No Node able to be Processed default pipeline #46

chboishabba · 2022-09-16T05:21:18Z

[15:17:36.859124][info] CameraInit report:
- # views listed: 76
- # views with an initialized intrinsic listed: 76
- # views without metadata (with a default intrinsic): 0
- # intrinsics listed: 2

Does not appear to create logs but happy to provide if you could share the expected path.
It seemed the app wanted to work fine with OpenCL MVS but I haven't let it run past very early stages. Will continue running this mode and confirm success.

chboishabba · 2022-09-16T05:25:17Z

Traceback (most recent call last):
File "d:\release\BUILD\meshroom\meshroom\ui\graph.py", line 384, in execute
File "d:\release\BUILD\meshroom\meshroom\core\taskManager.py", line 192, in compute
File "d:\release\BUILD\meshroom\meshroom\core\taskManager.py", line 368, in raiseImpossibleProcess
RuntimeError: [COMPUTATION] Impossible Process:
There is no node able to be processed.

chboishabba · 2022-09-16T05:28:55Z

So it seems if I right click a node after this I can still click "Compute"... will report back

chboishabba · 2022-09-16T05:34:45Z

[15:27:18.448603][info] CameraInit report:
- # views listed: 76
- # views with an initialized intrinsic listed: 76
- # views without metadata (with a default intrinsic): 0
- # intrinsics listed: 2
WARNING:root:Downgrade status on node "StructureFromMotionCL_1" from Status.STOPPED to Status.SUBMITTED

commandLine: meshroomCL_StructureFromMotionCL --input "C:/Users/chb/Documents/MeshroomCache/CameraInit/2664cc6cccce123132d1e392849b7e0ebb5dfca2/cameraInit.sfm" --maxImageSize 3200 --DomainSizePooling True --GuidedMatching True --bundleAdjustmentQuality default --maxNumThreads 8 --cpuOnly False --OpenCLDevices False --output "C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9/sfm.abc" --outputViewsAndPoses "C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9/cameras.sfm" --extraInfoFolder "C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9"
logFile: C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9/log
ERROR:root:Error on node computation: Error on node "StructureFromMotionCL_1":
Log:
Using 7 CPU thread(s) for feature extraction.

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

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Name: 1017006326.jpg
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Name: 1051530515.jpg
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Name: 1080083015.jpg
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Name: 1129305901.jpg
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Name: 1141081806.jpg
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Name: 1157515273.jpg
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Name: 1224616652.jpg
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Name: 1282362468.jpg
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Name: 1284191385.jpg
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Name: 1298433921.jpg
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Name: 1448411268.jpg
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Name: 1502962493.jpg
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Name: 1516056256.jpg
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Name: 1518432403.jpg
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Name: 1538437639.jpg
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Processed file [25/76]
Name: 1593220750.jpg
Dimensions: 3072 x 4080
Camera: #45 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9192
Processed file [26/76]
Name: 1541160649.jpg
Dimensions: 4080 x 3072
Camera: #43 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11094
Processed file [27/76]
Name: 1648131337.jpg
Dimensions: 4080 x 3072
Camera: #46 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8346
Processed file [28/76]
Name: 1541611539.jpg
Dimensions: 4080 x 3072
Camera: #44 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10303
Processed file [29/76]
Name: 1700104657.jpg
Dimensions: 4080 x 3072
Camera: #48 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10213
Processed file [30/76]
Name: 165572163.jpg
Dimensions: 4080 x 3072
Camera: #47 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 13304
Processed file [31/76]
Name: 1522450795.jpg
Dimensions: 3072 x 4080
Camera: #42 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11680
Processed file [32/76]
Name: 1708201711.jpg
Dimensions: 3072 x 4080
Camera: #49 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10316
Processed file [33/76]
Name: 1771353390.jpg
Dimensions: 3072 x 4080
Camera: #50 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8693
Processed file [34/76]
Name: 1820081844.jpg
Dimensions: 4080 x 3072
Camera: #51 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9154
Processed file [35/76]
Name: 1857127279.jpg
Dimensions: 4080 x 3072
Camera: #52 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11449
Processed file [36/76]
Name: 1865792943.jpg
Dimensions: 4080 x 3072
Camera: #53 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10891
Processed file [37/76]
Name: 193687127.jpg
Dimensions: 3072 x 4080
Camera: #55 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11643
Processed file [38/76]
Name: 1901836827.jpg
Dimensions: 4080 x 3072
Camera: #54 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11886
Processed file [39/76]
Name: 1952347119.jpg
Dimensions: 4080 x 3072
Camera: #57 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8305
Processed file [40/76]
Name: 1948855908.jpg
Dimensions: 4080 x 3072
Camera: #56 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11938
Processed file [41/76]
Name: 1984562140.jpg
Dimensions: 3072 x 4080
Camera: #58 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9887
Processed file [42/76]
Name: 2012455566.jpg
Dimensions: 4080 x 3072
Camera: #60 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8850
Processed file [43/76]
Name: 2027422539.jpg
Dimensions: 4080 x 3072
Camera: #61 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8650
Processed file [44/76]
Name: 2008081844.jpg
Dimensions: 3072 x 4080
Camera: #59 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11596
Processed file [45/76]
Name: 2079085126.jpg
Dimensions: 3072 x 4080
Camera: #62 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11425
Processed file [46/76]
Name: 2127651011.jpg
Dimensions: 4080 x 3072
Camera: #64 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8698
Processed file [47/76]
Name: 2107673862.jpg
Dimensions: 3072 x 4080
Camera: #63 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8644
Processed file [48/76]
Name: 2137814355.jpg
Dimensions: 4080 x 3072
Camera: #65 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11311
Processed file [49/76]
Name: 287555840.jpg
Dimensions: 3072 x 4080
Camera: #68 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8236
Processed file [50/76]
Name: 26787333.jpg
Dimensions: 4080 x 3072
Camera: #66 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11868
Processed file [51/76]
Name: 318489990.jpg
Dimensions: 4080 x 3072
Camera: #69 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8478
Processed file [52/76]
Name: 269217086.jpg
Dimensions: 4080 x 3072
Camera: #67 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 12096
Processed file [53/76]
Name: 33548660.jpg
Dimensions: 4080 x 3072
Camera: #70 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8445
Processed file [54/76]
Name: 372445504.jpg
Dimensions: 4080 x 3072
Camera: #71 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8494
Processed file [55/76]
Name: 389231142.jpg
Dimensions: 4080 x 3072
Camera: #72 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11804
Processed file [56/76]
Name: 402676163.jpg
Dimensions: 4080 x 3072
Camera: #73 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10307
Processed file [57/76]
Name: 448802876.jpg
Dimensions: 3072 x 4080
Camera: #76 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8955
Processed file [58/76]
Name: 438889681.jpg
Dimensions: 4080 x 3072
Camera: #75 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 13985
Processed file [59/76]
Name: 426495839.jpg
Dimensions: 3072 x 4080
Camera: #74 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9111
Processed file [60/76]
Name: 449953908.jpg
Dimensions: 3072 x 4080
Camera: #77 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10822
Processed file [61/76]
Name: 494336959.jpg
Dimensions: 3072 x 4080
Camera: #78 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 10529
Processed file [62/76]
Name: 499762646.jpg
Dimensions: 4080 x 3072
Camera: #79 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8268
Processed file [63/76]
Name: 56150171.jpg
Dimensions: 4080 x 3072
Camera: #80 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11125
Processed file [64/76]
Name: 57005813.jpg
Dimensions: 4080 x 3072
Camera: #81 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11722
Processed file [65/76]
Name: 57747573.jpg
Dimensions: 3072 x 4080
Camera: #82 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11583
Processed file [66/76]
Name: 59269945.jpg
Dimensions: 3072 x 4080
Camera: #83 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 13613
Processed file [67/76]
Name: 593196929.jpg
Dimensions: 4080 x 3072
Camera: #84 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11899
Processed file [68/76]
Name: 613410900.jpg
Dimensions: 3072 x 4080
Camera: #85 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 12171
Processed file [69/76]
Name: 673601027.jpg
Dimensions: 4080 x 3072
Camera: #86 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11628
Processed file [70/76]
Name: 682766886.jpg
Dimensions: 3072 x 4080
Camera: #88 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 8414
Processed file [71/76]
Name: 682741782.jpg
Dimensions: 3072 x 4080
Camera: #87 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 12891
Processed file [72/76]
Name: 882167077.jpg
Dimensions: 3072 x 4080
Camera: #92 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9925
Processed file [73/76]
Name: 685220828.jpg
Dimensions: 4080 x 3072
Camera: #89 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 12382
Processed file [74/76]
Name: 780850726.jpg
Dimensions: 4080 x 3072
Camera: #90 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11713
Processed file [75/76]
Name: 798184463.jpg
Dimensions: 4080 x 3072
Camera: #91 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 11213
Processed file [76/76]
Name: 975847557.jpg
Dimensions: 3072 x 4080
Camera: #93 - SIMPLE_RADIAL
Focal Length: 2797.71px (Prior)
GPS: LAT=27.306, LON=153.048, ALT=61.900
Features: 9536
Elapsed time: 3.194 [minutes]

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

OpenCL platform : AMD Accelerated Parallel Processing
OpenCL device : Ellesmere
OpenCL platform : AMD Accelerated Parallel Processing
OpenCL device : Ellesmere
Matching block [1/2, 1/2] in 80.885s
Matching block [1/2, 2/2] in 23.106s
Matching block [2/2, 1/2] in 65.915s
Matching block [2/2, 2/2] in 23.412s
Elapsed time: 3.238 [minutes]

WARNING:root:Downgrade status on node "MultiviewStereoCL_1" from Status.SUBMITTED to Status.NONE
WARNING:root:Downgrade status on node "MeshFiltering_1" from Status.SUBMITTED to Status.NONE
WARNING:root:Downgrade status on node "TexturingCL_1" from Status.SUBMITTED to Status.NONE

chboishabba · 2022-09-16T05:40:10Z

Hmm....

Second time doing that same right click->compute on the same node using default pipeline seemed to work:

Using 7 CPU thread(s) for feature extraction.

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

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Name: 1046670035.jpg
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Name: 1282362468.jpg
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Name: 1284191385.jpg
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Name: 1298433921.jpg
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Name: 1393726016.jpg
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Name: 1448411268.jpg
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Name: 1467839646.jpg
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Name: 1487843869.jpg
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Name: 1516056256.jpg
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Name: 1518432403.jpg
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Name: 1522450795.jpg
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Name: 1538437639.jpg
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Name: 1541160649.jpg
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Name: 1541611539.jpg
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Name: 1593220750.jpg
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Name: 165572163.jpg
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Name: 1700104657.jpg
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Name: 1708201711.jpg
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Name: 1771353390.jpg
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Name: 1865792943.jpg
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Name: 1948855908.jpg
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Name: 1952347119.jpg
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Name: 1984562140.jpg
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Name: 2008081844.jpg
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Name: 2012455566.jpg
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Name: 2027422539.jpg
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Name: 2079085126.jpg
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Name: 2107673862.jpg
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Name: 2127651011.jpg
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Name: 2137814355.jpg
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Name: 26787333.jpg
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Name: 269217086.jpg
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Name: 287555840.jpg
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Name: 318489990.jpg
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Name: 33548660.jpg
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Name: 372445504.jpg
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Name: 389231142.jpg
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Name: 402676163.jpg
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Name: 426495839.jpg
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Name: 438889681.jpg
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Name: 448802876.jpg
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Elapsed time: 0.000 [minutes]

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

OpenCL platform : AMD Accelerated Parallel Processing
OpenCL device : Ellesmere
OpenCL platform : AMD Accelerated Parallel Processing
OpenCL device : Ellesmere
Matching block [1/2, 1/2] in 0.003s
Matching block [1/2, 2/2] in 0.001s
Matching block [2/2, 1/2] in 0.001s
Matching block [2/2, 2/2] in 0.001s
Elapsed time: 0.011 [minutes]

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

Loading cameras... 2 in 0.000s
Loading matches... 335 in 0.004s
Loading images... 76 in 0.043s (connected 76)
Building correspondence graph... in 0.034s (ignored 0)

Elapsed time: 0.001 [minutes]

==============================================================================
Initializing with image pair #7 and #19

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

iter cost 0 2.990484e+04 0.00e+00 1 5.583990e+03 2.43e+04 2 3.491964e+04 -2.93e+04 3 7.109145e+03 -1.53e+03 4 4.648794e+03 9.35e+02 5 5.100157e+03 -4.51e+02 6 4.474096e+03 1.75e+02 7 4.256413e+03 2.18e+02 8 4.036684e+03 2.20e+02 9 3.803217e+03 2.33e+02 10 3.576604e+03 2.27e+02 11 3.348780e+03 2.28e+02 12 3.127311e+03 2.21e+02 13 2.907563e+03 2.20e+02 14 2.691794e+03 2.16e+02 15 2.476835e+03 2.15e+02 16 2.263843e+03 2.13e+02 17 2.052147e+03 2.12e+02 18 1.846644e+03 2.06e+02 19 1.653401e+03 1.93e+02 20 1.483956e+03 1.69e+02 21 1.344506e+03 1.39e+02 22 1.238538e+03 1.06e+02 23 1.161471e+03 7.71e+01 24 1.109115e+03 5.24e+01 25 1.075117e+03 3.40e+01 26 1.054431e+03 2.07e+01 27 1.042497e+03 1.19e+01 28 1.036211e+03 6.29e+00 29 1.033299e+03 2.91e+00 30 1.032251e+03 1.05e+00 31 1.032020e+03 2.31e-01 32 1.032003e+03 1.72e-02 33 1.032002e+03 2.26e-04 34 1.032002e+03 1.91e-06 35 1.032002e+03 1.66e-08 36 1.032002e+03 1.21e-10 cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
1.12e+06 0.00e+00 0.00e+00 1.00e+04 0 2.12e-03 1.55e-02
6.45e+05 1.41e+02 9.68e-01 3.00e+04 1 7.47e-03 2.30e-02
6.45e+05 3.09e+02 -1.64e+01 1.50e+04 1 9.43e-04 2.40e-02
6.45e+05 1.68e+02 -1.12e+00 3.75e+03 1 8.75e-04 2.49e-02
9.53e+04 4.47e+01 9.84e-01 1.12e+04 1 1.67e-03 2.65e-02
9.53e+04 1.25e+02 -1.03e+00 5.62e+03 1 1.08e-03 2.76e-02
1.85e+05 6.47e+01 7.29e-01 6.22e+03 1 1.37e-03 2.90e-02
2.03e+05 6.75e+01 7.36e-01 6.95e+03 1 1.43e-03 3.05e-02
2.24e+05 7.12e+01 6.96e-01 7.39e+03 1 1.39e-03 3.19e-02
2.21e+05 7.11e+01 7.12e-01 8.00e+03 1 1.35e-03 3.32e-02
2.23e+05 7.21e+01 7.01e-01 8.56e+03 1 1.59e-03 3.48e-02
2.15e+05 7.20e+01 7.14e-01 9.29e+03 1 1.40e-03 3.63e-02
2.09e+05 7.26e+01 7.16e-01 1.01e+04 1 1.40e-03 3.77e-02
2.02e+05 7.30e+01 7.29e-01 1.12e+04 1 1.38e-03 3.91e-02
2.00e+05 7.41e+01 7.37e-01 1.25e+04 1 1.46e-03 4.05e-02
1.95e+05 7.55e+01 7.50e-01 1.43e+04 1 1.60e-03 4.22e-02
1.93e+05 7.78e+01 7.59e-01 1.66e+04 1 1.60e-03 4.38e-02
1.90e+05 8.01e+01 7.69e-01 1.97e+04 1 1.70e-03 4.55e-02
1.90e+05 8.26e+01 7.70e-01 2.33e+04 1 1.56e-03 4.71e-02
1.95e+05 8.32e+01 7.67e-01 2.75e+04 1 1.38e-03 4.85e-02
2.01e+05 8.10e+01 7.50e-01 3.15e+04 1 1.39e-03 4.99e-02
1.98e+05 7.43e+01 7.37e-01 3.52e+04 1 1.37e-03 5.13e-02
1.87e+05 6.50e+01 7.23e-01 3.86e+04 1 1.32e-03 5.26e-02
1.64e+05 5.46e+01 7.27e-01 4.26e+04 1 1.41e-03 5.40e-02
1.37e+05 4.50e+01 7.37e-01 4.77e+04 1 1.47e-03 5.55e-02
1.07e+05 3.67e+01 7.58e-01 5.53e+04 1 1.44e-03 5.70e-02
8.12e+04 2.99e+01 7.79e-01 6.70e+04 1 1.75e-03 5.88e-02
5.81e+04 2.41e+01 8.07e-01 8.72e+04 1 1.61e-03 6.04e-02
3.92e+04 1.91e+01 8.36e-01 1.25e+05 1 1.68e-03 6.21e-02
2.34e+04 1.44e+01 8.75e-01 2.17e+05 1 1.47e-03 6.36e-02
1.14e+04 9.81e+00 9.23e-01 5.51e+05 1 1.42e-03 6.50e-02
3.35e+03 5.22e+00 9.84e-01 1.65e+06 1 1.46e-03 6.65e-02
2.71e+02 1.41e+00 1.03e+00 4.96e+06 1 1.38e-03 6.79e-02
5.94e+00 1.95e-01 1.06e+00 1.49e+07 1 1.36e-03 6.92e-02
9.16e-01 2.00e-02 1.08e+00 4.46e+07 1 1.36e-03 7.06e-02
1.15e-01 1.85e-03 1.09e+00 1.34e+08 1 1.40e-03 7.20e-02
1.04e-02 1.66e-04 9.86e-01 4.02e+08 1 1.52e-03 7.36e-02

Bundle adjustment report

Residuals : 2648

Parameters : 1994
Iterations : 37
Time : 0.0736711 [s]
Initial cost : 3.36056 [px]
Final cost : 0.624283 [px]
Termination : Convergence

=> Filtered observations: 14
=> Filtered images: 0

==============================================================================
Registering image #49 (3)

=> Image sees 437 / 5765 points

Pose refinement report

Residuals : 644

Parameters : 9
Iterations : 15
Time : 0.0072122 [s]
Initial cost : 0.86596 [px]
Final cost : 0.719585 [px]
Termination : Convergence

=> Continued observations: 322
=> Added observations: 5231

Bundle adjustment report

Residuals : 13726

Parameters : 9104
Iterations : 26
Time : 0.205437 [s]
Initial cost : 2.38542 [px]
Final cost : 0.77367 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 136
=> Filtered observations: 785
=> Changed observations: 0.134198

Bundle adjustment report

Residuals : 12428

Parameters : 8753
Iterations : 10
Time : 0.0806165 [s]
Initial cost : 0.653256 [px]
Final cost : 0.579518 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 252
=> Filtered observations: 3
=> Changed observations: 0.041036

==============================================================================
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 4.521966e+03 0.00e+00 5.32e+03 0.00e+00 0.00e+00 1.00e+04 0 3.21e-03 1.23e-02
1 4.447502e+03 7.45e+01 8.64e+03 2.10e+00 9.85e-01 3.00e+04 1 1.13e-02 2.36e-02
2 4.445576e+03 1.93e+00 9.16e+02 1.40e+00 1.02e+00 9.00e+04 1 7.31e-03 3.10e-02
3 4.444921e+03 6.55e-01 8.30e+03 2.54e+00 9.65e-01 2.70e+05 1 6.92e-03 3.79e-02
4 4.444409e+03 5.12e-01 1.85e+04 3.71e+00 8.32e-01 3.82e+05 1 6.99e-03 4.49e-02
5 4.444185e+03 2.23e-01 5.43e+03 2.01e+00 9.55e-01 1.15e+06 1 6.50e-03 5.14e-02
6 4.444156e+03 2.95e-02 1.42e+03 1.03e+00 9.60e-01 3.44e+06 1 6.17e-03 5.76e-02
7 4.444155e+03 1.06e-03 3.65e+01 1.65e-01 9.94e-01 1.03e+07 1 6.74e-03 6.44e-02
8 4.444155e+03 2.21e-06 6.99e-01 6.27e-03 1.02e+00 3.10e+07 1 5.97e-03 7.04e-02
9 4.444155e+03 3.41e-09 3.42e-02 3.02e-04 1.03e+00 9.29e+07 1 6.82e-03 7.72e-02

Bundle adjustment report

Residuals : 12926

Parameters : 9128
Iterations : 10
Time : 0.0774832 [s]
Initial cost : 0.591468 [px]
Final cost : 0.586358 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 10
=> Changed observations: 0.001547

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.342934e+03 0.00e+00 2.97e+03 0.00e+00 0.00e+00 1.00e+04 0 2.64e-03 1.09e-02
1 4.303229e+03 3.97e+01 4.35e+03 2.01e+00 9.92e-01 3.00e+04 1 1.01e-02 2.10e-02
2 4.301275e+03 1.95e+00 3.94e+03 2.36e+00 1.01e+00 9.00e+04 1 5.82e-03 2.68e-02
3 4.299429e+03 1.85e+00 2.80e+04 4.75e+00 8.92e-01 1.74e+05 1 7.10e-03 3.40e-02
4 4.297978e+03 1.45e+00 3.95e+04 5.50e+00 7.70e-01 2.06e+05 1 6.92e-03 4.09e-02
5 4.297001e+03 9.77e-01 1.74e+04 3.63e+00 9.17e-01 4.92e+05 1 6.48e-03 4.74e-02
6 4.296705e+03 2.96e-01 1.21e+04 3.02e+00 8.68e-01 8.18e+05 1 7.73e-03 5.52e-02
7 4.296637e+03 6.76e-02 1.77e+03 1.15e+00 9.77e-01 2.45e+06 1 6.35e-03 6.16e-02
8 4.296635e+03 2.32e-03 1.20e+02 3.01e-01 9.80e-01 7.36e+06 1 6.90e-03 6.85e-02
9 4.296635e+03 1.29e-05 1.72e+00 1.91e-02 1.01e+00 2.21e+07 1 6.94e-03 7.54e-02
10 4.296635e+03 1.62e-08 8.96e-02 6.01e-04 1.03e+00 6.63e+07 1 6.43e-03 8.19e-02

Bundle adjustment report

Residuals : 12906

Parameters : 9119
Iterations : 11
Time : 0.0821609 [s]
Initial cost : 0.580091 [px]
Final cost : 0.57699 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 6
=> Changed observations: 0.000930

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.244624e+03 0.00e+00 2.28e+03 0.00e+00 0.00e+00 1.00e+04 0 2.86e-03 1.16e-02
1 4.234568e+03 1.01e+01 1.11e+02 5.32e-01 9.99e-01 3.00e+04 1 9.68e-03 2.13e-02
2 4.234282e+03 2.87e-01 1.05e+03 1.02e+00 1.00e+00 9.00e+04 1 6.78e-03 2.81e-02
3 4.233848e+03 4.34e-01 6.29e+03 2.21e+00 9.70e-01 2.70e+05 1 5.73e-03 3.39e-02
4 4.233461e+03 3.87e-01 1.45e+04 3.30e+00 8.63e-01 4.36e+05 1 7.81e-03 4.17e-02
5 4.233297e+03 1.64e-01 5.30e+03 1.99e+00 9.44e-01 1.31e+06 1 6.18e-03 4.79e-02
6 4.233272e+03 2.45e-02 1.29e+03 9.80e-01 9.61e-01 3.93e+06 1 6.77e-03 5.47e-02
7 4.233271e+03 8.06e-04 3.01e+01 1.51e-01 9.93e-01 1.18e+07 1 6.52e-03 6.13e-02
8 4.233271e+03 1.44e-06 6.97e-01 5.41e-03 1.02e+00 3.54e+07 1 6.26e-03 6.76e-02
9 4.233271e+03 2.35e-09 4.91e-02 3.06e-04 1.05e+00 1.06e+08 1 6.93e-03 7.45e-02

Bundle adjustment report

Residuals : 12894

Parameters : 9113
Iterations : 10
Time : 0.0747827 [s]
Initial cost : 0.573754 [px]
Final cost : 0.572986 [px]
Termination : Convergence

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

==============================================================================
Registering image #24 (4)

=> Image sees 482 / 1894 points

Pose refinement report

Residuals : 482

Parameters : 9
Iterations : 22
Time : 0.0060788 [s]
Initial cost : 0.902544 [px]
Final cost : 0.801423 [px]
Termination : Convergence

=> Continued observations: 241
=> Added observations: 764

Bundle adjustment report

Residuals : 14904

Parameters : 9941
Iterations : 26
Time : 0.232024 [s]
Initial cost : 0.777156 [px]
Final cost : 0.526256 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 20
=> Filtered observations: 214
=> Changed observations: 0.031401

Bundle adjustment report

Residuals : 14516

Parameters : 9830
Iterations : 9
Time : 0.0832259 [s]
Initial cost : 0.579672 [px]
Final cost : 0.558722 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 17
=> Filtered observations: 0
=> Changed observations: 0.002342

==============================================================================
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 4.566382e+03 0.00e+00 2.31e+03 0.00e+00 0.00e+00 1.00e+04 0 3.06e-03 1.29e-02
1 4.553803e+03 1.26e+01 1.87e+01 2.59e-01 1.00e+00 3.00e+04 1 1.08e-02 2.37e-02
2 4.553789e+03 1.40e-02 2.25e+00 2.18e-01 1.01e+00 9.00e+04 1 7.35e-03 3.11e-02
3 4.553785e+03 4.07e-03 1.97e+00 1.88e-01 1.01e+00 2.70e+05 1 7.71e-03 3.88e-02
4 4.553784e+03 5.13e-04 1.87e+00 8.45e-02 1.02e+00 8.10e+05 1 7.45e-03 4.63e-02
5 4.553784e+03 1.54e-05 2.00e+00 1.94e-02 1.02e+00 2.43e+06 1 7.70e-03 5.40e-02
6 4.553784e+03 1.93e-07 4.05e-01 3.03e-03 1.01e+00 7.29e+06 1 7.19e-03 6.12e-02
7 4.553784e+03 1.20e-09 3.14e-02 2.36e-04 1.00e+00 2.19e+07 1 7.55e-03 6.88e-02

Bundle adjustment report

Residuals : 14552

Parameters : 9851
Iterations : 8
Time : 0.0690858 [s]
Initial cost : 0.560176 [px]
Final cost : 0.559403 [px]
Termination : Convergence

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

==============================================================================
Registering image #38 (5)

=> Image sees 404 / 1382 points

Pose refinement report

Residuals : 436

Parameters : 6
Iterations : 17
Time : 0.0039434 [s]
Initial cost : 0.854646 [px]
Final cost : 0.843103 [px]
Termination : Convergence

=> Continued observations: 218
=> Added observations: 542

Bundle adjustment report

Residuals : 16072

Parameters : 10481
Iterations : 26
Time : 0.233861 [s]
Initial cost : 0.796264 [px]
Final cost : 0.598779 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 14
=> Filtered observations: 304
=> Changed observations: 0.039572

Bundle adjustment report

Residuals : 15492

Parameters : 10271
Iterations : 7
Time : 0.0651461 [s]
Initial cost : 0.604331 [px]
Final cost : 0.579254 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 48
=> Filtered observations: 0
=> Changed observations: 0.006197

