jimothyjohn / colmap
Convert mobile videos to NeRF-ready colmap files
Prediction
jimothyjohn/colmap:9f8eee2febb39cef947d180debf1af66f79221f15b1f79b4b72c92265a4f4371Input
- name
- lion
- media
- video
- video
- LionStatue.MOV
- format
- nerfacto
- quality
- Low
- continuous
{ "name": "lion", "media": "video", "video": "https://replicate.delivery/mgxm/42fc2c94-74c0-4eee-b7ed-727a9b611c24/LionStatue.MOV", "format": "nerfacto", "quality": "Low", "continuous": true }Install Replicate’s Node.js client library:npm install replicateImport and set up the client:import Replicate from "replicate"; import fs from "node:fs"; const replicate = new Replicate({ auth: process.env.REPLICATE_API_TOKEN, });Run jimothyjohn/colmap using Replicate’s API. Check out the model's schema for an overview of inputs and outputs.
const output = await replicate.run( "jimothyjohn/colmap:9f8eee2febb39cef947d180debf1af66f79221f15b1f79b4b72c92265a4f4371", { input: { name: "lion", media: "video", video: "https://replicate.delivery/mgxm/42fc2c94-74c0-4eee-b7ed-727a9b611c24/LionStatue.MOV", format: "nerfacto", quality: "Low", continuous: true } } ); // To access the file URL: console.log(output.url()); //=> "http://example.com" // To write the file to disk: fs.writeFile("my-image.png", output);To learn more, take a look at the guide on getting started with Node.js.
Install Replicate’s Python client library:pip install replicateImport the client:import replicateRun jimothyjohn/colmap using Replicate’s API. Check out the model's schema for an overview of inputs and outputs.
output = replicate.run( "jimothyjohn/colmap:9f8eee2febb39cef947d180debf1af66f79221f15b1f79b4b72c92265a4f4371", input={ "name": "lion", "media": "video", "video": "https://replicate.delivery/mgxm/42fc2c94-74c0-4eee-b7ed-727a9b611c24/LionStatue.MOV", "format": "nerfacto", "quality": "Low", "continuous": True } ) print(output)To learn more, take a look at the guide on getting started with Python.
Run jimothyjohn/colmap using Replicate’s API. Check out the model's schema for an overview of inputs and outputs.
curl -s -X POST \ -H "Authorization: Bearer $REPLICATE_API_TOKEN" \ -H "Content-Type: application/json" \ -H "Prefer: wait" \ -d $'{ "version": "jimothyjohn/colmap:9f8eee2febb39cef947d180debf1af66f79221f15b1f79b4b72c92265a4f4371", "input": { "name": "lion", "media": "video", "video": "https://replicate.delivery/mgxm/42fc2c94-74c0-4eee-b7ed-727a9b611c24/LionStatue.MOV", "format": "nerfacto", "quality": "Low", "continuous": true } }' \ https://api.replicate.com/v1/predictionsTo learn more, take a look at Replicate’s HTTP API reference docs.
Output
{ "completed_at": "2022-10-31T02:45:24.809886Z", "created_at": "2022-10-31T02:41:46.961197Z", "data_removed": false, "error": null, "id": "5vxdqoptbbh4vagmpono42r7pe", "input": { "name": "lion", "media": "video", "video": "https://replicate.delivery/mgxm/42fc2c94-74c0-4eee-b7ed-727a9b611c24/LionStatue.MOV", "format": "nerfacto", "quality": "Low", "continuous": true }, "logs": "Video resolution: 1280\nNumber of frames in video: 1301\nNew video resolution: 640\n[02:43:50] 🎉 Done converting video to images. preprocess_video.py:88\n[02:43:50] Copying image 1 of 101... process_data.py:294\n Copying image 2 of 101... process_data.py:294\n Copying image 3 of 101... process_data.py:294\n Copying image 4 of 101... process_data.py:294\n Copying image 5 of 101... process_data.py:294\n Copying image 6 of 101... process_data.py:294\n Copying image 7 of 101... process_data.py:294\n Copying image 8 of 101... process_data.py:294\n Copying image 9 of 101... process_data.py:294\n Copying image 10 of 101... process_data.py:294\n Copying image 11 of 101... process_data.py:294\n Copying image 12 of 101... process_data.py:294\n Copying image 13 of 101... process_data.py:294\n Copying image 14 of 101... process_data.py:294\n Copying image 15 of 101... process_data.py:294\n Copying image 16 of 101... process_data.py:294\n Copying image 17 of 101... process_data.py:294\n Copying image 18 of 101... process_data.py:294\n Copying image 19 of 101... process_data.py:294\n Copying image 20 of 101... process_data.py:294\n Copying image 21 of 101... process_data.py:294\n Copying image 22 of 101... process_data.py:294\n Copying image 23 of 101... process_data.py:294\n Copying image 24 of 101... process_data.py:294\n Copying image 25 of 101... process_data.py:294\n Copying image 26 of 101... process_data.py:294\n Copying image 27 of 101... process_data.py:294\n Copying image 28 of 101... process_data.py:294\n Copying image 29 of 101... process_data.py:294\n Copying image 30 of 101... process_data.py:294\n Copying image 31 of 101... process_data.py:294\n Copying image 32 of 101... process_data.py:294\n Copying image 33 of 101... process_data.py:294\n Copying image 34 of 101... process_data.py:294\n Copying image 35 of 101... process_data.py:294\n Copying image 36 of 101... process_data.py:294\n Copying image 37 of 101... process_data.py:294\n Copying image 38 of 101... process_data.py:294\n Copying image 39 of 101... process_data.py:294\n Copying image 40 of 101... process_data.py:294\n Copying image 41 of 101... process_data.py:294\n Copying image 42 of 101... process_data.py:294\n Copying image 43 of 101... process_data.py:294\n Copying image 44 of 101... process_data.py:294\n Copying image 45 of 101... process_data.py:294\n Copying image 46 of 101... process_data.py:294\n Copying image 47 of 101... process_data.py:294\n Copying image 48 of 101... process_data.py:294\n Copying image 49 of 101... process_data.py:294\n Copying image 50 of 101... process_data.py:294\n Copying image 51 of 101... process_data.py:294\n Copying image 52 of 101... process_data.py:294\n Copying image 53 of 101... process_data.py:294\n Copying image 54 of 101... process_data.py:294\n Copying image 55 of 101... process_data.py:294\n Copying image 56 of 101... process_data.py:294\n Copying image 57 of 101... process_data.py:294\n Copying image 58 of 101... process_data.py:294\n Copying image 59 of 101... process_data.py:294\n Copying image 60 of 101... process_data.py:294\n Copying image 61 of 101... process_data.py:294\n Copying image 62 of 101... process_data.py:294\n Copying image 63 of 101... process_data.py:294\n Copying image 64 of 101... process_data.py:294\n Copying image 65 of 101... process_data.py:294\n Copying image 66 of 101... process_data.py:294\n Copying image 67 of 101... process_data.py:294\n Copying image 68 of 101... process_data.py:294\n Copying image 69 of 101... process_data.py:294\n Copying image 70 of 101... process_data.py:294\n Copying image 71 of 101... process_data.py:294\n Copying image 72 of 101... process_data.py:294\n Copying image 73 of 101... process_data.py:294\n Copying image 74 of 101... process_data.py:294\n Copying image 75 of 101... process_data.py:294\n Copying image 76 of 101... process_data.py:294\n Copying image 77 of 101... process_data.py:294\n Copying image 78 of 101... process_data.py:294\n Copying image 79 of 101... process_data.py:294\n Copying image 80 of 101... process_data.py:294\n Copying image 81 of 101... process_data.py:294\n Copying image 82 of 101... process_data.py:294\n Copying image 83 of 101... process_data.py:294\n Copying image 84 of 101... process_data.py:294\n Copying image 85 of 101... process_data.py:294\n Copying image 86 of 101... process_data.py:294\n Copying image 87 of 101... process_data.py:294\n Copying image 88 of 101... process_data.py:294\n Copying image 89 of 101... process_data.py:294\n Copying image 90 of 101... process_data.py:294\n Copying image 91 of 101... process_data.py:294\n Copying image 92 of 101... process_data.py:294\n Copying image 93 of 101... process_data.py:294\n Copying image 94 of 101... process_data.py:294\n Copying image 95 of 101... process_data.py:294\n Copying image 96 of 101... process_data.py:294\n Copying image 97 of 101... process_data.py:294\n Copying image 98 of 101... process_data.py:294\n Copying image 99 of 101... process_data.py:294\n Copying image 100 of 101... process_data.py:294\n Copying image 101 of 101... process_data.py:294\n 🎉 Done copying images. process_data.py:304\n\n==============================================================================\nFeature extraction\n==============================================================================\n\nProcessed file [1/101]\n Name: frame_00001.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1221\nProcessed file [2/101]\n Name: frame_00002.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1300\nProcessed file [3/101]\n Name: frame_00003.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1288\nProcessed file [4/101]\n Name: frame_00004.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1344\nProcessed file [5/101]\n Name: frame_00005.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1285\nProcessed file [6/101]\n Name: frame_00006.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1348\nProcessed file [7/101]\n Name: frame_00007.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1442\nProcessed file [8/101]\n Name: frame_00008.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1490\nProcessed file [9/101]\n Name: frame_00009.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1590\nProcessed file [10/101]\n Name: frame_00010.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1692\nProcessed file [11/101]\n Name: frame_00011.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1918\nProcessed file [12/101]\n Name: frame_00012.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2059\nProcessed file [13/101]\n Name: frame_00013.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2165\nProcessed file [14/101]\n Name: frame_00014.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2252\nProcessed file [15/101]\n Name: frame_00015.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2387\nProcessed file [16/101]\n Name: frame_00016.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2461\nProcessed file [17/101]\n Name: frame_00017.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2501\nProcessed file [18/101]\n Name: frame_00018.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2342\nProcessed file [19/101]\n Name: frame_00019.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2232\nProcessed file [20/101]\n Name: frame_00020.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2101\nProcessed file [21/101]\n Name: frame_00021.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1991\nProcessed file [22/101]\n Name: frame_00022.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1809\nProcessed file [23/101]\n Name: frame_00023.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1631\nProcessed file [24/101]\n Name: frame_00024.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1473\nProcessed file [25/101]\n Name: frame_00025.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1429\nProcessed file [26/101]\n Name: frame_00026.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1271\nProcessed file [27/101]\n Name: frame_00027.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1197\nProcessed file [28/101]\n Name: frame_00028.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1140\nProcessed file [29/101]\n Name: frame_00029.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1060\nProcessed file [30/101]\n Name: frame_00030.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1128\nProcessed file [31/101]\n Name: frame_00031.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1165\nProcessed file [32/101]\n Name: frame_00032.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1161\nProcessed file [33/101]\n Name: frame_00033.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1200\nProcessed file [34/101]\n Name: frame_00034.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1095\nProcessed file [35/101]\n Name: frame_00035.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1118\nProcessed file [36/101]\n Name: frame_00036.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1226\nProcessed file [37/101]\n Name: frame_00037.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1267\nProcessed file [38/101]\n Name: frame_00038.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1240\nProcessed file [39/101]\n Name: frame_00039.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1318\nProcessed file [40/101]\n Name: frame_00040.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1602\nProcessed file [41/101]\n Name: frame_00041.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1748\nProcessed file [42/101]\n Name: frame_00042.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1834\nProcessed file [43/101]\n Name: frame_00043.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1791\nProcessed file [44/101]\n Name: frame_00044.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1881\nProcessed file [45/101]\n Name: frame_00045.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2035\nProcessed file [46/101]\n Name: frame_00046.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2270\nProcessed file [47/101]\n Name: frame_00047.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2520\nProcessed file [48/101]\n Name: frame_00048.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2548\nProcessed file [49/101]\n Name: frame_00049.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2462\nProcessed file [50/101]\n Name: frame_00050.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2609\nProcessed file [51/101]\n Name: frame_00051.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2288\nProcessed file [52/101]\n Name: frame_00052.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2255\nProcessed file [53/101]\n Name: frame_00053.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2120\nProcessed file [54/101]\n Name: frame_00054.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2016\nProcessed file [55/101]\n Name: frame_00055.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1919\nProcessed file [56/101]\n Name: frame_00056.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1884\nProcessed file [57/101]\n Name: frame_00057.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1784\nProcessed file [58/101]\n Name: frame_00058.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1832\nProcessed file [59/101]\n Name: frame_00059.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1750\nProcessed file [60/101]\n Name: frame_00060.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1666\nProcessed file [61/101]\n Name: frame_00061.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1559\nProcessed file [62/101]\n Name: frame_00062.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1443\nProcessed file [63/101]\n Name: frame_00063.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1801\nProcessed file [64/101]\n Name: frame_00064.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1583\nProcessed file [65/101]\n Name: frame_00065.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1591\nProcessed file [66/101]\n Name: frame_00066.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1837\nProcessed file [67/101]\n Name: frame_00067.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1817\nProcessed file [68/101]\n Name: frame_00068.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 2076\nProcessed file [69/101]\n Name: frame_00069.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1710\nProcessed file [70/101]\n Name: frame_00070.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1733\nProcessed file [71/101]\n Name: frame_00071.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1799\nProcessed file [72/101]\n Name: frame_00072.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1696\nProcessed file [73/101]\n Name: frame_00073.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1765\nProcessed file [74/101]\n Name: frame_00074.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1661\nProcessed file [75/101]\n Name: frame_00075.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1548\nProcessed file [76/101]\n Name: frame_00076.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1456\nProcessed file [77/101]\n Name: frame_00077.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1589\nProcessed file [78/101]\n Name: frame_00078.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1500\nProcessed file [79/101]\n Name: frame_00079.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1328\nProcessed file [80/101]\n Name: frame_00080.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1327\nProcessed file [81/101]\n Name: frame_00081.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1455\nProcessed file [82/101]\n Name: frame_00082.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1325\nProcessed file [83/101]\n Name: frame_00083.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1384\nProcessed file [84/101]\n Name: frame_00084.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1479\nProcessed file [85/101]\n Name: frame_00085.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1523\nProcessed file [86/101]\n Name: frame_00086.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1467\nProcessed file [87/101]\n Name: frame_00087.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1580\nProcessed file [88/101]\n Name: frame_00088.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1730\nProcessed file [89/101]\n Name: frame_00089.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1814\nProcessed file [90/101]\n Name: frame_00090.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1713\nProcessed file [91/101]\n Name: frame_00091.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1724\nProcessed file [92/101]\n Name: frame_00092.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1914\nProcessed file [93/101]\n Name: frame_00093.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1828\nProcessed file [94/101]\n Name: frame_00094.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1662\nProcessed file [95/101]\n Name: frame_00095.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1594\nProcessed file [96/101]\n Name: frame_00096.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1836\nProcessed file [97/101]\n Name: frame_00097.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1688\nProcessed file [98/101]\n Name: frame_00098.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1631\nProcessed file [99/101]\n Name: frame_00099.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1600\nProcessed file [100/101]\n Name: frame_00100.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1673\nProcessed file [101/101]\n Name: frame_00101.png\n Dimensions: 640 x 360\n Camera: #1 - OPENCV\n Focal Length: 768.00px\n Features: 1795\nElapsed time: 0.034 [minutes]\n[02:43:54] 🎉 Done extracting COLMAP features. process_data.py:399\n\n==============================================================================\nSequential feature matching\n==============================================================================\n\nMatching image [1/101] in 0.044s\nMatching image [2/101] in 0.069s\nMatching image [3/101] in 0.027s\nMatching image [4/101] in 0.049s\nMatching image [5/101] in 0.080s\nMatching image [6/101] in 0.051s\nMatching image [7/101] in 0.092s\nMatching image [8/101] in 0.071s\nMatching image [9/101] in 0.158s\nMatching image [10/101] in 0.197s\nMatching image [11/101] in 0.107s\nMatching image [12/101] in 0.157s\nMatching image [13/101] in 0.153s\nMatching image [14/101] in 0.157s\nMatching image [15/101] in 0.084s\nMatching image [16/101] in 0.042s\nMatching image [17/101] in 0.033s\nMatching image [18/101] in 0.060s\nMatching image [19/101] in 0.061s\nMatching image [20/101] in 0.024s\nMatching image [21/101] in 0.022s\nMatching image [22/101] in 0.040s\nMatching image [23/101] in 0.030s\nMatching image [24/101] in 0.029s\nMatching image [25/101] in 0.029s\nMatching image [26/101] in 0.034s\nMatching image [27/101] in 0.079s\nMatching image [28/101] in 0.050s\nMatching image [29/101] in 0.083s\nMatching image [30/101] in 0.094s\nMatching image [31/101] in 0.023s\nMatching image [32/101] in 0.083s\nMatching image [33/101] in 0.061s\nMatching image [34/101] in 0.062s\nMatching image [35/101] in 0.055s\nMatching image [36/101] in 0.053s\nMatching image [37/101] in 0.073s\nMatching image [38/101] in 0.092s\nMatching image [39/101] in 0.212s\nMatching image [40/101] in 0.194s\nMatching image [41/101] in 0.137s\nMatching image [42/101] in 0.143s\nMatching image [43/101] in 0.074s\nMatching image [44/101] in 0.101s\nMatching image [45/101] in 0.095s\nMatching image [46/101] in 0.090s\nMatching image [47/101] in 0.082s\nMatching image [48/101] in 0.067s\nMatching image [49/101] in 0.049s\nMatching image [50/101] in 0.071s\nMatching image [51/101] in 0.038s\nMatching image [52/101] in 0.057s\nMatching image [53/101] in 0.060s\nMatching image [54/101] in 0.058s\nMatching image [55/101] in 0.039s\nMatching image [56/101] in 0.030s\nMatching image [57/101] in 0.027s\nMatching image [58/101] in 0.030s\nMatching image [59/101] in 0.027s\nMatching image [60/101] in 0.032s\nMatching image [61/101] in 0.036s\nMatching image [62/101] in 0.026s\nMatching image [63/101] in 0.025s\nMatching image [64/101] in 0.020s\nMatching image [65/101] in 0.032s\nMatching image [66/101] in 0.021s\nMatching image [67/101] in 0.041s\nMatching image [68/101] in 0.050s\nMatching image [69/101] in 0.040s\nMatching image [70/101] in 0.139s\nMatching image [71/101] in 0.151s\nMatching image [72/101] in 0.094s\nMatching image [73/101] in 0.116s\nMatching image [74/101] in 0.074s\nMatching image [75/101] in 0.044s\nMatching image [76/101] in 0.085s\nMatching image [77/101] in 0.039s\nMatching image [78/101] in 0.056s\nMatching image [79/101] in 0.058s\nMatching image [80/101] in 0.079s\nMatching image [81/101] in 0.095s\nMatching image [82/101] in 0.099s\nMatching image [83/101] in 0.051s\nMatching image [84/101] in 0.053s\nMatching image [85/101] in 0.037s\nMatching image [86/101] in 0.027s\nMatching image [87/101] in 0.026s\nMatching image [88/101] in 0.018s\nMatching image [89/101] in 0.020s\nMatching image [90/101] in 0.019s\nMatching image [91/101] in 0.022s\nMatching image [92/101] in 0.024s\nMatching image [93/101] in 0.023s\nMatching image [94/101] in 0.015s\nMatching image [95/101] in 0.015s\nMatching image [96/101] in 0.014s\nMatching image [97/101] in 0.013s\nMatching image [98/101] in 0.011s\nMatching image [99/101] in 0.011s\nMatching image [100/101] in 0.008s\nMatching image [101/101] in 0.000s\nElapsed time: 0.111 [minutes]\n[02:44:01] 🎉 Done matching COLMAP features. process_data.py:419\n\n==============================================================================\nLoading database\n==============================================================================\n\nLoading cameras... 1 in 0.000s\nLoading matches... 1003 in 0.011s\nLoading images... 101 in 0.014s (connected 101)\nBuilding correspondence graph... in 0.065s (ignored 0)\n\nElapsed time: 0.002 [minutes]\n\n\n==============================================================================\nFinding good initial image pair\n==============================================================================\n\n\n==============================================================================\nInitializing with image pair #58 and #53\n==============================================================================\n\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 3.271372e+02 0.00e+00 7.71e+03 0.00e+00 0.00e+00 1.00e+04 0 6.95e-03 1.35e-02\n 1 1.643038e+02 1.63e+02 2.34e+04 1.53e+01 5.39e-01 1.00e+04 1 4.73e-03 1.83e-02\n 2 2.894390e+01 1.35e+02 3.40e+03 1.93e+01 9.72e-01 3.00e+04 1 2.26e-03 2.06e-02\n 3 2.438950e+02 -2.15e+02 3.40e+03 6.69e+01 -3.24e+01 1.50e+04 1 7.87e-04 2.14e-02\n 4 4.584525e+01 -1.69e+01 3.40e+03 3.63e+01 -2.97e+00 3.75e+03 1 7.02e-04 2.21e-02\n 5 2.444561e+01 4.50e+00 7.63e+02 8.91e+00 9.70e-01 1.13e+04 1 2.18e-03 2.43e-02\n 6 3.020744e+01 -5.76e+00 7.63e+02 2.82e+01 -4.50e+00 5.63e+03 1 7.40e-04 2.51e-02\n 7 2.421261e+01 2.33e-01 1.56e+03 1.45e+01 2.96e-01 5.27e+03 1 2.17e-03 2.73e-02\n 8 2.348450e+01 7.28e-01 1.27e+03 1.35e+01 6.58e-01 5.44e+03 1 1.86e-03 2.93e-02\n 9 2.297309e+01 5.11e-01 1.27e+03 1.36e+01 5.75e-01 5.46e+03 1 1.82e-03 3.12e-02\n 10 2.245990e+01 5.13e-01 1.20e+03 1.30e+01 6.06e-01 5.51e+03 1 1.52e-03 3.27e-02\n 11 2.199128e+01 4.69e-01 1.14e+03 1.25e+01 6.12e-01 5.58e+03 1 1.74e-03 3.45e-02\n 12 2.156014e+01 4.31e-01 1.09e+03 1.19e+01 6.24e-01 5.66e+03 1 1.32e-03 3.58e-02\n 13 2.116754e+01 3.93e-01 1.03e+03 1.13e+01 6.34e-01 5.77e+03 1 1.41e-03 3.72e-02\n 14 2.081258e+01 3.55e-01 9.69e+02 1.07e+01 6.44e-01 5.92e+03 1 1.28e-03 3.86e-02\n 15 2.049422e+01 3.18e-01 9.12e+02 1.01e+01 6.54e-01 6.10e+03 1 1.33e-03 3.99e-02\n 16 2.021097e+01 2.83e-01 8.55e+02 9.58e+00 6.63e-01 6.32e+03 1 1.40e-03 4.14e-02\n 17 1.996114e+01 2.50e-01 7.98e+02 9.04e+00 6.72e-01 6.58e+03 1 1.33e-03 4.27e-02\n 18 1.974280e+01 2.18e-01 7.42e+02 8.52e+00 6.80e-01 6.91e+03 1 1.26e-03 4.40e-02\n 19 1.955388e+01 1.89e-01 6.86e+02 8.01e+00 6.88e-01 7.30e+03 1 1.25e-03 4.53e-02\n 20 1.939216e+01 1.62e-01 6.31e+02 7.51e+00 6.96e-01 7.77e+03 1 1.29e-03 4.66e-02\n 21 1.925525e+01 1.37e-01 5.76e+02 7.03e+00 7.04e-01 8.33e+03 1 1.28e-03 4.79e-02\n 22 1.914059e+01 1.15e-01 5.23e+02 6.57e+00 7.12e-01 9.01e+03 1 1.79e-03 4.97e-02\n 23 1.904544e+01 9.52e-02 4.72e+02 6.13e+00 7.19e-01 9.85e+03 1 1.70e-03 5.14e-02\n 24 1.896689e+01 7.86e-02 4.24e+02 5.72e+00 7.28e-01 1.09e+04 1 2.18e-03 5.36e-02\n 25 1.890193e+01 6.50e-02 3.81e+02 5.36e+00 7.36e-01 1.21e+04 1 2.06e-03 5.57e-02\n 26 1.884751e+01 5.44e-02 3.45e+02 5.07e+00 7.45e-01 1.38e+04 1 1.57e-03 5.73e-02\n 27 1.880060e+01 4.69e-02 3.17e+02 4.88e+00 7.53e-01 1.58e+04 1 1.21e-03 5.86e-02\n 28 1.875838e+01 4.22e-02 3.00e+02 4.81e+00 7.59e-01 1.84e+04 1 1.19e-03 5.98e-02\n 29 1.871838e+01 4.00e-02 2.95e+02 4.89e+00 7.61e-01 2.14e+04 1 1.20e-03 6.10e-02\n 30 1.867877e+01 3.96e-02 3.00e+02 5.10e+00 7.54e-01 2.47e+04 1 1.17e-03 6.22e-02\n 31 1.863855e+01 4.02e-02 3.12e+02 5.36e+00 7.42e-01 2.78e+04 1 1.20e-03 6.34e-02\n 32 1.859754e+01 4.10e-02 3.23e+02 5.61e+00 7.26e-01 3.06e+04 1 1.21e-03 6.46e-02\n 33 1.855611e+01 4.14e-02 3.32e+02 5.78e+00 7.12e-01 3.32e+04 1 1.16e-03 6.58e-02\n 34 1.851487e+01 4.12e-02 3.35e+02 5.86e+00 7.01e-01 3.55e+04 1 1.19e-03 6.70e-02\n 35 1.847443e+01 4.04e-02 3.33e+02 5.86e+00 6.92e-01 3.76e+04 1 2.16e-03 6.92e-02\n 36 1.843531e+01 3.91e-02 3.26e+02 5.79e+00 6.85e-01 3.96e+04 1 2.12e-03 7.13e-02\n 37 1.839785e+01 3.75e-02 3.17e+02 5.66e+00 6.81e-01 4.16e+04 1 2.16e-03 7.35e-02\n 38 1.836228e+01 3.56e-02 3.05e+02 5.48e+00 6.77e-01 4.35e+04 1 2.02e-03 7.56e-02\n 39 1.832869e+01 3.36e-02 2.92e+02 5.27e+00 6.74e-01 4.54e+04 1 1.60e-03 7.72e-02\n 40 1.829706e+01 3.16e-02 2.79e+02 5.02e+00 6.71e-01 4.73e+04 1 1.37e-03 7.86e-02\n 41 1.826734e+01 2.97e-02 2.65e+02 4.75e+00 6.69e-01 4.92e+04 1 1.16e-03 7.98e-02\n 42 1.823940e+01 2.79e-02 2.52e+02 4.46e+00 6.67e-01 5.11e+04 1 1.17e-03 8.10e-02\n 43 1.821311e+01 2.63e-02 2.40e+02 4.15e+00 6.66e-01 5.31e+04 1 1.39e-03 8.24e-02\n 44 1.818830e+01 2.48e-02 2.28e+02 3.84e+00 6.65e-01 5.50e+04 1 1.74e-03 8.41e-02\n 45 1.816480e+01 2.35e-02 2.18e+02 3.52e+00 6.64e-01 5.70e+04 1 2.21e-03 8.64e-02\n 46 1.814246e+01 2.23e-02 2.09e+02 3.21e+00 6.63e-01 5.91e+04 1 2.12e-03 8.85e-02\n 47 1.812111e+01 2.14e-02 2.01e+02 2.90e+00 6.63e-01 6.12e+04 1 2.09e-03 9.06e-02\n 48 1.810058e+01 2.05e-02 1.95e+02 2.60e+00 6.63e-01 6.34e+04 1 1.30e-03 9.20e-02\n 49 1.808075e+01 1.98e-02 1.90e+02 2.32e+00 6.62e-01 6.56e+04 1 1.22e-03 9.32e-02\n 50 1.806146e+01 1.93e-02 1.86e+02 2.08e+00 6.62e-01 6.80e+04 1 1.30e-03 9.45e-02\n 51 1.804258e+01 1.89e-02 1.84e+02 1.88e+00 6.62e-01 7.03e+04 1 1.37e-03 9.59e-02\n 52 1.802400e+01 1.86e-02 1.83e+02 1.75e+00 6.61e-01 7.28e+04 1 1.36e-03 9.73e-02\n 53 1.800560e+01 1.84e-02 1.82e+02 1.69e+00 6.59e-01 7.52e+04 1 1.32e-03 9.87e-02\n 54 1.798731e+01 1.83e-02 1.83e+02 1.73e+00 6.57e-01 7.76e+04 1 1.36e-03 1.00e-01\n 55 1.796903e+01 1.83e-02 1.85e+02 1.85e+00 6.53e-01 7.99e+04 1 3.09e-03 1.03e-01\n 56 1.795070e+01 1.83e-02 1.86e+02 2.04e+00 6.47e-01 8.20e+04 1 1.73e-03 1.05e-01\n 57 1.793227e+01 1.84e-02 1.88e+02 2.28e+00 6.40e-01 8.38e+04 1 1.31e-03 1.06e-01\n 58 1.791372e+01 1.86e-02 1.90e+02 2.55e+00 6.31e-01 8.53e+04 1 1.26e-03 1.08e-01\n 59 1.789500e+01 1.87e-02 1.91e+02 2.82e+00 6.21e-01 8.66e+04 1 1.29e-03 1.09e-01\n 60 1.787610e+01 1.89e-02 1.98e+02 3.10e+00 6.09e-01 8.75e+04 1 1.17e-03 1.10e-01\n 61 1.785699e+01 1.91e-02 2.13e+02 3.37e+00 5.97e-01 8.81e+04 1 1.23e-03 1.11e-01\n 62 1.783767e+01 1.93e-02 2.28e+02 3.62e+00 5.83e-01 8.85e+04 1 1.15e-03 1.12e-01\n 63 1.781811e+01 1.96e-02 2.42e+02 3.86e+00 5.69e-01 8.88e+04 1 1.18e-03 1.14e-01\n 64 1.779828e+01 1.98e-02 2.55e+02 4.08e+00 5.54e-01 8.89e+04 1 1.14e-03 1.15e-01\n 65 1.777816e+01 2.01e-02 2.71e+02 4.29e+00 5.39e-01 8.89e+04 1 1.61e-03 1.16e-01\n 66 1.775773e+01 2.04e-02 2.87e+02 4.48e+00 5.23e-01 8.89e+04 1 1.28e-03 1.18e-01\n 67 1.773695e+01 2.08e-02 3.04e+02 4.67e+00 5.07e-01 8.89e+04 1 1.54e-03 1.19e-01\n 68 1.771577e+01 2.12e-02 3.21e+02 4.84e+00 4.90e-01 8.89e+04 1 1.46e-03 1.21e-01\n 69 1.769416e+01 2.16e-02 3.38e+02 5.01e+00 4.73e-01 8.89e+04 1 1.42e-03 1.22e-01\n 70 1.767204e+01 2.21e-02 3.56e+02 5.16e+00 4.57e-01 8.89e+04 1 1.75e-03 1.24e-01\n 71 1.764934e+01 2.27e-02 3.75e+02 5.31e+00 4.41e-01 8.87e+04 1 1.55e-03 1.26e-01\n 72 1.762594e+01 2.34e-02 3.93e+02 5.45e+00 4.27e-01 8.84e+04 1 1.61e-03 1.27e-01\n 73 1.760176e+01 2.42e-02 4.11e+02 5.57e+00 4.16e-01 8.80e+04 1 1.64e-03 1.29e-01\n 74 1.757668e+01 2.51e-02 4.29e+02 5.68e+00 4.06e-01 8.74e+04 1 1.51e-03 1.30e-01\n 75 1.755064e+01 2.60e-02 4.45e+02 5.77e+00 3.99e-01 8.67e+04 1 1.57e-03 1.32e-01\n 76 1.752360e+01 2.70e-02 4.60e+02 5.84e+00 3.93e-01 8.59e+04 1 1.54e-03 1.34e-01\n 77 1.749552e+01 2.81e-02 4.74e+02 5.91e+00 3.89e-01 8.50e+04 1 1.80e-03 1.35e-01\n 78 1.746640e+01 2.91e-02 4.88e+02 5.95e+00 3.86e-01 8.40e+04 1 2.20e-03 1.38e-01\n 79 1.743623e+01 3.02e-02 5.00e+02 5.99e+00 3.84e-01 8.29e+04 1 2.31e-03 1.40e-01\n 80 1.740503e+01 3.12e-02 5.11e+02 6.02e+00 3.83e-01 8.19e+04 1 2.41e-03 1.42e-01\n 81 1.737281e+01 3.22e-02 5.22e+02 6.04e+00 3.82e-01 8.08e+04 1 2.35e-03 1.45e-01\n 82 1.733960e+01 3.32e-02 5.31e+02 6.05e+00 3.82e-01 7.98e+04 1 2.52e-03 1.47e-01\n 83 1.730544e+01 3.42e-02 5.40e+02 6.06e+00 3.83e-01 7.88e+04 1 2.52e-03 1.50e-01\n 84 1.727039e+01 3.50e-02 5.48e+02 6.05e+00 3.85e-01 7.78e+04 1 1.48e-03 1.51e-01\n 85 1.723452e+01 3.59e-02 5.54e+02 6.05e+00 3.86e-01 7.69e+04 1 2.14e-03 1.54e-01\n 86 1.719793e+01 3.66e-02 5.60e+02 6.03e+00 3.89e-01 7.61e+04 1 1.46e-03 1.55e-01\n 87 1.716071e+01 3.72e-02 5.64e+02 6.01e+00 3.91e-01 7.53e+04 1 1.32e-03 1.56e-01\n 88 1.712296e+01 3.77e-02 5.67e+02 5.98e+00 3.94e-01 7.46e+04 1 1.42e-03 1.58e-01\n 89 1.708481e+01 3.82e-02 5.68e+02 5.94e+00 3.98e-01 7.40e+04 1 1.32e-03 1.59e-01\n 90 1.704635e+01 3.85e-02 5.67e+02 5.89e+00 4.02e-01 7.34e+04 1 1.58e-03 1.61e-01\n 91 1.700771e+01 3.86e-02 5.65e+02 5.83e+00 4.06e-01 7.29e+04 1 2.13e-03 1.63e-01\n 92 1.696897e+01 3.87e-02 5.62e+02 5.77e+00 4.11e-01 7.25e+04 1 2.16e-03 1.65e-01\n 93 1.693024e+01 3.87e-02 5.57e+02 5.69e+00 4.17e-01 7.22e+04 1 2.32e-03 1.67e-01\n 94 1.689159e+01 3.86e-02 5.50e+02 5.61e+00 4.23e-01 7.19e+04 1 1.92e-03 1.69e-01\n 95 1.685310e+01 3.85e-02 5.42e+02 5.52e+00 4.30e-01 7.17e+04 1 1.70e-03 1.71e-01\n 96 1.681484e+01 3.83e-02 5.33e+02 5.42e+00 4.38e-01 7.16e+04 1 1.30e-03 1.72e-01\n 97 1.677686e+01 3.80e-02 5.22e+02 5.31e+00 4.47e-01 7.15e+04 1 1.34e-03 1.74e-01\n 98 1.673922e+01 3.76e-02 5.09e+02 5.19e+00 4.57e-01 7.15e+04 1 1.33e-03 1.75e-01\n 99 1.670195e+01 3.73e-02 4.96e+02 5.06e+00 4.68e-01 7.15e+04 1 1.31e-03 1.76e-01\n 100 1.666512e+01 3.68e-02 4.81e+02 4.92e+00 4.80e-01 7.15e+04 1 1.39e-03 1.78e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 904\n Parameters : 689\n Iterations : 101\n Time : 0.178014 [s]\n Initial cost : 0.601562 [px]\n Final cost : 0.135775 [px]\n Termination : No convergence\n\n => Filtered observations: 0\n => Filtered images: 0\n\n==============================================================================\nRegistering image #54 (3)\n==============================================================================\n\n => Image sees 199 / 1603 points\n\nPose refinement report\n----------------------\n Residuals : 398\n Parameters : 6\n Iterations : 7\n Time : 0.00825191 [s]\n Initial cost : 0.292013 [px]\n Final cost : 0.269795 [px]\n Termination : Convergence\n\n => Continued observations: 199\n => Added observations: 1082\n\nBundle adjustment report\n------------------------\n Residuals : 3466\n Parameters : 2204\n Iterations : 26\n Time : 0.17835 [s]\n Initial cost : 0.235921 [px]\n Final cost : 0.157507 [px]\n Termination : No convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 3\n => Changed observations: 0.001731\n\nBundle adjustment report\n------------------------\n Residuals : 3460\n Parameters : 2201\n Iterations : 26\n Time : 0.211055 [s]\n Initial cost : 0.177084 [px]\n Final cost : 0.170821 [px]\n Termination : No convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 5\n => Changed observations: 0.004046\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.094200e+02 0.00e+00 6.41e+01 0.00e+00 0.00e+00 1.00e+04 0 3.72e-03 6.97e-03\n 1 1.089728e+02 4.47e-01 3.54e+01 4.39e+00 9.93e-01 3.00e+04 1 6.02e-03 1.30e-02\n 2 1.089513e+02 2.15e-02 2.25e+01 2.30e+00 1.00e+00 9.00e+04 1 5.84e-03 1.89e-02\n 3 1.089448e+02 6.52e-03 7.34e+01 3.82e+00 9.51e-01 2.70e+05 1 6.08e-03 2.50e-02\n 4 1.089399e+02 4.93e-03 1.58e+02 5.81e+00 7.81e-01 3.29e+05 1 6.05e-03 3.11e-02\n 5 1.089369e+02 2.98e-03 5.09e+01 3.29e+00 9.66e-01 9.86e+05 1 7.05e-03 3.81e-02\n 6 1.089362e+02 7.08e-04 7.13e+01 2.75e+00 8.14e-01 1.31e+06 1 1.06e-02 4.87e-02\n 7 1.089359e+02 3.26e-04 4.09e+01 1.30e+00 8.73e-01 2.24e+06 1 9.95e-03 5.87e-02\n 8 1.089358e+02 1.15e-04 1.94e+01 7.86e-01 9.43e-01 6.72e+06 1 1.00e-02 6.88e-02\n 9 1.089357e+02 2.98e-05 6.39e+00 4.35e-01 1.05e+00 2.02e+07 1 8.63e-03 7.74e-02\n\n\nBundle adjustment report\n------------------------\n Residuals : 3444\n Parameters : 2189\n Iterations : 10\n Time : 0.080919 [s]\n Initial cost : 0.178245 [px]\n Final cost : 0.17785 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 1\n => Changed observations: 0.000581\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.085987e+02 0.00e+00 1.33e+01 0.00e+00 0.00e+00 1.00e+04 0 3.76e-03 6.96e-03\n 1 1.085916e+02 7.16e-03 1.58e+00 8.12e-01 9.92e-01 3.00e+04 1 5.93e-03 1.29e-02\n 2 1.085911e+02 4.29e-04 1.92e+00 5.30e-01 9.73e-01 9.00e+04 1 5.80e-03 1.87e-02\n 3 1.085910e+02 1.70e-04 3.45e+00 4.44e-01 1.01e+00 2.70e+05 1 5.75e-03 2.45e-02\n 4 1.085909e+02 9.76e-05 2.69e+00 4.66e-01 1.05e+00 8.10e+05 1 5.58e-03 3.01e-02\n 5 1.085908e+02 5.91e-05 8.11e+00 5.56e-01 1.04e+00 2.43e+06 1 5.72e-03 3.59e-02\n 6 1.085908e+02 3.16e-05 1.04e+01 5.45e-01 9.83e-01 7.29e+06 1 5.78e-03 4.17e-02\n 7 1.085908e+02 1.16e-05 2.89e+00 2.84e-01 1.10e+00 2.19e+07 1 5.82e-03 4.75e-02\n\n\nBundle adjustment report\n------------------------\n Residuals : 3440\n Parameters : 2186\n Iterations : 8\n Time : 0.0496199 [s]\n Initial cost : 0.177678 [px]\n Final cost : 0.177671 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #52 (4)\n==============================================================================\n\n => Image sees 483 / 1659 points\n\nPose refinement report\n----------------------\n Residuals : 966\n Parameters : 6\n Iterations : 5\n Time : 0.00979996 [s]\n Initial cost : 0.308554 [px]\n Final cost : 0.281907 [px]\n Termination : Convergence\n\n => Continued observations: 483\n => Added observations: 389\n\nBundle adjustment