|
|
| ============================================================================== |
| Feature extraction |
| ============================================================================== |
|
|
| Processed file [1/55] |
| Name: DJI_20200223_163548_810.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12061 |
| Processed file [2/55] |
| Name: DJI_20200223_163551_210.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8359 |
| Processed file [3/55] |
| Name: DJI_20200223_163551_990.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12134 |
| Processed file [4/55] |
| Name: DJI_20200223_163553_010.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11164 |
| Processed file [5/55] |
| Name: DJI_20200223_163553_790.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11431 |
| Processed file [6/55] |
| Name: DJI_20200223_163554_630.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11198 |
| Processed file [7/55] |
| Name: DJI_20200223_163555_770.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12592 |
| Processed file [8/55] |
| Name: DJI_20200223_163556_700.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12007 |
| Processed file [9/55] |
| Name: DJI_20200223_163557_660.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12268 |
| Processed file [10/55] |
| Name: DJI_20200223_163558_500.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12024 |
| Processed file [11/55] |
| Name: DJI_20200223_163559_325.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11955 |
| Processed file [12/55] |
| Name: DJI_20200223_163600_150.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11936 |
| Processed file [13/55] |
| Name: DJI_20200223_163600_960.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12126 |
| Processed file [14/55] |
| Name: DJI_20200223_163601_770.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11475 |
| Processed file [15/55] |
| Name: DJI_20200223_163602_580.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8319 |
| Processed file [16/55] |
| Name: DJI_20200223_163603_540.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12588 |
| Processed file [17/55] |
| Name: DJI_20200223_163604_605.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11080 |
| Processed file [18/55] |
| Name: DJI_20200223_163605_490.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11624 |
| Processed file [19/55] |
| Name: DJI_20200223_163606_270.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11998 |
| Processed file [20/55] |
| Name: DJI_20200223_163607_050.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 13143 |
| Processed file [21/55] |
| Name: DJI_20200223_163607_906.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12174 |
| Processed file [22/55] |
| Name: DJI_20200223_163608_715.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12623 |
| Processed file [23/55] |
| Name: DJI_20200223_163609_435.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12423 |
| Processed file [24/55] |
| Name: DJI_20200223_163610_185.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12285 |
| Processed file [25/55] |
| Name: DJI_20200223_163611_160.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12870 |
| Processed file [26/55] |
| Name: DJI_20200223_163614_400.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11435 |
| Processed file [27/55] |
| Name: DJI_20200223_163615_330.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11814 |
| Processed file [28/55] |
| Name: DJI_20200223_163616_140.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12531 |
| Processed file [29/55] |
| Name: DJI_20200223_163616_980.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11504 |
| Processed file [30/55] |
| Name: DJI_20200223_163617_790.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11578 |
| Processed file [31/55] |
| Name: DJI_20200223_163618_570.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11358 |
| Processed file [32/55] |
| Name: DJI_20200223_163619_411.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8303 |
| Processed file [33/55] |
| Name: DJI_20200223_163620_700.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11289 |
| Processed file [34/55] |
| Name: DJI_20200223_163621_570.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 10915 |
| Processed file [35/55] |
| Name: DJI_20200223_163622_290.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11253 |
| Processed file [36/55] |
| Name: DJI_20200223_163623_310.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 10976 |
| Processed file [37/55] |
| Name: DJI_20200223_163624_060.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11226 |
| Processed file [38/55] |
| Name: DJI_20200223_163624_765.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 13169 |
| Processed file [39/55] |
| Name: DJI_20200223_163625_486.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8530 |
| Processed file [40/55] |
| Name: DJI_20200223_163627_196.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11419 |
| Processed file [41/55] |
| Name: DJI_20200223_163639_916.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 13207 |
| Processed file [42/55] |
| Name: DJI_20200223_163640_741.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12963 |
| Processed file [43/55] |
| Name: DJI_20200223_163641_521.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12677 |
| Processed file [44/55] |
| Name: DJI_20200223_163642_330.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12614 |
| Processed file [45/55] |
| Name: DJI_20200223_163643_411.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12584 |
| Processed file [46/55] |
| Name: DJI_20200223_163644_295.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8478 |
| Processed file [47/55] |
| Name: DJI_20200223_163645_060.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8275 |
| Processed file [48/55] |
| Name: DJI_20200223_163645_961.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12169 |
| Processed file [49/55] |
| Name: DJI_20200223_163646_755.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11500 |
| Processed file [50/55] |
| Name: DJI_20200223_163647_626.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8285 |
| Processed file [51/55] |
| Name: DJI_20200223_163648_601.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8348 |
| Processed file [52/55] |
| Name: DJI_20200223_163649_576.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 12750 |
| Processed file [53/55] |
| Name: DJI_20200223_163651_301.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 13046 |
| Processed file [54/55] |
| Name: DJI_20200223_163652_711.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 8229 |
| Processed file [55/55] |
| Name: DJI_20200223_163654_571.jpg |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| Features: 11590 |
| Elapsed time: 0.100 [minutes] |
|
|
| ============================================================================== |
| Exhaustive feature matching |
| ============================================================================== |
|
|
| Matching block [1/2, 1/2] in 40.852s |
| Matching block [1/2, 2/2] in 0.345s |
| Matching block [2/2, 1/2] in 7.760s |
| Matching block [2/2, 2/2] in 0.350s |
| Elapsed time: 0.826 [minutes] |
|
|
| ============================================================================== |
| Loading database |
| ============================================================================== |
|
|
| Loading cameras... 1 in 0.000s |
| Loading matches... 1485 in 0.035s |
| Loading images... 55 in 0.023s (connected 55) |
| Building correspondence graph... in 0.297s (ignored 0) |
|
|
| Elapsed time: 0.006 [minutes] |
|
|
|
|
| ============================================================================== |
| Initializing with image pair #20 and #23 |
| ============================================================================== |
|
|
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.179938e+03 0.00e+00 1.07e+05 0.00e+00 0.00e+00 1.00e+04 0 3.65e-03 9.56e-03 |
| 1 5.532587e+02 6.27e+02 3.25e+04 2.17e+01 9.93e-01 3.00e+04 1 5.26e-03 1.48e-02 |
| 2 5.209847e+02 3.23e+01 1.75e+04 2.55e+01 9.42e-01 9.00e+04 1 4.88e-03 1.97e-02 |
| 3 5.132785e+02 7.71e+00 1.44e+03 1.52e+01 1.00e+00 2.70e+05 1 4.89e-03 2.46e-02 |
| 4 5.129622e+02 3.16e-01 2.45e+02 4.35e+00 1.01e+00 8.10e+05 1 4.96e-03 2.96e-02 |
| 5 5.129515e+02 1.07e-02 6.51e+02 2.10e+00 8.91e-01 1.55e+06 1 4.93e-03 3.45e-02 |
| 6 5.129448e+02 6.70e-03 1.73e+03 3.28e+00 3.91e-01 1.54e+06 1 4.92e-03 3.95e-02 |
| 7 5.129285e+02 1.62e-02 1.68e+03 3.22e+00 6.24e-01 1.56e+06 1 4.91e-03 4.44e-02 |
| 8 5.129133e+02 1.52e-02 1.73e+03 3.27e+00 5.95e-01 1.57e+06 1 4.93e-03 4.93e-02 |
| 9 5.128977e+02 1.56e-02 1.75e+03 3.28e+00 5.95e-01 1.58e+06 1 4.92e-03 5.42e-02 |
| 10 5.128820e+02 1.57e-02 1.78e+03 3.30e+00 5.91e-01 1.59e+06 1 4.95e-03 5.92e-02 |
| 11 5.128662e+02 1.58e-02 1.80e+03 3.31e+00 5.87e-01 1.60e+06 1 5.05e-03 6.43e-02 |
| 12 5.128503e+02 1.59e-02 1.82e+03 3.33e+00 5.84e-01 1.61e+06 1 5.17e-03 6.94e-02 |
| 13 5.128343e+02 1.60e-02 1.84e+03 3.34e+00 5.81e-01 1.62e+06 1 5.84e-03 7.53e-02 |
| 14 5.128183e+02 1.60e-02 1.86e+03 3.35e+00 5.79e-01 1.62e+06 1 6.53e-03 8.19e-02 |
| 15 5.128022e+02 1.61e-02 1.88e+03 3.35e+00 5.77e-01 1.63e+06 1 7.17e-03 8.91e-02 |
| 16 5.127860e+02 1.61e-02 1.89e+03 3.36e+00 5.75e-01 1.63e+06 1 7.10e-03 9.62e-02 |
| 17 5.127698e+02 1.62e-02 1.90e+03 3.36e+00 5.73e-01 1.64e+06 1 5.90e-03 1.02e-01 |
| 18 5.127536e+02 1.62e-02 1.92e+03 3.37e+00 5.71e-01 1.64e+06 1 5.06e-03 1.07e-01 |
| 19 5.127374e+02 1.63e-02 1.93e+03 3.37e+00 5.69e-01 1.65e+06 1 5.03e-03 1.12e-01 |
| 20 5.127211e+02 1.63e-02 1.94e+03 3.38e+00 5.68e-01 1.65e+06 1 5.00e-03 1.17e-01 |
| 21 5.127048e+02 1.63e-02 1.95e+03 3.38e+00 5.67e-01 1.66e+06 1 4.92e-03 1.22e-01 |
| 22 5.126884e+02 1.63e-02 1.96e+03 3.38e+00 5.66e-01 1.66e+06 1 4.91e-03 1.27e-01 |
| 23 5.126721e+02 1.63e-02 1.97e+03 3.38e+00 5.64e-01 1.66e+06 1 4.90e-03 1.32e-01 |
| 24 5.126557e+02 1.64e-02 1.98e+03 3.38e+00 5.63e-01 1.67e+06 1 4.92e-03 1.37e-01 |
| 25 5.126394e+02 1.64e-02 1.99e+03 3.38e+00 5.62e-01 1.67e+06 1 4.91e-03 1.42e-01 |
| 26 5.126230e+02 1.64e-02 2.00e+03 3.38e+00 5.62e-01 1.67e+06 1 4.91e-03 1.47e-01 |
| 27 5.126066e+02 1.64e-02 2.01e+03 3.38e+00 5.61e-01 1.68e+06 1 4.91e-03 1.52e-01 |
| 28 5.125903e+02 1.64e-02 2.02e+03 3.38e+00 5.60e-01 1.68e+06 1 4.88e-03 1.57e-01 |
| 29 5.125739e+02 1.64e-02 2.02e+03 3.38e+00 5.59e-01 1.68e+06 1 4.96e-03 1.62e-01 |
| 30 5.125575e+02 1.64e-02 2.03e+03 3.38e+00 5.59e-01 1.69e+06 1 4.91e-03 1.66e-01 |
| 31 5.125411e+02 1.64e-02 2.04e+03 3.38e+00 5.58e-01 1.69e+06 1 4.89e-03 1.71e-01 |
| 32 5.125247e+02 1.64e-02 2.04e+03 3.38e+00 5.57e-01 1.69e+06 1 4.90e-03 1.76e-01 |
| 33 5.125084e+02 1.64e-02 2.05e+03 3.38e+00 5.57e-01 1.69e+06 1 4.92e-03 1.81e-01 |
| 34 5.124920e+02 1.64e-02 2.06e+03 3.37e+00 5.56e-01 1.70e+06 1 4.89e-03 1.86e-01 |
| 35 5.124757e+02 1.64e-02 2.06e+03 3.37e+00 5.56e-01 1.70e+06 1 4.99e-03 1.91e-01 |
| 36 5.124593e+02 1.63e-02 2.07e+03 3.37e+00 5.55e-01 1.70e+06 1 4.88e-03 1.96e-01 |
| 37 5.124430e+02 1.63e-02 2.07e+03 3.37e+00 5.55e-01 1.70e+06 1 4.97e-03 2.01e-01 |
| 38 5.124267e+02 1.63e-02 2.08e+03 3.36e+00 5.55e-01 1.70e+06 1 4.91e-03 2.06e-01 |
| 39 5.124104e+02 1.63e-02 2.09e+03 3.36e+00 5.54e-01 1.71e+06 1 4.91e-03 2.11e-01 |
| 40 5.123941e+02 1.63e-02 2.09e+03 3.36e+00 5.54e-01 1.71e+06 1 4.91e-03 2.16e-01 |
| 41 5.123778e+02 1.63e-02 2.10e+03 3.35e+00 5.54e-01 1.71e+06 1 4.97e-03 2.21e-01 |
| 42 5.123615e+02 1.63e-02 2.10e+03 3.35e+00 5.53e-01 1.71e+06 1 4.96e-03 2.26e-01 |
| 43 5.123453e+02 1.62e-02 2.11e+03 3.35e+00 5.53e-01 1.71e+06 1 4.91e-03 2.31e-01 |
| 44 5.123291e+02 1.62e-02 2.11e+03 3.34e+00 5.53e-01 1.72e+06 1 4.90e-03 2.35e-01 |
| 45 5.123129e+02 1.62e-02 2.11e+03 3.34e+00 5.53e-01 1.72e+06 1 4.99e-03 2.40e-01 |
| 46 5.122967e+02 1.62e-02 2.12e+03 3.34e+00 5.52e-01 1.72e+06 1 4.94e-03 2.45e-01 |
| 47 5.122805e+02 1.62e-02 2.12e+03 3.33e+00 5.52e-01 1.72e+06 1 4.90e-03 2.50e-01 |
| 48 5.122644e+02 1.61e-02 2.13e+03 3.33e+00 5.52e-01 1.72e+06 1 4.90e-03 2.55e-01 |
| 49 5.122482e+02 1.61e-02 2.13e+03 3.33e+00 5.52e-01 1.73e+06 1 4.90e-03 2.60e-01 |
| 50 5.122321e+02 1.61e-02 2.14e+03 3.32e+00 5.52e-01 1.73e+06 1 4.92e-03 2.65e-01 |
| 51 5.122161e+02 1.61e-02 2.14e+03 3.32e+00 5.52e-01 1.73e+06 1 4.87e-03 2.70e-01 |
| 52 5.122000e+02 1.61e-02 2.14e+03 3.31e+00 5.52e-01 1.73e+06 1 4.92e-03 2.75e-01 |
| 53 5.121840e+02 1.60e-02 2.15e+03 3.31e+00 5.51e-01 1.73e+06 1 4.90e-03 2.80e-01 |
| 54 5.121680e+02 1.60e-02 2.15e+03 3.31e+00 5.51e-01 1.74e+06 1 4.96e-03 2.85e-01 |
| 55 5.121520e+02 1.60e-02 2.15e+03 3.30e+00 5.51e-01 1.74e+06 1 4.91e-03 2.90e-01 |
| 56 5.121361e+02 1.59e-02 2.16e+03 3.30e+00 5.51e-01 1.74e+06 1 4.90e-03 2.95e-01 |
| 57 5.121202e+02 1.59e-02 2.16e+03 3.29e+00 5.51e-01 1.74e+06 1 4.94e-03 3.00e-01 |
| 58 5.121043e+02 1.59e-02 2.16e+03 3.29e+00 5.51e-01 1.74e+06 1 4.91e-03 3.04e-01 |
| 59 5.120884e+02 1.59e-02 2.17e+03 3.28e+00 5.51e-01 1.75e+06 1 4.91e-03 3.09e-01 |
| 60 5.120726e+02 1.58e-02 2.17e+03 3.28e+00 5.51e-01 1.75e+06 1 4.89e-03 3.14e-01 |
| 61 5.120568e+02 1.58e-02 2.17e+03 3.27e+00 5.51e-01 1.75e+06 1 4.92e-03 3.19e-01 |
| 62 5.120410e+02 1.58e-02 2.17e+03 3.27e+00 5.51e-01 1.75e+06 1 4.91e-03 3.24e-01 |
| 63 5.120253e+02 1.57e-02 2.18e+03 3.26e+00 5.51e-01 1.75e+06 1 5.04e-03 3.29e-01 |
| 64 5.120096e+02 1.57e-02 2.18e+03 3.26e+00 5.51e-01 1.76e+06 1 4.95e-03 3.34e-01 |
| 65 5.119939e+02 1.57e-02 2.18e+03 3.25e+00 5.51e-01 1.76e+06 1 4.97e-03 3.39e-01 |
| 66 5.119783e+02 1.56e-02 2.18e+03 3.25e+00 5.51e-01 1.76e+06 1 4.91e-03 3.44e-01 |
| 67 5.119627e+02 1.56e-02 2.19e+03 3.24e+00 5.51e-01 1.76e+06 1 4.95e-03 3.49e-01 |
| 68 5.119471e+02 1.56e-02 2.19e+03 3.24e+00 5.51e-01 1.76e+06 1 4.94e-03 3.54e-01 |
| 69 5.119316e+02 1.55e-02 2.19e+03 3.23e+00 5.52e-01 1.76e+06 1 4.97e-03 3.59e-01 |
| 70 5.119161e+02 1.55e-02 2.19e+03 3.23e+00 5.52e-01 1.77e+06 1 4.94e-03 3.64e-01 |
| 71 5.119006e+02 1.55e-02 2.19e+03 3.22e+00 5.52e-01 1.77e+06 1 4.92e-03 3.69e-01 |
| 72 5.118852e+02 1.54e-02 2.20e+03 3.22e+00 5.52e-01 1.77e+06 1 4.92e-03 3.74e-01 |
| 73 5.118698e+02 1.54e-02 2.20e+03 3.21e+00 5.52e-01 1.77e+06 1 4.91e-03 3.79e-01 |
| 74 5.118545e+02 1.53e-02 2.20e+03 3.21e+00 5.52e-01 1.77e+06 1 4.90e-03 3.83e-01 |
| 75 5.118392e+02 1.53e-02 2.20e+03 3.20e+00 5.52e-01 1.78e+06 1 4.91e-03 3.88e-01 |
| 76 5.118239e+02 1.53e-02 2.20e+03 3.19e+00 5.52e-01 1.78e+06 1 4.92e-03 3.93e-01 |
| 77 5.118087e+02 1.52e-02 2.20e+03 3.19e+00 5.52e-01 1.78e+06 1 4.91e-03 3.98e-01 |
| 78 5.117935e+02 1.52e-02 2.21e+03 3.18e+00 5.52e-01 1.78e+06 1 4.90e-03 4.03e-01 |
| 79 5.117783e+02 1.52e-02 2.21e+03 3.18e+00 5.53e-01 1.78e+06 1 4.88e-03 4.08e-01 |
| 80 5.117632e+02 1.51e-02 2.21e+03 3.17e+00 5.53e-01 1.79e+06 1 4.95e-03 4.13e-01 |
| 81 5.117481e+02 1.51e-02 2.21e+03 3.17e+00 5.53e-01 1.79e+06 1 4.92e-03 4.18e-01 |
| 82 5.117331e+02 1.50e-02 2.21e+03 3.16e+00 5.53e-01 1.79e+06 1 4.91e-03 4.23e-01 |
| 83 5.117181e+02 1.50e-02 2.21e+03 3.16e+00 5.53e-01 1.79e+06 1 4.97e-03 4.28e-01 |
| 84 5.117032e+02 1.49e-02 2.21e+03 3.15e+00 5.53e-01 1.80e+06 1 4.93e-03 4.33e-01 |
| 85 5.116883e+02 1.49e-02 2.21e+03 3.14e+00 5.53e-01 1.80e+06 1 4.87e-03 4.38e-01 |
| 86 5.116734e+02 1.49e-02 2.22e+03 3.14e+00 5.54e-01 1.80e+06 1 4.91e-03 4.43e-01 |
| 87 5.116586e+02 1.48e-02 2.22e+03 3.13e+00 5.54e-01 1.80e+06 1 4.91e-03 4.47e-01 |
| 88 5.116438e+02 1.48e-02 2.22e+03 3.13e+00 5.54e-01 1.80e+06 1 4.87e-03 4.52e-01 |
| 89 5.116291e+02 1.47e-02 2.22e+03 3.12e+00 5.54e-01 1.81e+06 1 4.92e-03 4.57e-01 |
| 90 5.116144e+02 1.47e-02 2.22e+03 3.11e+00 5.54e-01 1.81e+06 1 4.95e-03 4.62e-01 |
| 91 5.115998e+02 1.46e-02 2.22e+03 3.11e+00 5.54e-01 1.81e+06 1 4.87e-03 4.67e-01 |
| 92 5.115852e+02 1.46e-02 2.22e+03 3.10e+00 5.55e-01 1.81e+06 1 4.88e-03 4.72e-01 |
| 93 5.115707e+02 1.45e-02 2.22e+03 3.10e+00 5.55e-01 1.82e+06 1 4.92e-03 4.77e-01 |
| 94 5.115562e+02 1.45e-02 2.22e+03 3.09e+00 5.55e-01 1.82e+06 1 4.88e-03 4.82e-01 |
| 95 5.115417e+02 1.44e-02 2.22e+03 3.09e+00 5.55e-01 1.82e+06 1 4.94e-03 4.87e-01 |
| 96 5.115273e+02 1.44e-02 2.22e+03 3.08e+00 5.55e-01 1.82e+06 1 4.91e-03 4.92e-01 |
| 97 5.115130e+02 1.44e-02 2.22e+03 3.07e+00 5.56e-01 1.83e+06 1 4.95e-03 4.97e-01 |
| 98 5.114987e+02 1.43e-02 2.22e+03 3.07e+00 5.56e-01 1.83e+06 1 4.89e-03 5.02e-01 |
| 99 5.114844e+02 1.43e-02 2.22e+03 3.06e+00 5.56e-01 1.83e+06 1 4.91e-03 5.06e-01 |
| 100 5.114702e+02 1.42e-02 2.22e+03 3.05e+00 5.56e-01 1.83e+06 1 4.89e-03 5.11e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 6232 |
| Parameters : 4681 |
| Iterations : 101 |
| Time : 0.511646 [s] |
| Initial cost : 0.435127 [px] |
| Final cost : 0.286481 [px] |