==============================================================================
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 5.345241e+03 0.00e+00 8.86e+03 0.00e+00 0.00e+00 1.00e+04 0 4.03e-03 1.52e-02
1 5.315069e+03 3.02e+01 3.66e+02 3.01e+00 1.00e+00 3.00e+04 1 1.01e-02 2.54e-02
2 5.314787e+03 2.81e-01 2.27e+01 7.82e-01 9.99e-01 9.00e+04 1 8.23e-03 3.37e-02
3 5.314760e+03 2.76e-02 2.11e+01 3.62e-01 1.01e+00 2.70e+05 1 7.77e-03 4.15e-02
4 5.314758e+03 1.89e-03 1.27e+00 1.31e-01 1.01e+00 8.10e+05 1 8.84e-03 5.03e-02
5 5.314758e+03 3.17e-05 1.53e+00 1.66e-02 1.02e+00 2.43e+06 1 8.26e-03 5.86e-02
6 5.314758e+03 1.44e-07 8.78e-02 9.35e-04 1.03e+00 7.29e+06 1 7.70e-03 6.63e-02

Bundle adjustment report

Residuals : 15602

Parameters : 10337
Iterations : 7
Time : 0.0666268 [s]
Initial cost : 0.58532 [px]
Final cost : 0.583649 [px]
Termination : Convergence

=> Merged observations: 2
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.000256
=> Filtered images: 0

==============================================================================
Registering image #9 (6)

=> Image sees 415 / 3167 points

Pose refinement report

Residuals : 400

Parameters : 6
Iterations : 19
Time : 0.0040726 [s]
Initial cost : 0.870873 [px]
Final cost : 0.847315 [px]
Termination : Convergence

=> Continued observations: 200
=> Added observations: 903

Bundle adjustment report

Residuals : 17812

Parameters : 11462
Iterations : 26
Time : 0.273876 [s]
Initial cost : 0.7876 [px]
Final cost : 0.57847 [px]
Termination : No convergence

=> Merged observations: 4
=> Completed observations: 19
=> Filtered observations: 300
=> Changed observations: 0.036268

Bundle adjustment report

Residuals : 17250

Parameters : 11225
Iterations : 9
Time : 0.103014 [s]
Initial cost : 0.620024 [px]
Final cost : 0.596714 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 47
=> Filtered observations: 3
=> Changed observations: 0.005797

==============================================================================
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 6.275988e+03 0.00e+00 4.75e+03 0.00e+00 0.00e+00 1.00e+04 0 6.35e-03 1.83e-02
1 6.241956e+03 3.40e+01 7.92e+01 4.37e-01 1.00e+00 3.00e+04 1 1.60e-02 3.44e-02
2 6.241915e+03 4.09e-02 3.18e+00 9.96e-02 9.99e-01 9.00e+04 1 9.58e-03 4.40e-02
3 6.241914e+03 1.41e-03 8.43e-01 6.23e-02 1.01e+00 2.70e+05 1 1.08e-02 5.48e-02
4 6.241914e+03 6.69e-05 1.93e+00 1.63e-02 1.01e+00 8.10e+05 1 7.86e-03 6.27e-02
5 6.241914e+03 9.99e-07 1.92e-01 1.49e-03 1.01e+00 2.43e+06 1 9.98e-03 7.27e-02
6 6.241914e+03 4.50e-09 1.13e-02 9.68e-05 1.02e+00 7.29e+06 1 8.37e-03 8.11e-02

Bundle adjustment report

Residuals : 17354

Parameters : 11288
Iterations : 7
Time : 0.0815084 [s]
Initial cost : 0.601369 [px]
Final cost : 0.599735 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.000576

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.281163e+03 0.00e+00 9.31e+02 0.00e+00 0.00e+00 1.00e+04 0 4.18e-03 1.63e-02
1 6.269018e+03 1.21e+01 1.22e+01 1.62e-01 1.00e+00 3.00e+04 1 1.31e-02 2.95e-02
2 6.268993e+03 2.57e-02 3.07e+01 2.83e-01 1.00e+00 9.00e+04 1 9.06e-03 3.85e-02
3 6.268985e+03 7.86e-03 3.70e+01 2.43e-01 9.98e-01 2.70e+05 1 8.26e-03 4.68e-02
4 6.268984e+03 7.48e-04 9.34e+00 9.71e-02 9.87e-01 8.10e+05 1 8.57e-03 5.54e-02
5 6.268984e+03 1.86e-05 1.90e+00 1.64e-02 9.79e-01 2.43e+06 1 8.31e-03 6.38e-02
6 6.268984e+03 7.17e-08 1.33e-01 8.54e-04 1.00e+00 7.29e+06 1 1.02e-02 7.40e-02
7 6.268984e+03 8.09e-11 2.00e-03 8.68e-06 1.02e+00 2.19e+07 1 8.66e-03 8.27e-02

Bundle adjustment report

Residuals : 17364

Parameters : 11288
Iterations : 8
Time : 0.0831654 [s]
Initial cost : 0.601444 [px]
Final cost : 0.600861 [px]
Termination : Convergence

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

==============================================================================
Registering image #21 (7)

=> Image sees 791 / 4267 points

Pose refinement report

Residuals : 690

Parameters : 6
Iterations : 58
Time : 0.0212269 [s]
Initial cost : 0.742325 [px]
Final cost : 0.733716 [px]
Termination : Convergence

=> Continued observations: 345
=> Added observations: 2152

Bundle adjustment report

Residuals : 21536

Parameters : 12602
Iterations : 26
Time : 0.326634 [s]
Initial cost : 1.22249 [px]
Final cost : 0.626941 [px]
Termination : No convergence

=> Merged observations: 9
=> Completed observations: 28
=> Filtered observations: 366
=> Changed observations: 0.037426

Bundle adjustment report

Residuals : 20862

Parameters : 12332
Iterations : 4
Time : 0.0638479 [s]
Initial cost : 0.646085 [px]
Final cost : 0.622705 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 79
=> Filtered observations: 1
=> Changed observations: 0.007669

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

=> Merged observations: 18
=> 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 8.815122e+03 0.00e+00 6.28e+04 0.00e+00 0.00e+00 1.00e+04 0 4.37e-03 2.08e-02
1 8.670878e+03 1.44e+02 1.26e+04 4.13e+00 1.00e+00 3.00e+04 1 1.47e-02 3.56e-02
2 8.661061e+03 9.82e+00 3.52e+04 5.19e+00 9.78e-01 9.00e+04 1 1.15e-02 4.71e-02
3 8.655580e+03 5.48e+00 4.27e+04 4.77e+00 9.44e-01 2.70e+05 1 1.03e-02 5.75e-02
4 8.654135e+03 1.45e+00 1.37e+04 2.49e+00 9.68e-01 8.10e+05 1 1.11e-02 6.87e-02
5 8.654054e+03 8.07e-02 6.91e+02 5.44e-01 9.87e-01 2.43e+06 1 1.09e-02 7.96e-02
6 8.654054e+03 3.46e-04 3.15e+00 3.44e-02 9.94e-01 7.29e+06 1 1.14e-02 9.10e-02
7 8.654054e+03 2.23e-07 7.27e-02 3.30e-04 1.02e+00 2.19e+07 1 1.10e-02 1.02e-01

Bundle adjustment report

Residuals : 21874

Parameters : 13679
Iterations : 8
Time : 0.102475 [s]
Initial cost : 0.634819 [px]
Final cost : 0.628993 [px]
Termination : Convergence

=> Merged observations: 11
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.001006

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.731526e+03 0.00e+00 5.67e+03 0.00e+00 0.00e+00 1.00e+04 0 5.48e-03 2.13e-02
1 8.703005e+03 2.85e+01 2.88e+01 2.23e-01 1.00e+00 3.00e+04 1 1.59e-02 3.72e-02
2 8.702990e+03 1.45e-02 2.55e+01 1.80e-01 1.00e+00 9.00e+04 1 1.08e-02 4.81e-02
3 8.702986e+03 4.01e-03 3.11e+01 1.38e-01 9.90e-01 2.70e+05 1 1.20e-02 6.01e-02
4 8.702986e+03 6.75e-04 8.51e+00 6.19e-02 9.82e-01 8.10e+05 1 1.08e-02 7.10e-02
5 8.702986e+03 2.65e-05 1.78e+00 1.21e-02 9.82e-01 2.43e+06 1 1.06e-02 8.16e-02
6 8.702986e+03 1.26e-07 1.40e-01 7.07e-04 9.94e-01 7.29e+06 1 1.15e-02 9.31e-02
7 8.702986e+03 7.28e-11 2.61e-03 5.66e-06 6.89e-01 7.71e+06 1 1.09e-02 1.04e-01

Bundle adjustment report

Residuals : 21896

Parameters : 13679
Iterations : 8
Time : 0.104567 [s]
Initial cost : 0.631484 [px]
Final cost : 0.630452 [px]
Termination : Convergence

=> Merged observations: 1
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.000091
=> Filtered images: 0

==============================================================================
Registering image #39 (8)

=> Image sees 684 / 3864 points

Pose refinement report

Residuals : 1042

Parameters : 6
Iterations : 20
Time : 0.011422 [s]
Initial cost : 0.814799 [px]
Final cost : 0.781499 [px]
Termination : Convergence

=> Continued observations: 519
=> Added observations: 1582

Bundle adjustment report

Residuals : 24016

Parameters : 13250
Iterations : 26
Time : 0.333723 [s]
Initial cost : 0.776327 [px]
Final cost : 0.684911 [px]
Termination : No convergence

=> Merged observations: 5
=> Completed observations: 15
=> Filtered observations: 1308
=> Changed observations: 0.110593

Bundle adjustment report

Residuals : 22552

Parameters : 13517
Iterations : 4
Time : 0.0630782 [s]
Initial cost : 0.667499 [px]
Final cost : 0.626735 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 138
=> Filtered observations: 38
=> Changed observations: 0.015608

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

=> Merged observations: 83
=> Completed observations: 6
=> Retriangulated observations: 128

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.762635e+05 0.00e+00 5.16e+05 0.00e+00 0.00e+00 1.00e+04 0 6.52e-03 2.56e-02
1 4.023889e+04 2.36e+05 1.93e+05 2.16e+01 9.85e-01 3.00e+04 1 1.96e-02 4.52e-02
2 3.787145e+04 2.37e+03 5.27e+04 6.06e+00 1.01e+00 9.00e+04 1 1.08e-02 5.60e-02
3 3.780375e+04 6.77e+01 1.19e+05 6.18e+00 9.54e-01 2.70e+05 1 1.26e-02 6.87e-02
4 3.778674e+04 1.70e+01 6.04e+04 4.31e+00 9.49e-01 8.10e+05 1 1.37e-02 8.24e-02
5 3.778548e+04 1.26e+00 2.90e+03 9.31e-01 9.90e-01 2.43e+06 1 1.32e-02 9.56e-02
6 3.778547e+04 4.84e-03 2.74e+00 4.22e-02 1.00e+00 7.29e+06 1 1.14e-02 1.07e-01
7 3.778547e+04 4.05e-06 4.49e-01 1.42e-03 1.03e+00 2.19e+07 1 1.26e-02 1.20e-01
8 3.778547e+04 5.44e-09 1.93e-02 4.00e-05 1.04e+00 6.56e+07 1 1.36e-02 1.33e-01

Bundle adjustment report

Residuals : 24136

Parameters : 15047
Iterations : 9
Time : 0.133823 [s]
Initial cost : 3.38321 [px]
Final cost : 1.25121 [px]
Termination : Convergence

=> Merged observations: 84
=> Completed observations: 0
=> Filtered observations: 285
=> Changed observations: 0.030577

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.113683e+04 0.00e+00 7.00e+04 0.00e+00 0.00e+00 1.00e+04 0 5.34e-03 2.34e-02
1 9.501855e+03 1.63e+03 8.32e+04 1.43e+01 9.95e-01 3.00e+04 1 1.69e-02 4.03e-02
2 9.416823e+03 8.50e+01 1.75e+05 9.16e+00 9.43e-01 9.00e+04 1 1.21e-02 5.24e-02
3 9.370843e+03 4.60e+01 2.19e+05 9.04e+00 8.52e-01 1.38e+05 1 1.18e-02 6.42e-02
4 9.353342e+03 1.75e+01 5.05e+04 4.24e+00 9.71e-01 4.14e+05 1 1.21e-02 7.63e-02
5 9.351616e+03 1.73e+00 9.25e+03 1.79e+00 9.81e-01 1.24e+06 1 1.25e-02 8.88e-02
6 9.351576e+03 3.99e-02 1.89e+02 2.49e-01 9.91e-01 3.72e+06 1 1.16e-02 1.00e-01
7 9.351576e+03 5.96e-05 7.37e-01 7.25e-03 1.00e+00 1.12e+07 1 1.12e-02 1.12e-01
8 9.351576e+03 2.73e-08 2.58e-02 8.43e-05 1.02e+00 3.35e+07 1 1.35e-02 1.25e-01

Bundle adjustment report

Residuals : 23734

Parameters : 14783
Iterations : 9
Time : 0.125758 [s]
Initial cost : 0.685008 [px]
Final cost : 0.627707 [px]
Termination : Convergence

=> Merged observations: 40
=> Completed observations: 4
=> Filtered observations: 11
=> Changed observations: 0.004635

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.471413e+03 0.00e+00 1.77e+04 0.00e+00 0.00e+00 1.00e+04 0 5.39e-03 2.71e-02
1 9.340686e+03 1.31e+02 2.66e+02 4.97e-01 1.00e+00 3.00e+04 1 1.62e-02 4.33e-02
2 9.340513e+03 1.74e-01 1.57e+02 2.95e-01 1.00e+00 9.00e+04 1 1.33e-02 5.66e-02
3 9.340470e+03 4.25e-02 1.85e+02 2.61e-01 9.90e-01 2.70e+05 1 1.21e-02 6.88e-02
4 9.340461e+03 9.60e-03 6.17e+01 1.46e-01 9.87e-01 8.10e+05 1 1.16e-02 8.04e-02
5 9.340460e+03 4.02e-04 3.12e+00 3.13e-02 9.86e-01 2.43e+06 1 1.25e-02 9.30e-02
6 9.340460e+03 2.00e-06 1.68e-01 1.83e-03 9.94e-01 7.29e+06 1 1.40e-02 1.07e-01
7 9.340460e+03 1.40e-09 5.59e-03 1.90e-05 9.88e-01 2.19e+07 1 1.19e-02 1.19e-01

Bundle adjustment report

Residuals : 23792

Parameters : 14777
Iterations : 8
Time : 0.119439 [s]
Initial cost : 0.630946 [px]
Final cost : 0.626569 [px]
Termination : Convergence

=> Merged observations: 8
=> Completed observations: 0
=> Filtered observations: 3
=> Changed observations: 0.000925

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.366240e+03 0.00e+00 4.01e+03 0.00e+00 0.00e+00 1.00e+04 0 6.26e-03 2.52e-02
1 9.337893e+03 2.83e+01 4.85e+01 2.78e-01 1.00e+00 3.00e+04 1 2.01e-02 4.53e-02
2 9.337879e+03 1.38e-02 4.16e+00 4.85e-02 1.00e+00 9.00e+04 1 1.22e-02 5.76e-02
3 9.337877e+03 1.42e-03 1.29e+00 1.95e-02 9.99e-01 2.70e+05 1 1.46e-02 7.22e-02
4 9.337877e+03 2.87e-04 1.61e+00 1.94e-02 9.91e-01 8.10e+05 1 1.23e-02 8.46e-02
5 9.337877e+03 1.20e-05 4.41e-01 4.99e-03 9.88e-01 2.43e+06 1 1.32e-02 9.78e-02
6 9.337877e+03 6.08e-08 2.69e-02 3.10e-04 9.94e-01 7.29e+06 1 1.21e-02 1.10e-01

Bundle adjustment report

Residuals : 23802

Parameters : 14777
Iterations : 7
Time : 0.110492 [s]
Initial cost : 0.627301 [px]
Final cost : 0.62635 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.000336
=> Filtered images: 0

==============================================================================
Registering image #68 (9)

=> Image sees 1086 / 4626 points

Pose refinement report

Residuals : 1952

Parameters : 6
Iterations : 11
Time : 0.0115538 [s]
Initial cost : 0.754683 [px]
Final cost : 0.67043 [px]
Termination : Convergence

=> Continued observations: 963
=> Added observations: 2484

Bundle adjustment report

Residuals : 25206

Parameters : 10310
Iterations : 26
Time : 0.343561 [s]
Initial cost : 0.717411 [px]
Final cost : 0.666708 [px]
Termination : No convergence

=> Merged observations: 15
=> Completed observations: 46
=> Filtered observations: 633
=> Changed observations: 0.055066

Bundle adjustment report

Residuals : 24032

Parameters : 9800
Iterations : 4
Time : 0.0592223 [s]
Initial cost : 0.690082 [px]
Final cost : 0.662685 [px]
Termination : Convergence

=> Merged observations: 13
=> Completed observations: 159
=> Filtered observations: 3
=> Changed observations: 0.014564

==============================================================================
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 1.273118e+04 0.00e+00 4.56e+04 0.00e+00 0.00e+00 1.00e+04 0 9.53e-03 3.49e-02
1 1.216251e+04 5.69e+02 6.23e+04 8.80e+00 1.00e+00 3.00e+04 1 2.44e-02 5.92e-02
2 1.212201e+04 4.05e+01 8.62e+04 7.19e+00 9.74e-01 9.00e+04 1 1.60e-02 7.53e-02
3 1.210677e+04 1.52e+01 7.32e+04 6.09e+00 9.42e-01 2.70e+05 1 1.67e-02 9.20e-02
4 1.210292e+04 3.85e+00 1.88e+04 2.66e+00 9.74e-01 8.10e+05 1 1.51e-02 1.07e-01
5 1.210265e+04 2.72e-01 1.17e+03 6.17e-01 9.89e-01 2.43e+06 1 1.58e-02 1.23e-01
6 1.210265e+04 2.53e-03 1.00e+01 5.39e-02 9.94e-01 7.29e+06 1 1.73e-02 1.40e-01
7 1.210265e+04 3.08e-06 2.91e-01 1.12e-03 1.01e+00 2.19e+07 1 1.79e-02 1.58e-01
8 1.210265e+04 1.78e-09 1.28e-02 2.29e-05 9.98e-01 6.56e+07 1 1.62e-02 1.74e-01

Bundle adjustment report

Residuals : 29858

Parameters : 17840
Iterations : 9
Time : 0.175126 [s]
Initial cost : 0.652986 [px]
Final cost : 0.636663 [px]
Termination : Convergence

=> Merged observations: 23
=> Completed observations: 0
=> Filtered observations: 10
=> Changed observations: 0.002210

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.218173e+04 0.00e+00 7.77e+03 0.00e+00 0.00e+00 1.00e+04 0 6.73e-03 3.15e-02
1 1.212191e+04 5.98e+01 3.45e+02 1.44e+00 1.00e+00 3.00e+04 1 2.50e-02 5.65e-02
2 1.212160e+04 3.12e-01 6.17e+02 6.76e-01 1.00e+00 9.00e+04 1 1.73e-02 7.39e-02
3 1.212150e+04 9.77e-02 4.80e+02 5.15e-01 9.87e-01 2.70e+05 1 1.55e-02 8.94e-02
4 1.212149e+04 1.62e-02 1.05e+02 2.03e-01 9.84e-01 8.10e+05 1 1.77e-02 1.07e-01
5 1.212149e+04 9.44e-04 5.48e+00 4.16e-02 9.87e-01 2.43e+06 1 1.77e-02 1.25e-01
6 1.212149e+04 8.77e-06 3.36e-01 3.25e-03 9.94e-01 7.29e+06 1 1.54e-02 1.40e-01
7 1.212149e+04 1.06e-08 1.79e-02 6.07e-05 1.01e+00 2.19e+07 1 1.63e-02 1.57e-01

Bundle adjustment report

Residuals : 29882

Parameters : 17825
Iterations : 8
Time : 0.157371 [s]
Initial cost : 0.638484 [px]
Final cost : 0.636903 [px]
Termination : Convergence

=> Merged observations: 3
=> Completed observations: 0
=> Filtered observations: 3
=> Changed observations: 0.000402
=> Filtered images: 0

==============================================================================
Registering image #35 (10)

=> Image sees 1395 / 2924 points

Pose refinement report

Residuals : 2378

Parameters : 6
Iterations : 15
Time : 0.0182463 [s]
Initial cost : 0.797591 [px]
Final cost : 0.748201 [px]
Termination : Convergence

=> Continued observations: 1182
=> Added observations: 922

Bundle adjustment report

Residuals : 25712

Parameters : 9080
Iterations : 26
Time : 0.335562 [s]
Initial cost : 0.775356 [px]
Final cost : 0.674581 [px]
Termination : No convergence

=> Merged observations: 21
=> Completed observations: 41
=> Filtered observations: 655
=> Changed observations: 0.055772

Bundle adjustment report

Residuals : 24508

Parameters : 8735
Iterations : 3
Time : 0.0463161 [s]
Initial cost : 0.696505 [px]
Final cost : 0.665951 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 133
=> Filtered observations: 7
=> Changed observations: 0.011425

==============================================================================
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 1.485460e+04 0.00e+00 2.07e+05 0.00e+00 0.00e+00 1.00e+04 0 7.77e-03 3.47e-02
1 1.431471e+04 5.40e+02 8.68e+03 4.03e+00 1.00e+00 3.00e+04 1 2.54e-02 6.01e-02
2 1.430261e+04 1.21e+01 2.05e+04 4.00e+00 9.93e-01 9.00e+04 1 1.76e-02 7.78e-02
3 1.429983e+04 2.78e+00 9.73e+03 2.35e+00 9.87e-01 2.70e+05 1 1.76e-02 9.53e-02
4 1.429941e+04 4.21e-01 1.47e+03 7.31e-01 9.91e-01 8.10e+05 1 1.78e-02 1.13e-01
5 1.429938e+04 3.07e-02 7.79e+01 1.57e-01 9.94e-01 2.43e+06 1 1.81e-02 1.31e-01
6 1.429938e+04 3.92e-04 1.11e+00 1.62e-02 9.96e-01 7.29e+06 1 1.80e-02 1.49e-01
7 1.429938e+04 6.37e-07 8.34e-02 5.11e-04 1.00e+00 2.19e+07 1 1.78e-02 1.67e-01

Bundle adjustment report

Residuals : 33142

Parameters : 18605
Iterations : 8
Time : 0.167906 [s]
Initial cost : 0.669485 [px]
Final cost : 0.656855 [px]
Termination : Convergence

=> Merged observations: 7
=> Completed observations: 0
=> Filtered observations: 5
=> Changed observations: 0.000724

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.431003e+04 0.00e+00 6.04e+03 0.00e+00 0.00e+00 1.00e+04 0 7.99e-03 3.80e-02
1 1.428062e+04 2.94e+01 9.58e+01 7.55e-01 1.00e+00 3.00e+04 1 2.70e-02 6.50e-02
2 1.428047e+04 1.48e-01 1.99e+02 4.43e-01 1.00e+00 9.00e+04 1 1.78e-02 8.28e-02
3 1.428044e+04 2.41e-02 7.96e+01 2.36e-01 9.93e-01 2.70e+05 1 1.92e-02 1.02e-01
4 1.428044e+04 1.53e-03 7.63e+00 5.80e-02 9.89e-01 8.10e+05 1 1.87e-02 1.21e-01
5 1.428044e+04 6.25e-05 7.34e-01 7.93e-03 9.92e-01 2.43e+06 1 1.77e-02 1.39e-01

Bundle adjustment report

Residuals : 33146

Parameters : 18599
Iterations : 6
Time : 0.139483 [s]
Initial cost : 0.65706 [px]
Final cost : 0.65638 [px]
Termination : Convergence

=> Merged observations: 3
=> Completed observations: 0
=> Filtered observations: 4
=> Changed observations: 0.000422
=> Filtered images: 0

==============================================================================
Registering image #72 (11)

=> Image sees 982 / 5450 points

Pose refinement report

Residuals : 1464

Parameters : 6
Iterations : 19
Time : 0.014297 [s]
Initial cost : 0.865366 [px]
Final cost : 0.767368 [px]
Termination : Convergence

=> Continued observations: 709
=> Added observations: 1844

Bundle adjustment report

Residuals : 28464

Parameters : 12758
Iterations : 26
Time : 0.385048 [s]
Initial cost : 0.760635 [px]
Final cost : 0.691755 [px]
Termination : No convergence

=> Merged observations: 65
=> Completed observations: 84
=> Filtered observations: 664
=> Changed observations: 0.057125

Bundle adjustment report

Residuals : 27320

Parameters : 12275
Iterations : 4
Time : 0.0718105 [s]
Initial cost : 0.71651 [px]
Final cost : 0.691132 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 132
=> Filtered observations: 1
=> Changed observations: 0.009736

==============================================================================
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 1.764859e+04 0.00e+00 1.05e+05 0.00e+00 0.00e+00 1.00e+04 0 1.00e-02 4.32e-02
1 1.741147e+04 2.37e+02 1.09e+04 3.86e+00 9.98e-01 3.00e+04 1 2.63e-02 6.96e-02
2 1.740247e+04 9.00e+00 1.44e+04 3.09e+00 9.91e-01 9.00e+04 1 1.85e-02 8.81e-02
3 1.740072e+04 1.75e+00 5.50e+03 1.70e+00 9.93e-01 2.70e+05 1 1.88e-02 1.07e-01
4 1.740053e+04 1.91e-01 5.58e+02 4.48e-01 9.95e-01 8.10e+05 1 1.79e-02 1.25e-01
5 1.740052e+04 9.62e-03 1.60e+01 7.16e-02 9.97e-01 2.43e+06 1 1.78e-02 1.43e-01
6 1.740052e+04 8.81e-05 8.48e-01 5.93e-03 1.00e+00 7.29e+06 1 1.89e-02 1.62e-01

Bundle adjustment report

Residuals : 37368

Parameters : 20549
Iterations : 7
Time : 0.162508 [s]
Initial cost : 0.687235 [px]
Final cost : 0.682388 [px]
Termination : Convergence

=> Merged observations: 9
=> Completed observations: 12
=> Filtered observations: 14
=> Changed observations: 0.001873

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.737043e+04 0.00e+00 1.86e+04 0.00e+00 0.00e+00 1.00e+04 0 9.28e-03 4.25e-02
1 1.726505e+04 1.05e+02 3.28e+03 3.57e+00 9.98e-01 3.00e+04 1 2.76e-02 7.01e-02
2 1.726223e+04 2.81e+00 3.82e+03 1.96e+00 9.98e-01 9.00e+04 1 2.00e-02 9.02e-02
3 1.726175e+04 4.83e-01 8.69e+02 9.50e-01 1.00e+00 2.70e+05 1 2.16e-02 1.12e-01
4 1.726173e+04 2.11e-02 6.53e+00 1.71e-01 1.00e+00 8.10e+05 1 1.95e-02 1.31e-01
5 1.726173e+04 5.14e-04 1.71e+00 1.32e-02 1.00e+00 2.43e+06 1 2.04e-02 1.52e-01
6 1.726173e+04 4.56e-06 6.87e-02 1.27e-03 1.00e+00 7.29e+06 1 2.05e-02 1.72e-01

Bundle adjustment report

Residuals : 37358

Parameters : 20531
Iterations : 7
Time : 0.173224 [s]
Initial cost : 0.681889 [px]
Final cost : 0.679752 [px]
Termination : Convergence

=> Merged observations: 8
=> Completed observations: 5
=> Filtered observations: 12
=> Changed observations: 0.001338

