed observations: 0.005016

	==============================================================================
	Registering image #59 (59)
	==============================================================================

	=> Image sees 6076 / 7285 points

	Pose refinement report
	----------------------
	Residuals : 13472
	Parameters : 6
	Iterations : 34
	Time : 0.388925 [s]
	Initial cost : 0.876784 [px]
	Final cost : 0.702565 [px]
	Termination : Convergence

	=> Continued observations: 6001
	=> Added observations: 1041

	Bundle adjustment report
	------------------------
	Residuals : 120952
	Parameters : 9208
	Iterations : 26
	Time : 1.1776 [s]
	Initial cost : 0.667706 [px]
	Final cost : 0.654348 [px]
	Termination : No convergence

	=> Merged observations: 491
	=> Completed observations: 251
	=> Filtered observations: 1479
	=> Changed observations: 0.036725

	Bundle adjustment report
	------------------------
	Residuals : 120910
	Parameters : 8938
	Iterations : 3
	Time : 0.190556 [s]
	Initial cost : 0.764327 [px]
	Final cost : 0.756769 [px]
	Termination : Convergence

	=> Merged observations: 356
	=> Completed observations: 137
	=> Filtered observations: 63
	=> Changed observations: 0.009197

	==============================================================================
	Registering image #58 (60)
	==============================================================================

	=> Image sees 5680 / 6952 points

	Pose refinement report
	----------------------
	Residuals : 12534
	Parameters : 6
	Iterations : 28
	Time : 0.271341 [s]
	Initial cost : 0.727737 [px]
	Final cost : 0.656818 [px]
	Termination : Convergence

	=> Continued observations: 5605
	=> Added observations: 1147

	Bundle adjustment report
	------------------------
	Residuals : 116354
	Parameters : 8647
	Iterations : 21
	Time : 0.96298 [s]
	Initial cost : 0.662231 [px]
	Final cost : 0.649472 [px]
	Termination : Convergence

	=> Merged observations: 716
	=> Completed observations: 251
	=> Filtered observations: 1297
	=> Changed observations: 0.038916

	Bundle adjustment report
	------------------------
	Residuals : 114708
	Parameters : 8320
	Iterations : 3
	Time : 0.190483 [s]
	Initial cost : 0.785858 [px]
	Final cost : 0.778162 [px]
	Termination : Convergence

	=> Merged observations: 60
	=> Completed observations: 217
	=> Filtered observations: 262
	=> Changed observations: 0.009398

	==============================================================================
	Registering image #57 (61)
	==============================================================================

	=> Image sees 5285 / 6534 points

	Pose refinement report
	----------------------
	Residuals : 11648
	Parameters : 6
	Iterations : 15
	Time : 0.14182 [s]
	Initial cost : 0.702744 [px]
	Final cost : 0.624575 [px]
	Termination : Convergence

	=> Continued observations: 5241
	=> Added observations: 1246

	Bundle adjustment report
	------------------------
	Residuals : 108616
	Parameters : 8260
	Iterations : 26
	Time : 1.11936 [s]
	Initial cost : 0.628203 [px]
	Final cost : 0.614948 [px]
	Termination : No convergence

	=> Merged observations: 904
	=> Completed observations: 326
	=> Filtered observations: 937
	=> Changed observations: 0.039902

	Bundle adjustment report
	------------------------
	Residuals : 107580
	Parameters : 7942
	Iterations : 3
	Time : 0.161956 [s]
	Initial cost : 0.753741 [px]
	Final cost : 0.745225 [px]
	Termination : Convergence

	=> Merged observations: 116
	=> Completed observations: 208
	=> Filtered observations: 291
	=> Changed observations: 0.011433

	==============================================================================
	Registering image #56 (62)
	==============================================================================

	=> Image sees 5258 / 6166 points

	Pose refinement report
	----------------------
	Residuals : 11368
	Parameters : 6
	Iterations : 13
	Time : 0.123977 [s]
	Initial cost : 0.717825 [px]
	Final cost : 0.630365 [px]
	Termination : Convergence

	=> Continued observations: 5218
	=> Added observations: 818

	Bundle adjustment report
	------------------------
	Residuals : 111020
	Parameters : 7792
	Iterations : 26
	Time : 1.13053 [s]
	Initial cost : 0.615631 [px]
	Final cost : 0.602353 [px]
	Termination : No convergence

	=> Merged observations: 575
	=> Completed observations: 290
	=> Filtered observations: 738
	=> Changed observations: 0.028878

	Bundle adjustment report
	------------------------
	Residuals : 110466
	Parameters : 7624
	Iterations : 3
	Time : 0.175249 [s]
	Initial cost : 0.74714 [px]
	Final cost : 0.741173 [px]
	Termination : Convergence

	=> Merged observations: 234
	=> Completed observations: 129
	=> Filtered observations: 13
	=> Changed observations: 0.006808

	==============================================================================
	Retriangulation
	==============================================================================

	=> Merged observations: 910
	=> Completed observations: 1607
	=> Retriangulated observations: 0