| Termination : No convergence |
|
|
| => Filtered observations: 0 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #22 (3) |
| ============================================================================== |
|
|
| => Image sees 1182 / 7877 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 2358 |
| Parameters : 8 |
| Iterations : 8 |
| Time : 0.0195541 [s] |
| Initial cost : 0.722268 [px] |
| Final cost : 0.375681 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1179 |
| => Added observations: 2991 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 14572 |
| Parameters : 8527 |
| Iterations : 26 |
| Time : 0.338083 [s] |
| Initial cost : 0.467512 [px] |
| Final cost : 0.331992 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 842 |
| => Filtered observations: 64 |
| => Changed observations: 0.124348 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 16088 |
| Parameters : 9526 |
| Iterations : 26 |
| Time : 0.384793 [s] |
| Initial cost : 0.366258 [px] |
| Final cost : 0.354485 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 758 |
| => Filtered observations: 4 |
| => Changed observations: 0.094729 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.472184e+03 0.00e+00 2.20e+04 0.00e+00 0.00e+00 1.00e+04 0 1.15e-02 2.56e-02 |
| 1 2.451654e+03 2.05e+01 8.03e+02 6.02e+00 1.00e+00 3.00e+04 1 1.65e-02 4.22e-02 |
| 2 2.451028e+03 6.27e-01 2.35e+02 4.22e+00 1.01e+00 9.00e+04 1 1.59e-02 5.81e-02 |
| 3 2.450829e+03 1.98e-01 8.35e+02 6.42e+00 9.98e-01 2.70e+05 1 1.57e-02 7.38e-02 |
| 4 2.450421e+03 4.09e-01 6.69e+03 1.87e+01 9.20e-01 6.60e+05 1 1.57e-02 8.96e-02 |
| 5 2.450462e+03 -4.15e-02 0.00e+00 4.48e+01 -3.84e-02 3.30e+05 1 5.20e-03 9.48e-02 |
| 6 2.449926e+03 4.95e-01 9.52e+03 2.26e+01 8.72e-01 5.63e+05 1 1.56e-02 1.10e-01 |
| 7 2.449549e+03 3.76e-01 2.66e+04 3.77e+01 3.96e-01 5.58e+05 1 1.57e-02 1.26e-01 |
| 8 2.448653e+03 8.97e-01 2.53e+04 3.64e+01 6.32e-01 5.68e+05 1 1.57e-02 1.42e-01 |
| 9 2.447829e+03 8.24e-01 2.53e+04 3.61e+01 6.09e-01 5.74e+05 1 1.58e-02 1.58e-01 |
| 10 2.447007e+03 8.22e-01 2.50e+04 3.56e+01 6.14e-01 5.81e+05 1 1.57e-02 1.73e-01 |
| 11 2.446206e+03 8.01e-01 2.47e+04 3.51e+01 6.12e-01 5.88e+05 1 1.57e-02 1.89e-01 |
| 12 2.445422e+03 7.84e-01 2.44e+04 3.46e+01 6.12e-01 5.94e+05 1 1.57e-02 2.05e-01 |
| 13 2.444657e+03 7.65e-01 2.40e+04 3.41e+01 6.11e-01 6.01e+05 1 1.57e-02 2.21e-01 |
| 14 2.443910e+03 7.46e-01 2.37e+04 3.35e+01 6.11e-01 6.07e+05 1 1.58e-02 2.36e-01 |
| 15 2.443183e+03 7.28e-01 2.33e+04 3.30e+01 6.11e-01 6.14e+05 1 1.58e-02 2.52e-01 |
| 16 2.442474e+03 7.09e-01 2.29e+04 3.25e+01 6.11e-01 6.21e+05 1 1.55e-02 2.68e-01 |
| 17 2.441784e+03 6.90e-01 2.25e+04 3.20e+01 6.11e-01 6.28e+05 1 1.54e-02 2.83e-01 |
| 18 2.441112e+03 6.71e-01 2.21e+04 3.15e+01 6.12e-01 6.35e+05 1 1.68e-02 3.00e-01 |
| 19 2.440459e+03 6.53e-01 2.17e+04 3.10e+01 6.12e-01 6.42e+05 1 1.87e-02 3.19e-01 |
| 20 2.439825e+03 6.35e-01 2.13e+04 3.05e+01 6.13e-01 6.50e+05 1 1.89e-02 3.38e-01 |
| 21 2.439208e+03 6.16e-01 2.09e+04 3.00e+01 6.13e-01 6.57e+05 1 1.88e-02 3.56e-01 |
| 22 2.438610e+03 5.98e-01 2.06e+04 2.95e+01 6.14e-01 6.65e+05 1 1.88e-02 3.75e-01 |
| 23 2.438030e+03 5.81e-01 2.02e+04 2.90e+01 6.14e-01 6.73e+05 1 1.89e-02 3.94e-01 |
| 24 2.437466e+03 5.63e-01 1.98e+04 2.85e+01 6.15e-01 6.82e+05 1 1.89e-02 4.13e-01 |
| 25 2.436921e+03 5.46e-01 1.94e+04 2.81e+01 6.16e-01 6.90e+05 1 1.88e-02 4.32e-01 |
| 26 2.436392e+03 5.29e-01 1.90e+04 2.76e+01 6.16e-01 6.99e+05 1 1.88e-02 4.51e-01 |
| 27 2.435880e+03 5.12e-01 1.86e+04 2.71e+01 6.17e-01 7.08e+05 1 1.96e-02 4.70e-01 |
| 28 2.435384e+03 4.96e-01 1.82e+04 2.67e+01 6.18e-01 7.18e+05 1 1.91e-02 4.89e-01 |
| 29 2.434904e+03 4.80e-01 1.78e+04 2.63e+01 6.19e-01 7.27e+05 1 2.30e-02 5.12e-01 |
| 30 2.434441e+03 4.64e-01 1.75e+04 2.58e+01 6.20e-01 7.37e+05 1 2.06e-02 5.33e-01 |
| 31 2.433992e+03 4.48e-01 1.71e+04 2.54e+01 6.20e-01 7.48e+05 1 1.57e-02 5.49e-01 |
| 32 2.433560e+03 4.33e-01 1.67e+04 2.50e+01 6.21e-01 7.59e+05 1 1.57e-02 5.64e-01 |
| 33 2.433142e+03 4.18e-01 1.63e+04 2.46e+01 6.22e-01 7.70e+05 1 1.55e-02 5.80e-01 |
| 34 2.432739e+03 4.03e-01 1.60e+04 2.42e+01 6.23e-01 7.81e+05 1 1.56e-02 5.96e-01 |
| 35 2.432350e+03 3.89e-01 1.56e+04 2.38e+01 6.24e-01 7.94e+05 1 1.55e-02 6.11e-01 |
| 36 2.431976e+03 3.74e-01 1.52e+04 2.34e+01 6.25e-01 8.06e+05 1 1.55e-02 6.27e-01 |
| 37 2.431616e+03 3.60e-01 1.49e+04 2.30e+01 6.26e-01 8.19e+05 1 1.54e-02 6.42e-01 |
| 38 2.431269e+03 3.47e-01 1.45e+04 2.26e+01 6.27e-01 8.33e+05 1 1.57e-02 6.58e-01 |
| 39 2.430935e+03 3.34e-01 1.42e+04 2.22e+01 6.28e-01 8.47e+05 1 1.56e-02 6.73e-01 |
| 40 2.430615e+03 3.20e-01 1.38e+04 2.18e+01 6.29e-01 8.61e+05 1 1.56e-02 6.89e-01 |
| 41 2.430307e+03 3.08e-01 1.35e+04 2.14e+01 6.30e-01 8.77e+05 1 1.56e-02 7.04e-01 |
| 42 2.430012e+03 2.95e-01 1.32e+04 2.11e+01 6.31e-01 8.92e+05 1 1.55e-02 7.20e-01 |
| 43 2.429729e+03 2.83e-01 1.28e+04 2.07e+01 6.32e-01 9.09e+05 1 1.55e-02 7.35e-01 |
| 44 2.429458e+03 2.71e-01 1.25e+04 2.03e+01 6.33e-01 9.26e+05 1 1.62e-02 7.52e-01 |
| 45 2.429198e+03 2.59e-01 1.22e+04 2.00e+01 6.34e-01 9.44e+05 1 1.59e-02 7.68e-01 |
| 46 2.428950e+03 2.48e-01 1.18e+04 1.96e+01 6.35e-01 9.63e+05 1 1.56e-02 7.83e-01 |
| 47 2.428714e+03 2.37e-01 1.15e+04 1.93e+01 6.36e-01 9.83e+05 1 1.56e-02 7.99e-01 |
| 48 2.428488e+03 2.26e-01 1.12e+04 1.89e+01 6.37e-01 1.00e+06 1 1.55e-02 8.14e-01 |
| 49 2.428272e+03 2.15e-01 1.09e+04 1.86e+01 6.38e-01 1.03e+06 1 1.54e-02 8.30e-01 |
| 50 2.428067e+03 2.05e-01 1.05e+04 1.82e+01 6.40e-01 1.05e+06 1 1.55e-02 8.45e-01 |
| 51 2.427872e+03 1.95e-01 1.02e+04 1.79e+01 6.41e-01 1.07e+06 1 1.55e-02 8.61e-01 |
| 52 2.427686e+03 1.85e-01 9.92e+03 1.76e+01 6.42e-01 1.10e+06 1 1.59e-02 8.77e-01 |
| 53 2.427511e+03 1.76e-01 9.61e+03 1.72e+01 6.43e-01 1.12e+06 1 1.59e-02 8.93e-01 |
| 54 2.427344e+03 1.67e-01 9.31e+03 1.69e+01 6.45e-01 1.15e+06 1 1.56e-02 9.08e-01 |
| 55 2.427186e+03 1.58e-01 9.00e+03 1.66e+01 6.46e-01 1.18e+06 1 1.56e-02 9.24e-01 |
| 56 2.427037e+03 1.49e-01 8.70e+03 1.62e+01 6.48e-01 1.21e+06 1 1.55e-02 9.39e-01 |
| 57 2.426897e+03 1.40e-01 8.41e+03 1.59e+01 6.49e-01 1.25e+06 1 1.55e-02 9.55e-01 |
| 58 2.426765e+03 1.32e-01 8.11e+03 1.56e+01 6.51e-01 1.28e+06 1 1.55e-02 9.70e-01 |
| 59 2.426640e+03 1.24e-01 7.82e+03 1.52e+01 6.52e-01 1.32e+06 1 1.54e-02 9.86e-01 |
| 60 2.426524e+03 1.17e-01 7.53e+03 1.49e+01 6.54e-01 1.36e+06 1 1.55e-02 1.00e+00 |
| 61 2.426414e+03 1.09e-01 7.25e+03 1.46e+01 6.56e-01 1.40e+06 1 1.55e-02 1.02e+00 |
| 62 2.426312e+03 1.02e-01 6.97e+03 1.42e+01 6.57e-01 1.44e+06 1 1.55e-02 1.03e+00 |
| 63 2.426217e+03 9.53e-02 6.69e+03 1.39e+01 6.59e-01 1.49e+06 1 1.55e-02 1.05e+00 |
| 64 2.426128e+03 8.86e-02 6.41e+03 1.36e+01 6.61e-01 1.54e+06 1 1.56e-02 1.06e+00 |
| 65 2.426046e+03 8.23e-02 6.13e+03 1.32e+01 6.63e-01 1.60e+06 1 1.54e-02 1.08e+00 |
| 66 2.425970e+03 7.61e-02 5.86e+03 1.29e+01 6.65e-01 1.66e+06 1 1.57e-02 1.09e+00 |
| 67 2.425900e+03 7.03e-02 5.59e+03 1.26e+01 6.67e-01 1.72e+06 1 1.57e-02 1.11e+00 |
| 68 2.425835e+03 6.46e-02 5.33e+03 1.23e+01 6.70e-01 1.79e+06 1 1.57e-02 1.13e+00 |
| 69 2.425776e+03 5.93e-02 5.06e+03 1.19e+01 6.72e-01 1.87e+06 1 1.55e-02 1.14e+00 |
| 70 2.425721e+03 5.42e-02 4.81e+03 1.16e+01 6.75e-01 1.95e+06 1 1.56e-02 1.16e+00 |
| 71 2.425672e+03 4.93e-02 4.55e+03 1.12e+01 6.77e-01 2.04e+06 1 1.57e-02 1.17e+00 |
| 72 2.425628e+03 4.47e-02 4.29e+03 1.09e+01 6.80e-01 2.14e+06 1 1.55e-02 1.19e+00 |
| 73 2.425587e+03 4.03e-02 4.04e+03 1.06e+01 6.83e-01 2.26e+06 1 1.56e-02 1.20e+00 |
| 74 2.425551e+03 3.61e-02 3.80e+03 1.02e+01 6.86e-01 2.38e+06 1 1.55e-02 1.22e+00 |
| 75 2.425519e+03 3.23e-02 3.55e+03 9.85e+00 6.90e-01 2.52e+06 1 1.54e-02 1.23e+00 |
| 76 2.425490e+03 2.86e-02 3.31e+03 9.49e+00 6.93e-01 2.67e+06 1 1.55e-02 1.25e+00 |
| 77 2.425465e+03 2.52e-02 3.07e+03 9.13e+00 6.97e-01 2.85e+06 1 1.55e-02 1.27e+00 |
| 78 2.425443e+03 2.20e-02 2.84e+03 8.76e+00 7.02e-01 3.04e+06 1 1.54e-02 1.28e+00 |
| 79 2.425424e+03 1.90e-02 2.61e+03 8.38e+00 7.06e-01 3.27e+06 1 1.55e-02 1.30e+00 |
| 80 2.425408e+03 1.63e-02 2.38e+03 8.00e+00 7.11e-01 3.54e+06 1 1.54e-02 1.31e+00 |
| 81 2.425394e+03 1.38e-02 2.16e+03 7.61e+00 7.17e-01 3.85e+06 1 1.54e-02 1.33e+00 |
| 82 2.425382e+03 1.16e-02 1.95e+03 7.21e+00 7.23e-01 4.23e+06 1 1.56e-02 1.34e+00 |
| 83 2.425373e+03 9.53e-03 1.73e+03 6.79e+00 7.29e-01 4.68e+06 1 1.55e-02 1.36e+00 |
| 84 2.425365e+03 7.70e-03 1.53e+03 6.37e+00 7.37e-01 5.24e+06 1 1.56e-02 1.37e+00 |
| 85 2.425359e+03 6.09e-03 1.33e+03 5.92e+00 7.46e-01 5.94e+06 1 1.56e-02 1.39e+00 |
| 86 2.425354e+03 4.68e-03 1.13e+03 5.46e+00 7.56e-01 6.86e+06 1 1.56e-02 1.41e+00 |
| 87 2.425351e+03 3.48e-03 9.43e+02 4.98e+00 7.67e-01 8.10e+06 1 1.56e-02 1.42e+00 |
| 88 2.425348e+03 2.48e-03 7.63e+02 4.48e+00 7.81e-01 9.86e+06 1 1.54e-02 1.44e+00 |
| 89 2.425347e+03 1.66e-03 5.93e+02 3.95e+00 7.98e-01 1.25e+07 1 1.55e-02 1.45e+00 |
| 90 2.425346e+03 1.03e-03 4.34e+02 3.37e+00 8.20e-01 1.70e+07 1 1.59e-02 1.47e+00 |
| 91 2.425345e+03 5.63e-04 2.90e+02 2.76e+00 8.47e-01 2.55e+07 1 1.56e-02 1.48e+00 |
| 92 2.425345e+03 2.55e-04 1.66e+02 2.08e+00 8.83e-01 4.64e+07 1 1.57e-02 1.50e+00 |
| 93 2.425345e+03 8.15e-05 6.96e+01 1.35e+00 9.29e-01 1.27e+08 1 1.55e-02 1.51e+00 |
| 94 2.425345e+03 1.30e-05 1.45e+01 6.14e-01 9.75e-01 3.80e+08 1 1.55e-02 1.53e+00 |
| 95 2.425345e+03 4.44e-07 1.91e+00 1.10e-01 9.95e-01 1.14e+09 1 1.56e-02 1.55e+00 |
| 96 2.425345e+03 8.87e-10 3.24e-02 5.78e-03 1.03e+00 3.42e+09 1 1.55e-02 1.56e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 17596 |
| Parameters : 10591 |
| Iterations : 97 |
| Time : 1.56186 [s] |
| Initial cost : 0.374829 [px] |
| Final cost : 0.371261 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 6 |
| => Changed observations: 0.000682 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.374431e+03 0.00e+00 8.08e+02 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 2.50e-02 |
| 1 2.363903e+03 1.05e+01 1.32e+02 8.51e-01 1.00e+00 3.00e+04 1 1.67e-02 4.18e-02 |
| 2 2.363876e+03 2.73e-02 8.15e+01 5.65e-01 1.02e+00 9.00e+04 1 1.57e-02 5.75e-02 |
| 3 2.363872e+03 3.39e-03 2.77e+01 3.78e-01 1.04e+00 2.70e+05 1 1.57e-02 7.32e-02 |
| 4 2.363872e+03 4.12e-04 8.09e+00 1.85e-01 1.03e+00 8.10e+05 1 1.57e-02 8.89e-02 |
| 5 2.363872e+03 2.60e-04 1.23e+01 5.01e-01 1.00e+00 2.43e+06 1 1.56e-02 1.05e-01 |
| 6 2.363871e+03 6.40e-04 7.72e+01 1.42e+00 9.88e-01 7.29e+06 1 1.57e-02 1.20e-01 |
| 7 2.363870e+03 1.08e-03 4.22e+02 3.33e+00 8.33e-01 1.04e+07 1 1.56e-02 1.36e-01 |
| 8 2.363869e+03 9.68e-04 4.34e+02 3.37e+00 8.08e-01 1.35e+07 1 1.56e-02 1.51e-01 |
| 9 2.363868e+03 6.82e-04 3.18e+02 2.88e+00 8.46e-01 2.02e+07 1 1.56e-02 1.67e-01 |
| 10 2.363868e+03 3.60e-04 2.23e+02 2.41e+00 8.54e-01 3.13e+07 1 1.56e-02 1.83e-01 |
| 11 2.363868e+03 1.53e-04 1.08e+02 1.68e+00 9.11e-01 7.06e+07 1 1.56e-02 1.98e-01 |
| 12 2.363868e+03 3.70e-05 3.86e+01 1.00e+00 9.47e-01 2.12e+08 1 1.57e-02 2.14e-01 |
| 13 2.363868e+03 3.51e-06 3.79e+00 3.13e-01 9.88e-01 6.36e+08 1 1.61e-02 2.30e-01 |
| 14 2.363868e+03 3.29e-08 3.27e-01 3.12e-02 9.95e-01 1.91e+09 1 1.56e-02 2.46e-01 |
| 15 2.363868e+03 -9.09e-13 0.00e+00 7.53e-04 -4.74e-01 9.53e+08 1 5.16e-03 2.51e-01 |
| 16 2.363868e+03 3.00e-11 3.30e-03 7.43e-04 9.91e-01 2.86e+09 1 1.53e-02 2.66e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 17580 |
| Parameters : 10585 |
| Iterations : 17 |
| Time : 0.267012 [s] |
| Initial cost : 0.367511 [px] |
| Final cost : 0.366693 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 0 |
| => Changed observations: 0.000000 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #21 (4) |
| ============================================================================== |
|
|
| => Image sees 2359 / 7862 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4700 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.0447199 [s] |
| Initial cost : 0.468929 [px] |
| Final cost : 0.42462 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2350 |
| => Added observations: 4223 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 30726 |
| Parameters : 16024 |
| Iterations : 15 |
| Time : 0.467692 [s] |
| Initial cost : 0.410202 [px] |
| Final cost : 0.384703 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 4 |
| => Completed observations: 191 |
| => Filtered observations: 163 |
| => Changed observations: 0.023303 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 30744 |
| Parameters : 15967 |
| Iterations : 15 |
| Time : 0.464729 [s] |
| Initial cost : 0.425208 [px] |
| Final cost : 0.409452 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 65 |
| => Filtered observations: 0 |
| => Changed observations: 0.004228 |
|
|
| ============================================================================== |
| 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 5.376354e+03 0.00e+00 3.11e+03 0.00e+00 0.00e+00 1.00e+04 0 2.09e-02 4.77e-02 |
| 1 5.363285e+03 1.31e+01 5.64e+01 1.40e+00 1.00e+00 3.00e+04 1 3.28e-02 8.05e-02 |
| 2 5.363252e+03 3.24e-02 5.95e+00 4.78e-01 1.01e+00 9.00e+04 1 2.98e-02 1.10e-01 |
| 3 5.363250e+03 2.42e-03 1.98e+00 2.58e-01 1.00e+00 2.70e+05 1 2.98e-02 1.40e-01 |
| 4 5.363250e+03 1.37e-04 1.99e+00 1.57e-01 1.00e+00 8.10e+05 1 2.98e-02 1.70e-01 |
| 5 5.363250e+03 7.60e-05 2.61e+00 2.63e-01 9.96e-01 2.43e+06 1 2.97e-02 2.00e-01 |
| 6 5.363249e+03 1.78e-04 2.16e+01 6.75e-01 9.87e-01 7.29e+06 1 2.96e-02 2.29e-01 |
| 7 5.363249e+03 2.90e-04 9.90e+01 1.44e+00 9.49e-01 2.19e+07 1 2.98e-02 2.59e-01 |
| 8 5.363249e+03 2.03e-04 1.71e+02 1.89e+00 8.54e-01 3.40e+07 1 3.17e-02 2.91e-01 |
| 9 5.363249e+03 4.98e-05 3.36e+01 8.39e-01 9.31e-01 9.49e+07 1 3.15e-02 3.22e-01 |
| 10 5.363249e+03 2.82e-06 3.42e+00 2.68e-01 9.05e-01 2.02e+08 1 3.05e-02 3.53e-01 |
| 11 5.363249e+03 1.59e-08 1.70e-01 4.22e-03 1.01e+00 6.06e+08 1 3.04e-02 3.83e-01 |
| 12 5.363249e+03 1.69e-10 3.56e-02 8.01e-04 7.01e+00 1.82e+09 1 3.04e-02 4.14e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 30876 |
| Parameters : 16042 |
| Iterations : 13 |
| Time : 0.414886 [s] |
| Initial cost : 0.417286 [px] |
| Final cost : 0.416777 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 10 |
| => Changed observations: 0.000648 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.286109e+03 0.00e+00 3.70e+02 0.00e+00 0.00e+00 1.00e+04 0 2.08e-02 4.73e-02 |
| 1 5.285811e+03 2.98e-01 1.39e+02 8.19e-01 1.00e+00 3.00e+04 1 3.21e-02 7.94e-02 |
| 2 5.285787e+03 2.39e-02 5.71e+01 5.87e-01 1.01e+00 9.00e+04 1 3.00e-02 1.09e-01 |
| 3 5.285785e+03 2.12e-03 1.47e+01 2.92e-01 1.02e+00 2.70e+05 1 2.97e-02 1.39e-01 |
| 4 5.285784e+03 1.29e-03 2.22e+01 8.13e-01 1.00e+00 8.10e+05 1 2.97e-02 1.69e-01 |
| 5 5.285780e+03 3.45e-03 1.48e+02 2.42e+00 9.92e-01 2.43e+06 1 2.97e-02 1.99e-01 |
| 6 5.285772e+03 7.74e-03 1.02e+03 6.43e+00 9.13e-01 5.54e+06 1 2.98e-02 2.29e-01 |
| 7 5.285766e+03 6.50e-03 3.08e+03 1.12e+01 5.13e-01 5.54e+06 1 3.58e-02 2.64e-01 |
| 8 5.285755e+03 1.05e-02 1.67e+03 8.20e+00 8.48e-01 8.37e+06 1 3.46e-02 2.99e-01 |
| 9 5.285751e+03 4.45e-03 1.67e+03 8.20e+00 7.01e-01 8.95e+06 1 3.11e-02 3.30e-01 |
| 10 5.285748e+03 3.30e-03 7.57e+02 5.51e+00 8.85e-01 1.65e+07 1 3.07e-02 3.61e-01 |
| 11 5.285747e+03 1.08e-03 6.31e+02 5.03e+00 7.79e-01 2.00e+07 1 3.08e-02 3.92e-01 |
| 12 5.285746e+03 4.48e-04 1.58e+02 2.52e+00 9.38e-01 5.99e+07 1 3.07e-02 4.22e-01 |
| 13 5.285746e+03 5.39e-05 5.61e+01 1.50e+00 8.84e-01 1.10e+08 1 3.06e-02 4.53e-01 |
| 14 5.285746e+03 2.52e-06 9.32e-01 1.69e-01 9.84e-01 3.30e+08 1 3.06e-02 4.84e-01 |
| 15 5.285746e+03 2.13e-09 8.12e-02 2.69e-03 9.99e-01 9.89e+08 1 3.06e-02 5.14e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 30846 |
| Parameters : 16027 |
| Iterations : 16 |
| Time : 0.515407 [s] |
| Initial cost : 0.41397 [px] |
| Final cost : 0.413956 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 0 |
| => Changed observations: 0.000000 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #53 (5) |
| ============================================================================== |
|
|
| => Image sees 3034 / 7881 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6016 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0806429 [s] |
| Initial cost : 0.709772 [px] |
| Final cost : 0.639988 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2993 |
| => Added observations: 2127 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 41086 |
| Parameters : 18745 |
| Iterations : 26 |
| Time : 1.10216 [s] |
| Initial cost : 0.520527 [px] |
| Final cost : 0.436204 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 90 |
| => Completed observations: 108 |
| => Filtered observations: 514 |
| => Changed observations: 0.034659 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 39758 |
| Parameters : 17986 |
| Iterations : 9 |
