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+database_path=/home/bmild/fyusion/drive2/auto_pipeline/data5/lotr/database.db +image_path=/home/bmild/fyusion/drive2/auto_pipeline/data5/lotr/images +[Mapper] +ignore_watermarks=false +multiple_models=true +extract_colors=true +ba_refine_focal_length=true +ba_refine_principal_point=false +ba_refine_extra_params=true +ba_global_use_pba=true +tri_ignore_two_view_tracks=true +min_num_matches=15 +max_num_models=50 +max_model_overlap=20 +min_model_size=10 +init_image_id1=-1 +init_image_id2=-1 +init_num_trials=200 +num_threads=16 +ba_local_num_images=6 +ba_local_max_num_iterations=25 +ba_global_pba_gpu_index=-1 +ba_global_images_freq=500 +ba_global_points_freq=250000 +ba_global_max_num_iterations=50 +ba_global_max_refinements=5 +ba_local_max_refinements=2 +snapshot_images_freq=0 +init_min_num_inliers=100 +init_max_reg_trials=2 +abs_pose_min_num_inliers=30 +max_reg_trials=3 +tri_max_transitivity=1 +tri_complete_max_transitivity=5 +tri_re_max_trials=1 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sha256:da3623fa56d9d6f0113c995f3b82b51e02435fea2383de119b6257ac983dbad5 +size 70060 diff --git a/llff/horns/colmap_output.txt b/llff/horns/colmap_output.txt new file mode 100644 index 0000000000000000000000000000000000000000..023c7dedf65de580199be3b97300438a0efec965 --- /dev/null +++ b/llff/horns/colmap_output.txt @@ -0,0 +1,5287 @@ + +============================================================================== +Feature extraction +============================================================================== + +Processed file [1/62] + Name: DJI_20200223_163016_842.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12849 +Processed file [2/62] + Name: DJI_20200223_163017_967.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8198 +Processed file [3/62] + Name: DJI_20200223_163018_942.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8760 +Processed file [4/62] + Name: DJI_20200223_163019_752.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8417 +Processed file [5/62] + Name: DJI_20200223_163020_712.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8708 +Processed file [6/62] + Name: DJI_20200223_163021_627.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9034 +Processed file [7/62] + Name: DJI_20200223_163022_557.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9621 +Processed file [8/62] + Name: DJI_20200223_163023_427.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9614 +Processed file [9/62] + Name: DJI_20200223_163024_597.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9515 +Processed file [10/62] + Name: DJI_20200223_163025_977.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9313 +Processed file [11/62] + Name: DJI_20200223_163028_017.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8334 +Processed file [12/62] + Name: DJI_20200223_163029_038.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8637 +Processed file [13/62] + Name: DJI_20200223_163029_877.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8406 +Processed file [14/62] + Name: DJI_20200223_163030_687.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8423 +Processed file [15/62] + Name: DJI_20200223_163031_602.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13782 +Processed file [16/62] + Name: DJI_20200223_163032_532.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13230 +Processed file [17/62] + Name: DJI_20200223_163033_432.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13196 +Processed file [18/62] + Name: DJI_20200223_163034_287.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13460 +Processed file [19/62] + Name: DJI_20200223_163035_787.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12190 +Processed file [20/62] + Name: DJI_20200223_163036_792.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12649 +Processed file [21/62] + Name: DJI_20200223_163042_402.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13155 +Processed file [22/62] + Name: DJI_20200223_163043_257.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13040 +Processed file [23/62] + Name: DJI_20200223_163045_537.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12895 +Processed file [24/62] + Name: DJI_20200223_163046_438.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13946 +Processed file [25/62] + Name: DJI_20200223_163047_307.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8451 +Processed file [26/62] + Name: DJI_20200223_163048_057.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8555 +Processed file [27/62] + Name: DJI_20200223_163049_048.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8661 +Processed file [28/62] + Name: DJI_20200223_163050_292.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9988 +Processed file [29/62] + Name: DJI_20200223_163052_122.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9604 +Processed file [30/62] + Name: DJI_20200223_163053_007.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9730 +Processed file [31/62] + Name: DJI_20200223_163053_863.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8672 +Processed file [32/62] + Name: DJI_20200223_163054_672.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8641 +Processed file [33/62] + Name: DJI_20200223_163055_437.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9077 +Processed file [34/62] + Name: DJI_20200223_163056_232.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8775 +Processed file [35/62] + Name: DJI_20200223_163056_982.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8588 +Processed file [36/62] + Name: DJI_20200223_163057_732.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12830 +Processed file [37/62] + Name: DJI_20200223_163058_602.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13424 +Processed file [38/62] + Name: DJI_20200223_163101_047.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12494 +Processed file [39/62] + Name: DJI_20200223_163101_947.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12384 +Processed file [40/62] + Name: DJI_20200223_163102_892.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12829 +Processed file [41/62] + Name: DJI_20200223_163103_777.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13565 +Processed file [42/62] + Name: DJI_20200223_163104_557.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13616 +Processed file [43/62] + Name: DJI_20200223_163105_427.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8255 +Processed file [44/62] + Name: DJI_20200223_163106_343.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8557 +Processed file [45/62] + Name: DJI_20200223_163156_668.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13483 +Processed file [46/62] + Name: DJI_20200223_163157_823.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8811 +Processed file [47/62] + Name: DJI_20200223_163159_803.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9551 +Processed file [48/62] + Name: DJI_20200223_163200_643.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9409 +Processed file [49/62] + Name: DJI_20200223_163201_633.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9495 +Processed file [50/62] + Name: DJI_20200223_163202_443.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 9011 +Processed file [51/62] + Name: DJI_20200223_163203_267.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8857 +Processed file [52/62] + Name: DJI_20200223_163204_077.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13783 +Processed file [53/62] + Name: DJI_20200223_163204_859.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8354 +Processed file [54/62] + Name: DJI_20200223_163205_713.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 12134 +Processed file [55/62] + Name: DJI_20200223_163206_598.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13255 +Processed file [56/62] + Name: DJI_20200223_163208_008.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 11354 +Processed file [57/62] + Name: DJI_20200223_163208_938.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 10686 +Processed file [58/62] + Name: DJI_20200223_163209_763.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 11215 +Processed file [59/62] + Name: DJI_20200223_163210_513.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 11928 +Processed file [60/62] + Name: DJI_20200223_163222_378.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13452 +Processed file [61/62] + Name: DJI_20200223_163224_103.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 13585 +Processed file [62/62] + Name: DJI_20200223_163225_243.jpg + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 3225.60px (Prior) + Features: 8836 +Elapsed time: 0.117 [minutes] + +============================================================================== +Exhaustive feature matching +============================================================================== + +Matching block [1/2, 1/2] in 39.140s +Matching block [1/2, 2/2] in 1.973s +Matching block [2/2, 1/2] in 14.243s +Matching block [2/2, 2/2] in 1.578s +Elapsed time: 0.953 [minutes] + +============================================================================== +Loading database +============================================================================== + +Loading cameras... 1 in 0.000s +Loading matches... 1891 in 0.045s +Loading images... 62 in 0.024s (connected 62) +Building correspondence graph... in 0.483s (ignored 0) + +Elapsed time: 0.009 [minutes] + + +============================================================================== +Initializing with image pair #23 and #37 +============================================================================== + + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.115519e+03 0.00e+00 4.11e+05 0.00e+00 0.00e+00 1.00e+04 0 5.84e-03 1.53e-02 + 1 5.177896e+02 5.98e+02 1.98e+05 3.19e+00 9.20e-01 2.45e+04 1 8.46e-03 2.38e-02 + 2 4.481811e+02 6.96e+01 4.33e+04 4.79e+00 9.66e-01 7.34e+04 1 7.91e-03 3.17e-02 + 3 4.439861e+02 4.20e+00 1.35e+03 6.62e+00 9.97e-01 2.20e+05 1 7.86e-03 3.96e-02 + 4 4.437088e+02 2.77e-01 1.57e+03 6.09e+00 9.64e-01 6.61e+05 1 7.86e-03 4.75e-02 + 5 4.436968e+02 1.20e-02 1.03e+04 8.09e+00 4.88e-02 3.81e+05 1 7.87e-03 5.53e-02 + 6 4.433699e+02 3.27e-01 2.96e+03 4.03e+00 9.47e-01 1.14e+06 1 7.88e-03 6.32e-02 + 7 4.438458e+02 -4.76e-01 0.00e+00 1.00e+01 -1.75e+00 5.71e+05 1 2.53e-03 6.58e-02 + 8 4.432731e+02 9.68e-02 5.53e+03 5.45e+00 6.00e-01 5.76e+05 1 7.87e-03 7.37e-02 + 9 4.431346e+02 1.38e-01 4.67e+03 5.02e+00 7.50e-01 6.58e+05 1 7.90e-03 8.16e-02 + 10 4.430282e+02 1.06e-01 4.95e+03 5.18e+00 6.71e-01 6.85e+05 1 7.93e-03 8.95e-02 + 11 4.429214e+02 1.07e-01 4.33e+03 4.86e+00 7.27e-01 7.56e+05 1 7.94e-03 9.75e-02 + 12 4.428353e+02 8.61e-02 4.17e+03 4.78e+00 6.97e-01 8.05e+05 1 7.91e-03 1.05e-01 + 13 4.427576e+02 7.77e-02 3.70e+03 4.51e+00 7.24e-01 8.85e+05 1 7.86e-03 1.13e-01 + 14 4.426942e+02 6.34e-02 3.42e+03 4.35e+00 7.14e-01 9.60e+05 1 7.86e-03 1.21e-01 + 15 4.426402e+02 5.41e-02 3.02e+03 4.09e+00 7.31e-01 1.06e+06 1 7.86e-03 1.29e-01 + 16 4.425967e+02 4.35e-02 2.72e+03 3.89e+00 7.29e-01 1.18e+06 1 7.87e-03 1.37e-01 + 17 4.425612e+02 3.55e-02 2.36e+03 3.64e+00 7.43e-01 1.33e+06 1 7.86e-03 1.45e-01 + 18 4.425336e+02 2.76e-02 2.06e+03 3.40e+00 7.46e-01 1.51e+06 1 7.92e-03 1.53e-01 + 19 4.425124e+02 2.13e-02 1.74e+03 3.13e+00 7.60e-01 1.76e+06 1 7.87e-03 1.61e-01 + 20 4.424968e+02 1.56e-02 1.46e+03 2.87e+00 7.68e-01 2.08e+06 1 7.86e-03 1.68e-01 + 21 4.424857e+02 1.11e-02 1.17e+03 2.57e+00 7.86e-01 2.56e+06 1 7.86e-03 1.76e-01 + 22 4.424783e+02 7.35e-03 9.08e+02 2.27e+00 8.00e-01 3.26e+06 1 7.85e-03 1.84e-01 + 23 4.424738e+02 4.52e-03 6.56e+02 1.93e+00 8.25e-01 4.50e+06 1 7.85e-03 1.92e-01 + 24 4.424714e+02 2.43e-03 4.38e+02 1.58e+00 8.51e-01 6.86e+06 1 7.90e-03 2.00e-01 + 25 4.424703e+02 1.08e-03 2.43e+02 1.18e+00 8.91e-01 1.31e+07 1 7.86e-03 2.08e-01 + 26 4.424700e+02 3.31e-04 9.94e+01 7.53e-01 9.38e-01 3.94e+07 1 7.91e-03 2.16e-01 + 27 4.424699e+02 4.85e-05 1.84e+01 3.24e-01 9.85e-01 1.18e+08 1 7.86e-03 2.24e-01 + 28 4.424699e+02 1.33e-06 1.85e+00 5.15e-02 1.00e+00 3.55e+08 1 7.90e-03 2.31e-01 + 29 4.424699e+02 2.37e-09 3.05e-02 2.91e-03 1.01e+00 1.06e+09 1 7.86e-03 2.39e-01 + + +Bundle adjustment report +------------------------ + Residuals : 9780 + Parameters : 7342 + Iterations : 30 + Time : 0.23976 [s] + Initial cost : 0.33773 [px] + Final cost : 0.212702 [px] + Termination : Convergence + + => Filtered observations: 0 + => Filtered images: 0 + +============================================================================== +Registering image #36 (3) +============================================================================== + + => Image sees 1901 / 9751 points + +Pose refinement report +---------------------- + Residuals : 3802 + Parameters : 8 + Iterations : 13 + Time : 0.0466001 [s] + Initial cost : 0.404088 [px] + Final cost : 0.368368 [px] + Termination : Convergence + + => Continued observations: 1901 + => Added observations: 7335 + +Bundle adjustment report +------------------------ + Residuals : 28252 + Parameters : 17185 + Iterations : 26 + Time : 0.703662 [s] + Initial cost : 0.614719 [px] + Final cost : 0.293214 [px] + Termination : No convergence + + => Merged observations: 4 + => Completed observations: 47 + => Filtered observations: 353 + => Changed observations: 0.028600 + +Bundle adjustment report +------------------------ + Residuals : 26950 + Parameters : 16243 + Iterations : 9 + Time : 0.236927 [s] + Initial cost : 0.326678 [px] + Final cost : 0.316996 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 13 + => Filtered observations: 13 + => Changed observations: 0.001929 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 0 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.749771e+03 0.00e+00 1.57e+02 0.00e+00 0.00e+00 1.00e+04 0 1.69e-02 4.03e-02 + 1 2.741389e+03 8.38e+00 8.72e+01 2.02e+00 1.00e+00 3.00e+04 1 2.62e-02 6.66e-02 + 2 2.741381e+03 8.68e-03 2.13e+01 2.35e-01 1.00e+00 9.00e+04 1 2.45e-02 9.10e-02 + 3 2.741381e+03 2.26e-04 1.91e+00 7.03e-02 1.01e+00 2.70e+05 1 2.44e-02 1.16e-01 + 4 2.741381e+03 9.60e-06 1.71e+00 3.53e-02 1.00e+00 8.10e+05 1 2.45e-02 1.40e-01 + 5 2.741381e+03 1.99e-06 1.49e+00 3.92e-02 1.00e+00 2.43e+06 1 2.43e-02 1.64e-01 + 6 2.741381e+03 2.27e-07 1.64e+00 1.68e-02 1.00e+00 7.29e+06 1 2.46e-02 1.89e-01 + 7 2.741381e+03 4.80e-09 3.38e-01 2.63e-03 1.03e+00 2.19e+07 1 2.46e-02 2.14e-01 + 8 2.741381e+03 -3.59e-11 0.00e+00 1.54e-04 -2.17e+00 1.09e+07 1 8.26e-03 2.22e-01 + 9 2.741381e+03 -5.00e-12 0.00e+00 1.51e-04 -3.03e-01 2.73e+06 1 7.95e-03 2.30e-01 + 10 2.741381e+03 2.41e-11 1.88e-02 1.37e-04 1.48e+00 8.20e+06 1 2.40e-02 2.54e-01 + + +Bundle adjustment report +------------------------ + Residuals : 26922 + Parameters : 16219 + Iterations : 11 + Time : 0.254918 [s] + Initial cost : 0.319591 [px] + Final cost : 0.319103 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 2 + => Changed observations: 0.000149 + => Filtered images: 0 + +============================================================================== +Registering image #21 (4) +============================================================================== + + => Image sees 3665 / 9928 points + +Pose refinement report +---------------------- + Residuals : 7334 + Parameters : 6 + Iterations : 10 + Time : 0.0636489 [s] + Initial cost : 0.55434 [px] + Final cost : 0.449759 [px] + Termination : Convergence + + => Continued observations: 3663 + => Added observations: 3588 + +Bundle adjustment report +------------------------ + Residuals : 41418 + Parameters : 21046 + Iterations : 22 + Time : 0.974846 [s] + Initial cost : 0.360132 [px] + Final cost : 0.335012 [px] + Termination : Convergence + + => Merged observations: 33 + => Completed observations: 230 + => Filtered observations: 109 + => Changed observations: 0.017963 + +Bundle adjustment report +------------------------ + Residuals : 41632 + Parameters : 21142 + Iterations : 8 + Time : 0.36216 [s] + Initial cost : 0.384354 [px] + Final cost : 0.374671 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 80 + => Filtered observations: 3 + => Changed observations: 0.003987 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 1 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 6.031615e+03 0.00e+00 5.47e+03 0.00e+00 0.00e+00 1.00e+04 0 2.82e-02 6.77e-02 + 1 6.011154e+03 2.05e+01 5.32e+02 3.99e+00 1.00e+00 3.00e+04 1 4.64e-02 1.14e-01 + 2 6.010935e+03 2.18e-01 3.54e+02 2.09e+00 1.00e+00 9.00e+04 1 4.27e-02 1.57e-01 + 3 6.010871e+03 6.41e-02 1.46e+02 1.66e+00 1.00e+00 2.70e+05 1 4.22e-02 1.99e-01 + 4 6.010865e+03 6.22e-03 4.12e+01 5.36e-01 1.00e+00 8.10e+05 1 4.20e-02 2.41e-01 + 5 6.010865e+03 3.18e-04 8.21e+00 3.62e-01 1.00e+00 2.43e+06 1 4.21e-02 2.83e-01 + 6 6.010865e+03 2.64e-05 2.00e+00 1.60e-01 1.01e+00 7.29e+06 1 4.17e-02 3.25e-01 + 7 6.010865e+03 5.40e-07 1.96e+00 2.50e-02 1.01e+00 2.19e+07 1 4.18e-02 3.67e-01 + 8 6.010865e+03 2.25e-09 3.44e-01 1.53e-03 1.02e+00 6.56e+07 1 4.18e-02 4.09e-01 + 9 6.010865e+03 -5.91e-11 0.00e+00 5.61e-05 -1.40e+01 3.28e+07 1 1.51e-02 4.24e-01 + 10 6.010865e+03 -5.09e-11 0.00e+00 5.58e-05 -1.22e+01 8.20e+06 1 1.45e-02 4.38e-01 + 11 6.010865e+03 5.46e-12 1.53e-02 5.40e-05 6.20e-01 8.32e+06 1 4.19e-02 4.80e-01 + + +Bundle adjustment report +------------------------ + Residuals : 41782 + Parameters : 21235 + Iterations : 12 + Time : 0.482308 [s] + Initial cost : 0.379946 [px] + Final cost : 0.379292 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 16 + => Changed observations: 0.000766 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.933520e+03 0.00e+00 1.40e+02 0.00e+00 0.00e+00 1.00e+04 0 3.13e-02 6.98e-02 + 1 5.933250e+03 2.70e-01 4.35e+01 1.53e+00 1.00e+00 3.00e+04 1 4.76e-02 1.17e-01 + 2 5.933197e+03 5.38e-02 3.14e+01 2.13e+00 1.00e+00 9.00e+04 1 4.23e-02 1.60e-01 + 3 5.933174e+03 2.25e-02 2.31e+01 2.28e+00 1.00e+00 2.70e+05 1 4.23e-02 2.02e-01 + 4 5.933169e+03 4.82e-03 1.95e+00 2.06e+00 1.00e+00 8.10e+05 1 4.21e-02 2.44e-01 + 5 5.933168e+03 1.45e-03 2.45e+01 1.66e+00 1.00e+00 2.43e+06 1 4.19e-02 2.86e-01 + 6 5.933168e+03 1.64e-04 4.69e+00 6.65e-01 1.01e+00 7.29e+06 1 5.15e-02 3.38e-01 + 7 5.933168e+03 3.42e-06 1.69e+00 1.03e-01 1.01e+00 2.19e+07 1 4.47e-02 3.82e-01 + 8 5.933168e+03 1.46e-08 7.79e-01 6.34e-03 1.04e+00 6.56e+07 1 4.18e-02 4.24e-01 + 9 5.933168e+03 -1.56e-10 0.00e+00 2.31e-04 -6.60e+00 3.28e+07 1 1.50e-02 4.39e-01 + 10 5.933168e+03 -1.21e-10 0.00e+00 2.30e-04 -5.35e+00 8.20e+06 1 1.46e-02 4.54e-01 + 11 5.933168e+03 -8.19e-11 0.00e+00 2.23e-04 -3.93e+00 1.03e+06 1 1.47e-02 4.69e-01 + 12 5.933168e+03 -1.26e-10 0.00e+00 1.72e-04 -5.73e+00 6.41e+04 1 1.46e-02 4.83e-01 + 13 5.933168e+03 -1.02e-10 0.00e+00 4.00e-05 -7.49e+00 2.00e+03 1 1.47e-02 4.98e-01 + 14 5.933168e+03 -1.38e-10 0.00e+00 5.10e-06 -1.62e+01 3.13e+01 1 1.45e-02 5.12e-01 + 15 5.933168e+03 -1.38e-10 0.00e+00 6.10e-07 -3.82e+01 2.44e-01 1 1.46e-02 5.27e-01 + 16 5.933168e+03 -8.09e-11 0.00e+00 3.62e-08 -7.87e+01 9.55e-04 1 1.46e-02 5.42e-01 + 17 5.933168e+03 -1.53e-10 0.00e+00 1.80e-10 -2.01e+04 1.86e-06 1 1.46e-02 5.56e-01 + 18 5.933168e+03 -3.27e-11 0.00e+00 3.40e-13 -3.38e+06 1.82e-09 1 1.46e-02 5.71e-01 + + +Bundle adjustment report +------------------------ + Residuals : 41728 + Parameters : 21202 + Iterations : 19 + Time : 0.587975 [s] + Initial cost : 0.377088 [px] + Final cost : 0.377077 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #22 (5) +============================================================================== + + => Image sees 4562 / 9977 points + +Pose refinement report +---------------------- + Residuals : 9160 + Parameters : 6 + Iterations : 13 + Time : 0.097044 [s] + Initial cost : 0.559331 [px] + Final cost : 0.483247 [px] + Termination : Convergence + + => Continued observations: 4560 + => Added observations: 2385 + +Bundle adjustment report +------------------------ + Residuals : 55618 + Parameters : 24148 + Iterations : 26 + Time : 0.850947 [s] + Initial cost : 0.404144 [px] + Final cost : 0.377871 [px] + Termination : No convergence + + => Merged observations: 94 + => Completed observations: 258 + => Filtered observations: 169 + => Changed observations: 0.018735 + +Bundle adjustment report +------------------------ + Residuals : 55752 + Parameters : 24139 + Iterations : 9 + Time : 0.335261 [s] + Initial cost : 0.436442 [px] + Final cost : 0.426313 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 87 + => Filtered observations: 1 + => Changed observations: 0.003157 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 4 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.039870e+04 0.00e+00 9.53e+03 0.00e+00 0.00e+00 1.00e+04 0 1.88e-02 7.54e-02 + 1 1.036899e+04 2.97e+01 6.42e+00 8.04e+00 1.00e+00 3.00e+04 1 4.40e-02 1.19e-01 + 2 1.036886e+04 1.30e-01 3.51e+00 2.34e+00 1.00e+00 9.00e+04 1 3.13e-02 1.51e-01 + 3 1.036884e+04 1.37e-02 2.17e+01 1.88e+00 1.00e+00 2.70e+05 1 2.93e-02 1.80e-01 + 4 1.036884e+04 5.94e-03 2.15e+01 2.24e+00 1.00e+00 8.10e+05 1 2.96e-02 2.10e-01 + 5 1.036883e+04 2.70e-03 5.51e+01 2.10e+00 1.00e+00 2.43e+06 1 3.04e-02 2.40e-01 + 6 1.036883e+04 3.61e-04 1.20e+01 9.39e-01 1.00e+00 7.29e+06 1 3.07e-02 2.71e-01 + 7 1.036883e+04 8.84e-06 8.65e-01 1.59e-01 1.01e+00 2.19e+07 1 3.10e-02 3.02e-01 + 8 1.036883e+04 4.40e-08 1.14e+00 1.03e-02 1.03e+00 6.56e+07 1 3.19e-02 3.34e-01 + 9 1.036883e+04 -2.11e-10 0.00e+00 4.18e-04 -1.81e+00 3.28e+07 1 2.17e-02 3.56e-01 + 10 1.036883e+04 -8.55e-11 0.00e+00 4.16e-04 -5.49e-01 8.20e+06 1 2.17e-02 3.77e-01 + 11 1.036883e+04 -1.02e-10 0.00e+00 4.01e-04 -7.14e-01 1.03e+06 1 2.23e-02 4.00e-01 + 12 1.036883e+04 -2.36e-10 0.00e+00 3.03e-04 -2.16e+00 6.41e+04 1 2.25e-02 4.22e-01 + 13 1.036883e+04 5.46e-12 1.87e-02 6.93e-05 5.85e-01 6.44e+04 1 3.04e-02 4.53e-01 + + +Bundle adjustment report +------------------------ + Residuals : 55928 + Parameters : 24226 + Iterations : 14 + Time : 0.456433 [s] + Initial cost : 0.431196 [px] + Final cost : 0.430576 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 6 + => Changed observations: 0.000215 + => Filtered images: 0 + +============================================================================== +Registering image #20 (6) +============================================================================== + + => Image sees 4636 / 9517 points + +Pose refinement report +---------------------- + Residuals : 9290 + Parameters : 6 + Iterations : 38 + Time : 0.314961 [s] + Initial cost : 0.716994 [px] + Final cost : 0.616792 [px] + Termination : Convergence + + => Continued observations: 4629 + => Added observations: 2717 + +Bundle adjustment report +------------------------ + Residuals : 70582 + Parameters : 27424 + Iterations : 26 + Time : 1.01307 [s] + Initial cost : 0.483762 [px] + Final cost : 0.431745 [px] + Termination : No convergence + + => Merged observations: 81 + => Completed observations: 215 + => Filtered observations: 278 + => Changed observations: 0.016265 + +Bundle adjustment report +------------------------ + Residuals : 70362 + Parameters : 27274 + Iterations : 9 + Time : 0.404836 [s] + Initial cost : 0.514652 [px] + Final cost : 0.501764 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 66 + => Filtered observations: 2 + => Changed observations: 0.002501 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 5 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.792680e+04 0.00e+00 2.92e+03 0.00e+00 0.00e+00 1.00e+04 0 2.46e-02 9.96e-02 + 1 1.789709e+04 2.97e+01 1.68e+01 5.99e+00 1.00e+00 3.00e+04 1 5.14e-02 1.51e-01 + 2 1.789700e+04 8.71e-02 2.70e+01 9.73e-01 1.00e+00 9.00e+04 1 3.92e-02 1.90e-01 + 3 1.789699e+04 9.34e-03 6.30e+01 1.09e+00 9.96e-01 2.70e+05 1 3.75e-02 2.28e-01 + 4 1.789698e+04 9.03e-03 1.08e+02 2.10e+00 9.98e-01 8.10e+05 1 3.76e-02 2.65e-01 + 5 1.789698e+04 3.98e-03 7.86e+01 2.02e+00 1.00e+00 2.43e+06 1 3.85e-02 3.04e-01 + 6 1.789698e+04 4.31e-04 1.16e+01 8.06e-01 1.01e+00 7.29e+06 1 3.84e-02 3.42e-01 + 7 1.789698e+04 8.75e-06 1.70e+00 1.22e-01 1.02e+00 2.19e+07 1 3.86e-02 3.81e-01 + 8 1.789698e+04 4.53e-08 9.30e-01 7.89e-03 1.04e+00 6.56e+07 1 4.04e-02 4.22e-01 + 9 1.789698e+04 1.93e-10 6.05e-02 3.86e-04 1.28e+00 1.97e+08 1 4.07e-02 4.62e-01 + + +Bundle adjustment report +------------------------ + Residuals : 70500 + Parameters : 27328 + Iterations : 10 + Time : 0.467611 [s] + Initial cost : 0.504263 [px] + Final cost : 0.503843 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 3 + => Changed observations: 0.000113 + => Filtered images: 0 + +============================================================================== +Registering image #15 (7) +============================================================================== + + => Image sees 4958 / 10067 points + +Pose refinement report +---------------------- + Residuals : 9900 + Parameters : 6 + Iterations : 18 + Time : 0.143569 [s] + Initial cost : 0.718898 [px] + Final cost : 0.550468 [px] + Termination : Convergence + + => Continued observations: 4932 + => Added observations: 4255 + +Bundle adjustment report +------------------------ + Residuals : 84394 + Parameters : 25837 + Iterations : 26 + Time : 1.15205 [s] + Initial cost : 0.488817 [px] + Final cost : 0.460799 [px] + Termination : No convergence + + => Merged observations: 126 + => Completed observations: 293 + => Filtered observations: 299 + => Changed observations: 0.017015 + +Bundle adjustment report +------------------------ + Residuals : 84344 + Parameters : 25729 + Iterations : 4 + Time : 0.238299 [s] + Initial cost : 0.549535 [px] + Final cost : 0.537475 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 94 + => Filtered observations: 3 + => Changed observations: 0.002774 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 4 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.569157e+04 0.00e+00 1.09e+05 0.00e+00 0.00e+00 1.00e+04 0 2.95e-02 1.26e-01 + 1 2.521736e+04 4.74e+02 6.05e+05 4.11e+01 9.27e-01 2.65e+04 1 6.21e-02 1.88e-01 + 2 2.513105e+04 8.63e+01 2.02e+05 3.20e+01 9.56e-01 7.95e+04 1 4.54e-02 2.34e-01 + 3 2.508649e+04 4.46e+01 2.41e+05 8.49e+01 8.61e-01 1.28e+05 1 4.46e-02 2.78e-01 + 4 2.504443e+04 4.21e+01 2.11e+05 1.06e+02 8.75e-01 2.21e+05 1 4.54e-02 3.24e-01 + 5 2.501486e+04 2.96e+01 2.15e+05 1.14e+02 8.22e-01 3.01e+05 1 4.51e-02 3.69e-01 + 6 2.499709e+04 1.78e+01 1.16e+05 8.43e+01 9.05e-01 6.43e+05 1 4.38e-02 4.13e-01 + 7 2.499099e+04 6.10e+00 6.83e+04 6.44e+01 9.04e-01 1.36e+06 1 4.63e-02 4.59e-01 + 8 2.498965e+04 1.34e+00 1.34e+04 2.86e+01 9.85e-01 4.08e+06 1 4.45e-02 5.04e-01 + 9 2.498959e+04 5.99e-02 8.11e+02 7.11e+00 1.01e+00 1.22e+07 1 4.63e-02 5.50e-01 + 10 2.498959e+04 4.30e-04 6.42e+00 6.85e-01 1.03e+00 3.67e+07 1 4.48e-02 5.95e-01 + 11 2.498959e+04 1.30e-06 1.50e+00 3.62e-02 1.05e+00 1.10e+08 1 4.97e-02 6.44e-01 + 12 2.498959e+04 3.69e-09 3.79e-01 1.85e-03 1.07e+00 3.31e+08 1 4.67e-02 6.91e-01 + 13 2.498959e+04 -4.00e-10 0.00e+00 8.74e-05 -4.24e+01 1.65e+08 1 3.12e-02 7.22e-01 + 14 2.498959e+04 -1.16e-10 0.00e+00 8.73e-05 -9.33e+00 4.13e+07 1 3.31e-02 7.56e-01 + 15 2.498959e+04 -4.15e-10 0.00e+00 8.68e-05 -4.41e+01 5.17e+06 1 3.06e-02 7.86e-01 + 16 2.498959e+04 -4.22e-10 0.00e+00 8.20e-05 -4.50e+01 3.23e+05 1 3.13e-02 8.18e-01 + 17 2.498959e+04 -4.44e-10 0.00e+00 4.33e-05 -5.44e+01 1.01e+04 1 3.16e-02 8.49e-01 + 18 2.498959e+04 -4.44e-10 0.00e+00 4.40e-06 -8.73e+01 1.58e+02 1 3.15e-02 8.81e-01 + 19 2.498959e+04 -2.00e-10 0.00e+00 4.68e-07 -5.00e+01 1.23e+00 1 3.15e-02 9.12e-01 + 20 2.498959e+04 -3.35e-10 0.00e+00 2.52e-08 -1.50e+02 4.81e-03 1 3.17e-02 9.44e-01 + 21 2.498959e+04 -6.40e-10 0.00e+00 1.17e-10 -2.07e+04 9.40e-06 1 3.19e-02 9.76e-01 + 22 2.498959e+04 -3.75e-10 0.00e+00 2.16e-13 -5.87e+06 9.18e-09 1 3.28e-02 1.01e+00 + 23 2.498959e+04 -3.64e-11 0.00e+00 6.94e-18 0.00e+00 4.48e-12 1 3.06e-02 1.04e+00 + + +Bundle adjustment report +------------------------ + Residuals : 88988 + Parameters : 32473 + Iterations : 24 + Time : 1.07728 [s] + Initial cost : 0.537316 [px] + Final cost : 0.529924 [px] + Termination : Convergence + + => Merged observations: 21 + => Completed observations: 8 + => Filtered observations: 6 + => Changed observations: 0.000787 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.508276e+04 0.00e+00 2.15e+04 0.00e+00 0.00e+00 1.00e+04 0 2.88e-02 1.26e-01 + 1 2.503496e+04 4.78e+01 1.29e+03 3.38e+00 1.00e+00 3.00e+04 1 6.25e-02 1.88e-01 + 2 2.503481e+04 1.56e-01 3.18e+02 9.56e-01 1.00e+00 9.00e+04 1 4.54e-02 2.34e-01 + 3 2.503475e+04 5.45e-02 2.87e+02 2.07e+00 9.99e-01 2.70e+05 1 4.65e-02 2.80e-01 + 4 2.503469e+04 6.14e-02 5.44e+02 3.78e+00 1.00e+00 8.10e+05 1 4.62e-02 3.26e-01 + 5 2.503466e+04 2.72e-02 4.33e+02 3.54e+00 1.00e+00 2.43e+06 1 4.79e-02 3.74e-01 + 6 2.503466e+04 2.93e-03 6.48e+01 1.39e+00 1.01e+00 7.29e+06 1 4.89e-02 4.23e-01 + 7 2.503466e+04 5.98e-05 1.94e+00 2.08e-01 1.02e+00 2.19e+07 1 4.69e-02 4.70e-01 + 8 2.503466e+04 3.22e-07 2.00e+00 1.36e-02 1.04e+00 6.56e+07 1 4.59e-02 5.16e-01 + 9 2.503466e+04 1.15e-09 2.02e-01 6.89e-04 1.21e+00 1.97e+08 1 5.17e-02 5.68e-01 + 10 2.503466e+04 -2.04e-10 0.00e+00 3.40e-05 -7.96e+01 9.84e+07 1 3.47e-02 6.02e-01 + 11 2.503466e+04 3.64e-12 1.05e-02 3.40e-05 2.90e+00 2.95e+08 1 4.56e-02 6.48e-01 + + +Bundle adjustment report +------------------------ + Residuals : 89018 + Parameters : 32470 + Iterations : 12 + Time : 0.654438 [s] + Initial cost : 0.530822 [px] + Final cost : 0.530313 [px] + Termination : Convergence + + => Merged observations: 6 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000157 + => Filtered images: 0 + +============================================================================== +Registering image #16 (8) +============================================================================== + + => Image sees 5631 / 10006 points + +Pose refinement report +---------------------- + Residuals : 11272 + Parameters : 6 + Iterations : 13 + Time : 0.130678 [s] + Initial cost : 0.55092 [px] + Final cost : 0.473042 [px] + Termination : Convergence + + => Continued observations: 5606 + => Added observations: 3343 + +Bundle adjustment report +------------------------ + Residuals : 97040 + Parameters : 24913 + Iterations : 15 + Time : 0.710393 [s] + Initial cost : 0.477671 [px] + Final cost : 0.461818 [px] + Termination : Convergence + + => Merged observations: 146 + => Completed observations: 250 + => Filtered observations: 328 + => Changed observations: 0.014922 + +Bundle adjustment report +------------------------ + Residuals : 96814 + Parameters : 24757 + Iterations : 4 + Time : 0.255998 [s] + Initial cost : 0.549213 [px] + Final cost : 0.539107 [px] + Termination : Convergence + + => Merged observations: 33 + => Completed observations: 105 + => Filtered observations: 8 + => Changed observations: 0.003016 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 5 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.089795e+04 0.00e+00 2.90e+05 0.00e+00 0.00e+00 1.00e+04 0 3.34e-02 1.53e-01 + 1 3.068469e+04 2.13e+02 1.20e+05 1.47e+01 9.96e-01 3.00e+04 1 7.08e-02 2.24e-01 + 2 3.067382e+04 1.09e+01 3.24e+04 9.87e+00 9.93e-01 9.00e+04 1 5.24e-02 2.76e-01 + 3 3.066636e+04 7.46e+00 3.47e+04 2.50e+01 9.84e-01 2.70e+05 1 5.50e-02 3.31e-01 + 4 3.065813e+04 8.23e+00 6.95e+04 4.48e+01 9.38e-01 8.10e+05 1 5.52e-02 3.87e-01 + 5 3.065409e+04 4.04e+00 5.63e+04 4.15e+01 9.19e-01 1.97e+06 1 5.29e-02 4.40e-01 + 6 3.065330e+04 7.86e-01 8.06e+03 1.58e+01 9.96e-01 5.90e+06 1 5.57e-02 4.95e-01 + 7 3.065328e+04 1.98e-02 2.60e+02 2.91e+00 1.01e+00 1.77e+07 1 5.36e-02 5.49e-01 + 8 3.065328e+04 9.18e-05 1.97e+00 2.27e-01 1.04e+00 5.31e+07 1 5.30e-02 6.02e-01 + 9 3.065328e+04 2.97e-07 1.97e+00 1.20e-02 1.05e+00 1.59e+08 1 5.53e-02 6.57e-01 + 10 3.065328e+04 2.62e-10 2.17e-01 6.17e-04 3.22e-01 1.52e+08 1 5.29e-02 7.10e-01 + 11 3.065328e+04 2.07e-10 1.10e-02 3.03e-05 1.08e+02 4.57e+08 1 5.24e-02 7.63e-01 + + +Bundle adjustment report +------------------------ + Residuals : 106868 + Parameters : 36409 + Iterations : 12 + Time : 0.770178 [s] + Initial cost : 0.537701 [px] + Final cost : 0.535568 [px] + Termination : Convergence + + => Merged observations: 6 + => Completed observations: 5 + => Filtered observations: 7 + => Changed observations: 0.000337 + => Filtered images: 0 + +============================================================================== +Registering image #17 (9) +============================================================================== + + => Image sees 5932 / 9898 points + +Pose refinement report +---------------------- + Residuals : 11940 + Parameters : 6 + Iterations : 11 + Time : 0.109106 [s] + Initial cost : 0.637694 [px] + Final cost : 0.471412 [px] + Termination : Convergence + + => Continued observations: 5904 + => Added observations: 3150 + +Bundle adjustment report +------------------------ + Residuals : 109418 + Parameters : 25075 + Iterations : 17 + Time : 0.850354 [s] + Initial cost : 0.478946 [px] + Final cost : 0.462812 [px] + Termination : Convergence + + => Merged observations: 383 + => Completed observations: 228 + => Filtered observations: 369 + => Changed observations: 0.017913 + +Bundle adjustment report +------------------------ + Residuals : 109088 + Parameters : 24814 + Iterations : 3 + Time : 0.22515 [s] + Initial cost : 0.545882 [px] + Final cost : 0.537081 [px] + Termination : Convergence + + => Merged observations: 22 + => Completed observations: 135 + => Filtered observations: 2 + => Changed observations: 0.002915 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 10 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.637651e+04 0.00e+00 1.64e+05 0.00e+00 0.00e+00 1.00e+04 0 3.84e-02 1.83e-01 + 1 3.622809e+04 1.48e+02 6.00e+04 1.41e+01 9.98e-01 3.00e+04 1 7.98e-02 2.63e-01 + 2 3.622275e+04 5.34e+00 5.53e+03 9.44e+00 1.00e+00 9.00e+04 1 6.98e-02 3.33e-01 + 3 3.622059e+04 2.16e+00 2.58e+03 1.45e+01 1.00e+00 2.70e+05 1 6.71e-02 4.00e-01 + 4 3.621843e+04 2.16e+00 1.44e+04 2.20e+01 9.92e-01 8.10e+05 1 7.10e-02 4.71e-01 + 5 3.621760e+04 8.33e-01 1.09e+04 1.84e+01 9.89e-01 2.43e+06 1 6.88e-02 5.40e-01 + 6 3.621752e+04 8.33e-02 1.29e+03 6.40e+00 1.01e+00 7.29e+06 1 6.48e-02 6.05e-01 + 7 3.621752e+04 1.31e-03 2.15e+01 8.44e-01 1.02e+00 2.19e+07 1 6.43e-02 6.69e-01 + 8 3.621752e+04 4.76e-06 1.87e+00 4.84e-02 1.04e+00 6.56e+07 1 6.65e-02 7.36e-01 + 9 3.621752e+04 1.10e-08 7.17e-01 2.10e-03 1.06e+00 1.97e+08 1 6.65e-02 8.02e-01 + 10 3.621752e+04 6.55e-11 3.50e-02 8.90e-05 5.00e+00 5.90e+08 1 6.52e-02 8.67e-01 + + +Bundle adjustment report +------------------------ + Residuals : 124822 + Parameters : 39871 + Iterations : 11 + Time : 0.876094 [s] + Initial cost : 0.53984 [px] + Final cost : 0.538659 [px] + Termination : Convergence + + => Merged observations: 12 + => Completed observations: 9 + => Filtered observations: 15 + => Changed observations: 0.000577 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.618463e+04 0.00e+00 3.47e+03 0.00e+00 0.00e+00 1.00e+04 0 4.04e-02 1.83e-01 + 1 3.616445e+04 2.02e+01 3.12e+02 2.71e+00 1.00e+00 3.00e+04 1 7.86e-02 2.62e-01 + 2 3.616440e+04 4.99e-02 1.36e+02 6.91e-01 1.00e+00 9.00e+04 1 6.35e-02 3.25e-01 + 3 3.616436e+04 3.72e-02 1.75e+02 1.67e+00 9.99e-01 2.70e+05 1 6.51e-02 3.91e-01 + 4 3.616432e+04 3.84e-02 2.97e+02 2.84e+00 1.00e+00 8.10e+05 1 6.42e-02 4.55e-01 + 5 3.616431e+04 1.46e-02 1.96e+02 2.41e+00 1.00e+00 2.43e+06 1 6.44e-02 5.19e-01 + 6 3.616431e+04 1.27e-03 2.30e+01 8.41e-01 1.01e+00 7.29e+06 1 6.59e-02 5.85e-01 + 7 3.616431e+04 2.04e-05 1.99e+00 1.11e-01 1.02e+00 2.19e+07 1 6.30e-02 6.48e-01 + 8 3.616431e+04 8.46e-08 1.65e+00 6.38e-03 1.04e+00 6.56e+07 1 6.16e-02 7.10e-01 + 9 3.616431e+04 -6.62e-10 0.00e+00 2.77e-04 -3.35e+00 3.28e+07 1 4.33e-02 7.53e-01 + 10 3.616431e+04 -2.62e-10 0.00e+00 2.76e-04 -1.23e+00 8.20e+06 1 4.18e-02 7.95e-01 + 11 3.616431e+04 -2.33e-10 0.00e+00 2.68e-04 -1.08e+00 1.03e+06 1 4.27e-02 8.38e-01 + 12 3.616431e+04 -4.80e-10 0.00e+00 2.15e-04 -2.46e+00 6.41e+04 1 4.14e-02 8.79e-01 + 13 3.616431e+04 -4.95e-10 0.00e+00 5.33e-05 -3.95e+00 2.00e+03 1 4.05e-02 9.20e-01 + 14 3.616431e+04 -3.86e-10 0.00e+00 5.18e-06 -4.41e+00 3.13e+01 1 4.11e-02 9.61e-01 + 15 3.616431e+04 -1.67e-10 0.00e+00 4.92e-07 -2.23e+00 2.44e-01 1 4.09e-02 1.00e+00 + 16 3.616431e+04 -2.26e-10 0.00e+00 1.73e-08 -9.39e+00 9.55e-04 1 4.08e-02 1.04e+00 + 17 3.616431e+04 -8.00e-10 0.00e+00 7.06e-11 -5.97e+03 1.86e-06 1 4.11e-02 1.08e+00 + 18 3.616431e+04 -2.91e-10 0.00e+00 1.29e-13 -1.04e+06 1.82e-09 1 4.07e-02 1.12e+00 + + +Bundle adjustment report +------------------------ + Residuals : 124752 + Parameters : 39841 + Iterations : 19 + Time : 1.17319 [s] + Initial cost : 0.538565 [px] + Final cost : 0.538414 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000032 + => Filtered images: 0 + +============================================================================== +Registering image #18 (10) +============================================================================== + + => Image sees 5863 / 9450 points + +Pose refinement report +---------------------- + Residuals : 11804 + Parameters : 6 + Iterations : 11 + Time : 0.109661 [s] + Initial cost : 0.614866 [px] + Final cost : 0.502859 [px] + Termination : Convergence + + => Continued observations: 5849 + => Added observations: 3292 + +Bundle adjustment report +------------------------ + Residuals : 117802 + Parameters : 23788 + Iterations : 26 + Time : 1.3403 [s] + Initial cost : 0.480259 [px] + Final cost : 0.462176 [px] + Termination : No convergence + + => Merged observations: 183 + => Completed observations: 315 + => Filtered observations: 398 + => Changed observations: 0.015212 + +Bundle adjustment report +------------------------ + Residuals : 117548 + Parameters : 23602 + Iterations : 3 + Time : 0.233309 [s] + Initial cost : 0.553825 [px] + Final cost : 0.54558 [px] + Termination : Convergence + + => Merged observations: 40 + => Completed observations: 122 + => Filtered observations: 9 + => Changed observations: 0.002909 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 16 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.240289e+04 0.00e+00 6.34e+04 0.00e+00 0.00e+00 1.00e+04 0 4.68e-02 2.15e-01 + 1 4.210581e+04 2.97e+02 1.37e+05 2.22e+01 9.99e-01 3.00e+04 1 9.25e-02 3.07e-01 + 2 4.208543e+04 2.04e+01 1.07e+04 2.06e+01 1.00e+00 9.00e+04 1 7.82e-02 3.86e-01 + 3 4.206857e+04 1.69e+01 4.69e+04 4.06e+01 9.87e-01 2.70e+05 1 7.82e-02 4.64e-01 + 4 4.205286e+04 1.57e+01 1.18e+05 6.19e+01 9.27e-01 7.18e+05 1 7.60e-02 5.40e-01 + 5 4.204660e+04 6.25e+00 6.57e+04 4.66e+01 9.44e-01 2.15e+06 1 7.73e-02 6.17e-01 + 6 4.204577e+04 8.35e-01 7.78e+03 1.63e+01 9.97e-01 6.46e+06 1 7.73e-02 6.94e-01 + 7 4.204576e+04 1.23e-02 1.23e+02 2.10e+00 1.01e+00 1.94e+07 1 7.67e-02 7.71e-01 + 8 4.204576e+04 2.45e-05 1.83e+00 1.08e-01 1.03e+00 5.82e+07 1 7.83e-02 8.50e-01 + 9 4.204576e+04 3.84e-08 9.90e-01 3.83e-03 1.03e+00 1.75e+08 1 7.60e-02 9.26e-01 + + +Bundle adjustment report +------------------------ + Residuals : 142954 + Parameters : 43516 + Iterations : 10 + Time : 0.935036 [s] + Initial cost : 0.544627 [px] + Final cost : 0.542329 [px] + Termination : Convergence + + => Merged observations: 16 + => Completed observations: 6 + => Filtered observations: 45 + => Changed observations: 0.000937 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.188416e+04 0.00e+00 1.10e+04 0.00e+00 0.00e+00 1.00e+04 0 4.55e-02 2.19e-01 + 1 4.183440e+04 4.98e+01 1.97e+02 5.34e+00 1.00e+00 3.00e+04 1 8.74e-02 3.06e-01 + 2 4.183421e+04 1.89e-01 1.52e+01 1.11e+00 1.00e+00 9.00e+04 1 7.20e-02 3.78e-01 + 3 4.183420e+04 6.44e-03 1.36e+01 6.07e-01 1.00e+00 2.70e+05 1 7.09e-02 4.49e-01 + 4 4.183420e+04 5.29e-03 3.74e+01 9.06e-01 1.00e+00 8.10e+05 1 7.21e-02 5.21e-01 + 5 4.183420e+04 1.74e-03 2.26e+01 6.99e-01 1.00e+00 2.43e+06 1 7.12e-02 5.92e-01 + 6 4.183420e+04 1.24e-04 2.22e+00 2.18e-01 1.01e+00 7.29e+06 1 7.21e-02 6.64e-01 + 7 4.183420e+04 1.52e-06 1.98e+00 2.50e-02 1.02e+00 2.19e+07 1 7.25e-02 7.37e-01 + 8 4.183420e+04 3.75e-09 4.36e-01 1.19e-03 8.58e-01 3.45e+07 1 7.28e-02 8.10e-01 + + +Bundle adjustment report +------------------------ + Residuals : 142710 + Parameters : 43420 + Iterations : 9 + Time : 0.819185 [s] + Initial cost : 0.541748 [px] + Final cost : 0.541425 [px] + Termination : Convergence + + => Merged observations: 2 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000042 + => Filtered images: 0 + +============================================================================== +Registering image #19 (11) +============================================================================== + + => Image sees 5944 / 8647 points + +Pose refinement report +---------------------- + Residuals : 12008 + Parameters : 6 + Iterations : 7 + Time : 0.069572 [s] + Initial cost : 0.515669 [px] + Final cost : 0.480717 [px] + Termination : Convergence + + => Continued observations: 5922 + => Added observations: 2256 + +Bundle adjustment report +------------------------ + Residuals : 127004 + Parameters : 22213 + Iterations : 25 + Time : 1.32221 [s] + Initial cost : 0.472194 [px] + Final cost : 0.458765 [px] + Termination : Convergence + + => Merged observations: 322 + => Completed observations: 223 + => Filtered observations: 306 + => Changed observations: 0.013401 + +Bundle adjustment report +------------------------ + Residuals : 126910 + Parameters : 22087 + Iterations : 3 + Time : 0.236609 [s] + Initial cost : 0.548197 [px] + Final cost : 0.541544 [px] + Termination : Convergence + + => Merged observations: 30 + => Completed observations: 68 + => Filtered observations: 5 + => Changed observations: 0.001623 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 14 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.740462e+04 0.00e+00 2.28e+05 0.00e+00 0.00e+00 1.00e+04 0 4.97e-02 2.41e-01 + 1 4.721119e+04 1.93e+02 5.19e+04 1.30e+01 9.99e-01 3.00e+04 1 9.54e-02 3.36e-01 + 2 4.720447e+04 6.72e+00 2.74e+03 1.08e+01 1.00e+00 9.00e+04 1 8.24e-02 4.19e-01 + 3 4.719961e+04 4.85e+00 7.55e+03 1.84e+01 1.00e+00 2.70e+05 1 8.81e-02 5.07e-01 + 4 4.719521e+04 4.40e+00 3.00e+04 2.67e+01 9.85e-01 8.10e+05 1 8.50e-02 5.92e-01 + 5 4.719376e+04 1.45e+00 1.78e+04 2.01e+01 9.85e-01 2.43e+06 1 8.40e-02 6.76e-01 + 6 4.719364e+04 1.19e-01 1.61e+03 6.10e+00 1.00e+00 7.29e+06 1 8.18e-02 7.58e-01 + 7 4.719364e+04 1.31e-03 1.95e+01 6.81e-01 1.01e+00 2.19e+07 1 8.05e-02 8.38e-01 + 8 4.719364e+04 3.01e-06 1.78e+00 3.14e-02 1.03e+00 6.56e+07 1 8.12e-02 9.20e-01 + 9 4.719364e+04 3.92e-09 3.90e-01 1.04e-03 9.51e-01 1.97e+08 1 8.14e-02 1.00e+00 + + +Bundle adjustment report +------------------------ + Residuals : 158958 + Parameters : 45835 + Iterations : 10 + Time : 1.0107 [s] + Initial cost : 0.546096 [px] + Final cost : 0.54488 [px] + Termination : Convergence + + => Merged observations: 7 + => Completed observations: 0 + => Filtered observations: 33 + => Changed observations: 0.000503 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.706711e+04 0.00e+00 2.27e+03 0.00e+00 0.00e+00 1.00e+04 0 4.94e-02 2.38e-01 + 1 4.704746e+04 1.97e+01 8.46e+00 2.36e+00 1.00e+00 3.00e+04 1 9.80e-02 3.36e-01 + 2 4.704738e+04 7.44e-02 2.58e+01 7.65e-01 1.00e+00 9.00e+04 1 8.65e-02 4.23e-01 + 3 4.704737e+04 1.31e-02 5.87e+01 8.58e-01 9.99e-01 2.70e+05 1 8.43e-02 5.07e-01 + 4 4.704736e+04 1.11e-02 8.68e+01 1.32e+00 1.00e+00 8.10e+05 1 8.71e-02 5.94e-01 + 5 4.704735e+04 3.48e-03 4.54e+01 9.97e-01 1.00e+00 2.43e+06 1 8.48e-02 6.79e-01 + 6 4.704735e+04 2.35e-04 3.96e+00 3.01e-01 1.01e+00 7.29e+06 1 8.51e-02 7.64e-01 + 7 4.704735e+04 2.70e-06 1.66e+00 3.34e-02 1.01e+00 2.19e+07 1 9.11e-02 8.56e-01 + 8 4.704735e+04 7.52e-09 5.01e-01 1.53e-03 1.08e+00 6.56e+07 1 8.32e-02 9.39e-01 + + +Bundle adjustment report +------------------------ + Residuals : 158694 + Parameters : 45751 + Iterations : 9 + Time : 0.948809 [s] + Initial cost : 0.544601 [px] + Final cost : 0.544487 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000013 + => Filtered images: 0 + +============================================================================== +Registering image #24 (12) +============================================================================== + + => Image sees 6109 / 10024 points + +Pose refinement report +---------------------- + Residuals : 12306 + Parameters : 6 + Iterations : 10 + Time : 0.104122 [s] + Initial cost : 0.620859 [px] + Final cost : 0.537282 [px] + Termination : Convergence + + => Continued observations: 6082 + => Added observations: 2910 + +Bundle adjustment report +------------------------ + Residuals : 134904 + Parameters : 23587 + Iterations : 26 + Time : 1.49552 [s] + Initial cost : 0.483786 [px] + Final cost : 0.463421 [px] + Termination : No convergence + + => Merged observations: 244 + => Completed observations: 341 + => Filtered observations: 342 + => Changed observations: 0.013743 + +Bundle adjustment report +------------------------ + Residuals : 134854 + Parameters : 23467 + Iterations : 3 + Time : 0.25318 [s] + Initial cost : 0.558469 [px] + Final cost : 0.551413 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 139 + => Filtered observations: 20 + => Changed observations: 0.002655 + +============================================================================== +Registering image #1 (13) +============================================================================== + + => Image sees 5749 / 8295 points + +Pose refinement report +---------------------- + Residuals : 11616 + Parameters : 6 + Iterations : 11 + Time : 0.103147 [s] + Initial cost : 0.540698 [px] + Final cost : 0.5184 [px] + Termination : Convergence + + => Continued observations: 5726 + => Added observations: 1953 + +Bundle adjustment report +------------------------ + Residuals : 136076 + Parameters : 21607 + Iterations : 23 + Time : 1.30826 [s] + Initial cost : 0.479798 [px] + Final cost : 0.462868 [px] + Termination : Convergence + + => Merged observations: 401 + => Completed observations: 225 + => Filtered observations: 350 + => Changed observations: 0.014345 + +Bundle adjustment report +------------------------ + Residuals : 135898 + Parameters : 21466 + Iterations : 3 + Time : 0.240455 [s] + Initial cost : 0.556547 [px] + Final cost : 0.549682 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 63 + => Filtered observations: 5 + => Changed observations: 0.001001 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 26 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 6.033432e+04 0.00e+00 4.50e+05 0.00e+00 0.00e+00 1.00e+04 0 5.63e-02 3.02e-01 + 1 5.971257e+04 6.22e+02 1.44e+04 2.31e+01 1.00e+00 3.00e+04 1 1.15e-01 4.17e-01 + 2 5.965792e+04 5.47e+01 5.83e+04 1.96e+01 9.94e-01 9.00e+04 1 9.79e-02 5.15e-01 + 3 5.964294e+04 1.50e+01 7.03e+04 2.92e+01 9.78e-01 2.70e+05 1 1.05e-01 6.20e-01 + 4 5.963548e+04 7.46e+00 4.78e+04 3.57e+01 9.81e-01 8.10e+05 1 1.05e-01 7.25e-01 + 5 5.963399e+04 1.49e+00 1.24e+04 1.98e+01 9.96e-01 2.43e+06 1 1.05e-01 8.30e-01 + 6 5.963393e+04 5.86e-02 5.35e+02 4.21e+00 1.01e+00 7.29e+06 1 1.01e-01 9.31e-01 + 7 5.963393e+04 3.11e-04 3.30e+00 3.28e-01 1.01e+00 2.19e+07 1 9.82e-02 1.03e+00 + 8 5.963393e+04 4.59e-07 1.97e+00 1.13e-02 1.03e+00 6.56e+07 1 9.98e-02 1.13e+00 + 9 5.963393e+04 -1.75e-10 0.00e+00 3.09e-04 -3.86e-01 3.28e+07 1 6.85e-02 1.20e+00 + 10 5.963393e+04 2.55e-10 1.06e-01 3.08e-04 6.49e-01 3.37e+07 1 9.84e-02 1.30e+00 + + +Bundle adjustment report +------------------------ + Residuals : 191938 + Parameters : 51145 + Iterations : 11 + Time : 1.30716 [s] + Initial cost : 0.560663 [px] + Final cost : 0.557399 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 44 + => Filtered observations: 35 + => Changed observations: 0.001032 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.967086e+04 0.00e+00 1.25e+03 0.00e+00 0.00e+00 1.00e+04 0 6.09e-02 2.97e-01 + 1 5.961301e+04 5.78e+01 1.98e+02 8.93e+00 9.99e-01 3.00e+04 1 1.17e-01 4.15e-01 + 2 5.961267e+04 3.41e-01 2.72e+01 2.09e+00 9.99e-01 9.00e+04 1 9.54e-02 5.10e-01 + 3 5.961266e+04 1.26e-02 4.56e+01 9.22e-01 9.99e-01 2.70e+05 1 9.82e-02 6.08e-01 + 4 5.961265e+04 6.24e-03 3.92e+01 1.09e+00 1.00e+00 8.10e+05 1 9.99e-02 7.08e-01 + 5 5.961265e+04 1.17e-03 1.08e+01 6.03e-01 1.00e+00 2.43e+06 1 9.78e-02 8.06e-01 + 6 5.961265e+04 4.18e-05 2.00e+00 1.28e-01 1.01e+00 7.29e+06 1 1.02e-01 9.08e-01 + 7 5.961265e+04 2.50e-07 1.91e+00 9.94e-03 1.02e+00 2.19e+07 1 1.00e-01 1.01e+00 + 8 5.961265e+04 3.49e-10 1.00e-01 3.43e-04 9.14e-01 5.04e+07 1 9.95e-02 1.11e+00 + + +Bundle adjustment report +------------------------ + Residuals : 191816 + Parameters : 51070 + Iterations : 9 + Time : 1.11939 [s] + Initial cost : 0.557749 [px] + Final cost : 0.557477 [px] + Termination : Convergence + + => Merged observations: 4 + => Completed observations: 0 + => Filtered observations: 4 + => Changed observations: 0.000083 + => Filtered images: 0 + +============================================================================== +Registering image #14 (14) +============================================================================== + + => Image sees 4440 / 6399 points + +Pose refinement report +---------------------- + Residuals : 9004 + Parameters : 6 + Iterations : 11 + Time : 0.0837789 [s] + Initial cost : 0.671802 [px] + Final cost : 0.530049 [px] + Termination : Convergence + + => Continued observations: 4411 + => Added observations: 1380 + +Bundle adjustment report +------------------------ + Residuals : 130632 + Parameters : 16144 + Iterations : 25 + Time : 1.28008 [s] + Initial cost : 0.477597 [px] + Final cost : 0.466861 [px] + Termination : Convergence + + => Merged observations: 320 + => Completed observations: 186 + => Filtered observations: 326 + => Changed observations: 0.012738 + +Bundle adjustment report +------------------------ + Residuals : 130406 + Parameters : 16012 + Iterations : 3 + Time : 0.220014 [s] + Initial cost : 0.563586 [px] + Final cost : 0.557566 [px] + Termination : Convergence + + => Merged observations: 19 + => Completed observations: 85 + => Filtered observations: 6 + => Changed observations: 0.001687 + +============================================================================== +Registering image #3 (15) +============================================================================== + + => Image sees 4319 / 6281 points + +Pose refinement report +---------------------- + Residuals : 8734 + Parameters : 6 + Iterations : 10 + Time : 0.0758371 [s] + Initial cost : 0.606633 [px] + Final cost : 0.565308 [px] + Termination : Convergence + + => Continued observations: 4272 + => Added observations: 1545 + +Bundle adjustment report +------------------------ + Residuals : 131282 + Parameters : 15892 + Iterations : 23 + Time : 1.16377 [s] + Initial cost : 0.49239 [px] + Final cost : 0.480421 [px] + Termination : Convergence + + => Merged observations: 333 + => Completed observations: 181 + => Filtered observations: 431 + => Changed observations: 0.014396 + +Bundle adjustment report +------------------------ + Residuals : 130856 + Parameters : 15754 + Iterations : 3 + Time : 0.223974 [s] + Initial cost : 0.570322 [px] + Final cost : 0.563883 [px] + Termination : Convergence + + => Merged observations: 46 + => Completed observations: 64 + => Filtered observations: 7 + => Changed observations: 0.001788 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 40 + => Completed observations: 40 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 7.119045e+04 0.00e+00 1.99e+06 0.00e+00 0.00e+00 1.00e+04 0 6.71e-02 3.60e-01 + 1 7.066445e+04 5.26e+02 5.74e+03 1.07e+01 1.00e+00 3.00e+04 1 1.26e-01 4.87e-01 + 2 7.066104e+04 3.41e+00 6.95e+03 9.29e+00 9.99e-01 9.00e+04 1 1.11e-01 5.97e-01 + 3 7.065743e+04 3.61e+00 1.17e+04 1.85e+01 9.98e-01 2.70e+05 1 1.10e-01 7.08e-01 + 4 7.065508e+04 2.35e+00 1.31e+04 2.20e+01 9.97e-01 8.10e+05 1 1.10e-01 8.17e-01 + 5 7.065464e+04 4.37e-01 3.69e+03 1.18e+01 1.00e+00 2.43e+06 1 1.13e-01 9.30e-01 + 6 7.065463e+04 1.54e-02 1.53e+02 2.44e+00 1.01e+00 7.29e+06 1 1.09e-01 1.04e+00 + 7 7.065463e+04 8.30e-05 2.00e+00 1.83e-01 1.01e+00 2.19e+07 1 1.16e-01 1.16e+00 + 8 7.065463e+04 1.14e-07 9.93e-01 5.98e-03 1.02e+00 6.56e+07 1 1.11e-01 1.27e+00 + + +Bundle adjustment report +------------------------ + Residuals : 214496 + Parameters : 54382 + Iterations : 9 + Time : 1.2784 [s] + Initial cost : 0.576105 [px] + Final cost : 0.573932 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 0 + => Filtered observations: 7 + => Changed observations: 0.000093 + => Filtered images: 0 + +============================================================================== +Registering image #2 (16) +============================================================================== + + => Image sees 4527 / 6024 points + +Pose refinement report +---------------------- + Residuals : 9260 + Parameters : 6 + Iterations : 10 + Time : 0.0776088 [s] + Initial cost : 0.600776 [px] + Final cost : 0.560194 [px] + Termination : Convergence + + => Continued observations: 4499 + => Added observations: 1325 + +Bundle adjustment report +------------------------ + Residuals : 128472 + Parameters : 14620 + Iterations : 16 + Time : 0.768415 [s] + Initial cost : 0.495112 [px] + Final cost : 0.485465 [px] + Termination : Convergence + + => Merged observations: 399 + => Completed observations: 204 + => Filtered observations: 470 + => Changed observations: 0.016704 + +Bundle adjustment report +------------------------ + Residuals : 127828 + Parameters : 14365 + Iterations : 3 + Time : 0.204026 [s] + Initial cost : 0.58364 [px] + Final cost : 0.576795 [px] + Termination : Convergence + + => Merged observations: 89 + => Completed observations: 107 + => Filtered observations: 13 + => Changed observations: 0.003270 + +============================================================================== +Registering image #4 (17) +============================================================================== + + => Image sees 4611 / 6284 points + +Pose refinement report +---------------------- + Residuals : 9392 + Parameters : 6 + Iterations : 11 + Time : 0.0923629 [s] + Initial cost : 0.670274 [px] + Final cost : 0.615896 [px] + Termination : Convergence + + => Continued observations: 4575 + => Added observations: 1285 + +Bundle adjustment report +------------------------ + Residuals : 121902 + Parameters : 13513 + Iterations : 20 + Time : 0.918443 [s] + Initial cost : 0.523747 [px] + Final cost : 0.510251 [px] + Termination : Convergence + + => Merged observations: 393 + => Completed observations: 167 + => Filtered observations: 578 + => Changed observations: 0.018671 + +Bundle adjustment report +------------------------ + Residuals : 121264 + Parameters : 13354 + Iterations : 3 + Time : 0.194759 [s] + Initial cost : 0.611763 [px] + Final cost : 0.60465 [px] + Termination : Convergence + + => Merged observations: 25 + => Completed observations: 107 + => Filtered observations: 7 + => Changed observations: 0.002293 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 45 + => Completed observations: 18 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 8.543907e+04 0.00e+00 2.07e+06 0.00e+00 0.00e+00 1.00e+04 0 7.00e-02 3.73e-01 + 1 8.429372e+04 1.15e+03 1.21e+05 2.06e+01 1.00e+00 3.00e+04 1 1.41e-01 5.14e-01 + 2 8.424561e+04 4.81e+01 1.75e+04 2.22e+01 1.00e+00 9.00e+04 1 1.21e-01 6.35e-01 + 3 8.421823e+04 2.74e+01 2.66e+04 3.57e+01 1.00e+00 2.70e+05 1 1.26e-01 7.61e-01 + 4 8.420255e+04 1.57e+01 7.84e+04 4.06e+01 9.81e-01 8.10e+05 1 1.23e-01 8.84e-01 + 5 8.419957e+04 2.98e+00 2.20e+04 2.08e+01 9.93e-01 2.43e+06 1 1.25e-01 1.01e+00 + 6 8.419946e+04 1.08e-01 8.22e+02 4.04e+00 1.00e+00 7.29e+06 1 1.23e-01 1.13e+00 + 7 8.419946e+04 4.48e-04 3.53e+00 2.86e-01 1.01e+00 2.19e+07 1 1.24e-01 1.26e+00 + 8 8.419946e+04 5.33e-07 1.95e+00 8.81e-03 1.02e+00 6.56e+07 1 1.24e-01 1.38e+00 + 9 8.419946e+04 -2.76e-10 0.00e+00 2.21e-04 -7.23e-01 3.28e+07 1 8.08e-02 1.46e+00 + 10 8.419946e+04 2.76e-10 7.70e-02 2.20e-04 6.51e-01 3.37e+07 1 1.15e-01 1.58e+00 + + +Bundle adjustment report +------------------------ + Residuals : 236806 + Parameters : 57049 + Iterations : 11 + Time : 1.58891 [s] + Initial cost : 0.600664 [px] + Final cost : 0.596291 [px] + Termination : Convergence + + => Merged observations: 25 + => Completed observations: 5 + => Filtered observations: 8 + => Changed observations: 0.000321 + => Filtered images: 0 + +============================================================================== +Registering image #5 (18) +============================================================================== + + => Image sees 4514 / 6297 points + +Pose refinement report +---------------------- + Residuals : 9208 + Parameters : 6 + Iterations : 11 + Time : 0.088521 [s] + Initial cost : 0.668647 [px] + Final cost : 0.568808 [px] + Termination : Convergence + + => Continued observations: 4479 + => Added observations: 1382 + +Bundle adjustment report +------------------------ + Residuals : 112848 + Parameters : 13084 + Iterations : 23 + Time : 0.978412 [s] + Initial cost : 0.530005 [px] + Final cost : 0.515168 [px] + Termination : Convergence + + => Merged observations: 353 + => Completed observations: 197 + => Filtered observations: 409 + => Changed observations: 0.016996 + +Bundle adjustment report +------------------------ + Residuals : 112596 + Parameters : 12979 + Iterations : 3 + Time : 0.196638 [s] + Initial cost : 0.626409 [px] + Final cost : 0.619104 [px] + Termination : Convergence + + => Merged observations: 64 + => Completed observations: 85 + => Filtered observations: 7 + => Changed observations: 0.002771 + +============================================================================== +Registering image #6 (19) +============================================================================== + + => Image sees 4364 / 6550 points + +Pose refinement report +---------------------- + Residuals : 8936 + Parameters : 6 + Iterations : 12 + Time : 0.093854 [s] + Initial cost : 0.647831 [px] + Final cost : 0.58202 [px] + Termination : Convergence + + => Continued observations: 4329 + => Added observations: 1473 + +Bundle adjustment report +------------------------ + Residuals : 110104 + Parameters : 12559 + Iterations : 26 + Time : 1.0467 [s] + Initial cost : 0.536908 [px] + Final cost : 0.521734 [px] + Termination : No convergence + + => Merged observations: 190 + => Completed observations: 200 + => Filtered observations: 405 + => Changed observations: 0.014441 + +Bundle adjustment report +------------------------ + Residuals : 109940 + Parameters : 12490 + Iterations : 3 + Time : 0.180474 [s] + Initial cost : 0.63804 [px] + Final cost : 0.630738 [px] + Termination : Convergence + + => Merged observations: 30 + => Completed observations: 93 + => Filtered observations: 10 + => Changed observations: 0.002420 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 43 + => Completed observations: 107 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 9.713377e+04 0.00e+00 2.56e+04 0.00e+00 0.00e+00 1.00e+04 0 6.90e-02 4.12e-01 + 1 9.602044e+04 1.11e+03 1.37e+04 1.05e+01 1.00e+00 3.00e+04 1 1.51e-01 5.63e-01 + 2 9.601624e+04 4.20e+00 3.36e+03 5.20e+00 9.99e-01 9.00e+04 1 1.37e-01 7.01e-01 + 3 9.601456e+04 1.67e+00 5.88e+03 9.08e+00 9.97e-01 2.70e+05 1 1.31e-01 8.32e-01 + 4 9.601360e+04 9.65e-01 5.69e+03 1.02e+01 9.97e-01 8.10e+05 1 1.35e-01 9.67e-01 + 5 9.601344e+04 1.55e-01 1.38e+03 5.11e+00 9.99e-01 2.43e+06 1 1.31e-01 1.10e+00 + 6 9.601344e+04 4.52e-03 4.78e+01 9.60e-01 1.00e+00 7.29e+06 1 1.48e-01 1.25e+00 + 7 9.601344e+04 1.93e-05 1.93e+00 6.32e-02 1.01e+00 2.19e+07 1 1.31e-01 1.38e+00 + 8 9.601344e+04 1.91e-08 4.57e-01 1.68e-03 1.01e+00 6.56e+07 1 1.31e-01 1.51e+00 + + +Bundle adjustment report +------------------------ + Residuals : 259650 + Parameters : 60304 + Iterations : 9 + Time : 1.5215 [s] + Initial cost : 0.611633 [px] + Final cost : 0.608096 [px] + Termination : Convergence + + => Merged observations: 31 + => Completed observations: 19 + => Filtered observations: 19 + => Changed observations: 0.000531 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 