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[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] diff --git a/horns/database.db b/horns/database.db new file mode 100644 index 0000000000000000000000000000000000000000..05e0d5a575af4eabbbb78127554a306cafce2037 --- /dev/null +++ b/horns/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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