| Time : 0.399496 [s] |
| Initial cost : 0.472541 [px] |
| Final cost : 0.457873 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 104 |
| => Filtered observations: 5 |
| => Changed observations: 0.005483 |
|
|
| ============================================================================== |
| 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 8.666711e+03 0.00e+00 5.20e+03 0.00e+00 0.00e+00 1.00e+04 0 2.78e-02 6.24e-02 |
| 1 8.624390e+03 4.23e+01 7.83e+01 5.32e+00 1.00e+00 3.00e+04 1 4.46e-02 1.07e-01 |
| 2 8.624265e+03 1.25e-01 2.16e+02 1.46e+00 1.00e+00 9.00e+04 1 4.17e-02 1.49e-01 |
| 3 8.624202e+03 6.32e-02 4.31e+02 2.75e+00 1.00e+00 2.70e+05 1 4.28e-02 1.91e-01 |
| 4 8.624147e+03 5.49e-02 6.20e+02 5.43e+00 1.00e+00 8.10e+05 1 4.25e-02 2.34e-01 |
| 5 8.624121e+03 2.55e-02 4.66e+02 5.41e+00 9.99e-01 2.43e+06 1 4.22e-02 2.76e-01 |
| 6 8.624118e+03 3.00e-03 7.72e+01 2.24e+00 1.00e+00 7.29e+06 1 4.22e-02 3.18e-01 |
| 7 8.624118e+03 6.13e-05 1.76e+00 3.44e-01 1.01e+00 2.19e+07 1 4.22e-02 3.61e-01 |
| 8 8.624118e+03 1.98e-07 1.46e-01 1.94e-02 1.01e+00 6.56e+07 1 4.17e-02 4.02e-01 |
| 9 8.624118e+03 2.33e-10 3.47e-03 5.02e-04 1.37e+00 1.97e+08 1 4.21e-02 4.44e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 39948 |
| Parameters : 18082 |
| Iterations : 10 |
| Time : 0.446637 [s] |
| Initial cost : 0.465779 [px] |
| Final cost : 0.464633 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1 |
| => Completed observations: 0 |
| => Filtered observations: 6 |
| => Changed observations: 0.000350 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #54 (6) |
| ============================================================================== |
|
|
| => Image sees 2515 / 5519 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5028 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.04196 [s] |
| Initial cost : 0.603199 [px] |
| Final cost : 0.542458 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2493 |
| => Added observations: 1591 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 48098 |
| Parameters : 19987 |
| Iterations : 26 |
| Time : 1.36512 [s] |
| Initial cost : 0.470195 [px] |
| Final cost : 0.452327 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 109 |
| => Completed observations: 165 |
| => Filtered observations: 324 |
| => Changed observations: 0.024866 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 47706 |
| Parameters : 19765 |
| Iterations : 8 |
| Time : 0.436804 [s] |
| Initial cost : 0.508999 [px] |
| Final cost : 0.49505 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 6 |
| => Completed observations: 110 |
| => Filtered observations: 1 |
| => Changed observations: 0.004905 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 6 |
| => 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 1.202702e+04 0.00e+00 5.32e+03 0.00e+00 0.00e+00 1.00e+04 0 3.42e-02 7.57e-02 |
| 1 1.199116e+04 3.59e+01 4.01e+00 4.31e+00 1.00e+00 3.00e+04 1 5.80e-02 1.34e-01 |
| 2 1.199112e+04 4.37e-02 1.69e+01 7.18e-01 1.00e+00 9.00e+04 1 5.28e-02 1.86e-01 |
| 3 1.199111e+04 4.52e-03 2.54e+01 5.42e-01 1.00e+00 2.70e+05 1 5.28e-02 2.39e-01 |
| 4 1.199111e+04 2.00e-03 2.07e+01 9.02e-01 1.00e+00 8.10e+05 1 5.25e-02 2.92e-01 |
| 5 1.199111e+04 6.09e-04 8.43e+00 7.33e-01 1.00e+00 2.43e+06 1 5.26e-02 3.44e-01 |
| 6 1.199111e+04 4.33e-05 1.66e+00 2.31e-01 1.00e+00 7.29e+06 1 5.44e-02 3.99e-01 |
| 7 1.199111e+04 4.94e-07 1.81e-01 2.60e-02 1.00e+00 2.19e+07 1 5.73e-02 4.56e-01 |
| 8 1.199111e+04 8.75e-10 7.60e-03 1.06e-03 1.01e+00 6.56e+07 1 5.26e-02 5.09e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 47936 |
| Parameters : 19885 |
| Iterations : 9 |
| Time : 0.511168 [s] |
| Initial cost : 0.500897 [px] |
| Final cost : 0.500148 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 6 |
| => Changed observations: 0.000250 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #52 (7) |
| ============================================================================== |
|
|
| => Image sees 3082 / 7891 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6104 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0700521 [s] |
| Initial cost : 0.628336 [px] |
| Final cost : 0.570098 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3033 |
| => Added observations: 2791 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56000 |
| Parameters : 18034 |
| Iterations : 24 |
| Time : 0.652504 [s] |
| Initial cost : 0.507763 [px] |
| Final cost : 0.472887 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 101 |
| => Completed observations: 152 |
| => Filtered observations: 391 |
| => Changed observations: 0.023000 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55480 |
| Parameters : 17833 |
| Iterations : 3 |
| Time : 0.131781 [s] |
| Initial cost : 0.537165 [px] |
| Final cost : 0.524284 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 8 |
| => Completed observations: 95 |
| => Filtered observations: 6 |
| => Changed observations: 0.003929 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 7 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.621900e+04 0.00e+00 2.56e+03 0.00e+00 0.00e+00 1.00e+04 0 1.98e-02 7.52e-02 |
| 1 1.609517e+04 1.24e+02 8.28e+02 1.40e+01 1.00e+00 3.00e+04 1 4.53e-02 1.20e-01 |
| 2 1.609363e+04 1.55e+00 1.55e+03 6.63e+00 1.00e+00 9.00e+04 1 3.23e-02 1.53e-01 |
| 3 1.609234e+04 1.29e+00 5.58e+03 1.35e+01 9.94e-01 2.70e+05 1 2.86e-02 1.81e-01 |
| 4 1.609116e+04 1.19e+00 9.98e+03 2.06e+01 9.80e-01 8.10e+05 1 2.86e-02 2.10e-01 |
| 5 1.609077e+04 3.83e-01 5.24e+03 1.53e+01 9.83e-01 2.43e+06 1 2.85e-02 2.39e-01 |
| 6 1.609074e+04 2.97e-02 4.54e+02 4.51e+00 9.98e-01 7.29e+06 1 3.31e-02 2.72e-01 |
| 7 1.609074e+04 2.77e-04 4.81e+00 4.69e-01 1.00e+00 2.19e+07 1 3.01e-02 3.02e-01 |
| 8 1.609074e+04 3.45e-07 1.20e-01 1.68e-02 1.01e+00 6.56e+07 1 2.87e-02 3.31e-01 |
| 9 1.609074e+04 1.55e-10 1.44e-03 2.77e-04 1.12e+00 1.97e+08 1 2.85e-02 3.59e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59230 |
| Parameters : 23254 |
| Iterations : 10 |
| Time : 0.362529 [s] |
| Initial cost : 0.523289 [px] |
| Final cost : 0.521215 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Filtered observations: 15 |
| => Changed observations: 0.000608 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.602885e+04 0.00e+00 1.21e+03 0.00e+00 0.00e+00 1.00e+04 0 2.00e-02 8.98e-02 |
| 1 1.601563e+04 1.32e+01 1.72e+00 1.40e+00 1.00e+00 3.00e+04 1 4.36e-02 1.33e-01 |
| 2 1.601561e+04 2.60e-02 1.48e+01 4.65e-01 1.00e+00 9.00e+04 1 3.27e-02 1.66e-01 |
| 3 1.601560e+04 3.70e-03 1.48e+01 2.59e-01 1.01e+00 2.70e+05 1 2.92e-02 1.95e-01 |
| 4 1.601560e+04 7.46e-04 8.00e+00 3.27e-01 1.00e+00 8.10e+05 1 2.83e-02 2.24e-01 |
| 5 1.601560e+04 1.88e-04 2.60e+00 2.56e-01 1.00e+00 2.43e+06 1 2.85e-02 2.52e-01 |
| 6 1.601560e+04 1.19e-05 6.57e-01 7.56e-02 1.00e+00 7.29e+06 1 2.92e-02 2.81e-01 |
| 7 1.601560e+04 1.16e-07 9.40e-02 7.84e-03 1.00e+00 2.19e+07 1 2.94e-02 3.11e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59182 |
| Parameters : 23227 |
| Iterations : 8 |
| Time : 0.314399 [s] |
| Initial cost : 0.520423 [px] |
| Final cost : 0.520208 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 2 |
| => Completed observations: 0 |
| => Filtered observations: 1 |
| => Changed observations: 0.000101 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #29 (8) |
| ============================================================================== |
|
|
| => Image sees 3624 / 7323 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7220 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.112547 [s] |
| Initial cost : 0.635305 [px] |
| Final cost : 0.59942 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3567 |
| => Added observations: 2211 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63098 |
| Parameters : 16690 |
| Iterations : 18 |
| Time : 0.531364 [s] |
| Initial cost : 0.521967 [px] |
| Final cost : 0.502901 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 186 |
| => Completed observations: 279 |
| => Filtered observations: 501 |
| => Changed observations: 0.030619 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62618 |
| Parameters : 16510 |
| Iterations : 3 |
| Time : 0.131134 [s] |
| Initial cost : 0.57376 [px] |
| Final cost : 0.560175 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 25 |
| => Completed observations: 94 |
| => Filtered observations: 8 |
| => Changed observations: 0.004056 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 3 |
| => Completed observations: 6 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.216503e+04 0.00e+00 1.35e+05 0.00e+00 0.00e+00 1.00e+04 0 2.30e-02 9.10e-02 |
| 1 2.206935e+04 9.57e+01 1.08e+03 7.20e+00 1.00e+00 3.00e+04 1 5.12e-02 1.42e-01 |
| 2 2.206641e+04 2.94e+00 6.11e+03 7.57e+00 9.99e-01 9.00e+04 1 3.49e-02 1.77e-01 |
| 3 2.206274e+04 3.67e+00 1.45e+04 1.68e+01 9.90e-01 2.70e+05 1 3.43e-02 2.12e-01 |
| 4 2.205975e+04 2.99e+00 2.09e+04 2.37e+01 9.73e-01 8.10e+05 1 3.41e-02 2.46e-01 |
| 5 2.205891e+04 8.38e-01 8.78e+03 1.57e+01 9.83e-01 2.43e+06 1 3.42e-02 2.80e-01 |
| 6 2.205886e+04 5.38e-02 5.91e+02 4.02e+00 1.00e+00 7.29e+06 1 3.47e-02 3.15e-01 |
| 7 2.205886e+04 3.68e-04 5.56e+00 3.66e-01 1.00e+00 2.19e+07 1 3.46e-02 3.49e-01 |
| 8 2.205886e+04 4.28e-07 1.64e-01 1.22e-02 1.02e+00 6.56e+07 1 3.43e-02 3.83e-01 |
| 9 2.205886e+04 2.44e-10 1.99e-03 2.38e-04 7.59e-01 7.63e+07 1 3.42e-02 4.18e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70394 |
| Parameters : 25747 |
| Iterations : 10 |
| Time : 0.422059 [s] |
| Initial cost : 0.561134 [px] |
| Final cost : 0.559788 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Filtered observations: 5 |
| => Changed observations: 0.000227 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #28 (9) |
| ============================================================================== |
|
|
| => Image sees 3780 / 7356 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7470 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.070976 [s] |
| Initial cost : 0.612778 [px] |
| Final cost : 0.577746 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3687 |
| => Added observations: 2192 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70502 |
| Parameters : 16642 |
| Iterations : 22 |
| Time : 0.682554 [s] |
| Initial cost : 0.54603 [px] |
| Final cost : 0.531928 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 167 |
| => Completed observations: 246 |
| => Filtered observations: 638 |
| => Changed observations: 0.029815 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69648 |
| Parameters : 16315 |
| Iterations : 3 |
| Time : 0.144302 [s] |
| Initial cost : 0.591598 [px] |
| Final cost : 0.578698 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 24 |
| => Completed observations: 175 |
| => Filtered observations: 1 |
| => Changed observations: 0.005743 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 8 |
| => 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 2.800489e+04 0.00e+00 9.54e+04 0.00e+00 0.00e+00 1.00e+04 0 2.96e-02 1.21e-01 |
| 1 2.787754e+04 1.27e+02 5.16e+02 6.31e+00 1.00e+00 3.00e+04 1 5.68e-02 1.78e-01 |
| 2 2.787644e+04 1.10e+00 1.82e+03 4.53e+00 1.00e+00 9.00e+04 1 4.10e-02 2.19e-01 |
| 3 2.787507e+04 1.37e+00 4.63e+03 9.90e+00 9.98e-01 2.70e+05 1 3.90e-02 2.58e-01 |
| 4 2.787401e+04 1.07e+00 6.77e+03 1.33e+01 9.92e-01 8.10e+05 1 4.00e-02 2.98e-01 |
| 5 2.787375e+04 2.55e-01 2.60e+03 8.36e+00 9.95e-01 2.43e+06 1 3.91e-02 3.37e-01 |
| 6 2.787374e+04 1.23e-02 1.55e+02 2.01e+00 1.00e+00 7.29e+06 1 4.00e-02 3.77e-01 |
| 7 2.787374e+04 8.03e-05 2.00e+00 1.69e-01 1.01e+00 2.19e+07 1 4.04e-02 4.18e-01 |
| 8 2.787374e+04 1.10e-07 6.43e-02 5.31e-03 1.02e+00 6.56e+07 1 4.02e-02 4.58e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 81624 |
| Parameters : 28072 |
| Iterations : 9 |
| Time : 0.463087 [s] |
| Initial cost : 0.585744 [px] |
| Final cost : 0.584371 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 10 |
| => Completed observations: 0 |
| => Filtered observations: 7 |
| => Changed observations: 0.000417 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #30 (10) |
| ============================================================================== |
|
|
| => Image sees 3992 / 7335 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7998 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0788779 [s] |
| Initial cost : 0.63549 [px] |
| Final cost : 0.579879 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3920 |
| => Added observations: 2386 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 79904 |
| Parameters : 17692 |
| Iterations : 25 |
| Time : 0.838772 [s] |
| Initial cost : 0.56163 [px] |
| Final cost : 0.540404 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 277 |
| => Completed observations: 263 |
| => Filtered observations: 649 |
| => Changed observations: 0.029761 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 79110 |
| Parameters : 17389 |
| Iterations : 3 |
| Time : 0.152244 [s] |
| Initial cost : 0.613875 [px] |
| Final cost : 0.601105 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 11 |
| => Completed observations: 169 |
| => Filtered observations: 13 |
| => Changed observations: 0.004879 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 13 |
| => 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 3.434096e+04 0.00e+00 1.00e+05 0.00e+00 0.00e+00 1.00e+04 0 2.92e-02 1.25e-01 |
| 1 3.419448e+04 1.46e+02 4.95e+03 1.02e+01 1.00e+00 3.00e+04 1 6.11e-02 1.86e-01 |
| 2 3.419111e+04 3.36e+00 1.46e+03 7.86e+00 1.00e+00 9.00e+04 1 4.77e-02 2.34e-01 |
| 3 3.418928e+04 1.84e+00 9.03e+02 1.13e+01 1.00e+00 2.70e+05 1 4.65e-02 2.80e-01 |
| 4 3.418803e+04 1.24e+00 6.56e+03 1.37e+01 9.95e-01 8.10e+05 1 4.68e-02 3.27e-01 |
| 5 3.418775e+04 2.82e-01 2.72e+03 8.25e+00 9.96e-01 2.43e+06 1 4.73e-02 3.74e-01 |
| 6 3.418774e+04 1.30e-02 1.56e+02 1.93e+00 1.00e+00 7.29e+06 1 4.71e-02 4.21e-01 |
| 7 3.418774e+04 8.34e-05 1.91e+00 1.61e-01 1.01e+00 2.19e+07 1 4.70e-02 4.68e-01 |
| 8 3.418774e+04 1.22e-07 4.68e-02 5.24e-03 1.02e+00 6.56e+07 1 4.78e-02 5.16e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93676 |
| Parameters : 30538 |
| Iterations : 9 |
| Time : 0.521815 [s] |
| Initial cost : 0.605469 [px] |
| Final cost : 0.604117 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 4 |
| => Completed observations: 22 |
| => Filtered observations: 4 |
| => Changed observations: 0.000641 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.423794e+04 0.00e+00 2.41e+03 0.00e+00 0.00e+00 1.00e+04 0 2.92e-02 1.27e-01 |
| 1 3.422427e+04 1.37e+01 2.60e+01 1.23e+00 1.00e+00 3.00e+04 1 6.17e-02 1.88e-01 |
| 2 3.422425e+04 2.08e-02 1.32e+01 2.58e-01 1.00e+00 9.00e+04 1 4.64e-02 2.35e-01 |
| 3 3.422425e+04 3.55e-03 1.70e+01 4.32e-01 1.00e+00 2.70e+05 1 4.51e-02 2.80e-01 |
| 4 3.422425e+04 2.42e-03 1.66e+01 5.90e-01 1.00e+00 8.10e+05 1 4.54e-02 3.25e-01 |
| 5 3.422425e+04 5.38e-04 5.91e+00 3.63e-01 1.00e+00 2.43e+06 1 4.47e-02 3.70e-01 |
| 6 3.422425e+04 2.33e-05 9.16e-01 8.55e-02 1.00e+00 7.29e+06 1 4.49e-02 4.15e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93666 |
| Parameters : 30523 |
| Iterations : 7 |
| Time : 0.420652 [s] |
| Initial cost : 0.604593 [px] |
| Final cost : 0.604472 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 2 |
| => Changed observations: 0.000043 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #31 (11) |
| ============================================================================== |
|
|
| => Image sees 3814 / 7231 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7652 |
| Parameters : 6 |
| Iterations : 8 |
| Time : 0.053061 [s] |
| Initial cost : 0.590054 [px] |
| Final cost : 0.568782 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3748 |
| => Added observations: 2598 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84044 |
| Parameters : 15781 |
| Iterations : 26 |
| Time : 0.906561 [s] |
| Initial cost : 0.567239 [px] |
| Final cost : 0.5424 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 251 |
| => Completed observations: 257 |
| => Filtered observations: 615 |
| => Changed observations: 0.026724 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 83310 |
| Parameters : 15556 |
| Iterations : 3 |
| Time : 0.150399 [s] |
| Initial cost : 0.624038 [px] |
| Final cost : 0.612507 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 171 |
| => Filtered observations: 5 |
| => Changed observations: 0.004225 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 9 |
| => Completed observations: 10 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.993524e+04 0.00e+00 2.15e+05 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 1.49e-01 |
| 1 3.979714e+04 1.38e+02 7.66e+02 8.24e+00 1.00e+00 3.00e+04 1 6.77e-02 2.17e-01 |