9.609770e+04 0.00e+00 1.75e+04 0.00e+00 0.00e+00 1.00e+04 0 7.57e-02 4.12e-01 + 1 9.604006e+04 5.76e+01 3.00e+02 2.66e+00 1.00e+00 3.00e+04 1 1.56e-01 5.68e-01 + 2 9.603998e+04 7.33e-02 1.43e+01 7.19e-01 1.00e+00 9.00e+04 1 1.34e-01 7.02e-01 + 3 9.603997e+04 9.48e-03 2.69e+01 5.92e-01 9.99e-01 2.70e+05 1 1.38e-01 8.40e-01 + 4 9.603997e+04 5.44e-03 3.15e+01 6.55e-01 9.99e-01 8.10e+05 1 1.39e-01 9.80e-01 + 5 9.603997e+04 8.66e-04 7.76e+00 3.28e-01 1.00e+00 2.43e+06 1 1.40e-01 1.12e+00 + 6 9.603997e+04 2.47e-05 1.99e+00 6.13e-02 1.00e+00 7.29e+06 1 1.40e-01 1.26e+00 + 7 9.603997e+04 1.06e-07 9.92e-01 4.02e-03 1.00e+00 2.19e+07 1 1.38e-01 1.40e+00 + + +Bundle adjustment report +------------------------ + Residuals : 259656 + Parameters : 60289 + Iterations : 8 + Time : 1.4115 [s] + Initial cost : 0.608355 [px] + Final cost : 0.608173 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 0 + => Filtered observations: 2 + => Changed observations: 0.000039 + => Filtered images: 0 + +============================================================================== +Registering image #13 (20) +============================================================================== + + => Image sees 4674 / 6357 points + +Pose refinement report +---------------------- + Residuals : 9688 + Parameters : 6 + Iterations : 18 + Time : 0.142251 [s] + Initial cost : 0.697692 [px] + Final cost : 0.616714 [px] + Termination : Convergence + + => Continued observations: 4648 + => Added observations: 1304 + +Bundle adjustment report +------------------------ + Residuals : 111514 + Parameters : 12700 + Iterations : 26 + Time : 1.05686 [s] + Initial cost : 0.547752 [px] + Final cost : 0.534296 [px] + Termination : No convergence + + => Merged observations: 283 + => Completed observations: 197 + => Filtered observations: 610 + => Changed observations: 0.019549 + +Bundle adjustment report +------------------------ + Residuals : 110894 + Parameters : 12559 + Iterations : 3 + Time : 0.200405 [s] + Initial cost : 0.646589 [px] + Final cost : 0.639128 [px] + Termination : Convergence + + => Merged observations: 48 + => Completed observations: 95 + => Filtered observations: 5 + => Changed observations: 0.002669 + +============================================================================== +Registering image #12 (21) +============================================================================== + + => Image sees 4471 / 6515 points + +Pose refinement report +---------------------- + Residuals : 9158 + Parameters : 6 + Iterations : 10 + Time : 0.078316 [s] + Initial cost : 0.642055 [px] + Final cost : 0.593307 [px] + Termination : Convergence + + => Continued observations: 4436 + => Added observations: 1379 + +Bundle adjustment report +------------------------ + Residuals : 104342 + Parameters : 11782 + Iterations : 19 + Time : 0.786118 [s] + Initial cost : 0.555471 [px] + Final cost : 0.540772 [px] + Termination : Convergence + + => Merged observations: 248 + => Completed observations: 208 + => Filtered observations: 471 + => Changed observations: 0.017768 + +Bundle adjustment report +------------------------ + Residuals : 103800 + Parameters : 11659 + Iterations : 3 + Time : 0.173708 [s] + Initial cost : 0.656803 [px] + Final cost : 0.649816 [px] + Termination : Convergence + + => Merged observations: 65 + => Completed observations: 106 + => Filtered observations: 8 + => Changed observations: 0.003449 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 81 + => Completed observations: 62 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.115583e+05 0.00e+00 3.30e+05 0.00e+00 0.00e+00 1.00e+04 0 8.36e-02 5.01e-01 + 1 1.093659e+05 2.19e+03 1.12e+05 2.14e+01 1.00e+00 3.00e+04 1 1.68e-01 6.70e-01 + 2 1.093124e+05 5.35e+01 2.22e+03 1.12e+01 1.00e+00 9.00e+04 1 1.48e-01 8.17e-01 + 3 1.093068e+05 5.55e+00 2.62e+03 1.07e+01 1.00e+00 2.70e+05 1 1.51e-01 9.68e-01 + 4 1.093050e+05 1.78e+00 8.93e+03 1.25e+01 9.97e-01 8.10e+05 1 1.52e-01 1.12e+00 + 5 1.093047e+05 2.92e-01 2.62e+03 6.46e+00 9.97e-01 2.43e+06 1 1.52e-01 1.27e+00 + 6 1.093047e+05 8.77e-03 9.41e+01 1.23e+00 1.00e+00 7.29e+06 1 1.50e-01 1.42e+00 + 7 1.093047e+05 3.67e-05 1.97e+00 8.02e-02 1.01e+00 2.19e+07 1 1.44e-01 1.57e+00 + 8 1.093047e+05 3.45e-08 5.41e-01 2.03e-03 1.01e+00 6.56e+07 1 1.48e-01 1.71e+00 + + +Bundle adjustment report +------------------------ + Residuals : 282234 + Parameters : 63280 + Iterations : 9 + Time : 1.72924 [s] + Initial cost : 0.628704 [px] + Final cost : 0.622322 [px] + Termination : Convergence + + => Merged observations: 48 + => Completed observations: 38 + => Filtered observations: 21 + => Changed observations: 0.000758 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.094995e+05 0.00e+00 1.30e+04 0.00e+00 0.00e+00 1.00e+04 0 7.72e-02 4.48e-01 + 1 1.093980e+05 1.01e+02 4.68e+02 3.23e+00 1.00e+00 3.00e+04 1 1.57e-01 6.05e-01 + 2 1.093979e+05 8.96e-02 1.30e+01 4.35e-01 1.00e+00 9.00e+04 1 1.49e-01 7.54e-01 + 3 1.093979e+05 6.34e-03 2.04e+00 3.82e-01 1.00e+00 2.70e+05 1 1.43e-01 8.97e-01 + 4 1.093979e+05 2.73e-03 1.45e+01 4.50e-01 9.99e-01 8.10e+05 1 1.42e-01 1.04e+00 + 5 1.093979e+05 4.41e-04 4.00e+00 2.30e-01 9.98e-01 2.43e+06 1 1.44e-01 1.18e+00 + 6 1.093979e+05 1.28e-05 1.97e+00 4.33e-02 1.00e+00 7.29e+06 1 1.44e-01 1.33e+00 + 7 1.093979e+05 5.37e-08 7.66e-01 2.82e-03 9.92e-01 2.19e+07 1 1.47e-01 1.47e+00 + + +Bundle adjustment report +------------------------ + Residuals : 282266 + Parameters : 63262 + Iterations : 8 + Time : 1.48796 [s] + Initial cost : 0.62284 [px] + Final cost : 0.622551 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 0 + => Filtered observations: 6 + => Changed observations: 0.000113 + => Filtered images: 0 + +============================================================================== +Registering image #7 (22) +============================================================================== + + => Image sees 4571 / 6781 points + +Pose refinement report +---------------------- + Residuals : 9398 + Parameters : 6 + Iterations : 9 + Time : 0.0711679 [s] + Initial cost : 0.594411 [px] + Final cost : 0.582134 [px] + Termination : Convergence + + => Continued observations: 4541 + => Added observations: 1391 + +Bundle adjustment report +------------------------ + Residuals : 104724 + Parameters : 12298 + Iterations : 26 + Time : 0.976144 [s] + Initial cost : 0.55374 [px] + Final cost : 0.537867 [px] + Termination : No convergence + + => Merged observations: 236 + => Completed observations: 197 + => Filtered observations: 420 + => Changed observations: 0.016290 + +Bundle adjustment report +------------------------ + Residuals : 104368 + Parameters : 12163 + Iterations : 3 + Time : 0.166636 [s] + Initial cost : 0.656735 [px] + Final cost : 0.650106 [px] + Termination : Convergence + + => Merged observations: 78 + => Completed observations: 70 + => Filtered observations: 10 + => Changed observations: 0.003028 + +============================================================================== +Registering image #35 (23) +============================================================================== + + => Image sees 4846 / 6505 points + +Pose refinement report +---------------------- + Residuals : 10024 + Parameters : 6 + Iterations : 15 + Time : 0.125985 [s] + Initial cost : 0.731113 [px] + Final cost : 0.588738 [px] + Termination : Convergence + + => Continued observations: 4794 + => Added observations: 1075 + +Bundle adjustment report +------------------------ + Residuals : 126526 + Parameters : 11113 + Iterations : 26 + Time : 1.1445 [s] + Initial cost : 0.537094 [px] + Final cost : 0.527989 [px] + Termination : No convergence + + => Merged observations: 424 + => Completed observations: 161 + => Filtered observations: 636 + => Changed observations: 0.019300 + +Bundle adjustment report +------------------------ + Residuals : 124256 + Parameters : 10768 + Iterations : 3 + Time : 0.1957 [s] + Initial cost : 0.659366 [px] + Final cost : 0.652914 [px] + Termination : Convergence + + => Merged observations: 60 + => Completed observations: 127 + => Filtered observations: 11 + => Changed observations: 0.003187 + +============================================================================== +Registering image #25 (24) +============================================================================== + + => Image sees 4692 / 6431 points + +Pose refinement report +---------------------- + Residuals : 9782 + Parameters : 6 + Iterations : 13 + Time : 0.101188 [s] + Initial cost : 0.591314 [px] + Final cost : 0.58513 [px] + Termination : Convergence + + => Continued observations: 4650 + => Added observations: 1294 + +Bundle adjustment report +------------------------ + Residuals : 111926 + Parameters : 10516 + Iterations : 24 + Time : 0.935858 [s] + Initial cost : 0.556702 [px] + Final cost : 0.545096 [px] + Termination : Convergence + + => Merged observations: 444 + => Completed observations: 183 + => Filtered observations: 556 + => Changed observations: 0.021139 + +Bundle adjustment report +------------------------ + Residuals : 111242 + Parameters : 10324 + Iterations : 3 + Time : 0.179847 [s] + Initial cost : 0.660366 [px] + Final cost : 0.653368 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 118 + => Filtered observations: 11 + => Changed observations: 0.002679 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 109 + => Completed observations: 236 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.304419e+05 0.00e+00 1.07e+06 0.00e+00 0.00e+00 1.00e+04 0 8.73e-02 5.11e-01 + 1 1.292042e+05 1.24e+03 7.30e+03 9.36e+00 1.00e+00 3.00e+04 1 1.86e-01 6.97e-01 + 2 1.291822e+05 2.20e+01 3.30e+04 1.75e+01 9.96e-01 9.00e+04 1 1.66e-01 8.63e-01 + 3 1.291555e+05 2.67e+01 8.06e+04 3.22e+01 9.87e-01 2.70e+05 1 1.68e-01 1.03e+00 + 4 1.291404e+05 1.51e+01 8.70e+04 3.48e+01 9.77e-01 8.10e+05 1 1.67e-01 1.20e+00 + 5 1.291379e+05 2.49e+00 1.92e+04 1.67e+01 9.91e-01 2.43e+06 1 1.68e-01 1.37e+00 + 6 1.291378e+05 7.02e-02 5.77e+02 2.91e+00 9.99e-01 7.29e+06 1 1.70e-01 1.54e+00 + 7 1.291378e+05 2.07e-04 2.16e+00 1.70e-01 1.01e+00 2.19e+07 1 1.73e-01 1.71e+00 + 8 1.291378e+05 1.48e-07 8.65e-01 3.73e-03 1.02e+00 6.56e+07 1 1.66e-01 1.87e+00 + + +Bundle adjustment report +------------------------ + Residuals : 316194 + Parameters : 67189 + Iterations : 9 + Time : 1.88999 [s] + Initial cost : 0.642291 [px] + Final cost : 0.639072 [px] + Termination : Convergence + + => Merged observations: 43 + => Completed observations: 95 + => Filtered observations: 48 + => Changed observations: 0.001176 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.291785e+05 0.00e+00 1.25e+04 0.00e+00 0.00e+00 1.00e+04 0 8.86e-02 5.10e-01 + 1 1.290809e+05 9.76e+01 9.28e+01 4.33e+00 1.00e+00 3.00e+04 1 1.84e-01 6.94e-01 + 2 1.290808e+05 1.25e-01 2.19e+01 6.19e-01 1.00e+00 9.00e+04 1 1.63e-01 8.57e-01 + 3 1.290808e+05 3.32e-02 8.71e+01 1.07e+00 9.99e-01 2.70e+05 1 1.70e-01 1.03e+00 + 4 1.290807e+05 1.87e-02 1.06e+02 1.17e+00 9.98e-01 8.10e+05 1 1.69e-01 1.20e+00 + 5 1.290807e+05 2.67e-03 2.34e+01 5.52e-01 9.97e-01 2.43e+06 1 1.60e-01 1.36e+00 + 6 1.290807e+05 6.59e-05 2.00e+00 9.53e-02 9.99e-01 7.29e+06 1 1.66e-01 1.52e+00 + 7 1.290807e+05 2.28e-07 1.04e+00 5.54e-03 1.01e+00 2.19e+07 1 1.60e-01 1.68e+00 + 8 1.290807e+05 3.20e-10 3.44e-02 1.21e-04 1.78e+00 6.56e+07 1 1.59e-01 1.84e+00 + + +Bundle adjustment report +------------------------ + Residuals : 316090 + Parameters : 67120 + Iterations : 9 + Time : 1.85821 [s] + Initial cost : 0.639278 [px] + Final cost : 0.639036 [px] + Termination : Convergence + + => Merged observations: 2 + => Completed observations: 0 + => Filtered observations: 10 + => Changed observations: 0.000076 + => Filtered images: 0 + +============================================================================== +Registering image #11 (25) +============================================================================== + + => Image sees 4210 / 6089 points + +Pose refinement report +---------------------- + Residuals : 8670 + Parameters : 6 + Iterations : 10 + Time : 0.0743711 [s] + Initial cost : 0.676881 [px] + Final cost : 0.593926 [px] + Termination : Convergence + + => Continued observations: 4160 + => Added observations: 1461 + +Bundle adjustment report +------------------------ + Residuals : 95820 + Parameters : 10465 + Iterations : 13 + Time : 0.498001 [s] + Initial cost : 0.577515 [px] + Final cost : 0.564213 [px] + Termination : Convergence + + => Merged observations: 227 + => Completed observations: 221 + => Filtered observations: 557 + => Changed observations: 0.020977 + +Bundle adjustment report +------------------------ + Residuals : 100158 + Parameters : 10285 + Iterations : 3 + Time : 0.163502 [s] + Initial cost : 0.670179 [px] + Final cost : 0.662366 [px] + Termination : Convergence + + => Merged observations: 52 + => Completed observations: 125 + => Filtered observations: 11 + => Changed observations: 0.003754 + +============================================================================== +Registering image #34 (26) +============================================================================== + + => Image sees 4798 / 6558 points + +Pose refinement report +---------------------- + Residuals : 10046 + Parameters : 6 + Iterations : 10 + Time : 0.0865948 [s] + Initial cost : 0.670926 [px] + Final cost : 0.57244 [px] + Termination : Convergence + + => Continued observations: 4758 + => Added observations: 1079 + +Bundle adjustment report +------------------------ + Residuals : 123786 + Parameters : 10648 + Iterations : 26 + Time : 1.19786 [s] + Initial cost : 0.543563 [px] + Final cost : 0.534531 [px] + Termination : No convergence + + => Merged observations: 393 + => Completed observations: 188 + => Filtered observations: 572 + => Changed observations: 0.018629 + +Bundle adjustment report +------------------------ + Residuals : 123078 + Parameters : 10486 + Iterations : 3 + Time : 0.194582 [s] + Initial cost : 0.645447 [px] + Final cost : 0.639148 [px] + Termination : Convergence + + => Merged observations: 115 + => Completed observations: 109 + => Filtered observations: 10 + => Changed observations: 0.003802 + +============================================================================== +Registering image #26 (27) +============================================================================== + + => Image sees 4626 / 6422 points + +Pose refinement report +---------------------- + Residuals : 9632 + Parameters : 6 + Iterations : 17 + Time : 0.137986 [s] + Initial cost : 0.717565 [px] + Final cost : 0.617002 [px] + Termination : Convergence + + => Continued observations: 4578 + => Added observations: 1376 + +Bundle adjustment report +------------------------ + Residuals : 103738 + Parameters : 9898 + Iterations : 26 + Time : 0.961408 [s] + Initial cost : 0.580748 [px] + Final cost : 0.56863 [px] + Termination : No convergence + + => Merged observations: 414 + => Completed observations: 176 + => Filtered observations: 699 + => Changed observations: 0.024851 + +Bundle adjustment report +------------------------ + Residuals : 108126 + Parameters : 9850 + Iterations : 3 + Time : 0.174076 [s] + Initial cost : 0.681399 [px] + Final cost : 0.673983 [px] + Termination : Convergence + + => Merged observations: 26 + => Completed observations: 123 + => Filtered observations: 13 + => Changed observations: 0.002997 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 125 + => Completed observations: 258 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.497575e+05 0.00e+00 1.66e+06 0.00e+00 0.00e+00 1.00e+04 0 8.76e-02 5.93e-01 + 1 1.484931e+05 1.26e+03 4.36e+03 9.37e+00 1.00e+00 3.00e+04 1 2.06e-01 7.99e-01 + 2 1.484913e+05 1.78e+00 8.77e+02 2.78e+00 1.00e+00 9.00e+04 1 1.95e-01 9.94e-01 + 3 1.484912e+05 1.57e-01 5.04e+02 2.21e+00 9.98e-01 2.70e+05 1 1.80e-01 1.17e+00 + 4 1.484911e+05 5.07e-02 3.08e+02 2.04e+00 9.97e-01 8.10e+05 1 1.90e-01 1.36e+00 + 5 1.484911e+05 7.03e-03 6.14e+01 9.35e-01 9.96e-01 2.43e+06 1 1.84e-01 1.55e+00 + 6 1.484911e+05 1.68e-04 1.98e+00 1.58e-01 9.98e-01 7.29e+06 1 1.86e-01 1.73e+00 + 7 1.484911e+05 5.45e-07 1.57e+00 8.86e-03 1.01e+00 2.19e+07 1 1.93e-01 1.93e+00 + 8 1.484911e+05 -6.11e-10 0.00e+00 1.81e-04 -1.62e+00 1.09e+07 1 1.24e-01 2.05e+00 + 9 1.484911e+05 8.15e-10 4.45e-02 1.80e-04 2.16e+00 3.28e+07 1 1.81e-01 2.23e+00 + + +Bundle adjustment report +------------------------ + Residuals : 349028 + Parameters : 71128 + Iterations : 10 + Time : 2.24937 [s] + Initial cost : 0.655034 [px] + Final cost : 0.652259 [px] + Termination : Convergence + + => Merged observations: 41 + => Completed observations: 28 + => Filtered observations: 36 + => Changed observations: 0.000602 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.484895e+05 0.00e+00 1.19e+04 0.00e+00 0.00e+00 1.00e+04 0 8.25e-02 5.61e-01 + 1 1.484170e+05 7.25e+01 9.61e+01 3.05e+00 1.00e+00 3.00e+04 1 1.97e-01 7.57e-01 + 2 1.484169e+05 1.17e-01 2.65e+00 7.73e-01 1.00e+00 9.00e+04 1 1.71e-01 9.28e-01 + 3 1.484169e+05 1.77e-03 1.96e+00 1.20e-01 1.00e+00 2.70e+05 1 1.71e-01 1.10e+00 + 4 1.484169e+05 1.23e-04 1.99e+00 8.18e-02 9.98e-01 8.10e+05 1 1.80e-01 1.28e+00 + 5 1.484169e+05 1.66e-05 2.00e+00 3.87e-02 9.96e-01 2.43e+06 1 1.78e-01 1.46e+00 + 6 1.484169e+05 3.93e-07 1.25e+00 6.55e-03 9.97e-01 7.29e+06 1 1.80e-01 1.64e+00 + 7 1.484169e+05 1.11e-09 1.03e-01 3.66e-04 8.73e-01 1.25e+07 1 1.83e-01 1.82e+00 + + +Bundle adjustment report +------------------------ + Residuals : 349026 + Parameters : 71116 + Iterations : 8 + Time : 1.83771 [s] + Initial cost : 0.652257 [px] + Final cost : 0.652098 [px] + Termination : Convergence + + => Merged observations: 4 + => Completed observations: 26 + => Filtered observations: 10 + => Changed observations: 0.000229 + => Filtered images: 0 + +============================================================================== +Registering image #40 (28) +============================================================================== + + => Image sees 6721 / 9259 points + +Pose refinement report +---------------------- + Residuals : 13856 + Parameters : 6 + Iterations : 21 + Time : 0.228432 [s] + Initial cost : 0.692367 [px] + Final cost : 0.635662 [px] + Termination : Convergence + + => Continued observations: 6668 + => Added observations: 1767 + +Bundle adjustment report +------------------------ + Residuals : 143032 + Parameters : 16045 + Iterations : 26 + Time : 1.39947 [s] + Initial cost : 0.566681 [px] + Final cost : 0.552362 [px] + Termination : No convergence + + => Merged observations: 380 + => Completed observations: 169 + => Filtered observations: 965 + => Changed observations: 0.021170 + +Bundle adjustment report +------------------------ + Residuals : 140936 + Parameters : 16015 + Iterations : 3 + Time : 0.234283 [s] + Initial cost : 0.659543 [px] + Final cost : 0.652661 [px] + Termination : Convergence + + => Merged observations: 68 + => Completed observations: 154 + => Filtered observations: 22 + => Changed observations: 0.003463 + +============================================================================== +Registering image #41 (29) +============================================================================== + + => Image sees 6680 / 9261 points + +Pose refinement report +---------------------- + Residuals : 13888 + Parameters : 6 + Iterations : 13 + Time : 0.15472 [s] + Initial cost : 0.590454 [px] + Final cost : 0.58041 [px] + Termination : Convergence + + => Continued observations: 6629 + => Added observations: 1841 + +Bundle adjustment report +------------------------ + Residuals : 141352 + Parameters : 15550 + Iterations : 23 + Time : 1.20966 [s] + Initial cost : 0.556218 [px] + Final cost : 0.544426 [px] + Termination : Convergence + + => Merged observations: 548 + => Completed observations: 230 + => Filtered observations: 777 + => Changed observations: 0.022002 + +Bundle adjustment report +------------------------ + Residuals : 140338 + Parameters : 15319 + Iterations : 3 + Time : 0.223833 [s] + Initial cost : 0.653202 [px] + Final cost : 0.646683 [px] + Termination : Convergence + + => Merged observations: 54 + => Completed observations: 164 + => Filtered observations: 11 + => Changed observations: 0.003264 + +============================================================================== +Registering image #42 (30) +============================================================================== + + => Image sees 6677 / 9247 points + +Pose refinement report +---------------------- + Residuals : 13912 + Parameters : 6 + Iterations : 15 + Time : 0.165485 [s] + Initial cost : 0.691356 [px] + Final cost : 0.600836 [px] + Termination : Convergence + + => Continued observations: 6613 + => Added observations: 1904 + +Bundle adjustment report +------------------------ + Residuals : 137876 + Parameters : 15190 + Iterations : 26 + Time : 1.31446 [s] + Initial cost : 0.579319 [px] + Final cost : 0.565682 [px] + Termination : No convergence + + => Merged observations: 645 + => Completed observations: 247 + => Filtered observations: 871 + => Changed observations: 0.025574 + +Bundle adjustment report +------------------------ + Residuals : 138036 + Parameters : 14980 + Iterations : 3 + Time : 0.216342 [s] + Initial cost : 0.672142 [px] + Final cost : 0.664962 [px] + Termination : Convergence + + => Merged observations: 55 + => Completed observations: 178 + => Filtered observations: 48 + => Changed observations: 0.004071 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 223 + => Completed observations: 383 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.827659e+05 0.00e+00 7.82e+06 0.00e+00 0.00e+00 1.00e+04 0 1.00e-01 6.46e-01 + 1 1.780668e+05 4.70e+03 1.21e+05 2.27e+01 1.00e+00 3.00e+04 1 2.24e-01 8.70e-01 + 2 1.779647e+05 1.02e+02 1.49e+05 3.41e+01 9.93e-01 9.00e+04 1 2.02e-01 1.07e+00 + 3 1.778590e+05 1.06e+02 3.03e+05 5.38e+01 9.72e-01 2.70e+05 1 2.04e-01 1.28e+00 + 4 1.778068e+05 5.22e+01 2.66e+05 5.10e+01 9.55e-01 8.10e+05 1 2.08e-01 1.48e+00 + 5 1.777987e+05 8.07e+00 4.44e+04 2.05e+01 9.88e-01 2.43e+06 1 2.10e-01 1.69e+00 + 6 1.777985e+05 1.68e-01 9.25e+02 2.96e+00 9.98e-01 7.29e+06 1 1.92e-01 1.89e+00 + 7 1.777985e+05 2.75e-04 2.00e+00 1.38e-01 1.01e+00 2.19e+07 1 2.00e-01 2.09e+00 + 8 1.777985e+05 1.40e-07 6.36e-01 2.40e-03 1.02e+00 6.56e+07 1 2.07e-01 2.29e+00 + + +Bundle adjustment report +------------------------ + Residuals : 396832 + Parameters : 77005 + Iterations : 9 + Time : 2.31205 [s] + Initial cost : 0.678647 [px] + Final cost : 0.669362 [px] + Termination : Convergence + + => Merged observations: 128 + => Completed observations: 131 + => Filtered observations: 50 + => Changed observations: 0.001557 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.784084e+05 0.00e+00 7.90e+04 0.00e+00 0.00e+00 1.00e+04 0 1.01e-01 6.60e-01 + 1 1.781952e+05 2.13e+02 1.89e+03 5.04e+00 1.00e+00 3.00e+04 1 2.28e-01 8.88e-01 + 2 1.781943e+05 8.61e-01 8.86e+02 2.34e+00 9.99e-01 9.00e+04 1 2.09e-01 1.10e+00 + 3 1.781939e+05 4.55e-01 1.33e+03 3.35e+00 9.97e-01 2.70e+05 1 2.07e-01 1.30e+00 + 4 1.781937e+05 2.11e-01 1.09e+03 3.18e+00 9.96e-01 8.10e+05 1 2.10e-01 1.51e+00 + 5 1.781936e+05 2.38e-02 1.80e+02 1.30e+00 9.95e-01 2.43e+06 1 2.05e-01 1.72e+00 + 6 1.781936e+05 4.30e-04 3.66e+00 1.88e-01 9.97e-01 7.29e+06 1 2.02e-01 1.92e+00 + 7 1.781936e+05 1.02e-06 1.70e+00 8.78e-03 1.00e+00 2.19e+07 1 1.97e-01 2.12e+00 + 8 1.781936e+05 1.43e-09 4.44e-02 1.52e-04 2.35e+00 6.56e+07 1 1.98e-01 2.32e+00 + + +Bundle adjustment report +------------------------ + Residuals : 396984 + Parameters : 76975 + Iterations : 9 + Time : 2.33469 [s] + Initial cost : 0.67038 [px] + Final cost : 0.669977 [px] + Termination : Convergence + + => Merged observations: 35 + => Completed observations: 54 + => Filtered observations: 12 + => Changed observations: 0.000509 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.783402e+05 0.00e+00 1.62e+04 0.00e+00 0.00e+00 1.00e+04 0 1.03e-01 6.55e-01 + 1 1.782952e+05 4.50e+01 2.91e+02 2.93e+00 1.00e+00 3.00e+04 1 2.47e-01 9.02e-01 + 2 1.782951e+05 9.46e-02 8.41e+01 8.32e-01 9.99e-01 9.00e+04 1 2.25e-01 1.13e+00 + 3 1.782950e+05 3.55e-02 1.05e+02 9.32e-01 9.97e-01 2.70e+05 1 2.12e-01 1.34e+00 + 4 1.782950e+05 1.64e-02 8.52e+01 8.86e-01 9.96e-01 8.10e+05 1 2.10e-01 1.55e+00 + 5 1.782950e+05 1.85e-03 1.40e+01 3.61e-01 9.95e-01 2.43e+06 1 2.12e-01 1.76e+00 + 6 1.782950e+05 3.33e-05 1.96e+00 5.24e-02 9.97e-01 7.29e+06 1 2.21e-01 1.98e+00 + 7 1.782950e+05 7.93e-08 6.16e-01 2.44e-03 1.01e+00 2.19e+07 1 2.32e-01 2.21e+00 + + +Bundle adjustment report +------------------------ + Residuals : 397024 + Parameters : 76966 + Iterations : 8 + Time : 2.23214 [s] + Initial cost : 0.670218 [px] + Final cost : 0.670133 [px] + Termination : Convergence + + => Merged observations: 12 + => Completed observations: 22 + => Filtered observations: 4 + => Changed observations: 0.000191 + => Filtered images: 0 + +============================================================================== +Registering image #8 (31) +============================================================================== + + => Image sees 4592 / 6531 points + +Pose refinement report +---------------------- + Residuals : 9600 + Parameters : 6 + Iterations : 10 + Time : 0.0854659 [s] + Initial cost : 0.613384 [px] + Final cost : 0.590978 [px] + Termination : Convergence + + => Continued observations: 4558 + => Added observations: 1357 + +Bundle adjustment report +------------------------ + Residuals : 97010 + Parameters : 10738 + Iterations : 26 + Time : 0.94832 [s] + Initial cost : 0.58082 [px] + Final cost : 0.5662 [px] + Termination : No convergence + + => Merged observations: 344 + => Completed observations: 172 + => Filtered observations: 465 + => Changed observations: 0.020225 + +Bundle adjustment report +------------------------ + Residuals : 96702 + Parameters : 10615 + Iterations : 3 + Time : 0.163503 [s] + Initial cost : 0.701148 [px] + Final cost : 0.694234 [px] + Termination : Convergence + + => Merged observations: 37 + => Completed observations: 82 + => Filtered observations: 12 + => Changed observations: 0.002709 + +============================================================================== +Registering image #27 (32) +============================================================================== + + => Image sees 4529 / 6358 points + +Pose refinement report +---------------------- + Residuals : 9534 + Parameters : 6 + Iterations : 9 + Time : 0.073019 [s] + Initial cost : 0.595442 [px] + Final cost : 0.576137 [px] + Termination : Convergence + + => Continued observations: 4485 + => Added observations: 1265 + +Bundle adjustment report +------------------------ + Residuals : 95720 + Parameters : 9391 + Iterations : 26 + Time : 0.921826 [s] + Initial cost : 0.582928 [px] + Final cost : 0.569854 [px] + Termination : No convergence + + => Merged observations: 296 + => Completed observations: 195 + => Filtered observations: 578 + => Changed observations: 0.022336 + +Bundle adjustment report +------------------------ + Residuals : 95232 + Parameters : 9259 + Iterations : 3 + Time : 0.167305 [s] + Initial cost : 0.69665 [px] + Final cost : 0.688788 [px] + Termination : Convergence + + => Merged observations: 94 + => Completed observations: 101 + => Filtered observations: 8 + => Changed observations: 0.004263 + +============================================================================== +Registering image #39 (33) +============================================================================== + + => Image sees 6877 / 8939 points + +Pose refinement report +---------------------- + Residuals : 14434 + Parameters : 6 + Iterations : 12 + Time : 0.136971 [s] + Initial cost : 0.600787 [px] + Final cost : 0.567703 [px] + Termination : Convergence + + => Continued observations: 6828 + => Added observations: 1783 + +Bundle adjustment report +------------------------ + Residuals : 140740 + Parameters : 14260 + Iterations : 17 + Time : 0.868242 [s] + Initial cost : 0.564125 [px] + Final cost : 0.554157 [px] + Termination : Convergence + + => Merged observations: 357 + => Completed observations: 286 + => Filtered observations: 698 + => Changed observations: 0.019056 + +Bundle adjustment report +------------------------ + Residuals : 139924 + Parameters : 14059 + Iterations : 4 + Time : 0.265576 [s] + Initial cost : 0.679307 [px] + Final cost : 0.671873 [px] + Termination : Convergence + + => Merged observations: 73 + => Completed observations: 147 + => Filtered observations: 5 + => Changed observations: 0.003216 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 179 + => Completed observations: 331 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.014926e+05 0.00e+00 3.43e+05 0.00e+00 0.00e+00 1.00e+04 0 1.11e-01 7.26e-01 + 1 1.999315e+05 1.56e+03 1.66e+04 9.51e+00 1.00e+00 3.00e+04 1 2.63e-01 9.89e-01 + 2 1.999272e+05 4.27e+00 3.89e+03 5.96e+00 1.00e+00 9.00e+04 1 2.29e-01 1.22e+00 + 3 1.999244e+05 2.83e+00 7.91e+03 8.43e+00 9.97e-01 2.70e+05 1 2.24e-01 1.44e+00 + 4 1.999231e+05 1.31e+00 6.77e+03 7.93e+00 9.95e-01 8.10e+05 1 2.39e-01 1.68e+00 + 5 1.999229e+05 1.47e-01 1.10e+03 3.20e+00 9.95e-01 2.43e+06 1 2.34e-01 1.92e+00 + 6 1.999229e+05 2.61e-03 2.24e+01 4.60e-01 9.97e-01 7.29e+06 1 2.41e-01 2.16e+00 + 7 1.999229e+05 6.10e-06 2.00e+00 2.14e-02 1.01e+00 2.19e+07 1 2.31e-01 2.39e+00 + 8 1.999229e+05 3.32e-09 1.06e-01 3.76e-04 9.96e-01 6.56e+07 1 2.28e-01 2.62e+00 + + +Bundle adjustment report +------------------------ + Residuals : 436174 + Parameters : 81571 + Iterations : 9 + Time : 2.63472 [s] + Initial cost : 0.679672 [px] + Final cost : 0.67702 [px] + Termination : Convergence + + => Merged observations: 66 + => Completed observations: 147 + => Filtered observations: 64 + => Changed observations: 0.001270 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.999853e+05 0.00e+00 8.00e+03 0.00e+00 0.00e+00 1.00e+04 0 1.12e-01 7.09e-01 + 1 1.998799e+05 1.05e+02 8.04e+02 2.62e+00 1.00e+00 3.00e+04 