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.725233e+04 0.00e+00 1.39e+04 0.00e+00 0.00e+00 1.00e+04 0 9.18e-03 4.45e-02
1 1.719984e+04 5.25e+01 1.55e+03 1.67e+00 9.99e-01 3.00e+04 1 3.01e-02 7.46e-02
2 1.719855e+04 1.30e+00 1.89e+03 1.34e+00 9.99e-01 9.00e+04 1 1.84e-02 9.30e-02
3 1.719831e+04 2.35e-01 4.94e+02 6.91e-01 1.00e+00 2.70e+05 1 1.93e-02 1.12e-01
4 1.719830e+04 9.24e-03 1.07e+01 1.33e-01 1.00e+00 8.10e+05 1 1.80e-02 1.30e-01
5 1.719830e+04 1.45e-04 1.42e+00 8.94e-03 1.01e+00 2.43e+06 1 1.96e-02 1.50e-01
6 1.719830e+04 1.13e-06 6.46e-02 6.09e-04 1.00e+00 7.29e+06 1 2.04e-02 1.70e-01

Bundle adjustment report

Residuals : 37350

Parameters : 20513
Iterations : 7
Time : 0.172232 [s]
Initial cost : 0.679639 [px]
Final cost : 0.678574 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 5
=> Changed observations: 0.000535

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.719614e+04 0.00e+00 6.34e+03 0.00e+00 0.00e+00 1.00e+04 0 1.17e-02 4.37e-02
1 1.717529e+04 2.08e+01 7.48e+01 2.27e-01 1.00e+00 3.00e+04 1 2.69e-02 7.07e-02
2 1.717522e+04 7.19e-02 1.02e+02 3.06e-01 9.99e-01 9.00e+04 1 2.27e-02 9.34e-02
3 1.717521e+04 1.31e-02 2.74e+01 1.62e-01 1.00e+00 2.70e+05 1 2.09e-02 1.14e-01
4 1.717521e+04 5.26e-04 1.97e+00 3.12e-02 1.00e+00 8.10e+05 1 1.97e-02 1.34e-01
5 1.717521e+04 8.92e-06 4.22e-01 2.13e-03 1.01e+00 2.43e+06 1 1.92e-02 1.53e-01

Bundle adjustment report

Residuals : 37350

Parameters : 20510
Iterations : 6
Time : 0.154088 [s]
Initial cost : 0.678532 [px]
Final cost : 0.678119 [px]
Termination : Convergence

=> Merged observations: 2
=> Completed observations: 0
=> Filtered observations: 0
=> Changed observations: 0.000107
=> Filtered images: 0

==============================================================================
Registering image #32 (12)

=> Image sees 1224 / 7581 points

Pose refinement report

Residuals : 2210

Parameters : 6
Iterations : 13
Time : 0.0152696 [s]
Initial cost : 0.707876 [px]
Final cost : 0.67384 [px]
Termination : Convergence

=> Continued observations: 1036
=> Added observations: 3869

Bundle adjustment report

Residuals : 33468

Parameters : 11075
Iterations : 26
Time : 0.414719 [s]
Initial cost : 0.808364 [px]
Final cost : 0.72393 [px]
Termination : No convergence

=> Merged observations: 153
=> Completed observations: 83
=> Filtered observations: 991
=> Changed observations: 0.073324

Bundle adjustment report

Residuals : 31184

Parameters : 9782
Iterations : 5
Time : 0.0868804 [s]
Initial cost : 0.72038 [px]
Final cost : 0.694602 [px]
Termination : Convergence

=> Merged observations: 21
=> Completed observations: 234
=> Filtered observations: 5
=> Changed observations: 0.016675

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

=> Merged observations: 11
=> Completed observations: 8
=> Retriangulated observations: 155

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 9.716152e+04 0.00e+00 3.42e+05 0.00e+00 0.00e+00 1.00e+04 0 1.43e-02 5.70e-02
1 4.659631e+04 5.06e+04 1.34e+05 2.03e+01 9.96e-01 3.00e+04 1 3.84e-02 9.54e-02
2 4.637353e+04 2.23e+02 2.18e+05 1.15e+01 9.59e-01 9.00e+04 1 2.75e-02 1.23e-01
3 4.633521e+04 3.83e+01 5.13e+04 5.34e+00 9.93e-01 2.70e+05 1 2.37e-02 1.47e-01
4 4.633391e+04 1.30e+00 2.04e+03 9.90e-01 1.01e+00 8.10e+05 1 2.41e-02 1.71e-01
5 4.633390e+04 8.27e-03 1.81e+01 8.34e-02 1.02e+00 2.43e+06 1 2.43e-02 1.95e-01
6 4.633390e+04 5.18e-05 1.78e+00 4.63e-03 1.04e+00 7.29e+06 1 2.21e-02 2.17e-01
7 4.633390e+04 2.79e-07 3.16e-01 1.61e-04 1.09e+00 2.19e+07 1 2.53e-02 2.43e-01

Bundle adjustment report

Residuals : 46134

Parameters : 25454
Iterations : 8
Time : 0.24378 [s]
Initial cost : 1.45123 [px]
Final cost : 1.00216 [px]
Termination : Convergence

=> Merged observations: 39
=> Completed observations: 24
=> Filtered observations: 242
=> Changed observations: 0.013222

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.284984e+04 0.00e+00 1.14e+05 0.00e+00 0.00e+00 1.00e+04 0 1.14e-02 5.63e-02
1 2.186389e+04 9.86e+02 4.94e+03 1.02e+01 9.99e-01 3.00e+04 1 3.70e-02 9.34e-02
2 2.184519e+04 1.87e+01 3.80e+03 2.73e+00 1.00e+00 9.00e+04 1 2.57e-02 1.19e-01
3 2.183731e+04 7.87e+00 1.45e+03 1.53e+00 1.00e+00 2.70e+05 1 2.23e-02 1.41e-01
4 2.183481e+04 2.50e+00 2.05e+02 9.83e-01 9.98e-01 8.10e+05 1 2.68e-02 1.68e-01
5 2.183460e+04 2.13e-01 1.03e+02 3.54e-01 9.97e-01 2.43e+06 1 2.36e-02 1.92e-01
6 2.183460e+04 2.85e-03 1.99e+00 4.39e-02 9.98e-01 7.29e+06 1 2.36e-02 2.16e-01
7 2.183460e+04 4.79e-06 1.67e-01 1.73e-03 1.00e+00 2.19e+07 1 2.29e-02 2.38e-01

Bundle adjustment report

Residuals : 45728

Parameters : 25205
Iterations : 8
Time : 0.239555 [s]
Initial cost : 0.706888 [px]
Final cost : 0.691006 [px]
Termination : Convergence

=> Merged observations: 12
=> Completed observations: 13
=> Filtered observations: 28
=> Changed observations: 0.002318

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.162033e+04 0.00e+00 4.83e+04 0.00e+00 0.00e+00 1.00e+04 0 1.18e-02 6.54e-02
1 2.140264e+04 2.18e+02 7.64e+03 5.77e+00 9.98e-01 3.00e+04 1 3.65e-02 1.02e-01
2 2.139454e+04 8.11e+00 7.59e+03 2.49e+00 1.00e+00 9.00e+04 1 2.50e-02 1.27e-01
3 2.139265e+04 1.88e+00 1.22e+03 1.23e+00 1.00e+00 2.70e+05 1 2.45e-02 1.52e-01
4 2.139237e+04 2.86e-01 8.87e+01 3.56e-01 1.00e+00 8.10e+05 1 2.40e-02 1.76e-01
5 2.139235e+04 2.22e-02 5.51e+00 1.12e-01 9.98e-01 2.43e+06 1 2.33e-02 1.99e-01
6 2.139234e+04 3.16e-04 8.65e-01 1.46e-02 9.99e-01 7.29e+06 1 2.31e-02 2.22e-01

Bundle adjustment report

Residuals : 45696

Parameters : 25172
Iterations : 7
Time : 0.223056 [s]
Initial cost : 0.687847 [px]
Final cost : 0.684211 [px]
Termination : Convergence

=> Merged observations: 7
=> Completed observations: 11
=> Filtered observations: 12
=> Changed observations: 0.001313

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.126749e+04 0.00e+00 2.91e+04 0.00e+00 0.00e+00 1.00e+04 0 1.09e-02 5.89e-02
1 2.114395e+04 1.24e+02 6.86e+03 4.35e+00 9.98e-01 3.00e+04 1 3.64e-02 9.54e-02
2 2.113629e+04 7.66e+00 8.41e+03 2.53e+00 9.99e-01 9.00e+04 1 2.42e-02 1.20e-01
3 2.113451e+04 1.78e+00 1.86e+03 1.34e+00 1.00e+00 2.70e+05 1 2.22e-02 1.42e-01
4 2.113431e+04 2.09e-01 6.06e+01 3.43e-01 1.00e+00 8.10e+05 1 2.36e-02 1.65e-01
5 2.113429e+04 1.45e-02 1.87e+00 8.92e-02 1.00e+00 2.43e+06 1 2.27e-02 1.88e-01
6 2.113429e+04 2.06e-04 6.36e-01 1.17e-02 1.00e+00 7.29e+06 1 2.56e-02 2.14e-01

Bundle adjustment report

Residuals : 45686

Parameters : 25151
Iterations : 7
Time : 0.214811 [s]
Initial cost : 0.682286 [px]
Final cost : 0.680146 [px]
Termination : Convergence

=> Merged observations: 12
=> Completed observations: 19
=> Filtered observations: 7
=> Changed observations: 0.001664

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.122803e+04 0.00e+00 1.99e+04 0.00e+00 0.00e+00 1.00e+04 0 1.20e-02 5.52e-02
1 2.118966e+04 3.84e+01 4.75e+02 6.42e-01 9.99e-01 3.00e+04 1 3.85e-02 9.37e-02
2 2.118927e+04 3.82e-01 5.96e+02 5.82e-01 9.99e-01 9.00e+04 1 2.29e-02 1.17e-01
3 2.118920e+04 7.56e-02 1.98e+02 3.23e-01 1.00e+00 2.70e+05 1 2.54e-02 1.42e-01
4 2.118920e+04 3.47e-03 1.25e+01 7.44e-02 1.00e+00 8.10e+05 1 2.32e-02 1.65e-01
5 2.118919e+04 7.54e-05 1.33e+00 8.75e-03 1.00e+00 2.43e+06 1 2.59e-02 1.91e-01
6 2.118919e+04 8.68e-07 1.75e-01 7.90e-04 1.00e+00 7.29e+06 1 2.23e-02 2.14e-01

Bundle adjustment report

Residuals : 45696

Parameters : 25133
Iterations : 7
Time : 0.214795 [s]
Initial cost : 0.681578 [px]
Final cost : 0.680955 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 3
=> Changed observations: 0.000350
=> Filtered images: 0

==============================================================================
Registering image #65 (13)

=> Image sees 2676 / 7567 points

Pose refinement report

Residuals : 5076

Parameters : 6
Iterations : 47
Time : 0.122002 [s]
Initial cost : 0.795453 [px]
Final cost : 0.750556 [px]
Termination : Convergence

=> Continued observations: 2458
=> Added observations: 1336

Bundle adjustment report

Residuals : 39264

Parameters : 11411
Iterations : 26
Time : 0.475941 [s]
Initial cost : 0.833149 [px]
Final cost : 0.715656 [px]
Termination : No convergence

=> Merged observations: 62
=> Completed observations: 64
=> Filtered observations: 1077
=> Changed observations: 0.061278

Bundle adjustment report

Residuals : 36554

Parameters : 10385
Iterations : 5
Time : 0.0955309 [s]
Initial cost : 0.767005 [px]
Final cost : 0.738472 [px]
Termination : Convergence

=> Merged observations: 27
=> Completed observations: 244
=> Filtered observations: 8
=> Changed observations: 0.015265

==============================================================================
Registering image #74 (14)

=> Image sees 1031 / 2186 points

Pose refinement report

Residuals : 1164

Parameters : 6
Iterations : 22
Time : 0.0128066 [s]
Initial cost : 0.887877 [px]
Final cost : 0.82528 [px]
Termination : Convergence

=> Continued observations: 571
=> Added observations: 1700

Bundle adjustment report

Residuals : 30564

Parameters : 9053
Iterations : 26
Time : 0.374295 [s]
Initial cost : 0.896736 [px]
Final cost : 0.724926 [px]
Termination : No convergence

=> Merged observations: 27
=> Completed observations: 115
=> Filtered observations: 955
=> Changed observations: 0.071784

Bundle adjustment report

Residuals : 29056

Parameters : 8705
Iterations : 4
Time : 0.0658892 [s]
Initial cost : 0.794402 [px]
Final cost : 0.76208 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 107
=> Filtered observations: 15
=> Changed observations: 0.008673

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

=> Merged observations: 83
=> 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 3.154969e+04 0.00e+00 7.38e+05 0.00e+00 0.00e+00 1.00e+04 0 1.29e-02 6.89e-02
1 2.826631e+04 3.28e+03 3.06e+03 2.67e+00 1.00e+00 3.00e+04 1 4.36e-02 1.13e-01
2 2.824902e+04 1.73e+01 1.38e+04 2.74e+00 1.00e+00 9.00e+04 1 2.86e-02 1.41e-01
3 2.824588e+04 3.14e+00 5.09e+03 1.55e+00 1.00e+00 2.70e+05 1 2.79e-02 1.69e-01
4 2.824562e+04 2.61e-01 3.79e+02 4.27e-01 1.00e+00 8.10e+05 1 2.68e-02 1.96e-01
5 2.824560e+04 1.90e-02 9.94e+00 1.10e-01 1.00e+00 2.43e+06 1 3.20e-02 2.28e-01
6 2.824560e+04 3.42e-04 1.13e+00 1.55e-02 1.00e+00 7.29e+06 1 3.31e-02 2.61e-01
7 2.824560e+04 8.65e-07 7.83e-02 7.75e-04 1.00e+00 2.19e+07 1 2.99e-02 2.91e-01

Bundle adjustment report

Residuals : 54794

Parameters : 27356
Iterations : 8
Time : 0.29218 [s]
Initial cost : 0.758806 [px]
Final cost : 0.717974 [px]
Termination : Convergence

=> Merged observations: 69
=> Completed observations: 10
=> Filtered observations: 23
=> Changed observations: 0.003723

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.841453e+04 0.00e+00 3.23e+04 0.00e+00 0.00e+00 1.00e+04 0 1.58e-02 6.88e-02
1 2.820888e+04 2.06e+02 3.10e+02 5.34e-01 1.00e+00 3.00e+04 1 4.48e-02 1.14e-01
2 2.820858e+04 3.05e-01 1.79e+02 3.58e-01 1.01e+00 9.00e+04 1 2.87e-02 1.42e-01
3 2.820852e+04 5.40e-02 3.50e+01 1.75e-01 1.01e+00 2.70e+05 1 3.07e-02 1.73e-01
4 2.820851e+04 8.98e-03 2.86e+00 5.95e-02 1.00e+00 8.10e+05 1 2.81e-02 2.01e-01
5 2.820851e+04 8.45e-04 1.83e+00 2.14e-02 9.99e-01 2.43e+06 1 2.78e-02 2.29e-01
6 2.820851e+04 1.48e-05 1.24e-01 3.11e-03 1.00e+00 7.29e+06 1 3.03e-02 2.59e-01

Bundle adjustment report

Residuals : 54886

Parameters : 27344
Iterations : 7
Time : 0.260694 [s]
Initial cost : 0.719514 [px]
Final cost : 0.716901 [px]
Termination : Convergence

=> Merged observations: 8
=> Completed observations: 17
=> Filtered observations: 10
=> Changed observations: 0.001275

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.822425e+04 0.00e+00 9.34e+03 0.00e+00 0.00e+00 1.00e+04 0 1.34e-02 6.55e-02
1 2.816329e+04 6.10e+01 2.71e+01 1.54e-01 1.00e+00 3.00e+04 1 4.21e-02 1.08e-01
2 2.816326e+04 3.22e-02 2.78e+01 1.29e-01 1.00e+00 9.00e+04 1 2.91e-02 1.37e-01
3 2.816325e+04 5.62e-03 5.73e+00 6.19e-02 1.00e+00 2.70e+05 1 2.79e-02 1.65e-01
4 2.816325e+04 6.46e-04 1.98e+00 1.68e-02 1.00e+00 8.10e+05 1 2.87e-02 1.93e-01
5 2.816325e+04 5.49e-05 5.11e-01 5.43e-03 9.99e-01 2.43e+06 1 2.82e-02 2.22e-01

Bundle adjustment report

Residuals : 54882

Parameters : 27332
Iterations : 6
Time : 0.222879 [s]
Initial cost : 0.717127 [px]
Final cost : 0.716352 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 1
=> Changed observations: 0.000036
=> Filtered images: 0

==============================================================================
Registering image #17 (15)

=> Image sees 567 / 2401 points

Pose refinement report

Residuals : 872

Parameters : 6
Iterations : 29
Time : 0.0137052 [s]
Initial cost : 0.751814 [px]
Final cost : 0.722033 [px]
Termination : Convergence

=> Continued observations: 426
=> Added observations: 723

Bundle adjustment report

Residuals : 27332

Parameters : 4754
Iterations : 26
Time : 0.294173 [s]
Initial cost : 0.696352 [px]
Final cost : 0.635934 [px]
Termination : No convergence

=> Merged observations: 14
=> Completed observations: 23
=> Filtered observations: 343
=> Changed observations: 0.027806

Bundle adjustment report

Residuals : 26700

Parameters : 4571
Iterations : 4
Time : 0.0476155 [s]
Initial cost : 0.738759 [px]
Final cost : 0.723974 [px]
Termination : Convergence

=> Merged observations: 20
=> Completed observations: 83
=> Filtered observations: 2
=> Changed observations: 0.007865

==============================================================================
Registering image #58 (16)

=> Image sees 706 / 4157 points

Pose refinement report

Residuals : 846

Parameters : 6
Iterations : 18
Time : 0.0077272 [s]
Initial cost : 0.833563 [px]
Final cost : 0.653021 [px]
Termination : Convergence

=> Continued observations: 421
=> Added observations: 1341

Bundle adjustment report

Residuals : 31826

Parameters : 7865
Iterations : 26
Time : 0.363393 [s]
Initial cost : 1.32317 [px]
Final cost : 0.594825 [px]
Termination : No convergence

=> Merged observations: 6
=> Completed observations: 63
=> Filtered observations: 4392
=> Changed observations: 0.280337

Bundle adjustment report

Residuals : 29570

Parameters : 8267
Iterations : 4
Time : 0.0644628 [s]
Initial cost : 0.726222 [px]
Final cost : 0.708472 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 106
=> Filtered observations: 1
=> Changed observations: 0.007237

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

=> Merged observations: 21
=> Completed observations: 18
=> Retriangulated observations: 3592

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.776929e+06 0.00e+00 8.29e+07 0.00e+00 0.00e+00 1.00e+04 0 1.82e-02 7.76e-02
1 2.341749e+05 8.54e+06 1.36e+06 1.54e+02 9.98e-01 3.00e+04 1 4.73e-02 1.25e-01
2 2.089832e+05 2.52e+04 2.38e+05 1.57e+01 9.96e-01 9.00e+04 1 2.99e-02 1.55e-01
3 2.088571e+05 1.26e+02 3.88e+04 4.47e+00 9.99e-01 2.70e+05 1 3.76e-02 1.92e-01
4 2.088559e+05 1.20e+00 9.01e+02 6.79e-01 1.02e+00 8.10e+05 1 3.34e-02 2.26e-01
5 2.088559e+05 5.92e-03 6.18e+00 4.70e-02 1.05e+00 2.43e+06 1 3.14e-02 2.57e-01
6 2.088559e+05 3.64e-05 1.81e+00 3.28e-03 1.06e+00 7.29e+06 1 3.46e-02 2.92e-01
7 2.088559e+05 2.19e-07 2.81e-01 2.06e-04 1.08e+00 2.19e+07 1 3.06e-02 3.23e-01

Bundle adjustment report

Residuals : 58336

Parameters : 29447
Iterations : 8
Time : 0.323919 [s]
Initial cost : 12.266 [px]
Final cost : 1.89215 [px]
Termination : Convergence

=> Merged observations: 781
=> Completed observations: 150
=> Filtered observations: 1114
=> Changed observations: 0.070111

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.527677e+04 0.00e+00 1.84e+05 0.00e+00 0.00e+00 1.00e+04 0 1.43e-02 7.28e-02
1 3.113662e+04 4.14e+03 5.50e+04 6.18e+00 9.99e-01 3.00e+04 1 4.51e-02 1.18e-01
2 3.106246e+04 7.42e+01 6.39e+04 5.66e+00 9.91e-01 9.00e+04 1 2.93e-02 1.47e-01
3 3.105195e+04 1.05e+01 1.58e+04 2.74e+00 9.97e-01 2.70e+05 1 3.02e-02 1.78e-01
4 3.105161e+04 3.37e-01 5.63e+02 5.11e-01 1.01e+00 8.10e+05 1 2.91e-02 2.07e-01
5 3.105161e+04 2.00e-03 3.27e+00 3.71e-02 1.04e+00 2.43e+06 1 3.18e-02 2.39e-01
6 3.105161e+04 8.70e-06 1.03e+00 1.86e-03 1.05e+00 7.29e+06 1 2.83e-02 2.67e-01
7 3.105161e+04 3.85e-08 8.65e-02 9.13e-05 1.07e+00 2.19e+07 1 3.04e-02 2.97e-01

Bundle adjustment report

Residuals : 57662

Parameters : 28619
Iterations : 8
Time : 0.298522 [s]
Initial cost : 0.782167 [px]
Final cost : 0.733833 [px]
Termination : Convergence

=> Merged observations: 211
=> Completed observations: 35
=> Filtered observations: 60
=> Changed observations: 0.010614

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.160784e+04 0.00e+00 7.60e+04 0.00e+00 0.00e+00 1.00e+04 0 1.44e-02 7.56e-02
1 3.101447e+04 5.93e+02 9.68e+02 8.18e-01 1.00e+00 3.00e+04 1 4.46e-02 1.20e-01
2 3.101318e+04 1.28e+00 1.10e+03 6.97e-01 1.00e+00 9.00e+04 1 2.86e-02 1.49e-01
3 3.101303e+04 1.55e-01 2.73e+02 3.41e-01 9.99e-01 2.70e+05 1 3.11e-02 1.80e-01
4 3.101302e+04 1.11e-02 1.51e+01 8.78e-02 1.00e+00 8.10e+05 1 2.92e-02 2.09e-01
5 3.101302e+04 8.16e-04 1.62e+00 2.32e-02 9.99e-01 2.43e+06 1 3.22e-02 2.41e-01
6 3.101302e+04 1.45e-05 1.70e-01 3.25e-03 1.00e+00 7.29e+06 1 3.13e-02 2.73e-01

Bundle adjustment report

Residuals : 57964

Parameters : 28562
Iterations : 7
Time : 0.2754 [s]
Initial cost : 0.738445 [px]
Final cost : 0.731464 [px]
Termination : Convergence

=> Merged observations: 26
=> Completed observations: 0
=> Filtered observations: 22
=> Changed observations: 0.001656

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.099452e+04 0.00e+00 1.43e+04 0.00e+00 0.00e+00 1.00e+04 0 1.48e-02 7.16e-02
1 3.086957e+04 1.25e+02 3.36e+02 4.83e-01 1.00e+00 3.00e+04 1 4.60e-02 1.18e-01
2 3.086925e+04 3.15e-01 3.28e+02 3.91e-01 9.99e-01 9.00e+04 1 2.91e-02 1.47e-01
3 3.086918e+04 7.22e-02 9.61e+01 2.04e-01 9.99e-01 2.70e+05 1 3.05e-02 1.77e-01
4 3.086916e+04 1.73e-02 8.70e+00 9.33e-02 9.98e-01 8.10e+05 1 3.25e-02 2.10e-01
5 3.086916e+04 1.80e-03 1.70e+00 3.38e-02 9.98e-01 2.43e+06 1 2.93e-02 2.39e-01
6 3.086916e+04 3.28e-05 1.94e-01 4.89e-03 1.00e+00 7.29e+06 1 2.95e-02 2.69e-01

Bundle adjustment report

Residuals : 57972

Parameters : 28550
Iterations : 7
Time : 0.270086 [s]
Initial cost : 0.731195 [px]
Final cost : 0.729715 [px]
Termination : Convergence

=> Merged observations: 12
=> Completed observations: 0
=> Filtered observations: 7
=> Changed observations: 0.000655

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.089040e+04 0.00e+00 8.37e+03 0.00e+00 0.00e+00 1.00e+04 0 1.43e-02 7.08e-02
1 3.084349e+04 4.69e+01 5.39e+01 1.81e-01 1.00e+00 3.00e+04 1 4.45e-02 1.15e-01
2 3.084344e+04 5.19e-02 5.55e+01 1.55e-01 1.00e+00 9.00e+04 1 2.97e-02 1.45e-01
3 3.084343e+04 9.83e-03 1.52e+01 8.01e-02 9.99e-01 2.70e+05 1 2.91e-02 1.74e-01
4 3.084343e+04 1.63e-03 1.79e+00 2.98e-02 9.99e-01 8.10e+05 1 3.29e-02 2.07e-01
5 3.084342e+04 1.59e-04 7.98e-01 1.01e-02 9.98e-01 2.43e+06 1 3.05e-02 2.38e-01

Bundle adjustment report

Residuals : 57982

Parameters : 28547
Iterations : 6
Time : 0.239026 [s]
Initial cost : 0.729903 [px]
Final cost : 0.729348 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 4
=> Filtered observations: 4
=> Changed observations: 0.000414
=> Filtered images: 0

==============================================================================
Registering image #73 (17)

=> Image sees 303 / 981 points

Pose refinement report

Residuals : 240

Parameters : 6
Iterations : 27
Time : 0.0036111 [s]
Initial cost : 0.946165 [px]
Final cost : 0.865449 [px]
Termination : Convergence

=> Continued observations: 120
=> Added observations: 405

Bundle adjustment report

Residuals : 37106

Parameters : 13364
Iterations : 26
Time : 0.427402 [s]
Initial cost : 0.687625 [px]
Final cost : 0.61912 [px]
Termination : No convergence

=> Merged observations: 15
=> Completed observations: 27
=> Filtered observations: 409
=> Changed observations: 0.024309

Bundle adjustment report

Residuals : 37490

Parameters : 13073
Iterations : 3
Time : 0.0672729 [s]
Initial cost : 0.730143 [px]
Final cost : 0.712885 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 24
=> Filtered observations: 7
=> Changed observations: 0.001654

==============================================================================
Registering image #23 (18)

=> Image sees 771 / 3453 points

Pose refinement report

Residuals : 1092

Parameters : 6
Iterations : 21
Time : 0.0107913 [s]
Initial cost : 0.826605 [px]
Final cost : 0.62862 [px]
Termination : Convergence

=> Continued observations: 541
=> Added observations: 792

Bundle adjustment report

Residuals : 25644

Parameters : 7421
Iterations : 26
Time : 0.310224 [s]
Initial cost : 0.808774 [px]
Final cost : 0.643626 [px]
Termination : No convergence

=> Merged observations: 27
=> Completed observations: 13
=> Filtered observations: 2334
=> Changed observations: 0.185151

Bundle adjustment report

Residuals : 24696

Parameters : 7598
Iterations : 4
Time : 0.0573071 [s]
Initial cost : 0.729334 [px]
Final cost : 0.711349 [px]
Termination : Convergence

=> Merged observations: 6
=> Completed observations: 34
=> Filtered observations: 139
=> Changed observations: 0.014496