report\n------------------------\n Residuals : 5184\n Parameters : 2765\n Iterations : 17\n Time : 0.220784 [s]\n Initial cost : 0.203437 [px]\n Final cost : 0.171175 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 43\n => Filtered observations: 6\n => Changed observations: 0.018904\n\nBundle adjustment report\n------------------------\n Residuals : 5256\n Parameters : 2819\n Iterations : 13\n Time : 0.182965 [s]\n Initial cost : 0.187888 [px]\n Final cost : 0.179857 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 1\n => Changed observations: 0.001142\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.796965e+02 0.00e+00 2.24e+01 0.00e+00 0.00e+00 1.00e+04 0 1.05e-02 1.64e-02\n 1 1.790502e+02 6.46e-01 5.97e+01 1.20e+00 9.99e-01 3.00e+04 1 1.59e-02 3.24e-02\n 2 1.790149e+02 3.53e-02 2.01e+02 2.11e+00 9.93e-01 9.00e+04 1 1.64e-02 4.88e-02\n 3 1.789924e+02 2.25e-02 9.33e+02 4.22e+00 5.21e-01 9.00e+04 1 1.68e-02 6.57e-02\n 4 1.789553e+02 3.72e-02 6.30e+02 3.44e+00 8.01e-01 1.15e+05 1 1.56e-02 8.13e-02\n 5 1.789351e+02 2.02e-02 6.72e+02 3.59e+00 6.64e-01 1.19e+05 1 1.16e-02 9.30e-02\n 6 1.789156e+02 1.95e-02 4.67e+02 3.03e+00 8.03e-01 1.53e+05 1 1.64e-02 1.09e-01\n 7 1.789044e+02 1.12e-02 4.47e+02 2.98e+00 7.22e-01 1.68e+05 1 1.35e-02 1.23e-01\n 8 1.788953e+02 9.06e-03 2.96e+02 2.44e+00 8.29e-01 2.35e+05 1 1.05e-02 1.34e-01\n 9 1.788905e+02 4.84e-03 2.63e+02 2.31e+00 7.68e-01 2.78e+05 1 9.80e-03 1.43e-01\n 10 1.788872e+02 3.22e-03 1.48e+02 1.73e+00 8.77e-01 4.87e+05 1 1.13e-02 1.55e-01\n 11 1.788859e+02 1.32e-03 1.12e+02 1.51e+00 8.36e-01 6.99e+05 1 1.32e-02 1.68e-01\n 12 1.788854e+02 5.53e-04 3.84e+01 8.88e-01 9.56e-01 2.10e+06 1 1.21e-02 1.80e-01\n 13 1.788853e+02 9.29e-05 1.24e+01 5.05e-01 9.87e-01 6.29e+06 1 9.76e-03 1.90e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 5256\n Parameters : 2819\n Iterations : 14\n Time : 0.193496 [s]\n Initial cost : 0.184902 [px]\n Final cost : 0.184484 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 1\n => Changed observations: 0.000381\n => Filtered images: 0\n\n==============================================================================\nRegistering image #51 (5)\n==============================================================================\n\n => Image sees 598 / 1405 points\n\nPose refinement report\n----------------------\n Residuals : 1196\n Parameters : 6\n Iterations : 5\n Time : 0.00857091 [s]\n Initial cost : 0.323894 [px]\n Final cost : 0.307461 [px]\n Termination : Convergence\n\n => Continued observations: 598\n => Added observations: 386\n\nBundle adjustment report\n------------------------\n Residuals : 7220\n Parameters : 3380\n Iterations : 13\n Time : 0.249205 [s]\n Initial cost : 0.219956 [px]\n Final cost : 0.186311 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 14\n => Filtered observations: 4\n => Changed observations: 0.004986\n\nBundle adjustment report\n------------------------\n Residuals : 7240\n Parameters : 3380\n Iterations : 10\n Time : 0.217996 [s]\n Initial cost : 0.212824 [px]\n Final cost : 0.207171 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 3.107402e+02 0.00e+00 2.46e+00 0.00e+00 0.00e+00 1.00e+04 0 8.60e-03 1.48e-02\n\n\nBundle adjustment report\n------------------------\n Residuals : 7240\n Parameters : 3380\n Iterations : 1\n Time : 0.0203052 [s]\n Initial cost : 0.207171 [px]\n Final cost : 0.207171 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #50 (6)\n==============================================================================\n\n => Image sees 622 / 1741 points\n\nPose refinement report\n----------------------\n Residuals : 1242\n Parameters : 6\n Iterations : 5\n Time : 0.013098 [s]\n Initial cost : 0.347815 [px]\n Final cost : 0.346644 [px]\n Termination : Convergence\n\n => Continued observations: 621\n => Added observations: 323\n\nBundle adjustment report\n------------------------\n Residuals : 9128\n Parameters : 3866\n Iterations : 17\n Time : 0.39209 [s]\n Initial cost : 0.230861 [px]\n Final cost : 0.196965 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 8\n => Filtered observations: 6\n => Changed observations: 0.003067\n\nBundle adjustment report\n------------------------\n Residuals : 9132\n Parameters : 3869\n Iterations : 9\n Time : 0.222388 [s]\n Initial cost : 0.226623 [px]\n Final cost : 0.220416 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 4.436621e+02 0.00e+00 4.54e-01 0.00e+00 0.00e+00 1.00e+04 0 1.75e-02 2.85e-02\n\n\nBundle adjustment report\n------------------------\n Residuals : 9132\n Parameters : 3869\n Iterations : 1\n Time : 0.040771 [s]\n Initial cost : 0.220416 [px]\n Final cost : 0.220416 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #49 (7)\n==============================================================================\n\n => Image sees 587 / 1689 points\n\nPose refinement report\n----------------------\n Residuals : 1172\n Parameters : 6\n Iterations : 4\n Time : 0.0103459 [s]\n Initial cost : 0.306764 [px]\n Final cost : 0.305924 [px]\n Termination : Convergence\n\n => Continued observations: 586\n => Added observations: 475\n\nBundle adjustment report\n------------------------\n Residuals : 10244\n Parameters : 3758\n Iterations : 4\n Time : 0.0727341 [s]\n Initial cost : 0.217088 [px]\n Final cost : 0.198568 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 10\n => Filtered observations: 5\n => Changed observations: 0.002799\n\nBundle adjustment report\n------------------------\n Residuals : 10254\n Parameters : 3755\n Iterations : 2\n Time : 0.0348392 [s]\n Initial cost : 0.226737 [px]\n Final cost : 0.223572 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 5.654926e+02 0.00e+00 7.60e+02 0.00e+00 0.00e+00 1.00e+04 0 1.37e-02 2.46e-02\n 1 5.634012e+02 2.09e+00 1.27e+03 2.61e+00 9.89e-01 3.00e+04 1 3.00e-02 5.46e-02\n 2 5.632737e+02 1.28e-01 3.96e+02 2.14e+00 9.89e-01 9.00e+04 1 3.25e-02 8.71e-02\n 3 5.632409e+02 3.28e-02 4.41e+02 1.91e+00 9.41e-01 2.70e+05 1 3.63e-02 1.23e-01\n 4 5.632328e+02 8.11e-03 2.67e+02 1.33e+00 9.12e-01 6.15e+05 1 3.83e-02 1.62e-01\n 5 5.632310e+02 1.71e-03 5.47e+01 6.73e-01 9.86e-01 1.85e+06 1 3.71e-02 1.99e-01\n 6 5.632310e+02 9.63e-05 4.43e+00 2.04e-01 1.01e+00 5.54e+06 1 3.77e-02 2.37e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 11264\n Parameters : 4571\n Iterations : 7\n Time : 0.252206 [s]\n Initial cost : 0.224061 [px]\n Final cost : 0.223613 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #48 (8)\n==============================================================================\n\n => Image sees 666 / 1685 points\n\nPose refinement report\n----------------------\n Residuals : 1334\n Parameters : 6\n Iterations : 4\n Time : 0.010006 [s]\n Initial cost : 0.33301 [px]\n Final cost : 0.331237 [px]\n Termination : Convergence\n\n => Continued observations: 665\n => Added observations: 315\n\nBundle adjustment report\n------------------------\n Residuals : 10726\n Parameters : 3326\n Iterations : 4\n Time : 0.0964 [s]\n Initial cost : 0.231795 [px]\n Final cost : 0.21221 [px]\n Termination : Convergence\n\n => Merged observations: 12\n => Completed observations: 10\n => Filtered observations: 8\n => Changed observations: 0.005184\n\nBundle adjustment report\n------------------------\n Residuals : 10730\n Parameters : 3320\n Iterations : 2\n Time : 0.054162 [s]\n Initial cost : 0.239911 [px]\n Final cost : 0.234578 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 7.217965e+02 0.00e+00 9.91e+02 0.00e+00 0.00e+00 1.00e+04 0 2.39e-02 4.24e-02\n 1 7.198361e+02 1.96e+00 3.99e+02 2.32e+00 9.95e-01 3.00e+04 1 4.49e-02 8.74e-02\n 2 7.196568e+02 1.79e-01 3.25e+02 2.16e+00 9.95e-01 9.00e+04 1 4.17e-02 1.29e-01\n 3 7.196099e+02 4.68e-02 2.68e+02 1.75e+00 9.85e-01 2.70e+05 1 3.43e-02 1.64e-01\n 4 7.195998e+02 1.01e-02 1.77e+02 1.23e+00 9.74e-01 8.10e+05 1 3.03e-02 1.94e-01\n 5 7.195980e+02 1.83e-03 6.80e+01 7.19e-01 9.82e-01 2.43e+06 1 3.39e-02 2.28e-01\n 6 7.195979e+02 1.25e-04 4.58e+00 1.79e-01 1.01e+00 7.29e+06 1 4.21e-02 2.70e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 13228\n Parameters : 5036\n Iterations : 7\n Time : 0.2888 [s]\n Initial cost : 0.233593 [px]\n Final cost : 0.233237 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #47 (9)\n==============================================================================\n\n => Image sees 593 / 1686 points\n\nPose refinement report\n----------------------\n Residuals : 1182\n Parameters : 6\n Iterations : 5\n Time : 0.0138111 [s]\n Initial cost : 0.303936 [px]\n Final cost : 0.301822 [px]\n Termination : Convergence\n\n => Continued observations: 591\n => Added observations: 530\n\nBundle adjustment report\n------------------------\n Residuals : 11322\n Parameters : 3467\n Iterations : 5\n Time : 0.132213 [s]\n Initial cost : 0.228648 [px]\n Final cost : 0.215976 [px]\n Termination : Convergence\n\n => Merged observations: 5\n => Completed observations: 7\n => Filtered observations: 5\n => Changed observations: 0.002751\n\nBundle adjustment report\n------------------------\n Residuals : 11326\n Parameters : 3464\n Iterations : 2\n Time : 0.0488169 [s]\n Initial cost : 0.243933 [px]\n Final cost : 0.241617 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000324\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 8.735163e+02 0.00e+00 2.36e+02 0.00e+00 0.00e+00 1.00e+04 0 2.16e-02 4.01e-02\n 1 8.727208e+02 7.95e-01 1.49e+02 4.99e+00 1.00e+00 3.00e+04 1 3.72e-02 7.73e-02\n 2 8.725939e+02 1.27e-01 5.53e+02 4.17e+00 9.75e-01 9.00e+04 1 3.23e-02 1.10e-01\n 3 8.725282e+02 6.57e-02 9.17e+02 8.28e+00 8.77e-01 1.58e+05 1 4.19e-02 1.52e-01\n 4 8.724972e+02 3.11e-02 5.10e+02 6.00e+00 9.19e-01 3.85e+05 1 3.89e-02 1.91e-01\n 5 8.724857e+02 1.14e-02 3.19e+02 4.50e+00 9.14e-01 8.88e+05 1 5.16e-02 2.42e-01\n 6 8.724831e+02 2.61e-03 6.73e+01 1.95e+00 9.87e-01 2.67e+06 1 5.04e-02 2.93e-01\n 7 8.724830e+02 1.26e-04 3.99e+00 4.68e-01 1.01e+00 8.00e+06 1 5.54e-02 3.48e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 15478\n Parameters : 5822\n Iterations : 8\n Time : 0.363176 [s]\n Initial cost : 0.237563 [px]\n Final cost : 0.237422 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #46 (10)\n==============================================================================\n\n => Image sees 583 / 1458 points\n\nPose refinement report\n----------------------\n Residuals : 1166\n Parameters : 6\n Iterations : 6\n Time : 0.0149019 [s]\n Initial cost : 0.519398 [px]\n Final cost : 0.335284 [px]\n Termination : Convergence\n\n => Continued observations: 581\n => Added observations: 525\n\nBundle adjustment report\n------------------------\n Residuals : 11650\n Parameters : 3605\n Iterations : 6\n Time : 0.138461 [s]\n Initial cost : 0.245664 [px]\n Final cost : 0.228633 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 64\n => Filtered observations: 8\n => Changed observations: 0.011180\n\nBundle adjustment report\n------------------------\n Residuals : 11760\n Parameters : 3629\n Iterations : 2\n Time : 0.0459678 [s]\n Initial cost : 0.258563 [px]\n Final cost : 0.255275 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 16\n => Filtered observations: 0\n => Changed observations: 0.002463\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 1\n => Merged observations: 7\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.133635e+03 0.00e+00 1.65e+03 0.00e+00 0.00e+00 1.00e+04 0 3.79e-02 5.68e-02\n 1 1.122236e+03 1.14e+01 4.11e+02 1.84e+01 1.00e+00 3.00e+04 1 4.86e-02 1.05e-01\n 2 1.121622e+03 6.14e-01 8.39e+02 2.23e+01 9.76e-01 9.00e+04 1 4.71e-02 1.53e-01\n 3 1.121105e+03 5.17e-01 2.28e+03 6.40e+01 7.91e-01 1.12e+05 1 5.83e-02 2.11e-01\n 4 1.120522e+03 5.83e-01 1.71e+03 6.40e+01 8.62e-01 1.81e+05 1 5.83e-02 2.69e-01\n 5 1.120123e+03 4.00e-01 2.31e+03 7.31e+01 6.48e-01 1.85e+05 1 5.84e-02 3.28e-01\n 6 1.119675e+03 4.48e-01 1.47e+03 4.94e+01 8.65e-01 3.04e+05 1 5.84e-02 3.86e-01\n 7 1.119485e+03 1.90e-01 1.44e+03 4.57e+01 7.26e-01 3.35e+05 1 5.26e-02 4.39e-01\n 8 1.119354e+03 1.31e-01 5.97e+02 2.59e+01 9.29e-01 9.08e+05 1 5.81e-02 4.97e-01\n 9 1.119323e+03 3.09e-02 4.05e+02 2.09e+01 8.58e-01 1.44e+06 1 4.74e-02 5.44e-01\n 10 1.119316e+03 7.65e-03 4.88e+01 6.64e+00 9.95e-01 4.31e+06 1 4.80e-02 5.92e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 17834\n Parameters : 6602\n Iterations : 11\n Time : 0.61819 [s]\n Initial cost : 0.252123 [px]\n Final cost : 0.250525 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #45 (11)\n==============================================================================\n\n => Image sees 541 / 1302 points\n\nPose refinement report\n----------------------\n Residuals : 1078\n Parameters : 6\n Iterations : 6\n Time : 0.011719 [s]\n Initial cost : 0.397283 [px]\n Final cost : 0.355976 [px]\n Termination : Convergence\n\n => Continued observations: 537\n => Added observations: 449\n\nBundle adjustment report\n------------------------\n Residuals : 11794\n Parameters : 3593\n Iterations : 5\n Time : 0.134845 [s]\n Initial cost : 0.262215 [px]\n Final cost : 0.243749 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 49\n => Filtered observations: 13\n => Changed observations: 0.009463\n\nBundle adjustment report\n------------------------\n Residuals : 11854\n Parameters : 3581\n Iterations : 2\n Time : 0.051594 [s]\n Initial cost : 0.27856 [px]\n Final cost : 0.274497 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 2\n => Changed observations: 0.001215\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 3\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.355387e+03 0.00e+00 2.57e+03 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 6.35e-02\n 1 1.339899e+03 1.55e+01 1.24e+02 1.38e+01 9.99e-01 3.00e+04 1 5.73e-02 1.21e-01\n 2 1.339384e+03 5.15e-01 1.02e+02 2.04e+01 9.87e-01 9.00e+04 1 7.00e-02 1.91e-01\n 3 1.338999e+03 3.85e-01 4.96e+02 4.73e+01 8.90e-01 1.72e+05 1 7.03e-02 2.61e-01\n 4 1.338659e+03 3.40e-01 1.20e+03 6.67e+01 7.31e-01 1.91e+05 1 6.79e-02 3.29e-01\n 5 1.338353e+03 3.06e-01 7.70e+02 5.58e+01 8.64e-01 3.10e+05 1 5.24e-02 3.82e-01\n 6 1.338190e+03 1.63e-01 7.73e+02 5.91e+01 7.79e-01 3.75e+05 1 4.00e-02 4.22e-01\n 7 1.338087e+03 1.03e-01 3.88e+02 4.46e+01 8.94e-01 7.34e+05 1 4.68e-02 4.69e-01\n 8 1.338048e+03 3.90e-02 2.85e+02 3.98e+01 8.58e-01 1.16e+06 1 4.25e-02 5.11e-01\n 9 1.338035e+03 1.32e-02 8.37e+01 2.25e+01 9.58e-01 3.49e+06 1 5.15e-02 5.63e-01\n 10 1.338033e+03 1.57e-03 1.74e+01 1.04e+01 9.84e-01 1.05e+07 1 6.78e-02 6.30e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 19880\n Parameters : 7130\n Iterations : 11\n Time : 0.654489 [s]\n Initial cost : 0.26111 [px]\n Final cost : 0.259433 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 4\n => Changed observations: 0.000402\n => Filtered images: 0\n\n==============================================================================\nRegistering image #44 (12)\n==============================================================================\n\n => Image sees 544 / 1293 points\n\nPose refinement report\n----------------------\n Residuals : 1080\n Parameters : 6\n Iterations : 6\n Time : 0.0102398 [s]\n Initial cost : 0.708589 [px]\n Final cost : 0.346092 [px]\n Termination : Convergence\n\n => Continued observations: 538\n => Added observations: 432\n\nBundle adjustment report\n------------------------\n Residuals : 11656\n Parameters : 3479\n Iterations : 6\n Time : 0.130949 [s]\n Initial cost : 0.262975 [px]\n Final cost : 0.249943 [px]\n Termination : Convergence\n\n => Merged observations: 20\n => Completed observations: 23\n => Filtered observations: 13\n => Changed observations: 0.008586\n\nBundle adjustment report\n------------------------\n Residuals : 11688\n Parameters : 3470\n Iterations : 2\n Time : 0.059597 [s]\n Initial cost : 0.289719 [px]\n Final cost : 0.28273 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 1\n => Changed observations: 0.000765\n\n==============================================================================\nRegistering image #43 (13)\n==============================================================================\n\n => Image sees 569 / 1271 points\n\nPose refinement report\n----------------------\n Residuals : 1138\n Parameters : 6\n Iterations : 4\n Time : 0.010623 [s]\n Initial cost : 0.334375 [px]\n Final cost : 0.326928 [px]\n Termination : Convergence\n\n => Continued observations: 563\n => Added observations: 351\n\nBundle adjustment report\n------------------------\n Residuals : 11580\n Parameters : 3470\n Iterations : 13\n Time : 0.255583 [s]\n Initial cost : 0.284501 [px]\n Final cost : 0.271968 [px]\n Termination : Convergence\n\n => Merged observations: 25\n => Completed observations: 15\n => Filtered observations: 32\n => Changed observations: 0.011125\n\nBundle adjustment report\n------------------------\n Residuals : 11562\n Parameters : 3431\n Iterations : 2\n Time : 0.0503199 [s]\n Initial cost : 0.29535 [px]\n Final cost : 0.290689 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000619\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 1\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.714866e+03 0.00e+00 1.67e+03 0.00e+00 0.00e+00 1.00e+04 0 3.31e-02 5.70e-02\n 1 1.706871e+03 8.00e+00 7.25e+01 2.19e+01 9.87e-01 3.00e+04 1 6.40e-02 1.21e-01\n 2 1.706690e+03 1.80e-01 1.35e+01 9.28e+00 9.98e-01 9.00e+04 1 8.67e-02 2.08e-01\n 3 1.706663e+03 2.74e-02 5.61e+01 1.64e+01 1.00e+00 2.70e+05 1 7.90e-02 2.87e-01\n 4 1.706625e+03 3.79e-02 2.05e+02 3.21e+01 9.61e-01 8.10e+05 1 9.23e-02 3.79e-01\n 5 1.706601e+03 2.37e-02 2.75e+02 3.65e+01 8.76e-01 1.41e+06 1 6.70e-02 4.46e-01\n 6 1.706594e+03 7.40e-03 5.49e+01 1.59e+01 9.85e-01 4.22e+06 1 7.66e-02 5.23e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 23602\n Parameters : 8201\n Iterations : 7\n Time : 0.565339 [s]\n Initial cost : 0.269551 [px]\n Final cost : 0.2689 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #42 (14)\n==============================================================================\n\n => Image sees 591 / 1369 points\n\nPose refinement report\n----------------------\n Residuals : 1164\n Parameters : 6\n Iterations : 6\n Time : 0.0158842 [s]\n Initial cost : 0.825196 [px]\n Final cost : 0.298452 [px]\n Termination : Convergence\n\n => Continued observations: 580\n => Added observations: 397\n\nBundle adjustment report\n------------------------\n Residuals : 11514\n Parameters : 3293\n Iterations : 7\n Time : 0.143262 [s]\n Initial cost : 0.283014 [px]\n Final cost : 0.272998 [px]\n Termination : Convergence\n\n => Merged observations: 8\n => Completed observations: 22\n => Filtered observations: 26\n => Changed observations: 0.008689\n\nBundle adjustment report\n------------------------\n Residuals : 11500\n Parameters : 3272\n Iterations : 2\n Time : 0.0590229 [s]\n Initial cost : 0.299049 [px]\n Final cost : 0.294066 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 5\n => Filtered observations: 0\n => Changed observations: 0.000777\n\n==============================================================================\nRegistering image #41 (15)\n==============================================================================\n\n => Image sees 610 / 1251 points\n\nPose refinement report\n----------------------\n Residuals : 1202\n Parameters : 6\n Iterations : 5\n Time : 0.0145719 [s]\n Initial cost : 0.46798 [px]\n Final cost : 0.301255 [px]\n Termination : Convergence\n\n => Continued observations: 597\n => Added observations: 273\n\nBundle adjustment report\n------------------------\n Residuals : 11016\n Parameters : 2978\n Iterations : 5\n Time : 0.107085 [s]\n Initial cost : 0.281746 [px]\n Final cost : 0.273048 [px]\n Termination : Convergence\n\n => Merged observations: 10\n => Completed observations: 12\n => Filtered observations: 15\n => Changed observations: 0.005974\n\nBundle adjustment report\n------------------------\n Residuals : 11016\n Parameters : 2969\n Iterations : 3\n Time : 0.0823069 [s]\n Initial cost : 0.306616 [px]\n Final cost : 0.298461 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000161\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 1\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.025402e+03 0.00e+00 7.44e+02 0.00e+00 0.00e+00 1.00e+04 0 6.17e-02 1.03e-01\n 1 2.018962e+03 6.44e+00 9.63e+00 3.08e+00 1.00e+00 3.00e+04 1 1.10e-01 2.13e-01\n 2 2.018944e+03 1.87e-02 1.94e+00 1.55e+00 1.00e+00 9.00e+04 1 1.00e-01 3.13e-01\n 3 2.018941e+03 2.96e-03 7.75e+00 3.89e+00 1.00e+00 2.70e+05 1 8.56e-02 3.99e-01\n 4 2.018938e+03 3.32e-03 2.00e+01 7.06e+00 1.00e+00 8.10e+05 1 8.39e-02 4.83e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 27278\n Parameters : 9104\n Iterations : 5\n Time : 0.519405 [s]\n Initial cost : 0.272489 [px]\n Final cost : 0.272054 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #15 (16)\n==============================================================================\n\n => Image sees 563 / 1739 points\n\nPose refinement report\n----------------------\n Residuals : 1126\n Parameters : 6\n Iterations : 6\n Time : 0.0138869 [s]\n Initial cost : 0.389579 [px]\n Final cost : 0.323348 [px]\n Termination : Convergence\n\n => Continued observations: 563\n => Added observations: 100\n\nBundle adjustment report\n------------------------\n Residuals : 13676\n Parameters : 2432\n Iterations : 8\n Time : 0.192917 [s]\n Initial cost : 0.260626 [px]\n Final cost : 0.253473 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 7\n => Changed observations: 0.000946\n\n==============================================================================\nRegistering image #14 (17)\n==============================================================================\n\n => Image sees 608 / 1590 points\n\nPose refinement report\n----------------------\n Residuals : 1220\n Parameters : 6\n Iterations : 4\n Time : 0.00687504 [s]\n Initial cost : 0.265873 [px]\n Final cost : 0.263447 [px]\n Termination : Convergence\n\n => Continued observations: 608\n => Added observations: 796\n\nBundle adjustment report\n------------------------\n Residuals : 14842\n Parameters : 3398\n Iterations : 4\n Time : 0.117314 [s]\n Initial cost : 0.244828 [px]\n Final cost : 0.241134 [px]\n Termination : Convergence\n\n => Merged observations: 34\n => Completed observations: 62\n => Filtered observations: 5\n => Changed observations: 0.012500\n\nBundle adjustment report\n------------------------\n Residuals : 14966\n Parameters : 3395\n Iterations : 2\n Time : 0.0637109 [s]\n Initial cost : 0.280493 [px]\n Final cost : 0.27525 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.292250e+03 0.00e+00 8.04e+03 0.00e+00 0.00e+00 1.00e+04 0 6.30e-02 1.10e-01\n 1 2.263096e+03 2.92e+01 2.99e+02 8.21e+00 9.97e-01 3.00e+04 1 9.83e-02 2.09e-01\n 2 2.262774e+03 3.22e-01 4.08e+02 1.31e+01 9.94e-01 9.00e+04 1 9.60e-02 3.05e-01\n 3 2.262526e+03 2.49e-01 7.92e+02 2.99e+01 9.57e-01 2.70e+05 1 1.08e-01 4.13e-01\n 4 2.262337e+03 1.89e-01 1.36e+03 4.56e+01 8.34e-01 3.85e+05 1 1.01e-01 5.14e-01\n 5 2.262246e+03 9.08e-02 4.62e+02 2.83e+01 9.52e-01 1.16e+06 1 1.02e-01 6.16e-01\n 6 2.262230e+03 1.66e-02 1.59e+02 1.70e+01 9.72e-01 3.47e+06 1 8.40e-02 7.00e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 31512\n Parameters : 10421\n Iterations : 7\n Time : 0.745109 [s]\n Initial cost : 0.269707 [px]\n Final cost : 0.267936 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000127\n => Filtered images: 0\n\n==============================================================================\nRegistering image #16 (18)\n==============================================================================\n\n => Image sees 809 / 1711 points\n\nPose refinement report\n----------------------\n Residuals : 1664\n Parameters : 6\n Iterations : 6\n Time : 0.0271909 [s]\n Initial cost : 0.354109 [px]\n Final cost : 0.313016 [px]\n Termination : Convergence\n\n => Continued observations: 807\n => Added observations: 519\n\nBundle adjustment report\n------------------------\n Residuals : 15366\n Parameters : 3728\n Iterations : 4\n Time : 0.123115 [s]\n Initial cost : 0.250983 [px]\n Final cost : 0.240135 [px]\n Termination : Convergence\n\n => Merged observations: 202\n => Completed observations: 28\n => Filtered observations: 9\n => Changed observations: 0.028551\n\nBundle adjustment report\n------------------------\n Residuals : 15598\n Parameters : 3719\n Iterations : 2\n Time : 0.0585191 [s]\n Initial cost : 0.274368 [px]\n Final cost : 0.270748 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000236\n\n==============================================================================\nRegistering image #17 (19)\n==============================================================================\n\n => Image sees 807 / 1674 points\n\nPose refinement report\n----------------------\n Residuals : 1614\n Parameters : 6\n Iterations : 4\n Time : 0.00926614 [s]\n Initial cost : 0.328016 [px]\n Final cost : 0.326394 [px]\n Termination : Convergence\n\n => Continued observations: 805\n => Added observations: 530\n\nBundle adjustment report\n------------------------\n Residuals : 15876\n Parameters : 3941\n Iterations : 6\n Time : 0.177828 [s]\n Initial cost : 0.253419 [px]\n Final cost : 0.243095 [px]\n Termination : Convergence\n\n => Merged observations: 28\n => Completed observations: 17\n => Filtered observations: 8\n => Changed observations: 0.006115\n\nBundle adjustment report\n------------------------\n Residuals : 15860\n Parameters : 3932\n Iterations : 2\n Time : 0.0716531 [s]\n Initial cost : 0.276407 [px]\n Final cost : 0.273835 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000231\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.772553e+03 0.00e+00 4.13e+03 0.00e+00 0.00e+00 1.00e+04 0 7.13e-02 1.21e-01\n 1 2.752512e+03 2.00e+01 1.08e+02 2.83e+00 1.00e+00 3.00e+04 1 1.11e-01 2.32e-01\n 2 2.752485e+03 2.76e-02 2.76e+01 3.35e+00 1.01e+00 9.00e+04 1 1.11e-01 3.43e-01\n 3 2.752473e+03 1.21e-02 1.20e+01 5.92e+00 1.01e+00 2.70e+05 1 1.07e-01 4.50e-01\n 4 2.752467e+03 6.06e-03 2.99e+01 7.79e+00 1.00e+00 8.10e+05 1 9.78e-02 5.48e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 36878\n Parameters : 11846\n Iterations : 5\n Time : 0.607941 [s]\n Initial cost : 0.274193 [px]\n Final cost : 0.273198 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #18 (20)\n==============================================================================\n\n => Image sees 778 / 1628 points\n\nPose refinement report\n----------------------\n Residuals : 1556\n Parameters : 6\n Iterations : 4\n Time : 0.00837016 [s]\n Initial cost : 0.315827 [px]\n Final cost : 0.315588 [px]\n Termination : Convergence\n\n => Continued observations: 775\n => Added observations: 524\n\nBundle adjustment report\n------------------------\n Residuals : 15334\n Parameters : 4250\n Iterations : 5\n Time : 0.137695 [s]\n Initial cost : 0.258198 [px]\n Final cost : 0.248991 [px]\n Termination : Convergence\n\n => Merged observations: 15\n => Completed observations: 17\n => Filtered observations: 11\n => Changed observations: 0.005018\n\nBundle adjustment report\n------------------------\n Residuals : 15348\n Parameters : 4244\n Iterations : 2\n Time : 0.0509911 [s]\n Initial cost : 0.282766 [px]\n Final cost : 0.279563 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000466\n\n==============================================================================\nRegistering image #19 (21)\n==============================================================================\n\n => Image sees 814 / 1693 points\n\nPose refinement report\n----------------------\n Residuals : 1626\n Parameters : 6\n Iterations : 5\n Time : 0.019006 [s]\n Initial cost : 0.326438 [px]\n Final cost : 0.324123 [px]\n Termination : Convergence\n\n => Continued observations: 811\n => Added observations: 514\n\nBundle adjustment report\n------------------------\n Residuals : 15860\n Parameters : 4670\n Iterations : 5\n Time : 0.178196 [s]\n Initial cost : 0.250008 [px]\n Final cost : 0.238982 [px]\n Termination : Convergence\n\n => Merged observations: 6\n => Completed observations: 11\n => Filtered observations: 6\n => Changed observations: 0.002724\n\nBundle adjustment report\n------------------------\n Residuals : 15866\n Parameters : 4661\n Iterations : 2\n Time : 0.0735798 [s]\n Initial cost : 0.279667 [px]\n Final cost : 0.277206 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 0\n => Merged observations: 19\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 3.282228e+03 0.00e+00 4.41e+02 0.00e+00 0.00e+00 1.00e+04 0 5.28e-02 9.87e-02\n 1 3.268949e+03 1.33e+01 8.36e+01 4.07e+00 9.99e-01 3.00e+04 1 1.05e-01 2.04e-01\n 2 3.268860e+03 8.96e-02 8.56e+01 5.67e+00 1.00e+00 9.00e+04 1 1.36e-01 3.39e-01\n 3 3.268825e+03 3.47e-02 2.71e+01 9.53e+00 1.00e+00 2.70e+05 1 1.34e-01 4.73e-01\n 4 3.268809e+03 1.56e-02 6.97e+01 1.17e+01 9.99e-01 8.10e+05 1 1.44e-01 6.17e-01\n 5 3.268806e+03 3.65e-03 3.46e+01 7.26e+00 1.00e+00 2.43e+06 1 1.44e-01 7.61e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 42150\n Parameters : 13373\n Iterations : 6\n Time : 0.827082 [s]\n Initial cost : 0.279052 [px]\n Final cost : 0.278481 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #20 (22)\n==============================================================================\n\n => Image sees 865 / 1635 points\n\nPose refinement report\n----------------------\n Residuals : 1718\n Parameters : 6\n Iterations : 4\n Time : 0.00893211 [s]\n Initial cost : 0.307218 [px]\n Final cost : 0.305503 [px]\n Termination : Convergence\n\n => Continued observations: 857\n => Added observations: 493\n\nBundle adjustment report\n------------------------\n Residuals : 15506\n Parameters : 4247\n Iterations : 6\n Time : 0.178411 [s]\n Initial cost : 0.265325 [px]\n Final cost : 0.255059 [px]\n Termination : Convergence\n\n => Merged observations: 15\n => Completed observations: 57\n => Filtered observations: 17\n => Changed observations: 0.010302\n\nBundle adjustment report\n------------------------\n Residuals : 15590\n Parameters : 4241\n Iterations : 2\n Time : 0.0548732 [s]\n Initial cost : 0.288667 [px]\n Final cost : 0.285001 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 5\n => Filtered observations: 0\n => Changed observations: 0.000576\n\n==============================================================================\nRegistering image #21 (23)\n==============================================================================\n\n => Image sees 847 / 1512 points\n\nPose refinement report\n----------------------\n Residuals : 1710\n Parameters : 6\n Iterations : 4\n Time : 0.011256 [s]\n Initial cost : 0.321394 [px]\n Final cost : 0.315517 [px]\n Termination : Convergence\n\n => Continued observations: 846\n => Added observations: 453\n\nBundle adjustment report\n------------------------\n Residuals : 15334\n Parameters : 4187\n Iterations : 7\n Time : 0.20426 [s]\n Initial cost : 0.27027 [px]\n Final cost : 0.259487 [px]\n Termination : Convergence\n\n => Merged observations: 80\n => Completed observations: 66\n => Filtered observations: 16\n => Changed observations: 0.018967\n\nBundle adjustment report\n------------------------\n Residuals : 15424\n Parameters : 4163\n Iterations : 2\n Time : 0.0589039 [s]\n Initial cost : 0.304341 [px]\n Final cost : 0.298514 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000233\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 1\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 3.808585e+03 0.00e+00 1.25e+03 0.00e+00 0.00e+00 1.00e+04 0 8.52e-02 1.48e-01\n 1 3.790145e+03 1.84e+01 7.11e+01 4.89e+00 9.99e-01 3.00e+04 1 1.72e-01 3.20e-01\n 2 3.790075e+03 6.94e-02 2.17e+01 5.70e+00 1.00e+00 9.00e+04 1 1.23e-01 4.43e-01\n 3 3.790008e+03 6.80e-02 1.76e+02 1.29e+01 1.00e+00 2.70e+05 1 1.39e-01 5.83e-01\n 4 3.789954e+03 5.38e-02 3.01e+02 1.91e+01 9.87e-01 8.10e+05 1 1.78e-01 7.60e-01\n 5 3.789938e+03 1.57e-02 1.33e+02 1.32e+01 9.90e-01 2.43e+06 1 1.28e-01 8.89e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 47642\n Parameters : 14723\n Iterations : 6\n Time : 0.944734 [s]\n Initial cost : 0.28274 [px]\n Final cost : 0.282047 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #22 (24)\n==============================================================================\n\n => Image sees 800 / 1475 points\n\nPose refinement report\n----------------------\n Residuals : 1578\n Parameters : 6\n Iterations : 5\n Time : 0.0122089 [s]\n Initial cost : 0.391073 [px]\n Final cost : 0.309055 [px]\n Termination : Convergence\n\n => Continued observations: 782\n => Added observations: 359\n\nBundle adjustment report\n------------------------\n Residuals : 14836\n Parameters : 3932\n Iterations : 5\n Time : 0.167801 [s]\n Initial cost : 0.26836 [px]\n Final cost : 0.259587 [px]\n Termination : Convergence\n\n => Merged observations: 30\n => Completed observations: 17\n => Filtered observations: 11\n => Changed observations: 0.007013\n\nBundle adjustment report\n------------------------\n Residuals : 14830\n Parameters : 3917\n Iterations : 3\n Time : 0.094475 [s]\n Initial cost : 0.303264 [px]\n Final cost : 0.29799 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000121\n\n==============================================================================\nRegistering image #13 (25)\n==============================================================================\n\n => Image sees 791 / 1528 points\n\nPose refinement report\n----------------------\n Residuals : 1586\n Parameters : 6\n Iterations : 5\n Time : 0.0179679 [s]\n Initial cost : 0.317272 [px]\n Final cost : 0.303019 [px]\n Termination : Convergence\n\n => Continued observations: 782\n => Added observations: 288\n\nBundle adjustment report\n------------------------\n Residuals : 17394\n Parameters : 2681\n Iterations : 5\n Time : 0.134547 [s]\n Initial cost : 0.266885 [px]\n Final cost : 0.260067 [px]\n Termination : Convergence\n\n => Merged observations: 66\n => Completed observations: 20\n => Filtered observations: 5\n => Changed observations: 0.009581\n\nBundle adjustment report\n------------------------\n Residuals : 17476\n Parameters : 2681\n Iterations : 2\n Time : 0.0574739 [s]\n Initial cost : 0.304696 [px]\n Final cost : 0.302125 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRegistering image #23 (26)\n==============================================================================\n\n => Image sees 777 / 1387 points\n\nPose refinement report\n----------------------\n Residuals : 1546\n Parameters : 6\n Iterations : 4\n Time : 0.00940895 [s]\n Initial cost : 0.306042 [px]\n Final cost : 0.304283 [px]\n Termination : Convergence\n\n => Continued observations: 764\n => Added observations: 199\n\nBundle adjustment report\n------------------------\n Residuals : 15540\n Parameters : 3485\n Iterations : 10\n Time : 0.311617 [s]\n Initial cost : 0.271025 [px]\n Final cost : 0.263549 [px]\n Termination : Convergence\n\n => Merged observations: 73\n => Completed observations: 24\n => Filtered observations: 30\n => Changed observations: 0.015881\n\nBundle adjustment report\n------------------------\n Residuals : 15536\n Parameters : 3452\n Iterations : 2\n Time : 0.059773 [s]\n Initial cost : 0.303291 [px]\n Final cost : 0.297605 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 9\n => Filtered observations: 0\n => Changed observations: 0.001125\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 3\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 4.500520e+03 0.00e+00 9.81e+02 0.00e+00 0.00e+00 1.00e+04 0 3.01e-02 1.12e-01\n 1 4.484436e+03 1.61e+01 1.41e+01 3.87e+00 1.00e+00 3.00e+04 1 8.32e-02 1.96e-01\n 2 4.484392e+03 4.49e-02 1.88e+01 3.75e+00 1.00e+00 9.00e+04 1 8.08e-02 2.76e-01\n 3 4.484366e+03 2.57e-02 4.20e+01 7.56e+00 1.00e+00 2.70e+05 1 8.15e-02 3.58e-01\n 4 4.484349e+03 