1 2.57e-01 9.65e-01 + 2 1.998795e+05 3.26e-01 4.19e+02 1.75e+00 9.99e-01 9.00e+04 1 2.43e-01 1.21e+00 + 3 1.998793e+05 2.68e-01 7.57e+02 2.75e+00 9.98e-01 2.70e+05 1 2.44e-01 1.45e+00 + 4 1.998792e+05 1.24e-01 6.40e+02 2.60e+00 9.96e-01 8.10e+05 1 2.48e-01 1.70e+00 + 5 1.998791e+05 1.37e-02 1.03e+02 1.05e+00 9.95e-01 2.43e+06 1 2.43e-01 1.94e+00 + 6 1.998791e+05 2.41e-04 2.05e+00 1.50e-01 9.97e-01 7.29e+06 1 2.24e-01 2.17e+00 + 7 1.998791e+05 5.65e-07 1.12e+00 6.96e-03 1.01e+00 2.19e+07 1 2.26e-01 2.39e+00 + 8 1.998791e+05 1.43e-09 3.24e-02 1.22e-04 4.63e+00 6.56e+07 1 2.23e-01 2.62e+00 + + +Bundle adjustment report +------------------------ + Residuals : 436144 + Parameters : 81535 + Iterations : 9 + Time : 2.63698 [s] + Initial cost : 0.677149 [px] + Final cost : 0.676969 [px] + Termination : Convergence + + => Merged observations: 13 + => Completed observations: 129 + => Filtered observations: 8 + => Changed observations: 0.000688 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.999791e+05 0.00e+00 8.43e+03 0.00e+00 0.00e+00 1.00e+04 0 1.02e-01 7.06e-01 + 1 1.999597e+05 1.94e+01 1.05e+02 9.10e-01 1.00e+00 3.00e+04 1 2.57e-01 9.63e-01 + 2 1.999597e+05 2.50e-02 2.64e+01 4.09e-01 9.99e-01 9.00e+04 1 2.36e-01 1.20e+00 + 3 1.999597e+05 1.71e-02 4.71e+01 6.88e-01 9.98e-01 2.70e+05 1 2.30e-01 1.43e+00 + 4 1.999597e+05 7.94e-03 4.10e+01 6.56e-01 9.96e-01 8.10e+05 1 2.23e-01 1.65e+00 + 5 1.999597e+05 8.75e-04 6.67e+00 2.64e-01 9.95e-01 2.43e+06 1 2.20e-01 1.87e+00 + 6 1.999597e+05 1.54e-05 2.00e+00 3.80e-02 9.97e-01 7.29e+06 1 2.21e-01 2.09e+00 + 7 1.999597e+05 3.46e-08 4.22e-01 1.76e-03 9.63e-01 2.19e+07 1 2.36e-01 2.33e+00 + + +Bundle adjustment report +------------------------ + Residuals : 436154 + Parameters : 81517 + Iterations : 8 + Time : 2.34681 [s] + Initial cost : 0.67713 [px] + Final cost : 0.677098 [px] + Termination : Convergence + + => Merged observations: 2 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000014 + => Filtered images: 0 + +============================================================================== +Registering image #52 (34) +============================================================================== + + => Image sees 6986 / 9394 points + +Pose refinement report +---------------------- + Residuals : 14680 + Parameters : 6 + Iterations : 16 + Time : 0.193868 [s] + Initial cost : 0.702207 [px] + Final cost : 0.637565 [px] + Termination : Convergence + + => Continued observations: 6938 + => Added observations: 1513 + +Bundle adjustment report +------------------------ + Residuals : 139196 + Parameters : 14734 + Iterations : 20 + Time : 1.01977 [s] + Initial cost : 0.594532 [px] + Final cost : 0.58078 [px] + Termination : Convergence + + => Merged observations: 413 + => Completed observations: 212 + => Filtered observations: 892 + => Changed observations: 0.021797 + +Bundle adjustment report +------------------------ + Residuals : 138182 + Parameters : 14584 + Iterations : 3 + Time : 0.222695 [s] + Initial cost : 0.707879 [px] + Final cost : 0.700849 [px] + Termination : Convergence + + => Merged observations: 103 + => Completed observations: 111 + => Filtered observations: 15 + => Changed observations: 0.003314 + +============================================================================== +Registering image #33 (35) +============================================================================== + + => Image sees 5050 / 6555 points + +Pose refinement report +---------------------- + Residuals : 10874 + Parameters : 6 + Iterations : 21 + Time : 0.184597 [s] + Initial cost : 0.792989 [px] + Final cost : 0.647178 [px] + Termination : Convergence + + => Continued observations: 5000 + => Added observations: 1053 + +Bundle adjustment report +------------------------ + Residuals : 112458 + Parameters : 8965 + Iterations : 26 + Time : 1.12504 [s] + Initial cost : 0.601265 [px] + Final cost : 0.591616 [px] + Termination : No convergence + + => Merged observations: 485 + => Completed observations: 177 + => Filtered observations: 811 + => Changed observations: 0.026196 + +Bundle adjustment report +------------------------ + Residuals : 111188 + Parameters : 8713 + Iterations : 3 + Time : 0.177161 [s] + Initial cost : 0.726761 [px] + Final cost : 0.71974 [px] + Termination : Convergence + + => Merged observations: 50 + => Completed observations: 124 + => Filtered observations: 40 + => Changed observations: 0.003849 + +============================================================================== +Registering image #38 (36) +============================================================================== + + => Image sees 6794 / 8641 points + +Pose refinement report +---------------------- + Residuals : 14322 + Parameters : 6 + Iterations : 9 + Time : 0.102369 [s] + Initial cost : 0.620017 [px] + Final cost : 0.555707 [px] + Termination : Convergence + + => Continued observations: 6746 + => Added observations: 1528 + +Bundle adjustment report +------------------------ + Residuals : 136362 + Parameters : 13189 + Iterations : 26 + Time : 1.29131 [s] + Initial cost : 0.57541 [px] + Final cost : 0.561859 [px] + Termination : No convergence + + => Merged observations: 375 + => Completed observations: 301 + => Filtered observations: 730 + => Changed observations: 0.020622 + +Bundle adjustment report +------------------------ + Residuals : 135862 + Parameters : 13033 + Iterations : 3 + Time : 0.218279 [s] + Initial cost : 0.687083 [px] + Final cost : 0.679852 [px] + Termination : Convergence + + => Merged observations: 89 + => Completed observations: 106 + => Filtered observations: 11 + => Changed observations: 0.003032 + +============================================================================== +Registering image #32 (37) +============================================================================== + + => Image sees 4673 / 6475 points + +Pose refinement report +---------------------- + Residuals : 10006 + Parameters : 6 + Iterations : 15 + Time : 0.11795 [s] + Initial cost : 0.792334 [px] + Final cost : 0.630346 [px] + Termination : Convergence + + => Continued observations: 4616 + => Added observations: 1205 + +Bundle adjustment report +------------------------ + Residuals : 100582 + Parameters : 8377 + Iterations : 26 + Time : 1.01575 [s] + Initial cost : 0.615472 [px] + Final cost : 0.602725 [px] + Termination : No convergence + + => Merged observations: 353 + => Completed observations: 193 + => Filtered observations: 771 + => Changed observations: 0.026188 + +Bundle adjustment report +------------------------ + Residuals : 99578 + Parameters : 8155 + Iterations : 3 + Time : 0.161634 [s] + Initial cost : 0.720561 [px] + Final cost : 0.713533 [px] + Termination : Convergence + + => Merged observations: 48 + => Completed observations: 140 + => Filtered observations: 8 + => Changed observations: 0.003937 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 284 + => Completed observations: 542 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.380748e+05 0.00e+00 5.94e+05 0.00e+00 0.00e+00 1.00e+04 0 1.23e-01 8.19e-01 + 1 2.351513e+05 2.92e+03 1.71e+02 1.38e+01 1.00e+00 3.00e+04 1 2.73e-01 1.09e+00 + 2 2.351449e+05 6.44e+00 1.15e+03 6.36e+00 1.00e+00 9.00e+04 1 2.60e-01 1.35e+00 + 3 2.351416e+05 3.24e+00 6.92e+03 9.31e+00 9.98e-01 2.70e+05 1 2.57e-01 1.61e+00 + 4 2.351402e+05 1.48e+00 7.19e+03 8.97e+00 9.96e-01 8.10e+05 1 2.73e-01 1.88e+00 + 5 2.351400e+05 1.63e-01 1.16e+03 3.61e+00 9.97e-01 2.43e+06 1 2.67e-01 2.15e+00 + 6 2.351400e+05 2.91e-03 2.42e+01 5.21e-01 1.00e+00 7.29e+06 1 2.62e-01 2.41e+00 + 7 2.351400e+05 7.16e-06 2.00e+00 2.51e-02 1.01e+00 2.19e+07 1 2.56e-01 2.67e+00 + 8 2.351400e+05 3.78e-09 1.14e-01 4.84e-04 8.56e-01 3.43e+07 1 2.40e-01 2.91e+00 + + +Bundle adjustment report +------------------------ + Residuals : 489820 + Parameters : 86719 + Iterations : 9 + Time : 2.92898 [s] + Initial cost : 0.69717 [px] + Final cost : 0.692859 [px] + Termination : Convergence + + => Merged observations: 89 + => Completed observations: 128 + => Filtered observations: 56 + => Changed observations: 0.001115 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.354849e+05 0.00e+00 4.04e+03 0.00e+00 0.00e+00 1.00e+04 0 1.22e-01 8.24e-01 + 1 2.353479e+05 1.37e+02 3.42e+01 2.28e+00 1.00e+00 3.00e+04 1 2.87e-01 1.11e+00 + 2 2.353478e+05 1.04e-01 1.35e+01 4.04e-01 1.00e+00 9.00e+04 1 2.75e-01 1.39e+00 + 3 2.353478e+05 5.10e-03 1.51e+01 3.10e-01 9.98e-01 2.70e+05 1 2.76e-01 1.66e+00 + 4 2.353478e+05 1.95e-03 1.01e+01 2.73e-01 9.97e-01 8.10e+05 1 2.55e-01 1.92e+00 + 5 2.353478e+05 2.10e-04 2.00e+00 1.08e-01 9.97e-01 2.43e+06 1 2.52e-01 2.17e+00 + 6 2.353478e+05 3.71e-06 2.00e+00 1.55e-02 1.00e+00 7.29e+06 1 2.60e-01 2.43e+00 + 7 2.353478e+05 8.93e-09 1.97e-01 7.42e-04 9.82e-01 2.19e+07 1 2.71e-01 2.70e+00 + + +Bundle adjustment report +------------------------ + Residuals : 489868 + Parameters : 86683 + Iterations : 8 + Time : 2.72286 [s] + Initial cost : 0.693333 [px] + Final cost : 0.693131 [px] + Termination : Convergence + + => Merged observations: 15 + => Completed observations: 23 + => Filtered observations: 20 + => Changed observations: 0.000237 + => Filtered images: 0 + +============================================================================== +Registering image #9 (38) +============================================================================== + + => Image sees 4343 / 6110 points + +Pose refinement report +---------------------- + Residuals : 9172 + Parameters : 6 + Iterations : 12 + Time : 0.13271 [s] + Initial cost : 0.694876 [px] + Final cost : 0.620122 [px] + Termination : Convergence + + => Continued observations: 4292 + => Added observations: 1148 + +Bundle adjustment report +------------------------ + Residuals : 88986 + Parameters : 9769 + Iterations : 26 + Time : 0.881587 [s] + Initial cost : 0.605025 [px] + Final cost : 0.587754 [px] + Termination : No convergence + + => Merged observations: 353 + => Completed observations: 161 + => Filtered observations: 492 + => Changed observations: 0.022610 + +Bundle adjustment report +------------------------ + Residuals : 87146 + Parameters : 9796 + Iterations : 3 + Time : 0.144342 [s] + Initial cost : 0.731987 [px] + Final cost : 0.72417 [px] + Termination : Convergence + + => Merged observations: 82 + => Completed observations: 86 + => Filtered observations: 37 + => Changed observations: 0.004705 + +============================================================================== +Registering image #31 (39) +============================================================================== + + => Image sees 4545 / 6613 points + +Pose refinement report +---------------------- + Residuals : 9654 + Parameters : 6 + Iterations : 12 + Time : 0.093538 [s] + Initial cost : 0.704756 [px] + Final cost : 0.604658 [px] + Termination : Convergence + + => Continued observations: 4474 + => Added observations: 1262 + +Bundle adjustment report +------------------------ + Residuals : 97536 + Parameters : 8266 + Iterations : 26 + Time : 1.00395 [s] + Initial cost : 0.626261 [px] + Final cost : 0.613329 [px] + Termination : No convergence + + => Merged observations: 285 + => Completed observations: 170 + => Filtered observations: 690 + => Changed observations: 0.023479 + +Bundle adjustment report +------------------------ + Residuals : 96652 + Parameters : 8071 + Iterations : 3 + Time : 0.167265 [s] + Initial cost : 0.7436 [px] + Final cost : 0.735885 [px] + Termination : Convergence + + => Merged observations: 68 + => Completed observations: 120 + => Filtered observations: 22 + => Changed observations: 0.004345 + +============================================================================== +Registering image #45 (40) +============================================================================== + + => Image sees 5682 / 8488 points + +Pose refinement report +---------------------- + Residuals : 11980 + Parameters : 6 + Iterations : 10 + Time : 0.0994709 [s] + Initial cost : 0.628048 [px] + Final cost : 0.602787 [px] + Termination : Convergence + + => Continued observations: 5616 + => Added observations: 1643 + +Bundle adjustment report +------------------------ + Residuals : 125710 + Parameters : 11782 + Iterations : 18 + Time : 0.842427 [s] + Initial cost : 0.593001 [px] + Final cost : 0.577656 [px] + Termination : Convergence + + => Merged observations: 360 + => Completed observations: 189 + => Filtered observations: 785 + => Changed observations: 0.021223 + +Bundle adjustment report +------------------------ + Residuals : 124680 + Parameters : 11599 + Iterations : 3 + Time : 0.193924 [s] + Initial cost : 0.702814 [px] + Final cost : 0.695656 [px] + Termination : Convergence + + => Merged observations: 117 + => Completed observations: 133 + => Filtered observations: 34 + => Changed observations: 0.004556 + +============================================================================== +Registering image #43 (41) +============================================================================== + + => Image sees 4759 / 6058 points + +Pose refinement report +---------------------- + Residuals : 10560 + Parameters : 6 + Iterations : 9 + Time : 0.106126 [s] + Initial cost : 0.665555 [px] + Final cost : 0.626252 [px] + Termination : Convergence + + => Continued observations: 4708 + => Added observations: 1218 + +Bundle adjustment report +------------------------ + Residuals : 96434 + Parameters : 7762 + Iterations : 26 + Time : 0.976458 [s] + Initial cost : 0.624872 [px] + Final cost : 0.612926 [px] + Termination : No convergence + + => Merged observations: 645 + => Completed observations: 254 + => Filtered observations: 1029 + => Changed observations: 0.039986 + +Bundle adjustment report +------------------------ + Residuals : 99744 + Parameters : 7585 + Iterations : 3 + Time : 0.182062 [s] + Initial cost : 0.730588 [px] + Final cost : 0.72268 [px] + Termination : Convergence + + => Merged observations: 54 + => Completed observations: 172 + => Filtered observations: 99 + => Changed observations: 0.006517 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 504 + => Completed observations: 864 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.787750e+05 0.00e+00 2.25e+07 0.00e+00 0.00e+00 1.00e+04 0 1.22e-01 8.97e-01 + 1 2.636217e+05 1.52e+04 2.57e+04 1.08e+01 1.00e+00 3.00e+04 1 3.12e-01 1.21e+00 + 2 2.636019e+05 1.98e+01 2.26e+04 1.18e+01 9.98e-01 9.00e+04 1 2.77e-01 1.49e+00 + 3 2.635829e+05 1.90e+01 5.02e+04 1.95e+01 9.94e-01 2.70e+05 1 2.82e-01 1.77e+00 + 4 2.635746e+05 8.35e+00 4.06e+04 1.79e+01 9.92e-01 8.10e+05 1 2.70e-01 2.04e+00 + 5 2.635737e+05 8.89e-01 5.98e+03 6.95e+00 9.95e-01 2.43e+06 1 2.67e-01 2.31e+00 + 6 2.635737e+05 1.48e-02 1.13e+02 9.57e-01 9.99e-01 7.29e+06 1 2.67e-01 2.57e+00 + 7 2.635737e+05 3.10e-05 2.00e+00 4.31e-02 1.01e+00 2.19e+07 1 2.76e-01 2.85e+00 + 8 2.635737e+05 1.53e-08 1.87e-01 7.56e-04 9.30e-01 6.02e+07 1 2.70e-01 3.12e+00 + + +Bundle adjustment report +------------------------ + Residuals : 535526 + Parameters : 91873 + Iterations : 9 + Time : 3.14216 [s] + Initial cost : 0.7215 [px] + Final cost : 0.701553 [px] + Termination : Convergence + + => Merged observations: 202 + => Completed observations: 314 + => Filtered observations: 141 + => Changed observations: 0.002454 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.640884e+05 0.00e+00 3.48e+05 0.00e+00 0.00e+00 1.00e+04 0 1.29e-01 9.08e-01 + 1 2.638179e+05 2.70e+02 2.61e+02 5.31e+00 1.00e+00 3.00e+04 1 3.14e-01 1.22e+00 + 2 2.638177e+05 2.62e-01 2.66e+01 8.43e-01 1.00e+00 9.00e+04 1 2.69e-01 1.49e+00 + 3 2.638177e+05 1.78e-02 4.61e+01 5.91e-01 9.98e-01 2.70e+05 1 2.74e-01 1.77e+00 + 4 2.638177e+05 7.21e-03 3.50e+01 5.26e-01 9.97e-01 8.10e+05 1 2.67e-01 2.03e+00 + 5 2.638176e+05 7.28e-04 4.98e+00 2.01e-01 9.96e-01 2.43e+06 1 2.77e-01 2.31e+00 + 6 2.638176e+05 1.17e-05 1.99e+00 2.74e-02 9.98e-01 7.29e+06 1 2.75e-01 2.58e+00 + 7 2.638176e+05 2.58e-08 2.85e-01 1.22e-03 1.02e+00 2.19e+07 1 2.69e-01 2.85e+00 + + +Bundle adjustment report +------------------------ + Residuals : 535588 + Parameters : 91777 + Iterations : 8 + Time : 2.87646 [s] + Initial cost : 0.702197 [px] + Final cost : 0.701837 [px] + Termination : Convergence + + => Merged observations: 24 + => Completed observations: 37 + => Filtered observations: 26 + => Changed observations: 0.000325 + => Filtered images: 0 + +============================================================================== +Registering image #44 (42) +============================================================================== + + => Image sees 4725 / 6277 points + +Pose refinement report +---------------------- + Residuals : 10388 + Parameters : 6 + Iterations : 8 + Time : 0.073585 [s] + Initial cost : 0.636848 [px] + Final cost : 0.579099 [px] + Termination : Convergence + + => Continued observations: 4682 + => Added observations: 1181 + +Bundle adjustment report +------------------------ + Residuals : 95446 + Parameters : 9205 + Iterations : 26 + Time : 1.00461 [s] + Initial cost : 0.637404 [px] + Final cost : 0.626261 [px] + Termination : No convergence + + => Merged observations: 467 + => Completed observations: 206 + => Filtered observations: 853 + => Changed observations: 0.031976 + +Bundle adjustment report +------------------------ + Residuals : 94436 + Parameters : 8974 + Iterations : 3 + Time : 0.148243 [s] + Initial cost : 0.764345 [px] + Final cost : 0.756329 [px] + Termination : Convergence + + => Merged observations: 39 + => Completed observations: 231 + => Filtered observations: 15 + => Changed observations: 0.006036 + +============================================================================== +Registering image #30 (43) +============================================================================== + + => Image sees 4858 / 7018 points + +Pose refinement report +---------------------- + Residuals : 10464 + Parameters : 6 + Iterations : 12 + Time : 0.102878 [s] + Initial cost : 0.710309 [px] + Final cost : 0.613679 [px] + Termination : Convergence + + => Continued observations: 4802 + => Added observations: 1443 + +Bundle adjustment report +------------------------ + Residuals : 88204 + Parameters : 8989 + Iterations : 26 + Time : 0.92247 [s] + Initial cost : 0.633294 [px] + Final cost : 0.615476 [px] + Termination : No convergence + + => Merged observations: 281 + => Completed observations: 235 + => Filtered observations: 784 + => Changed observations: 0.029477 + +Bundle adjustment report +------------------------ + Residuals : 87558 + Parameters : 8779 + Iterations : 3 + Time : 0.143817 [s] + Initial cost : 0.746306 [px] + Final cost : 0.73898 [px] + Termination : Convergence + + => Merged observations: 142 + => Completed observations: 137 + => Filtered observations: 13 + => Changed observations: 0.006670 + +============================================================================== +Registering image #28 (44) +============================================================================== + + => Image sees 4934 / 6478 points + +Pose refinement report +---------------------- + Residuals : 10690 + Parameters : 6 + Iterations : 10 + Time : 0.0972159 [s] + Initial cost : 0.6375 [px] + Final cost : 0.590154 [px] + Termination : Convergence + + => Continued observations: 4878 + => Added observations: 1263 + +Bundle adjustment report +------------------------ + Residuals : 91230 + Parameters : 9181 + Iterations : 26 + Time : 0.977568 [s] + Initial cost : 0.612257 [px] + Final cost : 0.597542 [px] + Termination : No convergence + + => Merged observations: 562 + => Completed observations: 247 + => Filtered observations: 644 + => Changed observations: 0.031854 + +Bundle adjustment report +------------------------ + Residuals : 89548 + Parameters : 9265 + Iterations : 3 + Time : 0.145518 [s] + Initial cost : 0.72418 [px] + Final cost : 0.71524 [px] + Termination : Convergence + + => Merged observations: 127 + => Completed observations: 137 + => Filtered observations: 29 + => Changed observations: 0.006544 + +============================================================================== +Registering image #10 (45) +============================================================================== + + => Image sees 4749 / 5903 points + +Pose refinement report +---------------------- + Residuals : 10226 + Parameters : 6 + Iterations : 9 + Time : 0.0774181 [s] + Initial cost : 0.654249 [px] + Final cost : 0.590045 [px] + Termination : Convergence + + => Continued observations: 4700 + => Added observations: 1033 + +Bundle adjustment report +------------------------ + Residuals : 87252 + Parameters : 8653 + Iterations : 26 + Time : 0.875248 [s] + Initial cost : 0.612711 [px] + Final cost : 0.598267 [px] + Termination : No convergence + + => Merged observations: 369 + => Completed observations: 249 + => Filtered observations: 578 + => Changed observations: 0.027415 + +Bundle adjustment report +------------------------ + Residuals : 86864 + Parameters : 8536 + Iterations : 3 + Time : 0.136281 [s] + Initial cost : 0.735868 [px] + Final cost : 0.729114 [px] + Termination : Convergence + + => Merged observations: 41 + => Completed observations: 110 + => Filtered observations: 13 + => Changed observations: 0.003776 + +============================================================================== +Registering image #29 (46) +============================================================================== + + => Image sees 4863 / 6830 points + +Pose refinement report +---------------------- + Residuals : 10528 + Parameters : 6 + Iterations : 10 + Time : 0.0842721 [s] + Initial cost : 0.62003 [px] + Final cost : 0.59956 [px] + Termination : Convergence + + => Continued observations: 4809 + => Added observations: 1169 + +Bundle adjustment report +------------------------ + Residuals : 89256 + Parameters : 8791 + Iterations : 26 + Time : 0.938436 [s] + Initial cost : 0.619865 [px] + Final cost : 0.60374 [px] + Termination : No convergence + + => Merged observations: 722 + => Completed observations: 262 + => Filtered observations: 700 + => Changed observations: 0.037734 + +Bundle adjustment report +------------------------ + Residuals : 87778 + Parameters : 8599 + Iterations : 3 + Time : 0.140534 [s] + Initial cost : 0.72691 [px] + Final cost : 0.718599 [px] + Termination : Convergence + + => Merged observations: 144 + => Completed observations: 157 + => Filtered observations: 40 + => Changed observations: 0.007770 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 363 + => Completed observations: 885 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.008986e+05 0.00e+00 8.13e+06 0.00e+00 0.00e+00 1.00e+04 0 1.42e-01 1.00e+00 + 1 2.962288e+05 4.67e+03 1.32e+04 1.39e+01 1.00e+00 3.00e+04 1 3.40e-01 1.34e+00 + 2 2.962042e+05 2.46e+01 1.40e+04 1.39e+01 9.98e-01 9.00e+04 1 2.96e-01 1.64e+00 + 3 2.961780e+05 2.61e+01 6.25e+04 2.28e+01 9.93e-01 2.70e+05 1 3.06e-01 1.95e+00 + 4 2.961667e+05 1.13e+01 5.32e+04 2.10e+01 9.90e-01 8.10e+05 1 3.04e-01 2.25e+00 + 5 2.961656e+05 1.17e+00 7.61e+03 8.01e+00 9.94e-01 2.43e+06 1 3.04e-01 2.55e+00 + 6 2.961655e+05 1.84e-02 1.35e+02 1.07e+00 9.97e-01 7.29e+06 1 2.98e-01 2.85e+00 + 7 2.961655e+05 3.37e-05 2.00e+00 4.50e-02 1.00e+00 2.19e+07 1 3.00e-01 3.15e+00 + 8 2.961655e+05 1.62e-08 1.48e-01 6.71e-04 1.13e+00 6.56e+07 1 3.10e-01 3.46e+00 + + +Bundle adjustment report +------------------------ + Residuals : 592470 + Parameters : 97456 + Iterations : 9 + Time : 3.48845 [s] + Initial cost : 0.712651 [px] + Final cost : 0.707024 [px] + Termination : Convergence + + => Merged observations: 131 + => Completed observations: 589 + => Filtered observations: 150 + => Changed observations: 0.002937 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.962600e+05 0.00e+00 9.52e+04 0.00e+00 0.00e+00 1.00e+04 0 1.43e-01 1.01e+00 + 1 2.960314e+05 2.29e+02 8.47e+01 2.97e+00 1.00e+00 3.00e+04 1 3.48e-01 1.36e+00 + 2 2.960312e+05 1.56e-01 5.92e+00 4.96e-01 1.00e+00 9.00e+04 1 3.06e-01 1.66e+00 + 3 2.960312e+05 2.51e-02 5.15e+01 6.42e-01 9.98e-01 2.70e+05 1 3.16e-01 1.98e+00 + 4 2.960312e+05 1.04e-02 4.78e+01 6.02e-01 9.96e-01 8.10e+05 1 3.15e-01 2.30e+00 + 5 2.960312e+05 1.02e-03 6.74e+00 2.28e-01 9.95e-01 2.43e+06 1 3.28e-01 2.62e+00 + 6 2.960312e+05 1.55e-05 2.00e+00 3.02e-02 9.96e-01 7.29e+06 1 3.27e-01 2.95e+00 + 7 2.960312e+05 3.15e-08 2.75e-01 1.26e-03 1.06e+00 2.19e+07 1 3.23e-01 3.27e+00 + + +Bundle adjustment report +------------------------ + Residuals : 592336 + Parameters : 97303 + Iterations : 8 + Time : 3.29815 [s] + Initial cost : 0.707217 [px] + Final cost : 0.706943 [px] + Termination : Convergence + + => Merged observations: 23 + => Completed observations: 102 + => Filtered observations: 28 + => Changed observations: 0.000517 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.959347e+05 0.00e+00 2.12e+04 0.00e+00 0.00e+00 1.00e+04 0 1.32e-01 9.85e-01 + 1 2.958838e+05 5.09e+01 1.34e+01 6.60e-01 1.00e+00 3.00e+04 1 3.25e-01 1.31e+00 + 2 2.958838e+05 4.64e-03 1.99e+00 5.09e-02 1.00e+00 9.00e+04 1 3.06e-01 1.62e+00 + 3 2.958838e+05 1.56e-04 2.00e+00 5.46e-02 9.97e-01 2.70e+05 1 3.00e-01 1.92e+00 + 4 2.958838e+05 5.66e-05 1.99e+00 4.51e-02 9.96e-01 8.10e+05 1 3.01e-01 2.22e+00 + 5 2.958838e+05 5.50e-06 2.00e+00 1.68e-02 9.95e-01 2.43e+06 1 2.90e-01 2.51e+00 + 6 2.958838e+05 8.31e-08 4.77e-01 2.22e-03 9.92e-01 7.29e+06 1 2.98e-01 2.81e+00 + + +Bundle adjustment report +------------------------ + Residuals : 592326 + Parameters : 97291 + Iterations : 7 + Time : 2.82984 [s] + Initial cost : 0.706834 [px] + Final cost : 0.706773 [px] + Termination : Convergence + + => Merged observations: 4 + => Completed observations: 0 + => Filtered observations: 8 + => Changed observations: 0.000041 + => Filtered images: 0 + +============================================================================== +Registering image #46 (47) +============================================================================== + + => Image sees 4614 / 6331 points + +Pose refinement report +---------------------- + Residuals : 9946 + Parameters : 6 + Iterations : 10 + Time : 0.082268 [s] + Initial cost : 0.70806 [px] + Final cost : 0.606096 [px] + Termination : Convergence + + => Continued observations: 4560 + => Added observations: 921 + +Bundle adjustment report +------------------------ + Residuals : 89748 + Parameters : 8773 + Iterations : 25 + Time : 0.867286 [s] + Initial cost : 0.610521 [px] + Final cost : 0.596792 [px] + Termination : Convergence + + => Merged observations: 439 + => Completed observations: 159 + => Filtered observations: 745 + => Changed observations: 0.029928 + +Bundle adjustment report +------------------------ + Residuals : 88620 + Parameters : 8524 + Iterations : 3 + Time : 0.158643 [s] + Initial cost : 0.714796 [px] + Final cost : 0.706725 [px] + Termination : Convergence + + => Merged observations: 32 + => Completed observations: 143 + => Filtered observations: 13 + => Changed observations: 0.004243 + +============================================================================== +Registering image #51 (48) +============================================================================== + + => Image sees 4881 / 6265 points + +Pose refinement report +---------------------- + Residuals : 10740 + Parameters : 6 + Iterations : 15 + Time : 0.128249 [s] + Initial cost : 0.718832 [px] + Final cost : 0.687289 [px] + Termination : Convergence + + => Continued observations: 4815 + => Added observations: 1090 + +Bundle adjustment report +------------------------ + Residuals : 107208 + Parameters : 7414 + Iterations : 26 + Time : 1.11095 [s] + Initial cost : 0.637149 [px] + Final cost : 0.626411 [px] + Termination : No convergence + + => Merged observations: 419 + => Completed observations: 143 + => Filtered observations: 958 + => Changed observations: 0.028356 + +Bundle adjustment report +------------------------ + Residuals : 101474 + Parameters : 7033 + Iterations : 3 + Time : 0.171662 [s] + Initial cost : 0.774302 [px] + Final cost : 0.766617 [px] + Termination : Convergence + + => Merged observations: 58 + => Completed observations: 143 + => Filtered observations: 88 + => Changed observations: 0.005696 + +============================================================================== +Registering image #50 (49) +============================================================================== + + => Image sees 4891 / 6366 points + +Pose refinement report +---------------------- + Residuals : 10676 + Parameters : 6 + Iterations : 13 + Time : 0.113196 [s] + Initial cost : 0.763053 [px] + Final cost : 0.694177 [px] + Termination : Convergence + + => Continued observations: 4788 + => Added observations: 1218 + +Bundle adjustment report +------------------------ + Residuals : 98818 + Parameters : 7720 + Iterations : 26 + Time : 1.01046 [s] + Initial cost : 0.65873 [px] + Final cost : 0.644708 [px] + Termination : No convergence + + => Merged observations: 576 + => Completed observations: 258 + => Filtered observations: 1109 + => Changed observations: 0.039325 + +Bundle adjustment report +------------------------ + Residuals : 97340 + Parameters : 7459 + Iterations : 3 + Time : 0.155846 [s] + Initial cost : 0.780278 [px] + Final cost : 0.772189 [px] + Termination : Convergence + + => Merged observations: 68 + => Completed observations: 176 + => Filtered observations: 32 + => Changed observations: 0.005671 + +============================================================================== +Registering image #49 (50) +============================================================================== + + => Image sees 4807 / 6388 points + +Pose refinement report +---------------------- + Residuals : 10472 + Parameters : 6 + Iterations : 13 + Time : 0.126273 [s] + Initial cost : 0.71576 [px] + Final cost : 0.661807 [px] + Termination : Convergence + + => Continued observations: 4741 + => Added observations: 1326 + +Bundle adjustment report +------------------------ + Residuals : 