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

=> Merged observations: 77
=> Completed observations: 17
=> Retriangulated observations: 1783

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.269835e+05 0.00e+00 1.27e+07 0.00e+00 0.00e+00 1.00e+04 0 2.05e-02 7.99e-02
1 1.383044e+05 4.89e+05 1.45e+05 1.38e+01 9.84e-01 3.00e+04 1 4.59e-02 1.26e-01
2 1.302492e+05 8.06e+03 8.76e+04 7.72e+00 1.01e+00 9.00e+04 1 3.33e-02 1.59e-01
3 1.302004e+05 4.88e+01 3.25e+04 3.72e+00 1.04e+00 2.70e+05 1 3.67e-02 1.96e-01
4 1.301988e+05 1.66e+00 2.12e+03 9.94e-01 1.03e+00 8.10e+05 1 3.91e-02 2.35e-01
5 1.301987e+05 6.88e-02 4.88e+01 2.19e-01 1.01e+00 2.43e+06 1 3.45e-02 2.70e-01
6 1.301987e+05 1.01e-03 1.99e+00 2.74e-02 1.02e+00 7.29e+06 1 3.78e-02 3.07e-01
7 1.301987e+05 3.63e-06 3.37e-01 1.39e-03 1.05e+00 2.19e+07 1 3.32e-02 3.41e-01

Bundle adjustment report

Residuals : 59832

Parameters : 30113
Iterations : 8
Time : 0.343464 [s]
Initial cost : 3.23714 [px]
Final cost : 1.47515 [px]
Termination : Convergence

=> Merged observations: 1020
=> Completed observations: 141
=> Filtered observations: 677
=> Changed observations: 0.061439

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.673138e+04 0.00e+00 4.44e+05 0.00e+00 0.00e+00 1.00e+04 0 1.59e-02 7.64e-02
1 3.225518e+04 4.48e+03 1.36e+04 5.66e+00 1.00e+00 3.00e+04 1 4.42e-02 1.21e-01
2 3.223624e+04 1.89e+01 2.10e+03 1.55e+00 1.00e+00 9.00e+04 1 3.12e-02 1.52e-01
3 3.223490e+04 1.33e+00 1.37e+03 8.13e-01 1.01e+00 2.70e+05 1 3.17e-02 1.84e-01
4 3.223474e+04 1.59e-01 1.40e+02 2.87e-01 1.00e+00 8.10e+05 1 3.33e-02 2.17e-01
5 3.223473e+04 1.43e-02 6.61e+00 8.89e-02 1.00e+00 2.43e+06 1 3.19e-02 2.49e-01
6 3.223473e+04 2.62e-04 1.05e+00 1.27e-02 1.00e+00 7.29e+06 1 3.04e-02 2.79e-01
7 3.223473e+04 7.02e-07 6.00e-02 6.53e-04 1.01e+00 2.19e+07 1 3.04e-02 3.10e-01

Bundle adjustment report

Residuals : 60516

Parameters : 29540
Iterations : 8
Time : 0.311042 [s]
Initial cost : 0.779083 [px]
Final cost : 0.729839 [px]
Termination : Convergence

=> Merged observations: 188
=> Completed observations: 98
=> Filtered observations: 58
=> Changed observations: 0.011369

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.282087e+04 0.00e+00 1.20e+05 0.00e+00 0.00e+00 1.00e+04 0 1.58e-02 8.21e-02
1 3.210378e+04 7.17e+02 4.42e+02 7.47e-01 1.00e+00 3.00e+04 1 4.68e-02 1.29e-01
2 3.210332e+04 4.63e-01 1.25e+01 1.00e-01 1.00e+00 9.00e+04 1 3.07e-02 1.60e-01
3 3.210329e+04 2.24e-02 1.39e+01 8.43e-02 1.00e+00 2.70e+05 1 3.22e-02 1.92e-01
4 3.210329e+04 7.65e-03 3.31e+00 5.49e-02 1.00e+00 8.10e+05 1 3.10e-02 2.23e-01
5 3.210329e+04 8.38e-04 1.89e+00 2.09e-02 1.00e+00 2.43e+06 1 2.97e-02 2.53e-01
6 3.210329e+04 1.56e-05 1.11e-01 3.07e-03 1.00e+00 7.29e+06 1 3.55e-02 2.88e-01

Bundle adjustment report

Residuals : 60776

Parameters : 29459
Iterations : 7
Time : 0.289862 [s]
Initial cost : 0.734867 [px]
Final cost : 0.72679 [px]
Termination : Convergence

=> Merged observations: 43
=> Completed observations: 0
=> Filtered observations: 22
=> Changed observations: 0.002139

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.223099e+04 0.00e+00 3.07e+04 0.00e+00 0.00e+00 1.00e+04 0 1.56e-02 7.58e-02
1 3.205316e+04 1.78e+02 6.18e+01 2.96e-01 1.00e+00 3.00e+04 1 4.98e-02 1.26e-01
2 3.205305e+04 1.10e-01 9.72e+00 8.52e-02 1.01e+00 9.00e+04 1 3.26e-02 1.58e-01
3 3.205303e+04 1.48e-02 2.32e+00 4.82e-02 1.00e+00 2.70e+05 1 3.16e-02 1.90e-01
4 3.205303e+04 6.51e-03 1.92e+00 4.67e-02 9.99e-01 8.10e+05 1 3.39e-02 2.24e-01
5 3.205303e+04 7.27e-04 1.26e+00 1.92e-02 9.99e-01 2.43e+06 1 3.89e-02 2.63e-01
6 3.205303e+04 1.36e-05 1.23e-01 2.85e-03 1.00e+00 7.29e+06 1 3.71e-02 3.00e-01

Bundle adjustment report

Residuals : 60818

Parameters : 29441
Iterations : 7
Time : 0.301519 [s]
Initial cost : 0.727982 [px]
Final cost : 0.72597 [px]
Termination : Convergence

=> Merged observations: 7
=> Completed observations: 0
=> Filtered observations: 11
=> Changed observations: 0.000592

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.203701e+04 0.00e+00 1.04e+04 0.00e+00 0.00e+00 1.00e+04 0 1.78e-02 7.87e-02
1 3.198349e+04 5.35e+01 5.19e+01 1.48e-01 1.00e+00 3.00e+04 1 4.62e-02 1.25e-01
2 3.198343e+04 5.36e-02 1.82e+01 8.04e-02 1.01e+00 9.00e+04 1 3.15e-02 1.56e-01
3 3.198343e+04 5.78e-03 6.57e+00 4.84e-02 1.00e+00 2.70e+05 1 3.02e-02 1.87e-01
4 3.198343e+04 1.58e-03 1.99e+00 2.57e-02 1.00e+00 8.10e+05 1 3.11e-02 2.18e-01
5 3.198343e+04 1.70e-04 6.76e-01 9.45e-03 1.00e+00 2.43e+06 1 3.40e-02 2.52e-01

Bundle adjustment report

Residuals : 60810

Parameters : 29429
Iterations : 6
Time : 0.253105 [s]
Initial cost : 0.725836 [px]
Final cost : 0.725229 [px]
Termination : Convergence

=> Merged observations: 2
=> Completed observations: 0
=> Filtered observations: 12
=> Changed observations: 0.000460
=> Filtered images: 0

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

=> Image sees 516 / 2428 points

Pose refinement report

Residuals : 740

Parameters : 6
Iterations : 9
Time : 0.0033544 [s]
Initial cost : 0.571326 [px]
Final cost : 0.558022 [px]
Termination : Convergence

=> Continued observations: 370
=> Added observations: 488

Bundle adjustment report

Residuals : 37226

Parameters : 11228
Iterations : 26
Time : 0.422536 [s]
Initial cost : 0.687387 [px]
Final cost : 0.625273 [px]
Termination : No convergence

=> Merged observations: 5
=> Completed observations: 114
=> Filtered observations: 440
=> Changed observations: 0.030033

Bundle adjustment report

Residuals : 33042

Parameters : 11051
Iterations : 4
Time : 0.0670806 [s]
Initial cost : 0.736139 [px]
Final cost : 0.716241 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 59
=> Filtered observations: 6
=> Changed observations: 0.003934

==============================================================================
Registering image #25 (20)

=> Image sees 375 / 2385 points

Pose refinement report

Residuals : 448

Parameters : 6
Iterations : 15
Time : 0.0037078 [s]
Initial cost : 0.890306 [px]
Final cost : 0.871136 [px]
Termination : Convergence

=> Continued observations: 224
=> Added observations: 250

Bundle adjustment report

Residuals : 18794

Parameters : 5177
Iterations : 26
Time : 0.224577 [s]
Initial cost : 0.763666 [px]
Final cost : 0.601977 [px]
Termination : No convergence

=> Merged observations: 11
=> Completed observations: 6
=> Filtered observations: 102
=> Changed observations: 0.012664

Bundle adjustment report

Residuals : 18614

Parameters : 5066
Iterations : 4
Time : 0.0437101 [s]
Initial cost : 0.7273 [px]
Final cost : 0.72034 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 6
=> Filtered observations: 0
=> Changed observations: 0.000645

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

=> Merged observations: 57
=> Completed observations: 7
=> Retriangulated observations: 247

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.173793e+05 0.00e+00 9.88e+05 0.00e+00 0.00e+00 1.00e+04 0 1.68e-02 8.00e-02
1 6.289261e+04 5.45e+04 3.12e+04 1.08e+01 9.98e-01 3.00e+04 1 5.29e-02 1.33e-01
2 6.261514e+04 2.77e+02 4.48e+04 5.42e+00 1.02e+00 9.00e+04 1 3.28e-02 1.66e-01
3 6.259940e+04 1.57e+01 1.66e+04 2.79e+00 1.02e+00 2.70e+05 1 4.07e-02 2.06e-01
4 6.259595e+04 3.45e+00 2.02e+03 1.25e+00 1.01e+00 8.10e+05 1 3.48e-02 2.41e-01
5 6.259558e+04 3.71e-01 1.29e+02 4.52e-01 1.00e+00 2.43e+06 1 3.33e-02 2.75e-01
6 6.259557e+04 7.39e-03 2.74e+00 6.83e-02 1.01e+00 7.29e+06 1 3.23e-02 3.07e-01
7 6.259557e+04 2.77e-05 4.59e-01 3.88e-03 1.04e+00 2.19e+07 1 3.44e-02 3.41e-01

Bundle adjustment report

Residuals : 63314

Parameters : 30209
Iterations : 8
Time : 0.34289 [s]
Initial cost : 1.36159 [px]
Final cost : 0.99431 [px]
Termination : Convergence

=> Merged observations: 51
=> Completed observations: 20
=> Filtered observations: 257
=> Changed observations: 0.010361

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.539261e+04 0.00e+00 8.45e+04 0.00e+00 0.00e+00 1.00e+04 0 1.93e-02 8.31e-02
1 3.380573e+04 1.59e+03 3.05e+04 4.43e+00 1.00e+00 3.00e+04 1 5.56e-02 1.39e-01
2 3.375682e+04 4.89e+01 4.00e+04 4.03e+00 1.01e+00 9.00e+04 1 4.01e-02 1.79e-01
3 3.374672e+04 1.01e+01 1.25e+04 2.27e+00 1.01e+00 2.70e+05 1 3.65e-02 2.15e-01
4 3.374412e+04 2.61e+00 1.51e+03 1.07e+00 1.00e+00 8.10e+05 1 3.83e-02 2.54e-01
5 3.374378e+04 3.41e-01 1.04e+02 4.30e-01 1.00e+00 2.43e+06 1 4.08e-02 2.95e-01
6 3.374377e+04 8.47e-03 2.15e+00 7.36e-02 1.00e+00 7.29e+06 1 3.45e-02 3.29e-01
7 3.374377e+04 3.18e-05 3.48e-01 4.51e-03 1.01e+00 2.19e+07 1 3.52e-02 3.64e-01

Bundle adjustment report

Residuals : 62898

Parameters : 30008
Iterations : 8
Time : 0.365742 [s]
Initial cost : 0.750132 [px]
Final cost : 0.732451 [px]
Termination : Convergence

=> Merged observations: 27
=> Completed observations: 4
=> Filtered observations: 45
=> Changed observations: 0.002417

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.341077e+04 0.00e+00 2.56e+04 0.00e+00 0.00e+00 1.00e+04 0 1.53e-02 7.82e-02
1 3.291561e+04 4.95e+02 6.10e+03 2.14e+00 1.00e+00 3.00e+04 1 4.87e-02 1.27e-01
2 3.290591e+04 9.70e+00 2.38e+03 1.65e+00 1.01e+00 9.00e+04 1 3.04e-02 1.57e-01
3 3.290482e+04 1.09e+00 8.21e+02 7.90e-01 1.01e+00 2.70e+05 1 3.19e-02 1.89e-01
4 3.290461e+04 2.10e-01 1.15e+02 3.17e-01 1.00e+00 8.10e+05 1 3.07e-02 2.20e-01
5 3.290458e+04 2.69e-02 7.95e+00 1.22e-01 1.00e+00 2.43e+06 1 3.63e-02 2.56e-01
6 3.290458e+04 6.72e-04 1.37e+00 2.09e-02 1.00e+00 7.29e+06 1 3.13e-02 2.88e-01
7 3.290458e+04 2.57e-06 7.48e-02 1.29e-03 1.01e+00 2.19e+07 1 3.20e-02 3.20e-01

Bundle adjustment report

Residuals : 62862

Parameters : 29990
Iterations : 8
Time : 0.321474 [s]
Initial cost : 0.729036 [px]
Final cost : 0.723493 [px]
Termination : Convergence

=> Merged observations: 13
=> Completed observations: 0
=> Filtered observations: 25
=> Changed observations: 0.001209

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.267162e+04 0.00e+00 3.07e+04 0.00e+00 0.00e+00 1.00e+04 0 1.67e-02 8.25e-02
1 3.250663e+04 1.65e+02 2.51e+03 1.21e+00 1.00e+00 3.00e+04 1 4.95e-02 1.32e-01
2 3.250344e+04 3.19e+00 1.56e+03 1.06e+00 1.01e+00 9.00e+04 1 3.98e-02 1.72e-01
3 3.250288e+04 5.54e-01 5.76e+02 5.87e-01 1.01e+00 2.70e+05 1 3.17e-02 2.04e-01
4 3.250275e+04 1.31e-01 8.02e+01 2.54e-01 1.00e+00 8.10e+05 1 3.39e-02 2.38e-01
5 3.250274e+04 1.70e-02 5.35e+00 9.79e-02 1.00e+00 2.43e+06 1 3.16e-02 2.69e-01
6 3.250273e+04 4.25e-04 1.27e+00 1.67e-02 1.00e+00 7.29e+06 1 3.08e-02 3.00e-01
7 3.250273e+04 1.63e-06 6.01e-02 1.03e-03 1.01e+00 2.19e+07 1 3.51e-02 3.35e-01

Bundle adjustment report

Residuals : 62838

Parameters : 29978
Iterations : 8
Time : 0.336583 [s]
Initial cost : 0.721065 [px]
Final cost : 0.719199 [px]
Termination : Convergence

=> Merged observations: 3
=> Completed observations: 0
=> Filtered observations: 13
=> Changed observations: 0.000509

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.241161e+04 0.00e+00 8.40e+03 0.00e+00 0.00e+00 1.00e+04 0 1.74e-02 7.64e-02
1 3.236849e+04 4.31e+01 2.97e+01 2.10e-01 9.99e-01 3.00e+04 1 4.92e-02 1.26e-01
2 3.236844e+04 5.60e-02 4.48e+00 6.65e-02 1.00e+00 9.00e+04 1 3.20e-02 1.58e-01
3 3.236843e+04 2.83e-03 1.83e+00 2.23e-02 1.01e+00 2.70e+05 1 3.24e-02 1.90e-01
4 3.236843e+04 1.08e-03 1.63e+00 1.92e-02 1.00e+00 8.10e+05 1 3.25e-02 2.23e-01
5 3.236843e+04 1.52e-04 5.79e-01 9.00e-03 1.00e+00 2.43e+06 1 3.16e-02 2.54e-01

Bundle adjustment report

Residuals : 62818

Parameters : 29969
Iterations : 6
Time : 0.255775 [s]
Initial cost : 0.718304 [px]
Final cost : 0.717825 [px]
Termination : Convergence

=> Merged observations: 1
=> Completed observations: 0
=> Filtered observations: 10
=> Changed observations: 0.000350
=> Filtered images: 0

==============================================================================
Registering image #46 (21)

=> Image sees 101 / 4661 points

Pose refinement report

Residuals : 160

Parameters : 6
Iterations : 23
Time : 0.0021552 [s]
Initial cost : 0.782295 [px]
Final cost : 0.753898 [px]
Termination : Convergence

=> Continued observations: 79
=> Added observations: 344

Bundle adjustment report

Residuals : 19244

Parameters : 3107
Iterations : 26
Time : 0.192393 [s]
Initial cost : 0.753116 [px]
Final cost : 0.633873 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 8
=> Filtered observations: 209
=> Changed observations: 0.022552

Bundle adjustment report

Residuals : 18874

Parameters : 2936
Iterations : 3
Time : 0.0242415 [s]
Initial cost : 0.717651 [px]
Final cost : 0.707753 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 32
=> Filtered observations: 1
=> Changed observations: 0.003497

==============================================================================
Registering image #51 (22)

=> Image sees 161 / 4554 points

Pose refinement report

Residuals : 272

Parameters : 6
Iterations : 13
Time : 0.0021233 [s]
Initial cost : 0.831322 [px]
Final cost : 0.756045 [px]
Termination : Convergence

=> Continued observations: 136
=> Added observations: 1107

Bundle adjustment report

Residuals : 12702

Parameters : 2963
Iterations : 26
Time : 0.133109 [s]
Initial cost : 0.667526 [px]
Final cost : 0.626271 [px]
Termination : No convergence

=> Merged observations: 4
=> Completed observations: 15
=> Filtered observations: 135
=> Changed observations: 0.024248

Bundle adjustment report

Residuals : 12472

Parameters : 2882
Iterations : 5
Time : 0.0263508 [s]
Initial cost : 0.681851 [px]
Final cost : 0.672249 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 39
=> Filtered observations: 12
=> Changed observations: 0.008178

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

=> Merged observations: 30
=> Completed observations: 6
=> Retriangulated observations: 164

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.448706e+04 0.00e+00 6.50e+05 0.00e+00 0.00e+00 1.00e+04 0 1.82e-02 8.53e-02
1 3.883160e+04 1.57e+04 2.19e+04 8.24e+00 9.87e-01 3.00e+04 1 5.09e-02 1.36e-01
2 3.850295e+04 3.29e+02 8.50e+03 3.90e+00 9.97e-01 9.00e+04 1 3.14e-02 1.68e-01
3 3.849456e+04 8.38e+00 2.90e+03 1.44e+00 1.00e+00 2.70e+05 1 3.44e-02 2.02e-01
4 3.849136e+04 3.20e+00 7.50e+02 1.09e+00 9.99e-01 8.10e+05 1 3.68e-02 2.39e-01
5 3.849091e+04 4.57e-01 1.13e+02 5.09e-01 9.99e-01 2.43e+06 1 3.34e-02 2.72e-01
6 3.849089e+04 1.15e-02 3.77e+00 8.85e-02 1.00e+00 7.29e+06 1 3.35e-02 3.06e-01
7 3.849089e+04 4.35e-05 2.91e-01 5.41e-03 1.01e+00 2.19e+07 1 3.28e-02 3.39e-01

Bundle adjustment report

Residuals : 65962

Parameters : 31976
Iterations : 8
Time : 0.34174 [s]
Initial cost : 0.908866 [px]
Final cost : 0.763892 [px]
Termination : Convergence

=> Merged observations: 10
=> Completed observations: 5
=> Filtered observations: 141
=> Changed observations: 0.004730

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.405261e+04 0.00e+00 5.73e+04 0.00e+00 0.00e+00 1.00e+04 0 1.73e-02 8.07e-02
1 3.344323e+04 6.09e+02 1.16e+04 2.97e+00 9.99e-01 3.00e+04 1 4.72e-02 1.28e-01
2 3.342307e+04 2.02e+01 6.88e+03 2.04e+00 1.01e+00 9.00e+04 1 3.74e-02 1.65e-01
3 3.341666e+04 6.42e+00 2.23e+03 1.22e+00 1.00e+00 2.70e+05 1 3.87e-02 2.04e-01
4 3.341322e+04 3.44e+00 7.26e+02 1.19e+00 9.99e-01 8.10e+05 1 3.33e-02 2.37e-01
5 3.341264e+04 5.80e-01 1.38e+02 6.15e-01 9.99e-01 2.43e+06 1 3.44e-02 2.72e-01
6 3.341262e+04 1.79e-02 4.12e+00 1.20e-01 1.00e+00 7.29e+06 1 3.34e-02 3.05e-01
7 3.341262e+04 7.98e-05 4.43e-01 8.16e-03 1.01e+00 2.19e+07 1 3.40e-02 3.39e-01

Bundle adjustment report

Residuals : 65700

Parameters : 31874
Iterations : 8
Time : 0.34081 [s]
Initial cost : 0.719934 [px]
Final cost : 0.713136 [px]
Termination : Convergence

=> Merged observations: 7
=> Completed observations: 0
=> Filtered observations: 17
=> Changed observations: 0.000731

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.330632e+04 0.00e+00 1.24e+04 0.00e+00 0.00e+00 1.00e+04 0 1.68e-02 8.45e-02
1 3.325225e+04 5.41e+01 9.43e+01 4.97e-01 1.00e+00 3.00e+04 1 5.18e-02 1.36e-01
2 3.325203e+04 2.13e-01 1.44e+01 3.01e-01 1.01e+00 9.00e+04 1 4.74e-02 1.84e-01
3 3.325202e+04 1.53e-02 4.08e+00 1.06e-01 1.01e+00 2.70e+05 1 3.70e-02 2.21e-01
4 3.325202e+04 3.81e-04 1.85e+00 1.58e-02 1.01e+00 8.10e+05 1 3.27e-02 2.54e-01
5 3.325202e+04 2.11e-05 5.67e-01 3.67e-03 1.00e+00 2.43e+06 1 3.23e-02 2.86e-01

Bundle adjustment report

Residuals : 65680

Parameters : 31865
Iterations : 6
Time : 0.28792 [s]
Initial cost : 0.712109 [px]
Final cost : 0.711529 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 11
=> Changed observations: 0.000335
=> Filtered images: 0

==============================================================================
Registering image #63 (23)

=> Image sees 455 / 1898 points

Pose refinement report

Residuals : 450

Parameters : 6
Iterations : 33
Time : 0.0079649 [s]
Initial cost : 0.923811 [px]
Final cost : 0.882128 [px]
Termination : Convergence

=> Continued observations: 225
=> Added observations: 1250

Bundle adjustment report

Residuals : 11692

Parameters : 4178
Iterations : 26
Time : 0.146304 [s]
Initial cost : 1.24985 [px]
Final cost : 0.79818 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 41
=> Filtered observations: 770
=> Changed observations: 0.138727

Bundle adjustment report

Residuals : 15758

Parameters : 2996
Iterations : 4
Time : 0.0245457 [s]
Initial cost : 0.732154 [px]
Final cost : 0.698948 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 176
=> Filtered observations: 36
=> Changed observations: 0.026907

==============================================================================
Registering image #8 (24)

=> Image sees 150 / 1524 points

Pose refinement report

Residuals : 182

Parameters : 6
Iterations : 19
Time : 0.0019882 [s]
Initial cost : 0.802795 [px]
Final cost : 0.726816 [px]
Termination : Convergence

=> Continued observations: 91
=> Added observations: 158

Bundle adjustment report

Residuals : 4960

Parameters : 2579
Iterations : 26
Time : 0.0719208 [s]
Initial cost : 1.12169 [px]
Final cost : 0.808647 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 225
=> Changed observations: 0.090726

Bundle adjustment report

Residuals : 4532

Parameters : 2390
Iterations : 4
Time : 0.0118878 [s]
Initial cost : 0.694919 [px]
Final cost : 0.640525 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 13
=> Filtered observations: 2
=> Changed observations: 0.006620

==============================================================================
Registering image #5 (25)

=> Image sees 103 / 2271 points

Pose refinement report

Residuals : 64

Parameters : 6
Iterations : 19
Time : 0.0010189 [s]
Initial cost : 0.758611 [px]
Final cost : 0.70679 [px]
Termination : Convergence

=> Continued observations: 32
=> Added observations: 824

Bundle adjustment report

Residuals : 8272

Parameters : 2237
Iterations : 26
Time : 0.0996716 [s]
Initial cost : 1.09682 [px]
Final cost : 0.769142 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 7
=> Filtered observations: 331
=> Changed observations: 0.081721

Bundle adjustment report

Residuals : 13896

Parameters : 1964
Iterations : 4
Time : 0.0195668 [s]
Initial cost : 0.689066 [px]
Final cost : 0.665099 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 54
=> Filtered observations: 263
=> Changed observations: 0.045625

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

=> Merged observations: 81
=> Completed observations: 0
=> Retriangulated observations: 406

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.129507e+05 0.00e+00 1.83e+06 0.00e+00 0.00e+00 1.00e+04 0 1.73e-02 8.70e-02
1 1.763691e+05 3.37e+05 1.61e+06 4.35e+01 7.41e-01 1.13e+04 1 5.72e-02 1.44e-01
2 6.283493e+04 1.14e+05 2.21e+05 9.43e+00 9.64e-01 3.38e+04 1 3.54e-02 1.80e-01
3 5.835277e+04 4.48e+03 1.18e+04 4.04e+00 9.98e-01 1.01e+05 1 3.90e-02 2.19e-01
4 5.832651e+04 2.63e+01 1.23e+02 7.18e-01 1.01e+00 3.04e+05 1 3.70e-02 2.56e-01
5 5.832635e+04 1.62e-01 2.20e+01 2.69e-01 1.03e+00 9.12e+05 1 3.62e-02 2.92e-01
6 5.832633e+04 1.75e-02 4.43e+00 1.45e-01 1.00e+00 2.74e+06 1 3.77e-02 3.30e-01
7 5.832633e+04 4.40e-04 1.54e+00 2.60e-02 1.00e+00 8.21e+06 1 3.59e-02 3.66e-01
8 5.832633e+04 1.78e-06 1.57e-01 1.57e-03 1.02e+00 2.46e+07 1 3.84e-02 4.04e-01

Bundle adjustment report

Residuals : 68950

Parameters : 33674
Iterations : 9
Time : 0.405737 [s]
Initial cost : 2.72754 [px]
Final cost : 0.91974 [px]
Termination : Convergence

=> Merged observations: 185
=> Completed observations: 18
=> Filtered observations: 365
=> Changed observations: 0.016476

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.680601e+04 0.00e+00 2.28e+05 0.00e+00 0.00e+00 1.00e+04 0 2.03e-02 8.83e-02
1 3.551237e+04 1.29e+03 3.57e+04 3.75e+00 9.93e-01 3.00e+04 1 5.02e-02 1.38e-01
2 3.548746e+04 2.49e+01 3.18e+03 1.09e+00 1.01e+00 9.00e+04 1 3.41e-02 1.73e-01
3 3.548708e+04 3.72e-01 8.80e+01 1.93e-01 1.02e+00 2.70e+05 1 3.75e-02 2.10e-01
4 3.548706e+04 2.25e-02 1.19e+01 7.33e-02 1.01e+00 8.10e+05 1 4.22e-02 2.52e-01
5 3.548706e+04 4.20e-03 2.22e+00 4.01e-02 1.00e+00 2.43e+06 1 3.44e-02 2.87e-01
6 3.548706e+04 1.64e-04 6.09e-01 8.81e-03 1.00e+00 7.29e+06 1 3.49e-02 3.22e-01