1.66e-02 8.48e+01 9.47e+00 9.99e-01 8.10e+05 1 8.26e-02 4.41e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 54046\n Parameters : 15896\n Iterations : 5\n Time : 0.489356 [s]\n Initial cost : 0.288569 [px]\n Final cost : 0.28805 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 1\n => Changed observations: 0.000037\n => Filtered images: 0\n\n==============================================================================\nRegistering image #12 (27)\n==============================================================================\n\n => Image sees 693 / 1564 points\n\nPose refinement report\n----------------------\n Residuals : 1370\n Parameters : 6\n Iterations : 4\n Time : 0.00724792 [s]\n Initial cost : 0.305142 [px]\n Final cost : 0.286918 [px]\n Termination : Convergence\n\n => Continued observations: 679\n => Added observations: 420\n\nBundle adjustment report\n------------------------\n Residuals : 16060\n Parameters : 2636\n Iterations : 8\n Time : 0.238897 [s]\n Initial cost : 0.272994 [px]\n Final cost : 0.268066 [px]\n Termination : Convergence\n\n => Merged observations: 57\n => Completed observations: 29\n => Filtered observations: 14\n => Changed observations: 0.011136\n\nBundle adjustment report\n------------------------\n Residuals : 16098\n Parameters : 2621\n Iterations : 2\n Time : 0.05984 [s]\n Initial cost : 0.304623 [px]\n Final cost : 0.300832 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.000667\n\n==============================================================================\nRegistering image #24 (28)\n==============================================================================\n\n => Image sees 713 / 1289 points\n\nPose refinement report\n----------------------\n Residuals : 1410\n Parameters : 6\n Iterations : 4\n Time : 0.0127409 [s]\n Initial cost : 0.289042 [px]\n Final cost : 0.277122 [px]\n Termination : Convergence\n\n => Continued observations: 697\n => Added observations: 213\n\nBundle adjustment report\n------------------------\n Residuals : 14952\n Parameters : 3092\n Iterations : 6\n Time : 0.137049 [s]\n Initial cost : 0.278883 [px]\n Final cost : 0.27428 [px]\n Termination : Convergence\n\n => Merged observations: 52\n => Completed observations: 19\n => Filtered observations: 18\n => Changed observations: 0.010623\n\nBundle adjustment report\n------------------------\n Residuals : 14962\n Parameters : 3080\n Iterations : 2\n Time : 0.0440371 [s]\n Initial cost : 0.317256 [px]\n Final cost : 0.313618 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 3\n => Filtered observations: 1\n => Changed observations: 0.000477\n\n==============================================================================\nRegistering image #11 (29)\n==============================================================================\n\n => Image sees 687 / 1488 points\n\nPose refinement report\n----------------------\n Residuals : 1370\n Parameters : 6\n Iterations : 5\n Time : 0.00911283 [s]\n Initial cost : 0.330772 [px]\n Final cost : 0.295557 [px]\n Termination : Convergence\n\n => Continued observations: 679\n => Added observations: 365\n\nBundle adjustment report\n------------------------\n Residuals : 14754\n Parameters : 2744\n Iterations : 14\n Time : 0.339516 [s]\n Initial cost : 0.287649 [px]\n Final cost : 0.276607 [px]\n Termination : Convergence\n\n => Merged observations: 28\n => Completed observations: 22\n => Filtered observations: 23\n => Changed observations: 0.008611\n\nBundle adjustment report\n------------------------\n Residuals : 14690\n Parameters : 2714\n Iterations : 3\n Time : 0.0918021 [s]\n Initial cost : 0.318141 [px]\n Final cost : 0.314261 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 2\n => Changed observations: 0.000473\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 2\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 5.159813e+03 0.00e+00 9.85e+02 0.00e+00 0.00e+00 1.00e+04 0 3.36e-02 1.12e-01\n 1 5.143348e+03 1.65e+01 5.73e+01 5.17e+00 1.00e+00 3.00e+04 1 9.12e-02 2.03e-01\n 2 5.143112e+03 2.36e-01 1.10e+02 1.02e+01 1.00e+00 9.00e+04 1 9.00e-02 2.93e-01\n 3 5.142840e+03 2.72e-01 5.83e+02 1.94e+01 9.95e-01 2.70e+05 1 9.00e-02 3.83e-01\n 4 5.142679e+03 1.61e-01 8.35e+02 2.12e+01 9.76e-01 8.10e+05 1 9.71e-02 4.80e-01\n 5 5.142649e+03 2.99e-02 2.11e+02 1.01e+01 9.94e-01 2.43e+06 1 8.26e-02 5.63e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 60190\n Parameters : 17183\n Iterations : 6\n Time : 0.618715 [s]\n Initial cost : 0.292789 [px]\n Final cost : 0.292302 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n => Filtered images: 0\n\n==============================================================================\nRegistering image #10 (30)\n==============================================================================\n\n => Image sees 647 / 1391 points\n\nPose refinement report\n----------------------\n Residuals : 1284\n Parameters : 6\n Iterations : 6\n Time : 0.016928 [s]\n Initial cost : 0.569578 [px]\n Final cost : 0.296788 [px]\n Termination : Convergence\n\n => Continued observations: 633\n => Added observations: 241\n\nBundle adjustment report\n------------------------\n Residuals : 13008\n Parameters : 2513\n Iterations : 8\n Time : 0.210891 [s]\n Initial cost : 0.292274 [px]\n Final cost : 0.284841 [px]\n Termination : Convergence\n\n => Merged observations: 70\n => Completed observations: 17\n => Filtered observations: 17\n => Changed observations: 0.013618\n\nBundle adjustment report\n------------------------\n Residuals : 13032\n Parameters : 2495\n Iterations : 2\n Time : 0.061116 [s]\n Initial cost : 0.324522 [px]\n Final cost : 0.31901 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000000\n\n==============================================================================\nRegistering image #25 (31)\n==============================================================================\n\n => Image sees 615 / 1204 points\n\nPose refinement report\n----------------------\n Residuals : 1286\n Parameters : 6\n Iterations : 6\n Time : 0.01125 [s]\n Initial cost : 0.671822 [px]\n Final cost : 0.303395 [px]\n Termination : Convergence\n\n => Continued observations: 603\n => Added observations: 278\n\nBundle adjustment report\n------------------------\n Residuals : 14202\n Parameters : 2684\n Iterations : 5\n Time : 0.145523 [s]\n Initial cost : 0.286231 [px]\n Final cost : 0.281903 [px]\n Termination : Convergence\n\n => Merged observations: 335\n => Completed observations: 22\n => Filtered observations: 16\n => Changed observations: 0.046376\n\nBundle adjustment report\n------------------------\n Residuals : 14350\n Parameters : 2663\n Iterations : 2\n Time : 0.0571711 [s]\n Initial cost : 0.332361 [px]\n Final cost : 0.32773 [px]\n Termination : Convergence\n\n => Merged observations: 31\n => Completed observations: 2\n => Filtered observations: 1\n => Changed observations: 0.004188\n\n==============================================================================\nRegistering image #55 (32)\n==============================================================================\n\n => Image sees 656 / 1591 points\n\nPose refinement report\n----------------------\n Residuals : 1312\n Parameters : 6\n Iterations : 4\n Time : 0.010576 [s]\n Initial cost : 0.292346 [px]\n Final cost : 0.288633 [px]\n Termination : Convergence\n\n => Continued observations: 652\n => Added observations: 461\n\nBundle adjustment report\n------------------------\n Residuals : 10996\n Parameters : 2723\n Iterations : 21\n Time : 0.42844 [s]\n Initial cost : 0.285858 [px]\n Final cost : 0.278045 [px]\n Termination : Convergence\n\n => Merged observations: 24\n => Completed observations: 78\n => Filtered observations: 13\n => Changed observations: 0.018980\n\nBundle adjustment report\n------------------------\n Residuals : 11110\n Parameters : 2705\n Iterations : 2\n Time : 0.041285 [s]\n Initial cost : 0.331061 [px]\n Final cost : 0.322738 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 16\n => Filtered observations: 0\n => Changed observations: 0.002616\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 9\n => Merged observations: 18\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 5.848839e+03 0.00e+00 2.19e+03 0.00e+00 0.00e+00 1.00e+04 0 4.20e-02 1.44e-01\n 1 5.820553e+03 2.83e+01 1.32e+02 8.46e+00 9.99e-01 3.00e+04 1 1.03e-01 2.47e-01\n 2 5.820236e+03 3.17e-01 2.21e+02 1.13e+01 1.00e+00 9.00e+04 1 9.79e-02 3.45e-01\n 3 5.819953e+03 2.83e-01 5.59e+02 1.94e+01 9.96e-01 2.70e+05 1 1.00e-01 4.46e-01\n 4 5.819825e+03 1.29e-01 5.61e+02 1.79e+01 9.87e-01 8.10e+05 1 1.15e-01 5.61e-01\n 5 5.819809e+03 1.59e-02 9.41e+01 6.98e+00 9.99e-01 2.43e+06 1 1.02e-01 6.62e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 66100\n Parameters : 18197\n Iterations : 6\n Time : 0.731208 [s]\n Initial cost : 0.297464 [px]\n Final cost : 0.296725 [px]\n Termination : Convergence\n\n => Completed observations: 2\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000061\n => Filtered images: 0\n\n==============================================================================\nRegistering image #56 (33)\n==============================================================================\n\n => Image sees 682 / 1643 points\n\nPose refinement report\n----------------------\n Residuals : 1362\n Parameters : 6\n Iterations : 4\n Time : 0.00861716 [s]\n Initial cost : 0.276936 [px]\n Final cost : 0.268595 [px]\n Termination : Convergence\n\n => Continued observations: 679\n => Added observations: 427\n\nBundle adjustment report\n------------------------\n Residuals : 12086\n Parameters : 2663\n Iterations : 12\n Time : 0.302683 [s]\n Initial cost : 0.278505 [px]\n Final cost : 0.273252 [px]\n Termination : Convergence\n\n => Merged observations: 7\n => Completed observations: 52\n => Filtered observations: 15\n => Changed observations: 0.011070\n\nBundle adjustment report\n------------------------\n Residuals : 12170\n Parameters : 2654\n Iterations : 2\n Time : 0.0451541 [s]\n Initial cost : 0.322232 [px]\n Final cost : 0.316955 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000297\n\n==============================================================================\nRegistering image #57 (34)\n==============================================================================\n\n => Image sees 712 / 1623 points\n\nPose refinement report\n----------------------\n Residuals : 1438\n Parameters : 6\n Iterations : 4\n Time : 0.00865102 [s]\n Initial cost : 0.288652 [px]\n Final cost : 0.274273 [px]\n Termination : Convergence\n\n => Continued observations: 712\n => Added observations: 181\n\nBundle adjustment report\n------------------------\n Residuals : 13090\n Parameters : 2528\n Iterations : 15\n Time : 0.360195 [s]\n Initial cost : 0.301181 [px]\n Final cost : 0.294373 [px]\n Termination : Convergence\n\n => Merged observations: 54\n => Completed observations: 39\n => Filtered observations: 30\n => Changed observations: 0.017071\n\nBundle adjustment report\n------------------------\n Residuals : 13116\n Parameters : 2507\n Iterations : 2\n Time : 0.045217 [s]\n Initial cost : 0.327689 [px]\n Final cost : 0.322496 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 8\n => Filtered observations: 1\n => Changed observations: 0.001247\n\n==============================================================================\nRegistering image #59 (35)\n==============================================================================\n\n => Image sees 684 / 1609 points\n\nPose refinement report\n----------------------\n Residuals : 1368\n Parameters : 6\n Iterations : 4\n Time : 0.0117972 [s]\n Initial cost : 0.301259 [px]\n Final cost : 0.29823 [px]\n Termination : Convergence\n\n => Continued observations: 677\n => Added observations: 216\n\nBundle adjustment report\n------------------------\n Residuals : 12978\n Parameters : 2315\n Iterations : 20\n Time : 0.433532 [s]\n Initial cost : 0.290064 [px]\n Final cost : 0.283746 [px]\n Termination : Convergence\n\n => Merged observations: 24\n => Completed observations: 10\n => Filtered observations: 23\n => Changed observations: 0.007924\n\nBundle adjustment report\n------------------------\n Residuals : 12958\n Parameters : 2300\n Iterations : 2\n Time : 0.055423 [s]\n Initial cost : 0.324918 [px]\n Final cost : 0.321241 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000557\n\n==============================================================================\nRegistering image #60 (36)\n==============================================================================\n\n => Image sees 693 / 1509 points\n\nPose refinement report\n----------------------\n Residuals : 1390\n Parameters : 6\n Iterations : 4\n Time : 0.00918984 [s]\n Initial cost : 0.325347 [px]\n Final cost : 0.291912 [px]\n Termination : Convergence\n\n => Continued observations: 691\n => Added observations: 125\n\nBundle adjustment report\n------------------------\n Residuals : 12824\n Parameters : 2177\n Iterations : 26\n Time : 0.610814 [s]\n Initial cost : 0.295863 [px]\n Final cost : 0.28926 [px]\n Termination : No convergence\n\n => Merged observations: 15\n => Completed observations: 22\n => Filtered observations: 26\n => Changed observations: 0.008924\n\nBundle adjustment report\n------------------------\n Residuals : 12798\n Parameters : 2150\n Iterations : 3\n Time : 0.073426 [s]\n Initial cost : 0.334551 [px]\n Final cost : 0.328715 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 7\n => Filtered observations: 4\n => Changed observations: 0.001561\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 2\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 6.701549e+03 0.00e+00 2.44e+03 0.00e+00 0.00e+00 1.00e+04 0 5.48e-02 1.68e-01\n 1 6.652306e+03 4.92e+01 2.79e+02 8.71e+00 9.97e-01 3.00e+04 1 1.17e-01 2.86e-01\n 2 6.652017e+03 2.89e-01 1.97e+02 8.89e+00 1.00e+00 9.00e+04 1 1.11e-01 3.96e-01\n 3 6.651870e+03 1.47e-01 2.62e+02 1.37e+01 1.00e+00 2.70e+05 1 1.14e-01 5.10e-01\n 4 6.651806e+03 6.42e-02 2.39e+02 1.27e+01 9.95e-01 8.10e+05 1 1.14e-01 6.24e-01\n 5 6.651799e+03 7.24e-03 3.82e+01 4.93e+00 1.00e+00 2.43e+06 1 1.15e-01 7.39e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 73562\n Parameters : 19154\n Iterations : 6\n Time : 0.805294 [s]\n Initial cost : 0.301829 [px]\n Final cost : 0.300706 [px]\n Termination : Convergence\n\n => Completed observations: 1\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000082\n => Filtered images: 0\n\n==============================================================================\nRegistering image #61 (37)\n==============================================================================\n\n => Image sees 629 / 1421 points\n\nPose refinement report\n----------------------\n Residuals : 1258\n Parameters : 6\n Iterations : 4\n Time : 0.00841093 [s]\n Initial cost : 0.30689 [px]\n Final cost : 0.27965 [px]\n Termination : Convergence\n\n => Continued observations: 623\n => Added observations: 329\n\nBundle adjustment report\n------------------------\n Residuals : 13584\n Parameters : 2081\n Iterations : 26\n Time : 0.689689 [s]\n Initial cost : 0.29032 [px]\n Final cost : 0.283807 [px]\n Termination : No convergence\n\n => Merged observations: 33\n => Completed observations: 15\n => Filtered observations: 28\n => Changed observations: 0.010658\n\nBundle adjustment report\n------------------------\n Residuals : 13560\n Parameters : 2060\n Iterations : 3\n Time : 0.0719948 [s]\n Initial cost : 0.317949 [px]\n Final cost : 0.311881 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 9\n => Filtered observations: 1\n => Changed observations: 0.001405\n\n==============================================================================\nRegistering image #40 (38)\n==============================================================================\n\n => Image sees 569 / 1060 points\n\nPose refinement report\n----------------------\n Residuals : 1214\n Parameters : 6\n Iterations : 4\n Time : 0.00975895 [s]\n Initial cost : 0.313668 [px]\n Final cost : 0.309077 [px]\n Termination : Convergence\n\n => Continued observations: 559\n => Added observations: 265\n\nBundle adjustment report\n------------------------\n Residuals : 10606\n Parameters : 2534\n Iterations : 11\n Time : 0.257378 [s]\n Initial cost : 0.335146 [px]\n Final cost : 0.323575 [px]\n Termination : Convergence\n\n => Merged observations: 467\n => Completed observations: 25\n => Filtered observations: 32\n => Changed observations: 0.087919\n\nBundle adjustment report\n------------------------\n Residuals : 10410\n Parameters : 2399\n Iterations : 2\n Time : 0.0453851 [s]\n Initial cost : 0.36216 [px]\n Final cost : 0.352668 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 1\n => Changed observations: 0.000341\n\n==============================================================================\nRegistering image #9 (39)\n==============================================================================\n\n => Image sees 564 / 1322 points\n\nPose refinement report\n----------------------\n Residuals : 1122\n Parameters : 6\n Iterations : 4\n Time : 0.0098381 [s]\n Initial cost : 0.303348 [px]\n Final cost : 0.291442 [px]\n Termination : Convergence\n\n => Continued observations: 554\n => Added observations: 246\n\nBundle adjustment report\n------------------------\n Residuals : 12760\n Parameters : 2258\n Iterations : 8\n Time : 0.174015 [s]\n Initial cost : 0.273088 [px]\n Final cost : 0.268104 [px]\n Termination : Convergence\n\n => Merged observations: 58\n => Completed observations: 31\n => Filtered observations: 16\n => Changed observations: 0.015766\n\nBundle adjustment report\n------------------------\n Residuals : 12836\n Parameters : 2252\n Iterations : 2\n Time : 0.0536301 [s]\n Initial cost : 0.304706 [px]\n Final cost : 0.300781 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000597\n\n==============================================================================\nRegistering image #26 (40)\n==============================================================================\n\n => Image sees 570 / 1085 points\n\nPose refinement report\n----------------------\n Residuals : 1150\n Parameters : 6\n Iterations : 4\n Time : 0.00764799 [s]\n Initial cost : 0.294173 [px]\n Final cost : 0.292098 [px]\n Termination : Convergence\n\n => Continued observations: 562\n => Added observations: 200\n\nBundle adjustment report\n------------------------\n Residuals : 13150\n Parameters : 2273\n Iterations : 5\n Time : 0.108777 [s]\n Initial cost : 0.303514 [px]\n Final cost : 0.297595 [px]\n Termination : Convergence\n\n => Merged observations: 102\n => Completed observations: 36\n => Filtered observations: 30\n => Changed observations: 0.022261\n\nBundle adjustment report\n------------------------\n Residuals : 13172\n Parameters : 2249\n Iterations : 3\n Time : 0.072304 [s]\n Initial cost : 0.336604 [px]\n Final cost : 0.331501 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000265\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 3\n => Merged observations: 42\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 7.389596e+03 0.00e+00 3.87e+03 0.00e+00 0.00e+00 1.00e+04 0 4.84e-02 1.60e-01\n 1 7.372785e+03 1.68e+01 4.09e+01 3.43e+00 1.00e+00 3.00e+04 1 1.26e-01 2.86e-01\n 2 7.372702e+03 8.31e-02 1.50e+01 1.84e+00 1.00e+00 9.00e+04 1 1.13e-01 4.00e-01\n 3 7.372689e+03 1.32e-02 1.28e+01 2.44e+00 1.00e+00 2.70e+05 1 1.25e-01 5.25e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 80238\n Parameters : 20069\n Iterations : 4\n Time : 0.597528 [s]\n Initial cost : 0.303473 [px]\n Final cost : 0.303126 [px]\n Termination : Convergence\n\n => Completed observations: 1\n => Merged observations: 0\n => Filtered observations: 0\n => Changed observations: 0.000025\n => Filtered images: 0\n\n==============================================================================\nRegistering image #27 (41)\n==============================================================================\n\n => Image sees 545 / 1015 points\n\nPose refinement report\n----------------------\n Residuals : 1100\n Parameters : 6\n Iterations : 4\n Time : 0.00590301 [s]\n Initial cost : 0.333867 [px]\n Final cost : 0.325008 [px]\n Termination : Convergence\n\n => Continued observations: 538\n => Added observations: 301\n\nBundle adjustment report\n------------------------\n Residuals : 13852\n Parameters : 2285\n Iterations : 10\n Time : 0.225595 [s]\n Initial cost : 0.295869 [px]\n Final cost : 0.291177 [px]\n Termination : Convergence\n\n => Merged observations: 32\n => Completed observations: 34\n => Filtered observations: 24\n => Changed observations: 0.011329\n\nBundle adjustment report\n------------------------\n Residuals : 13832\n Parameters : 2258\n Iterations : 2\n Time : 0.0488081 [s]\n Initial cost : 0.341893 [px]\n Final cost : 0.338391 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 8\n => Filtered observations: 0\n => Changed observations: 0.001008\n\n==============================================================================\nRegistering image #28 (42)\n==============================================================================\n\n => Image sees 549 / 972 points\n\nPose refinement report\n----------------------\n Residuals : 1088\n Parameters : 6\n Iterations : 4\n Time : 0.00969505 [s]\n Initial cost : 0.324074 [px]\n Final cost : 0.316738 [px]\n Termination : Convergence\n\n => Continued observations: 536\n => Added observations: 197\n\nBundle adjustment report\n------------------------\n Residuals : 12984\n Parameters : 1985\n Iterations : 8\n Time : 0.196603 [s]\n Initial cost : 0.300027 [px]\n Final cost : 0.294645 [px]\n Termination : Convergence\n\n => Merged observations: 15\n => Completed observations: 21\n => Filtered observations: 22\n => Changed observations: 0.007783\n\nBundle adjustment report\n------------------------\n Residuals : 13002\n Parameters : 1979\n Iterations : 2\n Time : 0.049433 [s]\n Initial cost : 0.338439 [px]\n Final cost : 0.334338 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 1\n => Changed observations: 0.000670\n\n==============================================================================\nRegistering image #29 (43)\n==============================================================================\n\n => Image sees 528 / 920 points\n\nPose refinement report\n----------------------\n Residuals : 1064\n Parameters : 6\n Iterations : 5\n Time : 0.00700593 [s]\n Initial cost : 0.53948 [px]\n Final cost : 0.300229 [px]\n Termination : Convergence\n\n => Continued observations: 522\n => Added observations: 196\n\nBundle adjustment report\n------------------------\n Residuals : 12186\n Parameters : 1802\n Iterations : 7\n Time : 0.12899 [s]\n Initial cost : 0.295747 [px]\n Final cost : 0.291643 [px]\n Termination : Convergence\n\n => Merged observations: 17\n => Completed observations: 33\n => Filtered observations: 17\n => Changed observations: 0.009642\n\nBundle adjustment report\n------------------------\n Residuals : 12202\n Parameters : 1796\n Iterations : 2\n Time : 0.0510521 [s]\n Initial cost : 0.333823 [px]\n Final cost : 0.329901 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 3\n => Filtered observations: 0\n => Changed observations: 0.000431\n\n==============================================================================\nRegistering image #30 (44)\n==============================================================================\n\n => Image sees 539 / 888 points\n\nPose refinement report\n----------------------\n Residuals : 1096\n Parameters : 6\n Iterations : 6\n Time : 0.0151241 [s]\n Initial cost : 0.658747 [px]\n Final cost : 0.311463 [px]\n Termination : Convergence\n\n => Continued observations: 537\n => Added observations: 175\n\nBundle adjustment report\n------------------------\n Residuals : 12706\n Parameters : 1742\n Iterations : 7\n Time : 0.163123 [s]\n Initial cost : 0.296365 [px]\n Final cost : 0.291606 [px]\n Termination : Convergence\n\n => Merged observations: 17\n => Completed observations: 36\n => Filtered observations: 17\n => Changed observations: 0.009673\n\nBundle adjustment report\n------------------------\n Residuals : 12748\n Parameters : 1733\n Iterations : 3\n Time : 0.0672081 [s]\n Initial cost : 0.340983 [px]\n Final cost : 0.336712 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 10\n => Filtered observations: 2\n => Changed observations: 0.001654\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 3\n => Merged observations: 0\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 8.164915e+03 0.00e+00 6.29e+03 0.00e+00 0.00e+00 1.00e+04 0 5.27e-02 1.90e-01\n 1 8.143346e+03 2.16e+01 6.43e+01 4.09e+00 9.99e-01 3.00e+04 1 1.30e-01 3.20e-01\n 2 8.143015e+03 3.31e-01 9.67e+01 7.29e+00 1.00e+00 9.00e+04 1 1.25e-01 4.45e-01\n 3 8.142821e+03 1.93e-01 3.28e+02 1.06e+01 1.00e+00 2.70e+05 1 1.34e-01 5.79e-01\n 4 8.142772e+03 4.96e-02 1.76e+02 6.99e+00 1.00e+00 8.10e+05 1 1.34e-01 7.13e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 86340\n Parameters : 20939\n Iterations : 5\n Time : 0.799277 [s]\n Initial cost : 0.307517 [px]\n Final cost : 0.3071 [px]\n Termination : Convergence\n\n => Completed observations: 4\n => Merged observations: 24\n => Filtered observations: 2\n => Changed observations: 0.000695\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 8.201002e+03 0.00e+00 5.68e+02 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 2.23e-01\n 1 8.183367e+03 1.76e+01 2.74e+01 1.46e+00 9.98e-01 3.00e+04 1 1.38e-01 3.61e-01\n 2 8.183286e+03 8.16e-02 1.86e+00 1.03e+00 1.01e+00 9.00e+04 1 1.31e-01 4.92e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 86336\n Parameters : 20933\n Iterations : 3\n Time : 0.580836 [s]\n Initial cost : 0.308203 [px]\n Final cost : 0.30787 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000046\n => Filtered images: 0\n\n==============================================================================\nRegistering image #63 (45)\n==============================================================================\n\n => Image sees 560 / 1502 points\n\nPose refinement report\n----------------------\n Residuals : 1106\n Parameters : 6\n Iterations : 6\n Time : 0.016726 [s]\n Initial cost : 0.604864 [px]\n Final cost : 0.309249 [px]\n Termination : Convergence\n\n => Continued observations: 548\n => Added observations: 224\n\nBundle adjustment report\n------------------------\n Residuals : 13478\n Parameters : 1808\n Iterations : 12\n Time : 0.298064 [s]\n Initial cost : 0.302745 [px]\n Final cost : 0.295279 [px]\n Termination : Convergence\n\n => Merged observations: 30\n => Completed observations: 103\n => Filtered observations: 24\n => Changed observations: 0.021800\n\nBundle adjustment report\n------------------------\n Residuals : 13614\n Parameters : 1784\n Iterations : 3\n Time : 0.084239 [s]\n Initial cost : 0.347227 [px]\n Final cost : 0.342243 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 2\n => Changed observations: 0.001100\n\n==============================================================================\nRegistering image #62 (46)\n==============================================================================\n\n => Image sees 602 / 1321 points\n\nPose refinement report\n----------------------\n Residuals : 1206\n Parameters : 6\n Iterations : 4\n Time : 0.0106518 [s]\n Initial cost : 0.316541 [px]\n Final cost : 0.298386 [px]\n Termination : Convergence\n\n => Continued observations: 592\n => Added observations: 234\n\nBundle adjustment report\n------------------------\n Residuals : 13812\n Parameters : 1814\n Iterations : 26\n Time : 0.604811 [s]\n Initial cost : 0.309477 [px]\n Final cost : 0.30303 [px]\n Termination : No convergence\n\n => Merged observations: 89\n => Completed observations: 57\n => Filtered observations: 33\n => Changed observations: 0.024367\n\nBundle adjustment report\n------------------------\n Residuals : 14240\n Parameters : 1757\n Iterations : 3\n Time : 0.0628521 [s]\n Initial cost : 0.346635 [px]\n Final cost : 0.340122 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.000791\n\n==============================================================================\nRegistering image #65 (47)\n==============================================================================\n\n => Image sees 625 / 1449 points\n\nPose refinement report\n----------------------\n Residuals : 1246\n Parameters : 6\n Iterations : 5\n Time : 0.0164571 [s]\n Initial cost : 0.452483 [px]\n Final cost : 0.289787 [px]\n Termination : Convergence\n\n => Continued observations: 617\n => Added observations: 120\n\nBundle adjustment report\n------------------------\n Residuals : 14174\n Parameters : 1661\n Iterations : 26\n Time : 0.721968 [s]\n Initial cost : 0.307805 [px]\n Final cost : 0.300144 [px]\n Termination : No convergence\n\n => Merged observations: 38\n => Completed observations: 56\n => Filtered observations: 28\n => Changed observations: 0.015977\n\nBundle adjustment report\n------------------------\n Residuals : 14238\n Parameters : 1655\n Iterations : 3\n Time : 0.063293 [s]\n Initial cost : 0.347623 [px]\n Final cost : 0.34226 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.000758\n\n==============================================================================\nRegistering image #64 (48)\n==============================================================================\n\n => Image sees 631 / 1442 points\n\nPose refinement report\n----------------------\n Residuals : 1264\n Parameters : 6\n Iterations : 5\n Time : 0.00887299 [s]\n Initial cost : 0.296379 [px]\n Final cost : 0.271833 [px]\n Termination : Convergence\n\n => Continued observations: 624\n => Added observations: 168\n\nBundle adjustment report\n------------------------\n Residuals : 14428\n Parameters : 1679\n Iterations : 22\n Time : 0.627777 [s]\n Initial cost : 0.299558 [px]\n Final cost : 0.294331 [px]\n Termination : Convergence\n\n => Merged observations: 31\n => Completed observations: 86\n => Filtered observations: 34\n => Changed observations: 0.019469\n\nBundle adjustment report\n------------------------\n Residuals : 14494\n Parameters : 1643\n Iterations : 3\n Time : 0.0616071 [s]\n Initial cost : 0.342106 [px]\n Final cost : 0.335834 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 23\n => Filtered observations: 1\n => Changed observations: 0.003081\n\n==============================================================================\nRegistering image #66 (49)\n==============================================================================\n\n => Image sees 661 / 1479 points\n\nPose refinement report\n----------------------\n Residuals : 1312\n Parameters : 6\n Iterations : 6\n Time : 0.0111449 [s]\n Initial cost : 0.58914 [px]\n Final cost : 0.298409 [px]\n Termination : Convergence\n\n => Continued observations: 650\n => Added observations: 97\n\nBundle adjustment report\n------------------------\n Residuals : 14166\n Parameters : 1499\n Iterations : 22\n Time : 0.548451 [s]\n Initial cost : 0.303252 [px]\n Final cost : 0.297777 [px]\n Termination : Convergence\n\n => Merged observations: 20\n => Completed observations: 48\n => Filtered observations: 28\n => Changed observations: 0.012814\n\nBundle adjustment report\n------------------------\n Residuals : 14206\n Parameters : 1472\n Iterations : 3\n Time : 0.074096 [s]\n Initial cost : 0.342532 [px]\n Final cost : 0.336818 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000266\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 4\n => Merged observations: 28\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 9.413226e+03 0.00e+00 3.06e+03 0.00e+00 0.00e+00 1.00e+04 0 6.02e-02 2.32e-01\n 1 9.343725e+03 6.95e+01 3.00e+02 7.31e+00 9.99e-01 3.00e+04 1 1.59e-01 3.92e-01\n 2 9.343365e+03 3.60e-01 1.53e+02 8.34e+00 1.00e+00 9.00e+04 1 1.57e-01 5.49e-01\n 3 9.343160e+03 2.05e-01 2.69e+02 1.01e+01 1.00e+00 2.70e+05 1 1.40e-01 6.89e-01\n 4 9.343117e+03 4.35e-02 1.06e+02 5.84e+00 1.00e+00 8.10e+05 1 1.46e-01 8.35e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 94516\n Parameters : 21599\n Iterations : 5\n Time : 0.927905 [s]\n Initial cost : 0.315585 [px]\n Final cost : 0.314408 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 6\n => Changed observations: 0.000127\n => Filtered images: 0\n\n==============================================================================\nRegistering image #68 (50)\n==============================================================================\n\n => Image sees 575 / 1370 points\n\nPose refinement report\n----------------------\n Residuals : 1142\n Parameters : 6\n Iterations : 6\n Time : 0.0157721 [s]\n Initial cost : 0.515318 [px]\n Final cost : 0.301278 [px]\n Termination : Convergence\n\n => Continued observations: 570\n => Added observations: 198\n\nBundle adjustment report\n------------------------\n Residuals : 13908\n Parameters : 1379\n Iterations : 24\n Time : 0.576572 [s]\n Initial cost : 0.301814 [px]\n Final cost : 0.297332 [px]\n Termination : Convergence\n\n => Merged observations: 7\n => Completed observations: 110\n => Filtered observations: 21\n => Changed observations: 0.017917\n\nBundle adjustment report\n------------------------\n Residuals : 14076\n Parameters : 1409\n Iterations : 2\n Time : 0.057344 [s]\n Initial cost : 0.348292 [px]\n Final cost : 0.345014 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 16\n => Filtered observations: 1\n => Changed observations: 0.002176\n\n==============================================================================\nRegistering image #67 (51)\n==============================================================================\n\n => Image sees 637 / 1364 points\n\nPose refinement report\n----------------------\n Residuals : 1252\n Parameters : 6\n Iterations : 5\n Time : 0.016397 [s]\n Initial cost : 0.550431 [px]\n Final cost : 0.275755 [px]\n Termination : Convergence\n\n => Continued observations: 621\n => Added observations: 123\n\nBundle adjustment report\n------------------------\n Residuals : 14024\n Parameters : 1238\n Iterations : 14\n Time : 0.441253 [s]\n Initial cost : 0.29345 [px]\n Final cost : 0.290867 [px]\n Termination : Convergence\n\n => Merged observations: 67\n => Completed observations: 69\n => Filtered observations: 25\n => Changed observations: 0.021484\n\nBundle adjustment report\n------------------------\n Residuals : 13826\n Parameters : 1235\n Iterations : 3\n Time : 0.072495 [s]\n Initial cost : 0.335347 [px]\n Final cost : 0.332122 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 5\n => Filtered observations: 1\n => Changed observations: 0.000781\n\n==============================================================================\nRegistering image #69 (52)\n==============================================================================\n\n => Image sees 557 / 1278 points\n\nPose refinement report\n----------------------\n Residuals : 1100\n Parameters : 6\n Iterations : 5\n Time : 0.0105479 [s]\n Initial cost : 0.335362 [px]\n Final cost : 0.314501 [px]\n Termination : Convergence\n\n => Continued observations: 544\n => Added observations: 431\n\nBundle adjustment report\n------------------------\n Residuals : 12510\n Parameters : 1274\n Iterations : 7\n Time : 0.19294 [s]\n Initial cost : 0.291246 [px]\n Final cost : 0.287118 [px]\n Termination : Convergence\n\n => Merged observations: 22\n => Completed observations: 269\n => Filtered observations: 18\n => Changed observations: 0.045381\n\nBundle adjustment report\n------------------------\n Residuals : 12714\n Parameters : 1238\n Iterations : 3\n Time : 0.056406 [s]\n Initial cost : 0.34521 [px]\n Final cost : 0.338553 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 13\n => Filtered observations: 