| 2 3.979583e+04 1.30e+00 4.19e+02 4.31e+00 1.00e+00 9.00e+04 1 5.09e-02 2.68e-01 |
| 3 3.979536e+04 4.73e-01 6.99e+01 5.61e+00 1.00e+00 2.70e+05 1 5.04e-02 3.18e-01 |
| 4 3.979506e+04 2.99e-01 1.56e+03 6.64e+00 1.00e+00 8.10e+05 1 5.11e-02 3.69e-01 |
| 5 3.979500e+04 6.50e-02 6.43e+02 3.96e+00 1.00e+00 2.43e+06 1 5.60e-02 4.25e-01 |
| 6 3.979499e+04 2.82e-03 3.69e+01 9.21e-01 1.00e+00 7.29e+06 1 5.29e-02 4.78e-01 |
| 7 3.979499e+04 1.94e-05 7.64e-01 7.81e-02 1.01e+00 2.19e+07 1 5.14e-02 5.29e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 105892 |
| Parameters : 33262 |
| Iterations : 8 |
| Time : 0.535598 [s] |
| Initial cost : 0.614111 [px] |
| Final cost : 0.613031 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 4 |
| => Completed observations: 0 |
| => Filtered observations: 9 |
| => Changed observations: 0.000246 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #19 (12) |
| ============================================================================== |
|
|
| => Image sees 4166 / 7525 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8376 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.122242 [s] |
| Initial cost : 0.654814 [px] |
| Final cost : 0.58764 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4090 |
| => Added observations: 1796 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92192 |
| Parameters : 16273 |
| Iterations : 17 |
| Time : 0.658752 [s] |
| Initial cost : 0.55631 [px] |
| Final cost : 0.541226 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 280 |
| => Completed observations: 193 |
| => Filtered observations: 614 |
| => Changed observations: 0.023581 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 91334 |
| Parameters : 16006 |
| Iterations : 3 |
| Time : 0.160772 [s] |
| Initial cost : 0.632202 [px] |
| Final cost : 0.621792 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 30 |
| => Completed observations: 122 |
| => Filtered observations: 10 |
| => Changed observations: 0.003547 |
|
|
| ============================================================================== |
| Registering image #27 (13) |
| ============================================================================== |
|
|
| => Image sees 4080 / 7077 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8182 |
| Parameters : 6 |
| Iterations : 23 |
| Time : 0.156384 [s] |
| Initial cost : 0.720398 [px] |
| Final cost : 0.613981 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3992 |
| => Added observations: 2171 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 97692 |
| Parameters : 16150 |
| Iterations : 26 |
| Time : 0.980828 [s] |
| Initial cost : 0.57122 [px] |
| Final cost : 0.554663 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 238 |
| => Completed observations: 261 |
| => Filtered observations: 694 |
| => Changed observations: 0.024424 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96826 |
| Parameters : 15916 |
| Iterations : 3 |
| Time : 0.16358 [s] |
| Initial cost : 0.645764 [px] |
| Final cost : 0.635232 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 12 |
| => Completed observations: 134 |
| => Filtered observations: 15 |
| => Changed observations: 0.003326 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 45 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.319575e+04 0.00e+00 1.13e+05 0.00e+00 0.00e+00 1.00e+04 0 4.22e-02 1.78e-01 |
| 1 5.284372e+04 3.52e+02 2.70e+04 2.27e+01 1.00e+00 3.00e+04 1 7.97e-02 2.58e-01 |
| 2 5.281246e+04 3.13e+01 1.19e+04 2.25e+01 1.00e+00 9.00e+04 1 6.64e-02 3.24e-01 |
| 3 5.279863e+04 1.38e+01 2.31e+02 2.95e+01 9.98e-01 2.70e+05 1 6.24e-02 3.86e-01 |
| 4 5.279087e+04 7.76e+00 3.91e+04 3.34e+01 9.79e-01 8.10e+05 1 6.26e-02 4.49e-01 |
| 5 5.278916e+04 1.70e+00 1.45e+04 1.89e+01 9.90e-01 2.43e+06 1 6.52e-02 5.14e-01 |
| 6 5.278908e+04 8.25e-02 7.13e+02 4.17e+00 1.00e+00 7.29e+06 1 6.49e-02 5.79e-01 |
| 7 5.278908e+04 4.41e-04 4.29e+00 3.37e-01 1.01e+00 2.19e+07 1 6.31e-02 6.42e-01 |
| 8 5.278908e+04 6.56e-07 1.77e-01 1.18e-02 1.03e+00 6.56e+07 1 6.62e-02 7.08e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 128602 |
| Parameters : 37381 |
| Iterations : 9 |
| Time : 0.715709 [s] |
| Initial cost : 0.643153 [px] |
| Final cost : 0.64069 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 13 |
| => Completed observations: 10 |
| => Filtered observations: 39 |
| => Changed observations: 0.000964 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.269980e+04 0.00e+00 2.46e+03 0.00e+00 0.00e+00 1.00e+04 0 4.05e-02 1.79e-01 |
| 1 5.265030e+04 4.95e+01 3.88e+01 4.49e+00 1.00e+00 3.00e+04 1 8.35e-02 2.62e-01 |
| 2 5.265023e+04 6.95e-02 1.30e+01 3.18e-01 1.00e+00 9.00e+04 1 6.87e-02 3.31e-01 |
| 3 5.265023e+04 1.09e-03 6.40e+00 1.46e-01 1.00e+00 2.70e+05 1 6.67e-02 3.98e-01 |
| 4 5.265023e+04 3.01e-04 2.77e+00 1.97e-01 1.00e+00 8.10e+05 1 6.86e-02 4.66e-01 |
| 5 5.265023e+04 5.72e-05 1.78e+00 1.15e-01 1.00e+00 2.43e+06 1 6.75e-02 5.34e-01 |
| 6 5.265023e+04 2.19e-06 4.10e-01 2.52e-02 1.01e+00 7.29e+06 1 6.59e-02 6.00e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 128488 |
| Parameters : 37300 |
| Iterations : 7 |
| Time : 0.607011 [s] |
| Initial cost : 0.640432 [px] |
| Final cost : 0.640131 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000078 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #55 (14) |
| ============================================================================== |
|
|
| => Image sees 4088 / 7118 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8238 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0906529 [s] |
| Initial cost : 0.649427 [px] |
| Final cost : 0.564152 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4025 |
| => Added observations: 1882 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 101568 |
| Parameters : 15445 |
| Iterations : 26 |
| Time : 1.02429 [s] |
| Initial cost : 0.567841 [px] |
| Final cost : 0.549857 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 208 |
| => Completed observations: 212 |
| => Filtered observations: 631 |
| => Changed observations: 0.020695 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 100732 |
| Parameters : 15157 |
| Iterations : 3 |
| Time : 0.170861 [s] |
| Initial cost : 0.642866 [px] |
| Final cost : 0.633832 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 49 |
| => Completed observations: 142 |
| => Filtered observations: 7 |
| => Changed observations: 0.003931 |
|
|
| ============================================================================== |
| Registering image #24 (15) |
| ============================================================================== |
|
|
| => Image sees 4173 / 7122 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8378 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0937009 [s] |
| Initial cost : 0.680131 [px] |
| Final cost : 0.571336 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4090 |
| => Added observations: 2410 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 105636 |
| Parameters : 16261 |
| Iterations : 26 |
| Time : 1.03887 [s] |
| Initial cost : 0.573647 [px] |
| Final cost : 0.549906 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 225 |
| => Completed observations: 239 |
| => Filtered observations: 642 |
| => Changed observations: 0.020940 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 104740 |
| Parameters : 16024 |
| Iterations : 3 |
| Time : 0.175959 [s] |
| Initial cost : 0.64507 [px] |
| Final cost : 0.635259 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 37 |
| => Completed observations: 148 |
| => Filtered observations: 11 |
| => Changed observations: 0.003743 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 54 |
| => 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 6.415441e+04 0.00e+00 1.83e+05 0.00e+00 0.00e+00 1.00e+04 0 4.53e-02 2.13e-01 |
| 1 6.385388e+04 3.01e+02 3.26e+03 8.91e+00 1.00e+00 3.00e+04 1 8.98e-02 3.03e-01 |
| 2 6.384961e+04 4.27e+00 9.41e+03 7.70e+00 1.00e+00 9.00e+04 1 7.63e-02 3.79e-01 |
| 3 6.384492e+04 4.69e+00 1.79e+04 1.64e+01 9.95e-01 2.70e+05 1 7.70e-02 4.56e-01 |
| 4 6.384186e+04 3.06e+00 2.00e+04 2.01e+01 9.91e-01 8.10e+05 1 7.84e-02 5.35e-01 |
| 5 6.384127e+04 5.97e-01 5.71e+03 1.10e+01 9.99e-01 2.43e+06 1 7.86e-02 6.13e-01 |
| 6 6.384124e+04 2.28e-02 2.49e+02 2.31e+00 1.01e+00 7.29e+06 1 7.63e-02 6.90e-01 |
| 7 6.384124e+04 1.24e-04 2.00e+00 1.80e-01 1.01e+00 2.19e+07 1 7.94e-02 7.69e-01 |
| 8 6.384124e+04 1.86e-07 1.12e-01 6.18e-03 1.03e+00 6.56e+07 1 7.72e-02 8.46e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 152148 |
| Parameters : 41914 |
| Iterations : 9 |
| Time : 0.854406 [s] |
| Initial cost : 0.649352 [px] |
| Final cost : 0.647765 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 7 |
| => Completed observations: 20 |
| => Filtered observations: 24 |
| => Changed observations: 0.000670 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.379785e+04 0.00e+00 5.15e+03 0.00e+00 0.00e+00 1.00e+04 0 4.63e-02 2.27e-01 |
| 1 6.376405e+04 3.38e+01 1.24e+01 5.09e+00 1.00e+00 3.00e+04 1 9.11e-02 3.18e-01 |
| 2 6.376403e+04 2.64e-02 1.99e+00 3.21e-01 1.00e+00 9.00e+04 1 7.53e-02 3.94e-01 |
| 3 6.376403e+04 5.95e-05 8.62e-01 1.97e-02 1.00e+00 2.70e+05 1 7.74e-02 4.71e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 152066 |
| Parameters : 41860 |
| Iterations : 4 |
| Time : 0.47905 [s] |
| Initial cost : 0.647719 [px] |
| Final cost : 0.647548 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 1 |
| => Changed observations: 0.000013 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #26 (16) |
| ============================================================================== |
|
|
| => Image sees 4420 / 6655 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8930 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0728531 [s] |
| Initial cost : 0.608438 [px] |
| Final cost : 0.535454 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4326 |
| => Added observations: 1579 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 102486 |
| Parameters : 14194 |
| Iterations : 26 |
| Time : 0.978235 [s] |
| Initial cost : 0.567004 [px] |
| Final cost : 0.555117 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 323 |
| => Completed observations: 197 |
| => Filtered observations: 628 |
| => Changed observations: 0.022403 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 103848 |
| Parameters : 14119 |
| Iterations : 3 |
| Time : 0.166269 [s] |
| Initial cost : 0.646935 [px] |
| Final cost : 0.639345 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 129 |
| => Filtered observations: 6 |
| => Changed observations: 0.002600 |
|
|
| ============================================================================== |
| Registering image #25 (17) |
| ============================================================================== |
|
|
| => Image sees 4269 / 6396 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8652 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.0692301 [s] |
| Initial cost : 0.734275 [px] |
| Final cost : 0.567543 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4197 |
| => Added observations: 1789 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96914 |
| Parameters : 13612 |
| Iterations : 26 |
| Time : 0.926154 [s] |
| Initial cost : 0.561549 [px] |
| Final cost : 0.540992 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 193 |
| => Completed observations: 208 |
| => Filtered observations: 550 |
| => Changed observations: 0.019626 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96318 |
| Parameters : 13414 |
| Iterations : 3 |
| Time : 0.159054 [s] |
| Initial cost : 0.645538 [px] |
| Final cost : 0.636859 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 32 |
| => Completed observations: 114 |
| => Filtered observations: 9 |
| => Changed observations: 0.003219 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 59 |
| => Completed observations: 53 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 7.464739e+04 0.00e+00 1.31e+06 0.00e+00 0.00e+00 1.00e+04 0 5.19e-02 2.51e-01 |
| 1 7.404802e+04 5.99e+02 1.11e+03 9.47e+00 1.00e+00 3.00e+04 1 9.86e-02 3.49e-01 |
| 2 7.404222e+04 5.80e+00 1.38e+03 9.20e+00 9.99e-01 9.00e+04 1 8.66e-02 4.36e-01 |
| 3 7.403622e+04 6.00e+00 1.27e+04 1.56e+01 9.98e-01 2.70e+05 1 9.13e-02 5.27e-01 |
| 4 7.403258e+04 3.64e+00 2.28e+04 1.75e+01 9.91e-01 8.10e+05 1 8.70e-02 6.14e-01 |
| 5 7.403193e+04 6.53e-01 6.26e+03 8.99e+00 9.99e-01 2.43e+06 1 8.60e-02 7.00e-01 |
| 6 7.403190e+04 2.24e-02 2.41e+02 1.77e+00 1.01e+00 7.29e+06 1 8.73e-02 7.88e-01 |
| 7 7.403190e+04 1.05e-04 2.00e+00 1.28e-01 1.01e+00 2.19e+07 1 8.77e-02 8.75e-01 |
| 8 7.403190e+04 1.31e-07 1.05e-01 4.02e-03 1.02e+00 6.56e+07 1 8.53e-02 9.61e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 174680 |
| Parameters : 45352 |
| Iterations : 9 |
| Time : 0.969749 [s] |
| Initial cost : 0.653711 [px] |
| Final cost : 0.65101 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 11 |
| => Completed observations: 0 |
| => Filtered observations: 27 |
| => Changed observations: 0.000435 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #48 (18) |
| ============================================================================== |
|
|
| => Image sees 4219 / 7428 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8562 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.0675111 [s] |
| Initial cost : 0.636661 [px] |
| Final cost : 0.572155 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4122 |
| => Added observations: 2175 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 98130 |
| Parameters : 13441 |
| Iterations : 26 |
| Time : 0.930825 [s] |
| Initial cost : 0.584795 [px] |
| Final cost : 0.57199 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 461 |
| => Completed observations: 243 |
| => Filtered observations: 690 |
| => Changed observations: 0.028411 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 97378 |
| Parameters : 13159 |
| Iterations : 3 |
| Time : 0.16044 [s] |
| Initial cost : 0.664259 [px] |
| Final cost : 0.65482 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 36 |
| => Completed observations: 126 |
| => Filtered observations: 3 |
| => Changed observations: 0.003389 |
|
|
| ============================================================================== |
| Registering image #47 (19) |
| ============================================================================== |
|
|
| => Image sees 3328 / 5394 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6794 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.064018 [s] |
| Initial cost : 0.638692 [px] |
| Final cost : 0.610922 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3209 |
| => Added observations: 1666 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 88864 |
| Parameters : 9469 |
| Iterations : 26 |
| Time : 0.898789 [s] |
| Initial cost : 0.614022 [px] |
| Final cost : 0.600862 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 417 |
| => Completed observations: 216 |
| => Filtered observations: 825 |
| => Changed observations: 0.032814 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87724 |
| Parameters : 9154 |
| Iterations : 3 |
| Time : 0.140791 [s] |
| Initial cost : 0.686008 [px] |
| Final cost : 0.676539 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 47 |
| => Completed observations: 186 |
| => Filtered observations: 6 |
| => Changed observations: 0.005449 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 82 |
| => Completed observations: 110 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.661439e+04 0.00e+00 9.51e+05 0.00e+00 0.00e+00 1.00e+04 0 5.38e-02 2.84e-01 |
| 1 8.573897e+04 8.75e+02 3.97e+02 7.43e+00 1.00e+00 3.00e+04 1 1.13e-01 3.97e-01 |
| 2 8.573825e+04 7.23e-01 5.31e+02 1.30e+00 1.00e+00 9.00e+04 1 1.01e-01 4.98e-01 |
| 3 8.573818e+04 7.10e-02 3.39e+02 9.94e-01 1.00e+00 2.70e+05 1 1.00e-01 5.98e-01 |
| 4 8.573816e+04 2.09e-02 1.56e+02 1.15e+00 1.00e+00 8.10e+05 1 1.01e-01 6.99e-01 |
| 5 8.573816e+04 3.01e-03 2.81e+01 5.62e-01 1.00e+00 2.43e+06 1 1.01e-01 8.01e-01 |
| 6 8.573816e+04 8.12e-05 1.94e+00 1.02e-01 1.01e+00 7.29e+06 1 1.01e-01 9.02e-01 |
| 7 8.573816e+04 3.52e-07 1.99e-01 6.76e-03 1.01e+00 2.19e+07 1 1.04e-01 1.01e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 195404 |
| Parameters : 49252 |
| Iterations : 8 |
| Time : 1.01602 [s] |
| Initial cost : 0.665776 [px] |
| Final cost : 0.6624 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 16 |
| => Completed observations: 21 |
| => Filtered observations: 20 |
| => Changed observations: 0.000583 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.571604e+04 0.00e+00 4.52e+02 0.00e+00 0.00e+00 1.00e+04 0 5.66e-02 2.90e-01 |