Bundle adjustment report

Residuals : 68580

Parameters : 33383
Iterations : 7
Time : 0.323427 [s]
Initial cost : 0.732589 [px]
Final cost : 0.719343 [px]
Termination : Convergence

=> Merged observations: 41
=> Completed observations: 9
=> Filtered observations: 58
=> Changed observations: 0.003150

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.520395e+04 0.00e+00 3.03e+04 0.00e+00 0.00e+00 1.00e+04 0 1.89e-02 1.00e-01
1 3.494399e+04 2.60e+02 3.26e+03 2.04e+00 1.00e+00 3.00e+04 1 5.26e-02 1.53e-01
2 3.494086e+04 3.13e+00 4.96e+02 1.10e+00 1.01e+00 9.00e+04 1 3.45e-02 1.88e-01
3 3.494072e+04 1.46e-01 1.50e+02 3.79e-01 1.01e+00 2.70e+05 1 3.54e-02 2.23e-01
4 3.494071e+04 4.59e-03 8.30e+00 7.60e-02 1.02e+00 8.10e+05 1 3.85e-02 2.62e-01
5 3.494071e+04 1.39e-04 1.44e+00 1.06e-02 1.02e+00 2.43e+06 1 3.52e-02 2.97e-01
6 3.494071e+04 4.28e-06 1.87e-01 1.56e-03 1.01e+00 7.29e+06 1 3.74e-02 3.34e-01

Bundle adjustment report

Residuals : 68542

Parameters : 33317
Iterations : 7
Time : 0.335836 [s]
Initial cost : 0.716667 [px]
Final cost : 0.713982 [px]
Termination : Convergence

=> Merged observations: 11
=> Completed observations: 0
=> Filtered observations: 29
=> Changed observations: 0.001167

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.474393e+04 0.00e+00 1.90e+04 0.00e+00 0.00e+00 1.00e+04 0 2.21e-02 9.52e-02
1 3.456572e+04 1.78e+02 1.38e+03 3.14e+00 9.97e-01 3.00e+04 1 5.40e-02 1.49e-01
2 3.456177e+04 3.95e+00 2.15e+02 1.45e+00 1.00e+00 9.00e+04 1 3.47e-02 1.84e-01
3 3.456163e+04 1.42e-01 9.13e+01 3.72e-01 1.01e+00 2.70e+05 1 3.56e-02 2.20e-01
4 3.456163e+04 3.36e-03 5.94e+00 6.44e-02 1.03e+00 8.10e+05 1 3.96e-02 2.59e-01
5 3.456163e+04 7.48e-05 1.21e+00 8.09e-03 1.03e+00 2.43e+06 1 3.53e-02 2.95e-01
6 3.456163e+04 1.97e-06 1.50e-01 1.07e-03 1.02e+00 7.29e+06 1 3.56e-02 3.30e-01

Bundle adjustment report

Residuals : 68506

Parameters : 33290
Iterations : 7
Time : 0.331836 [s]
Initial cost : 0.712156 [px]
Final cost : 0.710285 [px]
Termination : Convergence

=> Merged observations: 13
=> Completed observations: 0
=> Filtered observations: 19
=> Changed observations: 0.000934

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.442943e+04 0.00e+00 9.34e+03 0.00e+00 0.00e+00 1.00e+04 0 1.74e-02 8.50e-02
1 3.425516e+04 1.74e+02 8.62e+03 3.42e+00 9.94e-01 3.00e+04 1 4.98e-02 1.35e-01
2 3.424628e+04 8.87e+00 9.56e+02 1.93e+00 1.01e+00 9.00e+04 1 3.59e-02 1.71e-01
3 3.424580e+04 4.87e-01 3.80e+02 6.52e-01 1.02e+00 2.70e+05 1 4.00e-02 2.11e-01
4 3.424578e+04 1.74e-02 2.73e+01 1.38e-01 1.03e+00 8.10e+05 1 3.39e-02 2.45e-01
5 3.424578e+04 8.84e-04 1.99e+00 2.39e-02 1.01e+00 2.43e+06 1 3.40e-02 2.79e-01
6 3.424578e+04 3.03e-05 3.68e-01 3.98e-03 1.01e+00 7.29e+06 1 3.41e-02 3.13e-01

Bundle adjustment report

Residuals : 68494

Parameters : 33269
Iterations : 7
Time : 0.314438 [s]
Initial cost : 0.708988 [px]
Final cost : 0.707094 [px]
Termination : Convergence

=> Merged observations: 16
=> Completed observations: 0
=> Filtered observations: 13
=> Changed observations: 0.000847
=> Filtered images: 0

==============================================================================
Registering image #60 (26)

=> Image sees 231 / 3847 points

Pose refinement report

Residuals : 316

Parameters : 6
Iterations : 56
Time : 0.0094532 [s]
Initial cost : 0.924159 [px]
Final cost : 0.843844 [px]
Termination : Convergence

=> Continued observations: 158
=> Added observations: 1564

Bundle adjustment report

Residuals : 13396

Parameters : 4784
Iterations : 26
Time : 0.145947 [s]
Initial cost : 0.92194 [px]
Final cost : 0.6609 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 5
=> Filtered observations: 293
=> Changed observations: 0.044491

Bundle adjustment report

Residuals : 12700

Parameters : 4397
Iterations : 4
Time : 0.0242276 [s]
Initial cost : 0.716278 [px]
Final cost : 0.696648 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 44
=> Filtered observations: 6
=> Changed observations: 0.008661

==============================================================================
Registering image #71 (27)

=> Image sees 582 / 4699 points

Pose refinement report

Residuals : 1020

Parameters : 6
Iterations : 22
Time : 0.0108596 [s]
Initial cost : 0.848877 [px]
Final cost : 0.801702 [px]
Termination : Convergence

=> Continued observations: 509
=> Added observations: 1763

Bundle adjustment report

Residuals : 11866

Parameters : 5153
Iterations : 26
Time : 0.160472 [s]
Initial cost : 0.785741 [px]
Final cost : 0.661705 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 14
=> Filtered observations: 655
=> Changed observations: 0.112759

Bundle adjustment report

Residuals : 11140

Parameters : 4862
Iterations : 4
Time : 0.0276497 [s]
Initial cost : 0.681319 [px]
Final cost : 0.6478 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 91
=> Filtered observations: 3
=> Changed observations: 0.016876

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

=> Merged observations: 293
=> Completed observations: 13
=> Retriangulated observations: 48

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.301496e+05 0.00e+00 8.08e+06 0.00e+00 0.00e+00 1.00e+04 0 1.93e-02 9.36e-02
1 7.197807e+04 5.82e+04 4.72e+04 1.14e+01 1.00e+00 3.00e+04 1 6.74e-02 1.61e-01
2 7.176986e+04 2.08e+02 5.56e+03 9.65e+00 9.90e-01 9.00e+04 1 4.20e-02 2.03e-01
3 7.176554e+04 4.31e+00 3.02e+03 3.18e+00 1.01e+00 2.70e+05 1 4.45e-02 2.48e-01
4 7.176537e+04 1.78e-01 2.93e+02 5.80e-01 1.02e+00 8.10e+05 1 4.71e-02 2.95e-01
5 7.176536e+04 1.03e-02 1.22e+01 1.27e-01 1.01e+00 2.43e+06 1 4.60e-02 3.41e-01
6 7.176536e+04 3.97e-04 1.47e+00 2.38e-02 1.01e+00 7.29e+06 1 3.94e-02 3.80e-01
7 7.176536e+04 2.75e-06 1.15e-01 1.97e-03 1.01e+00 2.19e+07 1 4.04e-02 4.21e-01

Bundle adjustment report

Residuals : 75400

Parameters : 37214
Iterations : 8
Time : 0.422477 [s]
Initial cost : 1.31382 [px]
Final cost : 0.9756 [px]
Termination : Convergence

=> Merged observations: 88
=> Completed observations: 0
=> Filtered observations: 159
=> Changed observations: 0.006552

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.835163e+04 0.00e+00 1.79e+05 0.00e+00 0.00e+00 1.00e+04 0 1.95e-02 9.43e-02
1 3.747362e+04 8.78e+02 1.86e+04 6.28e+00 9.95e-01 3.00e+04 1 6.46e-02 1.59e-01
2 3.744204e+04 3.16e+01 6.99e+03 2.34e+00 9.82e-01 9.00e+04 1 3.79e-02 1.97e-01
3 3.743986e+04 2.18e+00 1.31e+03 7.91e-01 1.01e+00 2.70e+05 1 3.90e-02 2.36e-01
4 3.743980e+04 5.53e-02 6.42e+01 1.67e-01 1.03e+00 8.10e+05 1 4.09e-02 2.77e-01
5 3.743980e+04 7.83e-04 2.99e+00 1.50e-02 1.05e+00 2.43e+06 1 3.84e-02 3.15e-01
6 3.743980e+04 1.14e-05 3.76e-01 2.29e-03 1.04e+00 7.29e+06 1 4.15e-02 3.57e-01

Bundle adjustment report

Residuals : 75252

Parameters : 37067
Iterations : 7
Time : 0.358704 [s]
Initial cost : 0.713893 [px]
Final cost : 0.705355 [px]
Termination : Convergence

=> Merged observations: 9
=> Completed observations: 0
=> Filtered observations: 16
=> Changed observations: 0.000664

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.735731e+04 0.00e+00 1.79e+04 0.00e+00 0.00e+00 1.00e+04 0 1.94e-02 9.95e-02
1 3.732419e+04 3.31e+01 5.32e+02 4.46e-01 1.00e+00 3.00e+04 1 6.46e-02 1.64e-01
2 3.732397e+04 2.18e-01 1.28e+02 1.67e-01 1.00e+00 9.00e+04 1 3.97e-02 2.04e-01
3 3.732397e+04 7.60e-03 4.14e+00 4.23e-02 1.01e+00 2.70e+05 1 4.36e-02 2.48e-01
4 3.732397e+04 9.83e-04 1.87e+00 2.09e-02 1.00e+00 8.10e+05 1 3.78e-02 2.85e-01
5 3.732397e+04 1.92e-04 8.13e-01 1.24e-02 1.00e+00 2.43e+06 1 3.90e-02 3.24e-01

Bundle adjustment report

Residuals : 75232

Parameters : 37049
Iterations : 6
Time : 0.326134 [s]
Initial cost : 0.704671 [px]
Final cost : 0.704357 [px]
Termination : Convergence

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

==============================================================================
Registering image #57 (28)

=> Image sees 495 / 4334 points

Pose refinement report

Residuals : 566

Parameters : 6
Iterations : 23
Time : 0.010972 [s]
Initial cost : 0.888242 [px]
Final cost : 0.75857 [px]
Termination : Convergence

=> Continued observations: 283
=> Added observations: 1879

Bundle adjustment report

Residuals : 17028

Parameters : 7772
Iterations : 26
Time : 0.223444 [s]
Initial cost : 0.985766 [px]
Final cost : 0.646602 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 17
=> Filtered observations: 417
=> Changed observations: 0.050975

Bundle adjustment report

Residuals : 14684

Parameters : 7391
Iterations : 4
Time : 0.0365502 [s]
Initial cost : 0.721455 [px]
Final cost : 0.686405 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 46
=> Filtered observations: 4
=> Changed observations: 0.006810

==============================================================================
Registering image #2 (29)

=> Image sees 783 / 4214 points

Pose refinement report

Residuals : 1360

Parameters : 6
Iterations : 18
Time : 0.0143989 [s]
Initial cost : 0.800433 [px]
Final cost : 0.746568 [px]
Termination : Convergence

=> Continued observations: 679
=> Added observations: 2259

Bundle adjustment report

Residuals : 18014

Parameters : 9488
Iterations : 26
Time : 0.26225 [s]
Initial cost : 0.707417 [px]
Final cost : 0.594437 [px]
Termination : No convergence

=> Merged observations: 8
=> Completed observations: 33
=> Filtered observations: 273
=> Changed observations: 0.034862

Bundle adjustment report

Residuals : 17526

Parameters : 9329
Iterations : 5
Time : 0.0660807 [s]
Initial cost : 0.665939 [px]
Final cost : 0.639683 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 42
=> Filtered observations: 1
=> Changed observations: 0.004907

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

=> Merged observations: 21
=> 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 4.246196e+04 0.00e+00 5.50e+05 0.00e+00 0.00e+00 1.00e+04 0 2.17e-02 1.14e-01
1 4.069847e+04 1.76e+03 7.75e+03 3.08e+00 1.00e+00 3.00e+04 1 6.95e-02 1.83e-01
2 4.069203e+04 6.44e+00 6.77e+02 1.59e+00 9.99e-01 9.00e+04 1 4.64e-02 2.30e-01
3 4.068964e+04 2.39e+00 8.14e+02 1.75e+00 9.96e-01 2.70e+05 1 4.48e-02 2.75e-01
4 4.068908e+04 5.62e-01 1.90e+02 1.23e+00 9.98e-01 8.10e+05 1 4.23e-02 3.17e-01
5 4.068900e+04 7.62e-02 8.87e+01 5.26e-01 1.00e+00 2.43e+06 1 4.38e-02 3.61e-01
6 4.068900e+04 3.98e-03 5.54e+00 1.21e-01 1.00e+00 7.29e+06 1 4.53e-02 4.06e-01
7 4.068900e+04 3.72e-05 3.03e-01 1.17e-02 1.01e+00 2.19e+07 1 4.94e-02 4.55e-01

Bundle adjustment report

Residuals : 84254

Parameters : 42050
Iterations : 8
Time : 0.457796 [s]
Initial cost : 0.709912 [px]
Final cost : 0.694933 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 1
=> Changed observations: 0.000142
=> Filtered images: 0

==============================================================================
Registering image #34 (30)

=> Image sees 965 / 3597 points

Pose refinement report

Residuals : 1522

Parameters : 6
Iterations : 33
Time : 0.0255463 [s]
Initial cost : 0.897891 [px]
Final cost : 0.886537 [px]
Termination : Convergence

=> Continued observations: 759
=> Added observations: 1672

Bundle adjustment report

Residuals : 20908

Parameters : 9827
Iterations : 26
Time : 0.296653 [s]
Initial cost : 0.931679 [px]
Final cost : 0.656641 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 39
=> Filtered observations: 682
=> Changed observations: 0.068969

Bundle adjustment report

Residuals : 19938

Parameters : 9680
Iterations : 4
Time : 0.0592233 [s]
Initial cost : 0.668811 [px]
Final cost : 0.632958 [px]
Termination : Convergence

=> Merged observations: 8
=> Completed observations: 72
=> Filtered observations: 30
=> Changed observations: 0.011034

==============================================================================
Registering image #44 (31)

=> Image sees 1186 / 4538 points

Pose refinement report

Residuals : 1946

Parameters : 6
Iterations : 24
Time : 0.0234178 [s]
Initial cost : 0.818692 [px]
Final cost : 0.809042 [px]
Termination : Convergence

=> Continued observations: 969
=> Added observations: 1962

Bundle adjustment report

Residuals : 24562

Parameters : 10958
Iterations : 26
Time : 0.342212 [s]
Initial cost : 0.813336 [px]
Final cost : 0.666953 [px]
Termination : No convergence

=> Merged observations: 4
=> Completed observations: 78
=> Filtered observations: 603
=> Changed observations: 0.055777

Bundle adjustment report

Residuals : 23508

Parameters : 10703
Iterations : 4
Time : 0.0601963 [s]
Initial cost : 0.71938 [px]
Final cost : 0.677402 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 99
=> Filtered observations: 7
=> Changed observations: 0.009018

==============================================================================
Registering image #15 (32)

=> Image sees 1347 / 3483 points

Pose refinement report

Residuals : 2314

Parameters : 6
Iterations : 14
Time : 0.0162285 [s]
Initial cost : 0.737312 [px]
Final cost : 0.729733 [px]
Termination : Convergence

=> Continued observations: 1154
=> Added observations: 852

Bundle adjustment report

Residuals : 24636

Parameters : 9518
Iterations : 26
Time : 0.328587 [s]
Initial cost : 0.77262 [px]
Final cost : 0.63154 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 37
=> Filtered observations: 395
=> Changed observations: 0.035071

Bundle adjustment report

Residuals : 23916

Parameters : 9320
Iterations : 3
Time : 0.0502326 [s]
Initial cost : 0.698154 [px]
Final cost : 0.674135 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 88
=> Filtered observations: 4
=> Changed observations: 0.007694

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

=> Merged observations: 78
=> Completed observations: 4
=> Retriangulated observations: 390

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.998140e+06 0.00e+00 9.52e+07 0.00e+00 0.00e+00 1.00e+04 0 2.63e-02 1.43e-01
1 7.844758e+04 1.92e+06 7.32e+05 1.50e+01 9.96e-01 3.00e+04 1 7.51e-02 2.18e-01
2 7.153891e+04 6.91e+03 2.02e+04 4.57e+00 9.78e-01 9.00e+04 1 4.87e-02 2.66e-01
3 7.143156e+04 1.07e+02 3.29e+04 3.19e+00 9.88e-01 2.70e+05 1 5.02e-02 3.17e-01
4 7.142453e+04 7.03e+00 1.27e+04 2.43e+00 9.94e-01 8.10e+05 1 4.94e-02 3.66e-01
5 7.142293e+04 1.60e+00 2.60e+03 1.72e+00 1.00e+00 2.43e+06 1 5.12e-02 4.17e-01
6 7.142280e+04 1.34e-01 2.19e+02 5.95e-01 1.00e+00 7.29e+06 1 4.95e-02 4.67e-01
7 7.142280e+04 1.94e-03 3.22e+00 7.65e-02 1.01e+00 2.19e+07 1 5.06e-02 5.17e-01
8 7.142280e+04 4.79e-06 1.72e-01 3.60e-03 1.02e+00 6.56e+07 1 5.89e-02 5.76e-01

Bundle adjustment report

Residuals : 97288

Parameters : 47006
Iterations : 9
Time : 0.578891 [s]
Initial cost : 4.53193 [px]
Final cost : 0.856818 [px]
Termination : Convergence

=> Merged observations: 88
=> Completed observations: 4
=> Filtered observations: 342
=> Changed observations: 0.008922

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.329048e+04 0.00e+00 1.42e+05 0.00e+00 0.00e+00 1.00e+04 0 2.43e-02 1.36e-01
1 5.205987e+04 1.23e+03 5.70e+03 2.12e+00 1.00e+00 3.00e+04 1 7.67e-02 2.13e-01
2 5.202067e+04 3.92e+01 5.43e+03 1.34e+00 9.98e-01 9.00e+04 1 5.10e-02 2.64e-01
3 5.200386e+04 1.68e+01 3.79e+03 1.67e+00 9.89e-01 2.70e+05 1 5.88e-02 3.23e-01
4 5.199913e+04 4.73e+00 3.63e+03 1.85e+00 9.78e-01 8.10e+05 1 5.47e-02 3.77e-01
5 5.199826e+04 8.72e-01 6.48e+02 1.20e+00 9.97e-01 2.43e+06 1 5.15e-02 4.29e-01
6 5.199820e+04 5.57e-02 3.65e+01 3.66e-01 1.00e+00 7.29e+06 1 5.11e-02 4.80e-01
7 5.199820e+04 6.54e-04 1.98e+00 4.30e-02 1.00e+00 2.19e+07 1 4.88e-02 5.29e-01
8 5.199820e+04 1.35e-06 9.32e-02 1.86e-03 1.02e+00 6.56e+07 1 4.97e-02 5.79e-01

Bundle adjustment report

Residuals : 96778

Parameters : 46715
Iterations : 9
Time : 0.580901 [s]
Initial cost : 0.742056 [px]
Final cost : 0.733003 [px]
Termination : Convergence

=> Merged observations: 20
=> Completed observations: 0
=> Filtered observations: 58
=> Changed observations: 0.001612

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.164461e+04 0.00e+00 9.28e+04 0.00e+00 0.00e+00 1.00e+04 0 2.49e-02 1.34e-01
1 5.149303e+04 1.52e+02 9.60e+02 7.19e-01 1.00e+00 3.00e+04 1 8.15e-02 2.16e-01
2 5.148974e+04 3.29e+00 1.77e+02 3.38e-01 1.00e+00 9.00e+04 1 5.18e-02 2.67e-01
3 5.148874e+04 1.00e+00 1.76e+02 2.66e-01 9.98e-01 2.70e+05 1 5.19e-02 3.19e-01
4 5.148854e+04 1.93e-01 1.95e+02 2.73e-01 9.99e-01 8.10e+05 1 4.80e-02 3.67e-01
5 5.148852e+04 2.82e-02 5.50e+01 2.00e-01 1.00e+00 2.43e+06 1 5.70e-02 4.24e-01
6 5.148851e+04 1.94e-03 4.03e+00 6.70e-02 1.00e+00 7.29e+06 1 5.01e-02 4.74e-01
7 5.148851e+04 2.45e-05 4.32e-01 8.11e-03 1.01e+00 2.19e+07 1 4.84e-02 5.23e-01

Bundle adjustment report

Residuals : 96698

Parameters : 46655
Iterations : 8
Time : 0.525366 [s]
Initial cost : 0.730809 [px]
Final cost : 0.729704 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 11
=> Changed observations: 0.000331
=> Filtered images: 0

==============================================================================
Registering image #12 (33)

=> Image sees 1011 / 2746 points

Pose refinement report

Residuals : 1410

Parameters : 6
Iterations : 38
Time : 0.0265672 [s]
Initial cost : 0.965648 [px]
Final cost : 0.857809 [px]
Termination : Convergence

=> Continued observations: 697
=> Added observations: 871

Bundle adjustment report

Residuals : 25306

Parameters : 7706
Iterations : 26
Time : 0.304098 [s]
Initial cost : 0.866415 [px]
Final cost : 0.786738 [px]
Termination : No convergence

=> Merged observations: 5
=> Completed observations: 30
=> Filtered observations: 1012
=> Changed observations: 0.082747

Bundle adjustment report

Residuals : 23346

Parameters : 7232
Iterations : 4
Time : 0.0504818 [s]
Initial cost : 0.805848 [px]
Final cost : 0.763067 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 163
=> Filtered observations: 4
=> Changed observations: 0.014649

==============================================================================
Registering image #13 (34)

=> Image sees 337 / 3764 points

Pose refinement report

Residuals : 518

Parameters : 6
Iterations : 24
Time : 0.0075524 [s]
Initial cost : 0.842708 [px]
Final cost : 0.831386 [px]
Termination : Convergence

=> Continued observations: 254
=> Added observations: 381

Bundle adjustment report

Residuals : 17918

Parameters : 3245
Iterations : 26
Time : 0.197291 [s]
Initial cost : 0.775714 [px]
Final cost : 0.676624 [px]
Termination : No convergence

=> Merged observations: 10
=> Completed observations: 14
=> Filtered observations: 225
=> Changed observations: 0.027793

Bundle adjustment report

Residuals : 17540

Parameters : 3098
Iterations : 3
Time : 0.0237415 [s]
Initial cost : 0.726681 [px]
Final cost : 0.714744 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 24
=> Filtered observations: 0
=> Changed observations: 0.002737

==============================================================================
Registering image #76 (35)

=> Image sees 235 / 4113 points

Pose refinement report

Residuals : 394

Parameters : 6
Iterations : 16
Time : 0.0032479 [s]
Initial cost : 0.647364 [px]
Final cost : 0.641027 [px]
Termination : Convergence

=> Continued observations: 197
=> Added observations: 1377

Bundle adjustment report

Residuals : 17396

Parameters : 3383
Iterations : 26
Time : 0.189974 [s]
Initial cost : 0.731777 [px]
Final cost : 0.683218 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 7
=> Filtered observations: 203
=> Changed observations: 0.024143

Bundle adjustment report

Residuals : 17054

Parameters : 3182
Iterations : 4
Time : 0.0286794 [s]
Initial cost : 0.718683 [px]
Final cost : 0.711977 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 33
=> Filtered observations: 2
=> Changed observations: 0.004105

==============================================================================
Registering image #47 (36)

=> Image sees 548 / 4632 points

Pose refinement report

Residuals : 986

Parameters : 6
Iterations : 32
Time : 0.0158306 [s]
Initial cost : 0.733572 [px]
Final cost : 0.709441 [px]
Termination : Convergence

=> Continued observations: 492
=> Added observations: 2353

Bundle adjustment report

Residuals : 18114

Parameters : 5315
Iterations : 26
Time : 0.215873 [s]
Initial cost : 0.866119 [px]
Final cost : 0.714671 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 6
=> Filtered observations: 2092
=> Changed observations: 0.231644

Bundle adjustment report

Residuals : 16894

Parameters : 5198
Iterations : 4
Time : 0.0351241 [s]
Initial cost : 0.742553 [px]
Final cost : 0.710946 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 159
=> Filtered observations: 125
=> Changed observations: 0.033621

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

=> Merged observations: 442
=> Completed observations: 14
=> Retriangulated observations: 227

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.847143e+05 0.00e+00 4.79e+07 0.00e+00 0.00e+00 1.00e+04 0 3.87e-02 1.62e-01
1 1.076625e+05 1.77e+05 7.25e+05 1.39e+01 8.55e-01 1.56e+04 1 7.93e-02 2.41e-01
2 7.986618e+04 2.78e+04 6.16e+04 4.22e+00 9.41e-01 4.68e+04 1 5.36e-02 2.95e-01
3 7.812372e+04 1.74e+03 2.13e+04 3.25e+00 9.90e-01 1.40e+05 1 6.03e-02 3.55e-01
4 7.807383e+04 4.99e+01 1.62e+04 2.87e+00 9.99e-01 4.21e+05 1 5.37e-02 4.09e-01
5 7.806443e+04 9.41e+00 4.97e+03 3.51e+00 9.88e-01 1.26e+06 1 5.63e-02 4.65e-01
6 7.806214e+04 2.29e+00 8.45e+02 2.31e+00 9.95e-01 3.79e+06 1 5.50e-02 5.20e-01
7 7.806201e+04 1.25e-01 4.88e+01 6.04e-01 1.00e+00 1.14e+07 1 5.54e-02 5.75e-01
8 7.806201e+04 9.57e-04 1.86e+00 5.61e-02 1.00e+00 3.41e+07 1 5.36e-02 6.29e-01
9 7.806201e+04 1.32e-06 1.10e-01 1.89e-03 1.02e+00 1.02e+08 1 5.64e-02 6.86e-01

Bundle adjustment report

Residuals : 104724

Parameters : 51557
Iterations : 10
Time : 0.688485 [s]
Initial cost : 1.64885 [px]
Final cost : 0.86337 [px]
Termination : Convergence

=> Merged observations: 836
=> Completed observations: 56
=> Filtered observations: 323
=> Changed observations: 0.023204

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.104128e+04 0.00e+00 1.31e+06 0.00e+00 0.00e+00 1.00e+04 0 2.72e-02 1.51e-01
1 5.899479e+04 2.05e+03 9.01e+03 3.17e+00 1.00e+00 3.00e+04 1 8.46e-02 2.36e-01
2 5.898879e+04 5.99e+00 2.24e+03 1.02e+00 1.00e+00 9.00e+04 1 5.40e-02 2.90e-01
3 5.898797e+04 8.21e-01 7.22e+02 5.67e-01 1.00e+00 2.70e+05 1 6.05e-02 3.50e-01
4 5.898785e+04 1.18e-01 1.29e+02 2.14e-01 1.00e+00 8.10e+05 1 5.62e-02 4.06e-01
5 5.898785e+04 5.12e-03 4.77e+00 4.17e-02 1.01e+00 2.43e+06 1 5.60e-02 4.62e-01
6 5.898785e+04 5.27e-05 6.47e-01 3.85e-03 1.03e+00 7.29e+06 1 5.58e-02 5.18e-01