3\n => Changed observations: 0.002312\n\n==============================================================================\nRegistering image #8 (53)\n==============================================================================\n\n => Image sees 531 / 1272 points\n\nPose refinement report\n----------------------\n Residuals : 1038\n Parameters : 6\n Iterations : 4\n Time : 0.0108559 [s]\n Initial cost : 0.303696 [px]\n Final cost : 0.296573 [px]\n Termination : Convergence\n\n => Continued observations: 514\n => Added observations: 152\n\nBundle adjustment report\n------------------------\n Residuals : 11102\n Parameters : 1937\n Iterations : 8\n Time : 0.214809 [s]\n Initial cost : 0.31166 [px]\n Final cost : 0.305833 [px]\n Termination : Convergence\n\n => Merged observations: 43\n => Completed observations: 29\n => Filtered observations: 31\n => Changed observations: 0.015475\n\nBundle adjustment report\n------------------------\n Residuals : 11112\n Parameters : 1913\n Iterations : 3\n Time : 0.0748048 [s]\n Initial cost : 0.337655 [px]\n Final cost : 0.331988 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.000901\n\n==============================================================================\nRegistering image #39 (54)\n==============================================================================\n\n => Image sees 529 / 973 points\n\nPose refinement report\n----------------------\n Residuals : 1122\n Parameters : 6\n Iterations : 5\n Time : 0.0153861 [s]\n Initial cost : 0.344905 [px]\n Final cost : 0.33619 [px]\n Termination : Convergence\n\n => Continued observations: 514\n => Added observations: 203\n\nBundle adjustment report\n------------------------\n Residuals : 10668\n Parameters : 2141\n Iterations : 8\n Time : 0.215088 [s]\n Initial cost : 0.31572 [px]\n Final cost : 0.303844 [px]\n Termination : Convergence\n\n => Merged observations: 478\n => Completed observations: 42\n => Filtered observations: 25\n => Changed observations: 0.090532\n\nBundle adjustment report\n------------------------\n Residuals : 10330\n Parameters : 2039\n Iterations : 2\n Time : 0.0560241 [s]\n Initial cost : 0.363131 [px]\n Final cost : 0.356759 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 1\n => Changed observations: 0.000855\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 17\n => Merged observations: 222\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.063393e+04 0.00e+00 5.24e+03 0.00e+00 0.00e+00 1.00e+04 0 6.38e-02 3.05e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 1.1285e+07\n Nonzeros in L: 52326\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.2\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 1.1285e+07\n nnz(L): 52326\n OK\n 1 1.046238e+04 1.72e+02 4.83e+02 8.17e+00 1.00e+00 3.00e+04 1 2.94e-01 5.98e-01\n 2 1.046179e+04 5.88e-01 1.60e+02 5.83e+00 1.00e+00 9.00e+04 1 1.55e-01 7.54e-01\n 3 1.046167e+04 1.21e-01 3.12e+01 5.52e+00 1.00e+00 2.70e+05 1 1.68e-01 9.22e-01\n 4 1.046166e+04 1.31e-02 1.53e+01 2.31e+00 1.00e+00 8.10e+05 1 1.77e-01 1.10e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 103006\n Parameters : 22553\n Iterations : 5\n Time : 1.20691 [s]\n Initial cost : 0.321304 [px]\n Final cost : 0.31869 [px]\n Termination : Convergence\n\n => Completed observations: 4\n => Merged observations: 0\n => Filtered observations: 6\n => Changed observations: 0.000194\n => Filtered images: 0\n\n==============================================================================\nRegistering image #70 (55)\n==============================================================================\n\n => Image sees 482 / 1234 points\n\nPose refinement report\n----------------------\n Residuals : 940\n Parameters : 6\n Iterations : 6\n Time : 0.00818992 [s]\n Initial cost : 0.629968 [px]\n Final cost : 0.320793 [px]\n Termination : Convergence\n\n => Continued observations: 467\n => Added observations: 447\n\nBundle adjustment report\n------------------------\n Residuals : 11112\n Parameters : 1277\n Iterations : 6\n Time : 0.0954762 [s]\n Initial cost : 0.303692 [px]\n Final cost : 0.298719 [px]\n Termination : Convergence\n\n => Merged observations: 20\n => Completed observations: 249\n => Filtered observations: 17\n => Changed observations: 0.043744\n\nBundle adjustment report\n------------------------\n Residuals : 11516\n Parameters : 1247\n Iterations : 2\n Time : 0.0344081 [s]\n Initial cost : 0.351357 [px]\n Final cost : 0.346632 [px]\n Termination : Convergence\n\n => Merged observations: 10\n => Completed observations: 15\n => Filtered observations: 0\n => Changed observations: 0.003730\n\n==============================================================================\nRegistering image #71 (56)\n==============================================================================\n\n => Image sees 510 / 1270 points\n\nPose refinement report\n----------------------\n Residuals : 1002\n Parameters : 6\n Iterations : 6\n Time : 0.00842786 [s]\n Initial cost : 0.733113 [px]\n Final cost : 0.328166 [px]\n Termination : Convergence\n\n => Continued observations: 497\n => Added observations: 491\n\nBundle adjustment report\n------------------------\n Residuals : 9646\n Parameters : 1424\n Iterations : 9\n Time : 0.141144 [s]\n Initial cost : 0.322862 [px]\n Final cost : 0.31669 [px]\n Termination : Convergence\n\n => Merged observations: 29\n => Completed observations: 260\n => Filtered observations: 11\n => Changed observations: 0.051396\n\nBundle adjustment report\n------------------------\n Residuals : 10746\n Parameters : 1409\n Iterations : 2\n Time : 0.04369 [s]\n Initial cost : 0.358959 [px]\n Final cost : 0.352747 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 3\n => Filtered observations: 1\n => Changed observations: 0.000663\n\n==============================================================================\nRegistering image #72 (57)\n==============================================================================\n\n => Image sees 514 / 1230 points\n\nPose refinement report\n----------------------\n Residuals : 1072\n Parameters : 6\n Iterations : 5\n Time : 0.0121069 [s]\n Initial cost : 0.373982 [px]\n Final cost : 0.353249 [px]\n Termination : Convergence\n\n => Continued observations: 500\n => Added observations: 490\n\nBundle adjustment report\n------------------------\n Residuals : 10080\n Parameters : 1715\n Iterations : 15\n Time : 0.220211 [s]\n Initial cost : 0.335496 [px]\n Final cost : 0.327148 [px]\n Termination : Convergence\n\n => Merged observations: 389\n => Completed observations: 295\n => Filtered observations: 26\n => Changed observations: 0.116298\n\nBundle adjustment report\n------------------------\n Residuals : 10240\n Parameters : 1634\n Iterations : 2\n Time : 0.0284529 [s]\n Initial cost : 0.381827 [px]\n Final cost : 0.373469 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 7\n => Filtered observations: 2\n => Changed observations: 0.001455\n\n==============================================================================\nRegistering image #73 (58)\n==============================================================================\n\n => Image sees 539 / 1292 points\n\nPose refinement report\n----------------------\n Residuals : 1098\n Parameters : 6\n Iterations : 5\n Time : 0.00713491 [s]\n Initial cost : 0.376807 [px]\n Final cost : 0.360015 [px]\n Termination : Convergence\n\n => Continued observations: 524\n => Added observations: 506\n\nBundle adjustment report\n------------------------\n Residuals : 10174\n Parameters : 2024\n Iterations : 7\n Time : 0.103331 [s]\n Initial cost : 0.341029 [px]\n Final cost : 0.332557 [px]\n Termination : Convergence\n\n => Merged observations: 196\n => Completed observations: 221\n => Filtered observations: 27\n => Changed observations: 0.076040\n\nBundle adjustment report\n------------------------\n Residuals : 10318\n Parameters : 1967\n Iterations : 3\n Time : 0.0426841 [s]\n Initial cost : 0.389802 [px]\n Final cost : 0.380236 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 1\n => Changed observations: 0.001184\n\n==============================================================================\nRegistering image #74 (59)\n==============================================================================\n\n => Image sees 612 / 1277 points\n\nPose refinement report\n----------------------\n Residuals : 1266\n Parameters : 6\n Iterations : 5\n Time : 0.00823903 [s]\n Initial cost : 0.443624 [px]\n Final cost : 0.367393 [px]\n Termination : Convergence\n\n => Continued observations: 604\n => Added observations: 439\n\nBundle adjustment report\n------------------------\n Residuals : 10448\n Parameters : 2276\n Iterations : 10\n Time : 0.143524 [s]\n Initial cost : 0.343845 [px]\n Final cost : 0.334538 [px]\n Termination : Convergence\n\n => Merged observations: 283\n => Completed observations: 135\n => Filtered observations: 34\n => Changed observations: 0.076056\n\nBundle adjustment report\n------------------------\n Residuals : 10486\n Parameters : 2219\n Iterations : 2\n Time : 0.0320048 [s]\n Initial cost : 0.384249 [px]\n Final cost : 0.376226 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 16\n => Filtered observations: 0\n => Changed observations: 0.002683\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 7\n => Merged observations: 567\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.228622e+04 0.00e+00 7.17e+03 0.00e+00 0.00e+00 1.00e+04 0 7.15e-02 2.66e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 1.4725e+07\n Nonzeros in L: 62481\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.3\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 1.4725e+07\n nnz(L): 62481\n OK\n 1 1.205199e+04 2.34e+02 4.66e+02 1.51e+01 9.99e-01 3.00e+04 1 2.65e-01 5.31e-01\n 2 1.205135e+04 6.41e-01 1.33e+02 6.05e+00 1.00e+00 9.00e+04 1 1.64e-01 6.95e-01\n 3 1.205124e+04 1.11e-01 7.54e+01 5.62e+00 1.00e+00 2.70e+05 1 1.71e-01 8.66e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 114998\n Parameters : 24965\n Iterations : 4\n Time : 0.978537 [s]\n Initial cost : 0.326862 [px]\n Final cost : 0.323721 [px]\n Termination : Convergence\n\n => Completed observations: 7\n => Merged observations: 58\n => Filtered observations: 3\n => Changed observations: 0.001183\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.211489e+04 0.00e+00 2.69e+03 0.00e+00 0.00e+00 1.00e+04 0 6.17e-02 2.34e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 1.4725e+07\n Nonzeros in L: 62481\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.3\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 1.4725e+07\n nnz(L): 62481\n OK\n 1 1.209947e+04 1.54e+01 3.88e+01 1.64e+00 1.00e+00 3.00e+04 1 2.55e-01 4.89e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 115000\n Parameters : 24956\n Iterations : 2\n Time : 0.594738 [s]\n Initial cost : 0.324572 [px]\n Final cost : 0.324365 [px]\n Termination : Convergence\n\n => Completed observations: 1\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000052\n => Filtered images: 0\n\n==============================================================================\nRegistering image #75 (60)\n==============================================================================\n\n => Image sees 556 / 1115 points\n\nPose refinement report\n----------------------\n Residuals : 1126\n Parameters : 6\n Iterations : 5\n Time : 0.0071969 [s]\n Initial cost : 0.376153 [px]\n Final cost : 0.357347 [px]\n Termination : Convergence\n\n => Continued observations: 546\n => Added observations: 342\n\nBundle adjustment report\n------------------------\n Residuals : 10554\n Parameters : 2219\n Iterations : 9\n Time : 0.143494 [s]\n Initial cost : 0.321096 [px]\n Final cost : 0.31015 [px]\n Termination : Convergence\n\n => Merged observations: 203\n => Completed observations: 134\n => Filtered observations: 13\n => Changed observations: 0.058725\n\nBundle adjustment report\n------------------------\n Residuals : 10656\n Parameters : 2165\n Iterations : 2\n Time : 0.0336242 [s]\n Initial cost : 0.373011 [px]\n Final cost : 0.367143 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000166\n\n==============================================================================\nRegistering image #76 (61)\n==============================================================================\n\n => Image sees 597 / 1086 points\n\nPose refinement report\n----------------------\n Residuals : 1190\n Parameters : 6\n Iterations : 5\n Time : 0.00891781 [s]\n Initial cost : 0.370264 [px]\n Final cost : 0.344878 [px]\n Termination : Convergence\n\n => Continued observations: 578\n => Added observations: 278\n\nBundle adjustment report\n------------------------\n Residuals : 10380\n Parameters : 2192\n Iterations : 12\n Time : 0.172343 [s]\n Initial cost : 0.336587 [px]\n Final cost : 0.326632 [px]\n Termination : Convergence\n\n => Merged observations: 125\n => Completed observations: 84\n => Filtered observations: 30\n => Changed observations: 0.040577\n\nBundle adjustment report\n------------------------\n Residuals : 10378\n Parameters : 2141\n Iterations : 2\n Time : 0.034133 [s]\n Initial cost : 0.377237 [px]\n Final cost : 0.371048 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 3\n => Changed observations: 0.000679\n\n==============================================================================\nRegistering image #77 (62)\n==============================================================================\n\n => Image sees 550 / 1165 points\n\nPose refinement report\n----------------------\n Residuals : 1124\n Parameters : 6\n Iterations : 5\n Time : 0.00959778 [s]\n Initial cost : 0.376839 [px]\n Final cost : 0.357556 [px]\n Termination : Convergence\n\n => Continued observations: 542\n => Added observations: 314\n\nBundle adjustment report\n------------------------\n Residuals : 10202\n Parameters : 2192\n Iterations : 9\n Time : 0.138867 [s]\n Initial cost : 0.324465 [px]\n Final cost : 0.315127 [px]\n Termination : Convergence\n\n => Merged observations: 179\n => Completed observations: 56\n => Filtered observations: 11\n => Changed observations: 0.042627\n\nBundle adjustment report\n------------------------\n Residuals : 10164\n Parameters : 2156\n Iterations : 2\n Time : 0.036741 [s]\n Initial cost : 0.387355 [px]\n Final cost : 0.3812 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 0\n => Filtered observations: 1\n => Changed observations: 0.000174\n\n==============================================================================\nRegistering image #78 (63)\n==============================================================================\n\n => Image sees 601 / 1155 points\n\nPose refinement report\n----------------------\n Residuals : 1244\n Parameters : 6\n Iterations : 5\n Time : 0.010709 [s]\n Initial cost : 0.355822 [px]\n Final cost : 0.33567 [px]\n Termination : Convergence\n\n => Continued observations: 590\n => Added observations: 317\n\nBundle adjustment report\n------------------------\n Residuals : 10470\n Parameters : 2267\n Iterations : 7\n Time : 0.105769 [s]\n Initial cost : 0.321994 [px]\n Final cost : 0.315396 [px]\n Termination : Convergence\n\n => Merged observations: 245\n => Completed observations: 50\n => Filtered observations: 12\n => Changed observations: 0.051884\n\nBundle adjustment report\n------------------------\n Residuals : 10490\n Parameters : 2228\n Iterations : 2\n Time : 0.031054 [s]\n Initial cost : 0.380076 [px]\n Final cost : 0.374409 [px]\n Termination : Convergence\n\n => Merged observations: 22\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.004390\n\n==============================================================================\nRegistering image #79 (64)\n==============================================================================\n\n => Image sees 572 / 1085 points\n\nPose refinement report\n----------------------\n Residuals : 1200\n Parameters : 6\n Iterations : 6\n Time : 0.011317 [s]\n Initial cost : 0.937625 [px]\n Final cost : 0.32355 [px]\n Termination : Convergence\n\n => Continued observations: 561\n => Added observations: 276\n\nBundle adjustment report\n------------------------\n Residuals : 10090\n Parameters : 2129\n Iterations : 14\n Time : 0.19755 [s]\n Initial cost : 0.326562 [px]\n Final cost : 0.317685 [px]\n Termination : Convergence\n\n => Merged observations: 263\n => Completed observations: 80\n => Filtered observations: 14\n => Changed observations: 0.061904\n\nBundle adjustment report\n------------------------\n Residuals : 10238\n Parameters : 2096\n Iterations : 2\n Time : 0.0299571 [s]\n Initial cost : 0.380285 [px]\n Final cost : 0.374192 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 3\n => Filtered observations: 1\n => Changed observations: 0.000685\n\n==============================================================================\nRegistering image #80 (65)\n==============================================================================\n\n => Image sees 563 / 1037 points\n\nPose refinement report\n----------------------\n Residuals : 1196\n Parameters : 6\n Iterations : 5\n Time : 0.00767398 [s]\n Initial cost : 0.541166 [px]\n Final cost : 0.324577 [px]\n Termination : Convergence\n\n => Continued observations: 556\n => Added observations: 226\n\nBundle adjustment report\n------------------------\n Residuals : 10218\n Parameters : 2096\n Iterations : 9\n Time : 0.176065 [s]\n Initial cost : 0.324537 [px]\n Final cost : 0.313922 [px]\n Termination : Convergence\n\n => Merged observations: 323\n => Completed observations: 38\n => Filtered observations: 15\n => Changed observations: 0.065723\n\nBundle adjustment report\n------------------------\n Residuals : 10160\n Parameters : 2042\n Iterations : 2\n Time : 0.0310459 [s]\n Initial cost : 0.369295 [px]\n Final cost : 0.365341 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000351\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 5\n => Merged observations: 1089\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.387944e+04 0.00e+00 4.26e+03 0.00e+00 0.00e+00 1.00e+04 0 6.44e-02 2.79e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 1.9697e+07\n Nonzeros in L: 75855\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.3\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 1.9697e+07\n nnz(L): 75855\n OK\n 1 1.371115e+04 1.68e+02 5.41e+02 1.25e+01 9.99e-01 3.00e+04 1 3.00e-01 5.79e-01\n 2 1.371037e+04 7.74e-01 1.77e+02 6.02e+00 9.99e-01 9.00e+04 1 1.71e-01 7.51e-01\n 3 1.371027e+04 1.08e-01 1.05e+02 4.89e+00 9.99e-01 2.70e+05 1 1.85e-01 9.36e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 125930\n Parameters : 26885\n Iterations : 4\n Time : 1.0573 [s]\n Initial cost : 0.331987 [px]\n Final cost : 0.329958 [px]\n Termination : Convergence\n\n => Completed observations: 2\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000064\n => Filtered images: 0\n\n==============================================================================\nRegistering image #81 (66)\n==============================================================================\n\n => Image sees 583 / 1108 points\n\nPose refinement report\n----------------------\n Residuals : 1218\n Parameters : 6\n Iterations : 4\n Time : 0.00942206 [s]\n Initial cost : 0.327887 [px]\n Final cost : 0.322945 [px]\n Termination : Convergence\n\n => Continued observations: 570\n => Added observations: 375\n\nBundle adjustment report\n------------------------\n Residuals : 10504\n Parameters : 2165\n Iterations : 9\n Time : 0.142224 [s]\n Initial cost : 0.300948 [px]\n Final cost : 0.292788 [px]\n Termination : Convergence\n\n => Merged observations: 376\n => Completed observations: 61\n => Filtered observations: 7\n => Changed observations: 0.075665\n\nBundle adjustment report\n------------------------\n Residuals : 10404\n Parameters : 2102\n Iterations : 2\n Time : 0.0327368 [s]\n Initial cost : 0.350275 [px]\n Final cost : 0.345764 [px]\n Termination : Convergence\n\n => Merged observations: 8\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.001720\n\n==============================================================================\nRegistering image #84 (67)\n==============================================================================\n\n => Image sees 558 / 1210 points\n\nPose refinement report\n----------------------\n Residuals : 1284\n Parameters : 6\n Iterations : 5\n Time : 0.010237 [s]\n Initial cost : 0.482229 [px]\n Final cost : 0.36524 [px]\n Termination : Convergence\n\n => Continued observations: 546\n => Added observations: 250\n\nBundle adjustment report\n------------------------\n Residuals : 12822\n Parameters : 1763\n Iterations : 6\n Time : 0.103904 [s]\n Initial cost : 0.302408 [px]\n Final cost : 0.288822 [px]\n Termination : Convergence\n\n => Merged observations: 922\n => Completed observations: 55\n => Filtered observations: 13\n => Changed observations: 0.131439\n\nBundle adjustment report\n------------------------\n Residuals : 11272\n Parameters : 1820\n Iterations : 2\n Time : 0.0313981 [s]\n Initial cost : 0.355215 [px]\n Final cost : 0.349171 [px]\n Termination : Convergence\n\n => Merged observations: 15\n => Completed observations: 3\n => Filtered observations: 0\n => Changed observations: 0.002633\n\n==============================================================================\nRegistering image #83 (68)\n==============================================================================\n\n => Image sees 676 / 1134 points\n\nPose refinement report\n----------------------\n Residuals : 1508\n Parameters : 6\n Iterations : 4\n Time : 0.00874996 [s]\n Initial cost : 0.333043 [px]\n Final cost : 0.322893 [px]\n Termination : Convergence\n\n => Continued observations: 669\n => Added observations: 345\n\nBundle adjustment report\n------------------------\n Residuals : 11752\n Parameters : 2300\n Iterations : 9\n Time : 0.15192 [s]\n Initial cost : 0.315279 [px]\n Final cost : 0.303899 [px]\n Termination : Convergence\n\n => Merged observations: 582\n => Completed observations: 69\n => Filtered observations: 24\n => Changed observations: 0.103543\n\nBundle adjustment report\n------------------------\n Residuals : 11636\n Parameters : 2210\n Iterations : 2\n Time : 0.0360591 [s]\n Initial cost : 0.351931 [px]\n Final cost : 0.345198 [px]\n Termination : Convergence\n\n => Merged observations: 40\n => Completed observations: 0\n => Filtered observations: 0\n => Changed observations: 0.006191\n\n==============================================================================\nRegistering image #82 (69)\n==============================================================================\n\n => Image sees 757 / 1053 points\n\nPose refinement report\n----------------------\n Residuals : 1634\n Parameters : 6\n Iterations : 4\n Time : 0.00885987 [s]\n Initial cost : 0.316441 [px]\n Final cost : 0.311308 [px]\n Termination : Convergence\n\n => Continued observations: 747\n => Added observations: 145\n\nBundle adjustment report\n------------------------\n Residuals : 12216\n Parameters : 2195\n Iterations : 13\n Time : 0.213901 [s]\n Initial cost : 0.302696 [px]\n Final cost : 0.294957 [px]\n Termination : Convergence\n\n => Merged observations: 589\n => Completed observations: 63\n => Filtered observations: 28\n => Changed observations: 0.105394\n\nBundle adjustment report\n------------------------\n Residuals : 12086\n Parameters : 2090\n Iterations : 2\n Time : 0.0376649 [s]\n Initial cost : 0.344098 [px]\n Final cost : 0.338326 [px]\n Termination : Convergence\n\n => Merged observations: 19\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.003601\n\n==============================================================================\nRegistering image #85 (70)\n==============================================================================\n\n => Image sees 733 / 1224 points\n\nPose refinement report\n----------------------\n Residuals : 1636\n Parameters : 6\n Iterations : 6\n Time : 0.012866 [s]\n Initial cost : 0.713898 [px]\n Final cost : 0.355709 [px]\n Termination : Convergence\n\n => Continued observations: 727\n => Added observations: 290\n\nBundle adjustment report\n------------------------\n Residuals : 13516\n Parameters : 2255\n Iterations : 8\n Time : 0.137496 [s]\n Initial cost : 0.31311 [px]\n Final cost : 0.303131 [px]\n Termination : Convergence\n\n => Merged observations: 927\n => Completed observations: 69\n => Filtered observations: 14\n => Changed observations: 0.128679\n\nBundle adjustment report\n------------------------\n Residuals : 13138\n Parameters : 2228\n Iterations : 2\n Time : 0.037565 [s]\n Initial cost : 0.358913 [px]\n Final cost : 0.35345 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 1\n => Changed observations: 0.000280\n\n==============================================================================\nRegistering image #86 (71)\n==============================================================================\n\n => Image sees 732 / 1202 points\n\nPose refinement report\n----------------------\n Residuals : 1660\n Parameters : 6\n Iterations : 4\n Time : 0.012964 [s]\n Initial cost : 0.368322 [px]\n Final cost : 0.361435 [px]\n Termination : Convergence\n\n => Continued observations: 729\n => Added observations: 280\n\nBundle adjustment report\n------------------------\n Residuals : 14042\n Parameters : 1943\n Iterations : 18\n Time : 0.358228 [s]\n Initial cost : 0.314276 [px]\n Final cost : 0.303877 [px]\n Termination : Convergence\n\n => Merged observations: 1016\n => Completed observations: 156\n => Filtered observations: 26\n => Changed observations: 0.151091\n\nBundle adjustment report\n------------------------\n Residuals : 13706\n Parameters : 1802\n Iterations : 3\n Time : 0.051096 [s]\n Initial cost : 0.351667 [px]\n Final cost : 0.346721 [px]\n Termination : Convergence\n\n => Merged observations: 15\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.002053\n\n==============================================================================\nRegistering image #87 (72)\n==============================================================================\n\n => Image sees 769 / 1328 points\n\nPose refinement report\n----------------------\n Residuals : 1676\n Parameters : 6\n Iterations : 6\n Time : 0.013679 [s]\n Initial cost : 0.623438 [px]\n Final cost : 0.363368 [px]\n Termination : Convergence\n\n => Continued observations: 764\n => Added observations: 325\n\nBundle adjustment report\n------------------------\n Residuals : 14026\n Parameters : 2108\n Iterations : 14\n Time : 0.24511 [s]\n Initial cost : 0.321211 [px]\n Final cost : 0.310937 [px]\n Termination : Convergence\n\n => Merged observations: 682\n => Completed observations: 75\n => Filtered observations: 25\n => Changed observations: 0.097227\n\nBundle adjustment report\n------------------------\n Residuals : 13896\n Parameters : 2000\n Iterations : 2\n Time : 0.0364189 [s]\n Initial cost : 0.3643 [px]\n Final cost : 0.359114 [px]\n Termination : Convergence\n\n => Merged observations: 26\n => Completed observations: 5\n => Filtered observations: 0\n => Changed observations: 0.003882\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 10\n => Merged observations: 1022\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.635117e+04 0.00e+00 1.28e+04 0.00e+00 0.00e+00 1.00e+04 0 7.64e-02 3.53e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 2.6781e+07\n Nonzeros in L: 93096\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.4\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 2.6781e+07\n nnz(L): 93096\n OK\n 1 1.606848e+04 2.83e+02 3.15e+02 5.86e+00 1.00e+00 3.00e+04 1 3.93e-01 7.46e-01\n 2 1.606813e+04 3.53e-01 1.47e+02 4.12e+00 1.00e+00 9.00e+04 1 1.95e-01 9.41e-01\n 3 1.606807e+04 5.63e-02 1.04e+02 3.16e+00 1.00e+00 2.70e+05 1 1.94e-01 1.14e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 140316\n Parameters : 28376\n Iterations : 4\n Time : 1.2719 [s]\n Initial cost : 0.341366 [px]\n Final cost : 0.338398 [px]\n Termination : Convergence\n\n => Completed observations: 2\n => Merged observations: 0\n => Filtered observations: 8\n => Changed observations: 0.000143\n => Filtered images: 0\n\n==============================================================================\nRegistering image #88 (73)\n==============================================================================\n\n => Image sees 797 / 1446 points\n\nPose refinement report\n----------------------\n Residuals : 1664\n Parameters : 6\n Iterations : 6\n Time : 0.0136111 [s]\n Initial cost : 0.666955 [px]\n Final cost : 0.365721 [px]\n Termination : Convergence\n\n => Continued observations: 793\n => Added observations: 364\n\nBundle adjustment report\n------------------------\n Residuals : 13586\n Parameters : 2336\n Iterations : 13\n Time : 0.239697 [s]\n Initial cost : 0.312388 [px]\n Final cost : 0.301309 [px]\n Termination : Convergence\n\n => Merged observations: 331\n => Completed observations: 90\n => Filtered observations: 19\n => Changed observations: 0.056840\n\nBundle adjustment report\n------------------------\n Residuals : 13546\n Parameters : 2279\n Iterations : 2\n Time : 0.037153 [s]\n Initial cost : 0.352495 [px]\n Final cost : 0.348656 [px]\n Termination : Convergence\n\n => Merged observations: 14\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.002330\n\n==============================================================================\nRegistering image #89 (74)\n==============================================================================\n\n => Image sees 840 / 1437 points\n\nPose refinement report\n----------------------\n Residuals : 1756\n Parameters : 6\n Iterations : 4\n Time : 0.0106871 [s]\n Initial cost : 0.370651 [px]\n Final cost : 0.367266 [px]\n Termination : Convergence\n\n => Continued observations: 837\n => Added observations: 410\n\nBundle adjustment report\n------------------------\n Residuals : 13924\n Parameters : 2642\n Iterations : 7\n Time : 0.126923 [s]\n Initial cost : 0.321756 [px]\n Final cost : 0.307415 [px]\n Termination : Convergence\n\n => Merged observations: 368\n => Completed observations: 65\n => Filtered observations: 31\n => Changed observations: 0.059941\n\nBundle adjustment report\n------------------------\n Residuals : 14026\n Parameters : 2597\n Iterations : 3\n Time : 0.0562088 [s]\n Initial cost : 0.354127 [px]\n Final cost : 0.349841 [px]\n Termination : Convergence\n\n => Merged observations: 33\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.004499\n\n==============================================================================\nRegistering image #90 (75)\n==============================================================================\n\n => Image sees 746 / 1390 points\n\nPose refinement report\n----------------------\n Residuals : 1524\n Parameters : 6\n Iterations : 5\n Time : 0.0129991 [s]\n Initial cost : 0.457721 [px]\n Final cost : 0.384645 [px]\n Termination : Convergence\n\n => Continued observations: 740\n => Added observations: 422\n\nBundle adjustment report\n------------------------\n Residuals : 13456\n Parameters : 2678\n Iterations : 8\n Time : 0.195502 [s]\n Initial cost : 0.326014 [px]\n Final cost : 0.314854 [px]\n Termination : Convergence\n\n => Merged observations: 182\n => Completed observations: 23\n => Filtered observations: 28\n => Changed observations: 0.031038\n\nBundle adjustment report\n------------------------\n Residuals : 13400\n Parameters : 2657\n Iterations : 3\n Time : 0.080219 [s]\n Initial cost : 0.362507 [px]\n Final cost : 0.35972 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000267\n\n==============================================================================\nRegistering image #91 (76)\n==============================================================================\n\n => Image sees 730 / 1400 points\n\nPose refinement report\n----------------------\n Residuals : 1474\n Parameters : 6\n Iterations : 4\n Time : 0.01051 [s]\n Initial cost : 0.378261 [px]\n Final cost : 0.372806 [px]\n Termination : Convergence\n\n => Continued observations: 721\n => Added observations: 463\n\nBundle adjustment report\n------------------------\n Residuals : 13210\n Parameters : 2957\n Iterations : 9\n Time : 0.210458 [s]\n Initial cost : 0.320996 [px]\n Final cost : 0.311467 [px]\n Termination : Convergence\n\n => Merged observations: 113\n => Completed observations: 33\n => Filtered observations: 18\n => Changed observations: 0.022189\n\nBundle adjustment report\n------------------------\n Residuals : 13204\n Parameters : 2924\n Iterations : 2\n Time : 0.0453889 [s]\n Initial cost : 0.374952 [px]\n Final cost : 0.372512 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 0\n => Changed observations: 0.000271\n\n==============================================================================\nRegistering image #92 (77)\n==============================================================================\n\n => Image sees 825 / 1606 points\n\nPose refinement report\n----------------------\n Residuals : 1660\n Parameters : 6\n Iterations : 5\n Time : 0.0138099 [s]\n Initial cost : 0.439136 [px]\n Final cost : 0.349995 [px]\n Termination : Convergence\n\n => Continued observations: 821\n => Added observations: 508\n\nBundle adjustment report\n------------------------\n Residuals : 13656\n Parameters : 3329\n Iterations : 8\n Time : 0.20151 [s]\n Initial cost : 0.320654 [px]\n Final cost : 0.312633 [px]\n Termination : Convergence\n\n => Merged observations: 59\n => Completed observations: 19\n => Filtered observations: 14\n => Changed observations: 0.012066\n\nBundle adjustment report\n------------------------\n Residuals : 13670\n Parameters : 3323\n Iterations : 2\n Time : 0.0469172 [s]\n Initial cost : 0.381642 [px]\n Final cost : 0.378077 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000131\n\n==============================================================================\nRegistering image #93 (78)\n==============================================================================\n\n => Image sees 897 / 1562 points\n\nPose refinement report\n----------------------\n Residuals : 1820\n Parameters : 6\n Iterations : 4\n Time : 0.0172701 [s]\n Initial cost : 0.353545 [px]\n Final cost : 0.342143 [px]\n Termination : Convergence\n\n => Continued observations: 893\n => Added observations: 427\n\nBundle adjustment report\n------------------------\n Residuals : 14392\n Parameters : 3632\n Iterations : 10\n Time : 0.235359 [s]\n Initial cost : 0.318413 [px]\n Final cost : 0.311072 [px]\n Termination : Convergence\n\n => Merged observations: 75\n => Completed observations: 9\n => Filtered observations: 15\n => Changed observations: 0.012364\n\nBundle adjustment report\n------------------------\n Residuals : 14376\n Parameters : 3617\n Iterations : 3\n Time : 0.0785351 [s]\n Initial cost : 0.380056 [px]\n Final cost : 0.377747 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 7\n => Filtered observations: 0\n => Changed observations: 0.000875\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 9\n => Merged observations: 115\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.822114e+04 0.00e+00 2.11e+03 0.00e+00 0.00e+00 1.00e+04 0 8.09e-02 3.68e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 3.4058e+07\n Nonzeros in L: 1.0928e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.4\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 3.4058e+07\n nnz(L): 1.0928e+05\n OK\n 1 1.779238e+04 4.29e+02 2.58e+02 3.15e+00 1.00e+00 3.00e+04 1 3.88e-01 7.56e-01\n 2 1.779227e+04 1.08e-01 6.56e+01 6.68e-01 1.00e+00 9.00e+04 1 2.27e-01 9.83e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 155354\n Parameters : 31724\n Iterations : 3\n Time : 1.14734 [s]\n Initial cost : 0.342473 [px]\n