| 1 8.566669e+04 4.94e+01 5.44e+01 3.54e+00 1.00e+00 3.00e+04 1 1.19e-01 4.10e-01 |
| 2 8.566658e+04 1.07e-01 1.53e+00 4.00e-01 1.00e+00 9.00e+04 1 1.02e-01 5.12e-01 |
| 3 8.566658e+04 3.61e-04 1.60e+00 6.02e-02 1.00e+00 2.70e+05 1 1.03e-01 6.15e-01 |
| 4 8.566658e+04 5.34e-05 1.20e+00 5.78e-02 1.00e+00 8.10e+05 1 9.82e-02 7.13e-01 |
| 5 8.566658e+04 7.82e-06 7.88e-01 2.73e-02 1.00e+00 2.43e+06 1 9.62e-02 8.09e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 195378 |
| Parameters : 49234 |
| Iterations : 6 |
| Time : 0.818684 [s] |
| Initial cost : 0.662359 [px] |
| Final cost : 0.662168 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 7 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000113 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #12 (20) |
| ============================================================================== |
|
|
| => Image sees 4434 / 7479 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8986 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.095392 [s] |
| Initial cost : 0.713438 [px] |
| Final cost : 0.601015 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4324 |
| => Added observations: 1932 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99978 |
| Parameters : 13132 |
| Iterations : 26 |
| Time : 0.981088 [s] |
| Initial cost : 0.583872 [px] |
| Final cost : 0.567951 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 466 |
| => Completed observations: 241 |
| => Filtered observations: 728 |
| => Changed observations: 0.028706 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99102 |
| Parameters : 12706 |
| Iterations : 3 |
| Time : 0.189202 [s] |
| Initial cost : 0.675099 [px] |
| Final cost : 0.665479 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 84 |
| => Completed observations: 167 |
| => Filtered observations: 10 |
| => Changed observations: 0.005267 |
|
|
| ============================================================================== |
| Registering image #11 (21) |
| ============================================================================== |
|
|
| => Image sees 4437 / 7419 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8962 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0901971 [s] |
| Initial cost : 0.667406 [px] |
| Final cost : 0.61978 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4304 |
| => Added observations: 2254 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 98816 |
| Parameters : 12988 |
| Iterations : 26 |
| Time : 0.990756 [s] |
| Initial cost : 0.609237 [px] |
| Final cost : 0.588805 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 411 |
| => Completed observations: 243 |
| => Filtered observations: 902 |
| => Changed observations: 0.031493 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 97704 |
| Parameters : 12619 |
| Iterations : 3 |
| Time : 0.158414 [s] |
| Initial cost : 0.669754 [px] |
| Final cost : 0.660187 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 19 |
| => Completed observations: 181 |
| => Filtered observations: 15 |
| => Changed observations: 0.004401 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 59 |
| => Completed observations: 65 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.005924e+05 0.00e+00 8.65e+05 0.00e+00 0.00e+00 1.00e+04 0 6.43e-02 3.34e-01 |
| 1 9.964088e+04 9.52e+02 1.07e+04 8.75e+00 1.00e+00 3.00e+04 1 1.33e-01 4.67e-01 |
| 2 9.963893e+04 1.95e+00 5.72e+02 3.23e+00 1.00e+00 9.00e+04 1 1.14e-01 5.81e-01 |
| 3 9.963834e+04 5.84e-01 7.88e+02 4.20e+00 1.00e+00 2.70e+05 1 1.15e-01 6.97e-01 |
| 4 9.963805e+04 2.92e-01 1.66e+03 4.19e+00 1.00e+00 8.10e+05 1 1.12e-01 8.09e-01 |
| 5 9.963801e+04 4.03e-02 3.71e+02 1.91e+00 1.00e+00 2.43e+06 1 1.14e-01 9.23e-01 |
| 6 9.963801e+04 1.00e-03 1.04e+01 3.29e-01 1.01e+00 7.29e+06 1 1.10e-01 1.03e+00 |
| 7 9.963801e+04 3.99e-06 5.86e-01 2.09e-02 1.01e+00 2.19e+07 1 1.17e-01 1.15e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 219274 |
| Parameters : 53710 |
| Iterations : 8 |
| Time : 1.16107 [s] |
| Initial cost : 0.677312 [px] |
| Final cost : 0.674092 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 32 |
| => Completed observations: 16 |
| => Filtered observations: 25 |
| => Changed observations: 0.000666 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 9.972730e+04 0.00e+00 4.25e+03 0.00e+00 0.00e+00 1.00e+04 0 5.37e-02 3.22e-01 |
| 1 9.965871e+04 6.86e+01 3.57e+01 2.42e+00 1.00e+00 3.00e+04 1 1.26e-01 4.48e-01 |
| 2 9.965863e+04 7.25e-02 3.53e+00 2.52e-01 1.00e+00 9.00e+04 1 1.10e-01 5.59e-01 |
| 3 9.965863e+04 5.17e-04 8.05e-01 8.61e-02 1.00e+00 2.70e+05 1 1.13e-01 6.72e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 219276 |
| Parameters : 53686 |
| Iterations : 4 |
| Time : 0.682161 [s] |
| Initial cost : 0.674391 [px] |
| Final cost : 0.674158 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 14 |
| => Filtered observations: 6 |
| => Changed observations: 0.000210 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #46 (22) |
| ============================================================================== |
|
|
| => Image sees 3423 / 5074 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7040 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.068588 [s] |
| Initial cost : 0.695724 [px] |
| Final cost : 0.636756 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3268 |
| => Added observations: 1572 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87376 |
| Parameters : 8917 |
| Iterations : 26 |
| Time : 0.927151 [s] |
| Initial cost : 0.63577 [px] |
| Final cost : 0.618992 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 341 |
| => Completed observations: 206 |
| => Filtered observations: 1022 |
| => Changed observations: 0.035914 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 86152 |
| Parameters : 8530 |
| Iterations : 3 |
| Time : 0.132659 [s] |
| Initial cost : 0.701634 [px] |
| Final cost : 0.691175 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 104 |
| => Completed observations: 211 |
| => Filtered observations: 15 |
| => Changed observations: 0.007661 |
|
|
| ============================================================================== |
| Registering image #13 (23) |
| ============================================================================== |
|
|
| => Image sees 4684 / 7687 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9636 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0839889 [s] |
| Initial cost : 0.647356 [px] |
| Final cost : 0.576692 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4548 |
| => Added observations: 1924 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 100310 |
| Parameters : 12091 |
| Iterations : 26 |
| Time : 0.922207 [s] |
| Initial cost : 0.619205 [px] |
| Final cost : 0.605924 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 515 |
| => Completed observations: 214 |
| => Filtered observations: 933 |
| => Changed observations: 0.033137 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99518 |
| Parameters : 11845 |
| Iterations : 3 |
| Time : 0.156331 [s] |
| Initial cost : 0.69142 [px] |
| Final cost : 0.681544 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 26 |
| => Completed observations: 242 |
| => Filtered observations: 15 |
| => Changed observations: 0.005687 |
|
|
| ============================================================================== |
| Registering image #45 (24) |
| ============================================================================== |
|
|
| => Image sees 4055 / 6571 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8336 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.065362 [s] |
| Initial cost : 0.652688 [px] |
| Final cost : 0.6042 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3921 |
| => Added observations: 1717 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92644 |
| Parameters : 10159 |
| Iterations : 26 |
| Time : 0.85576 [s] |
| Initial cost : 0.608161 [px] |
| Final cost : 0.591527 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 522 |
| => Completed observations: 210 |
| => Filtered observations: 889 |
| => Changed observations: 0.034994 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 89928 |
| Parameters : 9520 |
| Iterations : 3 |
| Time : 0.154504 [s] |
| Initial cost : 0.68704 [px] |
| Final cost : 0.677409 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 83 |
| => Completed observations: 194 |
| => Filtered observations: 9 |
| => Changed observations: 0.006361 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 107 |
| => Completed observations: 32 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.181957e+05 0.00e+00 8.57e+05 0.00e+00 0.00e+00 1.00e+04 0 6.60e-02 3.93e-01 |
| 1 1.172577e+05 9.38e+02 2.89e+02 9.47e+00 1.00e+00 3.00e+04 1 1.59e-01 5.52e-01 |
| 2 1.172554e+05 2.34e+00 1.09e+03 4.18e+00 1.00e+00 9.00e+04 1 1.27e-01 6.79e-01 |
| 3 1.172544e+05 1.01e+00 5.96e+02 5.42e+00 1.00e+00 2.70e+05 1 1.27e-01 8.06e-01 |
| 4 1.172539e+05 4.66e-01 2.60e+03 5.28e+00 1.00e+00 8.10e+05 1 1.24e-01 9.30e-01 |
| 5 1.172539e+05 6.44e-02 6.26e+02 2.40e+00 1.00e+00 2.43e+06 1 1.33e-01 1.06e+00 |
| 6 1.172539e+05 1.62e-03 2.03e+01 4.15e-01 1.01e+00 7.29e+06 1 1.29e-01 1.19e+00 |
| 7 1.172539e+05 6.48e-06 7.24e-01 2.66e-02 1.01e+00 2.19e+07 1 1.32e-01 1.32e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 249834 |
| Parameters : 58387 |
| Iterations : 8 |
| Time : 1.33685 [s] |
| Initial cost : 0.687821 [px] |
| Final cost : 0.685074 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 24 |
| => Completed observations: 63 |
| => Filtered observations: 43 |
| => Changed observations: 0.001041 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.171375e+05 0.00e+00 1.11e+04 0.00e+00 0.00e+00 1.00e+04 0 6.45e-02 3.79e-01 |
| 1 1.170377e+05 9.98e+01 7.48e+01 3.21e+00 1.00e+00 3.00e+04 1 1.46e-01 5.25e-01 |
| 2 1.170377e+05 9.60e-02 1.99e+00 3.82e-01 1.00e+00 9.00e+04 1 1.30e-01 6.55e-01 |
| 3 1.170377e+05 2.88e-04 1.60e+00 5.61e-02 1.00e+00 2.70e+05 1 1.26e-01 7.82e-01 |
| 4 1.170377e+05 4.74e-05 1.43e+00 5.32e-02 1.00e+00 8.10e+05 1 1.24e-01 9.06e-01 |
| 5 1.170377e+05 6.54e-06 7.31e-01 2.43e-02 1.00e+00 2.43e+06 1 1.25e-01 1.03e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 249780 |
| Parameters : 58354 |
| Iterations : 6 |
| Time : 1.04262 [s] |
| Initial cost : 0.684809 [px] |
| Final cost : 0.684517 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 8 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000096 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #44 (25) |
| ============================================================================== |
|
|
| => Image sees 4886 / 7725 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10008 |
| Parameters : 6 |
| Iterations : 8 |
| Time : 0.063869 [s] |
| Initial cost : 0.605498 [px] |
| Final cost : 0.566473 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4751 |
| => Added observations: 1786 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 104552 |
| Parameters : 12238 |
| Iterations : 26 |
| Time : 0.975814 [s] |
| Initial cost : 0.620007 [px] |
| Final cost : 0.605828 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 449 |
| => Completed observations: 239 |
| => Filtered observations: 889 |
| => Changed observations: 0.030167 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 103314 |
| Parameters : 11836 |
| Iterations : 3 |
| Time : 0.1628 [s] |
| Initial cost : 0.697038 [px] |
| Final cost : 0.687775 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 71 |
| => Completed observations: 222 |
| => Filtered observations: 9 |
| => Changed observations: 0.005846 |
|
|
| ============================================================================== |
| Registering image #49 (26) |
| ============================================================================== |
|
|
| => Image sees 4551 / 7150 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9356 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.117201 [s] |
| Initial cost : 0.642979 [px] |
| Final cost : 0.613748 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4393 |
| => Added observations: 2267 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 95682 |
| Parameters : 11233 |
| Iterations : 26 |
| Time : 0.929735 [s] |
| Initial cost : 0.634501 [px] |
| Final cost : 0.611467 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 499 |
| => Completed observations: 271 |
| => Filtered observations: 1015 |
| => Changed observations: 0.037311 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94324 |
| Parameters : 10792 |
| Iterations : 3 |
| Time : 0.151924 [s] |
| Initial cost : 0.694852 [px] |
| Final cost : 0.684489 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 68 |
| => Completed observations: 237 |
| => Filtered observations: 8 |
| => Changed observations: 0.006637 |
|
|
| ============================================================================== |
| Registering image #14 (27) |
| ============================================================================== |
|
|
| => Image sees 4919 / 7420 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10174 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.074708 [s] |
| Initial cost : 0.691911 [px] |
| Final cost : 0.582952 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4768 |
| => Added observations: 2154 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 100432 |
| Parameters : 12019 |
| Iterations : 26 |
| Time : 0.968391 [s] |
| Initial cost : 0.630751 [px] |
| Final cost : 0.614009 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 547 |
| => Completed observations: 308 |
| => Filtered observations: 993 |
| => Changed observations: 0.036801 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99058 |
| Parameters : 11593 |
| Iterations : 3 |
| Time : 0.154095 [s] |
| Initial cost : 0.702836 [px] |
| Final cost : 0.692194 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 100 |
| => Completed observations: 216 |
| => Filtered observations: 8 |
| => Changed observations: 0.006542 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 137 |
| => Completed observations: 253 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.389191e+05 0.00e+00 1.59e+06 0.00e+00 0.00e+00 1.00e+04 0 7.84e-02 4.41e-01 |
| 1 1.374292e+05 1.49e+03 1.35e+04 1.31e+01 1.00e+00 3.00e+04 1 1.70e-01 6.11e-01 |
| 2 1.374164e+05 1.28e+01 6.97e+03 1.13e+01 1.00e+00 9.00e+04 1 1.55e-01 7.66e-01 |
| 3 1.374076e+05 8.88e+00 1.17e+04 1.60e+01 1.00e+00 2.70e+05 1 1.57e-01 9.23e-01 |
| 4 1.374032e+05 4.34e+00 2.59e+04 1.57e+01 9.96e-01 8.10e+05 1 1.51e-01 1.07e+00 |
| 5 1.374026e+05 6.10e-01 5.80e+03 7.01e+00 1.00e+00 2.43e+06 1 1.52e-01 1.23e+00 |
| 6 1.374026e+05 1.54e-02 1.74e+02 1.19e+00 1.01e+00 7.29e+06 1 1.50e-01 1.38e+00 |
| 7 1.374026e+05 5.52e-05 1.91e+00 7.42e-02 1.01e+00 2.19e+07 1 1.53e-01 1.53e+00 |
| 8 1.374026e+05 5.09e-08 5.87e-02 2.01e-03 1.02e+00 6.56e+07 1 1.67e-01 1.70e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 287148 |
| Parameters : 64195 |
| Iterations : 9 |
| Time : 1.70966 [s] |
| Initial cost : 0.695549 [px] |
| Final cost : 0.691743 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 38 |
| => Completed observations: 20 |
| => Filtered observations: 39 |
| => Changed observations: 0.000676 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.373746e+05 0.00e+00 1.34e+04 0.00e+00 0.00e+00 1.00e+04 0 7.65e-02 4.36e-01 |
| 1 1.372941e+05 8.06e+01 2.50e+01 4.14e+00 1.00e+00 3.00e+04 1 1.62e-01 5.98e-01 |
| 2 1.372940e+05 1.07e-01 1.99e+00 5.38e-01 1.00e+00 9.00e+04 1 1.53e-01 7.51e-01 |
| 3 1.372940e+05 2.12e-04 7.54e-01 2.96e-02 1.00e+00 2.70e+05 1 1.49e-01 9.00e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 287142 |
| Parameters : 64189 |
| Iterations : 4 |
| Time : 0.913031 [s] |
| Initial cost : 0.691679 [px] |
| Final cost : 0.691476 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 8 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000084 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #43 (28) |
| ============================================================================== |
|
|
| => Image sees 4780 / 7445 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9876 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.105004 [s] |
| Initial cost : 0.622142 [px] |
| Final cost : 0.59468 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4653 |
| => Added observations: 1728 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 101552 |
| Parameters : 11317 |
| Iterations : 20 |
| Time : 0.724056 [s] |
| Initial cost : 0.625755 [px] |
| Final cost : 0.61078 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 488 |