Bundle adjustment report

Residuals : 105746

Parameters : 51356
Iterations : 7
Time : 0.521196 [s]
Initial cost : 0.759766 [px]
Final cost : 0.746877 [px]
Termination : Convergence

=> Merged observations: 96
=> Completed observations: 0
=> Filtered observations: 39
=> Changed observations: 0.002553

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.925293e+04 0.00e+00 2.47e+05 0.00e+00 0.00e+00 1.00e+04 0 2.76e-02 1.55e-01
1 5.890304e+04 3.50e+02 5.80e+02 9.37e-01 1.00e+00 3.00e+04 1 8.09e-02 2.36e-01
2 5.890244e+04 6.07e-01 9.46e+01 3.26e-01 1.00e+00 9.00e+04 1 5.30e-02 2.89e-01
3 5.890239e+04 4.92e-02 4.37e+01 1.78e-01 1.00e+00 2.70e+05 1 5.65e-02 3.45e-01
4 5.890238e+04 7.16e-03 1.43e+01 7.53e-02 1.00e+00 8.10e+05 1 5.59e-02 4.01e-01
5 5.890238e+04 9.62e-04 2.11e+00 3.51e-02 1.00e+00 2.43e+06 1 6.31e-02 4.65e-01
6 5.890238e+04 7.12e-05 8.23e-01 1.17e-02 1.00e+00 7.29e+06 1 5.54e-02 5.20e-01

Bundle adjustment report

Residuals : 105858

Parameters : 51338
Iterations : 7
Time : 0.522529 [s]
Initial cost : 0.748158 [px]
Final cost : 0.745941 [px]
Termination : Convergence

=> Merged observations: 35
=> Completed observations: 0
=> Filtered observations: 6
=> Changed observations: 0.000775

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.910675e+04 0.00e+00 1.13e+05 0.00e+00 0.00e+00 1.00e+04 0 4.07e-02 1.74e-01
1 5.899056e+04 1.16e+02 6.51e+01 6.23e-01 1.00e+00 3.00e+04 1 9.68e-02 2.71e-01
2 5.899034e+04 2.23e-01 1.41e+01 1.08e-01 1.00e+00 9.00e+04 1 6.54e-02 3.36e-01
3 5.899032e+04 1.13e-02 1.01e+01 6.13e-02 1.00e+00 2.70e+05 1 6.03e-02 3.97e-01
4 5.899032e+04 6.20e-03 3.90e+00 6.91e-02 1.00e+00 8.10e+05 1 6.34e-02 4.60e-01
5 5.899032e+04 2.25e-03 1.91e+00 5.63e-02 9.99e-01 2.43e+06 1 5.98e-02 5.20e-01
6 5.899032e+04 2.03e-04 1.84e+00 2.00e-02 1.00e+00 7.29e+06 1 6.27e-02 5.83e-01
7 5.899032e+04 2.99e-06 1.99e-01 2.60e-03 1.00e+00 2.19e+07 1 5.86e-02 6.41e-01

Bundle adjustment report

Residuals : 105916

Parameters : 51335
Iterations : 8
Time : 0.644115 [s]
Initial cost : 0.747029 [px]
Final cost : 0.746293 [px]
Termination : Convergence

=> Merged observations: 17
=> Completed observations: 0
=> Filtered observations: 6
=> Changed observations: 0.000434
=> Filtered images: 0

==============================================================================
Registering image #43 (37)

=> Image sees 371 / 3926 points

Pose refinement report

Residuals : 592

Parameters : 6
Iterations : 41
Time : 0.0122914 [s]
Initial cost : 0.854145 [px]
Final cost : 0.829275 [px]
Termination : Convergence

=> Continued observations: 296
=> Added observations: 851

Bundle adjustment report

Residuals : 27802

Parameters : 7868
Iterations : 26
Time : 0.310844 [s]
Initial cost : 0.768379 [px]
Final cost : 0.708307 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 27
=> Filtered observations: 546
=> Changed observations: 0.041220

Bundle adjustment report

Residuals : 26768

Parameters : 7565
Iterations : 4
Time : 0.0520427 [s]
Initial cost : 0.772945 [px]
Final cost : 0.750341 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 98
=> Filtered observations: 1
=> Changed observations: 0.007397

==============================================================================
Registering image #3 (38)

=> Image sees 375 / 2011 points

Pose refinement report

Residuals : 656

Parameters : 6
Iterations : 16
Time : 0.0057808 [s]
Initial cost : 0.760586 [px]
Final cost : 0.653578 [px]
Termination : Convergence

=> Continued observations: 326
=> Added observations: 613

Bundle adjustment report

Residuals : 12046

Parameters : 5843
Iterations : 26
Time : 0.173557 [s]
Initial cost : 0.743301 [px]
Final cost : 0.617356 [px]
Termination : No convergence

=> Merged observations: 6
=> Completed observations: 20
=> Filtered observations: 336
=> Changed observations: 0.060103

Bundle adjustment report

Residuals : 11812

Parameters : 5765
Iterations : 4
Time : 0.0319436 [s]
Initial cost : 0.666194 [px]
Final cost : 0.645275 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 15
=> Filtered observations: 109
=> Changed observations: 0.020996

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

=> Image sees 327 / 2123 points

Pose refinement report

Residuals : 598

Parameters : 6
Iterations : 17
Time : 0.0053313 [s]
Initial cost : 0.70971 [px]
Final cost : 0.674532 [px]
Termination : Convergence

=> Continued observations: 297
=> Added observations: 496

Bundle adjustment report

Residuals : 13422

Parameters : 6503
Iterations : 26
Time : 0.184337 [s]
Initial cost : 0.663521 [px]
Final cost : 0.603844 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 4
=> Filtered observations: 794
=> Changed observations: 0.118909

Bundle adjustment report

Residuals : 12806

Parameters : 6428
Iterations : 4
Time : 0.031626 [s]
Initial cost : 0.637582 [px]
Final cost : 0.60728 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 18
=> Filtered observations: 26
=> Changed observations: 0.006872

==============================================================================
Registering image #22 (40)

=> Image sees 340 / 3115 points

Pose refinement report

Residuals : 628

Parameters : 6
Iterations : 10
Time : 0.0031516 [s]
Initial cost : 0.678141 [px]
Final cost : 0.590246 [px]
Termination : Convergence

=> Continued observations: 314
=> Added observations: 307

Bundle adjustment report

Residuals : 11432

Parameters : 3377
Iterations : 26
Time : 0.146756 [s]
Initial cost : 0.605336 [px]
Final cost : 0.557169 [px]
Termination : No convergence

=> Merged observations: 4
=> Completed observations: 32
=> Filtered observations: 85
=> Changed observations: 0.021169

Bundle adjustment report

Residuals : 11316

Parameters : 3323
Iterations : 4
Time : 0.0245215 [s]
Initial cost : 0.614218 [px]
Final cost : 0.600279 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 33
=> Filtered observations: 1
=> Changed observations: 0.006716

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

=> Merged observations: 538
=> Completed observations: 10
=> Retriangulated observations: 745

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.229129e+06 0.00e+00 1.60e+08 0.00e+00 0.00e+00 1.00e+04 0 2.94e-02 1.62e-01
1 1.118548e+05 6.12e+06 1.07e+06 7.45e+01 9.99e-01 3.00e+04 1 8.70e-02 2.49e-01
2 1.061639e+05 5.69e+03 4.13e+04 5.82e+00 9.84e-01 9.00e+04 1 5.77e-02 3.07e-01
3 1.060660e+05 9.79e+01 4.39e+03 2.39e+00 9.98e-01 2.70e+05 1 6.35e-02 3.71e-01
4 1.060591e+05 6.93e+00 5.06e+03 1.23e+00 1.00e+00 8.10e+05 1 5.83e-02 4.29e-01
5 1.060579e+05 1.17e+00 2.18e+03 1.01e+00 9.96e-01 2.43e+06 1 6.07e-02 4.90e-01
6 1.060577e+05 1.60e-01 2.87e+02 5.11e-01 1.00e+00 7.29e+06 1 5.60e-02 5.46e-01
7 1.060577e+05 4.78e-03 8.55e+00 9.98e-02 1.00e+00 2.19e+07 1 6.27e-02 6.08e-01
8 1.060577e+05 2.21e-05 6.09e-01 6.87e-03 1.01e+00 6.56e+07 1 5.72e-02 6.66e-01

Bundle adjustment report

Residuals : 112178

Parameters : 53897
Iterations : 9
Time : 0.66895 [s]
Initial cost : 7.45178 [px]
Final cost : 0.972338 [px]
Termination : Convergence

=> Merged observations: 266
=> Completed observations: 13
=> Filtered observations: 448
=> Changed observations: 0.012962

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.567846e+04 0.00e+00 1.36e+05 0.00e+00 0.00e+00 1.00e+04 0 3.04e-02 1.62e-01
1 6.387117e+04 1.81e+03 1.16e+05 2.07e+00 9.93e-01 3.00e+04 1 8.71e-02 2.50e-01
2 6.372097e+04 1.50e+02 4.81e+04 2.40e+00 9.87e-01 9.00e+04 1 5.83e-02 3.08e-01
3 6.369411e+04 2.69e+01 1.09e+04 1.88e+00 1.00e+00 2.70e+05 1 5.74e-02 3.65e-01
4 6.369053e+04 3.58e+00 3.17e+03 9.53e-01 1.01e+00 8.10e+05 1 5.65e-02 4.22e-01
5 6.369029e+04 2.40e-01 3.85e+02 2.82e-01 1.01e+00 2.43e+06 1 5.96e-02 4.82e-01
6 6.369028e+04 4.98e-03 1.44e+01 5.91e-02 1.02e+00 7.29e+06 1 5.67e-02 5.38e-01
7 6.369028e+04 5.57e-05 1.17e+00 8.93e-03 1.02e+00 2.19e+07 1 5.77e-02 5.96e-01
8 6.369028e+04 2.32e-07 8.39e-02 5.48e-04 1.03e+00 6.56e+07 1 6.42e-02 6.60e-01

Bundle adjustment report

Residuals : 111764

Parameters : 53582
Iterations : 9
Time : 0.663053 [s]
Initial cost : 0.766585 [px]
Final cost : 0.754893 [px]
Termination : Convergence

=> Merged observations: 48
=> Completed observations: 17
=> Filtered observations: 35
=> Changed observations: 0.001789

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.366004e+04 0.00e+00 4.95e+04 0.00e+00 0.00e+00 1.00e+04 0 3.03e-02 1.56e-01
1 6.341699e+04 2.43e+02 3.15e+03 5.38e-01 1.00e+00 3.00e+04 1 8.73e-02 2.44e-01
2 6.341216e+04 4.84e+00 9.82e+02 3.02e-01 1.01e+00 9.00e+04 1 5.74e-02 3.01e-01
3 6.341150e+04 6.57e-01 2.57e+02 2.92e-01 1.00e+00 2.70e+05 1 5.88e-02 3.60e-01
4 6.341141e+04 8.70e-02 4.87e+01 1.41e-01 1.00e+00 8.10e+05 1 6.15e-02 4.22e-01
5 6.341140e+04 1.25e-02 2.47e+01 9.48e-02 1.00e+00 2.43e+06 1 5.89e-02 4.81e-01
6 6.341140e+04 1.47e-03 2.93e+00 4.66e-02 1.00e+00 7.29e+06 1 5.88e-02 5.39e-01
7 6.341140e+04 3.94e-05 7.71e-01 8.57e-03 1.00e+00 2.19e+07 1 6.50e-02 6.04e-01

Bundle adjustment report

Residuals : 111786

Parameters : 53546
Iterations : 8
Time : 0.6071 [s]
Initial cost : 0.75464 [px]
Final cost : 0.753165 [px]
Termination : Convergence

=> Merged observations: 12
=> Completed observations: 0
=> Filtered observations: 20
=> Changed observations: 0.000573

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.336380e+04 0.00e+00 4.27e+04 0.00e+00 0.00e+00 1.00e+04 0 2.85e-02 1.51e-01
1 6.326794e+04 9.59e+01 1.27e+03 3.58e-01 9.99e-01 3.00e+04 1 9.06e-02 2.41e-01
2 6.326675e+04 1.19e+00 2.99e+02 1.24e-01 1.00e+00 9.00e+04 1 6.20e-02 3.03e-01
3 6.326649e+04 2.59e-01 7.50e+01 1.39e-01 9.97e-01 2.70e+05 1 5.98e-02 3.63e-01
4 6.326646e+04 3.22e-02 1.73e+01 7.21e-02 1.00e+00 8.10e+05 1 5.88e-02 4.22e-01
5 6.326645e+04 3.19e-03 5.60e+00 4.57e-02 1.00e+00 2.43e+06 1 7.13e-02 4.93e-01
6 6.326645e+04 3.43e-04 1.80e+00 2.25e-02 1.00e+00 7.29e+06 1 6.10e-02 5.54e-01
7 6.326645e+04 9.17e-06 4.22e-01 4.14e-03 1.00e+00 2.19e+07 1 5.99e-02 6.14e-01

Bundle adjustment report

Residuals : 111760

Parameters : 53525
Iterations : 8
Time : 0.617154 [s]
Initial cost : 0.75297 [px]
Final cost : 0.752391 [px]
Termination : Convergence

=> Merged observations: 2
=> Completed observations: 4
=> Filtered observations: 15
=> Changed observations: 0.000376
=> Filtered images: 0

==============================================================================
Registering image #27 (41)

=> Image sees 328 / 1109 points

Pose refinement report

Residuals : 490

Parameters : 6
Iterations : 20
Time : 0.0054523 [s]
Initial cost : 0.727045 [px]
Final cost : 0.714315 [px]
Termination : Convergence

=> Continued observations: 242
=> Added observations: 424

Bundle adjustment report

Residuals : 23128

Parameters : 7229
Iterations : 26
Time : 0.246162 [s]
Initial cost : 0.709974 [px]
Final cost : 0.676239 [px]
Termination : No convergence

=> Merged observations: 13
=> Completed observations: 42
=> Filtered observations: 340
=> Changed observations: 0.034158

Bundle adjustment report

Residuals : 22548

Parameters : 7130
Iterations : 3
Time : 0.0348447 [s]
Initial cost : 0.794267 [px]
Final cost : 0.774845 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 28
=> Filtered observations: 3
=> Changed observations: 0.002750

==============================================================================
Registering image #36 (42)

=> Image sees 289 / 1276 points

Pose refinement report

Residuals : 374

Parameters : 6
Iterations : 29
Time : 0.0059046 [s]
Initial cost : 0.836248 [px]
Final cost : 0.830856 [px]
Termination : Convergence

=> Continued observations: 187
=> Added observations: 184

Bundle adjustment report

Residuals : 19024

Parameters : 4538
Iterations : 26
Time : 0.21968 [s]
Initial cost : 0.706941 [px]
Final cost : 0.619687 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 6
=> Filtered observations: 197
=> Changed observations: 0.021341

Bundle adjustment report

Residuals : 18658

Parameters : 4394
Iterations : 4
Time : 0.0369052 [s]
Initial cost : 0.704564 [px]
Final cost : 0.678839 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 28
=> Filtered observations: 9
=> Changed observations: 0.003966

==============================================================================
Registering image #4 (43)

=> Image sees 247 / 1161 points

Pose refinement report

Residuals : 288

Parameters : 6
Iterations : 19
Time : 0.002971 [s]
Initial cost : 0.764673 [px]
Final cost : 0.746839 [px]
Termination : Convergence

=> Continued observations: 141
=> Added observations: 277

Bundle adjustment report

Residuals : 9928

Parameters : 2807
Iterations : 26
Time : 0.103206 [s]
Initial cost : 1.03657 [px]
Final cost : 0.908171 [px]
Termination : No convergence

=> Merged observations: 4
=> Completed observations: 9
=> Filtered observations: 766
=> Changed observations: 0.156930

Bundle adjustment report

Residuals : 6402

Parameters : 2675
Iterations : 5
Time : 0.0197902 [s]
Initial cost : 1.13112 [px]
Final cost : 0.656521 [px]
Termination : Convergence

=> Merged observations: 4
=> Completed observations: 16
=> Filtered observations: 36
=> Changed observations: 0.017495

==============================================================================
Registering image #69 (44)

=> Image sees 129 / 3329 points

Pose refinement report

Residuals : 166

Parameters : 6
Iterations : 16
Time : 0.0015851 [s]
Initial cost : 0.84079 [px]
Final cost : 0.831227 [px]
Termination : Convergence

=> Continued observations: 83
=> Added observations: 400

Bundle adjustment report

Residuals : 11008

Parameters : 1463
Iterations : 26
Time : 0.116553 [s]
Initial cost : 1.10352 [px]
Final cost : 0.675167 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 64
=> Filtered observations: 236
=> Changed observations: 0.054506

Bundle adjustment report

Residuals : 10916

Parameters : 1454
Iterations : 3
Time : 0.0128169 [s]
Initial cost : 0.791743 [px]
Final cost : 0.781085 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 10
=> Filtered observations: 8
=> Changed observations: 0.003298

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

=> Merged observations: 501
=> Completed observations: 0
=> Retriangulated observations: 277

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.700643e+05 0.00e+00 1.74e+07 0.00e+00 0.00e+00 1.00e+04 0 2.88e-02 1.58e-01
1 1.804187e+05 2.90e+05 8.62e+04 9.07e+00 9.85e-01 3.00e+04 1 8.95e-02 2.48e-01
2 1.752823e+05 5.14e+03 1.01e+05 3.91e+00 9.86e-01 9.00e+04 1 5.95e-02 3.07e-01
3 1.750031e+05 2.79e+02 1.72e+05 5.28e+00 8.59e-01 1.43e+05 1 6.13e-02 3.68e-01
4 1.748702e+05 1.33e+02 7.34e+04 4.69e+00 9.33e-01 4.09e+05 1 6.27e-02 4.31e-01
5 1.748070e+05 6.32e+01 5.48e+04 5.90e+00 9.14e-01 9.48e+05 1 6.60e-02 4.97e-01
6 1.747847e+05 2.23e+01 1.44e+04 3.97e+00 9.82e-01 2.84e+06 1 6.41e-02 5.61e-01
7 1.747827e+05 2.05e+00 1.70e+03 1.47e+00 9.99e-01 8.53e+06 1 6.37e-02 6.25e-01
8 1.747826e+05 3.35e-02 3.14e+01 2.00e-01 1.01e+00 2.56e+07 1 6.27e-02 6.88e-01
9 1.747826e+05 1.23e-04 1.48e+00 1.06e-02 1.07e+00 7.68e+07 1 6.21e-02 7.50e-01
10 1.747826e+05 1.88e-06 5.57e-01 4.20e-04 1.15e+00 2.30e+08 1 5.90e-02 8.09e-01

Bundle adjustment report

Residuals : 114274

Parameters : 54686
Iterations : 11
Time : 0.811865 [s]
Initial cost : 2.02817 [px]
Final cost : 1.23673 [px]
Termination : Convergence

=> Merged observations: 115
=> Completed observations: 20
=> Filtered observations: 527
=> Changed observations: 0.011586

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.636735e+04 0.00e+00 1.78e+05 0.00e+00 0.00e+00 1.00e+04 0 3.02e-02 1.58e-01
1 6.351185e+04 2.86e+03 2.01e+04 4.70e+00 9.99e-01 3.00e+04 1 8.41e-02 2.42e-01
2 6.336645e+04 1.45e+02 2.42e+04 2.58e+00 9.93e-01 9.00e+04 1 5.89e-02 3.01e-01
3 6.329033e+04 7.61e+01 5.80e+04 2.72e+00 9.47e-01 2.70e+05 1 5.97e-02 3.61e-01
4 6.324926e+04 4.11e+01 7.41e+04 4.01e+00 8.11e-01 3.56e+05 1 5.76e-02 4.18e-01
5 6.322295e+04 2.63e+01 2.48e+04 3.21e+00 9.55e-01 1.07e+06 1 6.43e-02 4.83e-01
6 6.321215e+04 1.08e+01 2.05e+04 3.62e+00 9.28e-01 2.86e+06 1 6.65e-02 5.49e-01
7 6.320968e+04 2.46e+00 4.44e+03 1.81e+00 9.84e-01 8.57e+06 1 6.33e-02 6.13e-01
8 6.320959e+04 9.75e-02 1.94e+02 3.83e-01 9.99e-01 2.57e+07 1 5.70e-02 6.70e-01
9 6.320959e+04 3.86e-04 1.92e+00 2.82e-02 1.01e+00 7.72e+07 1 6.22e-02 7.32e-01
10 6.320959e+04 3.83e-07 1.77e-01 7.72e-04 1.03e+00 2.31e+08 1 5.94e-02 7.91e-01

Bundle adjustment report

Residuals : 113446

Parameters : 54263
Iterations : 11
Time : 0.794226 [s]
Initial cost : 0.764861 [px]
Final cost : 0.746443 [px]
Termination : Convergence

=> Merged observations: 74
=> Completed observations: 0
=> Filtered observations: 25
=> Changed observations: 0.001745

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.331760e+04 0.00e+00 1.01e+05 0.00e+00 0.00e+00 1.00e+04 0 3.10e-02 1.65e-01
1 6.309631e+04 2.21e+02 9.73e+02 8.05e-01 1.00e+00 3.00e+04 1 8.34e-02 2.48e-01
2 6.309345e+04 2.86e+00 2.86e+02 4.18e-01 9.99e-01 9.00e+04 1 5.70e-02 3.05e-01
3 6.309194e+04 1.51e+00 9.13e+02 3.05e-01 9.97e-01 2.70e+05 1 5.82e-02 3.63e-01
4 6.309145e+04 4.97e-01 9.02e+02 2.77e-01 9.94e-01 8.10e+05 1 6.31e-02 4.26e-01
5 6.309135e+04 9.80e-02 2.85e+02 2.69e-01 9.96e-01 2.43e+06 1 6.07e-02 4.87e-01
6 6.309133e+04 1.52e-02 4.39e+01 1.60e-01 9.98e-01 7.29e+06 1 5.77e-02 5.45e-01
7 6.309133e+04 6.27e-04 1.98e+00 3.74e-02 1.00e+00 2.19e+07 1 6.81e-02 6.13e-01
8 6.309133e+04 3.92e-06 4.27e-01 3.04e-03 1.01e+00 6.56e+07 1 6.04e-02 6.73e-01

Bundle adjustment report

Residuals : 113544

Parameters : 54248
Iterations : 9
Time : 0.676557 [s]
Initial cost : 0.746758 [px]
Final cost : 0.745423 [px]
Termination : Convergence

=> Merged observations: 14
=> Completed observations: 0
=> Filtered observations: 9
=> Changed observations: 0.000405
=> Filtered images: 0

==============================================================================
Registering image #64 (45)

=> Image sees 170 / 3005 points

Pose refinement report

Residuals : 242

Parameters : 6
Iterations : 13
Time : 0.0018857 [s]
Initial cost : 0.758812 [px]
Final cost : 0.739306 [px]
Termination : Convergence

=> Continued observations: 121
=> Added observations: 719

Bundle adjustment report

Residuals : 11710

Parameters : 3695
Iterations : 26
Time : 0.119761 [s]
Initial cost : 0.737588 [px]
Final cost : 0.660658 [px]
Termination : No convergence

=> Merged observations: 6
=> Completed observations: 15
=> Filtered observations: 158
=> Changed observations: 0.030572

Bundle adjustment report

Residuals : 12888

Parameters : 3686
Iterations : 4
Time : 0.0225405 [s]
Initial cost : 0.758189 [px]
Final cost : 0.73682 [px]
Termination : Convergence

=> Merged observations: 6
=> Completed observations: 20
=> Filtered observations: 5
=> Changed observations: 0.004811

==============================================================================
Registering image #55 (46)

=> Image sees 294 / 2357 points

Pose refinement report

Residuals : 476

Parameters : 6
Iterations : 18
Time : 0.0043641 [s]
Initial cost : 0.850041 [px]
Final cost : 0.730709 [px]
Termination : Convergence

=> Continued observations: 238
=> Added observations: 833

Bundle adjustment report

Residuals : 9594

Parameters : 2486
Iterations : 26
Time : 0.111657 [s]
Initial cost : 0.805496 [px]
Final cost : 0.641449 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 25
=> Filtered observations: 164
=> Changed observations: 0.039400

Bundle adjustment report

Residuals : 9536

Parameters : 2033
Iterations : 3
Time : 0.0142362 [s]
Initial cost : 0.711059 [px]
Final cost : 0.650156 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 37
=> Filtered observations: 51
=> Changed observations: 0.018456

==============================================================================
Registering image #67 (47)

=> Image sees 152 / 1938 points

Pose refinement report

Residuals : 254

Parameters : 6
Iterations : 23
Time : 0.003336 [s]
Initial cost : 0.847816 [px]
Final cost : 0.802347 [px]
Termination : Convergence

=> Continued observations: 127
=> Added observations: 975

Bundle adjustment report

Residuals : 10252

Parameters : 3047
Iterations : 26
Time : 0.133743 [s]
Initial cost : 0.682266 [px]
Final cost : 0.616036 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 52
=> Filtered observations: 278
=> Changed observations: 0.064378

Bundle adjustment report

Residuals : 10044

Parameters : 2918
Iterations : 3
Time : 0.0167108 [s]
Initial cost : 0.677109 [px]
Final cost : 0.657091 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 34
=> Filtered observations: 6
=> Changed observations: 0.007965

==============================================================================
Registering image #62 (48)

=> Image sees 460 / 1591 points

Pose refinement report

Residuals : 860

Parameters : 6
Iterations : 17
Time : 0.0076352 [s]
Initial cost : 0.82816 [px]
Final cost : 0.666095 [px]
Termination : Convergence

=> Continued observations: 430
=> Added observations: 454

Bundle adjustment report

Residuals : 8316

Parameters : 3395
Iterations : 26
Time : 0.1153 [s]
Initial cost : 0.77492 [px]
Final cost : 0.703162 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 41
=> Filtered observations: 202
=> Changed observations: 0.058442

Bundle adjustment report

Residuals : 7946

Parameters : 3209
Iterations : 3
Time : 0.0172327 [s]
Initial cost : 0.711162 [px]
Final cost : 0.685849 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 52
=> Filtered observations: 4
=> Changed observations: 0.014095

==============================================================================
Registering image #42 (49)

=> Image sees 193 / 1522 points

Pose refinement report

Residuals : 246

Parameters : 6
Iterations : 22
Time : 0.0034401 [s]
Initial cost : 0.712926 [px]
Final cost : 0.688383 [px]
Termination : Convergence

=> Continued observations: 123
=> Added observations: 316

Bundle adjustment report

Residuals : 7076

Parameters : 1823
Iterations : 26
Time : 0.0906043 [s]
Initial cost : 1.1198 [px]
Final cost : 0.777883 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 8
=> Filtered observations: 164
=> Changed observations: 0.048615

Bundle adjustment report

Residuals : 8012

Parameters : 3296
Iterations : 4
Time : 0.0220337 [s]
Initial cost : 0.710679 [px]
Final cost : 0.691221 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 16
=> Filtered observations: 2
=> Changed observations: 0.004493