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.577826e+05 0.00e+00 3.05e+07 0.00e+00 0.00e+00 1.00e+04 0 1.70e-01 1.48e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 1.6544e+07
	Nonzeros in L: 67528
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.3
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 1.6544e+07
	nnz(L): 67528
	OK
	1 4.379544e+05 1.98e+04 9.18e+04 1.06e+01 1.00e+00 3.00e+04 1 1.42e+00 2.91e+00
	2 4.379454e+05 9.01e+00 1.56e+03 3.01e+00 1.00e+00 9.00e+04 1 4.75e-01 3.38e+00
	3 4.379448e+05 5.51e-01 1.00e+02 1.46e+00 9.99e-01 2.70e+05 1 4.40e-01 3.82e+00
	4 4.379448e+05 1.28e-02 3.24e+01 4.44e-01 9.98e-01 8.10e+05 1 4.37e-01 4.26e+00
	5 4.379448e+05 3.08e-04 2.16e+00 1.06e-01 9.98e-01 2.43e+06 1 4.37e-01 4.69e+00
	6 4.379448e+05 3.52e-06 1.72e+00 1.18e-02 1.00e+00 7.29e+06 1 4.58e-01 5.15e+00
	7 4.379448e+05 4.19e-09 9.16e-02 4.57e-04 6.83e-01 7.67e+06 1 4.65e-01 5.62e+00


	Bundle adjustment report
	------------------------
	Residuals : 783952
	Parameters : 112702
	Iterations : 8
	Time : 5.64769 [s]
	Initial cost : 0.764161 [px]
	Final cost : 0.74742 [px]
	Termination : Convergence

	=> Merged observations: 415
	=> Completed observations: 691
	=> Filtered observations: 238
	=> Changed observations: 0.003429

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.394025e+05 0.00e+00 6.79e+05 0.00e+00 0.00e+00 1.00e+04 0 1.67e-01 1.44e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 1.6544e+07
	Nonzeros in L: 67528
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.3
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 1.6544e+07
	nnz(L): 67528
	OK
	1 4.388820e+05 5.20e+02 1.29e+03 2.71e+00 1.00e+00 3.00e+04 1 1.38e+00 2.82e+00
	2 4.388819e+05 1.82e-01 2.45e+01 3.20e-01 1.00e+00 9.00e+04 1 4.39e-01 3.25e+00
	3 4.388819e+05 8.80e-04 2.00e+00 3.87e-02 1.00e+00 2.70e+05 1 4.41e-01 3.70e+00
	4 4.388819e+05 8.18e-06 1.00e+00 5.06e-03 1.00e+00 8.10e+05 1 4.40e-01 4.14e+00
	5 4.388819e+05 2.06e-08 6.99e-02 2.47e-04 1.12e+00 2.43e+06 1 4.43e-01 4.58e+00


	Bundle adjustment report
	------------------------
	Residuals : 784262
	Parameters : 112576
	Iterations : 6
	Time : 4.61078 [s]
	Initial cost : 0.748515 [px]
	Final cost : 0.748072 [px]
	Termination : Convergence

	=> Merged observations: 70
	=> Completed observations: 170
	=> Filtered observations: 57
	=> Changed observations: 0.000757

	==============================================================================
	Global bundle adjustment
	==============================================================================

	iter cost cost_change \|gradient\| \|step\| tr_ratio tr_radius ls_iter iter_time total_time
	0 4.388767e+05 0.00e+00 8.58e+04 0.00e+00 0.00e+00 1.00e+04 0 1.79e-01 1.47e+00

	CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK
	Architecture: Linux
	sizeof(int): 4
	sizeof(SuiteSparse_long): 8
	sizeof(void *): 8
	sizeof(double): 8
	sizeof(Int): 4 (CHOLMOD's basic integer)
	sizeof(BLAS_INT): 4 (integer used in the BLAS)
	Results from most recent analysis:
	Cholesky flop count: 1.6544e+07
	Nonzeros in L: 67528
	memory blocks in use: 11
	memory in use (MB): 0.0
	peak memory usage (MB): 0.3
	maxrank: update/downdate rank: 8
	supernodal control: 1 40 (supernodal if flops/lnz >= 40)
	nmethods: number of ordering methods to try: 1
	method 0: natural
	flop count: 1.6544e+07
	nnz(L): 67528
	OK
	1 4.387844e+05 9.23e+01 1.58e+02 1.56e+00 1.00e+00 3.00e+04 1 1.42e+00 2.89e+00
	2 4.387844e+05 3.01e-02 1.11e+01 1.99e-01 1.00e+00 9.00e+04 1 4.62e-01 3.35e+00
	3 4.387844e+05 2.53e-03 7.43e+00 1.92e-01 9.98e-01 2.70e+05 1 4.53e-01 3.81e+00
	4 4.387844e+05 8.06e-04 3.93e+00 1.43e-01 9.97e-01 8.10e+05 1 4.55e-01 4.26e+00
	5 4.387844e+05 6.33e-05 2.00e+00 4.66e-02 9.97e-01 2.43e+06 1 4.63e-01 4.72e+00
	6 4.387844e+05 7.67e-07 8.93e-01 5.44e-03 9.98e-01 7.29e+06 1 4.66e-01 5.19e+00


	Bundle adjustment report
	------------------------
	Residuals : 784288
	Parameters : 112564
	Iterations : 7
	Time : 5.22214 [s]
	Initial cost : 0.748055 [px]
	Final cost : 0.747976 [px]
	Termination : Convergence

	=> Merged observations: 20
	=> Completed observations: 0
	=> Filtered observations: 28
	=> Changed observations: 0.000122
	=> Filtered images: 0

	Elapsed time: 4.090 [minutes]