| => Completed observations: 222 |
| => Filtered observations: 929 |
| => Changed observations: 0.032279 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 100266 |
| Parameters : 10990 |
| Iterations : 3 |
| Time : 0.151783 [s] |
| Initial cost : 0.704809 [px] |
| Final cost : 0.694761 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 43 |
| => Completed observations: 157 |
| => Filtered observations: 8 |
| => Changed observations: 0.004149 |
|
|
| ============================================================================== |
| Registering image #10 (29) |
| ============================================================================== |
|
|
| => Image sees 4658 / 6855 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9598 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0769711 [s] |
| Initial cost : 0.651152 [px] |
| Final cost : 0.609393 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4505 |
| => Added observations: 2035 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96802 |
| Parameters : 10825 |
| Iterations : 26 |
| Time : 0.903966 [s] |
| Initial cost : 0.635907 [px] |
| Final cost : 0.611434 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 465 |
| => Completed observations: 289 |
| => Filtered observations: 952 |
| => Changed observations: 0.035247 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 95642 |
| Parameters : 10426 |
| Iterations : 3 |
| Time : 0.150202 [s] |
| Initial cost : 0.698614 [px] |
| Final cost : 0.688634 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 41 |
| => Completed observations: 190 |
| => Filtered observations: 6 |
| => Changed observations: 0.004956 |
|
|
| ============================================================================== |
| Registering image #6 (30) |
| ============================================================================== |
|
|
| => Image sees 4543 / 6437 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9398 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.066896 [s] |
| Initial cost : 0.646911 [px] |
| Final cost : 0.567935 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4404 |
| => Added observations: 1703 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93104 |
| Parameters : 9904 |
| Iterations : 25 |
| Time : 0.860484 [s] |
| Initial cost : 0.62098 [px] |
| Final cost : 0.602428 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 536 |
| => Completed observations: 257 |
| => Filtered observations: 860 |
| => Changed observations: 0.035509 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 91874 |
| Parameters : 9562 |
| Iterations : 3 |
| Time : 0.139923 [s] |
| Initial cost : 0.695186 [px] |
| Final cost : 0.68444 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 60 |
| => Completed observations: 171 |
| => Filtered observations: 11 |
| => Changed observations: 0.005268 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 127 |
| => Completed observations: 363 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.577808e+05 0.00e+00 1.82e+06 0.00e+00 0.00e+00 1.00e+04 0 8.37e-02 5.45e-01 |
| 1 1.561765e+05 1.60e+03 2.96e+03 9.27e+00 1.00e+00 3.00e+04 1 1.76e-01 7.21e-01 |
| 2 1.561729e+05 3.59e+00 2.21e+03 3.11e+00 1.00e+00 9.00e+04 1 1.68e-01 8.89e-01 |
| 3 1.561725e+05 3.53e-01 3.86e+02 1.43e+00 1.00e+00 2.70e+05 1 1.64e-01 1.05e+00 |
| 4 1.561725e+05 1.00e-02 1.96e+00 3.60e-01 1.00e+00 8.10e+05 1 1.61e-01 1.21e+00 |
| 5 1.561725e+05 1.25e-04 1.97e+00 9.04e-02 1.00e+00 2.43e+06 1 1.62e-01 1.38e+00 |
| 6 1.561725e+05 2.15e-06 5.07e-01 1.43e-02 1.01e+00 7.29e+06 1 1.61e-01 1.54e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 322260 |
| Parameters : 69319 |
| Iterations : 7 |
| Time : 1.55057 [s] |
| Initial cost : 0.699719 [px] |
| Final cost : 0.696144 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 32 |
| => Completed observations: 23 |
| => Filtered observations: 43 |
| => Changed observations: 0.000608 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.560827e+05 0.00e+00 7.79e+03 0.00e+00 0.00e+00 1.00e+04 0 8.85e-02 5.05e-01 |
| 1 1.560224e+05 6.03e+01 1.33e+01 1.99e+00 1.00e+00 3.00e+04 1 1.84e-01 6.89e-01 |
| 2 1.560223e+05 9.03e-02 1.26e+01 3.86e-01 1.00e+00 9.00e+04 1 1.66e-01 8.55e-01 |
| 3 1.560223e+05 1.27e-03 7.00e+00 8.92e-02 1.00e+00 2.70e+05 1 1.65e-01 1.02e+00 |
| 4 1.560223e+05 2.24e-04 2.66e+00 9.30e-02 1.00e+00 8.10e+05 1 1.63e-01 1.18e+00 |
| 5 1.560223e+05 2.90e-05 1.40e+00 4.37e-02 1.00e+00 2.43e+06 1 1.71e-01 1.35e+00 |
| 6 1.560223e+05 7.16e-07 3.01e-01 7.57e-03 1.01e+00 7.29e+06 1 1.70e-01 1.52e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 322214 |
| Parameters : 69289 |
| Iterations : 7 |
| Time : 1.53801 [s] |
| Initial cost : 0.695994 [px] |
| Final cost : 0.695859 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 10 |
| => Completed observations: 10 |
| => Filtered observations: 4 |
| => Changed observations: 0.000149 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #5 (31) |
| ============================================================================== |
|
|
| => Image sees 4808 / 6745 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9934 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.070014 [s] |
| Initial cost : 0.592616 [px] |
| Final cost : 0.565611 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4650 |
| => Added observations: 1873 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96172 |
| Parameters : 10822 |
| Iterations : 26 |
| Time : 0.913296 [s] |
| Initial cost : 0.625573 [px] |
| Final cost : 0.608586 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 408 |
| => Completed observations: 271 |
| => Filtered observations: 1020 |
| => Changed observations: 0.035333 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94790 |
| Parameters : 10408 |
| Iterations : 3 |
| Time : 0.167962 [s] |
| Initial cost : 0.699067 [px] |
| Final cost : 0.689076 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 36 |
| => Completed observations: 214 |
| => Filtered observations: 5 |
| => Changed observations: 0.005380 |
|
|
| ============================================================================== |
| Registering image #4 (32) |
| ============================================================================== |
|
|
| => Image sees 4765 / 6900 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9916 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.078922 [s] |
| Initial cost : 0.658356 [px] |
| Final cost : 0.567997 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4616 |
| => Added observations: 1851 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96058 |
| Parameters : 10054 |
| Iterations : 26 |
| Time : 0.890621 [s] |
| Initial cost : 0.622405 [px] |
| Final cost : 0.606823 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 558 |
| => Completed observations: 252 |
| => Filtered observations: 990 |
| => Changed observations: 0.037477 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94682 |
| Parameters : 9580 |
| Iterations : 3 |
| Time : 0.149979 [s] |
| Initial cost : 0.686427 [px] |
| Final cost : 0.676853 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 56 |
| => Completed observations: 234 |
| => Filtered observations: 7 |
| => Changed observations: 0.006274 |
|
|
| ============================================================================== |
| Registering image #18 (33) |
| ============================================================================== |
|
|
| => Image sees 4515 / 7008 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9298 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.078444 [s] |
| Initial cost : 0.632512 [px] |
| Final cost : 0.590955 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4367 |
| => Added observations: 1956 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94056 |
| Parameters : 9922 |
| Iterations : 26 |
| Time : 0.940648 [s] |
| Initial cost : 0.645621 [px] |
| Final cost : 0.620529 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 505 |
| => Completed observations: 202 |
| => Filtered observations: 976 |
| => Changed observations: 0.035787 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92584 |
| Parameters : 9496 |
| Iterations : 3 |
| Time : 0.14482 [s] |
| Initial cost : 0.707382 [px] |
| Final cost : 0.698077 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 80 |
| => Completed observations: 239 |
| => Filtered observations: 7 |
| => Changed observations: 0.007042 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 146 |
| => Completed observations: 213 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.760220e+05 0.00e+00 7.90e+05 0.00e+00 0.00e+00 1.00e+04 0 8.62e-02 5.70e-01 |
| 1 1.738439e+05 2.18e+03 9.37e+03 9.64e+00 1.00e+00 3.00e+04 1 1.95e-01 7.65e-01 |
| 2 1.738417e+05 2.24e+00 5.39e+02 3.44e+00 1.00e+00 9.00e+04 1 1.89e-01 9.54e-01 |
| 3 1.738406e+05 1.08e+00 1.88e+03 4.88e+00 1.00e+00 2.70e+05 1 1.91e-01 1.14e+00 |
| 4 1.738400e+05 5.69e-01 3.65e+03 5.02e+00 1.00e+00 8.10e+05 1 1.84e-01 1.33e+00 |
| 5 1.738399e+05 8.22e-02 8.65e+02 2.35e+00 1.00e+00 2.43e+06 1 2.00e-01 1.53e+00 |
| 6 1.738399e+05 2.16e-03 2.64e+01 4.17e-01 1.01e+00 7.29e+06 1 1.95e-01 1.72e+00 |
| 7 1.738399e+05 8.91e-06 8.95e-01 2.72e-02 1.01e+00 2.19e+07 1 1.88e-01 1.91e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 357678 |
| Parameters : 74632 |
| Iterations : 8 |
| Time : 1.92796 [s] |
| Initial cost : 0.701516 [px] |
| Final cost : 0.697154 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 38 |
| => Completed observations: 57 |
| => Filtered observations: 48 |
| => Changed observations: 0.000800 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.737841e+05 0.00e+00 2.09e+04 0.00e+00 0.00e+00 1.00e+04 0 8.71e-02 5.54e-01 |
| 1 1.736981e+05 8.61e+01 4.29e+01 3.65e+00 1.00e+00 3.00e+04 1 2.01e-01 7.56e-01 |
| 2 1.736980e+05 4.76e-02 5.98e+00 2.89e-01 1.00e+00 9.00e+04 1 2.01e-01 9.57e-01 |
| 3 1.736980e+05 3.41e-03 1.37e+01 2.58e-01 1.00e+00 2.70e+05 1 1.86e-01 1.14e+00 |
| 4 1.736980e+05 1.72e-03 1.17e+01 2.85e-01 1.00e+00 8.10e+05 1 1.79e-01 1.32e+00 |
| 5 1.736980e+05 2.46e-04 2.13e+00 1.35e-01 1.00e+00 2.43e+06 1 1.79e-01 1.50e+00 |
| 6 1.736980e+05 6.42e-06 8.33e-01 2.40e-02 1.01e+00 7.29e+06 1 1.92e-01 1.69e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 357634 |
| Parameters : 74599 |
| Iterations : 7 |
| Time : 1.70795 [s] |
| Initial cost : 0.697085 [px] |
| Final cost : 0.696912 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 10 |
| => Completed observations: 0 |
| => Filtered observations: 8 |
| => Changed observations: 0.000101 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #51 (34) |
| ============================================================================== |
|
|
| => Image sees 3399 / 5203 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7132 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0696871 [s] |
| Initial cost : 0.674039 [px] |
| Final cost : 0.631868 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3278 |
| => Added observations: 1372 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84286 |
| Parameters : 7861 |
| Iterations : 26 |
| Time : 0.948331 [s] |
| Initial cost : 0.683076 [px] |
| Final cost : 0.660707 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 264 |
| => Completed observations: 198 |
| => Filtered observations: 929 |
| => Changed observations: 0.033007 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85788 |
| Parameters : 7357 |
| Iterations : 3 |
| Time : 0.133807 [s] |
| Initial cost : 0.724509 [px] |
| Final cost : 0.713877 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 53 |
| => Completed observations: 200 |
| => Filtered observations: 14 |
| => Changed observations: 0.006225 |
|
|
| ============================================================================== |
| Registering image #50 (35) |
| ============================================================================== |
|
|
| => Image sees 3533 / 5075 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7552 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.074254 [s] |
| Initial cost : 0.668703 [px] |
| Final cost : 0.612804 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3401 |
| => Added observations: 1499 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85214 |
| Parameters : 7408 |
| Iterations : 26 |
| Time : 0.931443 [s] |
| Initial cost : 0.642186 [px] |
| Final cost : 0.623344 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 376 |
| => Completed observations: 220 |
| => Filtered observations: 896 |
| => Changed observations: 0.035018 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84478 |
| Parameters : 7000 |
| Iterations : 3 |
| Time : 0.130262 [s] |
| Initial cost : 0.718997 [px] |
| Final cost : 0.709421 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 82 |
| => Completed observations: 194 |
| => Filtered observations: 9 |
| => Changed observations: 0.006747 |
|
|
| ============================================================================== |
| Registering image #42 (36) |
| ============================================================================== |
|
|
| => Image sees 4945 / 7524 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10308 |
| Parameters : 6 |
| Iterations : 8 |
| Time : 0.0729499 [s] |
| Initial cost : 0.660585 [px] |
| Final cost : 0.586878 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4769 |
| => Added observations: 2019 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99122 |
| Parameters : 10459 |
| Iterations : 26 |
| Time : 1.00579 [s] |
| Initial cost : 0.63646 [px] |
| Final cost : 0.617702 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 563 |
| => Completed observations: 241 |
| => Filtered observations: 968 |
| => Changed observations: 0.035754 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99038 |
| Parameters : 10177 |
| Iterations : 3 |
| Time : 0.154925 [s] |
| Initial cost : 0.710294 [px] |
| Final cost : 0.700445 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 95 |
| => Completed observations: 185 |
| => Filtered observations: 20 |
| => Changed observations: 0.006058 |
|
|
| ============================================================================== |
| Registering image #3 (37) |
| ============================================================================== |
|
|
| => Image sees 4924 / 6848 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10410 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0840001 [s] |
| Initial cost : 0.677863 [px] |
| Final cost : 0.578965 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4771 |
| => Added observations: 1561 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 95974 |
| Parameters : 9700 |
| Iterations : 26 |
| Time : 0.864416 [s] |
| Initial cost : 0.64274 [px] |
| Final cost : 0.625708 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 786 |
| => Completed observations: 249 |
| => Filtered observations: 1002 |
| => Changed observations: 0.042449 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94414 |
| Parameters : 9220 |
| Iterations : 3 |
| Time : 0.145142 [s] |
| Initial cost : 0.709007 [px] |
| Final cost : 0.69895 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 52 |
| => Completed observations: 219 |
| => Filtered observations: 8 |
| => Changed observations: 0.005910 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 180 |
| => Completed observations: 624 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.979512e+05 0.00e+00 9.48e+05 0.00e+00 0.00e+00 1.00e+04 0 9.87e-02 6.47e-01 |
| 1 1.964861e+05 1.47e+03 4.00e+01 1.07e+01 1.00e+00 3.00e+04 1 2.29e-01 8.76e-01 |
| 2 1.964831e+05 3.05e+00 1.68e+02 4.45e+00 1.00e+00 9.00e+04 1 2.14e-01 1.09e+00 |
| 3 1.964811e+05 1.96e+00 5.64e+03 6.85e+00 1.00e+00 2.70e+05 1 2.23e-01 1.31e+00 |
| 4 1.964800e+05 1.12e+00 7.84e+03 7.33e+00 1.00e+00 8.10e+05 1 2.22e-01 1.53e+00 |
| 5 1.964798e+05 1.69e-01 1.87e+03 3.52e+00 1.00e+00 2.43e+06 1 2.08e-01 1.74e+00 |
| 6 1.964798e+05 4.68e-03 6.50e+01 6.41e-01 1.01e+00 7.29e+06 1 2.04e-01 1.95e+00 |
| 7 1.964798e+05 1.99e-05 1.23e+00 4.28e-02 1.01e+00 2.19e+07 1 2.05e-01 2.15e+00 |
| 8 1.964798e+05 1.88e-08 4.43e-02 1.20e-03 1.02e+00 6.56e+07 1 2.07e-01 2.36e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 398632 |
| Parameters : 80242 |
| Iterations : 9 |
| Time : 2.37606 [s] |
| Initial cost : 0.704682 [px] |
| Final cost : 0.702058 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 57 |
| => Completed observations: 154 |
| => Filtered observations: 53 |
| => Changed observations: 0.001325 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.965473e+05 0.00e+00 5.94e+03 0.00e+00 0.00e+00 1.00e+04 0 1.04e-01 6.52e-01 |