88536 + Parameters : 8251 + Iterations : 26 + Time : 0.968201 [s] + Initial cost : 0.655087 [px] + Final cost : 0.641654 [px] + Termination : No convergence + + => Merged observations: 591 + => Completed observations: 247 + => Filtered observations: 847 + => Changed observations: 0.038064 + +Bundle adjustment report +------------------------ + Residuals : 87508 + Parameters : 7984 + Iterations : 3 + Time : 0.1417 [s] + Initial cost : 0.781109 [px] + Final cost : 0.773008 [px] + Termination : Convergence + + => Merged observations: 136 + => Completed observations: 206 + => Filtered observations: 51 + => Changed observations: 0.008982 + +============================================================================== +Registering image #61 (51) +============================================================================== + + => Image sees 6448 / 8350 points + +Pose refinement report +---------------------- + Residuals : 14036 + Parameters : 6 + Iterations : 13 + Time : 0.142831 [s] + Initial cost : 0.716974 [px] + Final cost : 0.651867 [px] + Termination : Convergence + + => Continued observations: 6380 + => Added observations: 1350 + +Bundle adjustment report +------------------------ + Residuals : 125758 + Parameters : 11281 + Iterations : 18 + Time : 0.837128 [s] + Initial cost : 0.624339 [px] + Final cost : 0.60826 [px] + Termination : Convergence + + => Merged observations: 981 + => Completed observations: 321 + => Filtered observations: 970 + => Changed observations: 0.036133 + +Bundle adjustment report +------------------------ + Residuals : 125018 + Parameters : 11065 + Iterations : 3 + Time : 0.197033 [s] + Initial cost : 0.74598 [px] + Final cost : 0.738806 [px] + Termination : Convergence + + => Merged observations: 221 + => Completed observations: 168 + => Filtered observations: 15 + => Changed observations: 0.006463 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 468 + => Completed observations: 1068 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.481203e+05 0.00e+00 8.57e+06 0.00e+00 0.00e+00 1.00e+04 0 1.52e-01 1.21e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 9.1357e+06 + Nonzeros in L: 45451 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.2 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 9.1357e+06 + nnz(L): 45451 + OK + 1 3.411598e+05 6.96e+03 4.09e+04 1.35e+01 1.00e+00 3.00e+04 1 1.06e+00 2.26e+00 + 2 3.411246e+05 3.52e+01 3.54e+04 1.70e+01 9.98e-01 9.00e+04 1 3.76e-01 2.64e+00 + 3 3.410892e+05 3.54e+01 9.02e+04 2.56e+01 9.93e-01 2.70e+05 1 3.76e-01 3.02e+00 + 4 3.410750e+05 1.43e+01 6.53e+04 2.20e+01 9.92e-01 8.10e+05 1 3.79e-01 3.39e+00 + 5 3.410736e+05 1.38e+00 8.42e+03 7.99e+00 9.97e-01 2.43e+06 1 3.69e-01 3.76e+00 + 6 3.410736e+05 2.04e-02 1.40e+02 1.04e+00 1.00e+00 7.29e+06 1 3.73e-01 4.14e+00 + 7 3.410736e+05 3.90e-05 2.00e+00 4.52e-02 1.01e+00 2.19e+07 1 3.78e-01 4.51e+00 + 8 3.410736e+05 1.83e-08 1.77e-01 8.03e-04 9.45e-01 6.56e+07 1 3.83e-01 4.90e+00 + + +Bundle adjustment report +------------------------ + Residuals : 649490 + Parameters : 102811 + Iterations : 9 + Time : 4.92432 [s] + Initial cost : 0.732114 [px] + Final cost : 0.724666 [px] + Termination : Convergence + + => Merged observations: 193 + => Completed observations: 234 + => Filtered observations: 149 + => Changed observations: 0.001774 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.413578e+05 0.00e+00 1.56e+05 0.00e+00 0.00e+00 1.00e+04 0 1.53e-01 1.23e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 9.1357e+06 + Nonzeros in L: 45451 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.2 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 9.1357e+06 + nnz(L): 45451 + OK + 1 3.410917e+05 2.66e+02 5.87e+02 2.63e+00 1.00e+00 3.00e+04 1 1.02e+00 2.25e+00 + 2 3.410915e+05 1.29e-01 7.10e+00 4.09e-01 1.00e+00 9.00e+04 1 3.49e-01 2.60e+00 + 3 3.410915e+05 2.22e-02 4.15e+01 5.54e-01 9.99e-01 2.70e+05 1 3.71e-01 2.97e+00 + 4 3.410915e+05 8.53e-03 3.70e+01 5.04e-01 9.98e-01 8.10e+05 1 3.64e-01 3.34e+00 + 5 3.410915e+05 7.69e-04 4.71e+00 1.82e-01 9.98e-01 2.43e+06 1 3.64e-01 3.70e+00 + 6 3.410915e+05 1.10e-05 2.00e+00 2.34e-02 1.00e+00 7.29e+06 1 3.66e-01 4.07e+00 + 7 3.410915e+05 2.21e-08 2.17e-01 1.01e-03 9.96e-01 2.19e+07 1 3.42e-01 4.41e+00 + + +Bundle adjustment report +------------------------ + Residuals : 649474 + Parameters : 102706 + Iterations : 8 + Time : 4.43377 [s] + Initial cost : 0.724977 [px] + Final cost : 0.724694 [px] + Termination : Convergence + + => Merged observations: 40 + => Completed observations: 186 + => Filtered observations: 31 + => Changed observations: 0.000791 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.411001e+05 0.00e+00 2.05e+04 0.00e+00 0.00e+00 1.00e+04 0 1.47e-01 1.19e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 9.1357e+06 + Nonzeros in L: 45451 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.2 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 9.1357e+06 + nnz(L): 45451 + OK + 1 3.410447e+05 5.54e+01 2.59e+01 1.84e+00 1.00e+00 3.00e+04 1 1.03e+00 2.22e+00 + 2 3.410447e+05 3.47e-02 3.06e+00 1.93e-01 1.00e+00 9.00e+04 1 3.57e-01 2.58e+00 + 3 3.410447e+05 3.10e-04 1.99e+00 6.65e-02 9.99e-01 2.70e+05 1 3.68e-01 2.94e+00 + 4 3.410447e+05 8.93e-05 2.00e+00 5.27e-02 9.98e-01 8.10e+05 1 3.64e-01 3.31e+00 + 5 3.410447e+05 8.01e-06 2.00e+00 1.86e-02 9.98e-01 2.43e+06 1 3.69e-01 3.68e+00 + 6 3.410447e+05 1.14e-07 4.89e-01 2.38e-03 9.98e-01 7.29e+06 1 3.65e-01 4.04e+00 + + +Bundle adjustment report +------------------------ + Residuals : 649492 + Parameters : 102691 + Iterations : 7 + Time : 4.06924 [s] + Initial cost : 0.724693 [px] + Final cost : 0.724634 [px] + Termination : Convergence + + => Merged observations: 15 + => Completed observations: 0 + => Filtered observations: 13 + => Changed observations: 0.000086 + => Filtered images: 0 + +============================================================================== +Registering image #48 (52) +============================================================================== + + => Image sees 4605 / 6058 points + +Pose refinement report +---------------------- + Residuals : 9980 + Parameters : 6 + Iterations : 11 + Time : 0.0919099 [s] + Initial cost : 0.643859 [px] + Final cost : 0.622905 [px] + Termination : Convergence + + => Continued observations: 4529 + => Added observations: 1329 + +Bundle adjustment report +------------------------ + Residuals : 89902 + Parameters : 9226 + Iterations : 26 + Time : 0.917689 [s] + Initial cost : 0.639819 [px] + Final cost : 0.624387 [px] + Termination : No convergence + + => Merged observations: 310 + => Completed observations: 200 + => Filtered observations: 781 + => Changed observations: 0.028720 + +Bundle adjustment report +------------------------ + Residuals : 88746 + Parameters : 8983 + Iterations : 3 + Time : 0.149107 [s] + Initial cost : 0.749478 [px] + Final cost : 0.740633 [px] + Termination : Convergence + + => Merged observations: 90 + => Completed observations: 175 + => Filtered observations: 17 + => Changed observations: 0.006355 + +============================================================================== +Registering image #60 (53) +============================================================================== + + => Image sees 6688 / 8373 points + +Pose refinement report +---------------------- + Residuals : 14694 + Parameters : 6 + Iterations : 14 + Time : 0.161087 [s] + Initial cost : 0.674495 [px] + Final cost : 0.641445 [px] + Termination : Convergence + + => Continued observations: 6612 + => Added observations: 1353 + +Bundle adjustment report +------------------------ + Residuals : 126128 + Parameters : 11362 + Iterations : 26 + Time : 1.18543 [s] + Initial cost : 0.631213 [px] + Final cost : 0.617813 [px] + Termination : No convergence + + => Merged observations: 512 + => Completed observations: 265 + => Filtered observations: 879 + => Changed observations: 0.026259 + +Bundle adjustment report +------------------------ + Residuals : 125036 + Parameters : 11122 + Iterations : 3 + Time : 0.1974 [s] + Initial cost : 0.762042 [px] + Final cost : 0.755185 [px] + Termination : Convergence + + => Merged observations: 126 + => Completed observations: 150 + => Filtered observations: 31 + => Changed observations: 0.004911 + +============================================================================== +Registering image #62 (54) +============================================================================== + + => Image sees 4723 / 5854 points + +Pose refinement report +---------------------- + Residuals : 10630 + Parameters : 6 + Iterations : 22 + Time : 0.184777 [s] + Initial cost : 0.721994 [px] + Final cost : 0.679314 [px] + Termination : Convergence + + => Continued observations: 4641 + => Added observations: 1000 + +Bundle adjustment report +------------------------ + Residuals : 91424 + Parameters : 7261 + Iterations : 26 + Time : 0.947203 [s] + Initial cost : 0.671119 [px] + Final cost : 0.656691 [px] + Termination : No convergence + + => Merged observations: 373 + => Completed observations: 223 + => Filtered observations: 960 + => Changed observations: 0.034039 + +Bundle adjustment report +------------------------ + Residuals : 89188 + Parameters : 7078 + Iterations : 3 + Time : 0.169499 [s] + Initial cost : 0.786358 [px] + Final cost : 0.777902 [px] + Termination : Convergence + + => Merged observations: 85 + => Completed observations: 184 + => Filtered observations: 60 + => Changed observations: 0.007378 + +============================================================================== +Registering image #54 (55) +============================================================================== + + => Image sees 6988 / 8542 points + +Pose refinement report +---------------------- + Residuals : 15414 + Parameters : 6 + Iterations : 9 + Time : 0.112426 [s] + Initial cost : 0.614532 [px] + Final cost : 0.592122 [px] + Termination : Convergence + + => Continued observations: 6930 + => Added observations: 1208 + +Bundle adjustment report +------------------------ + Residuals : 133026 + Parameters : 11215 + Iterations : 26 + Time : 1.25773 [s] + Initial cost : 0.618972 [px] + Final cost : 0.605181 [px] + Termination : No convergence + + => Merged observations: 940 + => Completed observations: 298 + => Filtered observations: 894 + => Changed observations: 0.032054 + +Bundle adjustment report +------------------------ + Residuals : 132342 + Parameters : 11032 + Iterations : 3 + Time : 0.20929 [s] + Initial cost : 0.744581 [px] + Final cost : 0.73761 [px] + Termination : Convergence + + => Merged observations: 173 + => Completed observations: 156 + => Filtered observations: 65 + => Changed observations: 0.005954 + +============================================================================== +Registering image #55 (56) +============================================================================== + + => Image sees 7000 / 8515 points + +Pose refinement report +---------------------- + Residuals : 15218 + Parameters : 6 + Iterations : 11 + Time : 0.133746 [s] + Initial cost : 0.660704 [px] + Final cost : 0.633985 [px] + Termination : Convergence + + => Continued observations: 6927 + => Added observations: 1237 + +Bundle adjustment report +------------------------ + Residuals : 132372 + Parameters : 11425 + Iterations : 26 + Time : 1.24179 [s] + Initial cost : 0.627517 [px] + Final cost : 0.61455 [px] + Termination : No convergence + + => Merged observations: 463 + => Completed observations: 321 + => Filtered observations: 1056 + => Changed observations: 0.027800 + +Bundle adjustment report +------------------------ + Residuals : 133598 + Parameters : 11308 + Iterations : 3 + Time : 0.227792 [s] + Initial cost : 0.747032 [px] + Final cost : 0.740086 [px] + Termination : Convergence + + => Merged observations: 251 + => Completed observations: 133 + => Filtered observations: 21 + => Changed observations: 0.006063 + +============================================================================== +Registering image #53 (57) +============================================================================== + + => Image sees 4967 / 5816 points + +Pose refinement report +---------------------- + Residuals : 11536 + Parameters : 6 + Iterations : 9 + Time : 0.084929 [s] + Initial cost : 0.668532 [px] + Final cost : 0.632264 [px] + Termination : Convergence + + => Continued observations: 4897 + => Added observations: 1072 + +Bundle adjustment report +------------------------ + Residuals : 114032 + Parameters : 6637 + Iterations : 26 + Time : 1.15281 [s] + Initial cost : 0.614977 [px] + Final cost : 0.605332 [px] + Termination : No convergence + + => Merged observations: 820 + => Completed observations: 257 + => Filtered observations: 863 + => Changed observations: 0.034026 + +Bundle adjustment report +------------------------ + Residuals : 109046 + Parameters : 6379 + Iterations : 3 + Time : 0.179015 [s] + Initial cost : 0.764446 [px] + Final cost : 0.75718 [px] + Termination : Convergence + + => Merged observations: 92 + => Completed observations: 180 + => Filtered observations: 58 + => Changed observations: 0.006052 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 598 + => Completed observations: 1566 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.014070e+05 0.00e+00 8.38e+06 0.00e+00 0.00e+00 1.00e+04 0 1.58e-01 1.31e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 1.2814e+07 + Nonzeros in L: 56953 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.2 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 1.2814e+07 + nnz(L): 56953 + OK + 1 3.957982e+05 5.61e+03 3.69e+04 1.09e+01 1.00e+00 3.00e+04 1 1.25e+00 2.57e+00 + 2 3.957890e+05 9.26e+00 7.11e+03 7.56e+00 9.99e-01 9.00e+04 1 4.24e-01 2.99e+00 + 3 3.957815e+05 7.48e+00 1.82e+04 1.09e+01 9.97e-01 2.70e+05 1 4.16e-01 3.41e+00 + 4 3.957787e+05 2.78e+00 1.21e+04 8.97e+00 9.97e-01 8.10e+05 1 4.02e-01 3.81e+00 + 5 3.957785e+05 2.32e-01 1.39e+03 3.05e+00 9.97e-01 2.43e+06 1 4.04e-01 4.22e+00 + 6 3.957785e+05 2.97e-03 1.99e+01 3.68e-01 9.99e-01 7.29e+06 1 4.13e-01 4.63e+00 + 7 3.957785e+05 5.06e-06 1.95e+00 1.47e-02 1.01e+00 2.19e+07 1 3.94e-01 5.02e+00 + 8 3.957785e+05 2.21e-09 4.87e-02 2.31e-04 1.02e+00 6.56e+07 1 4.02e-01 5.43e+00 + + +Bundle adjustment report +------------------------ + Residuals : 727408 + Parameters : 108892 + Iterations : 9 + Time : 5.45477 [s] + Initial cost : 0.742854 [px] + Final cost : 0.737627 [px] + Termination : Convergence + + => Merged observations: 185 + => Completed observations: 692 + => Filtered observations: 156 + => Changed observations: 0.002840 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.963049e+05 0.00e+00 1.37e+05 0.00e+00 0.00e+00 1.00e+04 0 1.63e-01 1.32e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 1.2814e+07 + Nonzeros in L: 56953 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.2 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 1.2814e+07 + nnz(L): 56953 + OK + 1 3.959825e+05 3.22e+02 4.19e+02 4.07e+00 1.00e+00 3.00e+04 1 1.25e+00 2.58e+00 + 2 3.959823e+05 1.73e-01 5.01e+01 7.06e-01 1.00e+00 9.00e+04 1 4.13e-01 2.99e+00 + 3 3.959823e+05 3.86e-02 9.60e+01 7.51e-01 9.98e-01 2.70e+05 1 4.05e-01 3.40e+00 + 4 3.959823e+05 1.39e-02 5.99e+01 6.01e-01 9.98e-01 8.10e+05 1 4.00e-01 3.80e+00 + 5 3.959823e+05 1.14e-03 6.50e+00 2.03e-01 9.97e-01 2.43e+06 1 4.04e-01 4.20e+00 + 6 3.959823e+05 1.45e-05 2.00e+00 2.43e-02 9.99e-01 7.29e+06 1 4.08e-01 4.61e+00 + 7 3.959823e+05 2.28e-08 2.01e-01 9.65e-04 9.24e-01 1.86e+07 1 4.23e-01 5.03e+00 + + +Bundle adjustment report +------------------------ + Residuals : 727404 + Parameters : 108772 + Iterations : 8 + Time : 5.06051 [s] + Initial cost : 0.73812 [px] + Final cost : 0.737819 [px] + Termination : Convergence + + => Merged observations: 39 + => Completed observations: 23 + => Filtered observations: 38 + => Changed observations: 0.000275 + => Filtered images: 0 + +============================================================================== +Registering image #47 (58) +============================================================================== + + => Image sees 4199 / 5145 points + +Pose refinement report +---------------------- + Residuals : 9138 + Parameters : 6 + Iterations : 10 + Time : 0.077462 [s] + Initial cost : 0.682944 [px] + Final cost : 0.615081 [px] + Termination : Convergence + + => Continued observations: 4146 + => Added observations: 767 + +Bundle adjustment report +------------------------ + Residuals : 89066 + Parameters : 8284 + Iterations : 26 + Time : 0.933404 [s] + Initial cost : 0.624819 [px] + Final cost : 0.610316 [px] + Termination : No convergence + + => Merged observations: 256 + => Completed observations: 202 + => Filtered observations: 661 + => Changed observations: 0.025127 + +Bundle adjustment report +------------------------ + Residuals : 89720 + Parameters : 8083 + Iterations : 3 + Time : 0.140406 [s] + Initial cost : 0.756695 [px] + Final cost : 0.748962 [px] + Termination : Convergence + + => Merged observations: 97 + => Completed observations: 107 + => Filtered observations: 21 + => Changed observations: 0.005016 + +============================================================================== +Registering image #59 (59) +============================================================================== + + => Image sees 6076 / 7285 points + +Pose refinement report +---------------------- + Residuals : 13472 + Parameters : 6 + Iterations : 34 + Time : 0.388925 [s] + Initial cost : 0.876784 [px] + Final cost : 0.702565 [px] + Termination : Convergence + + => Continued observations: 6001 + => Added observations: 1041 + +Bundle adjustment report +------------------------ + Residuals : 120952 + Parameters : 9208 + Iterations : 26 + Time : 1.1776 [s] + Initial cost : 0.667706 [px] + Final cost : 0.654348 [px] + Termination : No convergence + + => Merged observations: 491 + => Completed observations: 251 + => Filtered observations: 1479 + => Changed observations: 0.036725 + +Bundle adjustment report +------------------------ + Residuals : 120910 + Parameters : 8938 + Iterations : 3 + Time : 0.190556 [s] + Initial cost : 0.764327 [px] + Final cost : 0.756769 [px] + Termination : Convergence + + => Merged observations: 356 + => Completed observations: 137 + => Filtered observations: 63 + => Changed observations: 0.009197 + +============================================================================== +Registering image #58 (60) +============================================================================== + + => Image sees 5680 / 6952 points + +Pose refinement report +---------------------- + Residuals : 12534 + Parameters : 6 + Iterations : 28 + Time : 0.271341 [s] + Initial cost : 0.727737 [px] + Final cost : 0.656818 [px] + Termination : Convergence + + => Continued observations: 5605 + => Added observations: 1147 + +Bundle adjustment report +------------------------ + Residuals : 116354 + Parameters : 8647 + Iterations : 21 + Time : 0.96298 [s] + Initial cost : 0.662231 [px] + Final cost : 0.649472 [px] + Termination : Convergence + + => Merged observations: 716 + => Completed observations: 251 + => Filtered observations: 1297 + => Changed observations: 0.038916 + +Bundle adjustment report +------------------------ + Residuals : 114708 + Parameters : 8320 + Iterations : 3 + Time : 0.190483 [s] + Initial cost : 0.785858 [px] + Final cost : 0.778162 [px] + Termination : Convergence + + => Merged observations: 60 + => Completed observations: 217 + => Filtered observations: 262 + => Changed observations: 0.009398 + +============================================================================== +Registering image #57 (61) +============================================================================== + + => Image sees 5285 / 6534 points + +Pose refinement report +---------------------- + Residuals : 11648 + Parameters : 6 + Iterations : 15 + Time : 0.14182 [s] + Initial cost : 0.702744 [px] + Final cost : 0.624575 [px] + Termination : Convergence + + => Continued observations: 5241 + => Added observations: 1246 + +Bundle adjustment report +------------------------ + Residuals : 108616 + Parameters : 8260 + Iterations : 26 + Time : 1.11936 [s] + Initial cost : 0.628203 [px] + Final cost : 0.614948 [px] + Termination : No convergence + + => Merged observations: 904 + => Completed observations: 326 + => Filtered observations: 937 + => Changed observations: 0.039902 + +Bundle adjustment report +------------------------ + Residuals : 107580 + Parameters : 7942 + Iterations : 3 + Time : 0.161956 [s] + Initial cost : 0.753741 [px] + Final cost : 0.745225 [px] + Termination : Convergence + + => Merged observations: 116 + => Completed observations: 208 + => Filtered observations: 291 + => Changed observations: 0.011433 + +============================================================================== +Registering image #56 (62) +============================================================================== + + => Image sees 5258 / 6166 points + +Pose refinement report +---------------------- + Residuals : 11368 + Parameters : 6 + Iterations : 13 + Time : 0.123977 [s] + Initial cost : 0.717825 [px] + Final cost : 0.630365 [px] + Termination : Convergence + + => Continued observations: 5218 + => Added observations: 818 + +Bundle adjustment report +------------------------ + Residuals : 111020 + Parameters : 7792 + Iterations : 26 + Time : 1.13053 [s] + Initial cost : 0.615631 [px] + Final cost : 0.602353 [px] + Termination : No convergence + + => Merged observations: 575 + => Completed observations: 290 + => Filtered observations: 738 + => Changed observations: 0.028878 + +Bundle adjustment report +------------------------ + Residuals : 110466 + Parameters : 7624 + Iterations : 3 + Time : 0.175249 [s] + Initial cost : 0.74714 [px] + Final cost : 0.741173 [px] + Termination : Convergence + + => Merged observations: 234 + => Completed observations: 129 + => Filtered observations: 13 + => Changed observations: 0.006808 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 910 + => Completed observations: 1607 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.577826e+05 0.00e+00 3.05e+07 0.00e+00 0.00e+00 1.00e+04 0 1.70e-01 1.48e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 1.6544e+07 + Nonzeros in L: 67528 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.3 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 1.6544e+07 + nnz(L): 67528 + OK + 1 4.379544e+05 1.98e+04 9.18e+04 1.06e+01 1.00e+00 3.00e+04 1 1.42e+00 2.91e+00 + 2 4.379454e+05 9.01e+00 1.56e+03 3.01e+00 1.00e+00 9.00e+04 1 4.75e-01 3.38e+00 + 3 4.379448e+05 5.51e-01 1.00e+02 1.46e+00 9.99e-01 2.70e+05 1 4.40e-01 3.82e+00 + 4 4.379448e+05 1.28e-02 3.24e+01 4.44e-01 9.98e-01 8.10e+05 1 4.37e-01 4.26e+00 + 5 4.379448e+05 3.08e-04 2.16e+00 1.06e-01 9.98e-01 2.43e+06 1 4.37e-01 4.69e+00 + 6 4.379448e+05 3.52e-06 1.72e+00 1.18e-02 1.00e+00 7.29e+06 1 4.58e-01 5.15e+00 + 7 4.379448e+05 4.19e-09 9.16e-02 4.57e-04 6.83e-01 7.67e+06 1 4.65e-01 5.62e+00 + + +Bundle adjustment report +------------------------ + Residuals : 783952 + Parameters : 112702 + Iterations : 8 + Time : 5.64769 [s] + Initial cost : 0.764161 [px] + Final cost : 0.74742 [px] + Termination : Convergence + + => Merged observations: 415 + => Completed observations: 691 + => Filtered observations: 238 + => Changed observations: 0.003429 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.394025e+05 0.00e+00 6.79e+05 0.00e+00 0.00e+00 1.00e+04 0 1.67e-01 1.44e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 1.6544e+07 + Nonzeros in L: 67528 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.3 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 1.6544e+07 + nnz(L): 67528 + OK + 1 4.388820e+05 5.20e+02 1.29e+03 2.71e+00 1.00e+00 3.00e+04 1 1.38e+00 2.82e+00 + 2 4.388819e+05 1.82e-01 2.45e+01 3.20e-01 1.00e+00 9.00e+04 1 4.39e-01 3.25e+00 + 3 4.388819e+05 8.80e-04 2.00e+00 3.87e-02 1.00e+00 2.70e+05 1 4.41e-01 3.70e+00 + 4 4.388819e+05 8.18e-06 1.00e+00 5.06e-03 1.00e+00 8.10e+05 1 4.40e-01 4.14e+00 + 5 4.388819e+05 2.06e-08 6.99e-02 2.47e-04 1.12e+00 2.43e+06 1 4.43e-01 4.58e+00 + + +Bundle adjustment report +------------------------ + Residuals : 784262 + Parameters : 112576 + Iterations : 6 + Time : 4.61078 [s] + Initial cost : 0.748515 [px] + Final cost : 0.748072 [px] + Termination : Convergence + + => Merged observations: 70 + => Completed observations: 170 + => Filtered observations: 57 + => Changed observations: 0.000757 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.388767e+05 0.00e+00 8.58e+04 0.00e+00 0.00e+00 1.00e+04 0 1.79e-01 1.47e+00 + +CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK + Architecture: Linux + sizeof(int): 4 + sizeof(SuiteSparse_long): 8 + sizeof(void *): 8 + sizeof(double): 8 + sizeof(Int): 4 (CHOLMOD's basic integer) + sizeof(BLAS_INT): 4 (integer used in the BLAS) + Results from most recent analysis: + Cholesky flop count: 1.6544e+07 + Nonzeros in L: 67528 + memory blocks in use: 11 + memory in use (MB): 0.0 + peak memory usage (MB): 0.3 + maxrank: update/downdate rank: 8 + supernodal control: 1 40 (supernodal if flops/lnz >= 40) + nmethods: number of ordering methods to try: 1 + method 0: natural + flop count: 1.6544e+07 + nnz(L): 67528 + OK + 1 4.387844e+05 9.23e+01 1.58e+02 1.56e+00 1.00e+00 3.00e+04 1 1.42e+00 2.89e+00 + 2 4.387844e+05 3.01e-02 1.11e+01 1.99e-01 1.00e+00 9.00e+04 1 4.62e-01 3.35e+00 + 3 4.387844e+05 2.53e-03 7.43e+00 1.92e-01 9.98e-01 2.70e+05 1 4.53e-01 3.81e+00 + 4 4.387844e+05 8.06e-04 3.93e+00 1.43e-01 9.97e-01 8.10e+05 1 4.55e-01 4.26e+00 + 5 4.387844e+05 6.33e-05 2.00e+00 4.66e-02 9.97e-01 2.43e+06 1 4.63e-01 4.72e+00 + 6 4.387844e+05 7.67e-07 8.93e-01 5.44e-03 9.98e-01 7.29e+06 1 4.66e-01 5.19e+00 + + +Bundle adjustment report +------------------------ + Residuals : 784288 + Parameters : 112564 + Iterations : 7 + Time : 5.22214 [s] + Initial cost : 0.748055 [px] + Final cost : 0.747976 [px] + Termination : Convergence + + => Merged observations: 20 + => Completed observations: 0 + => Filtered observations: 28 + => Changed observations: 0.000122 + => Filtered images: 0 + +Elapsed time: 4.090 [minutes] diff --git a/llff/horns/database.db b/llff/horns/database.db new file mode 100644 index 0000000000000000000000000000000000000000..05e0d5a575af4eabbbb78127554a306cafce2037 --- /dev/null +++ b/llff/horns/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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+database_path=/home/bmild/fyusion/drive2/auto_pipeline/data5/leafscene/database.db +image_path=/home/bmild/fyusion/drive2/auto_pipeline/data5/leafscene/images +[Mapper] +ignore_watermarks=false +multiple_models=true +extract_colors=true +ba_refine_focal_length=true +ba_refine_principal_point=false +ba_refine_extra_params=true +ba_global_use_pba=true +tri_ignore_two_view_tracks=true +min_num_matches=15 +max_num_models=50 +max_model_overlap=20 +min_model_size=10 +init_image_id1=-1 +init_image_id2=-1 +init_num_trials=200 +num_threads=16 +ba_local_num_images=6 +ba_local_max_num_iterations=25 +ba_global_pba_gpu_index=-1 +ba_global_images_freq=500 +ba_global_points_freq=250000 +ba_global_max_num_iterations=50 +ba_global_max_refinements=5 +ba_local_max_refinements=2 +snapshot_images_freq=0 +init_min_num_inliers=100 +init_max_reg_trials=2 +abs_pose_min_num_inliers=30 +max_reg_trials=3 +tri_max_transitivity=1 +tri_complete_max_transitivity=5 +tri_re_max_trials=1 +min_focal_length_ratio=0.10000000000000001 +max_focal_length_ratio=10 +max_extra_param=1 +ba_global_images_ratio=1.1000000000000001 +ba_global_points_ratio=1.1000000000000001 +ba_global_max_refinement_change=0.00050000000000000001 +ba_local_max_refinement_change=0.001 +init_max_error=4 +init_max_forward_motion=0.94999999999999996 +init_min_tri_angle=4 +abs_pose_max_error=12 +abs_pose_min_inlier_ratio=0.25 +filter_max_reproj_error=4 +filter_min_tri_angle=1.5 +tri_create_max_angle_error=2 +tri_continue_max_angle_error=2 +tri_merge_max_reproj_error=4 +tri_complete_max_reproj_error=4 +tri_re_max_angle_error=5 +tri_re_min_ratio=0.20000000000000001 +tri_min_angle=1.5 +snapshot_path= diff --git a/llff/leaves/trimesh.png b/llff/leaves/trimesh.png new file mode 100644 index 0000000000000000000000000000000000000000..45ccb1d956730818363e5c4678b628b8f5d4ba34 --- /dev/null +++ b/llff/leaves/trimesh.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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Features: 3227 +Processed file [4/41] + Name: DJI_20200226_143854_410.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3361 +Processed file [5/41] + Name: DJI_20200226_143855_969.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3426 +Processed file [6/41] + Name: DJI_20200226_143857_455.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3389 +Processed file [7/41] + Name: DJI_20200226_143858_657.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3498 +Processed file [8/41] + Name: DJI_20200226_143900_082.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3480 +Processed file [9/41] + Name: DJI_20200226_143901_419.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3368 +Processed file [10/41] + Name: DJI_20200226_143902_603.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3137 +Processed file [11/41] + Name: DJI_20200226_143903_817.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3338 +Processed file [12/41] + Name: DJI_20200226_143905_272.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3188 +Processed file [13/41] + Name: DJI_20200226_143906_682.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3013 +Processed file [14/41] + Name: DJI_20200226_143908_032.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3117 +Processed file [15/41] + Name: DJI_20200226_143909_533.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3308 +Processed file [16/41] + Name: DJI_20200226_143910_733.