Final cost : 0.338419 [px]\n Termination : Convergence\n\n => Completed observations: 6\n => Merged observations: 108\n => Filtered observations: 8\n => Changed observations: 0.001571\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 1.784666e+04 0.00e+00 5.76e+03 0.00e+00 0.00e+00 1.00e+04 0 6.39e-02 3.23e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 3.4058e+07\n Nonzeros in L: 1.0928e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.4\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 3.4058e+07\n nnz(L): 1.0928e+05\n OK\n 1 1.781511e+04 3.15e+01 2.98e+01 2.99e-01 1.00e+00 3.00e+04 1 4.06e-01 7.28e-01\n\n\nBundle adjustment report\n------------------------\n Residuals : 155340\n Parameters : 31706\n Iterations : 2\n Time : 0.88378 [s]\n Initial cost : 0.338951 [px]\n Final cost : 0.338651 [px]\n Termination : Convergence\n\n => Completed observations: 4\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000077\n => Filtered images: 0\n\n==============================================================================\nRegistering image #94 (79)\n==============================================================================\n\n => Image sees 920 / 1466 points\n\nPose refinement report\n----------------------\n Residuals : 1870\n Parameters : 6\n Iterations : 4\n Time : 0.00987506 [s]\n Initial cost : 0.29887 [px]\n Final cost : 0.294626 [px]\n Termination : Convergence\n\n => Continued observations: 916\n => Added observations: 226\n\nBundle adjustment report\n------------------------\n Residuals : 15278\n Parameters : 3194\n Iterations : 9\n Time : 0.195541 [s]\n Initial cost : 0.281675 [px]\n Final cost : 0.276769 [px]\n Termination : Convergence\n\n => Merged observations: 73\n => Completed observations: 17\n => Filtered observations: 16\n => Changed observations: 0.012475\n\nBundle adjustment report\n------------------------\n Residuals : 15260\n Parameters : 3179\n Iterations : 3\n Time : 0.084758 [s]\n Initial cost : 0.327613 [px]\n Final cost : 0.323419 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 2\n => Filtered observations: 1\n => Changed observations: 0.000353\n\n==============================================================================\nRegistering image #95 (80)\n==============================================================================\n\n => Image sees 928 / 1412 points\n\nPose refinement report\n----------------------\n Residuals : 1880\n Parameters : 6\n Iterations : 4\n Time : 0.0102768 [s]\n Initial cost : 0.290377 [px]\n Final cost : 0.281218 [px]\n Termination : Convergence\n\n => Continued observations: 926\n => Added observations: 186\n\nBundle adjustment report\n------------------------\n Residuals : 16242\n Parameters : 2915\n Iterations : 17\n Time : 0.376926 [s]\n Initial cost : 0.28146 [px]\n Final cost : 0.277721 [px]\n Termination : Convergence\n\n => Merged observations: 46\n => Completed observations: 36\n => Filtered observations: 22\n => Changed observations: 0.011557\n\nBundle adjustment report\n------------------------\n Residuals : 16262\n Parameters : 2900\n Iterations : 2\n Time : 0.04583 [s]\n Initial cost : 0.321469 [px]\n Final cost : 0.318449 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000444\n\n==============================================================================\nRegistering image #101 (81)\n==============================================================================\n\n => Image sees 891 / 1510 points\n\nPose refinement report\n----------------------\n Residuals : 1804\n Parameters : 6\n Iterations : 6\n Time : 0.0148752 [s]\n Initial cost : 0.663579 [px]\n Final cost : 0.278372 [px]\n Termination : Convergence\n\n => Continued observations: 888\n => Added observations: 376\n\nBundle adjustment report\n------------------------\n Residuals : 15828\n Parameters : 3032\n Iterations : 11\n Time : 0.239078 [s]\n Initial cost : 0.283675 [px]\n Final cost : 0.278099 [px]\n Termination : Convergence\n\n => Merged observations: 27\n => Completed observations: 48\n => Filtered observations: 20\n => Changed observations: 0.010959\n\nBundle adjustment report\n------------------------\n Residuals : 15878\n Parameters : 3020\n Iterations : 3\n Time : 0.0668828 [s]\n Initial cost : 0.311389 [px]\n Final cost : 0.306635 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 0\n => Changed observations: 0.000460\n\n==============================================================================\nRegistering image #100 (82)\n==============================================================================\n\n => Image sees 971 / 1493 points\n\nPose refinement report\n----------------------\n Residuals : 1964\n Parameters : 6\n Iterations : 5\n Time : 0.0137129 [s]\n Initial cost : 0.419548 [px]\n Final cost : 0.274515 [px]\n Termination : Convergence\n\n => Continued observations: 966\n => Added observations: 307\n\nBundle adjustment report\n------------------------\n Residuals : 17578\n Parameters : 3305\n Iterations : 9\n Time : 0.210749 [s]\n Initial cost : 0.272144 [px]\n Final cost : 0.2676 [px]\n Termination : Convergence\n\n => Merged observations: 109\n => Completed observations: 54\n => Filtered observations: 13\n => Changed observations: 0.018684\n\nBundle adjustment report\n------------------------\n Residuals : 17628\n Parameters : 3284\n Iterations : 3\n Time : 0.086086 [s]\n Initial cost : 0.313607 [px]\n Final cost : 0.309116 [px]\n Termination : Convergence\n\n => Merged observations: 8\n => Completed observations: 5\n => Filtered observations: 1\n => Changed observations: 0.001482\n\n==============================================================================\nRegistering image #97 (83)\n==============================================================================\n\n => Image sees 1018 / 1509 points\n\nPose refinement report\n----------------------\n Residuals : 2096\n Parameters : 6\n Iterations : 6\n Time : 0.026963 [s]\n Initial cost : 0.502811 [px]\n Final cost : 0.30987 [px]\n Termination : Convergence\n\n => Continued observations: 1016\n => Added observations: 381\n\nBundle adjustment report\n------------------------\n Residuals : 18154\n Parameters : 3194\n Iterations : 12\n Time : 0.276313 [s]\n Initial cost : 0.288439 [px]\n Final cost : 0.282274 [px]\n Termination : Convergence\n\n => Merged observations: 177\n => Completed observations: 89\n => Filtered observations: 25\n => Changed observations: 0.029673\n\nBundle adjustment report\n------------------------\n Residuals : 18272\n Parameters : 3164\n Iterations : 3\n Time : 0.0696349 [s]\n Initial cost : 0.332169 [px]\n Final cost : 0.32687 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 5\n => Filtered observations: 1\n => Changed observations: 0.000608\n\n==============================================================================\nRegistering image #96 (84)\n==============================================================================\n\n => Image sees 1073 / 1395 points\n\nPose refinement report\n----------------------\n Residuals : 2200\n Parameters : 6\n Iterations : 5\n Time : 0.014107 [s]\n Initial cost : 0.32279 [px]\n Final cost : 0.303469 [px]\n Termination : Convergence\n\n => Continued observations: 1071\n => Added observations: 216\n\nBundle adjustment report\n------------------------\n Residuals : 19088\n Parameters : 2927\n Iterations : 11\n Time : 0.261038 [s]\n Initial cost : 0.298088 [px]\n Final cost : 0.292224 [px]\n Termination : Convergence\n\n => Merged observations: 105\n => Completed observations: 66\n => Filtered observations: 36\n => Changed observations: 0.020043\n\nBundle adjustment report\n------------------------\n Residuals : 19150\n Parameters : 2894\n Iterations : 3\n Time : 0.073041 [s]\n Initial cost : 0.335825 [px]\n Final cost : 0.329876 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 17\n => Filtered observations: 0\n => Changed observations: 0.001641\n\n==============================================================================\nRegistering image #99 (85)\n==============================================================================\n\n => Image sees 1040 / 1412 points\n\nPose refinement report\n----------------------\n Residuals : 2118\n Parameters : 6\n Iterations : 4\n Time : 0.0114272 [s]\n Initial cost : 0.30233 [px]\n Final cost : 0.297493 [px]\n Termination : Convergence\n\n => Continued observations: 1037\n => Added observations: 202\n\nBundle adjustment report\n------------------------\n Residuals : 20012\n Parameters : 2738\n Iterations : 9\n Time : 0.21366 [s]\n Initial cost : 0.287381 [px]\n Final cost : 0.281694 [px]\n Termination : Convergence\n\n => Merged observations: 122\n => Completed observations: 43\n => Filtered observations: 36\n => Changed observations: 0.018877\n\nBundle adjustment report\n------------------------\n Residuals : 20026\n Parameters : 2708\n Iterations : 3\n Time : 0.080409 [s]\n Initial cost : 0.3284 [px]\n Final cost : 0.323126 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 19\n => Filtered observations: 1\n => Changed observations: 0.001878\n\n==============================================================================\nRegistering image #98 (86)\n==============================================================================\n\n => Image sees 1063 / 1363 points\n\nPose refinement report\n----------------------\n Residuals : 2166\n Parameters : 6\n Iterations : 5\n Time : 0.0148828 [s]\n Initial cost : 0.335085 [px]\n Final cost : 0.296669 [px]\n Termination : Convergence\n\n => Continued observations: 1060\n => Added observations: 135\n\nBundle adjustment report\n------------------------\n Residuals : 20956\n Parameters : 2639\n Iterations : 9\n Time : 0.21885 [s]\n Initial cost : 0.280647 [px]\n Final cost : 0.27562 [px]\n Termination : Convergence\n\n => Merged observations: 147\n => Completed observations: 29\n => Filtered observations: 17\n => Changed observations: 0.017248\n\nBundle adjustment report\n------------------------\n Residuals : 20904\n Parameters : 2612\n Iterations : 3\n Time : 0.07374 [s]\n Initial cost : 0.324697 [px]\n Final cost : 0.32119 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 8\n => Filtered observations: 0\n => Changed observations: 0.000717\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 5\n => Merged observations: 83\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.032781e+04 0.00e+00 8.30e+03 0.00e+00 0.00e+00 1.00e+04 0 6.94e-02 3.64e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 4.5663e+07\n Nonzeros in L: 1.3287e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.5\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 4.5663e+07\n nnz(L): 1.3287e+05\n OK\n 1 2.007577e+04 2.52e+02 3.63e+02 3.97e+00 1.00e+00 3.00e+04 1 4.21e-01 7.85e-01\n 2 2.007562e+04 1.49e-01 1.55e+01 2.24e+00 1.00e+00 9.00e+04 1 2.23e-01 1.01e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 175624\n Parameters : 33701\n Iterations : 3\n Time : 1.17623 [s]\n Initial cost : 0.340215 [px]\n Final cost : 0.338098 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 32\n => Filtered observations: 6\n => Changed observations: 0.000433\n => Filtered images: 0\n\n==============================================================================\nRegistering image #7 (87)\n==============================================================================\n\n => Image sees 538 / 1211 points\n\nPose refinement report\n----------------------\n Residuals : 1172\n Parameters : 6\n Iterations : 4\n Time : 0.00632 [s]\n Initial cost : 0.321419 [px]\n Final cost : 0.298883 [px]\n Termination : Convergence\n\n => Continued observations: 531\n => Added observations: 159\n\nBundle adjustment report\n------------------------\n Residuals : 10874\n Parameters : 1745\n Iterations : 6\n Time : 0.0857391 [s]\n Initial cost : 0.319105 [px]\n Final cost : 0.313053 [px]\n Termination : Convergence\n\n => Merged observations: 890\n => Completed observations: 170\n => Filtered observations: 28\n => Changed observations: 0.170346\n\nBundle adjustment report\n------------------------\n Residuals : 11774\n Parameters : 1616\n Iterations : 3\n Time : 0.0477459 [s]\n Initial cost : 0.345551 [px]\n Final cost : 0.339234 [px]\n Termination : Convergence\n\n => Merged observations: 37\n => Completed observations: 8\n => Filtered observations: 0\n => Changed observations: 0.007074\n\n==============================================================================\nRegistering image #31 (88)\n==============================================================================\n\n => Image sees 478 / 816 points\n\nPose refinement report\n----------------------\n Residuals : 1008\n Parameters : 6\n Iterations : 4\n Time : 0.00529504 [s]\n Initial cost : 0.369903 [px]\n Final cost : 0.36782 [px]\n Termination : Convergence\n\n => Continued observations: 477\n => Added observations: 184\n\nBundle adjustment report\n------------------------\n Residuals : 9354\n Parameters : 971\n Iterations : 5\n Time : 0.0585878 [s]\n Initial cost : 0.331598 [px]\n Final cost : 0.325892 [px]\n Termination : Convergence\n\n => Merged observations: 239\n => Completed observations: 71\n => Filtered observations: 19\n => Changed observations: 0.062942\n\nBundle adjustment report\n------------------------\n Residuals : 9412\n Parameters : 953\n Iterations : 3\n Time : 0.035804 [s]\n Initial cost : 0.388398 [px]\n Final cost : 0.38423 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 4\n => Filtered observations: 1\n => Changed observations: 0.000951\n\n==============================================================================\nRegistering image #38 (89)\n==============================================================================\n\n => Image sees 537 / 932 points\n\nPose refinement report\n----------------------\n Residuals : 1152\n Parameters : 6\n Iterations : 6\n Time : 0.00968885 [s]\n Initial cost : 0.64294 [px]\n Final cost : 0.35359 [px]\n Termination : Convergence\n\n => Continued observations: 522\n => Added observations: 168\n\nBundle adjustment report\n------------------------\n Residuals : 9432\n Parameters : 1631\n Iterations : 11\n Time : 0.136066 [s]\n Initial cost : 0.35497 [px]\n Final cost : 0.342375 [px]\n Termination : Convergence\n\n => Merged observations: 201\n => Completed observations: 40\n => Filtered observations: 22\n => Changed observations: 0.048346\n\nBundle adjustment report\n------------------------\n Residuals : 9380\n Parameters : 1580\n Iterations : 3\n Time : 0.0378869 [s]\n Initial cost : 0.407075 [px]\n Final cost : 0.400606 [px]\n Termination : Convergence\n\n => Merged observations: 13\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.003511\n\n==============================================================================\nRegistering image #6 (90)\n==============================================================================\n\n => Image sees 504 / 1170 points\n\nPose refinement report\n----------------------\n Residuals : 1068\n Parameters : 6\n Iterations : 5\n Time : 0.00811005 [s]\n Initial cost : 0.487239 [px]\n Final cost : 0.326958 [px]\n Termination : Convergence\n\n => Continued observations: 496\n => Added observations: 117\n\nBundle adjustment report\n------------------------\n Residuals : 11134\n Parameters : 1496\n Iterations : 8\n Time : 0.112636 [s]\n Initial cost : 0.320326 [px]\n Final cost : 0.315338 [px]\n Termination : Convergence\n\n => Merged observations: 537\n => Completed observations: 173\n => Filtered observations: 22\n => Changed observations: 0.111348\n\nBundle adjustment report\n------------------------\n Residuals : 11168\n Parameters : 1430\n Iterations : 3\n Time : 0.0440071 [s]\n Initial cost : 0.364234 [px]\n Final cost : 0.358079 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000152\n\n==============================================================================\nRegistering image #4 (91)\n==============================================================================\n\n => Image sees 512 / 1158 points\n\nPose refinement report\n----------------------\n Residuals : 1050\n Parameters : 6\n Iterations : 6\n Time : 0.00852799 [s]\n Initial cost : 0.629744 [px]\n Final cost : 0.317896 [px]\n Termination : Convergence\n\n => Continued observations: 498\n => Added observations: 176\n\nBundle adjustment report\n------------------------\n Residuals : 10710\n Parameters : 1271\n Iterations : 6\n Time : 0.083303 [s]\n Initial cost : 0.310886 [px]\n Final cost : 0.304178 [px]\n Termination : Convergence\n\n => Merged observations: 595\n => Completed observations: 289\n => Filtered observations: 22\n => Changed observations: 0.157346\n\nBundle adjustment report\n------------------------\n Residuals : 10532\n Parameters : 1160\n Iterations : 3\n Time : 0.0417349 [s]\n Initial cost : 0.362085 [px]\n Final cost : 0.355358 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 10\n => Filtered observations: 1\n => Changed observations: 0.001924\n\n==============================================================================\nRegistering image #5 (92)\n==============================================================================\n\n => Image sees 553 / 1130 points\n\nPose refinement report\n----------------------\n Residuals : 1160\n Parameters : 6\n Iterations : 5\n Time : 0.00778008 [s]\n Initial cost : 0.333103 [px]\n Final cost : 0.314186 [px]\n Termination : Convergence\n\n => Continued observations: 546\n => Added observations: 105\n\nBundle adjustment report\n------------------------\n Residuals : 11310\n Parameters : 1331\n Iterations : 8\n Time : 0.121369 [s]\n Initial cost : 0.322184 [px]\n Final cost : 0.318782 [px]\n Termination : Convergence\n\n => Merged observations: 375\n => Completed observations: 114\n => Filtered observations: 20\n => Changed observations: 0.076645\n\nBundle adjustment report\n------------------------\n Residuals : 11180\n Parameters : 1262\n Iterations : 3\n Time : 0.043174 [s]\n Initial cost : 0.38024 [px]\n Final cost : 0.372638 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 9\n => Filtered observations: 0\n => Changed observations: 0.001367\n\n==============================================================================\nRegistering image #3 (93)\n==============================================================================\n\n => Image sees 538 / 1111 points\n\nPose refinement report\n----------------------\n Residuals : 1106\n Parameters : 6\n Iterations : 5\n Time : 0.00797105 [s]\n Initial cost : 0.338268 [px]\n Final cost : 0.327138 [px]\n Termination : Convergence\n\n => Continued observations: 532\n => Added observations: 789\n\nBundle adjustment report\n------------------------\n Residuals : 11828\n Parameters : 1304\n Iterations : 7\n Time : 0.101954 [s]\n Initial cost : 0.312755 [px]\n Final cost : 0.307529 [px]\n Termination : Convergence\n\n => Merged observations: 174\n => Completed observations: 1144\n => Filtered observations: 19\n => Changed observations: 0.198722\n\nBundle adjustment report\n------------------------\n Residuals : 12158\n Parameters : 1073\n Iterations : 3\n Time : 0.0511601 [s]\n Initial cost : 0.361349 [px]\n Final cost : 0.353227 [px]\n Termination : Convergence\n\n => Merged observations: 19\n => Completed observations: 7\n => Filtered observations: 0\n => Changed observations: 0.003894\n\n==============================================================================\nRegistering image #2 (94)\n==============================================================================\n\n => Image sees 598 / 1098 points\n\nPose refinement report\n----------------------\n Residuals : 1214\n Parameters : 6\n Iterations : 4\n Time : 0.010788 [s]\n Initial cost : 0.302984 [px]\n Final cost : 0.297115 [px]\n Termination : Convergence\n\n => Continued observations: 595\n => Added observations: 253\n\nBundle adjustment report\n------------------------\n Residuals : 11572\n Parameters : 1052\n Iterations : 10\n Time : 0.184663 [s]\n Initial cost : 0.321241 [px]\n Final cost : 0.31791 [px]\n Termination : Convergence\n\n => Merged observations: 80\n => Completed observations: 259\n => Filtered observations: 21\n => Changed observations: 0.053780\n\nBundle adjustment report\n------------------------\n Residuals : 11622\n Parameters : 1001\n Iterations : 3\n Time : 0.0466728 [s]\n Initial cost : 0.375471 [px]\n Final cost : 0.368447 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 21\n => Filtered observations: 0\n => Changed observations: 0.003123\n\n==============================================================================\nRegistering image #1 (95)\n==============================================================================\n\n => Image sees 609 / 995 points\n\nPose refinement report\n----------------------\n Residuals : 1234\n Parameters : 6\n Iterations : 7\n Time : 0.012506 [s]\n Initial cost : 0.504507 [px]\n Final cost : 0.318775 [px]\n Termination : Convergence\n\n => Continued observations: 609\n => Added observations: 138\n\nBundle adjustment report\n------------------------\n Residuals : 11972\n Parameters : 1034\n Iterations : 7\n Time : 0.108257 [s]\n Initial cost : 0.311325 [px]\n Final cost : 0.307558 [px]\n Termination : Convergence\n\n => Merged observations: 46\n => Completed observations: 115\n => Filtered observations: 8\n => Changed observations: 0.025703\n\nBundle adjustment report\n------------------------\n Residuals : 12000\n Parameters : 1010\n Iterations : 2\n Time : 0.0318372 [s]\n Initial cost : 0.370468 [px]\n Final cost : 0.366859 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 1\n => Filtered observations: 0\n => Changed observations: 0.000152\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 17\n => Merged observations: 1156\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.362594e+04 0.00e+00 4.82e+03 0.00e+00 0.00e+00 1.00e+04 0 8.24e-02 4.23e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 6.1569e+07\n Nonzeros in L: 1.6216e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.7\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 6.1569e+07\n nnz(L): 1.6216e+05\n OK\n 1 2.305616e+04 5.70e+02 2.13e+03 1.87e+01 1.00e+00 3.00e+04 1 5.40e-01 9.63e-01\n 2 2.305442e+04 1.74e+00 4.30e+02 6.58e+00 9.98e-01 9.00e+04 1 2.62e-01 1.23e+00\n 3 2.305427e+04 1.49e-01 1.33e+02 2.57e+00 1.00e+00 2.70e+05 1 2.83e-01 1.51e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 193890\n Parameters : 34820\n Iterations : 4\n Time : 1.7263 [s]\n Initial cost : 0.349073 [px]\n Final cost : 0.344824 [px]\n Termination : Convergence\n\n => Completed observations: 14\n => Merged observations: 45\n => Filtered observations: 11\n => Changed observations: 0.000722\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.311273e+04 0.00e+00 3.92e+03 0.00e+00 0.00e+00 1.00e+04 0 8.58e-02 3.99e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 6.1569e+07\n Nonzeros in L: 1.6216e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.7\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 6.1569e+07\n nnz(L): 1.6216e+05\n OK\n 1 2.304387e+04 6.89e+01 9.38e+01 1.24e+01 9.85e-01 3.00e+04 1 5.20e-01 9.19e-01\n 2 2.304194e+04 1.93e+00 1.76e+01 5.25e+00 9.87e-01 9.00e+04 1 2.72e-01 1.19e+00\n 3 2.304189e+04 5.42e-02 7.45e+00 1.10e+00 9.99e-01 2.70e+05 1 2.74e-01 1.46e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 193880\n Parameters : 34808\n Iterations : 4\n Time : 1.6773 [s]\n Initial cost : 0.34527 [px]\n Final cost : 0.344741 [px]\n Termination : Convergence\n\n => Completed observations: 0\n => Merged observations: 0\n => Filtered observations: 8\n => Changed observations: 0.000083\n => Filtered images: 0\n\n==============================================================================\nRegistering image #37 (96)\n==============================================================================\n\n => Image sees 520 / 924 points\n\nPose refinement report\n----------------------\n Residuals : 1100\n Parameters : 6\n Iterations : 6\n Time : 0.009305 [s]\n Initial cost : 0.526984 [px]\n Final cost : 0.353763 [px]\n Termination : Convergence\n\n => Continued observations: 502\n => Added observations: 180\n\nBundle adjustment report\n------------------------\n Residuals : 9120\n Parameters : 1463\n Iterations : 13\n Time : 0.172839 [s]\n Initial cost : 0.361232 [px]\n Final cost : 0.353611 [px]\n Termination : Convergence\n\n => Merged observations: 324\n => Completed observations: 48\n => Filtered observations: 24\n => Changed observations: 0.074116\n\nBundle adjustment report\n------------------------\n Residuals : 9034\n Parameters : 1400\n Iterations : 2\n Time : 0.0281239 [s]\n Initial cost : 0.423059 [px]\n Final cost : 0.413271 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.001132\n\n==============================================================================\nRegistering image #36 (97)\n==============================================================================\n\n => Image sees 531 / 909 points\n\nPose refinement report\n----------------------\n Residuals : 1180\n Parameters : 6\n Iterations : 5\n Time : 0.00868487 [s]\n Initial cost : 0.431945 [px]\n Final cost : 0.370079 [px]\n Termination : Convergence\n\n => Continued observations: 515\n => Added observations: 205\n\nBundle adjustment report\n------------------------\n Residuals : 8972\n Parameters : 1364\n Iterations : 12\n Time : 0.147687 [s]\n Initial cost : 0.380336 [px]\n Final cost : 0.369224 [px]\n Termination : Convergence\n\n => Merged observations: 437\n => Completed observations: 62\n => Filtered observations: 32\n => Changed observations: 0.101491\n\nBundle adjustment report\n------------------------\n Residuals : 8860\n Parameters : 1274\n Iterations : 3\n Time : 0.0371499 [s]\n Initial cost : 0.423267 [px]\n Final cost : 0.417242 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 9\n => Filtered observations: 0\n => Changed observations: 0.001740\n\n==============================================================================\nRegistering image #33 (98)\n==============================================================================\n\n => Image sees 519 / 950 points\n\nPose refinement report\n----------------------\n Residuals : 1122\n Parameters : 6\n Iterations : 7\n Time : 0.011131 [s]\n Initial cost : 0.489511 [px]\n Final cost : 0.399663 [px]\n Termination : Convergence\n\n => Continued observations: 510\n => Added observations: 256\n\nBundle adjustment report\n------------------------\n Residuals : 9486\n Parameters : 1037\n Iterations : 9\n Time : 0.109359 [s]\n Initial cost : 0.363931 [px]\n Final cost : 0.352881 [px]\n Termination : Convergence\n\n => Merged observations: 194\n => Completed observations: 62\n => Filtered observations: 30\n => Changed observations: 0.053810\n\nBundle adjustment report\n------------------------\n Residuals : 9538\n Parameters : 1010\n Iterations : 3\n Time : 0.037493 [s]\n Initial cost : 0.416314 [px]\n Final cost : 0.408971 [px]\n Termination : Convergence\n\n => Merged observations: 13\n => Completed observations: 6\n => Filtered observations: 0\n => Changed observations: 0.003557\n\n==============================================================================\nRegistering image #35 (99)\n==============================================================================\n\n => Image sees 582 / 874 points\n\nPose refinement report\n----------------------\n Residuals : 1308\n Parameters : 6\n Iterations : 5\n Time : 0.0092299 [s]\n Initial cost : 0.426703 [px]\n Final cost : 0.390364 [px]\n Termination : Convergence\n\n => Continued observations: 573\n => Added observations: 167\n\nBundle adjustment report\n------------------------\n Residuals : 9344\n Parameters : 1112\n Iterations : 11\n Time : 0.155143 [s]\n Initial cost : 0.383537 [px]\n Final cost : 0.373933 [px]\n Termination : Convergence\n\n => Merged observations: 253\n => Completed observations: 37\n => Filtered observations: 45\n => Changed observations: 0.059156\n\nBundle adjustment report\n------------------------\n Residuals : 8722\n Parameters : 1106\n Iterations : 3\n Time : 0.036094 [s]\n Initial cost : 0.434251 [px]\n Final cost : 0.422987 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 16\n => Filtered observations: 0\n => Changed observations: 0.003051\n\n==============================================================================\nRegistering image #34 (100)\n==============================================================================\n\n => Image sees 600 / 893 points\n\nPose refinement report\n----------------------\n Residuals : 1330\n Parameters : 6\n Iterations : 5\n Time : 0.0100491 [s]\n Initial cost : 0.444234 [px]\n Final cost : 0.376818 [px]\n Termination : Convergence\n\n => Continued observations: 592\n => Added observations: 90\n\nBundle adjustment report\n------------------------\n Residuals : 9966\n Parameters : 1046\n Iterations : 9\n Time : 0.116488 [s]\n Initial cost : 0.401261 [px]\n Final cost : 0.388249 [px]\n Termination : Convergence\n\n => Merged observations: 152\n => Completed observations: 58\n => Filtered observations: 48\n => Changed observations: 0.045271\n\nBundle adjustment report\n------------------------\n Residuals : 10000\n Parameters : 1010\n Iterations : 3\n Time : 0.0378211 [s]\n Initial cost : 0.44027 [px]\n Final cost : 0.432109 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 24\n => Filtered observations: 0\n => Changed observations: 0.004202\n\n==============================================================================\nRegistering image #32 (101)\n==============================================================================\n\n => Image sees 552 / 839 points\n\nPose refinement report\n----------------------\n Residuals : 1212\n Parameters : 6\n Iterations : 6\n Time : 0.0101111 [s]\n Initial cost : 0.604356 [px]\n Final cost : 0.390327 [px]\n Termination : Convergence\n\n => Continued observations: 545\n => Added observations: 144\n\nBundle adjustment report\n------------------------\n Residuals : 9488\n Parameters : 971\n Iterations : 5\n Time : 0.059902 [s]\n Initial cost : 0.375318 [px]\n Final cost : 0.370186 [px]\n Termination : Convergence\n\n => Merged observations: 279\n => Completed observations: 54\n => Filtered observations: 26\n => Changed observations: 0.066704\n\nBundle adjustment report\n------------------------\n Residuals : 9300\n Parameters : 932\n Iterations : 2\n Time : 0.0246382 [s]\n Initial cost : 0.446752 [px]\n Final cost : 0.440844 [px]\n Termination : Convergence\n\n => Merged observations: 0\n => Completed observations: 17\n => Filtered observations: 0\n => Changed observations: 0.003175\n\n==============================================================================\nRetriangulation\n==============================================================================\n\n => Completed observations: 19\n => Merged observations: 1648\n => Retriangulated observations: 0\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.564276e+04 0.00e+00 8.83e+03 0.00e+00 0.00e+00 1.00e+04 0 8.06e-02 4.37e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 7.3998e+07\n Nonzeros in L: 1.8332e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.7\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 7.3998e+07\n nnz(L): 1.8332e+05\n OK\n 1 2.534493e+04 2.98e+02 1.29e+02 6.43e+00 1.00e+00 3.00e+04 1 5.94e-01 1.03e+00\n 2 2.534481e+04 1.17e-01 1.52e+01 5.94e-01 1.00e+00 9.00e+04 1 3.03e-01 1.33e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 202802\n Parameters : 35516\n Iterations : 3\n Time : 1.55766 [s]\n Initial cost : 0.355587 [px]\n Final cost : 0.353515 [px]\n Termination : Convergence\n\n => Completed observations: 8\n => Merged observations: 75\n => Filtered observations: 16\n => Changed observations: 0.000976\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.530602e+04 0.00e+00 8.05e+03 0.00e+00 0.00e+00 1.00e+04 0 8.69e-02 4.68e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 7.3998e+07\n Nonzeros in L: 1.8332e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.7\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 7.3998e+07\n nnz(L): 1.8332e+05\n OK\n 1 2.525883e+04 4.72e+01 2.07e+02 4.71e+00 1.00e+00 3.00e+04 1 5.84e-01 1.05e+00\n\n\nBundle adjustment report\n------------------------\n Residuals : 202766\n Parameters : 35498\n Iterations : 2\n Time : 1.26811 [s]\n Initial cost : 0.353276 [px]\n Final cost : 0.352947 [px]\n Termination : Convergence\n\n => Completed observations: 2\n => Merged observations: 0\n => Filtered observations: 2\n => Changed observations: 0.000039\n => Filtered images: 0\n\nElapsed time: 1.133 [minutes]\n[02:45:09] 🎉 Done COLMAP bundle adjustment. process_data.py:441\n\n==============================================================================\nGlobal bundle adjustment\n==============================================================================\n\niter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n 0 2.525515e+04 0.00e+00 9.00e+02 0.00e+00 0.00e+00 1.00e+04 0 8.67e-02 4.41e-01\n\nCHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK\n Architecture: Linux\n sizeof(int): 4\n sizeof(SuiteSparse_long): 8\n sizeof(void *): 8\n sizeof(double): 8\n sizeof(Int): 4 (CHOLMOD's basic integer)\n sizeof(BLAS_INT): 4 (integer used in the BLAS)\n Results from most recent analysis:\n Cholesky flop count: 7.4734e+07\n Nonzeros in L: 1.8453e+05\n memory blocks in use: 11\n memory in use (MB): 0.0\n peak memory usage (MB): 0.7\n maxrank: update/downdate rank: 8\n supernodal control: 1 40 (supernodal if flops/lnz >= 40)\n nmethods: number of ordering methods to try: 1\n method 0: natural\n flop count: 7.4734e+07\n nnz(L): 1.8453e+05\n OK\n 1 2.524858e+04 6.56e+00 8.25e+02 1.36e+00 1.00e+00 3.00e+04 1 6.19e-01 1.06e+00\n 2 2.524226e+04 6.33e+00 2.81e+03 2.93e+00 9.99e-01 9.00e+04 1 2.93e-01 1.35e+00\n 3 2.523305e+04 9.21e+00 1.24e+04 5.61e+00 9.80e-01 2.70e+05 1 3.05e-01 1.66e+00\n 4 2.522717e+04 5.87e+00 1.76e+04 6.48e+00 9.38e-01 8.10e+05 1 3.05e-01 1.96e+00\n 5 2.522568e+04 1.50e+00 5.05e+03 3.46e+00 9.84e-01 2.43e+06 1 2.89e-01 2.25e+00\n 6 2.522560e+04 7.97e-02 3.70e+02 9.62e-01 1.01e+00 7.29e+06 1 2.96e-01 2.55e+00\n 7 2.522559e+04 5.74e-03 7.64e+01 1.60e+00 9.99e-01 2.19e+07 1 2.86e-01 2.83e+00\n 8 2.522558e+04 1.38e-02 4.62e+01 4.42e+00 9.98e-01 6.56e+07 1 2.92e-01 3.13e+00\n 9 2.522555e+04 2.85e-02 2.12e+02 1.07e+01 9.95e-01 1.97e+08 1 2.90e-01 3.42e+00\n 10 2.522551e+04 3.43e-02 6.25e+02 1.85e+01 9.90e-01 5.90e+08 1 2.99e-01 3.71e+00\n 11 2.522550e+04 1.58e-02 5.58e+02 1.77e+01 9.89e-01 1.77e+09 1 2.68e-01 3.98e+00\n 12 2.522550e+04 1.92e-03 9.46e+01 7.35e+00 9.98e-01 5.31e+09 1 2.85e-01 4.27e+00\n 13 2.522550e+04 3.92e-05 2.29e+00 1.13e+00 1.00e+00 1.59e+10 1 3.11e-01 4.58e+00\n 14 2.522550e+04 1.01e-07 6.35e-03 6.04e-02 1.00e+00 4.78e+10 1 3.16e-01 4.90e+00\n 15 2.522550e+04 6.18e-11 1.41e-04 1.19e-03 1.31e+00 1.43e+11 1 2.83e-01 5.18e+00\n 16 2.522550e+04 1.46e-11 6.36e-06 1.46e-05 9.71e+02 4.30e+11 1 2.86e-01 5.46e+00\n 17 2.522550e+04 -1.09e-11 6.36e-06 2.30e-07 -5.53e+05 2.15e+11 1 2.22e-01 5.69e+00\n 18 2.522550e+04 -3.64e-12 6.36e-06 2.30e-07 -2.77e+05 5.38e+10 1 2.11e-01 5.90e+00\n 19 2.522550e+04 -4.00e-11 6.36e-06 2.29e-07 -1.66e+06 6.73e+09 1 2.06e-01 6.10e+00\n 20 2.522550e+04 -3.64e-12 6.36e-06 2.21e-07 -2.77e+05 4.20e+08 1 2.07e-01 6.31e+00\n 21 2.522550e+04 -7.28e-12 6.36e-06 1.39e-07 -4.19e+05 1.31e+07 1 2.25e-01 6.54e+00\n 22 2.522550e+04 3.64e-12 6.36e-06 1.75e-08 0.00e+00 2.05e+05 1 2.06e-01 6.74e+00\n 23 2.522550e+04 2.18e-11 2.46e-07 8.34e-09 7.86e+05 6.16e+05 1 2.81e-01 7.02e+00\n 24 2.522550e+04 -3.27e-11 2.46e-07 5.05e-09 -2.08e+07 3.08e+05 1 2.23e-01 7.25e+00\n 25 2.522550e+04 -2.18e-11 2.46e-07 4.22e-09 -1.68e+07 7.70e+04 1 2.06e-01 7.45e+00\n 26 2.522550e+04 -4.37e-11 2.46e-07 2.14e-09 -4.42e+07 9.62e+03 1 2.10e-01 7.66e+00\n 27 2.522550e+04 -3.64e-11 2.46e-07 3.89e-10 -1.74e+08 6.01e+02 1 2.14e-01 7.88e+00\n 28 2.522550e+04 2.91e-11 1.66e-07 4.49e-11 5.69e+08 1.80e+03 1 2.78e-01 8.15e+00\n 29 2.522550e+04 -1.46e-11 1.66e-07 8.62e-11 -2.68e+08 9.02e+02 1 2.26e-01 8.38e+00\n 30 2.522550e+04 -1.09e-11 1.66e-07 4.83e-11 -3.83e+08 2.26e+02 1 2.11e-01 8.59e+00\n 31 2.522550e+04 -2.91e-11 1.66e-07 1.49e-11 -3.63e+09 2.82e+01 1 2.09e-01 8.80e+00\n 32 2.522550e+04 7.28e-12 2.28e-07 2.14e-12 5.38e+09 8.46e+01 1 2.79e-01 9.08e+00\n 33 2.522550e+04 -2.18e-11 2.28e-07 5.99e-12 -6.94e+09 4.23e+01 1 2.12e-01 9.29e+00\n 34 2.522550e+04 -2.91e-11 2.28e-07 3.10e-12 -1.73e+10 1.06e+01 1 2.16e-01 9.51e+00\n 35 2.522550e+04 1.82e-11 2.76e-07 8.28e-13 3.31e+10 3.17e+01 1 2.91e-01 9.80e+00\n 36 2.522550e+04 -3.64e-11 2.76e-07 2.33e-12 -3.70e+10 1.59e+01 1 2.01e-01 1.00e+01\n 37 2.522550e+04 -2.18e-11 2.76e-07 1.19e-12 -4.59e+10 3.96e+00 1 2.10e-01 1.02e+01\n 38 2.522550e+04 -3.27e-11 2.76e-07 3.48e-13 -1.57e+11 4.96e-01 1 2.06e-01 1.04e+01\n 39 2.522550e+04 -7.28e-12 2.76e-07 7.32e-14 -1.57e+11 3.10e-02 1 2.15e-01 1.06e+01\n 40 2.522550e+04 7.28e-12 2.76e-07 1.79e-15 -1.92e+11 9.68e-04 1 2.04e-01 1.08e+01\n 41 2.522550e+04 1.09e-11 2.76e-07 1.01e-17 0.00e+00 1.51e-05 1 2.07e-01 1.10e+01\n 42 2.522550e+04 1.09e-11 2.76e-07 1.36e-20 0.00e+00 1.18e-07 1 2.08e-01 1.12e+01\n\n\nBundle adjustment report\n------------------------\n Residuals : 202766\n Parameters : 35500\n Iterations : 43\n Time : 11.4668 [s]\n Initial cost : 0.352921 [px]\n Final cost : 0.352714 [px]\n Termination : Convergence\n\nElapsed time: 0.193 [minutes]\n[02:45:20] 🎉 Done refining intrinsics. process_data.py:452\n────────────────────────────────────────────── 🎉 🎉 🎉 All DONE 🎉 🎉 🎉 ──────────────────────────────────────────────\n Starting with 101 images\n No downscaling performed.