| 1 1.964301e+05 1.17e+02 4.02e+01 3.06e+00 1.00e+00 3.00e+04 1 2.43e-01 8.95e-01 |
| 2 1.964299e+05 1.44e-01 2.09e+01 4.13e-01 1.00e+00 9.00e+04 1 2.08e-01 1.10e+00 |
| 3 1.964299e+05 7.45e-03 3.54e+01 3.37e-01 1.00e+00 2.70e+05 1 2.08e-01 1.31e+00 |
| 4 1.964299e+05 3.94e-03 3.21e+01 3.73e-01 1.00e+00 8.10e+05 1 2.02e-01 1.51e+00 |
| 5 1.964299e+05 5.89e-04 7.49e+00 1.80e-01 1.00e+00 2.43e+06 1 2.15e-01 1.73e+00 |
| 6 1.964299e+05 1.61e-05 1.11e+00 3.28e-02 1.01e+00 7.29e+06 1 2.26e-01 1.96e+00 |
| 7 1.964299e+05 6.93e-08 1.05e-01 2.19e-03 1.01e+00 2.19e+07 1 2.04e-01 2.16e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 398622 |
| Parameters : 80194 |
| Iterations : 8 |
| Time : 2.17642 [s] |
| Initial cost : 0.702187 [px] |
| Final cost : 0.701977 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 12 |
| => Completed observations: 9 |
| => Filtered observations: 14 |
| => Changed observations: 0.000176 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #15 (38) |
| ============================================================================== |
|
|
| => Image sees 3573 / 5161 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7742 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0890541 [s] |
| Initial cost : 0.6736 [px] |
| Final cost : 0.644302 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3418 |
| => Added observations: 1413 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 82896 |
| Parameters : 7765 |
| Iterations : 26 |
| Time : 0.826134 [s] |
| Initial cost : 0.660765 [px] |
| Final cost : 0.64307 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 594 |
| => Completed observations: 199 |
| => Filtered observations: 1059 |
| => Changed observations: 0.044682 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85148 |
| Parameters : 7228 |
| Iterations : 3 |
| Time : 0.136334 [s] |
| Initial cost : 0.732611 [px] |
| Final cost : 0.721394 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 164 |
| => Completed observations: 231 |
| => Filtered observations: 18 |
| => Changed observations: 0.009701 |
|
|
| ============================================================================== |
| Registering image #32 (39) |
| ============================================================================== |
|
|
| => Image sees 3495 / 4876 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7540 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0739031 [s] |
| Initial cost : 0.655776 [px] |
| Final cost : 0.64675 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3371 |
| => Added observations: 1430 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85606 |
| Parameters : 7132 |
| Iterations : 26 |
| Time : 0.938337 [s] |
| Initial cost : 0.681576 [px] |
| Final cost : 0.660145 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 308 |
| => Completed observations: 203 |
| => Filtered observations: 1059 |
| => Changed observations: 0.036680 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 83990 |
| Parameters : 6757 |
| Iterations : 3 |
| Time : 0.124016 [s] |
| Initial cost : 0.763067 [px] |
| Final cost : 0.752119 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 45 |
| => Completed observations: 155 |
| => Filtered observations: 10 |
| => Changed observations: 0.005001 |
|
|
| ============================================================================== |
| Registering image #41 (40) |
| ============================================================================== |
|
|
| => Image sees 4788 / 7059 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9936 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.073015 [s] |
| Initial cost : 0.591519 [px] |
| Final cost : 0.558853 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4619 |
| => Added observations: 1637 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94206 |
| Parameters : 9709 |
| Iterations : 26 |
| Time : 0.939365 [s] |
| Initial cost : 0.645116 [px] |
| Final cost : 0.624274 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 480 |
| => Completed observations: 290 |
| => Filtered observations: 956 |
| => Changed observations: 0.036643 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92928 |
| Parameters : 9346 |
| Iterations : 3 |
| Time : 0.145108 [s] |
| Initial cost : 0.706729 [px] |
| Final cost : 0.696522 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 162 |
| => Completed observations: 188 |
| => Filtered observations: 12 |
| => Changed observations: 0.007791 |
|
|
| ============================================================================== |
| Registering image #9 (41) |
| ============================================================================== |
|
|
| => Image sees 4502 / 6180 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9288 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0785511 [s] |
| Initial cost : 0.623567 [px] |
| Final cost : 0.594337 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4317 |
| => Added observations: 1581 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93788 |
| Parameters : 8899 |
| Iterations : 26 |
| Time : 0.976614 [s] |
| Initial cost : 0.667425 [px] |
| Final cost : 0.636686 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 359 |
| => Completed observations: 208 |
| => Filtered observations: 1016 |
| => Changed observations: 0.033757 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92322 |
| Parameters : 8464 |
| Iterations : 3 |
| Time : 0.14332 [s] |
| Initial cost : 0.711983 [px] |
| Final cost : 0.702755 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 77 |
| => Completed observations: 231 |
| => Filtered observations: 11 |
| => Changed observations: 0.006911 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 257 |
| => Completed observations: 619 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.199603e+05 0.00e+00 4.39e+05 0.00e+00 0.00e+00 1.00e+04 0 1.04e-01 7.18e-01 |
| 1 2.180086e+05 1.95e+03 4.32e+03 9.40e+00 1.00e+00 3.00e+04 1 2.54e-01 9.72e-01 |
| 2 2.180050e+05 3.63e+00 5.85e+03 2.38e+00 1.00e+00 9.00e+04 1 2.28e-01 1.20e+00 |
| 3 2.180041e+05 8.99e-01 5.13e+03 2.82e+00 1.00e+00 2.70e+05 1 2.31e-01 1.43e+00 |
| 4 2.180038e+05 3.06e-01 2.68e+03 3.16e+00 1.00e+00 8.10e+05 1 2.27e-01 1.66e+00 |
| 5 2.180037e+05 4.45e-02 4.97e+02 1.55e+00 1.00e+00 2.43e+06 1 2.21e-01 1.88e+00 |
| 6 2.180037e+05 1.21e-03 1.50e+01 2.83e-01 1.00e+00 7.29e+06 1 2.24e-01 2.10e+00 |
| 7 2.180037e+05 5.12e-06 7.68e-01 1.88e-02 1.01e+00 2.19e+07 1 2.32e-01 2.34e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 437510 |
| Parameters : 85180 |
| Iterations : 8 |
| Time : 2.35433 [s] |
| Initial cost : 0.709052 [px] |
| Final cost : 0.705892 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 49 |
| => Completed observations: 100 |
| => Filtered observations: 69 |
| => Changed observations: 0.000997 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.178613e+05 0.00e+00 1.48e+04 0.00e+00 0.00e+00 1.00e+04 0 1.24e-01 7.50e-01 |
| 1 2.177545e+05 1.07e+02 1.66e+01 1.73e+00 1.00e+00 3.00e+04 1 2.54e-01 1.00e+00 |
| 2 2.177545e+05 7.54e-02 3.28e+00 3.43e-01 1.00e+00 9.00e+04 1 2.22e-01 1.23e+00 |
| 3 2.177545e+05 3.79e-03 6.46e+00 2.28e-01 1.00e+00 2.70e+05 1 2.22e-01 1.45e+00 |
| 4 2.177544e+05 1.80e-03 1.28e+01 2.37e-01 1.00e+00 8.10e+05 1 2.22e-01 1.67e+00 |
| 5 2.177544e+05 2.68e-04 3.46e+00 1.14e-01 1.00e+00 2.43e+06 1 2.22e-01 1.89e+00 |
| 6 2.177544e+05 7.28e-06 8.93e-01 2.06e-02 1.00e+00 7.29e+06 1 2.23e-01 2.11e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 437450 |
| Parameters : 85147 |
| Iterations : 7 |
| Time : 2.13302 [s] |
| Initial cost : 0.705709 [px] |
| Final cost : 0.705536 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 16 |
| => Completed observations: 103 |
| => Filtered observations: 19 |
| => Changed observations: 0.000631 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.177076e+05 0.00e+00 6.92e+02 0.00e+00 0.00e+00 1.00e+04 0 1.11e-01 7.14e-01 |
| 1 2.176646e+05 4.30e+01 1.60e+01 6.23e-01 1.00e+00 3.00e+04 1 2.54e-01 9.68e-01 |
| 2 2.176646e+05 4.17e-03 2.00e+00 3.34e-02 1.00e+00 9.00e+04 1 2.34e-01 1.20e+00 |
| 3 2.176646e+05 2.17e-05 9.03e-01 1.68e-02 1.00e+00 2.70e+05 1 2.29e-01 1.43e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 437444 |
| Parameters : 85135 |
| Iterations : 4 |
| Time : 1.44884 [s] |
| Initial cost : 0.705465 [px] |
| Final cost : 0.705395 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Filtered observations: 3 |
| => Changed observations: 0.000027 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #17 (42) |
| ============================================================================== |
|
|
| => Image sees 4358 / 5891 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9150 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.0685482 [s] |
| Initial cost : 0.641035 [px] |
| Final cost : 0.583891 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4198 |
| => Added observations: 1633 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94720 |
| Parameters : 9190 |
| Iterations : 26 |
| Time : 0.985513 [s] |
| Initial cost : 0.670249 [px] |
| Final cost : 0.645505 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 394 |
| => Completed observations: 236 |
| => Filtered observations: 968 |
| => Changed observations: 0.033742 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93182 |
| Parameters : 8758 |
| Iterations : 3 |
| Time : 0.143196 [s] |
| Initial cost : 0.730612 [px] |
| Final cost : 0.720703 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 110 |
| => Completed observations: 226 |
| => Filtered observations: 8 |
| => Changed observations: 0.007383 |
|
|
| ============================================================================== |
| Registering image #16 (43) |
| ============================================================================== |
|
|
| => Image sees 4783 / 6412 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10124 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.082171 [s] |
| Initial cost : 0.624536 [px] |
| Final cost : 0.590642 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4633 |
| => Added observations: 1575 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93772 |
| Parameters : 9307 |
| Iterations : 24 |
| Time : 0.829862 [s] |
| Initial cost : 0.647625 [px] |
| Final cost : 0.625398 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 438 |
| => Completed observations: 280 |
| => Filtered observations: 951 |
| => Changed observations: 0.035597 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92612 |
| Parameters : 8929 |
| Iterations : 3 |
| Time : 0.138094 [s] |
| Initial cost : 0.729065 [px] |
| Final cost : 0.718492 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 104 |
| => Completed observations: 170 |
| => Filtered observations: 14 |
| => Changed observations: 0.006219 |
|
|
| ============================================================================== |
| Registering image #8 (44) |
| ============================================================================== |
|
|
| => Image sees 4612 / 6353 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9652 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0867569 [s] |
| Initial cost : 0.659721 [px] |
| Final cost : 0.598318 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4440 |
| => Added observations: 1321 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 89262 |
| Parameters : 8701 |
| Iterations : 26 |
| Time : 0.913605 [s] |
| Initial cost : 0.659376 [px] |
| Final cost : 0.630344 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 488 |
| => Completed observations: 231 |
| => Filtered observations: 959 |
| => Changed observations: 0.037597 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87932 |
| Parameters : 8362 |
| Iterations : 3 |
| Time : 0.133517 [s] |
| Initial cost : 0.716957 [px] |
| Final cost : 0.706845 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 36 |
| => Completed observations: 201 |
| => Filtered observations: 17 |
| => Changed observations: 0.005777 |
|
|
| ============================================================================== |
| Registering image #7 (45) |
| ============================================================================== |
|
|
| => Image sees 4711 / 6150 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9956 |
| Parameters : 6 |
| Iterations : 8 |
| Time : 0.065613 [s] |
| Initial cost : 0.605047 [px] |
| Final cost : 0.600269 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4543 |
| => Added observations: 1477 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 89460 |
| Parameters : 8923 |
| Iterations : 23 |
| Time : 0.789593 [s] |
| Initial cost : 0.656102 [px] |
| Final cost : 0.630992 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 641 |
| => Completed observations: 247 |
| => Filtered observations: 1009 |
| => Changed observations: 0.042410 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87796 |
| Parameters : 8461 |
| Iterations : 3 |
| Time : 0.147615 [s] |
| Initial cost : 0.715559 [px] |
| Final cost : 0.70487 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 55 |
| => Completed observations: 218 |
| => Filtered observations: 10 |
| => Changed observations: 0.006447 |
|
|
| ============================================================================== |
| Registering image #35 (46) |
| ============================================================================== |
|
|
| => Image sees 4335 / 6446 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8936 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.081202 [s] |
| Initial cost : 0.669047 [px] |
| Final cost : 0.615856 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4124 |
| => Added observations: 1487 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 91576 |
| Parameters : 7786 |
| Iterations : 26 |
| Time : 0.920801 [s] |
| Initial cost : 0.665532 [px] |
| Final cost : 0.640689 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 399 |
| => Completed observations: 244 |
| => Filtered observations: 977 |
| => Changed observations: 0.035380 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 90810 |
| Parameters : 7282 |
| Iterations : 3 |
| Time : 0.141377 [s] |
| Initial cost : 0.75542 [px] |
| Final cost : 0.745831 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 96 |
| => Completed observations: 209 |
| => Filtered observations: 26 |
| => Changed observations: 0.007290 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 327 |
| => Completed observations: 1254 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.510534e+05 0.00e+00 1.38e+06 0.00e+00 0.00e+00 1.00e+04 0 1.19e-01 8.00e-01 |
| 1 2.475469e+05 3.51e+03 3.68e+04 1.04e+01 1.00e+00 3.00e+04 1 3.03e-01 1.10e+00 |
| 2 2.475363e+05 1.06e+01 2.09e+04 4.11e+00 1.00e+00 9.00e+04 1 2.82e-01 1.39e+00 |
| 3 2.475330e+05 3.27e+00 1.84e+04 5.39e+00 9.99e-01 2.70e+05 1 2.82e-01 1.67e+00 |
| 4 2.475318e+05 1.21e+00 9.96e+03 5.90e+00 1.00e+00 8.10e+05 1 2.82e-01 1.95e+00 |
| 5 2.475316e+05 1.73e-01 1.84e+03 2.83e+00 1.00e+00 2.43e+06 1 2.77e-01 2.23e+00 |
| 6 2.475316e+05 4.55e-03 5.48e+01 5.05e-01 1.00e+00 7.29e+06 1 2.78e-01 2.50e+00 |
| 7 2.475316e+05 1.79e-05 1.05e+00 3.25e-02 1.01e+00 2.19e+07 1 2.62e-01 2.77e+00 |
| 8 2.475316e+05 1.50e-08 3.87e-02 8.43e-04 1.05e+00 6.56e+07 1 2.67e-01 3.03e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 491266 |
| Parameters : 91399 |
| Iterations : 9 |
| Time : 3.05412 [s] |
| Initial cost : 0.714866 [px] |
| Final cost : 0.709834 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 72 |
| => Completed observations: 166 |
| => Filtered observations: 77 |
| => Changed observations: 0.001282 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.474903e+05 0.00e+00 7.04e+03 0.00e+00 0.00e+00 1.00e+04 0 1.12e-01 8.01e-01 |
| 1 2.473366e+05 1.54e+02 3.64e+01 1.97e+00 1.00e+00 3.00e+04 1 2.85e-01 1.09e+00 |
| 2 2.473365e+05 8.32e-02 2.10e+01 2.38e-01 1.00e+00 9.00e+04 1 2.51e-01 1.34e+00 |
| 3 2.473365e+05 7.93e-03 3.63e+01 2.60e-01 1.00e+00 2.70e+05 1 2.49e-01 1.59e+00 |
| 4 2.473365e+05 3.79e-03 2.69e+01 2.85e-01 1.00e+00 8.10e+05 1 2.58e-01 1.84e+00 |
| 5 2.473365e+05 5.47e-04 5.03e+00 1.36e-01 1.00e+00 2.43e+06 1 2.45e-01 2.09e+00 |
| 6 2.473365e+05 1.43e-05 1.02e+00 2.42e-02 1.00e+00 7.29e+06 1 2.69e-01 2.36e+00 |
| 7 2.473365e+05 5.64e-08 9.22e-02 1.56e-03 9.94e-01 2.19e+07 1 2.69e-01 2.63e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 491230 |
| Parameters : 91342 |
| Iterations : 8 |
| Time : 2.64664 [s] |
| Initial cost : 0.709801 [px] |
| Final cost : 0.70958 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 14 |
| => Completed observations: 0 |