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

=> Merged observations: 199
=> Completed observations: 17
=> Retriangulated observations: 265

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.524195e+05 0.00e+00 3.38e+07 0.00e+00 0.00e+00 1.00e+04 0 3.53e-02 1.80e-01
1 2.059531e+05 3.46e+05 1.61e+05 1.23e+01 9.99e-01 3.00e+04 1 1.08e-01 2.88e-01
2 2.038764e+05 2.08e+03 6.15e+04 7.59e+00 9.98e-01 9.00e+04 1 6.30e-02 3.51e-01
3 2.036275e+05 2.49e+02 1.57e+05 6.36e+00 8.88e-01 1.69e+05 1 7.01e-02 4.21e-01
4 2.034872e+05 1.40e+02 1.18e+05 6.01e+00 8.81e-01 3.03e+05 1 6.44e-02 4.86e-01
5 2.034026e+05 8.45e+01 6.71e+04 5.93e+00 9.34e-01 8.71e+05 1 6.62e-02 5.52e-01
6 2.033631e+05 3.95e+01 4.39e+04 5.91e+00 9.43e-01 2.61e+06 1 6.75e-02 6.19e-01
7 2.033551e+05 7.96e+00 8.52e+03 2.77e+00 1.00e+00 7.84e+06 1 6.19e-02 6.81e-01
8 2.033548e+05 2.89e-01 3.03e+02 5.21e-01 1.05e+00 2.35e+07 1 6.31e-02 7.44e-01
9 2.033548e+05 5.76e-03 5.31e+00 4.93e-02 1.24e+00 7.06e+07 1 6.79e-02 8.12e-01
10 2.033548e+05 4.66e-04 1.90e+00 5.79e-03 1.31e+00 2.12e+08 1 6.88e-02 8.81e-01
11 2.033548e+05 4.89e-05 1.40e+00 1.23e-03 1.32e+00 6.35e+08 1 6.85e-02 9.50e-01
12 2.033548e+05 5.33e-06 1.46e+00 3.52e-04 1.32e+00 1.91e+09 1 6.39e-02 1.01e+00
13 2.033548e+05 5.88e-07 6.30e-01 1.06e-04 1.32e+00 5.72e+09 1 6.12e-02 1.07e+00

Bundle adjustment report

Residuals : 121558

Parameters : 58097
Iterations : 14
Time : 1.07816 [s]
Initial cost : 2.13178 [px]
Final cost : 1.29341 [px]
Termination : Convergence

=> Merged observations: 187
=> Completed observations: 8
=> Filtered observations: 519
=> Changed observations: 0.011747

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.014821e+04 0.00e+00 3.00e+05 0.00e+00 0.00e+00 1.00e+04 0 4.07e-02 1.84e-01
1 6.727590e+04 2.87e+03 2.15e+04 6.27e+00 9.95e-01 3.00e+04 1 1.05e-01 2.89e-01
2 6.706573e+04 2.10e+02 3.51e+04 4.87e+00 9.82e-01 9.00e+04 1 6.17e-02 3.51e-01
3 6.696929e+04 9.64e+01 7.06e+04 3.79e+00 9.49e-01 2.70e+05 1 6.67e-02 4.17e-01
4 6.690323e+04 6.61e+01 1.05e+05 5.07e+00 8.27e-01 3.75e+05 1 6.48e-02 4.82e-01
5 6.685630e+04 4.69e+01 4.77e+04 4.15e+00 9.38e-01 1.13e+06 1 6.53e-02 5.48e-01
6 6.683638e+04 1.99e+01 4.22e+04 4.34e+00 8.88e-01 2.12e+06 1 6.21e-02 6.10e-01
7 6.683144e+04 4.94e+00 7.01e+03 1.82e+00 9.86e-01 6.35e+06 1 6.49e-02 6.75e-01
8 6.683124e+04 1.99e-01 4.70e+02 4.76e-01 9.98e-01 1.91e+07 1 6.22e-02 7.37e-01
9 6.683124e+04 1.35e-03 3.87e+00 4.34e-02 1.01e+00 5.72e+07 1 6.42e-02 8.01e-01
10 6.683124e+04 1.78e-06 2.74e-01 1.50e-03 1.03e+00 1.71e+08 1 6.35e-02 8.65e-01

Bundle adjustment report

Residuals : 120844

Parameters : 57614
Iterations : 11
Time : 0.867959 [s]
Initial cost : 0.761896 [px]
Final cost : 0.743665 [px]
Termination : Convergence

=> Merged observations: 62
=> Completed observations: 0
=> Filtered observations: 28
=> Changed observations: 0.001490

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.695717e+04 0.00e+00 7.21e+04 0.00e+00 0.00e+00 1.00e+04 0 3.93e-02 1.78e-01
1 6.673938e+04 2.18e+02 7.39e+02 1.00e+00 1.00e+00 3.00e+04 1 1.05e-01 2.82e-01
2 6.673782e+04 1.56e+00 2.71e+02 4.82e-01 1.00e+00 9.00e+04 1 6.13e-02 3.44e-01
3 6.673756e+04 2.63e-01 1.16e+02 2.30e-01 9.99e-01 2.70e+05 1 6.40e-02 4.08e-01
4 6.673747e+04 8.87e-02 1.03e+02 1.77e-01 9.99e-01 8.10e+05 1 6.16e-02 4.69e-01
5 6.673742e+04 5.08e-02 1.05e+02 2.01e-01 9.98e-01 2.43e+06 1 6.91e-02 5.38e-01
6 6.673741e+04 1.06e-02 3.15e+01 1.18e-01 9.99e-01 7.29e+06 1 6.34e-02 6.02e-01
7 6.673741e+04 4.27e-04 1.96e+00 2.67e-02 1.00e+00 2.19e+07 1 6.48e-02 6.67e-01
8 6.673741e+04 2.64e-06 3.37e-01 2.12e-03 1.01e+00 6.56e+07 1 6.33e-02 7.30e-01

Bundle adjustment report

Residuals : 120912

Parameters : 57605
Iterations : 9
Time : 0.733109 [s]
Initial cost : 0.744156 [px]
Final cost : 0.742934 [px]
Termination : Convergence

=> Merged observations: 15
=> Completed observations: 0
=> Filtered observations: 11
=> Changed observations: 0.000430
=> Filtered images: 0

==============================================================================
Registering image #54 (50)

=> Image sees 117 / 1197 points

Pose refinement report

Residuals : 96

Parameters : 6
Iterations : 17
Time : 0.0016304 [s]
Initial cost : 0.636161 [px]
Final cost : 0.602392 [px]
Termination : Convergence

=> Continued observations: 48
=> Added observations: 63

Bundle adjustment report

Residuals : 9050

Parameters : 3839
Iterations : 26
Time : 0.0993737 [s]
Initial cost : 0.710872 [px]
Final cost : 0.662163 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 8
=> Filtered observations: 122
=> Changed observations: 0.028729

Bundle adjustment report

Residuals : 8818

Parameters : 3803
Iterations : 6
Time : 0.024302 [s]
Initial cost : 0.792075 [px]
Final cost : 0.76836 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 4
=> Filtered observations: 2
=> Changed observations: 0.001361

==============================================================================
Registering image #45 (51)

=> Image sees 155 / 1343 points

Pose refinement report

Residuals : 196

Parameters : 6
Iterations : 101
Time : 0.0111115 [s]
Initial cost : 0.758814 [px]
Final cost : 0.739181 [px]
Termination : No convergence

=> Continued observations: 97
=> Added observations: 565

Bundle adjustment report

Residuals : 6132

Parameters : 3077
Iterations : 26
Time : 0.093597 [s]
Initial cost : 1.15396 [px]
Final cost : 0.708132 [px]
Termination : No convergence

=> Merged observations: 7
=> Completed observations: 5
=> Filtered observations: 281
=> Changed observations: 0.095564

Bundle adjustment report

Residuals : 5936

Parameters : 3026
Iterations : 7
Time : 0.0248259 [s]
Initial cost : 0.677822 [px]
Final cost : 0.651274 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 30
=> Filtered observations: 2
=> Changed observations: 0.010782

==============================================================================
Registering image #31 (52)

=> Image sees 112 / 1440 points

Pose refinement report

Residuals : 152

Parameters : 6
Iterations : 19
Time : 0.0018604 [s]
Initial cost : 0.879581 [px]
Final cost : 0.815104 [px]
Termination : Convergence

=> Continued observations: 76
=> Added observations: 696

Bundle adjustment report

Residuals : 8336

Parameters : 2366
Iterations : 26
Time : 0.0978935 [s]
Initial cost : 2.52079 [px]
Final cost : 0.764466 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 19
=> Filtered observations: 208
=> Changed observations: 0.054463

Bundle adjustment report

Residuals : 7960

Parameters : 2099
Iterations : 4
Time : 0.0165003 [s]
Initial cost : 0.682972 [px]
Final cost : 0.666194 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 118
=> Filtered observations: 1
=> Changed observations: 0.029899

==============================================================================
Registering image #59 (53)

=> Image sees 181 / 658 points

Pose refinement report

Residuals : 316

Parameters : 6
Iterations : 34
Time : 0.006162 [s]
Initial cost : 0.76922 [px]
Final cost : 0.740338 [px]
Termination : Convergence

=> Continued observations: 158
=> Added observations: 78

Bundle adjustment report

Residuals : 2764

Parameters : 863
Iterations : 23
Time : 0.0327536 [s]
Initial cost : 0.772392 [px]
Final cost : 0.625355 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 36
=> Changed observations: 0.026049

Bundle adjustment report

Residuals : 2692

Parameters : 836
Iterations : 4
Time : 0.0069288 [s]
Initial cost : 0.675995 [px]
Final cost : 0.658031 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 4
=> Filtered observations: 0
=> Changed observations: 0.002972

==============================================================================
Registering image #56 (54)

=> Image sees 103 / 682 points

Pose refinement report

Residuals : 150

Parameters : 6
Iterations : 49
Time : 0.0045143 [s]
Initial cost : 0.859708 [px]
Final cost : 0.824439 [px]
Termination : Convergence

=> Continued observations: 75
=> Added observations: 143

Bundle adjustment report

Residuals : 7292

Parameters : 1310
Iterations : 22
Time : 0.067098 [s]
Initial cost : 0.681908 [px]
Final cost : 0.629099 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 1
=> Filtered observations: 64
=> Changed observations: 0.017828

Bundle adjustment report

Residuals : 7164

Parameters : 1274
Iterations : 3
Time : 0.0096107 [s]
Initial cost : 0.682828 [px]
Final cost : 0.67178 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 15
=> Filtered observations: 1
=> Changed observations: 0.004467

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

=> Merged observations: 137
=> Completed observations: 0
=> Retriangulated observations: 121

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.335901e+06 0.00e+00 1.48e+07 0.00e+00 0.00e+00 1.00e+04 0 3.34e-02 5.42e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.3546e+06
Nonzeros in L: 29844
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.3546e+06
nnz(L): 29844
OK
1 1.233466e+06 1.02e+05 7.50e+06 1.73e+01 1.05e-01 6.70e+03 1 2.64e-01 8.07e-01
2 3.982792e+05 8.35e+05 1.26e+06 9.34e+00 9.70e-01 2.01e+04 1 6.77e-02 8.74e-01
3 3.827224e+05 1.56e+04 6.92e+05 8.58e+00 6.35e-01 2.05e+04 1 8.06e-02 9.55e-01
4 3.735145e+05 9.21e+03 5.53e+05 8.79e+00 7.74e-01 2.45e+04 1 1.00e-01 1.06e+00
5 3.701558e+05 3.36e+03 1.94e+05 9.53e+00 7.50e-01 2.80e+04 1 1.04e-01 1.16e+00
6 3.677689e+05 2.39e+03 2.54e+05 1.29e+01 7.99e-01 3.56e+04 1 6.88e-02 1.23e+00
7 3.661396e+05 1.63e+03 1.77e+05 1.99e+01 7.56e-01 4.11e+04 1 7.82e-02 1.31e+00
8 3.648358e+05 1.30e+03 1.95e+05 3.41e+01 6.59e-01 4.25e+04 1 8.52e-02 1.39e+00
9 3.636713e+05 1.16e+03 1.58e+05 5.59e+01 6.44e-01 4.35e+04 1 6.93e-02 1.46e+00
10 3.626704e+05 1.00e+03 1.32e+05 8.35e+01 6.33e-01 4.43e+04 1 7.75e-02 1.54e+00
11 3.617198e+05 9.51e+02 1.05e+05 1.11e+02 7.24e-01 4.87e+04 1 7.59e-02 1.61e+00
12 3.609782e+05 7.42e+02 9.83e+04 1.50e+02 7.29e-01 5.39e+04 1 7.47e-02 1.69e+00
13 3.603175e+05 6.61e+02 8.88e+04 1.95e+02 7.88e-01 6.66e+04 1 1.19e-01 1.81e+00
14 3.597680e+05 5.49e+02 9.90e+04 2.78e+02 7.60e-01 7.75e+04 1 7.43e-02 1.88e+00
15 3.592454e+05 5.23e+02 9.11e+04 3.68e+02 8.11e-01 1.02e+05 1 7.24e-02 1.96e+00
16 3.588115e+05 4.34e+02 1.05e+05 5.42e+02 7.66e-01 1.20e+05 1 7.98e-02 2.04e+00
17 3.584158e+05 3.96e+02 8.73e+04 7.07e+02 8.21e-01 1.63e+05 1 7.54e-02 2.11e+00
18 3.581285e+05 2.87e+02 9.36e+04 1.05e+03 7.56e-01 1.89e+05 1 7.67e-02 2.19e+00
19 3.578939e+05 2.35e+02 6.31e+04 1.32e+03 8.24e-01 2.59e+05 1 6.95e-02 2.26e+00
20 3.577607e+05 1.33e+02 5.72e+04 1.93e+03 7.22e-01 2.84e+05 1 1.11e-01 2.37e+00
21 3.576639e+05 9.69e+01 2.74e+04 2.24e+03 8.03e-01 3.66e+05 1 8.15e-02 2.45e+00
22 3.576236e+05 4.02e+01 1.91e+04 3.03e+03 6.35e-01 3.73e+05 1 8.11e-02 2.53e+00
23 3.575943e+05 2.93e+01 6.36e+03 2.92e+03 7.22e-01 4.09e+05 1 8.24e-02 2.61e+00
24 3.575839e+05 1.04e+01 3.90e+03 2.54e+03 5.12e-01 4.09e+05 1 7.21e-02 2.68e+00
25 3.575782e+05 5.70e+00 2.98e+03 1.92e+03 4.07e-01 4.06e+05 1 7.23e-02 2.76e+00
26 3.575760e+05 2.18e+00 2.26e+03 1.58e+03 2.05e-01 3.37e+05 1 8.06e-02 2.84e+00
27 3.575749e+05 1.14e+00 2.83e+03 1.12e+03 1.21e-01 2.35e+05 1 6.95e-02 2.91e+00
28 3.575741e+05 7.56e-01 2.14e+03 7.17e+02 8.59e-02 1.50e+05 1 7.06e-02 2.98e+00
29 3.575737e+05 4.43e-01 2.58e+03 4.25e+02 5.49e-02 8.79e+04 1 6.92e-02 3.05e+00
30 3.575730e+05 6.36e-01 1.82e+03 2.46e+02 8.41e-02 5.58e+04 1 7.94e-02 3.13e+00
31 3.575725e+05 5.61e-01 2.03e+03 1.49e+02 8.62e-02 3.56e+04 1 6.90e-02 3.20e+00
32 3.575717e+05 7.37e-01 1.19e+03 9.73e+01 1.35e-01 2.56e+04 1 8.01e-02 3.28e+00
33 3.575711e+05 6.11e-01 1.23e+03 6.73e+01 1.49e-01 1.90e+04 1 7.81e-02 3.35e+00
34 3.575706e+05 5.64e-01 5.30e+02 5.12e+01 1.93e-01 1.55e+04 1 7.45e-02 3.43e+00
35 3.575702e+05 3.86e-01 5.62e+02 4.05e+01 2.09e-01 1.29e+04 1 7.84e-02 3.51e+00
36 3.575699e+05 2.71e-01 2.04e+02 3.43e+01 2.41e-01 1.13e+04 1 1.60e-01 3.67e+00
37 3.575697e+05 1.60e-01 2.12e+02 2.96e+01 2.56e-01 1.02e+04 1 7.93e-02 3.75e+00
38 3.575696e+05 9.37e-02 1.08e+02 2.67e+01 2.82e-01 9.38e+03 1 6.71e-02 3.81e+00
39 3.575696e+05 5.07e-02 7.82e+01 2.44e+01 3.02e-01 8.84e+03 1 7.77e-02 3.89e+00
40 3.575696e+05 2.79e-02 5.19e+01 2.31e+01 3.35e-01 8.53e+03 1 7.04e-02 3.96e+00
41 3.575695e+05 1.57e-02 3.60e+01 2.21e+01 3.83e-01 8.42e+03 1 7.39e-02 4.04e+00
42 3.575695e+05 9.88e-03 2.37e+01 2.19e+01 4.62e-01 8.42e+03 1 7.92e-02 4.11e+00
43 3.575695e+05 7.10e-03 1.63e+01 2.18e+01 5.80e-01 8.45e+03 1 7.95e-02 4.19e+00
44 3.575695e+05 5.80e-03 1.06e+01 2.18e+01 7.14e-01 9.17e+03 1 8.00e-02 4.27e+00
45 3.575695e+05 5.52e-03 7.54e+00 2.36e+01 8.41e-01 1.34e+04 1 7.76e-02 4.35e+00
46 3.575695e+05 7.33e-03 5.45e+00 3.45e+01 9.33e-01 3.83e+04 1 7.60e-02 4.43e+00
47 3.575695e+05 1.88e-02 4.99e+00 9.80e+01 9.87e-01 1.15e+05 1 7.00e-02 4.50e+00
48 3.575694e+05 4.81e-02 9.30e+00 2.91e+02 9.92e-01 3.45e+05 1 8.05e-02 4.58e+00
49 3.575693e+05 1.13e-01 1.47e+01 8.52e+02 9.74e-01 1.03e+06 1 7.87e-02 4.66e+00
50 3.575691e+05 2.48e-01 2.38e+01 2.39e+03 9.18e-01 2.50e+06 1 7.23e-02 4.73e+00

Bundle adjustment report

Residuals : 124400

Parameters : 59630
Iterations : 51
Time : 4.73246 [s]
Initial cost : 3.277 [px]
Final cost : 1.69539 [px]
Termination : No convergence

=> Merged observations: 184
=> Completed observations: 5
=> Filtered observations: 2074
=> Changed observations: 0.036383

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.641354e+04 0.00e+00 2.93e+05 0.00e+00 0.00e+00 1.00e+04 0 3.49e-02 1.88e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 2.5708e+06
Nonzeros in L: 25494
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 2.5708e+06
nnz(L): 25494
OK
1 6.731775e+04 9.10e+03 1.90e+05 8.82e+00 9.73e-01 3.00e+04 1 1.28e-01 3.16e-01
2 6.640488e+04 9.13e+02 2.36e+05 5.57e+00 9.25e-01 7.79e+04 1 7.09e-02 3.87e-01
3 6.612382e+04 2.81e+02 1.21e+05 5.31e+00 7.60e-01 9.06e+04 1 7.87e-02 4.66e-01
4 6.593453e+04 1.89e+02 7.66e+04 4.57e+00 7.13e-01 9.81e+04 1 7.10e-02 5.37e-01
5 6.575368e+04 1.81e+02 5.21e+04 4.40e+00 8.28e-01 1.37e+05 1 6.42e-02 6.01e-01
6 6.558682e+04 1.67e+02 7.16e+04 5.53e+00 8.59e-01 2.17e+05 1 6.82e-02 6.69e-01
7 6.540545e+04 1.81e+02 1.55e+05 7.70e+00 8.20e-01 2.93e+05 1 7.55e-02 7.45e-01
8 6.525679e+04 1.49e+02 2.55e+05 8.92e+00 6.21e-01 2.98e+05 1 7.34e-02 8.18e-01
9 6.508147e+04 1.75e+02 2.26e+05 7.79e+00 7.14e-01 3.23e+05 1 8.44e-02 9.03e-01
10 6.494687e+04 1.35e+02 2.15e+05 7.23e+00 6.82e-01 3.39e+05 1 6.58e-02 9.68e-01
11 6.482922e+04 1.18e+02 1.83e+05 6.46e+00 7.25e-01 3.74e+05 1 6.90e-02 1.04e+00
12 6.473937e+04 8.98e+01 1.62e+05 5.96e+00 7.23e-01 4.10e+05 1 6.66e-02 1.10e+00
13 6.466740e+04 7.20e+01 1.36e+05 5.39e+00 7.49e-01 4.68e+05 1 1.49e-01 1.25e+00
14 6.461311e+04 5.43e+01 1.16e+05 4.95e+00 7.53e-01 5.37e+05 1 7.11e-02 1.32e+00
15 6.457148e+04 4.16e+01 9.47e+04 4.44e+00 7.74e-01 6.43e+05 1 7.85e-02 1.40e+00
16 6.454125e+04 3.02e+01 7.65e+04 3.98e+00 7.79e-01 7.78e+05 1 7.13e-02 1.47e+00
17 6.451955e+04 2.17e+01 5.67e+04 3.42e+00 7.90e-01 9.66e+05 1 6.84e-02 1.54e+00
18 6.450508e+04 1.45e+01 4.21e+04 2.82e+00 7.66e-01 1.14e+06 1 7.16e-02 1.61e+00
19 6.449545e+04 9.63e+00 4.11e+04 2.08e+00 7.40e-01 1.28e+06 1 6.82e-02 1.68e+00
20 6.448902e+04 6.43e+00 3.63e+04 1.41e+00 7.15e-01 1.39e+06 1 1.02e-01 1.78e+00
21 6.448448e+04 4.53e+00 2.97e+04 9.06e-01 7.20e-01 1.52e+06 1 6.60e-02 1.85e+00
22 6.448132e+04 3.17e+00 2.41e+04 5.71e-01 7.25e-01 1.67e+06 1 7.15e-02 1.92e+00
23 6.447906e+04 2.26e+00 1.94e+04 3.57e-01 7.41e-01 1.88e+06 1 7.47e-02 2.00e+00
24 6.447748e+04 1.58e+00 1.56e+04 2.26e-01 7.53e-01 2.16e+06 1 1.02e-01 2.10e+00
25 6.447639e+04 1.10e+00 1.24e+04 1.45e-01 7.72e-01 2.58e+06 1 6.54e-02 2.16e+00
26 6.447565e+04 7.34e-01 9.72e+03 9.61e-02 7.88e-01 3.19e+06 1 6.71e-02 2.23e+00
27 6.447518e+04 4.69e-01 7.31e+03 6.62e-02 8.11e-01 4.20e+06 1 8.38e-02 2.32e+00
28 6.447491e+04 2.74e-01 5.20e+03 4.74e-02 8.37e-01 6.05e+06 1 7.09e-02 2.39e+00
29 6.447477e+04 1.40e-01 3.31e+03 3.41e-02 8.75e-01 1.04e+07 1 6.96e-02 2.46e+00
30 6.447471e+04 5.64e-02 1.75e+03 2.34e-02 9.24e-01 2.67e+07 1 7.22e-02 2.53e+00
31 6.447470e+04 1.45e-02 5.99e+02 1.32e-02 9.92e-01 8.00e+07 1 7.16e-02 2.60e+00
32 6.447469e+04 1.42e-03 6.52e+01 4.10e-03 1.05e+00 2.40e+08 1 8.15e-02 2.68e+00
33 6.447469e+04 3.20e-05 2.51e+00 7.63e-04 1.10e+00 7.20e+08 1 9.65e-02 2.78e+00
34 6.447469e+04 6.18e-07 2.60e-01 1.11e-04 1.13e+00 2.16e+09 1 6.77e-02 2.85e+00

Bundle adjustment report

Residuals : 120544

Parameters : 58079
Iterations : 35
Time : 2.84852 [s]
Initial cost : 0.796182 [px]
Final cost : 0.731344 [px]
Termination : Convergence

=> Merged observations: 348
=> Completed observations: 0
=> Filtered observations: 26
=> Changed observations: 0.006205

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.537096e+04 0.00e+00 5.01e+04 0.00e+00 0.00e+00 1.00e+04 0 3.29e-02 1.91e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 2.8999e+06
Nonzeros in L: 27264
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 2.8999e+06
nnz(L): 27264
OK
1 6.484961e+04 5.21e+02 8.10e+03 9.41e-01 9.99e-01 3.00e+04 1 1.56e-01 3.46e-01
2 6.483823e+04 1.14e+01 7.97e+03 4.84e-01 9.89e-01 9.00e+04 1 7.00e-02 4.16e-01
3 6.483312e+04 5.12e+00 4.04e+03 6.78e-01 9.87e-01 2.70e+05 1 8.05e-02 4.97e-01
4 6.482663e+04 6.49e+00 5.29e+03 1.37e+00 9.92e-01 8.10e+05 1 7.28e-02 5.70e-01
5 6.481983e+04 6.79e+00 1.29e+04 2.20e+00 9.39e-01 2.43e+06 1 8.05e-02 6.50e-01
6 6.481680e+04 3.03e+00 1.86e+04 1.89e+00 7.51e-01 2.78e+06 1 7.56e-02 7.26e-01
7 6.481532e+04 1.48e+00 5.38e+03 5.61e-01 9.64e-01 8.35e+06 1 6.85e-02 7.94e-01
8 6.481518e+04 1.43e-01 2.17e+03 1.80e-01 9.50e-01 2.51e+07 1 6.89e-02 8.63e-01
9 6.481517e+04 1.20e-02 1.26e+02 2.18e-02 1.00e+00 7.52e+07 1 7.12e-02 9.35e-01
10 6.481517e+04 6.39e-05 1.62e+00 1.16e-03 1.02e+00 2.26e+08 1 6.55e-02 1.00e+00
11 6.481517e+04 1.70e-07 1.31e-02 7.58e-05 1.05e+00 6.77e+08 1 6.78e-02 1.07e+00

Bundle adjustment report

Residuals : 121188

Parameters : 58067
Iterations : 12
Time : 1.07099 [s]
Initial cost : 0.734451 [px]
Final cost : 0.731322 [px]
Termination : Convergence

=> Merged observations: 28
=> Completed observations: 0
=> Filtered observations: 8
=> Changed observations: 0.000594

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.493051e+04 0.00e+00 2.27e+04 0.00e+00 0.00e+00 1.00e+04 0 3.38e-02 1.87e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 2.9073e+06
Nonzeros in L: 27336
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 2.9073e+06
nnz(L): 27336
OK
1 6.483030e+04 1.00e+02 1.64e+03 2.28e-01 1.00e+00 3.00e+04 1 1.34e-01 3.21e-01
2 6.482917e+04 1.13e+00 8.21e+02 6.24e-02 1.01e+00 9.00e+04 1 7.15e-02 3.92e-01
3 6.482898e+04 1.88e-01 3.07e+02 3.49e-02 9.99e-01 2.70e+05 1 7.76e-02 4.70e-01
4 6.482881e+04 1.75e-01 5.75e+02 4.92e-02 9.99e-01 8.10e+05 1 7.65e-02 5.46e-01
5 6.482857e+04 2.35e-01 1.97e+03 5.51e-02 9.82e-01 2.43e+06 1 7.43e-02 6.21e-01
6 6.482841e+04 1.66e-01 2.79e+03 4.28e-02 9.41e-01 7.29e+06 1 8.20e-02 7.03e-01
7 6.482836e+04 4.68e-02 9.45e+02 1.80e-02 9.78e-01 2.19e+07 1 6.78e-02 7.71e-01
8 6.482836e+04 2.99e-03 5.09e+01 3.81e-03 1.01e+00 6.56e+07 1 7.28e-02 8.44e-01
9 6.482836e+04 1.94e-05 1.43e+00 3.76e-04 1.03e+00 1.97e+08 1 7.62e-02 9.20e-01
10 6.482836e+04 6.63e-08 1.03e-02 4.70e-05 9.00e-01 4.04e+08 1 6.75e-02 9.87e-01