\n Colmap matched 101 images\n────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────", "metrics": { "predict_time": 103.987992, "total_time": 217.848689 }, "output": "https://replicate.delivery/pbxt/NWdfpkdm1rVURy3cX33Jm8tQveDcGKyCJC8JYiezeeRnY0ZfD/lion.zip", "started_at": "2022-10-31T02:43:40.821894Z", "status": "succeeded", "urls": { "get": "https://api.replicate.com/v1/predictions/5vxdqoptbbh4vagmpono42r7pe", "cancel": "https://api.replicate.com/v1/predictions/5vxdqoptbbh4vagmpono42r7pe/cancel" }, "version": "9f8eee2febb39cef947d180debf1af66f79221f15b1f79b4b72c92265a4f4371" }Generated inVideo resolution: 1280 Number of frames in video: 1301 New video resolution: 640 [02:43:50] 🎉 Done converting video to images. preprocess_video.py:88 [02:43:50] Copying image 1 of 101... process_data.py:294 Copying image 2 of 101... process_data.py:294 Copying image 3 of 101... process_data.py:294 Copying image 4 of 101... process_data.py:294 Copying image 5 of 101... process_data.py:294 Copying image 6 of 101... process_data.py:294 Copying image 7 of 101... process_data.py:294 Copying image 8 of 101... process_data.py:294 Copying image 9 of 101... process_data.py:294 Copying image 10 of 101... process_data.py:294 Copying image 11 of 101... process_data.py:294 Copying image 12 of 101... process_data.py:294 Copying image 13 of 101... process_data.py:294 Copying image 14 of 101... process_data.py:294 Copying image 15 of 101... process_data.py:294 Copying image 16 of 101... process_data.py:294 Copying image 17 of 101... process_data.py:294 Copying image 18 of 101... process_data.py:294 Copying image 19 of 101... process_data.py:294 Copying image 20 of 101... process_data.py:294 Copying image 21 of 101... process_data.py:294 Copying image 22 of 101... process_data.py:294 Copying image 23 of 101... process_data.py:294 Copying image 24 of 101... process_data.py:294 Copying image 25 of 101... process_data.py:294 Copying image 26 of 101... process_data.py:294 Copying image 27 of 101... process_data.py:294 Copying image 28 of 101... process_data.py:294 Copying image 29 of 101... process_data.py:294 Copying image 30 of 101... process_data.py:294 Copying image 31 of 101... process_data.py:294 Copying image 32 of 101... process_data.py:294 Copying image 33 of 101... process_data.py:294 Copying image 34 of 101... process_data.py:294 Copying image 35 of 101... process_data.py:294 Copying image 36 of 101... process_data.py:294 Copying image 37 of 101... process_data.py:294 Copying image 38 of 101... process_data.py:294 Copying image 39 of 101... process_data.py:294 Copying image 40 of 101... process_data.py:294 Copying image 41 of 101... process_data.py:294 Copying image 42 of 101... process_data.py:294 Copying image 43 of 101... process_data.py:294 Copying image 44 of 101... process_data.py:294 Copying image 45 of 101... process_data.py:294 Copying image 46 of 101... process_data.py:294 Copying image 47 of 101... process_data.py:294 Copying image 48 of 101... process_data.py:294 Copying image 49 of 101... process_data.py:294 Copying image 50 of 101... process_data.py:294 Copying image 51 of 101... process_data.py:294 Copying image 52 of 101... process_data.py:294 Copying image 53 of 101... process_data.py:294 Copying image 54 of 101... process_data.py:294 Copying image 55 of 101... process_data.py:294 Copying image 56 of 101... process_data.py:294 Copying image 57 of 101... process_data.py:294 Copying image 58 of 101... process_data.py:294 Copying image 59 of 101... process_data.py:294 Copying image 60 of 101... process_data.py:294 Copying image 61 of 101... process_data.py:294 Copying image 62 of 101... process_data.py:294 Copying image 63 of 101... process_data.py:294 Copying image 64 of 101... process_data.py:294 Copying image 65 of 101... process_data.py:294 Copying image 66 of 101... process_data.py:294 Copying image 67 of 101... process_data.py:294 Copying image 68 of 101... process_data.py:294 Copying image 69 of 101... process_data.py:294 Copying image 70 of 101... process_data.py:294 Copying image 71 of 101... process_data.py:294 Copying image 72 of 101... process_data.py:294 Copying image 73 of 101... process_data.py:294 Copying image 74 of 101... process_data.py:294 Copying image 75 of 101... process_data.py:294 Copying image 76 of 101... process_data.py:294 Copying image 77 of 101... process_data.py:294 Copying image 78 of 101... process_data.py:294 Copying image 79 of 101... process_data.py:294 Copying image 80 of 101... process_data.py:294 Copying image 81 of 101... process_data.py:294 Copying image 82 of 101... process_data.py:294 Copying image 83 of 101... process_data.py:294 Copying image 84 of 101... process_data.py:294 Copying image 85 of 101... process_data.py:294 Copying image 86 of 101... process_data.py:294 Copying image 87 of 101... process_data.py:294 Copying image 88 of 101... process_data.py:294 Copying image 89 of 101... process_data.py:294 Copying image 90 of 101... process_data.py:294 Copying image 91 of 101... process_data.py:294 Copying image 92 of 101... process_data.py:294 Copying image 93 of 101... process_data.py:294 Copying image 94 of 101... process_data.py:294 Copying image 95 of 101... process_data.py:294 Copying image 96 of 101... process_data.py:294 Copying image 97 of 101... process_data.py:294 Copying image 98 of 101... process_data.py:294 Copying image 99 of 101... process_data.py:294 Copying image 100 of 101... process_data.py:294 Copying image 101 of 101... process_data.py:294 🎉 Done copying images. process_data.py:304 ============================================================================== Feature extraction ============================================================================== Processed file [1/101] Name: frame_00001.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1221 Processed file [2/101] Name: frame_00002.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1300 Processed file [3/101] Name: frame_00003.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1288 Processed file [4/101] Name: frame_00004.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1344 Processed file [5/101] Name: frame_00005.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1285 Processed file [6/101] Name: frame_00006.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1348 Processed file [7/101] Name: frame_00007.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1442 Processed file [8/101] Name: frame_00008.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1490 Processed file [9/101] Name: frame_00009.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1590 Processed file [10/101] Name: frame_00010.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1692 Processed file [11/101] Name: frame_00011.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1918 Processed file [12/101] Name: frame_00012.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2059 Processed file [13/101] Name: frame_00013.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2165 Processed file [14/101] Name: frame_00014.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2252 Processed file [15/101] Name: frame_00015.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2387 Processed file [16/101] Name: frame_00016.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2461 Processed file [17/101] Name: frame_00017.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2501 Processed file [18/101] Name: frame_00018.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2342 Processed file [19/101] Name: frame_00019.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2232 Processed file [20/101] Name: frame_00020.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2101 Processed file [21/101] Name: frame_00021.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1991 Processed file [22/101] Name: frame_00022.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1809 Processed file [23/101] Name: frame_00023.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1631 Processed file [24/101] Name: frame_00024.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1473 Processed file [25/101] Name: frame_00025.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1429 Processed file [26/101] Name: frame_00026.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1271 Processed file [27/101] Name: frame_00027.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1197 Processed file [28/101] Name: frame_00028.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1140 Processed file [29/101] Name: frame_00029.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1060 Processed file [30/101] Name: frame_00030.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1128 Processed file [31/101] Name: frame_00031.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1165 Processed file [32/101] Name: frame_00032.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1161 Processed file [33/101] Name: frame_00033.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1200 Processed file [34/101] Name: frame_00034.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1095 Processed file [35/101] Name: frame_00035.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1118 Processed file [36/101] Name: frame_00036.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1226 Processed file [37/101] Name: frame_00037.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1267 Processed file [38/101] Name: frame_00038.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1240 Processed file [39/101] Name: frame_00039.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1318 Processed file [40/101] Name: frame_00040.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1602 Processed file [41/101] Name: frame_00041.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1748 Processed file [42/101] Name: frame_00042.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1834 Processed file [43/101] Name: frame_00043.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1791 Processed file [44/101] Name: frame_00044.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1881 Processed file [45/101] Name: frame_00045.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2035 Processed file [46/101] Name: frame_00046.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2270 Processed file [47/101] Name: frame_00047.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2520 Processed file [48/101] Name: frame_00048.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2548 Processed file [49/101] Name: frame_00049.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2462 Processed file [50/101] Name: frame_00050.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2609 Processed file [51/101] Name: frame_00051.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2288 Processed file [52/101] Name: frame_00052.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2255 Processed file [53/101] Name: frame_00053.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2120 Processed file [54/101] Name: frame_00054.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2016 Processed file [55/101] Name: frame_00055.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1919 Processed file [56/101] Name: frame_00056.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1884 Processed file [57/101] Name: frame_00057.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1784 Processed file [58/101] Name: frame_00058.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1832 Processed file [59/101] Name: frame_00059.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1750 Processed file [60/101] Name: frame_00060.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1666 Processed file [61/101] Name: frame_00061.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1559 Processed file [62/101] Name: frame_00062.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1443 Processed file [63/101] Name: frame_00063.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1801 Processed file [64/101] Name: frame_00064.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1583 Processed file [65/101] Name: frame_00065.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1591 Processed file [66/101] Name: frame_00066.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1837 Processed file [67/101] Name: frame_00067.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1817 Processed file [68/101] Name: frame_00068.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 2076 Processed file [69/101] Name: frame_00069.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1710 Processed file [70/101] Name: frame_00070.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1733 Processed file [71/101] Name: frame_00071.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1799 Processed file [72/101] Name: frame_00072.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1696 Processed file [73/101] Name: frame_00073.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1765 Processed file [74/101] Name: frame_00074.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1661 Processed file [75/101] Name: frame_00075.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1548 Processed file [76/101] Name: frame_00076.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1456 Processed file [77/101] Name: frame_00077.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1589 Processed file [78/101] Name: frame_00078.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1500 Processed file [79/101] Name: frame_00079.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1328 Processed file [80/101] Name: frame_00080.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1327 Processed file [81/101] Name: frame_00081.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1455 Processed file [82/101] Name: frame_00082.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1325 Processed file [83/101] Name: frame_00083.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1384 Processed file [84/101] Name: frame_00084.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1479 Processed file [85/101] Name: frame_00085.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1523 Processed file [86/101] Name: frame_00086.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1467 Processed file [87/101] Name: frame_00087.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1580 Processed file [88/101] Name: frame_00088.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1730 Processed file [89/101] Name: frame_00089.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1814 Processed file [90/101] Name: frame_00090.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1713 Processed file [91/101] Name: frame_00091.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1724 Processed file [92/101] Name: frame_00092.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1914 Processed file [93/101] Name: frame_00093.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1828 Processed file [94/101] Name: frame_00094.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1662 Processed file [95/101] Name: frame_00095.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1594 Processed file [96/101] Name: frame_00096.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1836 Processed file [97/101] Name: frame_00097.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1688 Processed file [98/101] Name: frame_00098.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1631 Processed file [99/101] Name: frame_00099.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1600 Processed file [100/101] Name: frame_00100.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1673 Processed file [101/101] Name: frame_00101.png Dimensions: 640 x 360 Camera: #1 - OPENCV Focal Length: 768.00px Features: 1795 Elapsed time: 0.034 [minutes] [02:43:54] 🎉 Done extracting COLMAP features. process_data.py:399 ============================================================================== Sequential feature matching ============================================================================== Matching image [1/101] in 0.044s Matching image [2/101] in 0.069s Matching image [3/101] in 0.027s Matching image [4/101] in 0.049s Matching image [5/101] in 0.080s Matching image [6/101] in 0.051s Matching image [7/101] in 0.092s Matching image [8/101] in 0.071s Matching image [9/101] in 0.158s Matching image [10/101] in 0.197s Matching image [11/101] in 0.107s Matching image [12/101] in 0.157s Matching image [13/101] in 0.153s Matching image [14/101] in 0.157s Matching image [15/101] in 0.084s Matching image [16/101] in 0.042s Matching image [17/101] in 0.033s Matching image [18/101] in 0.060s Matching image [19/101] in 0.061s Matching image [20/101] in 0.024s Matching image [21/101] in 0.022s Matching image [22/101] in 0.040s Matching image [23/101] in 0.030s Matching image [24/101] in 0.029s Matching image [25/101] in 0.029s Matching image [26/101] in 0.034s Matching image [27/101] in 0.079s Matching image [28/101] in 0.050s Matching image [29/101] in 0.083s Matching image [30/101] in 0.094s Matching image [31/101] in 0.023s Matching image [32/101] in 0.083s Matching image [33/101] in 0.061s Matching image [34/101] in 0.062s Matching image [35/101] in 0.055s Matching image [36/101] in 0.053s Matching image [37/101] in 0.073s Matching image [38/101] in 0.092s Matching image [39/101] in 0.212s Matching image [40/101] in 0.194s Matching image [41/101] in 0.137s Matching image [42/101] in 0.143s Matching image [43/101] in 0.074s Matching image [44/101] in 0.101s Matching image [45/101] in 0.095s Matching image [46/101] in 0.090s Matching image [47/101] in 0.082s Matching image [48/101] in 0.067s Matching image [49/101] in 0.049s Matching image [50/101] in 0.071s Matching image [51/101] in 0.038s Matching image [52/101] in 0.057s Matching image [53/101] in 0.060s Matching image [54/101] in 0.058s Matching image [55/101] in 0.039s Matching image [56/101] in 0.030s Matching image [57/101] in 0.027s Matching image [58/101] in 0.030s Matching image [59/101] in 0.027s Matching image [60/101] in 0.032s Matching image [61/101] in 0.036s Matching image [62/101] in 0.026s Matching image [63/101] in 0.025s Matching image [64/101] in 0.020s Matching image [65/101] in 0.032s Matching image [66/101] in 0.021s Matching image [67/101] in 0.041s Matching image [68/101] in 0.050s Matching image [69/101] in 0.040s Matching image [70/101] in 0.139s Matching image [71/101] in 0.151s Matching image [72/101] in 0.094s Matching image [73/101] in 0.116s Matching image [74/101] in 0.074s Matching image [75/101] in 0.044s Matching image [76/101] in 0.085s Matching image [77/101] in 0.039s Matching image [78/101] in 0.056s Matching image [79/101] in 0.058s Matching image [80/101] in 0.079s Matching image [81/101] in 0.095s Matching image [82/101] in 0.099s Matching image [83/101] in 0.051s Matching image [84/101] in 0.053s Matching image [85/101] in 0.037s Matching image [86/101] in 0.027s Matching image [87/101] in 0.026s Matching image [88/101] in 0.018s Matching image [89/101] in 0.020s Matching image [90/101] in 0.019s Matching image [91/101] in 0.022s Matching image [92/101] in 0.024s Matching image [93/101] in 0.023s Matching image [94/101] in 0.015s Matching image [95/101] in 0.015s Matching image [96/101] in 0.014s Matching image [97/101] in 0.013s Matching image [98/101] in 0.011s Matching image [99/101] in 0.011s Matching image [100/101] in 0.008s Matching image [101/101] in 0.000s Elapsed time: 0.111 [minutes] [02:44:01] 🎉 Done matching COLMAP features. process_data.py:419 ============================================================================== Loading database ============================================================================== Loading cameras... 1 in 0.000s Loading matches... 1003 in 0.011s Loading images... 101 in 0.014s (connected 101) Building correspondence graph... in 0.065s (ignored 0) Elapsed time: 0.002 [minutes] ============================================================================== Finding good initial image pair ============================================================================== ============================================================================== Initializing with image pair #58 and #53 ============================================================================== ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.271372e+02 0.00e+00 7.71e+03 0.00e+00 0.00e+00 1.00e+04 0 6.95e-03 1.35e-02 1 1.643038e+02 1.63e+02 2.34e+04 1.53e+01 5.39e-01 1.00e+04 1 4.73e-03 1.83e-02 2 2.894390e+01 1.35e+02 3.40e+03 1.93e+01 9.72e-01 3.00e+04 1 2.26e-03 2.06e-02 3 2.438950e+02 -2.15e+02 3.40e+03 6.69e+01 -3.24e+01 1.50e+04 1 7.87e-04 2.14e-02 4 4.584525e+01 -1.69e+01 3.40e+03 3.63e+01 -2.97e+00 3.75e+03 1 7.02e-04 2.21e-02 5 2.444561e+01 4.50e+00 7.63e+02 8.91e+00 9.70e-01 1.13e+04 1 2.18e-03 2.43e-02 6 3.020744e+01 -5.76e+00 7.63e+02 2.82e+01 -4.50e+00 5.63e+03 1 7.40e-04 2.51e-02 7 2.421261e+01 2.33e-01 1.56e+03 1.45e+01 2.96e-01 5.27e+03 1 2.17e-03 2.73e-02 8 2.348450e+01 7.28e-01 1.27e+03 1.35e+01 6.58e-01 5.44e+03 1 1.86e-03 2.93e-02 9 2.297309e+01 5.11e-01 1.27e+03 1.36e+01 5.75e-01 5.46e+03 1 1.82e-03 3.12e-02 10 2.245990e+01 5.13e-01 1.20e+03 1.30e+01 6.06e-01 5.51e+03 1 1.52e-03 3.27e-02 11 2.199128e+01 4.69e-01 1.14e+03 1.25e+01 6.12e-01 5.58e+03 1 1.74e-03 3.45e-02 12 2.156014e+01 4.31e-01 1.09e+03 1.19e+01 6.24e-01 5.66e+03 1 1.32e-03 3.58e-02 13 2.116754e+01 3.93e-01 1.03e+03 1.13e+01 6.34e-01 5.77e+03 1 1.41e-03 3.72e-02 14 2.081258e+01 3.55e-01 9.69e+02 1.07e+01 6.44e-01 5.92e+03 1 1.28e-03 3.86e-02 15 2.049422e+01 3.18e-01 9.12e+02 1.01e+01 6.54e-01 6.10e+03 1 1.33e-03 3.99e-02 16 2.021097e+01 2.83e-01 8.55e+02 9.58e+00 6.63e-01 6.32e+03 1 1.40e-03 4.14e-02 17 1.996114e+01 2.50e-01 7.98e+02 9.04e+00 6.72e-01 6.58e+03 1 1.33e-03 4.27e-02 18 1.974280e+01 2.18e-01 7.42e+02 8.52e+00 6.80e-01 6.91e+03 1 1.26e-03 4.40e-02 19 1.955388e+01 1.89e-01 6.86e+02 8.01e+00 6.88e-01 7.30e+03 1 1.25e-03 4.53e-02 20 1.939216e+01 1.62e-01 6.31e+02 7.51e+00 6.96e-01 7.77e+03 1 1.29e-03 4.66e-02 21 1.925525e+01 1.37e-01 5.76e+02 7.03e+00 7.04e-01 8.33e+03 1 1.28e-03 4.79e-02 22 1.914059e+01 1.15e-01 5.23e+02 6.57e+00 7.12e-01 9.01e+03 1 1.79e-03 4.97e-02 23 1.904544e+01 9.52e-02 4.72e+02 6.13e+00 7.19e-01 9.85e+03 1 1.70e-03 5.14e-02 24 1.896689e+01 7.86e-02 4.24e+02 5.72e+00 7.28e-01 1.09e+04 1 2.18e-03 5.36e-02 25 1.890193e+01 6.50e-02 3.81e+02 5.36e+00 7.36e-01 1.21e+04 1 2.06e-03 5.57e-02 26 1.884751e+01 5.44e-02 3.45e+02 5.07e+00 7.45e-01 1.38e+04 1 1.57e-03 5.73e-02 27 1.880060e+01 4.69e-02 3.17e+02 4.88e+00 7.53e-01 1.58e+04 1 1.21e-03 5.86e-02 28 1.875838e+01 4.22e-02 3.00e+02 4.81e+00 7.59e-01 1.84e+04 1 1.19e-03 5.98e-02 29 1.871838e+01 4.00e-02 2.95e+02 4.89e+00 7.61e-01 2.14e+04 1 1.20e-03 6.10e-02 30 1.867877e+01 3.96e-02 3.00e+02 5.10e+00 7.54e-01 2.47e+04 1 1.17e-03 6.22e-02 31 1.863855e+01 4.02e-02 3.12e+02 5.36e+00 7.42e-01 2.78e+04 1 1.20e-03 6.34e-02 32 1.859754e+01 4.10e-02 3.23e+02 5.61e+00 7.26e-01 3.06e+04 1 1.21e-03 6.46e-02 33 1.855611e+01 4.14e-02 3.32e+02 5.78e+00 7.12e-01 3.32e+04 1 1.16e-03 6.58e-02 34 1.851487e+01 4.12e-02 3.35e+02 5.86e+00 7.01e-01 3.55e+04 1 1.19e-03 6.70e-02 35 1.847443e+01 4.04e-02 3.33e+02 5.86e+00 6.92e-01 3.76e+04 1 2.16e-03 6.92e-02 36 1.843531e+01 3.91e-02 3.26e+02 5.79e+00 6.85e-01 3.96e+04 1 2.12e-03 7.13e-02 37 1.839785e+01 3.75e-02 3.17e+02 5.66e+00 6.81e-01 4.16e+04 1 2.16e-03 7.35e-02 38 1.836228e+01 3.56e-02 3.05e+02 5.48e+00 6.77e-01 4.35e+04 1 2.02e-03 7.56e-02 39 1.832869e+01 3.36e-02 2.92e+02 5.27e+00 6.74e-01 4.54e+04 1 1.60e-03 7.72e-02 40 1.829706e+01 3.16e-02 2.79e+02 5.02e+00 6.71e-01 4.73e+04 1 1.37e-03 7.86e-02 41 1.826734e+01 2.97e-02 2.65e+02 4.75e+00 6.69e-01 4.92e+04 1 1.16e-03 7.98e-02 42 1.823940e+01 2.79e-02 2.52e+02 4.46e+00 6.67e-01 5.11e+04 1 1.17e-03 8.10e-02 43 1.821311e+01 2.63e-02 2.40e+02 4.15e+00 6.66e-01 5.31e+04 1 1.39e-03 8.24e-02 44 1.818830e+01 2.48e-02 2.28e+02 3.84e+00 6.65e-01 5.50e+04 1 1.74e-03 8.41e-02 45 1.816480e+01 2.35e-02 2.18e+02 3.52e+00 6.64e-01 5.70e+04 1 2.21e-03 8.64e-02 46 1.814246e+01 2.23e-02 2.09e+02 3.21e+00 6.63e-01 5.91e+04 1 2.12e-03 8.85e-02 47 1.812111e+01 2.14e-02 2.01e+02 2.90e+00 6.63e-01 6.12e+04 1 2.09e-03 9.06e-02 48 1.810058e+01 2.05e-02 1.95e+02 2.60e+00 6.63e-01 6.34e+04 1 1.30e-03 9.20e-02 49 1.808075e+01 1.98e-02 1.90e+02 2.32e+00 6.62e-01 6.56e+04 1 1.22e-03 9.32e-02 50 1.806146e+01 1.93e-02 1.86e+02 2.08e+00 6.62e-01 6.80e+04 1 1.30e-03 9.45e-02 51 1.804258e+01 1.89e-02 1.84e+02 1.88e+00 6.62e-01 7.03e+04 1 1.37e-03 9.59e-02 52 1.802400e+01 1.86e-02 1.83e+02 1.75e+00 6.61e-01 7.28e+04 1 1.36e-03 9.73e-02 53 1.800560e+01 1.84e-02 1.82e+02 1.69e+00 6.59e-01 7.52e+04 1 1.32e-03 9.87e-02 54 1.798731e+01 1.83e-02 1.83e+02 1.73e+00 6.57e-01 7.76e+04 1 1.36e-03 1.00e-01 55 1.796903e+01 1.83e-02 1.85e+02 1.85e+00 6.53e-01 7.99e+04 1 3.09e-03 1.03e-01 56 1.795070e+01 1.83e-02 1.86e+02 2.04e+00 6.47e-01 8.20e+04 1 1.73e-03 1.05e-01 57 1.793227e+01 1.84e-02 1.88e+02 2.28e+00 6.40e-01 8.38e+04 1 1.31e-03 1.06e-01 58 1.791372e+01 1.86e-02 1.90e+02 2.55e+00 6.31e-01 8.53e+04 1 1.26e-03 1.08e-01 59 1.789500e+01 1.87e-02 1.91e+02 2.82e+00 6.21e-01 8.66e+04 1 1.29e-03 1.09e-01 60 1.787610e+01 1.89e-02 1.98e+02 3.10e+00 6.09e-01 8.75e+04 1 1.17e-03 1.10e-01 61 1.785699e+01 1.91e-02 2.13e+02 3.37e+00 5.97e-01 8.81e+04 1 1.23e-03 1.11e-01 62 1.783767e+01 1.93e-02 2.28e+02 3.62e+00 5.83e-01 8.85e+04 1 1.15e-03 1.12e-01 63 1.781811e+01 1.96e-02 2.42e+02 3.86e+00 5.69e-01 8.88e+04 1 1.18e-03 1.14e-01 64 1.779828e+01 1.98e-02 2.55e+02 4.08e+00 5.54e-01 8.89e+04 1 1.14e-03 1.15e-01 65 1.777816e+01 2.01e-02 2.71e+02 4.29e+00 5.39e-01 8.89e+04 1 1.61e-03 1.16e-01 66 1.775773e+01 2.04e-02 2.87e+02 4.48e+00 5.23e-01 8.89e+04 1 1.28e-03 1.18e-01 67 1.773695e+01 2.08e-02 3.04e+02 4.67e+00 5.07e-01 8.89e+04 1 1.54e-03 1.19e-01 68 1.771577e+01 2.12e-02 3.21e+02 4.84e+00 4.90e-01 8.89e+04 1 1.46e-03 1.21e-01 69 1.769416e+01 2.16e-02 3.38e+02 5.01e+00 4.73e-01 8.89e+04 1 1.42e-03 1.22e-01 70 1.767204e+01 2.21e-02 3.56e+02 5.16e+00 4.57e-01 8.89e+04 1 1.75e-03 1.24e-01 71 1.764934e+01 2.27e-02 3.75e+02 5.31e+00 4.41e-01 8.87e+04 1 1.55e-03 1.26e-01 72 1.762594e+01 2.34e-02 3.93e+02 5.45e+00 4.27e-01 8.84e+04 1 1.61e-03 1.27e-01 73 1.760176e+01 2.42e-02 4.11e+02 5.57e+00 4.16e-01 8.80e+04 1 1.64e-03 1.29e-01 74 1.757668e+01 2.51e-02 4.29e+02 5.68e+00 4.06e-01 8.74e+04 1 1.51e-03 1.30e-01 75 1.755064e+01 2.60e-02 4.45e+02 5.77e+00 3.99e-01 8.67e+04 1 1.57e-03 1.32e-01 76 1.752360e+01 2.70e-02 4.60e+02 5.84e+00 3.93e-01 8.59e+04 1 1.54e-03 1.34e-01 77 1.749552e+01 2.81e-02 4.74e+02 5.91e+00 3.89e-01 8.50e+04 1 1.80e-03 1.35e-01 78 1.746640e+01 2.91e-02 4.88e+02 5.95e+00 3.86e-01 8.40e+04 1 2.20e-03 1.38e-01 79 1.743623e+01 3.02e-02 5.00e+02 5.99e+00 3.84e-01 8.29e+04 1 2.31e-03 1.40e-01 80 1.740503e+01 3.12e-02 5.11e+02 6.02e+00 3.83e-01 8.19e+04 1 2.41e-03 1.42e-01 81 1.737281e+01 3.22e-02 5.22e+02 6.04e+00 3.82e-01 8.08e+04 1 2.35e-03 1.45e-01 82 1.733960e+01 3.32e-02 5.31e+02 6.05e+00 3.82e-01 7.98e+04 1 2.52e-03 1.47e-01 83 1.730544e+01 3.42e-02 5.40e+02 6.06e+00 3.83e-01 7.88e+04 1 2.52e-03 1.50e-01 84 1.727039e+01 3.50e-02 5.48e+02 6.05e+00 3.85e-01 7.78e+04 1 1.48e-03 1.51e-01 85 1.723452e+01 3.59e-02 5.54e+02 6.05e+00 3.86e-01 7.69e+04 1 2.14e-03 1.54e-01 86 1.719793e+01 3.66e-02 5.60e+02 6.03e+00 3.89e-01 7.61e+04 1 1.46e-03 1.55e-01 87 1.716071e+01 3.72e-02 5.64e+02 6.01e+00 3.91e-01 7.53e+04 1 1.32e-03 1.56e-01 88 1.712296e+01 3.77e-02 5.67e+02 5.98e+00 3.94e-01 7.46e+04 1 1.42e-03 1.58e-01 89 1.708481e+01 3.82e-02 5.68e+02 5.94e+00 3.98e-01 7.40e+04 1 1.32e-03 1.59e-01 90 1.704635e+01 3.85e-02 5.67e+02 5.89e+00 4.02e-01 7.34e+04 1 1.58e-03 1.61e-01 91 1.700771e+01 3.86e-02 5.65e+02 5.83e+00 4.06e-01 7.29e+04 1 2.13e-03 1.63e-01 92 1.696897e+01 3.87e-02 5.62e+02 5.77e+00 4.11e-01 7.25e+04 1 2.16e-03 1.65e-01 93 1.693024e+01 3.87e-02 5.57e+02 5.69e+00 4.17e-01 7.22e+04 1 2.32e-03 1.67e-01 94 1.689159e+01 3.86e-02 5.50e+02 5.61e+00 4.23e-01 7.19e+04 1 1.92e-03 1.69e-01 95 1.685310e+01 3.85e-02 5.42e+02 5.52e+00 4.30e-01 7.17e+04 1 1.70e-03 1.71e-01 96 1.681484e+01 3.83e-02 5.33e+02 5.42e+00 4.38e-01 7.16e+04 1 1.30e-03 1.72e-01 97 1.677686e+01 3.80e-02 5.22e+02 5.31e+00 4.47e-01 7.15e+04 1 1.34e-03 1.74e-01 98 1.673922e+01 3.76e-02 5.09e+02 5.19e+00 4.57e-01 7.15e+04 1 1.33e-03 1.75e-01 99 1.670195e+01 3.73e-02 4.96e+02 5.06e+00 4.68e-01 7.15e+04 1 1.31e-03 1.76e-01 100 1.666512e+01 3.68e-02 4.81e+02 4.92e+00 4.80e-01 7.15e+04 1 1.39e-03 1.78e-01 Bundle adjustment report ------------------------ Residuals : 904 Parameters : 689 Iterations : 101 Time : 0.178014 [s] Initial cost : 0.601562 [px] Final cost : 0.135775 [px] Termination : No convergence => Filtered observations: 0 => Filtered images: 0 ============================================================================== Registering image #54 (3) ============================================================================== => Image sees 199 / 1603 points Pose refinement report ---------------------- Residuals : 398 Parameters : 6 Iterations : 7 Time : 0.00825191 [s] Initial cost : 0.292013 [px] Final cost : 0.269795 [px] Termination : Convergence => Continued observations: 199 => Added observations: 1082 Bundle adjustment report ------------------------ Residuals : 3466 Parameters : 2204 Iterations : 26 Time : 0.17835 [s] Initial cost : 0.235921 [px] Final cost : 0.157507 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 3 => Changed observations: 0.001731 Bundle adjustment report ------------------------ Residuals : 3460 Parameters : 2201 Iterations : 26 Time : 0.211055 [s] Initial cost : 0.177084 [px] Final cost : 0.170821 [px] Termination : No convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 5 => Changed observations: 0.004046 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 1.094200e+02 0.00e+00 6.41e+01 0.00e+00 0.00e+00 1.00e+04 0 3.72e-03 6.97e-03 1 1.089728e+02 4.47e-01 3.54e+01 4.39e+00 9.93e-01 3.00e+04 1 6.02e-03 1.30e-02 2 1.089513e+02 2.15e-02 2.25e+01 2.30e+00 1.00e+00 9.00e+04 1 5.84e-03 1.89e-02 3 1.089448e+02 6.52e-03 7.34e+01 3.82e+00 9.51e-01 2.70e+05 1 6.08e-03 2.50e-02 4 1.089399e+02 4.93e-03 1.58e+02 5.81e+00 7.81e-01 3.29e+05 1 6.05e-03 3.11e-02 5 1.089369e+02 2.98e-03 5.09e+01 3.29e+00 9.66e-01 9.86e+05 1 7.05e-03 3.81e-02 6 1.089362e+02 7.08e-04 7.13e+01 2.75e+00 8.14e-01 1.31e+06 1 1.06e-02 4.87e-02 7 1.089359e+02 3.26e-04 4.09e+01 1.30e+00 8.73e-01 2.24e+06 1 9.95e-03 5.87e-02 8 1.089358e+02 1.15e-04 1.94e+01 7.86e-01 9.43e-01 6.72e+06 1 1.00e-02 6.88e-02 9 1.089357e+02 2.98e-05 6.39e+00 4.35e-01 1.05e+00 2.02e+07 1 8.63e-03 7.74e-02 Bundle adjustment report ------------------------ Residuals : 3444 Parameters : 2189 Iterations : 10 Time : 0.080919 [s] Initial cost : 0.178245 [px] Final cost : 0.17785 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000581 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.085987e+02 0.00e+00 1.33e+01 0.00e+00 0.00e+00 1.00e+04 0 3.76e-03 6.96e-03 1 1.085916e+02 7.16e-03 1.58e+00 8.12e-01 9.92e-01 3.00e+04 1 5.93e-03 1.29e-02 2 1.085911e+02 4.29e-04 1.92e+00 5.30e-01 9.73e-01 9.00e+04 1 5.80e-03 1.87e-02 3 1.085910e+02 1.70e-04 3.45e+00 4.44e-01 1.01e+00 2.70e+05 1 5.75e-03 2.45e-02 4 1.085909e+02 9.76e-05 2.69e+00 4.66e-01 1.05e+00 8.10e+05 1 5.58e-03 3.01e-02 5 1.085908e+02 5.91e-05 8.11e+00 5.56e-01 1.04e+00 2.43e+06 1 5.72e-03 3.59e-02 6 1.085908e+02 3.16e-05 1.04e+01 5.45e-01 9.83e-01 7.29e+06 1 5.78e-03 4.17e-02 7 1.085908e+02 1.16e-05 2.89e+00 2.84e-01 1.10e+00 2.19e+07 1 5.82e-03 4.75e-02 Bundle adjustment report ------------------------ Residuals : 3440 Parameters : 2186 Iterations : 8 Time : 0.0496199 [s] Initial cost : 0.177678 [px] Final cost : 0.177671 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #52 (4) ============================================================================== => Image sees 483 / 1659 points Pose refinement report ---------------------- Residuals : 966 Parameters : 6 Iterations : 5 Time : 0.00979996 [s] Initial cost : 0.308554 [px] Final cost : 0.281907 [px] Termination : Convergence => Continued observations: 483 => Added observations: 389 Bundle adjustment report ------------------------ Residuals : 5184 Parameters : 2765 Iterations : 17 Time : 0.220784 [s] Initial cost : 0.203437 [px] Final cost : 0.171175 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 43 => Filtered observations: 6 => Changed observations: 0.018904 Bundle adjustment report ------------------------ Residuals : 5256 Parameters : 2819 Iterations : 13 Time : 0.182965 [s] Initial cost : 0.187888 [px] Final cost : 0.179857 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 1 => Changed observations: 0.001142 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 1.796965e+02 0.00e+00 2.24e+01 0.00e+00 0.00e+00 1.00e+04 0 1.05e-02 1.64e-02 1 1.790502e+02 6.46e-01 5.97e+01 1.20e+00 9.99e-01 3.00e+04 1 1.59e-02 3.24e-02 2 1.790149e+02 3.53e-02 2.01e+02 2.11e+00 9.93e-01 9.00e+04 1 1.64e-02 4.88e-02 3 1.789924e+02 2.25e-02 9.33e+02 4.22e+00 5.21e-01 9.00e+04 1 1.68e-02 6.57e-02 4 1.789553e+02 3.72e-02 6.30e+02 3.44e+00 8.01e-01 1.15e+05 1 1.56e-02 8.13e-02 5 1.789351e+02 2.02e-02 6.72e+02 3.59e+00 6.64e-01 1.19e+05 1 1.16e-02 9.30e-02 6 1.789156e+02 1.95e-02 4.67e+02 3.03e+00 8.03e-01 1.53e+05 1 1.64e-02 1.09e-01 7 1.789044e+02 1.12e-02 4.47e+02 2.98e+00 7.22e-01 1.68e+05 1 1.35e-02 1.23e-01 8 1.788953e+02 9.06e-03 2.96e+02 2.44e+00 8.29e-01 2.35e+05 1 1.05e-02 1.34e-01 9 1.788905e+02 4.84e-03 2.63e+02 2.31e+00 7.68e-01 2.78e+05 1 9.80e-03 1.43e-01 10 1.788872e+02 3.22e-03 1.48e+02 1.73e+00 8.77e-01 4.87e+05 1 1.13e-02 1.55e-01 11 1.788859e+02 1.32e-03 1.12e+02 1.51e+00 8.36e-01 6.99e+05 1 1.32e-02 1.68e-01 12 1.788854e+02 5.53e-04 3.84e+01 