| => Filtered observations: 24 |
| => Changed observations: 0.000155 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #34 (47) |
| ============================================================================== |
|
|
| => Image sees 4451 / 6269 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9320 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0833929 [s] |
| Initial cost : 0.642213 [px] |
| Final cost : 0.60878 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4246 |
| => Added observations: 1366 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94336 |
| Parameters : 8476 |
| Iterations : 19 |
| Time : 0.760694 [s] |
| Initial cost : 0.662404 [px] |
| Final cost : 0.642191 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 510 |
| => Completed observations: 202 |
| => Filtered observations: 1005 |
| => Changed observations: 0.036402 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 92906 |
| Parameters : 8083 |
| Iterations : 3 |
| Time : 0.152833 [s] |
| Initial cost : 0.73182 [px] |
| Final cost : 0.7218 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 157 |
| => Completed observations: 220 |
| => Filtered observations: 10 |
| => Changed observations: 0.008331 |
|
|
| ============================================================================== |
| Registering image #36 (48) |
| ============================================================================== |
|
|
| => Image sees 4483 / 6203 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9428 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.108738 [s] |
| Initial cost : 0.72471 [px] |
| Final cost : 0.626013 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4305 |
| => Added observations: 1890 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 90114 |
| Parameters : 8134 |
| Iterations : 26 |
| Time : 0.954976 [s] |
| Initial cost : 0.670492 [px] |
| Final cost : 0.652843 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 670 |
| => Completed observations: 262 |
| => Filtered observations: 1012 |
| => Changed observations: 0.043145 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 91674 |
| Parameters : 7933 |
| Iterations : 3 |
| Time : 0.141999 [s] |
| Initial cost : 0.721175 [px] |
| Final cost : 0.711014 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 48 |
| => Completed observations: 215 |
| => Filtered observations: 14 |
| => Changed observations: 0.006043 |
|
|
| ============================================================================== |
| Registering image #37 (49) |
| ============================================================================== |
|
|
| => Image sees 4870 / 6490 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10158 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.092149 [s] |
| Initial cost : 0.627358 [px] |
| Final cost : 0.603146 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4664 |
| => Added observations: 1617 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 90914 |
| Parameters : 8446 |
| Iterations : 26 |
| Time : 0.924642 [s] |
| Initial cost : 0.670714 [px] |
| Final cost : 0.651337 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 693 |
| => Completed observations: 261 |
| => Filtered observations: 1049 |
| => Changed observations: 0.044064 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 89718 |
| Parameters : 8062 |
| Iterations : 3 |
| Time : 0.143548 [s] |
| Initial cost : 0.730515 [px] |
| Final cost : 0.720193 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 59 |
| => Completed observations: 240 |
| => Filtered observations: 9 |
| => Changed observations: 0.006866 |
|
|
| ============================================================================== |
| Registering image #38 (50) |
| ============================================================================== |
|
|
| => Image sees 5070 / 6677 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 10742 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0863378 [s] |
| Initial cost : 0.646269 [px] |
| Final cost : 0.616103 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4891 |
| => Added observations: 1598 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 94366 |
| Parameters : 8764 |
| Iterations : 26 |
| Time : 0.973563 [s] |
| Initial cost : 0.665456 [px] |
| Final cost : 0.64668 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 543 |
| => Completed observations: 254 |
| => Filtered observations: 1075 |
| => Changed observations: 0.039675 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 93050 |
| Parameters : 8377 |
| Iterations : 3 |
| Time : 0.150654 [s] |
| Initial cost : 0.742759 [px] |
| Final cost : 0.733376 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 79 |
| => Completed observations: 219 |
| => Filtered observations: 6 |
| => Changed observations: 0.006534 |
|
|
| ============================================================================== |
| Registering image #33 (51) |
| ============================================================================== |
|
|
| => Image sees 4645 / 5757 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9978 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.110239 [s] |
| Initial cost : 0.6265 [px] |
| Final cost : 0.605484 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4473 |
| => Added observations: 1466 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 90040 |
| Parameters : 8188 |
| Iterations : 26 |
| Time : 0.889762 [s] |
| Initial cost : 0.678561 [px] |
| Final cost : 0.654724 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 899 |
| => Completed observations: 304 |
| => Filtered observations: 1103 |
| => Changed observations: 0.051222 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 88622 |
| Parameters : 7735 |
| Iterations : 3 |
| Time : 0.139463 [s] |
| Initial cost : 0.730242 [px] |
| Final cost : 0.719904 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 77 |
| => Completed observations: 238 |
| => Filtered observations: 11 |
| => Changed observations: 0.007357 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 367 |
| => Completed observations: 1345 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.846394e+05 0.00e+00 7.64e+06 0.00e+00 0.00e+00 1.00e+04 0 1.33e-01 9.79e-01 |
|
|
| 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 2.804635e+05 4.18e+03 1.46e+05 1.11e+01 1.00e+00 3.00e+04 1 9.14e-01 1.89e+00 |
| 2 2.803789e+05 8.46e+01 2.13e+05 1.51e+01 9.89e-01 9.00e+04 1 3.06e-01 2.20e+00 |
| 3 2.803116e+05 6.73e+01 3.01e+05 2.58e+01 9.73e-01 2.70e+05 1 3.05e-01 2.50e+00 |
| 4 2.802777e+05 3.39e+01 2.17e+05 2.66e+01 9.72e-01 8.10e+05 1 3.02e-01 2.81e+00 |
| 5 2.802725e+05 5.25e+00 3.93e+04 1.19e+01 9.95e-01 2.43e+06 1 3.18e-01 3.12e+00 |
| 6 2.802724e+05 1.31e-01 1.06e+03 1.97e+00 1.00e+00 7.29e+06 1 3.03e-01 3.43e+00 |
| 7 2.802724e+05 3.63e-04 3.18e+00 1.18e-01 1.01e+00 2.19e+07 1 3.00e-01 3.73e+00 |
| 8 2.802724e+05 2.42e-07 1.54e-01 2.86e-03 1.01e+00 6.56e+07 1 2.99e-01 4.03e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 546830 |
| Parameters : 97609 |
| Iterations : 9 |
| Time : 4.04833 [s] |
| Initial cost : 0.721475 [px] |
| Final cost : 0.715919 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 125 |
| => Completed observations: 249 |
| => Filtered observations: 119 |
| => Changed observations: 0.001803 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.805527e+05 0.00e+00 5.21e+04 0.00e+00 0.00e+00 1.00e+04 0 1.27e-01 9.72e-01 |
|
|
| 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 2.803024e+05 2.50e+02 1.47e+02 3.38e+00 1.00e+00 3.00e+04 1 8.97e-01 1.87e+00 |
| 2 2.803020e+05 4.02e-01 5.93e+02 8.52e-01 1.00e+00 9.00e+04 1 3.02e-01 2.17e+00 |
| 3 2.803018e+05 2.04e-01 8.80e+02 1.32e+00 1.00e+00 2.70e+05 1 3.12e-01 2.48e+00 |
| 4 2.803017e+05 9.82e-02 6.33e+02 1.36e+00 1.00e+00 8.10e+05 1 2.99e-01 2.78e+00 |
| 5 2.803017e+05 1.27e-02 1.13e+02 6.03e-01 1.00e+00 2.43e+06 1 3.02e-01 3.08e+00 |
| 6 2.803017e+05 2.89e-04 2.58e+00 9.96e-02 1.00e+00 7.29e+06 1 2.96e-01 3.38e+00 |
| 7 2.803017e+05 9.91e-07 3.60e-01 5.94e-03 1.01e+00 2.19e+07 1 2.91e-01 3.67e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 546762 |
| Parameters : 97471 |
| Iterations : 8 |
| Time : 3.69349 [s] |
| Initial cost : 0.716322 [px] |
| Final cost : 0.716001 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 23 |
| => Completed observations: 22 |
| => Filtered observations: 29 |
| => Changed observations: 0.000271 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #2 (52) |
| ============================================================================== |
|
|
| => Image sees 3842 / 4905 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8574 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0795169 [s] |
| Initial cost : 0.669115 [px] |
| Final cost : 0.637027 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3713 |
| => Added observations: 1441 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 86484 |
| Parameters : 7615 |
| Iterations : 26 |
| Time : 0.968802 [s] |
| Initial cost : 0.65824 [px] |
| Final cost : 0.641503 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 482 |
| => Completed observations: 214 |
| => Filtered observations: 1039 |
| => Changed observations: 0.040123 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84618 |
| Parameters : 7213 |
| Iterations : 3 |
| Time : 0.134703 [s] |
| Initial cost : 0.729745 [px] |
| Final cost : 0.719094 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 165 |
| => Completed observations: 207 |
| => Filtered observations: 27 |
| => Changed observations: 0.009431 |
|
|
| ============================================================================== |
| Registering image #40 (53) |
| ============================================================================== |
|
|
| => Image sees 4458 / 6118 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9506 |
| Parameters : 6 |
| Iterations : 9 |
| Time : 0.0715671 [s] |
| Initial cost : 0.639028 [px] |
| Final cost : 0.574256 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4317 |
| => Added observations: 1301 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 86026 |
| Parameters : 7150 |
| Iterations : 26 |
| Time : 0.889496 [s] |
| Initial cost : 0.637162 [px] |
| Final cost : 0.619998 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 491 |
| => Completed observations: 217 |
| => Filtered observations: 842 |
| => Changed observations: 0.036036 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85042 |
| Parameters : 6883 |
| Iterations : 3 |
| Time : 0.134738 [s] |
| Initial cost : 0.714168 [px] |
| Final cost : 0.705984 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 138 |
| => Completed observations: 150 |
| => Filtered observations: 8 |
| => Changed observations: 0.006961 |
|
|
| ============================================================================== |
| Registering image #39 (54) |
| ============================================================================== |
|
|
| => Image sees 3416 / 4688 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7332 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.103495 [s] |
| Initial cost : 0.784351 [px] |
| Final cost : 0.714517 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3273 |
| => Added observations: 985 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 76246 |
| Parameters : 5644 |
| Iterations : 26 |
| Time : 0.852261 [s] |
| Initial cost : 0.682053 [px] |
| Final cost : 0.665019 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 296 |
| => Completed observations: 187 |
| => Filtered observations: 1009 |
| => Changed observations: 0.039136 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 74830 |
| Parameters : 5368 |
| Iterations : 3 |
| Time : 0.125943 [s] |
| Initial cost : 0.770704 [px] |
| Final cost : 0.761773 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 154 |
| => Completed observations: 180 |
| => Filtered observations: 40 |
| => Changed observations: 0.009996 |
|
|
| ============================================================================== |
| Registering image #1 (55) |
| ============================================================================== |
|
|
| => Image sees 4445 / 5440 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9558 |
| Parameters : 6 |
| Iterations : 10 |
| Time : 0.0854809 [s] |
| Initial cost : 0.629887 [px] |
| Final cost : 0.602884 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4269 |
| => Added observations: 1122 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85212 |
| Parameters : 7174 |
| Iterations : 26 |
| Time : 0.939881 [s] |
| Initial cost : 0.648572 [px] |
| Final cost : 0.627574 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 640 |
| => Completed observations: 228 |
| => Filtered observations: 922 |
| => Changed observations: 0.042013 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84030 |
| Parameters : 6859 |
| Iterations : 3 |
| Time : 0.143718 [s] |
| Initial cost : 0.716138 [px] |
| Final cost : 0.706226 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 128 |
| => Completed observations: 173 |
| => Filtered observations: 11 |
| => Changed observations: 0.007426 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 348 |
| => Completed observations: 912 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.068112e+05 0.00e+00 6.00e+05 0.00e+00 0.00e+00 1.00e+04 0 1.43e-01 1.08e+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: 1.1496e+07 |
| Nonzeros in L: 52975 |
| 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: 1.1496e+07 |
| nnz(L): 52975 |
| OK |
| 1 3.045253e+05 2.29e+03 3.75e+04 8.37e+00 1.00e+00 3.00e+04 1 9.93e-01 2.07e+00 |
| 2 3.045214e+05 3.91e+00 3.14e+02 3.18e+00 1.00e+00 9.00e+04 1 3.21e-01 2.39e+00 |
| 3 3.045189e+05 2.53e+00 5.79e+03 4.85e+00 1.00e+00 2.70e+05 1 3.25e-01 2.71e+00 |
| 4 3.045176e+05 1.31e+00 7.61e+03 4.95e+00 1.00e+00 8.10e+05 1 3.24e-01 3.04e+00 |
| 5 3.045174e+05 1.74e-01 1.57e+03 2.21e+00 1.00e+00 2.43e+06 1 3.18e-01 3.36e+00 |
| 6 3.045174e+05 4.08e-03 4.58e+01 3.70e-01 1.00e+00 7.29e+06 1 3.21e-01 3.68e+00 |
| 7 3.045174e+05 1.43e-05 9.61e-01 2.24e-02 1.01e+00 2.19e+07 1 3.16e-01 3.99e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 583318 |
| Parameters : 101077 |
| Iterations : 8 |
| Time : 4.01835 [s] |
| Initial cost : 0.725242 [px] |
| Final cost : 0.722526 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 90 |
| => Completed observations: 163 |
| => Filtered observations: 99 |
| => Changed observations: 0.001207 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.045006e+05 0.00e+00 5.15e+04 0.00e+00 0.00e+00 1.00e+04 0 1.34e-01 1.08e+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: 1.1496e+07 |
| Nonzeros in L: 52975 |
| 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: 1.1496e+07 |
| nnz(L): 52975 |
| OK |
| 1 3.043503e+05 1.50e+02 1.64e+01 1.63e+00 1.00e+00 3.00e+04 1 1.02e+00 2.10e+00 |
| 2 3.043503e+05 4.69e-02 6.40e+00 2.00e-01 1.00e+00 9.00e+04 1 3.41e-01 2.44e+00 |
| 3 3.043502e+05 8.13e-03 2.53e+01 2.86e-01 1.00e+00 2.70e+05 1 3.41e-01 2.78e+00 |
| 4 3.043502e+05 4.26e-03 2.72e+01 2.94e-01 1.00e+00 8.10e+05 1 3.30e-01 3.11e+00 |
| 5 3.043502e+05 5.64e-04 5.78e+00 1.32e-01 1.00e+00 2.43e+06 1 3.28e-01 3.44e+00 |
| 6 3.043502e+05 1.32e-05 9.52e-01 2.21e-02 1.00e+00 7.29e+06 1 3.26e-01 3.77e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 583284 |
| Parameters : 101035 |
| Iterations : 7 |
| Time : 3.79018 [s] |
| Initial cost : 0.722527 [px] |
| Final cost : 0.722349 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 20 |
| => Completed observations: 123 |
| => Filtered observations: 22 |
| => Changed observations: 0.000566 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.042844e+05 0.00e+00 1.07e+04 0.00e+00 0.00e+00 1.00e+04 0 1.39e-01 1.05e+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: 1.1496e+07 |
| Nonzeros in L: 52975 |
| 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: 1.1496e+07 |
| nnz(L): 52975 |
| OK |
| 1 3.042522e+05 3.23e+01 4.79e+01 7.50e-01 1.00e+00 3.00e+04 1 9.89e-01 2.04e+00 |
| 2 3.042522e+05 3.76e-03 4.18e+00 4.26e-02 1.00e+00 9.00e+04 1 3.17e-01 2.36e+00 |
| 3 3.042522e+05 1.59e-04 8.37e-01 2.09e-02 1.00e+00 2.70e+05 1 3.21e-01 2.68e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 583280 |
| Parameters : 101029 |
| Iterations : 4 |
| Time : 2.70301 [s] |
| Initial cost : 0.722273 [px] |
| Final cost : 0.722235 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 5 |
| => Completed observations: 70 |
| => Filtered observations: 4 |
| => Changed observations: 0.000271 |
| => Filtered images: 0 |
|
|
| Elapsed time: 2.654 [minutes] |
|
|