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3391 +Processed file [17/41] + Name: DJI_20200226_143912_008.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3306 +Processed file [18/41] + Name: DJI_20200226_143913_463.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3166 +Processed file [19/41] + Name: DJI_20200226_143914_572.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2944 +Processed file [20/41] + Name: DJI_20200226_143917_136.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2766 +Processed file [21/41] + Name: DJI_20200226_143918_576.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2813 +Processed file [22/41] + Name: DJI_20200226_143920_018.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2703 +Processed file [23/41] + Name: DJI_20200226_143921_201.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2672 +Processed file [24/41] + Name: DJI_20200226_143924_817.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2973 +Processed file [25/41] + Name: DJI_20200226_143926_241.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2726 +Processed file [26/41] + Name: DJI_20200226_143927_413.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2507 +Processed file [27/41] + Name: DJI_20200226_143928_568.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2392 +Processed file [28/41] + Name: DJI_20200226_143929_618.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2766 +Processed file [29/41] + Name: DJI_20200226_143930_936.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3070 +Processed file [30/41] + Name: DJI_20200226_143933_787.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3517 +Processed file [31/41] + Name: DJI_20200226_143935_646.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3587 +Processed file [32/41] + Name: DJI_20200226_143936_861.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3632 +Processed file [33/41] + Name: DJI_20200226_143938_168.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3204 +Processed file [34/41] + Name: DJI_20200226_143939_277.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3224 +Processed file [35/41] + Name: DJI_20200226_143940_416.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3369 +Processed file [36/41] + Name: DJI_20200226_143941_511.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3420 +Processed file [37/41] + Name: DJI_20200226_143942_875.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3445 +Processed file [38/41] + Name: DJI_20200226_143944_181.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3661 +Processed file [39/41] + Name: DJI_20200226_143945_441.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3208 +Processed file [40/41] + Name: DJI_20200226_143946_704.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 3023 +Processed file [41/41] + Name: DJI_20200226_143948_113.JPG + Dimensions: 4032 x 3024 + Camera: #1 - SIMPLE_RADIAL + Focal Length: 2995.20px (Prior) + Features: 2752 +Elapsed time: 0.071 [minutes] + +============================================================================== +Exhaustive feature matching +============================================================================== + +Matching block [1/1, 1/1] in 3.388s +Elapsed time: 0.059 [minutes] + +============================================================================== +Loading database +============================================================================== + +Loading cameras... 1 in 0.000s +Loading matches... 820 in 0.012s +Loading images... 41 in 0.009s (connected 41) +Building correspondence graph... in 0.032s (ignored 0) + +Elapsed time: 0.001 [minutes] + + +============================================================================== +Initializing with image pair #36 and #34 +============================================================================== + + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.532812e+02 0.00e+00 1.66e+04 0.00e+00 0.00e+00 1.00e+04 0 1.14e-03 2.53e-03 + 1 3.161337e+02 3.71e+01 3.56e+02 4.74e+00 1.00e+00 3.00e+04 1 1.62e-03 4.17e-03 + 2 3.140044e+02 2.13e+00 8.46e+02 1.19e+01 9.94e-01 9.00e+04 1 1.51e-03 5.68e-03 + 3 3.125313e+02 1.47e+00 1.72e+04 2.21e+01 5.84e-01 9.04e+04 1 1.49e-03 7.18e-03 + 4 3.107651e+02 1.77e+00 1.74e+04 1.68e+01 6.59e-01 9.34e+04 1 1.51e-03 8.70e-03 + 5 3.092680e+02 1.50e+00 1.69e+04 1.47e+01 6.43e-01 9.57e+04 1 1.55e-03 1.02e-02 + 6 3.078837e+02 1.38e+00 1.57e+04 1.36e+01 6.59e-01 9.88e+04 1 1.49e-03 1.17e-02 + 7 3.066446e+02 1.24e+00 1.47e+04 1.30e+01 6.61e-01 1.02e+05 1 1.53e-03 1.33e-02 + 8 3.055156e+02 1.13e+00 1.38e+04 1.26e+01 6.66e-01 1.06e+05 1 1.53e-03 1.48e-02 + 9 3.044903e+02 1.03e+00 1.30e+04 1.23e+01 6.69e-01 1.10e+05 1 1.49e-03 1.63e-02 + 10 3.035552e+02 9.35e-01 1.22e+04 1.20e+01 6.72e-01 1.15e+05 1 1.56e-03 1.79e-02 + 11 3.027033e+02 8.52e-01 1.15e+04 1.17e+01 6.74e-01 1.20e+05 1 1.49e-03 1.94e-02 + 12 3.019270e+02 7.76e-01 1.09e+04 1.14e+01 6.76e-01 1.26e+05 1 1.56e-03 2.09e-02 + 13 3.012207e+02 7.06e-01 1.02e+04 1.12e+01 6.78e-01 1.32e+05 1 1.53e-03 2.25e-02 + 14 3.005793e+02 6.41e-01 9.65e+03 1.09e+01 6.80e-01 1.38e+05 1 1.52e-03 2.40e-02 + 15 2.999982e+02 5.81e-01 9.09e+03 1.06e+01 6.82e-01 1.45e+05 1 1.50e-03 2.55e-02 + 16 2.994732e+02 5.25e-01 8.54e+03 1.04e+01 6.85e-01 1.53e+05 1 1.49e-03 2.70e-02 + 17 2.990005e+02 4.73e-01 8.01e+03 1.01e+01 6.87e-01 1.61e+05 1 1.53e-03 2.86e-02 + 18 2.985764e+02 4.24e-01 7.50e+03 9.81e+00 6.89e-01 1.71e+05 1 1.54e-03 3.01e-02 + 19 2.981976e+02 3.79e-01 7.01e+03 9.53e+00 6.92e-01 1.81e+05 1 1.49e-03 3.16e-02 + 20 2.978607e+02 3.37e-01 6.53e+03 9.24e+00 6.94e-01 1.92e+05 1 1.49e-03 3.31e-02 + 21 2.975626e+02 2.98e-01 6.07e+03 8.95e+00 6.97e-01 2.04e+05 1 1.49e-03 3.46e-02 + 22 2.973005e+02 2.62e-01 5.62e+03 8.65e+00 7.00e-01 2.18e+05 1 1.49e-03 3.61e-02 + 23 2.970715e+02 2.29e-01 5.19e+03 8.35e+00 7.04e-01 2.34e+05 1 1.49e-03 3.76e-02 + 24 2.968728e+02 1.99e-01 4.77e+03 8.03e+00 7.07e-01 2.52e+05 1 1.49e-03 3.91e-02 + 25 2.967019e+02 1.71e-01 4.36e+03 7.71e+00 7.11e-01 2.73e+05 1 1.49e-03 4.06e-02 + 26 2.965563e+02 1.46e-01 3.96e+03 7.38e+00 7.16e-01 2.97e+05 1 1.53e-03 4.21e-02 + 27 2.964336e+02 1.23e-01 3.58e+03 7.04e+00 7.21e-01 3.25e+05 1 1.51e-03 4.36e-02 + 28 2.963315e+02 1.02e-01 3.20e+03 6.68e+00 7.26e-01 3.58e+05 1 1.49e-03 4.51e-02 + 29 2.962477e+02 8.37e-02 2.85e+03 6.32e+00 7.33e-01 3.98e+05 1 1.49e-03 4.66e-02 + 30 2.961803e+02 6.75e-02 2.50e+03 5.94e+00 7.40e-01 4.47e+05 1 1.49e-03 4.81e-02 + 31 2.961271e+02 5.32e-02 2.16e+03 5.54e+00 7.48e-01 5.09e+05 1 1.49e-03 4.96e-02 + 32 2.960862e+02 4.09e-02 1.84e+03 5.13e+00 7.57e-01 5.89e+05 1 1.49e-03 5.11e-02 + 33 2.960558e+02 3.04e-02 1.54e+03 4.70e+00 7.68e-01 6.97e+05 1 1.50e-03 5.26e-02 + 34 2.960342e+02 2.17e-02 1.25e+03 4.24e+00 7.82e-01 8.49e+05 1 1.49e-03 5.41e-02 + 35 2.960196e+02 1.46e-02 9.71e+02 3.75e+00 7.98e-01 1.08e+06 1 1.49e-03 5.56e-02 + 36 2.960105e+02 9.10e-03 7.16e+02 3.22e+00 8.19e-01 1.46e+06 1 1.49e-03 5.71e-02 + 37 2.960054e+02 5.06e-03 4.84e+02 2.65e+00 8.46e-01 2.18e+06 1 1.49e-03 5.86e-02 + 38 2.960031e+02 2.34e-03 2.83e+02 2.03e+00 8.82e-01 3.92e+06 1 1.49e-03 6.01e-02 + 39 2.960023e+02 7.88e-04 1.24e+02 1.35e+00 9.28e-01 1.06e+07 1 1.50e-03 6.16e-02 + 40 2.960022e+02 1.39e-04 2.86e+01 6.47e-01 9.78e-01 3.17e+07 1 1.49e-03 6.31e-02 + 41 2.960021e+02 5.93e-06 1.93e+00 1.31e-01 1.00e+00 9.51e+07 1 1.49e-03 6.46e-02 + 42 2.960021e+02 1.91e-08 1.74e-02 9.48e-03 1.01e+00 2.85e+08 1 1.53e-03 6.61e-02 + + +Bundle adjustment report +------------------------ + Residuals : 2076 + Parameters : 1564 + Iterations : 43 + Time : 0.0661881 [s] + Initial cost : 0.412521 [px] + Final cost : 0.377602 [px] + Termination : Convergence + + => Filtered observations: 0 + => Filtered images: 0 + +============================================================================== +Registering image #35 (3) +============================================================================== + + => Image sees 387 / 2296 points + +Pose refinement report +---------------------- + Residuals : 772 + Parameters : 8 + Iterations : 8 + Time : 0.00494409 [s] + Initial cost : 0.455668 [px] + Final cost : 0.423475 [px] + Termination : Convergence + + => Continued observations: 386 + => Added observations: 2046 + +Bundle adjustment report +------------------------ + Residuals : 6940 + Parameters : 4381 + Iterations : 26 + Time : 0.160045 [s] + Initial cost : 0.383696 [px] + Final cost : 0.363996 [px] + Termination : No convergence + + => Merged observations: 0 + => Completed observations: 3 + => Filtered observations: 32 + => Changed observations: 0.010086 + +Bundle adjustment report +------------------------ + Residuals : 6880 + Parameters : 4366 + Iterations : 11 + Time : 0.068327 [s] + Initial cost : 0.408828 [px] + Final cost : 0.397623 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 8 + => Filtered observations: 0 + => Changed observations: 0.002326 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 0 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.104859e+03 0.00e+00 1.93e+02 0.00e+00 0.00e+00 1.00e+04 0 4.11e-03 8.06e-03 + 1 1.104811e+03 4.80e-02 2.94e+00 1.92e-01 1.00e+00 3.00e+04 1 6.08e-03 1.41e-02 + 2 1.104807e+03 3.89e-03 3.48e+00 3.60e-01 1.00e+00 9.00e+04 1 5.84e-03 2.00e-02 + 3 1.104804e+03 3.00e-03 1.77e+00 4.73e-01 1.00e+00 2.70e+05 1 5.83e-03 2.58e-02 + 4 1.104802e+03 1.69e-03 3.47e+01 5.78e-01 9.99e-01 8.10e+05 1 5.82e-03 3.17e-02 + 5 1.104801e+03 1.83e-03 1.31e+02 1.03e+00 9.88e-01 2.43e+06 1 5.84e-03 3.75e-02 + 6 1.104799e+03 1.14e-03 1.74e+02 1.18e+00 9.69e-01 7.29e+06 1 5.81e-03 4.33e-02 + 7 1.104799e+03 2.27e-04 4.65e+01 6.10e-01 9.88e-01 2.19e+07 1 5.87e-03 4.92e-02 + 8 1.104799e+03 8.41e-06 1.74e+00 1.18e-01 1.00e+00 6.56e+07 1 5.86e-03 5.51e-02 + 9 1.104799e+03 3.05e-08 1.72e-01 7.91e-03 1.01e+00 1.97e+08 1 5.91e-03 6.10e-02 + 10 1.104799e+03 4.50e-11 3.20e-03 2.10e-04 1.39e+00 5.90e+08 1 5.85e-03 6.69e-02 + + +Bundle adjustment report +------------------------ + Residuals : 6896 + Parameters : 4378 + Iterations : 11 + Time : 0.0669701 [s] + Initial cost : 0.400272 [px] + Final cost : 0.400261 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #14 (4) +============================================================================== + + => Image sees 986 / 2206 points + +Pose refinement report +---------------------- + Residuals : 1954 + Parameters : 6 + Iterations : 10 + Time : 0.0172341 [s] + Initial cost : 0.620154 [px] + Final cost : 0.505648 [px] + Termination : Convergence + + => Continued observations: 977 + => Added observations: 562 + +Bundle adjustment report +------------------------ + Residuals : 9974 + Parameters : 5134 + Iterations : 26 + Time : 0.238106 [s] + Initial cost : 0.455118 [px] + Final cost : 0.42056 [px] + Termination : No convergence + + => Merged observations: 0 + => Completed observations: 24 + => Filtered observations: 98 + => Changed observations: 0.024464 + +Bundle adjustment report +------------------------ + Residuals : 9802 + Parameters : 5080 + Iterations : 4 + Time : 0.0405362 [s] + Initial cost : 0.455295 [px] + Final cost : 0.436419 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 30 + => Filtered observations: 0 + => Changed observations: 0.006121 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 0 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.964593e+03 0.00e+00 4.88e+02 0.00e+00 0.00e+00 1.00e+04 0 6.46e-03 1.23e-02 + 1 1.962951e+03 1.64e+00 4.70e+01 5.74e-01 1.00e+00 3.00e+04 1 9.48e-03 2.17e-02 + 2 1.962944e+03 7.05e-03 2.49e+01 2.31e-01 1.00e+00 9.00e+04 1 9.17e-03 3.09e-02 + 3 1.962938e+03 5.75e-03 6.37e+01 5.86e-01 1.00e+00 2.70e+05 1 9.15e-03 4.01e-02 + 4 1.962928e+03 1.03e-02 2.95e+02 1.30e+00 9.96e-01 8.10e+05 1 9.00e-03 4.91e-02 + 5 1.962919e+03 9.34e-03 6.24e+02 1.89e+00 9.78e-01 2.43e+06 1 8.94e-03 5.80e-02 + 6 1.962916e+03 2.98e-03 3.23e+02 1.36e+00 9.85e-01 7.29e+06 1 8.99e-03 6.70e-02 + 7 1.962916e+03 2.43e-04 2.73e+01 3.95e-01 1.01e+00 2.19e+07 1 9.04e-03 7.61e-02 + 8 1.962916e+03 2.51e-06 1.21e+00 4.39e-02 1.02e+00 6.56e+07 1 9.02e-03 8.51e-02 + 9 1.962916e+03 5.96e-09 5.18e-02 2.16e-03 1.03e+00 1.97e+08 1 8.89e-03 9.40e-02 + + +Bundle adjustment report +------------------------ + Residuals : 9862 + Parameters : 5113 + Iterations : 10 + Time : 0.0941801 [s] + Initial cost : 0.446328 [px] + Final cost : 0.446137 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 4 + => Changed observations: 0.000811 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.938334e+03 0.00e+00 6.66e+01 0.00e+00 0.00e+00 1.00e+04 0 6.41e-03 1.21e-02 + 1 1.938295e+03 3.83e-02 1.87e+01 1.78e-01 1.00e+00 3.00e+04 1 9.30e-03 2.14e-02 + 2 1.938294e+03 8.96e-04 2.15e+00 1.96e-01 1.00e+00 9.00e+04 1 8.86e-03 3.03e-02 + 3 1.938294e+03 2.43e-04 1.38e+00 2.11e-01 1.00e+00 2.70e+05 1 9.23e-03 3.95e-02 + 4 1.938294e+03 7.42e-05 1.43e+00 2.05e-01 1.00e+00 8.10e+05 1 9.02e-03 4.85e-02 + 5 1.938294e+03 4.89e-05 3.13e+00 2.44e-01 1.00e+00 2.43e+06 1 9.09e-03 5.76e-02 + 6 1.938294e+03 1.43e-05 1.97e+00 1.72e-01 1.01e+00 7.29e+06 1 8.99e-03 6.66e-02 + 7 1.938294e+03 9.09e-07 6.46e-01 5.01e-02 1.01e+00 2.19e+07 1 8.96e-03 7.56e-02 + 8 1.938294e+03 1.05e-08 8.39e-02 5.59e-03 1.02e+00 6.56e+07 1 8.96e-03 8.46e-02 + + +Bundle adjustment report +------------------------ + Residuals : 9850 + Parameters : 5107 + Iterations : 9 + Time : 0.0847461 [s] + Initial cost : 0.443605 [px] + Final cost : 0.4436 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #15 (5) +============================================================================== + + => Image sees 986 / 2258 points + +Pose refinement report +---------------------- + Residuals : 1964 + Parameters : 6 + Iterations : 6 + Time : 0.0105741 [s] + Initial cost : 0.508943 [px] + Final cost : 0.488404 [px] + Termination : Convergence + + => Continued observations: 976 + => Added observations: 536 + +Bundle adjustment report +------------------------ + Residuals : 12874 + Parameters : 5785 + Iterations : 26 + Time : 0.336285 [s] + Initial cost : 0.450478 [px] + Final cost : 0.418281 [px] + Termination : No convergence + + => Merged observations: 29 + => Completed observations: 40 + => Filtered observations: 121 + => Changed observations: 0.029517 + +Bundle adjustment report +------------------------ + Residuals : 12688 + Parameters : 5701 + Iterations : 2 + Time : 0.0285439 [s] + Initial cost : 0.462532 [px] + Final cost : 0.446521 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 36 + => Filtered observations: 0 + => Changed observations: 0.005675 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 0 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.622233e+03 0.00e+00 4.50e+03 0.00e+00 0.00e+00 1.00e+04 0 8.39e-03 1.59e-02 + 1 2.614303e+03 7.93e+00 7.34e+01 1.95e+00 1.00e+00 3.00e+04 1 1.28e-02 2.87e-02 + 2 2.614281e+03 2.22e-02 1.96e+01 6.51e-01 1.00e+00 9.00e+04 1 1.23e-02 4.10e-02 + 3 2.614265e+03 1.58e-02 1.54e+02 1.17e+00 9.99e-01 2.70e+05 1 1.22e-02 5.32e-02 + 4 2.614244e+03 2.15e-02 6.41e+02 2.99e+00 9.92e-01 8.10e+05 1 1.22e-02 6.53e-02 + 5 2.614224e+03 1.98e-02 1.37e+03 4.63e+00 9.59e-01 2.43e+06 1 1.22e-02 7.75e-02 + 6 2.614217e+03 7.03e-03 7.65e+02 3.48e+00 9.66e-01 7.29e+06 1 1.21e-02 8.96e-02 + 7 2.614216e+03 7.11e-04 7.02e+01 1.05e+00 1.00e+00 2.19e+07 1 1.22e-02 1.02e-01 + 8 2.614216e+03 7.50e-06 1.99e+00 1.20e-01 1.01e+00 6.56e+07 1 1.21e-02 1.14e-01 + 9 2.614216e+03 1.37e-08 7.36e-02 5.69e-03 1.03e+00 1.97e+08 1 1.20e-02 1.26e-01 + + +Bundle adjustment report +------------------------ + Residuals : 12760 + Parameters : 5743 + Iterations : 10 + Time : 0.126193 [s] + Initial cost : 0.453326 [px] + Final cost : 0.452632 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 2 + => Changed observations: 0.000313 + => Filtered images: 0 + +============================================================================== +Registering image #13 (6) +============================================================================== + + => Image sees 897 / 1800 points + +Pose refinement report +---------------------- + Residuals : 1776 + Parameters : 6 + Iterations : 7 + Time : 0.011167 [s] + Initial cost : 0.567297 [px] + Final cost : 0.507456 [px] + Termination : Convergence + + => Continued observations: 884 + => Added observations: 524 + +Bundle adjustment report +------------------------ + Residuals : 15570 + Parameters : 6412 + Iterations : 26 + Time : 0.421902 [s] + Initial cost : 0.450937 [px] + Final cost : 0.420947 [px] + Termination : No convergence + + => Merged observations: 12 + => Completed observations: 38 + => Filtered observations: 91 + => Changed observations: 0.018112 + +Bundle adjustment report +------------------------ + Residuals : 15454 + Parameters : 6370 + Iterations : 3 + Time : 0.0512719 [s] + Initial cost : 0.479706 [px] + Final cost : 0.466518 [px] + Termination : Convergence + + => Merged observations: 4 + => Completed observations: 18 + => Filtered observations: 1 + => Changed observations: 0.002977 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 1 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.427421e+03 0.00e+00 2.82e+02 0.00e+00 0.00e+00 1.00e+04 0 1.10e-02 2.01e-02 + 1 3.418844e+03 8.58e+00 9.59e+00 1.35e+00 1.00e+00 3.00e+04 1 1.60e-02 3.61e-02 + 2 3.418834e+03 9.13e-03 6.43e+00 3.30e-01 1.00e+00 9.00e+04 1 1.52e-02 5.13e-02 + 3 3.418827e+03 7.01e-03 5.54e+01 6.31e-01 1.00e+00 2.70e+05 1 1.52e-02 6.66e-02 + 4 3.418816e+03 1.14e-02 3.08e+02 1.31e+00 9.98e-01 8.10e+05 1 1.52e-02 8.18e-02 + 5 3.418806e+03 1.02e-02 6.43e+02 1.87e+00 9.87e-01 2.43e+06 1 1.52e-02 9.70e-02 + 6 3.418803e+03 3.05e-03 3.21e+02 1.32e+00 9.92e-01 7.29e+06 1 1.53e-02 1.12e-01 + 7 3.418803e+03 2.21e-04 2.60e+01 3.75e-01 1.01e+00 2.19e+07 1 1.53e-02 1.28e-01 + 8 3.418803e+03 2.20e-06 8.99e-01 4.06e-02 1.01e+00 6.56e+07 1 1.52e-02 1.43e-01 + 9 3.418803e+03 4.86e-09 3.84e-02 1.89e-03 1.03e+00 1.97e+08 1 1.52e-02 1.58e-01 + + +Bundle adjustment report +------------------------ + Residuals : 15490 + Parameters : 6388 + Iterations : 10 + Time : 0.158267 [s] + Initial cost : 0.47039 [px] + Final cost : 0.469798 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #9 (7) +============================================================================== + + => Image sees 943 / 2472 points + +Pose refinement report +---------------------- + Residuals : 1860 + Parameters : 6 + Iterations : 12 + Time : 0.016166 [s] + Initial cost : 0.702508 [px] + Final cost : 0.565571 [px] + Termination : Convergence + + => Continued observations: 924 + => Added observations: 875 + +Bundle adjustment report +------------------------ + Residuals : 18072 + Parameters : 5965 + Iterations : 18 + Time : 0.307777 [s] + Initial cost : 0.474889 [px] + Final cost : 0.453897 [px] + Termination : Convergence + + => Merged observations: 29 + => Completed observations: 59 + => Filtered observations: 122 + => Changed observations: 0.023240 + +Bundle adjustment report +------------------------ + Residuals : 17932 + Parameters : 5929 + Iterations : 3 + Time : 0.054723 [s] + Initial cost : 0.510572 [px] + Final cost : 0.494928 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 25 + => Filtered observations: 2 + => Changed observations: 0.003011 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 4 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.743632e+03 0.00e+00 9.40e+02 0.00e+00 0.00e+00 1.00e+04 0 1.25e-02 2.37e-02 + 1 4.728671e+03 1.50e+01 2.58e+03 4.06e+00 1.00e+00 3.00e+04 1 2.00e-02 4.37e-02 + 2 4.725999e+03 2.67e+00 1.69e+03 5.39e+00 1.00e+00 9.00e+04 1 1.90e-02 6.28e-02 + 3 4.725210e+03 7.88e-01 6.40e+02 4.49e+00 1.00e+00 2.70e+05 1 1.90e-02 8.18e-02 + 4 4.724952e+03 2.59e-01 5.60e+03 5.22e+00 9.65e-01 8.10e+05 1 1.90e-02 1.01e-01 + 5 4.724795e+03 1.57e-01 1.17e+04 6.81e+00 7.79e-01 9.81e+05 1 1.91e-02 1.20e-01 + 6 4.724713e+03 8.22e-02 2.81e+03 3.34e+00 9.69e-01 2.94e+06 1 1.90e-02 1.39e-01 + 7 4.724703e+03 9.88e-03 8.52e+02 1.84e+00 9.75e-01 8.82e+06 1 1.91e-02 1.58e-01 + 8 4.724703e+03 4.92e-04 3.62e+01 3.80e-01 9.99e-01 2.65e+07 1 1.90e-02 1.77e-01 + 9 4.724703e+03 1.74e-06 8.90e-01 2.71e-02 1.01e+00 7.94e+07 1 1.89e-02 1.96e-01 + 10 4.724703e+03 1.59e-09 1.16e-02 7.47e-04 9.97e-01 2.38e+08 1 1.89e-02 2.15e-01 + + +Bundle adjustment report +------------------------ + Residuals : 18998 + Parameters : 7480 + Iterations : 11 + Time : 0.21526 [s] + Initial cost : 0.499691 [px] + Final cost : 0.498693 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000105 + => Filtered images: 0 + +============================================================================== +Registering image #32 (8) +============================================================================== + + => Image sees 1095 / 2406 points + +Pose refinement report +---------------------- + Residuals : 2162 + Parameters : 6 + Iterations : 10 + Time : 0.0177109 [s] + Initial cost : 0.684165 [px] + Final cost : 0.529542 [px] + Termination : Convergence + + => Continued observations: 1072 + => Added observations: 444 + +Bundle adjustment report +------------------------ + Residuals : 20182 + Parameters : 5590 + Iterations : 26 + Time : 0.474512 [s] + Initial cost : 0.479915 [px] + Final cost : 0.462258 [px] + Termination : No convergence + + => Merged observations: 43 + => Completed observations: 54 + => Filtered observations: 141 + => Changed observations: 0.023585 + +Bundle adjustment report +------------------------ + Residuals : 19998 + Parameters : 5530 + Iterations : 3 + Time : 0.0685871 [s] + Initial cost : 0.519273 [px] + Final cost : 0.505897 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 39 + => Filtered observations: 0 + => Changed observations: 0.003900 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 4 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.834078e+03 0.00e+00 2.21e+04 0.00e+00 0.00e+00 1.00e+04 0 1.48e-02 2.81e-02 + 1 5.800400e+03 3.37e+01 3.43e+03 1.78e+00 1.00e+00 3.00e+04 1 2.38e-02 5.19e-02 + 2 5.800195e+03 2.04e-01 8.13e+02 7.57e-01 1.00e+00 9.00e+04 1 2.27e-02 7.46e-02 + 3 5.800080e+03 1.15e-01 1.31e+03 1.90e+00 9.95e-01 2.70e+05 1 2.25e-02 9.72e-02 + 4 5.799892e+03 1.88e-01 5.47e+03 4.11e+00 9.55e-01 8.10e+05 1 2.30e-02 1.20e-01 + 5 5.799750e+03 1.42e-01 1.03e+04 5.68e+00 8.24e-01 1.11e+06 1 2.27e-02 1.43e-01 + 6 5.799687e+03 6.35e-02 2.76e+03 2.95e+00 9.65e-01 3.34e+06 1 2.27e-02 1.66e-01 + 7 5.799679e+03 7.70e-03 6.95e+02 1.48e+00 9.76e-01 1.00e+07 1 2.26e-02 1.88e-01 + 8 5.799679e+03 2.84e-04 2.23e+01 2.66e-01 9.95e-01 3.01e+07 1 2.27e-02 2.11e-01 + 9 5.799679e+03 6.25e-07 6.00e-01 1.46e-02 1.00e+00 9.02e+07 1 2.26e-02 2.34e-01 + 10 5.799679e+03 4.41e-10 1.90e-03 2.49e-04 1.10e+00 2.71e+08 1 2.26e-02 2.56e-01 + + +Bundle adjustment report +------------------------ + Residuals : 21930 + Parameters : 8005 + Iterations : 11 + Time : 0.256605 [s] + Initial cost : 0.515783 [px] + Final cost : 0.51426 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 4 + => Changed observations: 0.000456 + => Filtered images: 0 + +============================================================================== +Registering image #33 (9) +============================================================================== + + => Image sees 1079 / 2225 points + +Pose refinement report +---------------------- + Residuals : 2116 + Parameters : 6 + Iterations : 9 + Time : 0.016263 [s] + Initial cost : 0.60064 [px] + Final cost : 0.530732 [px] + Termination : Convergence + + => Continued observations: 1047 + => Added observations: 1183 + +Bundle adjustment report +------------------------ + Residuals : 22248 + Parameters : 5428 + Iterations : 26 + Time : 0.520677 [s] + Initial cost : 0.517029 [px] + Final cost : 0.496941 [px] + Termination : No convergence + + => Merged observations: 38 + => Completed observations: 111 + => Filtered observations: 203 + => Changed observations: 0.031643 + +Bundle adjustment report +------------------------ + Residuals : 22050 + Parameters : 5338 + Iterations : 3 + Time : 0.071348 [s] + Initial cost : 0.531012 [px] + Final cost : 0.516084 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 56 + => Filtered observations: 0 + => Changed observations: 0.005079 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 2 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 7.153670e+03 0.00e+00 2.52e+04 0.00e+00 0.00e+00 1.00e+04 0 1.81e-02 3.49e-02 + 1 7.130944e+03 2.27e+01 1.20e+02 1.16e+00 1.00e+00 3.00e+04 1 2.85e-02 6.34e-02 + 2 7.130846e+03 9.78e-02 2.40e+02 8.05e-01 9.99e-01 9.00e+04 1 2.75e-02 9.10e-02 + 3 7.130729e+03 1.17e-01 1.24e+03 1.76e+00 9.95e-01 2.70e+05 1 2.73e-02 1.18e-01 + 4 7.130547e+03 1.82e-01 5.31e+03 3.83e+00 9.63e-01 8.10e+05 1 2.73e-02 1.46e-01 + 5 7.130404e+03 1.43e-01 1.02e+04 5.36e+00 8.51e-01 1.24e+06 1 2.72e-02 1.73e-01 + 6 7.130344e+03 6.01e-02 3.11e+03 2.95e+00 9.61e-01 3.72e+06 1 2.72e-02 2.00e-01 + 7 7.130336e+03 7.63e-03 7.00e+02 1.40e+00 9.80e-01 1.12e+07 1 2.72e-02 2.27e-01 + 8 7.130336e+03 2.46e-04 2.04e+01 2.38e-01 9.97e-01 3.35e+07 1 2.72e-02 2.54e-01 + 9 7.130336e+03 5.10e-07 5.06e-01 1.27e-02 1.01e+00 1.00e+08 1 2.74e-02 2.82e-01 + 10 7.130336e+03 4.01e-10 1.99e-03 2.42e-04 1.03e+00 3.01e+08 1 2.73e-02 3.09e-01 + + +Bundle adjustment report +------------------------ + Residuals : 26290 + Parameters : 9427 + Iterations : 11 + Time : 0.309646 [s] + Initial cost : 0.521638 [px] + Final cost : 0.520786 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #10 (10) +============================================================================== + + => Image sees 1335 / 2167 points + +Pose refinement report +---------------------- + Residuals : 2660 + Parameters : 6 + Iterations : 7 + Time : 0.016134 [s] + Initial cost : 0.558731 [px] + Final cost : 0.514483 [px] + Termination : Convergence + + => Continued observations: 1303 + => Added observations: 652 + +Bundle adjustment report +------------------------ + Residuals : 24956 + Parameters : 5368 + Iterations : 26 + Time : 0.521035 [s] + Initial cost : 0.503235 [px] + Final cost : 0.487811 [px] + Termination : No convergence + + => Merged observations: 146 + => Completed observations: 58 + => Filtered observations: 188 + => Changed observations: 0.031415 + +Bundle adjustment report +------------------------ + Residuals : 24710 + Parameters : 5260 + Iterations : 3 + Time : 0.0665021 [s] + Initial cost : 0.546188 [px] + Final cost : 0.533515 [px] + Termination : Convergence + + => Merged observations: 17 + => Completed observations: 73 + => Filtered observations: 1 + => Changed observations: 0.007365 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 3 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 8.720481e+03 0.00e+00 3.02e+04 0.00e+00 0.00e+00 1.00e+04 0 2.08e-02 3.98e-02 + 1 8.677179e+03 4.33e+01 1.15e+03 2.04e+00 1.00e+00 3.00e+04 1 3.40e-02 7.38e-02 + 2 8.677042e+03 1.36e-01 9.83e+01 7.21e-01 1.00e+00 9.00e+04 1 3.22e-02 1.06e-01 + 3 8.676932e+03 1.10e-01 1.09e+03 1.61e+00 9.96e-01 2.70e+05 1 3.19e-02 1.38e-01 + 4 8.676756e+03 1.76e-01 5.10e+03 3.56e+00 9.69e-01 8.10e+05 1 3.19e-02 1.70e-01 + 5 8.676613e+03 1.43e-01 1.02e+04 5.08e+00 8.67e-01 1.34e+06 1 3.20e-02 2.02e-01 + 6 8.676555e+03 5.88e-02 3.44e+03 2.94e+00 9.58e-01 4.03e+06 1 3.21e-02 2.34e-01 + 7 8.676547e+03 7.73e-03 7.18e+02 1.34e+00 9.82e-01 1.21e+07 1 3.20e-02 2.66e-01 + 8 8.676547e+03 2.27e-04 1.94e+01 2.20e-01 9.97e-01 3.63e+07 1 3.20e-02 2.98e-01 + 9 8.676547e+03 4.42e-07 5.35e-01 1.16e-02 1.01e+00 1.09e+08 1 3.36e-02 3.32e-01 + + +Bundle adjustment report +------------------------ + Residuals : 30066 + Parameters : 10123 + Iterations : 10 + Time : 0.332333 [s] + Initial cost : 0.538558 [px] + Final cost : 0.5372 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 4 + => Changed observations: 0.000333 + => Filtered images: 0 + +============================================================================== +Registering image #31 (11) +============================================================================== + + => Image sees 1172 / 2542 points + +Pose refinement report +---------------------- + Residuals : 2318 + Parameters : 6 + Iterations : 8 + Time : 0.0158031 [s] + Initial cost : 0.591878 [px] + Final cost : 0.542331 [px] + Termination : Convergence + + => Continued observations: 1135 + => Added observations: 1074 + +Bundle adjustment report +------------------------ + Residuals : 26114 + Parameters : 5413 + Iterations : 14 + Time : 0.303011 [s] + Initial cost : 0.508026 [px] + Final cost : 0.485698 [px] + Termination : Convergence + + => Merged observations: 38 + => Completed observations: 63 + => Filtered observations: 168 + => Changed observations: 0.020602 + +Bundle adjustment report +------------------------ + Residuals : 25904 + Parameters : 5353 + Iterations : 3 + Time : 0.0672328 [s] + Initial cost : 0.551532 [px] + Final cost : 0.539532 [px] + Termination : Convergence + + => Merged observations: 6 + => Completed observations: 39 + => Filtered observations: 2 + => Changed observations: 0.003629 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 2 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.026038e+04 0.00e+00 8.21e+04 0.00e+00 0.00e+00 1.00e+04 0 2.38e-02 4.65e-02 + 1 1.023110e+04 2.93e+01 7.73e+02 1.14e+00 1.00e+00 3.00e+04 1 3.92e-02 8.57e-02 + 2 1.023098e+04 1.18e-01 5.75e+02 8.82e-01 1.00e+00 9.00e+04 1 3.72e-02 1.23e-01 + 3 1.023075e+04 2.26e-01 2.42e+03 2.33e+00 9.95e-01 2.70e+05 1 3.71e-02 1.60e-01 + 4 1.023037e+04 3.80e-01 1.11e+04 5.11e+00 9.42e-01 8.10e+05 1 3.83e-02 1.98e-01 + 5 1.023009e+04 2.83e-01 2.22e+04 7.22e+00 7.54e-01 9.32e+05 1 3.75e-02 2.36e-01 + 6 1.022993e+04 1.65e-01 5.54e+03 3.59e+00 9.65e-01 2.80e+06 1 3.79e-02 2.74e-01 + 7 1.022990e+04 2.27e-02 2.09e+03 2.21e+00 9.61e-01 8.39e+06 1 3.80e-02 3.12e-01 + 8 1.022990e+04 1.54e-03 1.12e+02 5.10e-01 9.95e-01 2.52e+07 1 3.79e-02 3.50e-01 + 9 1.022990e+04 6.39e-06 1.54e+00 3.85e-02 1.00e+00 7.55e+07 1 3.86e-02 3.88e-01 + 10 1.022990e+04 4.14e-09 3.61e-02 9.06e-04 1.03e+00 2.26e+08 1 3.80e-02 4.26e-01 + + +Bundle adjustment report +------------------------ + Residuals : 34328 + Parameters : 11419 + Iterations : 11 + Time : 0.426859 [s] + Initial cost : 0.546711 [px] + Final cost : 0.545898 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 2 + => Changed observations: 0.000117 + => Filtered images: 0 + +============================================================================== +Registering image #8 (12) +============================================================================== + + => Image sees 1420 / 2490 points + +Pose refinement report +---------------------- + Residuals : 2842 + Parameters : 6 + Iterations : 9 + Time : 0.022238 [s] + Initial cost : 0.580825 [px] + Final cost : 0.539751 [px] + Termination : Convergence + + => Continued observations: 1398 + => Added observations: 468 + +Bundle adjustment report +------------------------ + Residuals : 28606 + Parameters : 5431 + Iterations : 26 + Time : 0.588998 [s] + Initial cost : 0.496794 [px] + Final cost : 0.479154 [px] + Termination : No convergence + + => Merged observations: 52 + => Completed observations: 53 + => Filtered observations: 175 + => Changed observations: 0.019576 + +Bundle adjustment report +------------------------ + Residuals : 28358 + Parameters : 5347 + Iterations : 3 + Time : 0.071887 [s] + Initial cost : 0.55897 [px] + Final cost : 0.547837 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 51 + => Filtered observations: 3 + => Changed observations: 0.003808 + +============================================================================== +Registering image #30 (13) +============================================================================== + + => Image sees 1153 / 2219 points + +Pose refinement report +---------------------- + Residuals : 2318 + Parameters : 6 + Iterations : 9 + Time : 0.0176952 [s] + Initial cost : 0.557247 [px] + Final cost : 0.549236 [px] + Termination : Convergence + + => Continued observations: 1125 + => Added observations: 825 + +Bundle adjustment report +------------------------ + Residuals : 28354 + Parameters : 5275 + Iterations : 18 + Time : 0.409188 [s] + Initial cost : 0.504562 [px] + Final cost : 0.48055 [px] + Termination : Convergence + + => Merged observations: 94 + => Completed observations: 55 + => Filtered observations: 159 + => Changed observations: 0.021725 + +Bundle adjustment report +------------------------ + Residuals : 28188 + Parameters : 5218 + Iterations : 3 + Time : 0.0751419 [s] + Initial cost : 0.561424 [px] + Final cost : 0.550729 [px] + Termination : Convergence + + => Merged observations: 9 + => Completed observations: 38 + => Filtered observations: 3 + => Changed observations: 0.003548 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 12 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.314309e+04 0.00e+00 1.40e+05 0.00e+00 0.00e+00 1.00e+04 0 2.92e-02 5.72e-02 + 1 1.305458e+04 8.85e+01 9.21e+03 2.88e+00 1.00e+00 3.00e+04 1 5.12e-02 1.08e-01 + 2 1.305397e+04 6.16e-01 2.71e+02 1.47e+00 1.00e+00 9.00e+04 1 4.78e-02 1.56e-01 + 3 1.305384e+04 1.30e-01 2.30e+02 1.16e+00 1.00e+00 2.70e+05 1 4.79e-02 2.04e-01 + 4 1.305379e+04 4.52e-02 1.10e+03 1.45e+00 9.95e-01 8.10e+05 1 4.76e-02 2.52e-01 + 5 1.305377e+04 2.66e-02 1.52e+03 1.80e+00 9.85e-01 2.43e+06 1 4.76e-02 2.99e-01 + 6 1.305376e+04 5.30e-03 4.58e+02 9.95e-01 9.93e-01 7.29e+06 1 4.77e-02 3.47e-01 + 7 1.305376e+04 2.03e-04 1.96e+01 2.07e-01 1.00e+00 2.19e+07 1 4.77e-02 3.95e-01 + 8 1.305376e+04 9.25e-07 9.35e-01 1.49e-02 1.01e+00 6.56e+07 1 4.80e-02 4.43e-01 + + +Bundle adjustment report +------------------------ + Residuals : 41650 + Parameters : 12904 + Iterations : 9 + Time : 0.443593 [s] + Initial cost : 0.561748 [px] + Final cost : 0.559835 [px] + Termination : Convergence + + => Merged observations: 1 + => Completed observations: 0 + => Filtered observations: 6 + => Changed observations: 0.000336 + => Filtered images: 0 + +============================================================================== +Registering image #7 (14) +============================================================================== + + => Image sees 1200 / 2119 points + +Pose refinement report +---------------------- + Residuals : 2416 + Parameters : 6 + Iterations : 7 + Time : 0.0147281 [s] + Initial cost : 0.566349 [px] + Final cost : 0.552953 [px] + Termination : Convergence + + => Continued observations: 1181 + => Added observations: 507 + +Bundle adjustment report +------------------------ + Residuals : 29688 + Parameters : 4939 + Iterations : 23 + Time : 0.542426 [s] + Initial cost : 0.498462 [px] + Final cost : 0.475822 [px] + Termination : Convergence + + => Merged observations: 63 + => Completed observations: 37 + => Filtered observations: 158 + => Changed observations: 0.017381 + +Bundle adjustment report +------------------------ + Residuals : 29386 + Parameters : 4885 + Iterations : 3 + Time : 0.071399 [s] + Initial cost : 0.56053 [px] + Final cost : 0.551103 [px] + Termination : Convergence + + => Merged observations: 26 + => Completed observations: 33 + => Filtered observations: 0 + => Changed observations: 0.004016 + +============================================================================== +Registering image #16 (15) +============================================================================== + + => Image sees 1187 / 2301 points + +Pose refinement report +---------------------- + Residuals : 2342 + Parameters : 6 + Iterations : 7 + Time : 0.0135431 [s] + Initial cost : 0.602623 [px] + Final cost : 0.563478 [px] + Termination : Convergence + + => Continued observations: 1141 + => Added observations: 863 + +Bundle adjustment report +------------------------ + Residuals : 30540 + Parameters : 5221 + Iterations : 26 + Time : 0.597541 [s] + Initial cost : 0.533386 [px] + Final cost : 0.507544 [px] + Termination : No convergence + + => Merged observations: 102 + => Completed observations: 74 + => Filtered observations: 199 + => Changed observations: 0.024558 + +Bundle adjustment report +------------------------ + Residuals : 29578 + Parameters : 5089 + Iterations : 3 + Time : 0.0713401 [s] + Initial cost : 0.577083 [px] + Final cost : 0.566002 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 44 + => Filtered observations: 1 + => Changed observations: 0.003043 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 7 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.605476e+04 0.00e+00 1.89e+05 0.00e+00 0.00e+00 1.00e+04 0 3.46e-02 6.87e-02 + 1 1.595979e+04 9.50e+01 3.26e+00 1.85e+00 1.00e+00 3.00e+04 1 6.11e-02 1.30e-01 + 2 1.595970e+04 8.46e-02 1.16e+01 6.24e-01 1.00e+00 9.00e+04 1 5.77e-02 1.87e-01 + 3 1.595967e+04 3.69e-02 1.78e+02 7.83e-01 1.00e+00 2.70e+05 1 5.74e-02 2.45e-01 + 4 1.595963e+04 3.40e-02 8.14e+02 1.23e+00 9.97e-01 8.10e+05 1 5.73e-02 3.02e-01 + 5 1.595961e+04 1.90e-02 9.82e+02 1.31e+00 9.92e-01 2.43e+06 1 5.74e-02 3.60e-01 + 6 1.595961e+04 2.89e-03 2.22e+02 6.22e-01 9.96e-01 7.29e+06 1 5.73e-02 4.17e-01 + 7 1.595961e+04 7.69e-05 6.90e+00 1.09e-01 1.00e+00 2.19e+07 1 5.76e-02 4.75e-01 + 8 1.595961e+04 2.61e-07 5.41e-01 6.57e-03 1.01e+00 6.56e+07 1 5.76e-02 5.32e-01 + + +Bundle adjustment report +------------------------ + Residuals : 48664 + Parameters : 14524 + Iterations : 9 + Time : 0.533171 [s] + Initial cost : 0.574378 [px] + Final cost : 0.572674 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 0 + => Filtered observations: 3 + => Changed observations: 0.000247 + => Filtered images: 0 + +============================================================================== +Registering image #37 (16) +============================================================================== + + => Image sees 1461 / 2364 points + +Pose refinement report +---------------------- + Residuals : 2946 + Parameters : 6 + Iterations : 8 + Time : 0.0196779 [s] + Initial cost : 0.594802 [px] + Final cost : 0.547693 [px] + Termination : Convergence + + => Continued observations: 1420 + => Added observations: 531 + +Bundle adjustment report +------------------------ + Residuals : 30972 + Parameters : 5140 + Iterations : 22 + Time : 0.512544 [s] + Initial cost : 0.543803 [px] + Final cost : 0.521513 [px] + Termination : Convergence + + => Merged observations: 130 + => Completed observations: 54 + => Filtered observations: 257 + => Changed observations: 0.028477 + +Bundle adjustment report +------------------------ + Residuals : 29872 + Parameters : 4918 + Iterations : 3 + Time : 0.0706699 [s] + Initial cost : 0.591903 [px] + Final cost : 0.57989 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 89 + => Filtered observations: 1 + => Changed observations: 0.006695 + +============================================================================== +Registering image #11 (17) +============================================================================== + + => Image sees 1189 / 1825 points + +Pose refinement report +---------------------- + Residuals : 2382 + Parameters : 6 + Iterations : 12 + Time : 0.0235331 [s] + Initial cost : 0.596717 [px] + Final cost : 0.574287 [px] + Termination : Convergence + + => Continued observations: 1156 + => Added observations: 546 + +Bundle adjustment report +------------------------ + Residuals : 27304 + Parameters : 4153 + Iterations : 22 + Time : 0.460782 [s] + Initial cost : 0.544704 [px] + Final cost : 0.517711 [px] + Termination : Convergence + + => Merged observations: 108 + => Completed observations: 57 + => Filtered observations: 197 + => Changed observations: 0.026516 + +Bundle adjustment report +------------------------ + Residuals : 27008 + Parameters : 4081 + Iterations : 3 + Time : 0.075772 [s] + Initial cost : 0.607402 [px] + Final cost : 0.59704 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 38 + => Filtered observations: 6 + => Changed observations: 0.003258 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 14 + => Completed observations: 0 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.913599e+04 0.00e+00 6.36e+04 0.00e+00 0.00e+00 1.00e+04 0 1.92e-02 5.95e-02 + 1 1.900267e+04 1.33e+02 3.93e+03 1.51e+00 1.00e+00 3.00e+04 1 4.48e-02 1.04e-01 + 2 1.900158e+04 1.09e+00 4.36e+03 1.96e+00 9.98e-01 9.00e+04 1 2.76e-02 1.32e-01 + 3 1.899953e+04 2.05e+00 2.02e+04 4.71e+00 9.76e-01 2.70e+05 1 2.61e-02 1.58e-01 + 4 1.899733e+04 2.20e+00 6.19e+04 8.28e+00 8.28e-01 3.77e+05 1 2.58e-02 1.84e-01 + 5 1.899599e+04 1.35e+00 3.03e+04 5.81e+00 9.24e-01 9.68e+05 1 2.63e-02 2.10e-01 + 6 1.899560e+04 3.86e-01 1.57e+04 4.19e+00 9.27e-01 2.56e+06 1 2.75e-02 2.38e-01 + 7 1.899555e+04 5.35e-02 1.76e+03 1.40e+00 9.90e-01 7.67e+06 1 2.69e-02 2.65e-01 + 8 1.899555e+04 7.42e-04 3.12e+01 1.87e-01 9.97e-01 2.30e+07 1 2.60e-02 2.91e-01 + 9 1.899555e+04 8.02e-07 8.41e-01 7.64e-03 1.00e+00 6.90e+07 1 2.61e-02 3.17e-01 + + +Bundle adjustment report +------------------------ + Residuals : 55496 + Parameters : 15655 + Iterations : 10 + Time : 0.31809 [s] + Initial cost : 0.587212 [px] + Final cost : 0.585053 [px] + Termination : Convergence + + => Merged observations: 7 + => Completed observations: 0 + => Filtered observations: 7 + => Changed observations: 0.000505 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 1.899056e+04 0.00e+00 5.19e+03 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 5.82e-02 + 1 1.897632e+04 1.42e+01 1.24e+01 6.58e-01 1.00e+00 3.00e+04 1 4.08e-02 9.91e-02 + 2 1.897632e+04 7.52e-03 4.76e+00 1.12e-01 1.00e+00 9.00e+04 1 2.68e-02 1.26e-01 + 3 1.897631e+04 2.17e-03 1.43e+01 1.32e-01 9.99e-01 2.70e+05 1 2.57e-02 1.52e-01 + 4 1.897631e+04 1.67e-03 3.97e+01 1.96e-01 9.97e-01 8.10e+05 1 2.46e-02 1.76e-01 + 5 1.897631e+04 7.46e-04 3.51e+01 1.85e-01 9.95e-01 2.43e+06 1 2.47e-02 2.01e-01 + 6 1.897631e+04 8.00e-05 5.53e+00 7.37e-02 9.93e-01 7.29e+06 1 3.20e-02 2.33e-01 + 7 1.897631e+04 1.34e-06 1.01e+00 1.03e-02 9.94e-01 2.19e+07 1 2.75e-02 2.61e-01 + 8 1.897631e+04 2.69e-09 6.03e-02 4.47e-04 1.01e+00 6.56e+07 1 2.48e-02 2.85e-01 + + +Bundle adjustment report +------------------------ + Residuals : 55490 + Parameters : 15646 + Iterations : 9 + Time : 0.286692 [s] + Initial cost : 0.585008 [px] + Final cost : 0.584788 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 0 + => Changed observations: 0.000000 + => Filtered images: 0 + +============================================================================== +Registering image #3 (18) +============================================================================== + + => Image sees 1176 / 1699 points + +Pose refinement report +---------------------- + Residuals : 2392 + Parameters : 6 + Iterations : 10 + Time : 0.0202701 [s] + Initial cost : 0.655872 [px] + Final cost : 0.606078 [px] + Termination : Convergence + + => Continued observations: 1144 + => Added observations: 454 + +Bundle adjustment report +------------------------ + Residuals : 29374 + Parameters : 3658 + Iterations : 18 + Time : 0.394703 [s] + Initial cost : 0.539387 [px] + Final cost : 0.520563 [px] + Termination : Convergence + + => Merged observations: 86 + => Completed observations: 55 + => Filtered observations: 238 + => Changed observations: 0.025805 + +Bundle adjustment report +------------------------ + Residuals : 29016 + Parameters : 3580 + Iterations : 3 + Time : 0.066623 [s] + Initial cost : 0.60848 [px] + Final cost : 0.599115 [px] + Termination : Convergence + + => Merged observations: 27 + => Completed observations: 50 + => Filtered observations: 1 + => Changed observations: 0.005376 + +============================================================================== +Registering image #4 (19) +============================================================================== + + => Image sees 1184 / 1713 points + +Pose refinement report +---------------------- + Residuals : 2374 + Parameters : 6 + Iterations : 11 + Time : 0.0215099 [s] + Initial cost : 0.64839 [px] + Final cost : 0.591413 [px] + Termination : Convergence + + => Continued observations: 1136 + => Added observations: 528 + +Bundle adjustment report +------------------------ + Residuals : 26856 + Parameters : 4027 + Iterations : 26 + Time : 0.532447 [s] + Initial cost : 0.568449 [px] + Final cost : 0.551688 [px] + Termination : No convergence + + => Merged observations: 118 + => Completed observations: 59 + => Filtered observations: 244 + => Changed observations: 0.031352 + +Bundle adjustment report +------------------------ + Residuals : 26472 + Parameters : 3940 + Iterations : 2 + Time : 0.0439832 [s] + Initial cost : 0.629389 [px] + Final cost : 0.618118 [px] + Termination : Convergence + + => Merged observations: 30 + => Completed observations: 50 + => Filtered observations: 1 + => Changed observations: 0.006120 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 20 + => Completed observations: 43 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.230290e+04 0.00e+00 1.63e+05 0.00e+00 0.00e+00 1.00e+04 0 1.94e-02 7.78e-02 + 1 2.214450e+04 1.58e+02 1.60e+02 2.19e+00 1.00e+00 3.00e+04 1 4.15e-02 1.19e-01 + 2 2.214396e+04 5.41e-01 3.59e+02 1.21e+00 1.00e+00 9.00e+04 1 2.93e-02 1.49e-01 + 3 2.214381e+04 1.53e-01 3.71e+01 8.86e-01 1.00e+00 2.70e+05 1 3.43e-02 1.83e-01 + 4 2.214379e+04 1.92e-02 2.89e+02 5.44e-01 9.99e-01 8.10e+05 1 3.25e-02 2.15e-01 + 5 2.214378e+04 4.99e-03 2.33e+02 4.58e-01 9.95e-01 2.43e+06 1 2.92e-02 2.45e-01 + 6 2.214378e+04 5.18e-04 3.50e+01 1.79e-01 9.96e-01 7.29e+06 1 2.91e-02 2.74e-01 + 7 2.214378e+04 8.62e-06 1.99e+00 2.49e-02 9.97e-01 2.19e+07 1 2.97e-02 3.04e-01 + 8 2.214378e+04 1.83e-08 1.54e-01 1.12e-03 1.00e+00 6.56e+07 1 3.00e-02 3.34e-01 + + +Bundle adjustment report +------------------------ + Residuals : 61478 + Parameters : 16681 + Iterations : 9 + Time : 0.335147 [s] + Initial cost : 0.602311 [px] + Final cost : 0.600159 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 23 + => Filtered observations: 5 + => Changed observations: 0.001008 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.213518e+04 0.00e+00 5.45e+02 0.00e+00 0.00e+00 1.00e+04 0 1.80e-02 6.32e-02 + 1 2.212449e+04 1.07e+01 8.00e+00 8.79e-01 1.00e+00 3.00e+04 1 4.22e-02 1.05e-01 + 2 2.212449e+04 1.67e-03 1.99e+00 1.69e-02 1.00e+00 9.00e+04 1 2.89e-02 1.34e-01 + 3 2.212449e+04 2.82e-05 1.98e+00 1.27e-02 1.00e+00 2.70e+05 1 2.77e-02 1.62e-01 + 4 2.212449e+04 9.54e-06 1.99e+00 1.33e-02 9.98e-01 8.10e+05 1 2.78e-02 1.90e-01 + 5 2.212449e+04 3.73e-06 1.48e+00 1.21e-02 9.97e-01 2.43e+06 1 2.81e-02 2.18e-01 + 6 2.212449e+04 3.87e-07 6.62e-01 4.70e-03 9.96e-01 7.29e+06 1 2.83e-02 2.46e-01 + + +Bundle adjustment report +------------------------ + Residuals : 61472 + Parameters : 16675 + Iterations : 7 + Time : 0.247935 [s] + Initial cost : 0.600071 [px] + Final cost : 0.599926 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000033 + => Filtered images: 0 + +============================================================================== +Registering image #2 (20) +============================================================================== + + => Image sees 1187 / 1650 points + +Pose refinement report +---------------------- + Residuals : 2450 + Parameters : 6 + Iterations : 11 + Time : 0.0224249 [s] + Initial cost : 0.629642 [px] + Final cost : 0.591809 [px] + Termination : Convergence + + => Continued observations: 1165 + => Added observations: 448 + +Bundle adjustment report +------------------------ + Residuals : 26730 + Parameters : 3544 + Iterations : 26 + Time : 0.521338 [s] + Initial cost : 0.545724 [px] + Final cost : 0.528208 [px] + Termination : No convergence + + => Merged observations: 112 + => Completed observations: 60 + => Filtered observations: 188 + => Changed observations: 0.026936 + +Bundle adjustment report +------------------------ + Residuals : 26476 + Parameters : 3490 + Iterations : 3 + Time : 0.061883 [s] + Initial cost : 0.63156 [px] + Final cost : 0.621494 [px] + Termination : Convergence + + => Merged observations: 15 + => Completed observations: 28 + => Filtered observations: 5 + => Changed observations: 0.003626 + +============================================================================== +Registering image #17 (21) +============================================================================== + + => Image sees 1082 / 1773 points + +Pose refinement report +---------------------- + Residuals : 2162 + Parameters : 6 + Iterations : 8 + Time : 0.0154111 [s] + Initial cost : 0.60734 [px] + Final cost : 0.576766 [px] + Termination : Convergence + + => Continued observations: 1031 + => Added observations: 586 + +Bundle adjustment report +------------------------ + Residuals : 24996 + Parameters : 3613 + Iterations : 26 + Time : 0.491126 [s] + Initial cost : 0.576738 [px] + Final cost : 0.546122 [px] + Termination : No convergence + + => Merged observations: 97 + => Completed observations: 46 + => Filtered observations: 229 + => Changed observations: 0.029765 + +Bundle adjustment report +------------------------ + Residuals : 24590 + Parameters : 3514 + Iterations : 3 + Time : 0.0599492 [s] + Initial cost : 0.627213 [px] + Final cost : 0.615306 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 57 + => Filtered observations: 3 + => Changed observations: 0.005693 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 18 + => Completed observations: 47 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.494587e+04 0.00e+00 1.05e+05 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 7.30e-02 + 1 2.478300e+04 1.63e+02 1.36e+02 1.88e+00 1.00e+00 3.00e+04 1 4.62e-02 1.19e-01 + 2 2.478248e+04 5.19e-01 3.68e+02 1.07e+00 1.00e+00 9.00e+04 1 3.19e-02 1.51e-01 + 3 2.478235e+04 1.27e-01 2.24e+02 7.32e-01 1.00e+00 2.70e+05 1 2.99e-02 1.81e-01 + 4 2.478234e+04 7.98e-03 1.46e+01 2.22e-01 1.00e+00 8.10e+05 1 3.01e-02 2.11e-01 + 5 2.478234e+04 2.74e-04 7.82e+00 8.55e-02 9.98e-01 2.43e+06 1 3.01e-02 2.41e-01 + 6 2.478234e+04 1.79e-05 2.00e+00 2.96e-02 9.93e-01 7.29e+06 1 3.02e-02 2.72e-01 + 7 2.478234e+04 2.28e-07 5.44e-01 3.60e-03 9.94e-01 2.19e+07 1 2.99e-02 3.01e-01 + + +Bundle adjustment report +------------------------ + Residuals : 67458 + Parameters : 17788 + Iterations : 8 + Time : 0.303265 [s] + Initial cost : 0.608111 [px] + Final cost : 0.606114 [px] + Termination : Convergence + + => Merged observations: 5 + => Completed observations: 18 + => Filtered observations: 3 + => Changed observations: 0.000771 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.480138e+04 0.00e+00 2.72e+03 0.00e+00 0.00e+00 1.00e+04 0 2.13e-02 7.19e-02 + 1 2.479041e+04 1.10e+01 1.52e+01 2.28e-01 1.00e+00 3.00e+04 1 4.36e-02 1.15e-01 + 2 2.479041e+04 1.59e-03 2.00e+00 3.69e-02 1.00e+00 9.00e+04 1 3.15e-02 1.47e-01 + 3 2.479041e+04 2.93e-04 1.98e+00 4.18e-02 1.00e+00 2.70e+05 1 3.06e-02 1.78e-01 + 4 2.479041e+04 1.90e-04 4.09e+00 5.83e-02 9.98e-01 8.10e+05 1 3.04e-02 2.08e-01 + 5 2.479041e+04 7.16e-05 3.15e+00 5.03e-02 9.95e-01 2.43e+06 1 3.05e-02 2.39e-01 + 6 2.479041e+04 6.20e-06 2.00e+00 1.77e-02 9.93e-01 7.29e+06 1 3.07e-02 2.69e-01 + 7 2.479041e+04 7.97e-08 3.43e-01 2.15e-03 9.94e-01 2.19e+07 1 3.05e-02 3.00e-01 + + +Bundle adjustment report +------------------------ + Residuals : 67462 + Parameters : 17785 + Iterations : 8 + Time : 0.301624 [s] + Initial cost : 0.606329 [px] + Final cost : 0.606195 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000030 + => Filtered images: 0 + +============================================================================== +Registering image #6 (22) +============================================================================== + + => Image sees 1104 / 1682 points + +Pose refinement report +---------------------- + Residuals : 2264 + Parameters : 6 + Iterations : 7 + Time : 0.014365 [s] + Initial cost : 0.63044 [px] + Final cost : 0.574617 [px] + Termination : Convergence + + => Continued observations: 1072 + => Added observations: 518 + +Bundle adjustment report +------------------------ + Residuals : 25850 + Parameters : 3562 + Iterations : 26 + Time : 0.527807 [s] + Initial cost : 0.561536 [px] + Final cost : 0.538277 [px] + Termination : No convergence + + => Merged observations: 67 + => Completed observations: 52 + => Filtered observations: 184 + => Changed observations: 0.023443 + +Bundle adjustment report +------------------------ + Residuals : 25610 + Parameters : 3493 + Iterations : 3 + Time : 0.059762 [s] + Initial cost : 0.625453 [px] + Final cost : 0.616085 [px] + Termination : Convergence + + => Merged observations: 18 + => Completed observations: 44 + => Filtered observations: 2 + => Changed observations: 0.004998 + +============================================================================== +Registering image #1 (23) +============================================================================== + + => Image sees 1159 / 1589 points + +Pose refinement report +---------------------- + Residuals : 2402 + Parameters : 6 + Iterations : 9 + Time : 0.0182199 [s] + Initial cost : 0.624205 [px] + Final cost : 0.569891 [px] + Termination : Convergence + + => Continued observations: 1130 + => Added observations: 326 + +Bundle adjustment report +------------------------ + Residuals : 26388 + Parameters : 3124 + Iterations : 26 + Time : 0.495608 [s] + Initial cost : 0.560471 [px] + Final cost : 0.540329 [px] + Termination : No convergence + + => Merged observations: 125 + => Completed observations: 36 + => Filtered observations: 175 + => Changed observations: 0.025466 + +Bundle adjustment report +------------------------ + Residuals : 26178 + Parameters : 3076 + Iterations : 3 + Time : 0.0594089 [s] + Initial cost : 0.636472 [px] + Final cost : 0.626647 [px] + Termination : Convergence + + => Merged observations: 23 + => Completed observations: 32 + => Filtered observations: 1 + => Changed observations: 0.004278 + +============================================================================== +Registering image #12 (24) +============================================================================== + + => Image sees 1134 / 1529 points + +Pose refinement report +---------------------- + Residuals : 2338 + Parameters : 6 + Iterations : 9 + Time : 0.019429 [s] + Initial cost : 0.611779 [px] + Final cost : 0.58066 [px] + Termination : Convergence + + => Continued observations: 1095 + => Added observations: 412 + +Bundle adjustment report +------------------------ + Residuals : 24936 + Parameters : 3034 + Iterations : 25 + Time : 0.453999 [s] + Initial cost : 0.583623 [px] + Final cost : 0.555006 [px] + Termination : Convergence + + => Merged observations: 136 + => Completed observations: 57 + => Filtered observations: 213 + => Changed observations: 0.032563 + +Bundle adjustment report +------------------------ + Residuals : 24372 + Parameters : 3073 + Iterations : 3 + Time : 0.0553591 [s] + Initial cost : 0.641971 [px] + Final cost : 0.631125 [px] + Termination : Convergence + + => Merged observations: 48 + => Completed observations: 49 + => Filtered observations: 6 + => Changed observations: 0.008452 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 32 + => Completed observations: 37 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 2.919059e+04 0.00e+00 1.20e+06 0.00e+00 0.00e+00 1.00e+04 0 2.15e-02 8.08e-02 + 1 2.882950e+04 3.61e+02 7.39e+02 1.72e+00 1.00e+00 3.00e+04 1 5.29e-02 1.34e-01 + 2 2.882933e+04 1.62e-01 1.51e+02 5.60e-01 1.00e+00 9.00e+04 1 3.63e-02 1.70e-01 + 3 2.882928e+04 5.96e-02 6.96e+01 5.45e-01 1.00e+00 2.70e+05 1 3.42e-02 2.04e-01 + 4 2.882925e+04 2.32e-02 3.83e+02 5.80e-01 9.97e-01 8.10e+05 1 3.41e-02 2.38e-01 + 5 2.882925e+04 5.53e-03 1.87e+02 3.85e-01 9.94e-01 2.43e+06 1 3.41e-02 2.73e-01 + 6 2.882925e+04 2.80e-04 1.26e+01 9.96e-02 9.94e-01 7.29e+06 1 3.88e-02 3.11e-01 + 7 2.882925e+04 1.90e-06 1.04e+00 8.58e-03 9.96e-01 2.19e+07 1 3.58e-02 3.47e-01 + 8 2.882925e+04 1.43e-09 4.38e-02 2.17e-04 9.65e-01 6.56e+07 1 3.74e-02 3.85e-01 + + +Bundle adjustment report +------------------------ + Residuals : 75990 + Parameters : 19093 + Iterations : 9 + Time : 0.387 [s] + Initial cost : 0.619788 [px] + Final cost : 0.61594 [px] + Termination : Convergence + + => Merged observations: 6 + => Completed observations: 0 + => Filtered observations: 6 + => Changed observations: 0.000316 + => Filtered images: 0 + +============================================================================== +Registering image #5 (25) +============================================================================== + + => Image sees 1091 / 1503 points + +Pose refinement report +---------------------- + Residuals : 2232 + Parameters : 6 + Iterations : 9 + Time : 0.0178518 [s] + Initial cost : 0.671785 [px] + Final cost : 0.595626 [px] + Termination : Convergence + + => Continued observations: 1059 + => Added observations: 299 + +Bundle adjustment report +------------------------ + Residuals : 24164 + Parameters : 3076 + Iterations : 26 + Time : 0.477723 [s] + Initial cost : 0.571032 [px] + Final cost : 0.549219 [px] + Termination : No convergence + + => Merged observations: 65 + => Completed observations: 43 + => Filtered observations: 206 + => Changed observations: 0.025989 + +Bundle adjustment report +------------------------ + Residuals : 23878 + Parameters : 3010 + Iterations : 3 + Time : 0.0559149 [s] + Initial cost : 0.640116 [px] + Final cost : 0.629025 [px] + Termination : Convergence + + => Merged observations: 8 + => Completed observations: 33 + => Filtered observations: 2 + => Changed observations: 0.003602 + +============================================================================== +Registering image #40 (26) +============================================================================== + + => Image sees 1113 / 1885 points + +Pose refinement report +---------------------- + Residuals : 2256 + Parameters : 6 + Iterations : 17 + Time : 0.0280561 [s] + Initial cost : 0.652147 [px] + Final cost : 0.599565 [px] + Termination : Convergence + + => Continued observations: 1067 + => Added observations: 418 + +Bundle adjustment report +------------------------ + Residuals : 27108 + Parameters : 2935 + Iterations : 26 + Time : 0.510305 [s] + Initial cost : 0.57303 [px] + Final cost : 0.552994 [px] + Termination : No convergence + + => Merged observations: 112 + => Completed observations: 55 + => Filtered observations: 209 + => Changed observations: 0.027741 + +Bundle adjustment report +------------------------ + Residuals : 26822 + Parameters : 2854 + Iterations : 3 + Time : 0.0608249 [s] + Initial cost : 0.641195 [px] + Final cost : 0.633183 [px] + Termination : Convergence + + => Merged observations: 22 + => Completed observations: 54 + => Filtered observations: 1 + => Changed observations: 0.005742 + +============================================================================== +Registering image #39 (27) +============================================================================== + + => Image sees 1077 / 2035 points + +Pose refinement report +---------------------- + Residuals : 2208 + Parameters : 6 + Iterations : 10 + Time : 0.018503 [s] + Initial cost : 0.680172 [px] + Final cost : 0.594157 [px] + Termination : Convergence + + => Continued observations: 1036 + => Added observations: 644 + +Bundle adjustment report +------------------------ + Residuals : 25476 + Parameters : 3199 + Iterations : 26 + Time : 0.486625 [s] + Initial cost : 0.586792 [px] + Final cost : 0.567994 [px] + Termination : No convergence + + => Merged observations: 116 + => Completed observations: 62 + => Filtered observations: 226 + => Changed observations: 0.031716 + +Bundle adjustment report +------------------------ + Residuals : 25174 + Parameters : 3115 + Iterations : 3 + Time : 0.05773 [s] + Initial cost : 0.655203 [px] + Final cost : 0.64512 [px] + Termination : Convergence + + => Merged observations: 15 + => Completed observations: 30 + => Filtered observations: 6 + => Changed observations: 0.004052 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 40 + => Completed observations: 80 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.370935e+04 0.00e+00 6.01e+05 0.00e+00 0.00e+00 1.00e+04 0 2.44e-02 9.48e-02 + 1 