8.88e-01 9.56e-01 2.10e+06 1 1.21e-02 1.80e-01 13 1.788853e+02 9.29e-05 1.24e+01 5.05e-01 9.87e-01 6.29e+06 1 9.76e-03 1.90e-01 Bundle adjustment report ------------------------ Residuals : 5256 Parameters : 2819 Iterations : 14 Time : 0.193496 [s] Initial cost : 0.184902 [px] Final cost : 0.184484 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000381 => Filtered images: 0 ============================================================================== Registering image #51 (5) ============================================================================== => Image sees 598 / 1405 points Pose refinement report ---------------------- Residuals : 1196 Parameters : 6 Iterations : 5 Time : 0.00857091 [s] Initial cost : 0.323894 [px] Final cost : 0.307461 [px] Termination : Convergence => Continued observations: 598 => Added observations: 386 Bundle adjustment report ------------------------ Residuals : 7220 Parameters : 3380 Iterations : 13 Time : 0.249205 [s] Initial cost : 0.219956 [px] Final cost : 0.186311 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 14 => Filtered observations: 4 => Changed observations: 0.004986 Bundle adjustment report ------------------------ Residuals : 7240 Parameters : 3380 Iterations : 10 Time : 0.217996 [s] Initial cost : 0.212824 [px] Final cost : 0.207171 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 3.107402e+02 0.00e+00 2.46e+00 0.00e+00 0.00e+00 1.00e+04 0 8.60e-03 1.48e-02 Bundle adjustment report ------------------------ Residuals : 7240 Parameters : 3380 Iterations : 1 Time : 0.0203052 [s] Initial cost : 0.207171 [px] Final cost : 0.207171 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #50 (6) ============================================================================== => Image sees 622 / 1741 points Pose refinement report ---------------------- Residuals : 1242 Parameters : 6 Iterations : 5 Time : 0.013098 [s] Initial cost : 0.347815 [px] Final cost : 0.346644 [px] Termination : Convergence => Continued observations: 621 => Added observations: 323 Bundle adjustment report ------------------------ Residuals : 9128 Parameters : 3866 Iterations : 17 Time : 0.39209 [s] Initial cost : 0.230861 [px] Final cost : 0.196965 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 8 => Filtered observations: 6 => Changed observations: 0.003067 Bundle adjustment report ------------------------ Residuals : 9132 Parameters : 3869 Iterations : 9 Time : 0.222388 [s] Initial cost : 0.226623 [px] Final cost : 0.220416 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 4.436621e+02 0.00e+00 4.54e-01 0.00e+00 0.00e+00 1.00e+04 0 1.75e-02 2.85e-02 Bundle adjustment report ------------------------ Residuals : 9132 Parameters : 3869 Iterations : 1 Time : 0.040771 [s] Initial cost : 0.220416 [px] Final cost : 0.220416 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #49 (7) ============================================================================== => Image sees 587 / 1689 points Pose refinement report ---------------------- Residuals : 1172 Parameters : 6 Iterations : 4 Time : 0.0103459 [s] Initial cost : 0.306764 [px] Final cost : 0.305924 [px] Termination : Convergence => Continued observations: 586 => Added observations: 475 Bundle adjustment report ------------------------ Residuals : 10244 Parameters : 3758 Iterations : 4 Time : 0.0727341 [s] Initial cost : 0.217088 [px] Final cost : 0.198568 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 5 => Changed observations: 0.002799 Bundle adjustment report ------------------------ Residuals : 10254 Parameters : 3755 Iterations : 2 Time : 0.0348392 [s] Initial cost : 0.226737 [px] Final cost : 0.223572 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 5.654926e+02 0.00e+00 7.60e+02 0.00e+00 0.00e+00 1.00e+04 0 1.37e-02 2.46e-02 1 5.634012e+02 2.09e+00 1.27e+03 2.61e+00 9.89e-01 3.00e+04 1 3.00e-02 5.46e-02 2 5.632737e+02 1.28e-01 3.96e+02 2.14e+00 9.89e-01 9.00e+04 1 3.25e-02 8.71e-02 3 5.632409e+02 3.28e-02 4.41e+02 1.91e+00 9.41e-01 2.70e+05 1 3.63e-02 1.23e-01 4 5.632328e+02 8.11e-03 2.67e+02 1.33e+00 9.12e-01 6.15e+05 1 3.83e-02 1.62e-01 5 5.632310e+02 1.71e-03 5.47e+01 6.73e-01 9.86e-01 1.85e+06 1 3.71e-02 1.99e-01 6 5.632310e+02 9.63e-05 4.43e+00 2.04e-01 1.01e+00 5.54e+06 1 3.77e-02 2.37e-01 Bundle adjustment report ------------------------ Residuals : 11264 Parameters : 4571 Iterations : 7 Time : 0.252206 [s] Initial cost : 0.224061 [px] Final cost : 0.223613 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #48 (8) ============================================================================== => Image sees 666 / 1685 points Pose refinement report ---------------------- Residuals : 1334 Parameters : 6 Iterations : 4 Time : 0.010006 [s] Initial cost : 0.33301 [px] Final cost : 0.331237 [px] Termination : Convergence => Continued observations: 665 => Added observations: 315 Bundle adjustment report ------------------------ Residuals : 10726 Parameters : 3326 Iterations : 4 Time : 0.0964 [s] Initial cost : 0.231795 [px] Final cost : 0.21221 [px] Termination : Convergence => Merged observations: 12 => Completed observations: 10 => Filtered observations: 8 => Changed observations: 0.005184 Bundle adjustment report ------------------------ Residuals : 10730 Parameters : 3320 Iterations : 2 Time : 0.054162 [s] Initial cost : 0.239911 [px] Final cost : 0.234578 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 7.217965e+02 0.00e+00 9.91e+02 0.00e+00 0.00e+00 1.00e+04 0 2.39e-02 4.24e-02 1 7.198361e+02 1.96e+00 3.99e+02 2.32e+00 9.95e-01 3.00e+04 1 4.49e-02 8.74e-02 2 7.196568e+02 1.79e-01 3.25e+02 2.16e+00 9.95e-01 9.00e+04 1 4.17e-02 1.29e-01 3 7.196099e+02 4.68e-02 2.68e+02 1.75e+00 9.85e-01 2.70e+05 1 3.43e-02 1.64e-01 4 7.195998e+02 1.01e-02 1.77e+02 1.23e+00 9.74e-01 8.10e+05 1 3.03e-02 1.94e-01 5 7.195980e+02 1.83e-03 6.80e+01 7.19e-01 9.82e-01 2.43e+06 1 3.39e-02 2.28e-01 6 7.195979e+02 1.25e-04 4.58e+00 1.79e-01 1.01e+00 7.29e+06 1 4.21e-02 2.70e-01 Bundle adjustment report ------------------------ Residuals : 13228 Parameters : 5036 Iterations : 7 Time : 0.2888 [s] Initial cost : 0.233593 [px] Final cost : 0.233237 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #47 (9) ============================================================================== => Image sees 593 / 1686 points Pose refinement report ---------------------- Residuals : 1182 Parameters : 6 Iterations : 5 Time : 0.0138111 [s] Initial cost : 0.303936 [px] Final cost : 0.301822 [px] Termination : Convergence => Continued observations: 591 => Added observations: 530 Bundle adjustment report ------------------------ Residuals : 11322 Parameters : 3467 Iterations : 5 Time : 0.132213 [s] Initial cost : 0.228648 [px] Final cost : 0.215976 [px] Termination : Convergence => Merged observations: 5 => Completed observations: 7 => Filtered observations: 5 => Changed observations: 0.002751 Bundle adjustment report ------------------------ Residuals : 11326 Parameters : 3464 Iterations : 2 Time : 0.0488169 [s] Initial cost : 0.243933 [px] Final cost : 0.241617 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000324 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged 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 8.735163e+02 0.00e+00 2.36e+02 0.00e+00 0.00e+00 1.00e+04 0 2.16e-02 4.01e-02 1 8.727208e+02 7.95e-01 1.49e+02 4.99e+00 1.00e+00 3.00e+04 1 3.72e-02 7.73e-02 2 8.725939e+02 1.27e-01 5.53e+02 4.17e+00 9.75e-01 9.00e+04 1 3.23e-02 1.10e-01 3 8.725282e+02 6.57e-02 9.17e+02 8.28e+00 8.77e-01 1.58e+05 1 4.19e-02 1.52e-01 4 8.724972e+02 3.11e-02 5.10e+02 6.00e+00 9.19e-01 3.85e+05 1 3.89e-02 1.91e-01 5 8.724857e+02 1.14e-02 3.19e+02 4.50e+00 9.14e-01 8.88e+05 1 5.16e-02 2.42e-01 6 8.724831e+02 2.61e-03 6.73e+01 1.95e+00 9.87e-01 2.67e+06 1 5.04e-02 2.93e-01 7 8.724830e+02 1.26e-04 3.99e+00 4.68e-01 1.01e+00 8.00e+06 1 5.54e-02 3.48e-01 Bundle adjustment report ------------------------ Residuals : 15478 Parameters : 5822 Iterations : 8 Time : 0.363176 [s] Initial cost : 0.237563 [px] Final cost : 0.237422 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #46 (10) ============================================================================== => Image sees 583 / 1458 points Pose refinement report ---------------------- Residuals : 1166 Parameters : 6 Iterations : 6 Time : 0.0149019 [s] Initial cost : 0.519398 [px] Final cost : 0.335284 [px] Termination : Convergence => Continued observations: 581 => Added observations: 525 Bundle adjustment report ------------------------ Residuals : 11650 Parameters : 3605 Iterations : 6 Time : 0.138461 [s] Initial cost : 0.245664 [px] Final cost : 0.228633 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 64 => Filtered observations: 8 => Changed observations: 0.011180 Bundle adjustment report ------------------------ Residuals : 11760 Parameters : 3629 Iterations : 2 Time : 0.0459678 [s] Initial cost : 0.258563 [px] Final cost : 0.255275 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.002463 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 7 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.133635e+03 0.00e+00 1.65e+03 0.00e+00 0.00e+00 1.00e+04 0 3.79e-02 5.68e-02 1 1.122236e+03 1.14e+01 4.11e+02 1.84e+01 1.00e+00 3.00e+04 1 4.86e-02 1.05e-01 2 1.121622e+03 6.14e-01 8.39e+02 2.23e+01 9.76e-01 9.00e+04 1 4.71e-02 1.53e-01 3 1.121105e+03 5.17e-01 2.28e+03 6.40e+01 7.91e-01 1.12e+05 1 5.83e-02 2.11e-01 4 1.120522e+03 5.83e-01 1.71e+03 6.40e+01 8.62e-01 1.81e+05 1 5.83e-02 2.69e-01 5 1.120123e+03 4.00e-01 2.31e+03 7.31e+01 6.48e-01 1.85e+05 1 5.84e-02 3.28e-01 6 1.119675e+03 4.48e-01 1.47e+03 4.94e+01 8.65e-01 3.04e+05 1 5.84e-02 3.86e-01 7 1.119485e+03 1.90e-01 1.44e+03 4.57e+01 7.26e-01 3.35e+05 1 5.26e-02 4.39e-01 8 1.119354e+03 1.31e-01 5.97e+02 2.59e+01 9.29e-01 9.08e+05 1 5.81e-02 4.97e-01 9 1.119323e+03 3.09e-02 4.05e+02 2.09e+01 8.58e-01 1.44e+06 1 4.74e-02 5.44e-01 10 1.119316e+03 7.65e-03 4.88e+01 6.64e+00 9.95e-01 4.31e+06 1 4.80e-02 5.92e-01 Bundle adjustment report ------------------------ Residuals : 17834 Parameters : 6602 Iterations : 11 Time : 0.61819 [s] Initial cost : 0.252123 [px] Final cost : 0.250525 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #45 (11) ============================================================================== => Image sees 541 / 1302 points Pose refinement report ---------------------- Residuals : 1078 Parameters : 6 Iterations : 6 Time : 0.011719 [s] Initial cost : 0.397283 [px] Final cost : 0.355976 [px] Termination : Convergence => Continued observations: 537 => Added observations: 449 Bundle adjustment report ------------------------ Residuals : 11794 Parameters : 3593 Iterations : 5 Time : 0.134845 [s] Initial cost : 0.262215 [px] Final cost : 0.243749 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 49 => Filtered observations: 13 => Changed observations: 0.009463 Bundle adjustment report ------------------------ Residuals : 11854 Parameters : 3581 Iterations : 2 Time : 0.051594 [s] Initial cost : 0.27856 [px] Final cost : 0.274497 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 2 => Changed observations: 0.001215 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged 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 1.355387e+03 0.00e+00 2.57e+03 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 6.35e-02 1 1.339899e+03 1.55e+01 1.24e+02 1.38e+01 9.99e-01 3.00e+04 1 5.73e-02 1.21e-01 2 1.339384e+03 5.15e-01 1.02e+02 2.04e+01 9.87e-01 9.00e+04 1 7.00e-02 1.91e-01 3 1.338999e+03 3.85e-01 4.96e+02 4.73e+01 8.90e-01 1.72e+05 1 7.03e-02 2.61e-01 4 1.338659e+03 3.40e-01 1.20e+03 6.67e+01 7.31e-01 1.91e+05 1 6.79e-02 3.29e-01 5 1.338353e+03 3.06e-01 7.70e+02 5.58e+01 8.64e-01 3.10e+05 1 5.24e-02 3.82e-01 6 1.338190e+03 1.63e-01 7.73e+02 5.91e+01 7.79e-01 3.75e+05 1 4.00e-02 4.22e-01 7 1.338087e+03 1.03e-01 3.88e+02 4.46e+01 8.94e-01 7.34e+05 1 4.68e-02 4.69e-01 8 1.338048e+03 3.90e-02 2.85e+02 3.98e+01 8.58e-01 1.16e+06 1 4.25e-02 5.11e-01 9 1.338035e+03 1.32e-02 8.37e+01 2.25e+01 9.58e-01 3.49e+06 1 5.15e-02 5.63e-01 10 1.338033e+03 1.57e-03 1.74e+01 1.04e+01 9.84e-01 1.05e+07 1 6.78e-02 6.30e-01 Bundle adjustment report ------------------------ Residuals : 19880 Parameters : 7130 Iterations : 11 Time : 0.654489 [s] Initial cost : 0.26111 [px] Final cost : 0.259433 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 4 => Changed observations: 0.000402 => Filtered images: 0 ============================================================================== Registering image #44 (12) ============================================================================== => Image sees 544 / 1293 points Pose refinement report ---------------------- Residuals : 1080 Parameters : 6 Iterations : 6 Time : 0.0102398 [s] Initial cost : 0.708589 [px] Final cost : 0.346092 [px] Termination : Convergence => Continued observations: 538 => Added observations: 432 Bundle adjustment report ------------------------ Residuals : 11656 Parameters : 3479 Iterations : 6 Time : 0.130949 [s] Initial cost : 0.262975 [px] Final cost : 0.249943 [px] Termination : Convergence => Merged observations: 20 => Completed observations: 23 => Filtered observations: 13 => Changed observations: 0.008586 Bundle adjustment report ------------------------ Residuals : 11688 Parameters : 3470 Iterations : 2 Time : 0.059597 [s] Initial cost : 0.289719 [px] Final cost : 0.28273 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 1 => Changed observations: 0.000765 ============================================================================== Registering image #43 (13) ============================================================================== => Image sees 569 / 1271 points Pose refinement report ---------------------- Residuals : 1138 Parameters : 6 Iterations : 4 Time : 0.010623 [s] Initial cost : 0.334375 [px] Final cost : 0.326928 [px] Termination : Convergence => Continued observations: 563 => Added observations: 351 Bundle adjustment report ------------------------ Residuals : 11580 Parameters : 3470 Iterations : 13 Time : 0.255583 [s] Initial cost : 0.284501 [px] Final cost : 0.271968 [px] Termination : Convergence => Merged observations: 25 => Completed observations: 15 => Filtered observations: 32 => Changed observations: 0.011125 Bundle adjustment report ------------------------ Residuals : 11562 Parameters : 3431 Iterations : 2 Time : 0.0503199 [s] Initial cost : 0.29535 [px] Final cost : 0.290689 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000619 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 1.714866e+03 0.00e+00 1.67e+03 0.00e+00 0.00e+00 1.00e+04 0 3.31e-02 5.70e-02 1 1.706871e+03 8.00e+00 7.25e+01 2.19e+01 9.87e-01 3.00e+04 1 6.40e-02 1.21e-01 2 1.706690e+03 1.80e-01 1.35e+01 9.28e+00 9.98e-01 9.00e+04 1 8.67e-02 2.08e-01 3 1.706663e+03 2.74e-02 5.61e+01 1.64e+01 1.00e+00 2.70e+05 1 7.90e-02 2.87e-01 4 1.706625e+03 3.79e-02 2.05e+02 3.21e+01 9.61e-01 8.10e+05 1 9.23e-02 3.79e-01 5 1.706601e+03 2.37e-02 2.75e+02 3.65e+01 8.76e-01 1.41e+06 1 6.70e-02 4.46e-01 6 1.706594e+03 7.40e-03 5.49e+01 1.59e+01 9.85e-01 4.22e+06 1 7.66e-02 5.23e-01 Bundle adjustment report ------------------------ Residuals : 23602 Parameters : 8201 Iterations : 7 Time : 0.565339 [s] Initial cost : 0.269551 [px] Final cost : 0.2689 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #42 (14) ============================================================================== => Image sees 591 / 1369 points Pose refinement report ---------------------- Residuals : 1164 Parameters : 6 Iterations : 6 Time : 0.0158842 [s] Initial cost : 0.825196 [px] Final cost : 0.298452 [px] Termination : Convergence => Continued observations: 580 => Added observations: 397 Bundle adjustment report ------------------------ Residuals : 11514 Parameters : 3293 Iterations : 7 Time : 0.143262 [s] Initial cost : 0.283014 [px] Final cost : 0.272998 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 22 => Filtered observations: 26 => Changed observations: 0.008689 Bundle adjustment report ------------------------ Residuals : 11500 Parameters : 3272 Iterations : 2 Time : 0.0590229 [s] Initial cost : 0.299049 [px] Final cost : 0.294066 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 5 => Filtered observations: 0 => Changed observations: 0.000777 ============================================================================== Registering image #41 (15) ============================================================================== => Image sees 610 / 1251 points Pose refinement report ---------------------- Residuals : 1202 Parameters : 6 Iterations : 5 Time : 0.0145719 [s] Initial cost : 0.46798 [px] Final cost : 0.301255 [px] Termination : Convergence => Continued observations: 597 => Added observations: 273 Bundle adjustment report ------------------------ Residuals : 11016 Parameters : 2978 Iterations : 5 Time : 0.107085 [s] Initial cost : 0.281746 [px] Final cost : 0.273048 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 12 => Filtered observations: 15 => Changed observations: 0.005974 Bundle adjustment report ------------------------ Residuals : 11016 Parameters : 2969 Iterations : 3 Time : 0.0823069 [s] Initial cost : 0.306616 [px] Final cost : 0.298461 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000161 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.025402e+03 0.00e+00 7.44e+02 0.00e+00 0.00e+00 1.00e+04 0 6.17e-02 1.03e-01 1 2.018962e+03 6.44e+00 9.63e+00 3.08e+00 1.00e+00 3.00e+04 1 1.10e-01 2.13e-01 2 2.018944e+03 1.87e-02 1.94e+00 1.55e+00 1.00e+00 9.00e+04 1 1.00e-01 3.13e-01 3 2.018941e+03 2.96e-03 7.75e+00 3.89e+00 1.00e+00 2.70e+05 1 8.56e-02 3.99e-01 4 2.018938e+03 3.32e-03 2.00e+01 7.06e+00 1.00e+00 8.10e+05 1 8.39e-02 4.83e-01 Bundle adjustment report ------------------------ Residuals : 27278 Parameters : 9104 Iterations : 5 Time : 0.519405 [s] Initial cost : 0.272489 [px] Final cost : 0.272054 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #15 (16) ============================================================================== => Image sees 563 / 1739 points Pose refinement report ---------------------- Residuals : 1126 Parameters : 6 Iterations : 6 Time : 0.0138869 [s] Initial cost : 0.389579 [px] Final cost : 0.323348 [px] Termination : Convergence => Continued observations: 563 => Added observations: 100 Bundle adjustment report ------------------------ Residuals : 13676 Parameters : 2432 Iterations : 8 Time : 0.192917 [s] Initial cost : 0.260626 [px] Final cost : 0.253473 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 7 => Changed observations: 0.000946 ============================================================================== Registering image #14 (17) ============================================================================== => Image sees 608 / 1590 points Pose refinement report ---------------------- Residuals : 1220 Parameters : 6 Iterations : 4 Time : 0.00687504 [s] Initial cost : 0.265873 [px] Final cost : 0.263447 [px] Termination : Convergence => Continued observations: 608 => Added observations: 796 Bundle adjustment report ------------------------ Residuals : 14842 Parameters : 3398 Iterations : 4 Time : 0.117314 [s] Initial cost : 0.244828 [px] Final cost : 0.241134 [px] Termination : Convergence => Merged observations: 34 => Completed observations: 62 => Filtered observations: 5 => Changed observations: 0.012500 Bundle adjustment report ------------------------ Residuals : 14966 Parameters : 3395 Iterations : 2 Time : 0.0637109 [s] Initial cost : 0.280493 [px] Final cost : 0.27525 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.292250e+03 0.00e+00 8.04e+03 0.00e+00 0.00e+00 1.00e+04 0 6.30e-02 1.10e-01 1 2.263096e+03 2.92e+01 2.99e+02 8.21e+00 9.97e-01 3.00e+04 1 9.83e-02 2.09e-01 2 2.262774e+03 3.22e-01 4.08e+02 1.31e+01 9.94e-01 9.00e+04 1 9.60e-02 3.05e-01 3 2.262526e+03 2.49e-01 7.92e+02 2.99e+01 9.57e-01 2.70e+05 1 1.08e-01 4.13e-01 4 2.262337e+03 1.89e-01 1.36e+03 4.56e+01 8.34e-01 3.85e+05 1 1.01e-01 5.14e-01 5 2.262246e+03 9.08e-02 4.62e+02 2.83e+01 9.52e-01 1.16e+06 1 1.02e-01 6.16e-01 6 2.262230e+03 1.66e-02 1.59e+02 1.70e+01 9.72e-01 3.47e+06 1 8.40e-02 7.00e-01 Bundle adjustment report ------------------------ Residuals : 31512 Parameters : 10421 Iterations : 7 Time : 0.745109 [s] Initial cost : 0.269707 [px] Final cost : 0.267936 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000127 => Filtered images: 0 ============================================================================== Registering image #16 (18) ============================================================================== => Image sees 809 / 1711 points Pose refinement report ---------------------- Residuals : 1664 Parameters : 6 Iterations : 6 Time : 0.0271909 [s] Initial cost : 0.354109 [px] Final cost : 0.313016 [px] Termination : Convergence => Continued observations: 807 => Added observations: 519 Bundle adjustment report ------------------------ Residuals : 15366 Parameters : 3728 Iterations : 4 Time : 0.123115 [s] Initial cost : 0.250983 [px] Final cost : 0.240135 [px] Termination : Convergence => Merged observations: 202 => Completed observations: 28 => Filtered observations: 9 => Changed observations: 0.028551 Bundle adjustment report ------------------------ Residuals : 15598 Parameters : 3719 Iterations : 2 Time : 0.0585191 [s] Initial cost : 0.274368 [px] Final cost : 0.270748 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000236 ============================================================================== Registering image #17 (19) ============================================================================== => Image sees 807 / 1674 points Pose refinement report ---------------------- Residuals : 1614 Parameters : 6 Iterations : 4 Time : 0.00926614 [s] Initial cost : 0.328016 [px] Final cost : 0.326394 [px] Termination : Convergence => Continued observations: 805 => Added observations: 530 Bundle adjustment report ------------------------ Residuals : 15876 Parameters : 3941 Iterations : 6 Time : 0.177828 [s] Initial cost : 0.253419 [px] Final cost : 0.243095 [px] Termination : Convergence => Merged observations: 28 => Completed observations: 17 => Filtered observations: 8 => Changed observations: 0.006115 Bundle adjustment report ------------------------ Residuals : 15860 Parameters : 3932 Iterations : 2 Time : 0.0716531 [s] Initial cost : 0.276407 [px] Final cost : 0.273835 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000231 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 0 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.772553e+03 0.00e+00 4.13e+03 0.00e+00 0.00e+00 1.00e+04 0 7.13e-02 1.21e-01 1 2.752512e+03 2.00e+01 1.08e+02 2.83e+00 1.00e+00 3.00e+04 1 1.11e-01 2.32e-01 2 2.752485e+03 2.76e-02 2.76e+01 3.35e+00 1.01e+00 9.00e+04 1 1.11e-01 3.43e-01 3 2.752473e+03 1.21e-02 1.20e+01 5.92e+00 1.01e+00 2.70e+05 1 1.07e-01 4.50e-01 4 2.752467e+03 6.06e-03 2.99e+01 7.79e+00 1.00e+00 8.10e+05 1 9.78e-02 5.48e-01 Bundle adjustment report ------------------------ Residuals : 36878 Parameters : 11846 Iterations : 5 Time : 0.607941 [s] Initial cost : 0.274193 [px] Final cost : 0.273198 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #18 (20) ============================================================================== => Image sees 778 / 1628 points Pose refinement report ---------------------- Residuals : 1556 Parameters : 6 Iterations : 4 Time : 0.00837016 [s] Initial cost : 0.315827 [px] Final cost : 0.315588 [px] Termination : Convergence => Continued observations: 775 => Added observations: 524 Bundle adjustment report ------------------------ Residuals : 15334 Parameters : 4250 Iterations : 5 Time : 0.137695 [s] Initial cost : 0.258198 [px] Final cost : 0.248991 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 17 => Filtered observations: 11 => Changed observations: 0.005018 Bundle adjustment report ------------------------ Residuals : 15348 Parameters : 4244 Iterations : 2 Time : 0.0509911 [s] Initial cost : 0.282766 [px] Final cost : 0.279563 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000466 ============================================================================== Registering image #19 (21) ============================================================================== => Image sees 814 / 1693 points Pose refinement report ---------------------- Residuals : 1626 Parameters : 6 Iterations : 5 Time : 0.019006 [s] Initial cost : 0.326438 [px] Final cost : 0.324123 [px] Termination : Convergence => Continued observations: 811 => Added observations: 514 Bundle adjustment report ------------------------ Residuals : 15860 Parameters : 4670 Iterations : 5 Time : 0.178196 [s] Initial cost : 0.250008 [px] Final cost : 0.238982 [px] Termination : Convergence => Merged observations: 6 => Completed observations: 11 => Filtered observations: 6 => Changed observations: 0.002724 Bundle adjustment report ------------------------ Residuals : 15866 Parameters : 4661 Iterations : 2 Time : 0.0735798 [s] Initial cost : 0.279667 [px] Final cost : 0.277206 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Retriangulation ============================================================================== => Completed observations: 0 => Merged observations: 19 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 3.282228e+03 0.00e+00 4.41e+02 0.00e+00 0.00e+00 1.00e+04 0 5.28e-02 9.87e-02 1 3.268949e+03 1.33e+01 8.36e+01 4.07e+00 9.99e-01 3.00e+04 1 1.05e-01 2.04e-01 2 3.268860e+03 8.96e-02 8.56e+01 5.67e+00 1.00e+00 9.00e+04 1 1.36e-01 3.39e-01 3 3.268825e+03 3.47e-02 2.71e+01 9.53e+00 1.00e+00 2.70e+05 1 1.34e-01 4.73e-01 4 3.268809e+03 1.56e-02 6.97e+01 1.17e+01 9.99e-01 8.10e+05 1 1.44e-01 6.17e-01 5 3.268806e+03 3.65e-03 3.46e+01 7.26e+00 1.00e+00 2.43e+06 1 1.44e-01 7.61e-01 Bundle adjustment report ------------------------ Residuals : 42150 Parameters : 13373 Iterations : 6 Time : 0.827082 [s] Initial cost : 0.279052 [px] Final cost : 0.278481 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #20 (22) ============================================================================== => Image sees 865 / 1635 points Pose refinement report ---------------------- Residuals : 1718 Parameters : 6 Iterations : 4 Time : 0.00893211 [s] Initial cost : 0.307218 [px] Final cost : 0.305503 [px] Termination : Convergence => Continued observations: 857 => Added observations: 493 Bundle adjustment report ------------------------ Residuals : 15506 Parameters : 4247 Iterations : 6 Time : 0.178411 [s] Initial cost : 0.265325 [px] Final cost : 0.255059 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 57 => Filtered observations: 17 => Changed observations: 0.010302 Bundle adjustment report ------------------------ Residuals : 15590 Parameters : 4241 Iterations : 2 Time : 0.0548732 [s] Initial cost : 0.288667 [px] Final cost : 0.285001 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 5 => Filtered observations: 0 => Changed observations: 0.000576 ============================================================================== Registering image #21 (23) ============================================================================== => Image sees 847 / 1512 points Pose refinement report ---------------------- Residuals : 1710 Parameters : 6 Iterations : 4 Time : 0.011256 [s] Initial cost : 0.321394 [px] Final cost : 0.315517 [px] Termination : Convergence => Continued observations: 846 => Added observations: 453 Bundle adjustment report ------------------------ Residuals : 15334 Parameters : 4187 Iterations : 7 Time : 0.20426 [s] Initial cost : 0.27027 [px] Final cost : 0.259487 [px] Termination : Convergence => Merged observations: 80 => Completed observations: 66 => Filtered observations: 16 => Changed observations: 0.018967 Bundle adjustment report ------------------------ Residuals : 15424 Parameters : 4163 Iterations : 2 Time : 0.0589039 [s] Initial cost : 0.304341 [px] Final cost : 0.298514 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000233 ============================================================================== Retriangulation ============================================================================== => Completed observations: 1 => Merged 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 3.808585e+03 0.00e+00 1.25e+03 0.00e+00 0.00e+00 1.00e+04 0 8.52e-02 1.48e-01 1 3.790145e+03 1.84e+01 7.11e+01 4.89e+00 9.99e-01 3.00e+04 1 1.72e-01 3.20e-01 2 3.790075e+03 6.94e-02 2.17e+01 5.70e+00 1.00e+00 9.00e+04 1 1.23e-01 4.43e-01 3 3.790008e+03 6.80e-02 1.76e+02 1.29e+01 1.00e+00 2.70e+05 1 1.39e-01 5.83e-01 4 3.789954e+03 5.38e-02 3.01e+02 1.91e+01 9.87e-01 8.10e+05 1 1.78e-01 7.60e-01 5 3.789938e+03 1.57e-02 1.33e+02 1.32e+01 9.90e-01 2.43e+06 1 1.28e-01 8.89e-01 Bundle adjustment report ------------------------ Residuals : 47642 Parameters : 14723 Iterations : 6 Time : 0.944734 [s] Initial cost : 0.28274 [px] Final cost : 0.282047 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #22 (24) ============================================================================== => Image sees 800 / 1475 points Pose refinement report ---------------------- Residuals : 1578 Parameters : 6 Iterations : 5 Time : 0.0122089 [s] Initial cost : 0.391073 [px] Final cost : 0.309055 [px] Termination : Convergence => Continued observations: 782 => Added observations: 359 Bundle adjustment report ------------------------ Residuals : 14836 Parameters : 3932 Iterations : 5 Time : 0.167801 [s] Initial cost : 0.26836 [px] Final cost : 0.259587 [px] Termination : Convergence => Merged observations: 30 => Completed observations: 17 => Filtered observations: 11 => Changed observations: 0.007013 Bundle adjustment report ------------------------ Residuals : 14830 Parameters : 3917 Iterations : 3 Time : 0.094475 [s] Initial cost : 0.303264 [px] Final cost : 0.29799 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000121 ============================================================================== Registering image #13 (25) ============================================================================== => Image sees 791 / 1528 points Pose refinement report ---------------------- Residuals : 1586 Parameters : 6 Iterations : 5 Time : 0.0179679 [s] Initial cost : 0.317272 [px] Final cost : 0.303019 [px] Termination : Convergence => Continued observations: 782 => Added observations: 288 Bundle adjustment report ------------------------ Residuals : 17394 Parameters : 2681 Iterations : 5 Time : 0.134547 [s] Initial cost : 0.266885 [px] Final cost : 0.260067 [px] Termination : Convergence => Merged observations: 66 => Completed observations: 20 => Filtered observations: 5 => Changed observations: 0.009581 Bundle adjustment report ------------------------ Residuals : 17476 Parameters : 2681 Iterations : 2 Time : 0.0574739 [s] Initial cost : 0.304696 [px] Final cost : 0.302125 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Registering image #23 (26) ============================================================================== => Image sees 777 / 1387 points Pose refinement report ---------------------- Residuals : 1546 Parameters : 6 Iterations : 4 Time : 0.00940895 [s] Initial cost : 0.306042 [px] Final cost : 0.304283 [px] Termination : Convergence => Continued observations: 764 => Added observations: 199 Bundle adjustment report ------------------------ Residuals : 15540 Parameters : 3485 Iterations : 10 Time : 0.311617 [s] Initial cost : 0.271025 [px] Final cost : 0.263549 [px] Termination : Convergence => Merged observations: 73 => Completed observations: 24 => Filtered observations: 30 => Changed observations: 0.015881 Bundle adjustment report ------------------------ Residuals : 15536 Parameters : 3452 Iterations : 2 Time : 0.059773 [s] Initial cost : 0.303291 [px] Final cost : 0.297605 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 0 => Changed observations: 0.001125 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged 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 4.500520e+03 0.00e+00 9.81e+02 0.00e+00 0.00e+00 1.00e+04 0 3.01e-02 1.12e-01 1 4.484436e+03 1.61e+01 1.41e+01 3.87e+00 1.00e+00 3.00e+04 1 8.32e-02 1.96e-01 2 4.484392e+03 4.49e-02 1.88e+01 3.75e+00 1.00e+00 9.00e+04 1 8.08e-02 2.76e-01 3 4.484366e+03 2.57e-02 4.20e+01 7.56e+00 1.00e+00 2.70e+05 1 8.15e-02 3.58e-01 4 4.484349e+03 1.66e-02 8.48e+01 9.47e+00 9.99e-01 8.10e+05 1 8.26e-02 4.41e-01 Bundle adjustment report ------------------------ Residuals : 54046 Parameters : 15896 Iterations : 5 Time : 0.489356 [s] Initial cost : 0.288569 [px] Final cost : 0.28805 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 1 => Changed observations: 0.000037 => Filtered images: 0 ============================================================================== Registering image #12 (27) ============================================================================== => Image sees 693 / 1564 points Pose refinement report ---------------------- Residuals : 1370 Parameters : 6 Iterations : 4 Time : 0.00724792 [s] Initial cost : 0.305142 [px] Final cost : 0.286918 [px] Termination : Convergence => Continued observations: 679 => Added observations: 420 Bundle adjustment report ------------------------ Residuals : 16060 Parameters : 2636 Iterations : 8 Time : 0.238897 [s] Initial cost : 0.272994 [px] Final cost : 0.268066 [px] Termination : Convergence => Merged observations: 57 => Completed observations: 29 => Filtered observations: 14 => Changed observations: 0.011136 Bundle adjustment report ------------------------ Residuals : 16098 Parameters : 2621 Iterations : 2 Time : 0.05984 [s] Initial cost : 0.304623 [px] Final cost : 0.300832 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000667 ============================================================================== Registering image #24 (28) ============================================================================== => Image sees 713 / 1289 points Pose refinement report ---------------------- Residuals : 1410 Parameters : 6 Iterations : 4 Time : 0.0127409 [s] Initial cost : 0.289042 [px] Final cost : 0.277122 [px] Termination : Convergence => Continued observations: 697 => Added observations: 213 Bundle adjustment report ------------------------ Residuals : 14952 Parameters : 3092 Iterations : 6 Time : 0.137049 [s] Initial cost : 0.278883 [px] Final cost : 0.27428 [px] Termination : Convergence => Merged observations: 52 => Completed observations: 19 => Filtered observations: 18 => Changed observations: 0.010623 Bundle adjustment report ------------------------ Residuals : 14962 Parameters : 3080 Iterations : 2 Time : 0.0440371 [s] Initial cost : 0.317256 [px] Final cost : 0.313618 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 3 => Filtered observations: 1 => Changed observations: 0.000477 ============================================================================== Registering image #11 (29) ============================================================================== => Image sees 687 / 1488 points Pose refinement report ---------------------- Residuals : 1370 Parameters : 6 Iterations : 5 Time : 0.00911283 [s] Initial cost : 0.330772 [px] Final cost : 0.295557 [px] Termination : Convergence => Continued observations: 679 => Added observations: 365 Bundle adjustment report ------------------------ Residuals : 14754 Parameters : 2744 Iterations : 14 Time : 0.339516 [s] Initial cost : 0.287649 [px] Final cost : 0.276607 [px] Termination : Convergence => Merged observations: 28 => Completed observations: 22 => Filtered observations: 23 => Changed observations: 0.008611 Bundle adjustment report ------------------------ Residuals : 14690 Parameters : 2714 Iterations : 3 Time : 0.0918021 [s] Initial cost : 0.318141 [px] Final cost : 0.314261 