Bundle adjustment report

Residuals : 121228

Parameters : 58061
Iterations : 11
Time : 0.990444 [s]
Initial cost : 0.731851 [px]
Final cost : 0.731276 [px]
Termination : Convergence

=> Merged observations: 6
=> Completed observations: 0
=> Filtered observations: 7
=> Changed observations: 0.000214
=> Filtered images: 0

==============================================================================
Registering image #66 (55)

=> Image sees 149 / 1311 points

Pose refinement report

Residuals : 258

Parameters : 6
Iterations : 10
Time : 0.0015178 [s]
Initial cost : 0.634297 [px]
Final cost : 0.620963 [px]
Termination : Convergence

=> Continued observations: 129
=> Added observations: 184

Bundle adjustment report

Residuals : 8590

Parameters : 2795
Iterations : 26
Time : 0.0856435 [s]
Initial cost : 0.677187 [px]
Final cost : 0.645524 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 8
=> Filtered observations: 87
=> Changed observations: 0.022119

Bundle adjustment report

Residuals : 8432

Parameters : 2741
Iterations : 3
Time : 0.0110109 [s]
Initial cost : 0.740215 [px]
Final cost : 0.721815 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 15
=> Filtered observations: 0
=> Changed observations: 0.003558

==============================================================================
Registering image #50 (56)

=> Image sees 78 / 1647 points

Pose refinement report

Residuals : 76

Parameters : 6
Iterations : 10
Time : 0.0005782 [s]
Initial cost : 0.695333 [px]
Final cost : 0.644359 [px]
Termination : Convergence

=> Continued observations: 38
=> Added observations: 296

Bundle adjustment report

Residuals : 5458

Parameters : 2327
Iterations : 26
Time : 0.0766148 [s]
Initial cost : 1.03738 [px]
Final cost : 0.959116 [px]
Termination : No convergence

=> Merged observations: 8
=> Completed observations: 26
=> Filtered observations: 136
=> Changed observations: 0.062294

Bundle adjustment report

Residuals : 5248

Parameters : 2177
Iterations : 4
Time : 0.0119243 [s]
Initial cost : 0.72296 [px]
Final cost : 0.684042 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 17
=> Filtered observations: 1
=> Changed observations: 0.006860

==============================================================================
Registering image #30 (57)

=> Image sees 126 / 845 points

Pose refinement report

Residuals : 154

Parameters : 6
Iterations : 11
Time : 0.0011115 [s]
Initial cost : 0.745651 [px]
Final cost : 0.612224 [px]
Termination : Convergence

=> Continued observations: 72
=> Added observations: 358

Bundle adjustment report

Residuals : 5428

Parameters : 2411
Iterations : 26
Time : 0.0801279 [s]
Initial cost : 1.41668 [px]
Final cost : 0.874178 [px]
Termination : No convergence

=> Merged observations: 5
=> Completed observations: 25
=> Filtered observations: 198
=> Changed observations: 0.084009

Bundle adjustment report

Residuals : 5116

Parameters : 2264
Iterations : 6
Time : 0.0167008 [s]
Initial cost : 0.686089 [px]
Final cost : 0.649727 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 36
=> Filtered observations: 2
=> Changed observations: 0.014855

==============================================================================
Registering image #16 (58)

=> Image sees 155 / 622 points

Pose refinement report

Residuals : 210

Parameters : 6
Iterations : 50
Time : 0.0057819 [s]
Initial cost : 0.757572 [px]
Final cost : 0.747645 [px]
Termination : Convergence

=> Continued observations: 103
=> Added observations: 252

Bundle adjustment report

Residuals : 4580

Parameters : 1319
Iterations : 26
Time : 0.0532848 [s]
Initial cost : 0.801947 [px]
Final cost : 0.690103 [px]
Termination : No convergence

=> Merged observations: 21
=> Completed observations: 22
=> Filtered observations: 96
=> Changed observations: 0.060699

Bundle adjustment report

Residuals : 4444

Parameters : 1238
Iterations : 9
Time : 0.0181526 [s]
Initial cost : 0.72092 [px]
Final cost : 0.690936 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 29
=> Filtered observations: 0
=> Changed observations: 0.015302

==============================================================================
Registering image #37 (59)

=> Image sees 95 / 954 points

Pose refinement report

Residuals : 162

Parameters : 6
Iterations : 23
Time : 0.002331 [s]
Initial cost : 0.734704 [px]
Final cost : 0.663263 [px]
Termination : Convergence

=> Continued observations: 81
=> Added observations: 103

Bundle adjustment report

Residuals : 4340

Parameters : 1010
Iterations : 26
Time : 0.0526505 [s]
Initial cost : 0.690201 [px]
Final cost : 0.57038 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 12
=> Filtered observations: 39
=> Changed observations: 0.023502

Bundle adjustment report

Residuals : 4290

Parameters : 974
Iterations : 3
Time : 0.0072749 [s]
Initial cost : 0.65433 [px]
Final cost : 0.642181 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 10
=> Filtered observations: 0
=> Changed observations: 0.004662

==============================================================================
Registering image #18 (60)

=> Image sees 36 / 3210 points
=> Could not register, trying another image.

==============================================================================
Registering image #26 (60)

=> Image sees 33 / 1262 points

Pose refinement report

Residuals : 62

Parameters : 6
Iterations : 13
Time : 0.0007245 [s]
Initial cost : 0.772333 [px]
Final cost : 0.713047 [px]
Termination : Convergence

=> Continued observations: 31
=> Added observations: 339

Bundle adjustment report

Residuals : 9564

Parameters : 1247
Iterations : 19
Time : 0.0637279 [s]
Initial cost : 0.621949 [px]
Final cost : 0.547868 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 1
=> Filtered observations: 44
=> Changed observations: 0.009410

Bundle adjustment report

Residuals : 9960

Parameters : 1385
Iterations : 4
Time : 0.0173985 [s]
Initial cost : 0.688614 [px]
Final cost : 0.675768 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 5
=> Filtered observations: 45
=> Changed observations: 0.010040

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

=> Merged observations: 155
=> Completed observations: 0
=> Retriangulated observations: 243

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.410550e+05 0.00e+00 7.84e+06 0.00e+00 0.00e+00 1.00e+04 0 3.28e-02 1.95e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.6003e+06
Nonzeros in L: 31812
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.6003e+06
nnz(L): 31812
OK
1 1.324658e+06 -1.08e+06 7.84e+06 5.15e+01 -8.48e+00 5.00e+03 1 1.16e-01 3.11e-01
2 6.189223e+05 -3.78e+05 7.84e+06 4.26e+01 -2.99e+00 1.25e+03 1 7.02e-02 3.81e-01
3 1.490117e+05 9.20e+04 9.84e+05 2.18e+01 7.68e-01 1.48e+03 1 7.46e-02 4.56e-01
4 1.190888e+05 2.99e+04 1.46e+05 8.13e+00 9.79e-01 4.43e+03 1 8.09e-02 5.37e-01
5 1.177886e+05 1.30e+03 2.38e+05 9.40e+00 3.89e-01 4.38e+03 1 6.75e-02 6.04e-01
6 1.152516e+05 2.54e+03 1.40e+04 2.54e+00 9.99e-01 1.31e+04 1 8.37e-02 6.88e-01
7 1.147577e+05 4.94e+02 5.20e+04 2.68e+00 9.90e-01 3.94e+04 1 7.25e-02 7.61e-01
8 1.142855e+05 4.72e+02 1.40e+05 3.99e+00 9.74e-01 1.18e+05 1 7.89e-02 8.39e-01
9 1.139230e+05 3.63e+02 1.74e+05 7.04e+00 9.29e-01 3.23e+05 1 6.71e-02 9.06e-01
10 1.136843e+05 2.39e+02 1.59e+05 9.16e+00 8.72e-01 5.48e+05 1 7.29e-02 9.79e-01
11 1.135829e+05 1.01e+02 5.42e+04 5.92e+00 9.55e-01 1.64e+06 1 7.76e-02 1.06e+00
12 1.135664e+05 1.65e+01 1.35e+04 3.07e+00 9.81e-01 4.93e+06 1 8.34e-02 1.14e+00
13 1.135657e+05 7.15e-01 5.16e+02 6.13e-01 1.00e+00 1.48e+07 1 7.79e-02 1.22e+00
14 1.135657e+05 5.36e-03 2.29e+01 5.19e-02 1.04e+00 4.44e+07 1 7.66e-02 1.30e+00
15 1.135657e+05 7.45e-05 6.45e-01 5.20e-03 1.11e+00 1.33e+08 1 1.15e-01 1.41e+00

Bundle adjustment report

Residuals : 125102

Parameters : 59867
Iterations : 16
Time : 1.41369 [s]
Initial cost : 1.38812 [px]
Final cost : 0.952777 [px]
Termination : Convergence

=> Merged observations: 103
=> Completed observations: 13
=> Filtered observations: 372
=> Changed observations: 0.007802

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 7.033291e+04 0.00e+00 1.87e+05 0.00e+00 0.00e+00 1.00e+04 0 3.28e-02 1.95e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.3004e+06
Nonzeros in L: 30666
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.3004e+06
nnz(L): 30666
OK
1 6.788322e+04 2.45e+03 3.88e+04 7.33e+00 9.41e-01 3.00e+04 1 1.33e-01 3.28e-01
2 6.782782e+04 5.54e+01 4.31e+04 7.90e+00 1.55e-01 2.26e+04 1 7.34e-02 4.02e-01
3 6.749054e+04 3.37e+02 1.10e+04 4.17e+00 9.86e-01 6.78e+04 1 7.74e-02 4.79e-01
4 6.747997e+04 1.06e+01 2.26e+04 7.88e+00 1.97e-01 5.55e+04 1 7.39e-02 5.53e-01
5 6.742237e+04 5.76e+01 4.48e+03 3.93e+00 9.86e-01 1.66e+05 1 7.90e-02 6.32e-01
6 6.740290e+04 1.95e+01 9.71e+03 7.08e+00 7.85e-01 2.04e+05 1 6.77e-02 7.00e-01
7 6.738409e+04 1.88e+01 8.04e+03 4.04e+00 9.88e-01 6.13e+05 1 7.98e-02 7.80e-01
8 6.737218e+04 1.19e+01 1.90e+04 4.73e+00 9.49e-01 1.84e+06 1 7.19e-02 8.52e-01
9 6.736828e+04 3.90e+00 9.90e+03 1.98e+00 9.67e-01 5.52e+06 1 7.01e-02 9.22e-01
10 6.736796e+04 3.25e-01 7.71e+02 5.94e-01 9.97e-01 1.66e+07 1 7.45e-02 9.97e-01
11 6.736796e+04 2.77e-03 7.62e+00 1.71e-01 9.89e-01 4.97e+07 1 9.81e-02 1.09e+00
12 6.736796e+04 2.86e-05 1.57e+00 1.34e-01 4.14e-01 4.94e+07 1 6.85e-02 1.16e+00
13 6.736796e+04 9.22e-06 1.01e+00 1.08e-01 2.44e-01 4.36e+07 1 8.01e-02 1.24e+00
14 6.736796e+04 4.98e-06 1.49e+00 8.75e-02 2.08e-01 3.63e+07 1 8.71e-02 1.33e+00
15 6.736796e+04 3.11e-06 1.27e+00 7.04e-02 2.00e-01 2.99e+07 1 7.23e-02 1.40e+00
16 6.736796e+04 2.00e-06 1.54e+00 5.65e-02 2.00e-01 2.46e+07 1 8.06e-02 1.48e+00
17 6.736796e+04 1.30e-06 1.24e+00 4.49e-02 2.05e-01 2.04e+07 1 7.09e-02 1.55e+00
18 6.736796e+04 8.39e-07 9.41e-01 3.54e-02 2.10e-01 1.71e+07 1 8.14e-02 1.64e+00

Bundle adjustment report

Residuals : 124560

Parameters : 59639
Iterations : 19
Time : 1.63922 [s]
Initial cost : 0.751433 [px]
Final cost : 0.735423 [px]
Termination : Convergence

=> Merged observations: 42
=> Completed observations: 9
=> Filtered observations: 37
=> Changed observations: 0.001413

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.707172e+04 0.00e+00 6.53e+04 0.00e+00 0.00e+00 1.00e+04 0 3.39e-02 1.96e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.3478e+06
Nonzeros in L: 30810
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.3478e+06
nnz(L): 30810
OK
1 6.671218e+04 3.60e+02 5.09e+03 2.94e+00 9.97e-01 3.00e+04 1 1.33e-01 3.29e-01
2 6.666701e+04 4.52e+01 9.41e+03 2.54e+00 8.86e-01 5.56e+04 1 7.92e-02 4.09e-01
3 6.663383e+04 3.32e+01 1.31e+04 2.37e+00 9.38e-01 1.67e+05 1 7.17e-02 4.80e-01
4 6.659693e+04 3.69e+01 2.56e+04 3.11e+00 9.77e-01 5.00e+05 1 8.62e-02 5.67e-01
5 6.656157e+04 3.54e+01 4.87e+04 4.58e+00 9.42e-01 1.50e+06 1 7.95e-02 6.46e-01
6 6.654512e+04 1.65e+01 4.49e+04 4.31e+00 8.77e-01 2.63e+06 1 6.96e-02 7.16e-01
7 6.654100e+04 4.11e+00 6.15e+03 1.58e+00 9.93e-01 7.88e+06 1 8.07e-02 7.96e-01
8 6.654086e+04 1.48e-01 3.77e+02 3.97e-01 1.03e+00 2.36e+07 1 9.87e-02 8.95e-01
9 6.654085e+04 4.65e-03 3.40e+00 4.96e-02 1.34e+00 7.09e+07 1 7.27e-02 9.68e-01
10 6.654085e+04 7.89e-04 1.30e+00 1.52e-02 1.46e+00 2.13e+08 1 9.90e-02 1.07e+00
11 6.654085e+04 1.68e-04 7.82e-01 6.90e-03 1.46e+00 6.38e+08 1 7.97e-02 1.15e+00

Bundle adjustment report

Residuals : 124564

Parameters : 59594
Iterations : 12
Time : 1.14986 [s]
Initial cost : 0.733793 [px]
Final cost : 0.730883 [px]
Termination : Convergence

=> Merged observations: 22
=> Completed observations: 9
=> Filtered observations: 12
=> Changed observations: 0.000690

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.658058e+04 0.00e+00 4.69e+04 0.00e+00 0.00e+00 1.00e+04 0 3.68e-02 1.95e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.3711e+06
Nonzeros in L: 30918
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.3711e+06
nnz(L): 30918
OK
1 6.645678e+04 1.24e+02 6.22e+02 5.51e-01 1.00e+00 3.00e+04 1 1.75e-01 3.70e-01
2 6.645452e+04 2.27e+00 3.83e+02 8.39e-01 1.02e+00 9.00e+04 1 6.76e-02 4.37e-01
3 6.645256e+04 1.96e+00 6.18e+02 1.08e+00 1.03e+00 2.70e+05 1 1.02e-01 5.39e-01
4 6.645037e+04 2.19e+00 1.86e+03 1.04e+00 1.02e+00 8.10e+05 1 7.38e-02 6.13e-01
5 6.644869e+04 1.68e+00 3.25e+03 1.16e+00 1.01e+00 2.43e+06 1 8.43e-02 6.97e-01
6 6.644822e+04 4.76e-01 1.52e+03 7.89e-01 1.02e+00 7.29e+06 1 8.03e-02 7.77e-01
7 6.644818e+04 4.07e-02 1.16e+02 2.26e-01 1.13e+00 2.19e+07 1 7.10e-02 8.48e-01
8 6.644817e+04 4.11e-03 3.18e+00 4.17e-02 1.46e+00 6.56e+07 1 7.73e-02 9.26e-01
9 6.644817e+04 1.01e-03 1.75e+00 1.70e-02 1.51e+00 1.97e+08 1 6.97e-02 9.96e-01
10 6.644817e+04 2.62e-04 1.78e+00 8.60e-03 1.51e+00 5.90e+08 1 1.36e-01 1.13e+00
11 6.644817e+04 6.81e-05 1.20e+00 4.39e-03 1.51e+00 1.77e+09 1 6.99e-02 1.20e+00
12 6.644817e+04 1.78e-05 1.74e+00 2.24e-03 1.51e+00 5.31e+09 1 7.00e-02 1.27e+00
13 6.644817e+04 4.63e-06 8.64e-01 1.14e-03 1.51e+00 1.59e+10 1 7.49e-02 1.35e+00

Bundle adjustment report

Residuals : 124584

Parameters : 59585
Iterations : 14
Time : 1.34984 [s]
Initial cost : 0.731043 [px]
Final cost : 0.730315 [px]
Termination : Convergence

=> Merged observations: 5
=> Completed observations: 0
=> Filtered observations: 11
=> Changed observations: 0.000257
=> Filtered images: 0

==============================================================================
Registering image #14 (61)

=> Image sees 180 / 1209 points

Pose refinement report

Residuals : 304

Parameters : 6
Iterations : 25
Time : 0.004199 [s]
Initial cost : 0.865337 [px]
Final cost : 0.7235 [px]
Termination : Convergence

=> Continued observations: 152
=> Added observations: 196

Bundle adjustment report

Residuals : 5998

Parameters : 1928
Iterations : 26
Time : 0.0576328 [s]
Initial cost : 0.769488 [px]
Final cost : 0.707918 [px]
Termination : No convergence

=> Merged observations: 0
=> Completed observations: 8
=> Filtered observations: 125
=> Changed observations: 0.044348

Bundle adjustment report

Residuals : 5764

Parameters : 1883
Iterations : 3
Time : 0.0075631 [s]
Initial cost : 0.794177 [px]
Final cost : 0.76428 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 28
=> Filtered observations: 3
=> Changed observations: 0.010756

==============================================================================
Registering image #18 (62)

=> Image sees 36 / 3210 points
=> Could not register, trying another image.

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

=> Merged observations: 19
=> 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 7.265182e+04 0.00e+00 6.40e+06 0.00e+00 0.00e+00 1.00e+04 0 3.32e-02 1.97e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.4148e+06
Nonzeros in L: 31425
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.4148e+06
nnz(L): 31425
OK
1 6.654537e+04 6.11e+03 8.79e+03 2.40e+00 1.00e+00 3.00e+04 1 1.34e-01 3.31e-01
2 6.654183e+04 3.54e+00 2.22e+02 7.58e-01 1.00e+00 9.00e+04 1 7.21e-02 4.03e-01
3 6.654086e+04 9.77e-01 3.03e+02 3.04e-01 1.01e+00 2.70e+05 1 7.77e-02 4.81e-01
4 6.654010e+04 7.54e-01 5.19e+02 4.20e-01 1.01e+00 8.10e+05 1 9.90e-02 5.80e-01
5 6.653958e+04 5.19e-01 7.83e+02 5.84e-01 1.00e+00 2.43e+06 1 8.70e-02 6.67e-01
6 6.653946e+04 1.27e-01 3.60e+02 3.92e-01 1.01e+00 7.29e+06 1 8.87e-02 7.56e-01
7 6.653945e+04 7.19e-03 2.50e+01 1.04e-01 1.03e+00 2.19e+07 1 7.73e-02 8.33e-01
8 6.653945e+04 1.64e-04 1.62e+00 1.18e-02 1.20e+00 6.56e+07 1 7.51e-02 9.09e-01
9 6.653945e+04 1.18e-05 1.03e+00 2.01e-03 1.32e+00 1.97e+08 1 1.03e-01 1.01e+00
10 6.653945e+04 1.21e-06 3.43e-01 6.20e-04 1.32e+00 5.90e+08 1 8.10e-02 1.09e+00

Bundle adjustment report

Residuals : 125116

Parameters : 59777
Iterations : 11
Time : 1.09586 [s]
Initial cost : 0.762021 [px]
Final cost : 0.729261 [px]
Termination : Convergence

=> Merged observations: 10
=> Completed observations: 14
=> Filtered observations: 16
=> Changed observations: 0.000639

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

iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.652302e+04 0.00e+00 6.31e+04 0.00e+00 0.00e+00 1.00e+04 0 3.37e-02 1.92e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.4148e+06
Nonzeros in L: 31425
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.4148e+06
nnz(L): 31425
OK
1 6.646196e+04 6.11e+01 2.71e+02 2.06e-01 1.00e+00 3.00e+04 1 1.36e-01 3.29e-01
2 6.646182e+04 1.39e-01 4.89e+01 1.44e-01 1.00e+00 9.00e+04 1 7.22e-02 4.01e-01
3 6.646180e+04 2.47e-02 1.51e+01 1.45e-01 1.01e+00 2.70e+05 1 7.84e-02 4.80e-01
4 6.646178e+04 1.22e-02 3.46e+01 8.04e-02 1.00e+00 8.10e+05 1 8.23e-02 5.62e-01
5 6.646178e+04 5.04e-03 2.73e+01 3.24e-02 1.01e+00 2.43e+06 1 8.03e-02 6.42e-01
6 6.646178e+04 6.31e-04 3.93e+00 1.76e-02 1.01e+00 7.29e+06 1 7.78e-02 7.20e-01
7 6.646178e+04 1.93e-05 5.23e-01 4.05e-03 1.04e+00 2.19e+07 1 7.09e-02 7.91e-01

Bundle adjustment report

Residuals : 125104

Parameters : 59759
Iterations : 8
Time : 0.793949 [s]
Initial cost : 0.729206 [px]
Final cost : 0.728871 [px]
Termination : Convergence

=> Merged observations: 3
=> Completed observations: 6
=> Filtered observations: 0
=> Changed observations: 0.000144
=> Filtered images: 0

==============================================================================
Registering image #18 (62)

=> Image sees 36 / 3210 points
=> Could not register, trying another image.

==============================================================================
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 6.651052e+04 0.00e+00 1.67e+04 0.00e+00 0.00e+00 1.00e+04 0 3.48e-02 1.93e-01

CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK
Architecture: Microsoft Windows
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: 3.4148e+06
Nonzeros in L: 31425
memory blocks in use: 11
memory in use (MB): 0.0
peak memory usage (MB): 0.1
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: 3.4148e+06
nnz(L): 31425
OK
1 6.650238e+04 8.14e+00 2.44e+01 5.43e-02 1.00e+00 3.00e+04 1 1.32e-01 3.26e-01
2 6.650237e+04 4.91e-03 4.85e+00 1.53e-02 1.04e+00 9.00e+04 1 9.65e-02 4.22e-01
3 6.650237e+04 3.99e-04 1.80e+00 7.11e-03 1.11e+00 2.70e+05 1 7.82e-02 5.00e-01
4 6.650237e+04 9.10e-05 1.21e+00 4.71e-03 1.06e+00 8.10e+05 1 8.01e-02 5.80e-01
5 6.650237e+04 3.39e-05 5.44e-01 4.01e-03 1.02e+00 2.43e+06 1 7.64e-02 6.57e-01

Bundle adjustment report

Residuals : 125114

Parameters : 59756
Iterations : 6
Time : 0.659724 [s]
Initial cost : 0.729109 [px]
Final cost : 0.729064 [px]
Termination : Convergence

=> Merged observations: 0
=> Completed observations: 0
=> Filtered observations: 2
=> Changed observations: 0.000032
=> Filtered images: 0

Elapsed time: 1.208 [minutes]
Program called with the following parameters:

describerTypes = "sift"
extrinsics = 1 (default)
imageWhiteList = = [] (default)
input = "C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9\sfm.json"
intrinsics = 1 (default)
observations = 1 (default)
output = "C:/Users/chb/Documents/MeshroomCache/StructureFromMotionCL/3a92d47be4eb9d27c9ce7a3ec4b4f6a92962c3f9/sfm.abc"
structure = 1 (default)
verboseLevel = "info" (default)
views = 1 (default)

revisionarian · 2022-09-16T16:57:54Z

Hi @chboishabba, it looks like you eventually got it to work using the default pipeline. I see that it registered 61 out of your original 76 images...can you see any reason or pattern why 15 of the images were not registered with the others?

I also notice that some of your images are 4080x3072 (landscape) and that some are 3072x4080 (portrait). This is causing MeshroomCL to compute two separate intrinsic camera models, and so it will not optimize the principal point parameters (i.e. it will assume that the optical axis is perfectly centered on the camera sensor). You might get slightly better StructureFromMotion results if you rotate all your images to be the same dimension, or if you try the "OpenCL MVS" pipeline (which uses a different StructureFromMotion algorithm to locate the camera positions).

chboishabba · 2022-09-27T05:05:36Z

The portrait is the likely culprit.. Fantastic work and thank you very much for providing this tool. I was obsessed with the photogrammetry tool that got bought by Discord that used the motion telemetry and gave a sparse point-cloud while you took video input. Do you know of any tools that do similar these days? Is it outputting which set of images are in which group? I'm not sure what I did to make it work..it might have been giving me an error telling me there were those two groups but i just kept pressing the process button and it made an output eventually... I will try rotating all correctly..is it useful to report back the result?

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No Node able to be Processed default pipeline #46

No Node able to be Processed default pipeline #46

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

revisionarian commented Sep 16, 2022

chboishabba commented Sep 27, 2022

No Node able to be Processed default pipeline #46

No Node able to be Processed default pipeline #46

Comments

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

chboishabba commented Sep 16, 2022

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

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

chboishabba commented Sep 16, 2022

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

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

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

============================================================================== Initializing with image pair #7 and #19

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

Bundle adjustment report

============================================================================== Registering image #49 (3)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

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

Bundle adjustment report

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

Bundle adjustment report

============================================================================== Registering image #24 (4)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

============================================================================== Registering image #38 (5)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

============================================================================== Registering image #9 (6)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

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

Bundle adjustment report

============================================================================== Registering image #21 (7)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

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

Bundle adjustment report

============================================================================== Registering image #39 (8)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

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

Bundle adjustment report

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

Bundle adjustment report

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

Bundle adjustment report

============================================================================== Registering image #68 (9)

Pose refinement report

Bundle adjustment report

Bundle adjustment report

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

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

Bundle adjustment report

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

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

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

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

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

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

==============================================================================
Initializing with image pair #7 and #19

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

==============================================================================
Registering image #49 (3)

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

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

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

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

==============================================================================
Registering image #24 (4)

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

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

==============================================================================
Registering image #38 (5)

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

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

==============================================================================
Registering image #9 (6)

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

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

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

==============================================================================
Registering image #21 (7)

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

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

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

==============================================================================
Registering image #39 (8)

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

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

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

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

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Global bundle adjustment

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Registering image #68 (9)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment

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Registering image #35 (10)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment

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Registering image #72 (11)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Registering image #32 (12)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Registering image #65 (13)

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Registering image #74 (14)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment

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Global bundle adjustment

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Registering image #17 (15)

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Registering image #58 (16)

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Retriangulation

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Global bundle adjustment

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Global bundle adjustment