3.334858e+04 3.61e+02 1.04e+03 1.47e+00 1.00e+00 3.00e+04 1 5.93e-02 1.54e-01 + 2 3.334763e+04 9.46e-01 1.89e+03 1.60e+00 1.00e+00 9.00e+04 1 4.05e-02 1.95e-01 + 3 3.334635e+04 1.28e+00 9.65e+03 3.25e+00 9.94e-01 2.70e+05 1 3.75e-02 2.32e-01 + 4 3.334537e+04 9.78e-01 1.86e+04 4.44e+00 9.71e-01 8.10e+05 1 3.80e-02 2.70e-01 + 5 3.334511e+04 2.60e-01 7.65e+03 2.82e+00 9.79e-01 2.43e+06 1 3.79e-02 3.08e-01 + 6 3.334510e+04 1.57e-02 4.60e+02 6.86e-01 9.97e-01 7.29e+06 1 3.77e-02 3.46e-01 + 7 3.334510e+04 8.80e-05 3.21e+00 5.75e-02 1.00e+00 2.19e+07 1 3.74e-02 3.83e-01 + 8 3.334510e+04 6.53e-08 2.64e-01 1.56e-03 1.01e+00 6.56e+07 1 3.77e-02 4.21e-01 + + +Bundle adjustment report +------------------------ + Residuals : 84330 + Parameters : 20599 + Iterations : 9 + Time : 0.423535 [s] + Initial cost : 0.632243 [px] + Final cost : 0.628818 [px] + Termination : Convergence + + => Merged observations: 5 + => Completed observations: 21 + => Filtered observations: 3 + => Changed observations: 0.000688 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.335716e+04 0.00e+00 4.73e+03 0.00e+00 0.00e+00 1.00e+04 0 2.53e-02 9.21e-02 + 1 3.334503e+04 1.21e+01 4.05e+01 3.18e-01 1.00e+00 3.00e+04 1 5.62e-02 1.48e-01 + 2 3.334501e+04 2.30e-02 2.00e+00 7.81e-02 1.00e+00 9.00e+04 1 4.04e-02 1.89e-01 + 3 3.334501e+04 6.28e-04 4.11e+00 6.34e-02 9.99e-01 2.70e+05 1 3.95e-02 2.28e-01 + 4 3.334501e+04 3.83e-04 7.26e+00 8.32e-02 9.98e-01 8.10e+05 1 4.07e-02 2.69e-01 + 5 3.334501e+04 9.15e-05 2.94e+00 5.29e-02 9.97e-01 2.43e+06 1 4.04e-02 3.09e-01 + 6 3.334501e+04 4.22e-06 1.53e+00 1.30e-02 9.97e-01 7.29e+06 1 3.90e-02 3.48e-01 + 7 3.334501e+04 2.72e-08 1.81e-01 1.08e-03 9.98e-01 2.19e+07 1 3.90e-02 3.87e-01 + + +Bundle adjustment report +------------------------ + Residuals : 84334 + Parameters : 20596 + Iterations : 8 + Time : 0.390006 [s] + Initial cost : 0.628917 [px] + Final cost : 0.628802 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000024 + => Filtered images: 0 + +============================================================================== +Registering image #38 (28) +============================================================================== + + => Image sees 1130 / 2104 points + +Pose refinement report +---------------------- + Residuals : 2334 + Parameters : 6 + Iterations : 9 + Time : 0.0186689 [s] + Initial cost : 0.678065 [px] + Final cost : 0.590251 [px] + Termination : Convergence + + => Continued observations: 1093 + => Added observations: 728 + +Bundle adjustment report +------------------------ + Residuals : 25326 + Parameters : 3610 + Iterations : 26 + Time : 0.489411 [s] + Initial cost : 0.590096 [px] + Final cost : 0.565986 [px] + Termination : No convergence + + => Merged observations: 141 + => Completed observations: 41 + => Filtered observations: 234 + => Changed observations: 0.032852 + +Bundle adjustment report +------------------------ + Residuals : 24952 + Parameters : 3505 + Iterations : 3 + Time : 0.0573199 [s] + Initial cost : 0.64974 [px] + Final cost : 0.640672 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 65 + => Filtered observations: 3 + => Changed observations: 0.005450 + +============================================================================== +Registering image #19 (29) +============================================================================== + + => Image sees 1129 / 1955 points + +Pose refinement report +---------------------- + Residuals : 2352 + Parameters : 6 + Iterations : 14 + Time : 0.025876 [s] + Initial cost : 0.700544 [px] + Final cost : 0.616742 [px] + Termination : Convergence + + => Continued observations: 1114 + => Added observations: 322 + +Bundle adjustment report +------------------------ + Residuals : 23262 + Parameters : 3145 + Iterations : 26 + Time : 0.448421 [s] + Initial cost : 0.586506 [px] + Final cost : 0.571033 [px] + Termination : No convergence + + => Merged observations: 79 + => Completed observations: 30 + => Filtered observations: 214 + => Changed observations: 0.027771 + +Bundle adjustment report +------------------------ + Residuals : 22954 + Parameters : 3073 + Iterations : 3 + Time : 0.054004 [s] + Initial cost : 0.661805 [px] + Final cost : 0.652925 [px] + Termination : Convergence + + => Merged observations: 17 + => Completed observations: 54 + => Filtered observations: 2 + => Changed observations: 0.006361 + +============================================================================== +Registering image #18 (30) +============================================================================== + + => Image sees 1121 / 1636 points + +Pose refinement report +---------------------- + Residuals : 2312 + Parameters : 6 + Iterations : 8 + Time : 0.0160232 [s] + Initial cost : 0.617945 [px] + Final cost : 0.59483 [px] + Termination : Convergence + + => Continued observations: 1074 + => Added observations: 585 + +Bundle adjustment report +------------------------ + Residuals : 22614 + Parameters : 3529 + Iterations : 25 + Time : 0.422969 [s] + Initial cost : 0.604399 [px] + Final cost : 0.572979 [px] + Termination : Convergence + + => Merged observations: 160 + => Completed observations: 73 + => Filtered observations: 225 + => Changed observations: 0.040506 + +Bundle adjustment report +------------------------ + Residuals : 22338 + Parameters : 3451 + Iterations : 3 + Time : 0.0525889 [s] + Initial cost : 0.662361 [px] + Final cost : 0.649234 [px] + Termination : Convergence + + => Merged observations: 27 + => Completed observations: 46 + => Filtered observations: 3 + => Changed observations: 0.006805 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 29 + => Completed observations: 44 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 3.837430e+04 0.00e+00 1.02e+06 0.00e+00 0.00e+00 1.00e+04 0 3.02e-02 1.08e-01 + 1 3.758089e+04 7.93e+02 8.91e+02 1.53e+00 1.00e+00 3.00e+04 1 5.74e-02 1.66e-01 + 2 3.758059e+04 2.93e-01 7.90e+02 9.54e-01 1.00e+00 9.00e+04 1 5.17e-02 2.17e-01 + 3 3.758018e+04 4.11e-01 3.47e+03 1.76e+00 9.97e-01 2.70e+05 1 4.40e-02 2.61e-01 + 4 3.757987e+04 3.15e-01 5.82e+03 2.28e+00 9.91e-01 8.10e+05 1 4.35e-02 3.05e-01 + 5 3.757979e+04 7.34e-02 2.19e+03 1.40e+00 9.94e-01 2.43e+06 1 4.29e-02 3.48e-01 + 6 3.757979e+04 3.45e-03 1.23e+02 3.34e-01 9.99e-01 7.29e+06 1 4.84e-02 3.96e-01 + 7 3.757979e+04 2.06e-05 2.00e+00 2.74e-02 1.00e+00 2.19e+07 1 4.30e-02 4.39e-01 + 8 3.757979e+04 1.90e-08 1.23e-01 7.81e-04 1.01e+00 6.56e+07 1 4.35e-02 4.83e-01 + + +Bundle adjustment report +------------------------ + Residuals : 93438 + Parameters : 22495 + Iterations : 9 + Time : 0.485667 [s] + Initial cost : 0.640853 [px] + Final cost : 0.634184 [px] + Termination : Convergence + + => Merged observations: 9 + => Completed observations: 0 + => Filtered observations: 10 + => Changed observations: 0.000407 + => Filtered images: 0 + +============================================================================== +Registering image #21 (31) +============================================================================== + + => Image sees 1246 / 1819 points + +Pose refinement report +---------------------- + Residuals : 2656 + Parameters : 6 + Iterations : 8 + Time : 0.0183451 [s] + Initial cost : 0.616122 [px] + Final cost : 0.588747 [px] + Termination : Convergence + + => Continued observations: 1208 + => Added observations: 503 + +Bundle adjustment report +------------------------ + Residuals : 25816 + Parameters : 3337 + Iterations : 26 + Time : 0.501962 [s] + Initial cost : 0.598245 [px] + Final cost : 0.575855 [px] + Termination : No convergence + + => Merged observations: 183 + => Completed observations: 55 + => Filtered observations: 268 + => Changed observations: 0.039200 + +Bundle adjustment report +------------------------ + Residuals : 25450 + Parameters : 3202 + Iterations : 3 + Time : 0.0601919 [s] + Initial cost : 0.657834 [px] + Final cost : 0.647235 [px] + Termination : Convergence + + => Merged observations: 0 + => Completed observations: 64 + => Filtered observations: 3 + => Changed observations: 0.005265 + +============================================================================== +Registering image #20 (32) +============================================================================== + + => Image sees 1266 / 1827 points + +Pose refinement report +---------------------- + Residuals : 2686 + Parameters : 6 + Iterations : 9 + Time : 0.0207369 [s] + Initial cost : 0.638651 [px] + Final cost : 0.595486 [px] + Termination : Convergence + + => Continued observations: 1230 + => Added observations: 466 + +Bundle adjustment report +------------------------ + Residuals : 24418 + Parameters : 3256 + Iterations : 14 + Time : 0.249671 [s] + Initial cost : 0.604199 [px] + Final cost : 0.587314 [px] + Termination : Convergence + + => Merged observations: 105 + => Completed observations: 90 + => Filtered observations: 264 + => Changed observations: 0.037595 + +Bundle adjustment report +------------------------ + Residuals : 23646 + Parameters : 3160 + Iterations : 3 + Time : 0.0545809 [s] + Initial cost : 0.676683 [px] + Final cost : 0.664548 [px] + Termination : Convergence + + => Merged observations: 28 + => Completed observations: 31 + => Filtered observations: 7 + => Changed observations: 0.005582 + +============================================================================== +Registering image #29 (33) +============================================================================== + + => Image sees 1201 / 1744 points + +Pose refinement report +---------------------- + Residuals : 2520 + Parameters : 6 + Iterations : 8 + Time : 0.017277 [s] + Initial cost : 0.661185 [px] + Final cost : 0.602115 [px] + Termination : Convergence + + => Continued observations: 1164 + => Added observations: 433 + +Bundle adjustment report +------------------------ + Residuals : 22958 + Parameters : 3526 + Iterations : 26 + Time : 0.448659 [s] + Initial cost : 0.619212 [px] + Final cost : 0.601416 [px] + Termination : No convergence + + => Merged observations: 236 + => Completed observations: 44 + => Filtered observations: 268 + => Changed observations: 0.047739 + +Bundle adjustment report +------------------------ + Residuals : 23314 + Parameters : 3091 + Iterations : 3 + Time : 0.05375 [s] + Initial cost : 0.673422 [px] + Final cost : 0.660498 [px] + Termination : Convergence + + => Merged observations: 73 + => Completed observations: 61 + => Filtered observations: 5 + => Changed observations: 0.011924 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 54 + => Completed observations: 98 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.277843e+04 0.00e+00 7.01e+04 0.00e+00 0.00e+00 1.00e+04 0 3.36e-02 1.24e-01 + 1 4.228122e+04 4.97e+02 5.85e+02 1.72e+00 1.00e+00 3.00e+04 1 6.89e-02 1.93e-01 + 2 4.227860e+04 2.62e+00 8.08e+03 2.53e+00 9.98e-01 9.00e+04 1 4.85e-02 2.41e-01 + 3 4.227501e+04 3.59e+00 3.00e+04 4.54e+00 9.83e-01 2.70e+05 1 4.94e-02 2.91e-01 + 4 4.227254e+04 2.48e+00 4.47e+04 5.49e+00 9.48e-01 8.10e+05 1 4.83e-02 3.39e-01 + 5 4.227190e+04 6.41e-01 1.48e+04 3.19e+00 9.78e-01 2.43e+06 1 4.72e-02 3.86e-01 + 6 4.227186e+04 3.49e-02 7.25e+02 7.13e-01 1.00e+00 7.29e+06 1 4.72e-02 4.33e-01 + 7 4.227186e+04 1.54e-04 4.56e+00 5.61e-02 1.00e+00 2.19e+07 1 4.92e-02 4.83e-01 + 8 4.227186e+04 1.25e-07 2.64e-01 1.66e-03 1.01e+00 6.56e+07 1 4.80e-02 5.31e-01 + + +Bundle adjustment report +------------------------ + Residuals : 102568 + Parameters : 23854 + Iterations : 9 + Time : 0.533925 [s] + Initial cost : 0.645813 [px] + Final cost : 0.641977 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 0 + => Filtered observations: 11 + => Changed observations: 0.000409 + => Filtered images: 0 + +============================================================================== +Registering image #28 (34) +============================================================================== + + => Image sees 1259 / 1730 points + +Pose refinement report +---------------------- + Residuals : 2660 + Parameters : 6 + Iterations : 8 + Time : 0.0179238 [s] + Initial cost : 0.692541 [px] + Final cost : 0.601472 [px] + Termination : Convergence + + => Continued observations: 1212 + => Added observations: 480 + +Bundle adjustment report +------------------------ + Residuals : 23778 + Parameters : 3409 + Iterations : 26 + Time : 0.495177 [s] + Initial cost : 0.630225 [px] + Final cost : 0.612102 [px] + Termination : No convergence + + => Merged observations: 184 + => Completed observations: 55 + => Filtered observations: 350 + => Changed observations: 0.049542 + +Bundle adjustment report +------------------------ + Residuals : 23150 + Parameters : 3250 + Iterations : 3 + Time : 0.0537951 [s] + Initial cost : 0.678252 [px] + Final cost : 0.664882 [px] + Termination : Convergence + + => Merged observations: 21 + => Completed observations: 87 + => Filtered observations: 0 + => Changed observations: 0.009330 + +============================================================================== +Registering image #22 (35) +============================================================================== + + => Image sees 1194 / 1706 points + +Pose refinement report +---------------------- + Residuals : 2574 + Parameters : 6 + Iterations : 7 + Time : 0.0159049 [s] + Initial cost : 0.60547 [px] + Final cost : 0.592202 [px] + Termination : Convergence + + => Continued observations: 1153 + => Added observations: 446 + +Bundle adjustment report +------------------------ + Residuals : 26006 + Parameters : 2860 + Iterations : 26 + Time : 0.487862 [s] + Initial cost : 0.601603 [px] + Final cost : 0.577301 [px] + Termination : No convergence + + => Merged observations: 226 + => Completed observations: 56 + => Filtered observations: 259 + => Changed observations: 0.041606 + +Bundle adjustment report +------------------------ + Residuals : 24902 + Parameters : 2722 + Iterations : 3 + Time : 0.0564191 [s] + Initial cost : 0.665288 [px] + Final cost : 0.654779 [px] + Termination : Convergence + + => Merged observations: 17 + => Completed observations: 59 + => Filtered observations: 6 + => Changed observations: 0.006586 + +============================================================================== +Registering image #41 (36) +============================================================================== + + => Image sees 1249 / 1636 points + +Pose refinement report +---------------------- + Residuals : 2688 + Parameters : 6 + Iterations : 8 + Time : 0.0203378 [s] + Initial cost : 0.613747 [px] + Final cost : 0.594791 [px] + Termination : Convergence + + => Continued observations: 1208 + => Added observations: 390 + +Bundle adjustment report +------------------------ + Residuals : 26026 + Parameters : 2884 + Iterations : 18 + Time : 0.355452 [s] + Initial cost : 0.600068 [px] + Final cost : 0.583644 [px] + Termination : Convergence + + => Merged observations: 250 + => Completed observations: 56 + => Filtered observations: 226 + => Changed observations: 0.040882 + +Bundle adjustment report +------------------------ + Residuals : 25696 + Parameters : 2818 + Iterations : 3 + Time : 0.058799 [s] + Initial cost : 0.67595 [px] + Final cost : 0.665134 [px] + Termination : Convergence + + => Merged observations: 35 + => Completed observations: 35 + => Filtered observations: 4 + => Changed observations: 0.005760 + +============================================================================== +Registering image #23 (37) +============================================================================== + + => Image sees 1149 / 1552 points + +Pose refinement report +---------------------- + Residuals : 2406 + Parameters : 6 + Iterations : 8 + Time : 0.0167129 [s] + Initial cost : 0.675769 [px] + Final cost : 0.578209 [px] + Termination : Convergence + + => Continued observations: 1104 + => Added observations: 399 + +Bundle adjustment report +------------------------ + Residuals : 24074 + Parameters : 2698 + Iterations : 26 + Time : 0.450285 [s] + Initial cost : 0.607046 [px] + Final cost : 0.584899 [px] + Termination : No convergence + + => Merged observations: 174 + => Completed observations: 53 + => Filtered observations: 250 + => Changed observations: 0.039628 + +Bundle adjustment report +------------------------ + Residuals : 23774 + Parameters : 2590 + Iterations : 3 + Time : 0.0555451 [s] + Initial cost : 0.671757 [px] + Final cost : 0.661241 [px] + Termination : Convergence + + => Merged observations: 26 + => Completed observations: 63 + => Filtered observations: 7 + => Changed observations: 0.008076 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 61 + => Completed observations: 248 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.884513e+04 0.00e+00 1.90e+06 0.00e+00 0.00e+00 1.00e+04 0 3.71e-02 1.58e-01 + 1 4.799316e+04 8.52e+02 9.60e+02 2.09e+00 1.00e+00 3.00e+04 1 7.02e-02 2.28e-01 + 2 4.799054e+04 2.61e+00 7.81e+03 2.68e+00 9.99e-01 9.00e+04 1 5.22e-02 2.80e-01 + 3 4.798690e+04 3.64e+00 2.97e+04 5.04e+00 9.85e-01 2.70e+05 1 5.41e-02 3.35e-01 + 4 4.798448e+04 2.42e+00 4.17e+04 6.01e+00 9.58e-01 8.10e+05 1 5.47e-02 3.89e-01 + 5 4.798391e+04 5.65e-01 1.26e+04 3.35e+00 9.84e-01 2.43e+06 1 5.22e-02 4.42e-01 + 6 4.798389e+04 2.63e-02 5.59e+02 7.13e-01 1.00e+00 7.29e+06 1 5.33e-02 4.95e-01 + 7 4.798389e+04 1.09e-04 3.23e+00 5.38e-02 1.01e+00 2.19e+07 1 5.52e-02 5.50e-01 + 8 4.798389e+04 9.25e-08 2.23e-01 1.58e-03 1.01e+00 6.56e+07 1 5.29e-02 6.03e-01 + + +Bundle adjustment report +------------------------ + Residuals : 114128 + Parameters : 25411 + Iterations : 9 + Time : 0.606823 [s] + Initial cost : 0.654206 [px] + Final cost : 0.648413 [px] + Termination : Convergence + + => Merged observations: 16 + => Completed observations: 53 + => Filtered observations: 17 + => Changed observations: 0.001507 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 4.802095e+04 0.00e+00 8.81e+03 0.00e+00 0.00e+00 1.00e+04 0 3.44e-02 1.38e-01 + 1 4.798245e+04 3.85e+01 2.73e+01 3.42e-01 1.00e+00 3.00e+04 1 6.86e-02 2.06e-01 + 2 4.798244e+04 1.10e-02 1.30e+01 1.14e-01 1.00e+00 9.00e+04 1 5.42e-02 2.60e-01 + 3 4.798244e+04 5.37e-03 4.35e+01 1.97e-01 1.00e+00 2.70e+05 1 5.50e-02 3.15e-01 + 4 4.798243e+04 3.47e-03 5.89e+01 2.26e-01 1.00e+00 8.10e+05 1 5.28e-02 3.68e-01 + 5 4.798243e+04 6.52e-04 1.76e+01 1.24e-01 1.00e+00 2.43e+06 1 5.37e-02 4.22e-01 + 6 4.798243e+04 2.32e-05 2.00e+00 2.60e-02 1.00e+00 7.29e+06 1 5.54e-02 4.77e-01 + 7 4.798243e+04 1.26e-07 2.90e-01 1.97e-03 1.01e+00 2.19e+07 1 5.23e-02 5.30e-01 + + +Bundle adjustment report +------------------------ + Residuals : 114124 + Parameters : 25399 + Iterations : 8 + Time : 0.533588 [s] + Initial cost : 0.648675 [px] + Final cost : 0.648414 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 0 + => Filtered observations: 6 + => Changed observations: 0.000158 + => Filtered images: 0 + +============================================================================== +Registering image #27 (38) +============================================================================== + + => Image sees 1180 / 1512 points + +Pose refinement report +---------------------- + Residuals : 2544 + Parameters : 6 + Iterations : 9 + Time : 0.021395 [s] + Initial cost : 0.681004 [px] + Final cost : 0.594302 [px] + Termination : Convergence + + => Continued observations: 1143 + => Added observations: 415 + +Bundle adjustment report +------------------------ + Residuals : 24220 + Parameters : 2896 + Iterations : 26 + Time : 0.458406 [s] + Initial cost : 0.622985 [px] + Final cost : 0.599788 [px] + Termination : No convergence + + => Merged observations: 121 + => Completed observations: 46 + => Filtered observations: 280 + => Changed observations: 0.036912 + +Bundle adjustment report +------------------------ + Residuals : 24004 + Parameters : 2830 + Iterations : 3 + Time : 0.054775 [s] + Initial cost : 0.689075 [px] + Final cost : 0.678217 [px] + Termination : Convergence + + => Merged observations: 6 + => Completed observations: 70 + => Filtered observations: 1 + => Changed observations: 0.006416 + +============================================================================== +Registering image #26 (39) +============================================================================== + + => Image sees 1199 / 1534 points + +Pose refinement report +---------------------- + Residuals : 2610 + Parameters : 6 + Iterations : 8 + Time : 0.018044 [s] + Initial cost : 0.643661 [px] + Final cost : 0.596495 [px] + Termination : Convergence + + => Continued observations: 1161 + => Added observations: 375 + +Bundle adjustment report +------------------------ + Residuals : 23934 + Parameters : 2686 + Iterations : 26 + Time : 0.46389 [s] + Initial cost : 0.62289 [px] + Final cost : 0.604666 [px] + Termination : No convergence + + => Merged observations: 205 + => Completed observations: 41 + => Filtered observations: 302 + => Changed observations: 0.045793 + +Bundle adjustment report +------------------------ + Residuals : 23510 + Parameters : 2578 + Iterations : 3 + Time : 0.0540469 [s] + Initial cost : 0.681338 [px] + Final cost : 0.670007 [px] + Termination : Convergence + + => Merged observations: 25 + => Completed observations: 53 + => Filtered observations: 5 + => Changed observations: 0.007061 + +============================================================================== +Registering image #25 (40) +============================================================================== + + => Image sees 1143 / 1419 points + +Pose refinement report +---------------------- + Residuals : 2508 + Parameters : 6 + Iterations : 9 + Time : 0.0190301 [s] + Initial cost : 0.642917 [px] + Final cost : 0.617753 [px] + Termination : Convergence + + => Continued observations: 1110 + => Added observations: 345 + +Bundle adjustment report +------------------------ + Residuals : 24330 + Parameters : 2542 + Iterations : 26 + Time : 0.448604 [s] + Initial cost : 0.612975 [px] + Final cost : 0.594117 [px] + Termination : No convergence + + => Merged observations: 196 + => Completed observations: 68 + => Filtered observations: 276 + => Changed observations: 0.044390 + +Bundle adjustment report +------------------------ + Residuals : 23860 + Parameters : 2428 + Iterations : 3 + Time : 0.0522761 [s] + Initial cost : 0.686197 [px] + Final cost : 0.675104 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 45 + => Filtered observations: 6 + => Changed observations: 0.005113 + +============================================================================== +Registering image #24 (41) +============================================================================== + + => Image sees 1017 / 1251 points + +Pose refinement report +---------------------- + Residuals : 2108 + Parameters : 6 + Iterations : 6 + Time : 0.01138 [s] + Initial cost : 0.590869 [px] + Final cost : 0.58972 [px] + Termination : Convergence + + => Continued observations: 970 + => Added observations: 283 + +Bundle adjustment report +------------------------ + Residuals : 20474 + Parameters : 2221 + Iterations : 26 + Time : 0.382001 [s] + Initial cost : 0.61615 [px] + Final cost : 0.596075 [px] + Termination : No convergence + + => Merged observations: 133 + => Completed observations: 37 + => Filtered observations: 215 + => Changed observations: 0.037609 + +Bundle adjustment report +------------------------ + Residuals : 20156 + Parameters : 2140 + Iterations : 3 + Time : 0.0448182 [s] + Initial cost : 0.684319 [px] + Final cost : 0.672109 [px] + Termination : Convergence + + => Merged observations: 12 + => Completed observations: 49 + => Filtered observations: 3 + => Changed observations: 0.006350 + +============================================================================== +Retriangulation +============================================================================== + + => Merged observations: 66 + => Completed observations: 207 + => Retriangulated observations: 0 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.384937e+04 0.00e+00 5.66e+05 0.00e+00 0.00e+00 1.00e+04 0 3.62e-02 1.51e-01 + 1 5.328407e+04 5.65e+02 2.81e+03 2.27e+00 1.00e+00 3.00e+04 1 8.02e-02 2.31e-01 + 2 5.328192e+04 2.16e+00 5.16e+03 2.24e+00 1.00e+00 9.00e+04 1 6.15e-02 2.93e-01 + 3 5.327939e+04 2.53e+00 1.97e+04 4.09e+00 9.91e-01 2.70e+05 1 6.47e-02 3.58e-01 + 4 5.327786e+04 1.52e+00 2.45e+04 4.56e+00 9.78e-01 8.10e+05 1 6.14e-02 4.19e-01 + 5 5.327757e+04 2.92e-01 6.43e+03 2.36e+00 9.94e-01 2.43e+06 1 6.09e-02 4.80e-01 + 6 5.327756e+04 1.05e-02 2.48e+02 4.67e-01 1.00e+00 7.29e+06 1 6.09e-02 5.41e-01 + 7 5.327756e+04 4.27e-05 2.00e+00 3.31e-02 1.01e+00 2.19e+07 1 6.06e-02 6.02e-01 + 8 5.327756e+04 3.80e-08 1.18e-01 9.41e-04 1.01e+00 6.56e+07 1 6.09e-02 6.63e-01 + + +Bundle adjustment report +------------------------ + Residuals : 124446 + Parameters : 26575 + Iterations : 9 + Time : 0.666563 [s] + Initial cost : 0.657809 [px] + Final cost : 0.654307 [px] + Termination : Convergence + + => Merged observations: 10 + => Completed observations: 111 + => Filtered observations: 20 + => Changed observations: 0.002266 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.326671e+04 0.00e+00 7.28e+03 0.00e+00 0.00e+00 1.00e+04 0 3.65e-02 1.51e-01 + 1 5.322109e+04 4.56e+01 3.25e+00 3.68e-01 1.00e+00 3.00e+04 1 8.31e-02 2.34e-01 + 2 5.322108e+04 1.06e-02 2.81e+01 1.63e-01 1.00e+00 9.00e+04 1 6.35e-02 2.98e-01 + 3 5.322107e+04 1.19e-02 9.33e+01 2.76e-01 1.00e+00 2.70e+05 1 5.81e-02 3.56e-01 + 4 5.322106e+04 7.31e-03 1.16e+02 3.05e-01 1.00e+00 8.10e+05 1 6.03e-02 4.16e-01 + 5 5.322106e+04 1.23e-03 3.05e+01 1.57e-01 1.00e+00 2.43e+06 1 6.04e-02 4.77e-01 + 6 5.322106e+04 3.86e-05 2.00e+00 3.08e-02 1.00e+00 7.29e+06 1 6.03e-02 5.37e-01 + 7 5.322106e+04 1.86e-07 2.95e-01 2.19e-03 1.01e+00 2.19e+07 1 6.08e-02 5.98e-01 + + +Bundle adjustment report +------------------------ + Residuals : 124424 + Parameters : 26560 + Iterations : 8 + Time : 0.603058 [s] + Initial cost : 0.654298 [px] + Final cost : 0.654018 [px] + Termination : Convergence + + => Merged observations: 8 + => Completed observations: 24 + => Filtered observations: 5 + => Changed observations: 0.000595 + +============================================================================== +Global bundle adjustment +============================================================================== + +iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time + 0 5.321649e+04 0.00e+00 3.54e+03 0.00e+00 0.00e+00 1.00e+04 0 4.07e-02 1.55e-01 + 1 5.320376e+04 1.27e+01 2.57e+01 2.74e-01 1.00e+00 3.00e+04 1 7.64e-02 2.31e-01 + 2 5.320376e+04 1.15e-03 2.00e+00 5.00e-02 1.00e+00 9.00e+04 1 6.09e-02 2.92e-01 + 3 5.320376e+04 9.14e-04 6.50e+00 7.41e-02 1.00e+00 2.70e+05 1 6.11e-02 3.53e-01 + 4 5.320376e+04 5.74e-04 8.83e+00 8.46e-02 1.00e+00 8.10e+05 1 6.03e-02 4.13e-01 + 5 5.320376e+04 9.71e-05 2.38e+00 4.39e-02 1.00e+00 2.43e+06 1 6.05e-02 4.74e-01 + 6 5.320376e+04 3.04e-06 9.53e-01 8.63e-03 1.00e+00 7.29e+06 1 6.28e-02 5.37e-01 + + +Bundle adjustment report +------------------------ + Residuals : 124430 + Parameters : 26557 + Iterations : 7 + Time : 0.540784 [s] + Initial cost : 0.653974 [px] + Final cost : 0.653896 [px] + Termination : Convergence + + => Merged observations: 3 + => Completed observations: 0 + => Filtered observations: 1 + => Changed observations: 0.000064 + => Filtered images: 0 + +Elapsed time: 0.595 [minutes] diff --git a/llff/room/database.db b/llff/room/database.db new file mode 100644 index 0000000000000000000000000000000000000000..20761a2254a879c945a1e66953d37c60c7ea2dc5 --- /dev/null +++ b/llff/room/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9d4d351e80fd1a0878892e26fcc6c445ed83adb72f18fd6fedb36b9c2186a65 +size 26951680 diff --git a/llff/room/images/DJI_20200226_143850_006.JPG b/llff/room/images/DJI_20200226_143850_006.JPG new file mode 100644 index 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+ba_refine_principal_point=false +ba_refine_extra_params=true +ba_global_use_pba=false +fix_existing_images=false +tri_ignore_two_view_tracks=true +min_num_matches=15 +max_num_models=50 +max_model_overlap=20 +min_model_size=10 +init_image_id1=-1 +init_image_id2=-1 +init_num_trials=200 +num_threads=16 +ba_min_num_residuals_for_multi_threading=50000 +ba_local_num_images=6 +ba_local_max_num_iterations=25 +ba_global_pba_gpu_index=-1 +ba_global_images_freq=500 +ba_global_points_freq=250000 +ba_global_max_num_iterations=50 +ba_global_max_refinements=5 +ba_local_max_refinements=2 +snapshot_images_freq=0 +init_min_num_inliers=100 +init_max_reg_trials=2 +abs_pose_min_num_inliers=30 +max_reg_trials=3 +tri_max_transitivity=1 +tri_complete_max_transitivity=5 +tri_re_max_trials=1 +min_focal_length_ratio=0.10000000000000001 +max_focal_length_ratio=10 +max_extra_param=1 +ba_global_images_ratio=1.1000000000000001 +ba_global_points_ratio=1.1000000000000001 +ba_global_max_refinement_change=0.00050000000000000001 +ba_local_max_refinement_change=0.001 +init_max_error=4 +init_max_forward_motion=0.94999999999999996 +init_min_tri_angle=4 +abs_pose_max_error=12 +abs_pose_min_inlier_ratio=0.25 +filter_max_reproj_error=4 +filter_min_tri_angle=1.5 +tri_create_max_angle_error=2 +tri_continue_max_angle_error=2 +tri_merge_max_reproj_error=4 +tri_complete_max_reproj_error=4 +tri_re_max_angle_error=5 +tri_re_min_ratio=0.20000000000000001 +tri_min_angle=1.5 +snapshot_path= diff --git a/llff/trex/colmap_output.txt b/llff/trex/colmap_output.txt new file mode 100644 index 0000000000000000000000000000000000000000..5d5a737b994ec7c4f365cf8f7466ee64344d25e1 --- /dev/null +++ b/llff/trex/colmap_output.txt @@ -0,0 +1,4756 @@ + +============================================================================== +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 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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 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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 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