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 2 => Changed observations: 0.000473 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 5.159813e+03 0.00e+00 9.85e+02 0.00e+00 0.00e+00 1.00e+04 0 3.36e-02 1.12e-01 1 5.143348e+03 1.65e+01 5.73e+01 5.17e+00 1.00e+00 3.00e+04 1 9.12e-02 2.03e-01 2 5.143112e+03 2.36e-01 1.10e+02 1.02e+01 1.00e+00 9.00e+04 1 9.00e-02 2.93e-01 3 5.142840e+03 2.72e-01 5.83e+02 1.94e+01 9.95e-01 2.70e+05 1 9.00e-02 3.83e-01 4 5.142679e+03 1.61e-01 8.35e+02 2.12e+01 9.76e-01 8.10e+05 1 9.71e-02 4.80e-01 5 5.142649e+03 2.99e-02 2.11e+02 1.01e+01 9.94e-01 2.43e+06 1 8.26e-02 5.63e-01 Bundle adjustment report ------------------------ Residuals : 60190 Parameters : 17183 Iterations : 6 Time : 0.618715 [s] Initial cost : 0.292789 [px] Final cost : 0.292302 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 => Filtered images: 0 ============================================================================== Registering image #10 (30) ============================================================================== => Image sees 647 / 1391 points Pose refinement report ---------------------- Residuals : 1284 Parameters : 6 Iterations : 6 Time : 0.016928 [s] Initial cost : 0.569578 [px] Final cost : 0.296788 [px] Termination : Convergence => Continued observations: 633 => Added observations: 241 Bundle adjustment report ------------------------ Residuals : 13008 Parameters : 2513 Iterations : 8 Time : 0.210891 [s] Initial cost : 0.292274 [px] Final cost : 0.284841 [px] Termination : Convergence => Merged observations: 70 => Completed observations: 17 => Filtered observations: 17 => Changed observations: 0.013618 Bundle adjustment report ------------------------ Residuals : 13032 Parameters : 2495 Iterations : 2 Time : 0.061116 [s] Initial cost : 0.324522 [px] Final cost : 0.31901 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.000000 ============================================================================== Registering image #25 (31) ============================================================================== => Image sees 615 / 1204 points Pose refinement report ---------------------- Residuals : 1286 Parameters : 6 Iterations : 6 Time : 0.01125 [s] Initial cost : 0.671822 [px] Final cost : 0.303395 [px] Termination : Convergence => Continued observations: 603 => Added observations: 278 Bundle adjustment report ------------------------ Residuals : 14202 Parameters : 2684 Iterations : 5 Time : 0.145523 [s] Initial cost : 0.286231 [px] Final cost : 0.281903 [px] Termination : Convergence => Merged observations: 335 => Completed observations: 22 => Filtered observations: 16 => Changed observations: 0.046376 Bundle adjustment report ------------------------ Residuals : 14350 Parameters : 2663 Iterations : 2 Time : 0.0571711 [s] Initial cost : 0.332361 [px] Final cost : 0.32773 [px] Termination : Convergence => Merged observations: 31 => Completed observations: 2 => Filtered observations: 1 => Changed observations: 0.004188 ============================================================================== Registering image #55 (32) ============================================================================== => Image sees 656 / 1591 points Pose refinement report ---------------------- Residuals : 1312 Parameters : 6 Iterations : 4 Time : 0.010576 [s] Initial cost : 0.292346 [px] Final cost : 0.288633 [px] Termination : Convergence => Continued observations: 652 => Added observations: 461 Bundle adjustment report ------------------------ Residuals : 10996 Parameters : 2723 Iterations : 21 Time : 0.42844 [s] Initial cost : 0.285858 [px] Final cost : 0.278045 [px] Termination : Convergence => Merged observations: 24 => Completed observations: 78 => Filtered observations: 13 => Changed observations: 0.018980 Bundle adjustment report ------------------------ Residuals : 11110 Parameters : 2705 Iterations : 2 Time : 0.041285 [s] Initial cost : 0.331061 [px] Final cost : 0.322738 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.002616 ============================================================================== Retriangulation ============================================================================== => Completed observations: 9 => Merged observations: 18 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 5.848839e+03 0.00e+00 2.19e+03 0.00e+00 0.00e+00 1.00e+04 0 4.20e-02 1.44e-01 1 5.820553e+03 2.83e+01 1.32e+02 8.46e+00 9.99e-01 3.00e+04 1 1.03e-01 2.47e-01 2 5.820236e+03 3.17e-01 2.21e+02 1.13e+01 1.00e+00 9.00e+04 1 9.79e-02 3.45e-01 3 5.819953e+03 2.83e-01 5.59e+02 1.94e+01 9.96e-01 2.70e+05 1 1.00e-01 4.46e-01 4 5.819825e+03 1.29e-01 5.61e+02 1.79e+01 9.87e-01 8.10e+05 1 1.15e-01 5.61e-01 5 5.819809e+03 1.59e-02 9.41e+01 6.98e+00 9.99e-01 2.43e+06 1 1.02e-01 6.62e-01 Bundle adjustment report ------------------------ Residuals : 66100 Parameters : 18197 Iterations : 6 Time : 0.731208 [s] Initial cost : 0.297464 [px] Final cost : 0.296725 [px] Termination : Convergence => Completed observations: 2 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000061 => Filtered images: 0 ============================================================================== Registering image #56 (33) ============================================================================== => Image sees 682 / 1643 points Pose refinement report ---------------------- Residuals : 1362 Parameters : 6 Iterations : 4 Time : 0.00861716 [s] Initial cost : 0.276936 [px] Final cost : 0.268595 [px] Termination : Convergence => Continued observations: 679 => Added observations: 427 Bundle adjustment report ------------------------ Residuals : 12086 Parameters : 2663 Iterations : 12 Time : 0.302683 [s] Initial cost : 0.278505 [px] Final cost : 0.273252 [px] Termination : Convergence => Merged observations: 7 => Completed observations: 52 => Filtered observations: 15 => Changed observations: 0.011070 Bundle adjustment report ------------------------ Residuals : 12170 Parameters : 2654 Iterations : 2 Time : 0.0451541 [s] Initial cost : 0.322232 [px] Final cost : 0.316955 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000297 ============================================================================== Registering image #57 (34) ============================================================================== => Image sees 712 / 1623 points Pose refinement report ---------------------- Residuals : 1438 Parameters : 6 Iterations : 4 Time : 0.00865102 [s] Initial cost : 0.288652 [px] Final cost : 0.274273 [px] Termination : Convergence => Continued observations: 712 => Added observations: 181 Bundle adjustment report ------------------------ Residuals : 13090 Parameters : 2528 Iterations : 15 Time : 0.360195 [s] Initial cost : 0.301181 [px] Final cost : 0.294373 [px] Termination : Convergence => Merged observations: 54 => Completed observations: 39 => Filtered observations: 30 => Changed observations: 0.017071 Bundle adjustment report ------------------------ Residuals : 13116 Parameters : 2507 Iterations : 2 Time : 0.045217 [s] Initial cost : 0.327689 [px] Final cost : 0.322496 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 8 => Filtered observations: 1 => Changed observations: 0.001247 ============================================================================== Registering image #59 (35) ============================================================================== => Image sees 684 / 1609 points Pose refinement report ---------------------- Residuals : 1368 Parameters : 6 Iterations : 4 Time : 0.0117972 [s] Initial cost : 0.301259 [px] Final cost : 0.29823 [px] Termination : Convergence => Continued observations: 677 => Added observations: 216 Bundle adjustment report ------------------------ Residuals : 12978 Parameters : 2315 Iterations : 20 Time : 0.433532 [s] Initial cost : 0.290064 [px] Final cost : 0.283746 [px] Termination : Convergence => Merged observations: 24 => Completed observations: 10 => Filtered observations: 23 => Changed observations: 0.007924 Bundle adjustment report ------------------------ Residuals : 12958 Parameters : 2300 Iterations : 2 Time : 0.055423 [s] Initial cost : 0.324918 [px] Final cost : 0.321241 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000557 ============================================================================== Registering image #60 (36) ============================================================================== => Image sees 693 / 1509 points Pose refinement report ---------------------- Residuals : 1390 Parameters : 6 Iterations : 4 Time : 0.00918984 [s] Initial cost : 0.325347 [px] Final cost : 0.291912 [px] Termination : Convergence => Continued observations: 691 => Added observations: 125 Bundle adjustment report ------------------------ Residuals : 12824 Parameters : 2177 Iterations : 26 Time : 0.610814 [s] Initial cost : 0.295863 [px] Final cost : 0.28926 [px] Termination : No convergence => Merged observations: 15 => Completed observations: 22 => Filtered observations: 26 => Changed observations: 0.008924 Bundle adjustment report ------------------------ Residuals : 12798 Parameters : 2150 Iterations : 3 Time : 0.073426 [s] Initial cost : 0.334551 [px] Final cost : 0.328715 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 7 => Filtered observations: 4 => Changed observations: 0.001561 ============================================================================== Retriangulation ============================================================================== => Completed observations: 2 => Merged 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 6.701549e+03 0.00e+00 2.44e+03 0.00e+00 0.00e+00 1.00e+04 0 5.48e-02 1.68e-01 1 6.652306e+03 4.92e+01 2.79e+02 8.71e+00 9.97e-01 3.00e+04 1 1.17e-01 2.86e-01 2 6.652017e+03 2.89e-01 1.97e+02 8.89e+00 1.00e+00 9.00e+04 1 1.11e-01 3.96e-01 3 6.651870e+03 1.47e-01 2.62e+02 1.37e+01 1.00e+00 2.70e+05 1 1.14e-01 5.10e-01 4 6.651806e+03 6.42e-02 2.39e+02 1.27e+01 9.95e-01 8.10e+05 1 1.14e-01 6.24e-01 5 6.651799e+03 7.24e-03 3.82e+01 4.93e+00 1.00e+00 2.43e+06 1 1.15e-01 7.39e-01 Bundle adjustment report ------------------------ Residuals : 73562 Parameters : 19154 Iterations : 6 Time : 0.805294 [s] Initial cost : 0.301829 [px] Final cost : 0.300706 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000082 => Filtered images: 0 ============================================================================== Registering image #61 (37) ============================================================================== => Image sees 629 / 1421 points Pose refinement report ---------------------- Residuals : 1258 Parameters : 6 Iterations : 4 Time : 0.00841093 [s] Initial cost : 0.30689 [px] Final cost : 0.27965 [px] Termination : Convergence => Continued observations: 623 => Added observations: 329 Bundle adjustment report ------------------------ Residuals : 13584 Parameters : 2081 Iterations : 26 Time : 0.689689 [s] Initial cost : 0.29032 [px] Final cost : 0.283807 [px] Termination : No convergence => Merged observations: 33 => Completed observations: 15 => Filtered observations: 28 => Changed observations: 0.010658 Bundle adjustment report ------------------------ Residuals : 13560 Parameters : 2060 Iterations : 3 Time : 0.0719948 [s] Initial cost : 0.317949 [px] Final cost : 0.311881 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 1 => Changed observations: 0.001405 ============================================================================== Registering image #40 (38) ============================================================================== => Image sees 569 / 1060 points Pose refinement report ---------------------- Residuals : 1214 Parameters : 6 Iterations : 4 Time : 0.00975895 [s] Initial cost : 0.313668 [px] Final cost : 0.309077 [px] Termination : Convergence => Continued observations: 559 => Added observations: 265 Bundle adjustment report ------------------------ Residuals : 10606 Parameters : 2534 Iterations : 11 Time : 0.257378 [s] Initial cost : 0.335146 [px] Final cost : 0.323575 [px] Termination : Convergence => Merged observations: 467 => Completed observations: 25 => Filtered observations: 32 => Changed observations: 0.087919 Bundle adjustment report ------------------------ Residuals : 10410 Parameters : 2399 Iterations : 2 Time : 0.0453851 [s] Initial cost : 0.36216 [px] Final cost : 0.352668 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 1 => Changed observations: 0.000341 ============================================================================== Registering image #9 (39) ============================================================================== => Image sees 564 / 1322 points Pose refinement report ---------------------- Residuals : 1122 Parameters : 6 Iterations : 4 Time : 0.0098381 [s] Initial cost : 0.303348 [px] Final cost : 0.291442 [px] Termination : Convergence => Continued observations: 554 => Added observations: 246 Bundle adjustment report ------------------------ Residuals : 12760 Parameters : 2258 Iterations : 8 Time : 0.174015 [s] Initial cost : 0.273088 [px] Final cost : 0.268104 [px] Termination : Convergence => Merged observations: 58 => Completed observations: 31 => Filtered observations: 16 => Changed observations: 0.015766 Bundle adjustment report ------------------------ Residuals : 12836 Parameters : 2252 Iterations : 2 Time : 0.0536301 [s] Initial cost : 0.304706 [px] Final cost : 0.300781 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000597 ============================================================================== Registering image #26 (40) ============================================================================== => Image sees 570 / 1085 points Pose refinement report ---------------------- Residuals : 1150 Parameters : 6 Iterations : 4 Time : 0.00764799 [s] Initial cost : 0.294173 [px] Final cost : 0.292098 [px] Termination : Convergence => Continued observations: 562 => Added observations: 200 Bundle adjustment report ------------------------ Residuals : 13150 Parameters : 2273 Iterations : 5 Time : 0.108777 [s] Initial cost : 0.303514 [px] Final cost : 0.297595 [px] Termination : Convergence => Merged observations: 102 => Completed observations: 36 => Filtered observations: 30 => Changed observations: 0.022261 Bundle adjustment report ------------------------ Residuals : 13172 Parameters : 2249 Iterations : 3 Time : 0.072304 [s] Initial cost : 0.336604 [px] Final cost : 0.331501 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000265 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged observations: 42 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 7.389596e+03 0.00e+00 3.87e+03 0.00e+00 0.00e+00 1.00e+04 0 4.84e-02 1.60e-01 1 7.372785e+03 1.68e+01 4.09e+01 3.43e+00 1.00e+00 3.00e+04 1 1.26e-01 2.86e-01 2 7.372702e+03 8.31e-02 1.50e+01 1.84e+00 1.00e+00 9.00e+04 1 1.13e-01 4.00e-01 3 7.372689e+03 1.32e-02 1.28e+01 2.44e+00 1.00e+00 2.70e+05 1 1.25e-01 5.25e-01 Bundle adjustment report ------------------------ Residuals : 80238 Parameters : 20069 Iterations : 4 Time : 0.597528 [s] Initial cost : 0.303473 [px] Final cost : 0.303126 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 0 => Changed observations: 0.000025 => Filtered images: 0 ============================================================================== Registering image #27 (41) ============================================================================== => Image sees 545 / 1015 points Pose refinement report ---------------------- Residuals : 1100 Parameters : 6 Iterations : 4 Time : 0.00590301 [s] Initial cost : 0.333867 [px] Final cost : 0.325008 [px] Termination : Convergence => Continued observations: 538 => Added observations: 301 Bundle adjustment report ------------------------ Residuals : 13852 Parameters : 2285 Iterations : 10 Time : 0.225595 [s] Initial cost : 0.295869 [px] Final cost : 0.291177 [px] Termination : Convergence => Merged observations: 32 => Completed observations: 34 => Filtered observations: 24 => Changed observations: 0.011329 Bundle adjustment report ------------------------ Residuals : 13832 Parameters : 2258 Iterations : 2 Time : 0.0488081 [s] Initial cost : 0.341893 [px] Final cost : 0.338391 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 8 => Filtered observations: 0 => Changed observations: 0.001008 ============================================================================== Registering image #28 (42) ============================================================================== => Image sees 549 / 972 points Pose refinement report ---------------------- Residuals : 1088 Parameters : 6 Iterations : 4 Time : 0.00969505 [s] Initial cost : 0.324074 [px] Final cost : 0.316738 [px] Termination : Convergence => Continued observations: 536 => Added observations: 197 Bundle adjustment report ------------------------ Residuals : 12984 Parameters : 1985 Iterations : 8 Time : 0.196603 [s] Initial cost : 0.300027 [px] Final cost : 0.294645 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 21 => Filtered observations: 22 => Changed observations: 0.007783 Bundle adjustment report ------------------------ Residuals : 13002 Parameters : 1979 Iterations : 2 Time : 0.049433 [s] Initial cost : 0.338439 [px] Final cost : 0.334338 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 1 => Changed observations: 0.000670 ============================================================================== Registering image #29 (43) ============================================================================== => Image sees 528 / 920 points Pose refinement report ---------------------- Residuals : 1064 Parameters : 6 Iterations : 5 Time : 0.00700593 [s] Initial cost : 0.53948 [px] Final cost : 0.300229 [px] Termination : Convergence => Continued observations: 522 => Added observations: 196 Bundle adjustment report ------------------------ Residuals : 12186 Parameters : 1802 Iterations : 7 Time : 0.12899 [s] Initial cost : 0.295747 [px] Final cost : 0.291643 [px] Termination : Convergence => Merged observations: 17 => Completed observations: 33 => Filtered observations: 17 => Changed observations: 0.009642 Bundle adjustment report ------------------------ Residuals : 12202 Parameters : 1796 Iterations : 2 Time : 0.0510521 [s] Initial cost : 0.333823 [px] Final cost : 0.329901 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 3 => Filtered observations: 0 => Changed observations: 0.000431 ============================================================================== Registering image #30 (44) ============================================================================== => Image sees 539 / 888 points Pose refinement report ---------------------- Residuals : 1096 Parameters : 6 Iterations : 6 Time : 0.0151241 [s] Initial cost : 0.658747 [px] Final cost : 0.311463 [px] Termination : Convergence => Continued observations: 537 => Added observations: 175 Bundle adjustment report ------------------------ Residuals : 12706 Parameters : 1742 Iterations : 7 Time : 0.163123 [s] Initial cost : 0.296365 [px] Final cost : 0.291606 [px] Termination : Convergence => Merged observations: 17 => Completed observations: 36 => Filtered observations: 17 => Changed observations: 0.009673 Bundle adjustment report ------------------------ Residuals : 12748 Parameters : 1733 Iterations : 3 Time : 0.0672081 [s] Initial cost : 0.340983 [px] Final cost : 0.336712 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 2 => Changed observations: 0.001654 ============================================================================== Retriangulation ============================================================================== => Completed observations: 3 => Merged 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 8.164915e+03 0.00e+00 6.29e+03 0.00e+00 0.00e+00 1.00e+04 0 5.27e-02 1.90e-01 1 8.143346e+03 2.16e+01 6.43e+01 4.09e+00 9.99e-01 3.00e+04 1 1.30e-01 3.20e-01 2 8.143015e+03 3.31e-01 9.67e+01 7.29e+00 1.00e+00 9.00e+04 1 1.25e-01 4.45e-01 3 8.142821e+03 1.93e-01 3.28e+02 1.06e+01 1.00e+00 2.70e+05 1 1.34e-01 5.79e-01 4 8.142772e+03 4.96e-02 1.76e+02 6.99e+00 1.00e+00 8.10e+05 1 1.34e-01 7.13e-01 Bundle adjustment report ------------------------ Residuals : 86340 Parameters : 20939 Iterations : 5 Time : 0.799277 [s] Initial cost : 0.307517 [px] Final cost : 0.3071 [px] Termination : Convergence => Completed observations: 4 => Merged observations: 24 => Filtered observations: 2 => Changed observations: 0.000695 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 8.201002e+03 0.00e+00 5.68e+02 0.00e+00 0.00e+00 1.00e+04 0 5.70e-02 2.23e-01 1 8.183367e+03 1.76e+01 2.74e+01 1.46e+00 9.98e-01 3.00e+04 1 1.38e-01 3.61e-01 2 8.183286e+03 8.16e-02 1.86e+00 1.03e+00 1.01e+00 9.00e+04 1 1.31e-01 4.92e-01 Bundle adjustment report ------------------------ Residuals : 86336 Parameters : 20933 Iterations : 3 Time : 0.580836 [s] Initial cost : 0.308203 [px] Final cost : 0.30787 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000046 => Filtered images: 0 ============================================================================== Registering image #63 (45) ============================================================================== => Image sees 560 / 1502 points Pose refinement report ---------------------- Residuals : 1106 Parameters : 6 Iterations : 6 Time : 0.016726 [s] Initial cost : 0.604864 [px] Final cost : 0.309249 [px] Termination : Convergence => Continued observations: 548 => Added observations: 224 Bundle adjustment report ------------------------ Residuals : 13478 Parameters : 1808 Iterations : 12 Time : 0.298064 [s] Initial cost : 0.302745 [px] Final cost : 0.295279 [px] Termination : Convergence => Merged observations: 30 => Completed observations: 103 => Filtered observations: 24 => Changed observations: 0.021800 Bundle adjustment report ------------------------ Residuals : 13614 Parameters : 1784 Iterations : 3 Time : 0.084239 [s] Initial cost : 0.347227 [px] Final cost : 0.342243 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 2 => Changed observations: 0.001100 ============================================================================== Registering image #62 (46) ============================================================================== => Image sees 602 / 1321 points Pose refinement report ---------------------- Residuals : 1206 Parameters : 6 Iterations : 4 Time : 0.0106518 [s] Initial cost : 0.316541 [px] Final cost : 0.298386 [px] Termination : Convergence => Continued observations: 592 => Added observations: 234 Bundle adjustment report ------------------------ Residuals : 13812 Parameters : 1814 Iterations : 26 Time : 0.604811 [s] Initial cost : 0.309477 [px] Final cost : 0.30303 [px] Termination : No convergence => Merged observations: 89 => Completed observations: 57 => Filtered observations: 33 => Changed observations: 0.024367 Bundle adjustment report ------------------------ Residuals : 14240 Parameters : 1757 Iterations : 3 Time : 0.0628521 [s] Initial cost : 0.346635 [px] Final cost : 0.340122 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000791 ============================================================================== Registering image #65 (47) ============================================================================== => Image sees 625 / 1449 points Pose refinement report ---------------------- Residuals : 1246 Parameters : 6 Iterations : 5 Time : 0.0164571 [s] Initial cost : 0.452483 [px] Final cost : 0.289787 [px] Termination : Convergence => Continued observations: 617 => Added observations: 120 Bundle adjustment report ------------------------ Residuals : 14174 Parameters : 1661 Iterations : 26 Time : 0.721968 [s] Initial cost : 0.307805 [px] Final cost : 0.300144 [px] Termination : No convergence => Merged observations: 38 => Completed observations: 56 => Filtered observations: 28 => Changed observations: 0.015977 Bundle adjustment report ------------------------ Residuals : 14238 Parameters : 1655 Iterations : 3 Time : 0.063293 [s] Initial cost : 0.347623 [px] Final cost : 0.34226 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000758 ============================================================================== Registering image #64 (48) ============================================================================== => Image sees 631 / 1442 points Pose refinement report ---------------------- Residuals : 1264 Parameters : 6 Iterations : 5 Time : 0.00887299 [s] Initial cost : 0.296379 [px] Final cost : 0.271833 [px] Termination : Convergence => Continued observations: 624 => Added observations: 168 Bundle adjustment report ------------------------ Residuals : 14428 Parameters : 1679 Iterations : 22 Time : 0.627777 [s] Initial cost : 0.299558 [px] Final cost : 0.294331 [px] Termination : Convergence => Merged observations: 31 => Completed observations: 86 => Filtered observations: 34 => Changed observations: 0.019469 Bundle adjustment report ------------------------ Residuals : 14494 Parameters : 1643 Iterations : 3 Time : 0.0616071 [s] Initial cost : 0.342106 [px] Final cost : 0.335834 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 23 => Filtered observations: 1 => Changed observations: 0.003081 ============================================================================== Registering image #66 (49) ============================================================================== => Image sees 661 / 1479 points Pose refinement report ---------------------- Residuals : 1312 Parameters : 6 Iterations : 6 Time : 0.0111449 [s] Initial cost : 0.58914 [px] Final cost : 0.298409 [px] Termination : Convergence => Continued observations: 650 => Added observations: 97 Bundle adjustment report ------------------------ Residuals : 14166 Parameters : 1499 Iterations : 22 Time : 0.548451 [s] Initial cost : 0.303252 [px] Final cost : 0.297777 [px] Termination : Convergence => Merged observations: 20 => Completed observations: 48 => Filtered observations: 28 => Changed observations: 0.012814 Bundle adjustment report ------------------------ Residuals : 14206 Parameters : 1472 Iterations : 3 Time : 0.074096 [s] Initial cost : 0.342532 [px] Final cost : 0.336818 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000266 ============================================================================== Retriangulation ============================================================================== => Completed observations: 4 => Merged observations: 28 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 9.413226e+03 0.00e+00 3.06e+03 0.00e+00 0.00e+00 1.00e+04 0 6.02e-02 2.32e-01 1 9.343725e+03 6.95e+01 3.00e+02 7.31e+00 9.99e-01 3.00e+04 1 1.59e-01 3.92e-01 2 9.343365e+03 3.60e-01 1.53e+02 8.34e+00 1.00e+00 9.00e+04 1 1.57e-01 5.49e-01 3 9.343160e+03 2.05e-01 2.69e+02 1.01e+01 1.00e+00 2.70e+05 1 1.40e-01 6.89e-01 4 9.343117e+03 4.35e-02 1.06e+02 5.84e+00 1.00e+00 8.10e+05 1 1.46e-01 8.35e-01 Bundle adjustment report ------------------------ Residuals : 94516 Parameters : 21599 Iterations : 5 Time : 0.927905 [s] Initial cost : 0.315585 [px] Final cost : 0.314408 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.000127 => Filtered images: 0 ============================================================================== Registering image #68 (50) ============================================================================== => Image sees 575 / 1370 points Pose refinement report ---------------------- Residuals : 1142 Parameters : 6 Iterations : 6 Time : 0.0157721 [s] Initial cost : 0.515318 [px] Final cost : 0.301278 [px] Termination : Convergence => Continued observations: 570 => Added observations: 198 Bundle adjustment report ------------------------ Residuals : 13908 Parameters : 1379 Iterations : 24 Time : 0.576572 [s] Initial cost : 0.301814 [px] Final cost : 0.297332 [px] Termination : Convergence => Merged observations: 7 => Completed observations: 110 => Filtered observations: 21 => Changed observations: 0.017917 Bundle adjustment report ------------------------ Residuals : 14076 Parameters : 1409 Iterations : 2 Time : 0.057344 [s] Initial cost : 0.348292 [px] Final cost : 0.345014 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 1 => Changed observations: 0.002176 ============================================================================== Registering image #67 (51) ============================================================================== => Image sees 637 / 1364 points Pose refinement report ---------------------- Residuals : 1252 Parameters : 6 Iterations : 5 Time : 0.016397 [s] Initial cost : 0.550431 [px] Final cost : 0.275755 [px] Termination : Convergence => Continued observations: 621 => Added observations: 123 Bundle adjustment report ------------------------ Residuals : 14024 Parameters : 1238 Iterations : 14 Time : 0.441253 [s] Initial cost : 0.29345 [px] Final cost : 0.290867 [px] Termination : Convergence => Merged observations: 67 => Completed observations: 69 => Filtered observations: 25 => Changed observations: 0.021484 Bundle adjustment report ------------------------ Residuals : 13826 Parameters : 1235 Iterations : 3 Time : 0.072495 [s] Initial cost : 0.335347 [px] Final cost : 0.332122 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 5 => Filtered observations: 1 => Changed observations: 0.000781 ============================================================================== Registering image #69 (52) ============================================================================== => Image sees 557 / 1278 points Pose refinement report ---------------------- Residuals : 1100 Parameters : 6 Iterations : 5 Time : 0.0105479 [s] Initial cost : 0.335362 [px] Final cost : 0.314501 [px] Termination : Convergence => Continued observations: 544 => Added observations: 431 Bundle adjustment report ------------------------ Residuals : 12510 Parameters : 1274 Iterations : 7 Time : 0.19294 [s] Initial cost : 0.291246 [px] Final cost : 0.287118 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 269 => Filtered observations: 18 => Changed observations: 0.045381 Bundle adjustment report ------------------------ Residuals : 12714 Parameters : 1238 Iterations : 3 Time : 0.056406 [s] Initial cost : 0.34521 [px] Final cost : 0.338553 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 13 => Filtered observations: 3 => Changed observations: 0.002312 ============================================================================== Registering image #8 (53) ============================================================================== => Image sees 531 / 1272 points Pose refinement report ---------------------- Residuals : 1038 Parameters : 6 Iterations : 4 Time : 0.0108559 [s] Initial cost : 0.303696 [px] Final cost : 0.296573 [px] Termination : Convergence => Continued observations: 514 => Added observations: 152 Bundle adjustment report ------------------------ Residuals : 11102 Parameters : 1937 Iterations : 8 Time : 0.214809 [s] Initial cost : 0.31166 [px] Final cost : 0.305833 [px] Termination : Convergence => Merged observations: 43 => Completed observations: 29 => Filtered observations: 31 => Changed observations: 0.015475 Bundle adjustment report ------------------------ Residuals : 11112 Parameters : 1913 Iterations : 3 Time : 0.0748048 [s] Initial cost : 0.337655 [px] Final cost : 0.331988 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.000901 ============================================================================== Registering image #39 (54) ============================================================================== => Image sees 529 / 973 points Pose refinement report ---------------------- Residuals : 1122 Parameters : 6 Iterations : 5 Time : 0.0153861 [s] Initial cost : 0.344905 [px] Final cost : 0.33619 [px] Termination : Convergence => Continued observations: 514 => Added observations: 203 Bundle adjustment report ------------------------ Residuals : 10668 Parameters : 2141 Iterations : 8 Time : 0.215088 [s] Initial cost : 0.31572 [px] Final cost : 0.303844 [px] Termination : Convergence => Merged observations: 478 => Completed observations: 42 => Filtered observations: 25 => Changed observations: 0.090532 Bundle adjustment report ------------------------ Residuals : 10330 Parameters : 2039 Iterations : 2 Time : 0.0560241 [s] Initial cost : 0.363131 [px] Final cost : 0.356759 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 1 => Changed observations: 0.000855 ============================================================================== Retriangulation ============================================================================== => Completed observations: 17 => Merged observations: 222 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.063393e+04 0.00e+00 5.24e+03 0.00e+00 0.00e+00 1.00e+04 0 6.38e-02 3.05e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 1.1285e+07 Nonzeros in L: 52326 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.2 maxrank: update/downdate rank: 8 supernodal control: 1 40 (supernodal if flops/lnz >= 40) nmethods: number of ordering methods to try: 1 method 0: natural flop count: 1.1285e+07 nnz(L): 52326 OK 1 1.046238e+04 1.72e+02 4.83e+02 8.17e+00 1.00e+00 3.00e+04 1 2.94e-01 5.98e-01 2 1.046179e+04 5.88e-01 1.60e+02 5.83e+00 1.00e+00 9.00e+04 1 1.55e-01 7.54e-01 3 1.046167e+04 1.21e-01 3.12e+01 5.52e+00 1.00e+00 2.70e+05 1 1.68e-01 9.22e-01 4 1.046166e+04 1.31e-02 1.53e+01 2.31e+00 1.00e+00 8.10e+05 1 1.77e-01 1.10e+00 Bundle adjustment report ------------------------ Residuals : 103006 Parameters : 22553 Iterations : 5 Time : 1.20691 [s] Initial cost : 0.321304 [px] Final cost : 0.31869 [px] Termination : Convergence => Completed observations: 4 => Merged observations: 0 => Filtered observations: 6 => Changed observations: 0.000194 => Filtered images: 0 ============================================================================== Registering image #70 (55) ============================================================================== => Image sees 482 / 1234 points Pose refinement report ---------------------- Residuals : 940 Parameters : 6 Iterations : 6 Time : 0.00818992 [s] Initial cost : 0.629968 [px] Final cost : 0.320793 [px] Termination : Convergence => Continued observations: 467 => Added observations: 447 Bundle adjustment report ------------------------ Residuals : 11112 Parameters : 1277 Iterations : 6 Time : 0.0954762 [s] Initial cost : 0.303692 [px] Final cost : 0.298719 [px] Termination : Convergence => Merged observations: 20 => Completed observations: 249 => Filtered observations: 17 => Changed observations: 0.043744 Bundle adjustment report ------------------------ Residuals : 11516 Parameters : 1247 Iterations : 2 Time : 0.0344081 [s] Initial cost : 0.351357 [px] Final cost : 0.346632 [px] Termination : Convergence => Merged observations: 10 => Completed observations: 15 => Filtered observations: 0 => Changed observations: 0.003730 ============================================================================== Registering image #71 (56) ============================================================================== => Image sees 510 / 1270 points Pose refinement report ---------------------- Residuals : 1002 Parameters : 6 Iterations : 6 Time : 0.00842786 [s] Initial cost : 0.733113 [px] Final cost : 0.328166 [px] Termination : Convergence => Continued observations: 497 => Added observations: 491 Bundle adjustment report ------------------------ Residuals : 9646 Parameters : 1424 Iterations : 9 Time : 0.141144 [s] Initial cost : 0.322862 [px] Final cost : 0.31669 [px] Termination : Convergence => Merged observations: 29 => Completed observations: 260 => Filtered observations: 11 => Changed observations: 0.051396 Bundle adjustment report ------------------------ Residuals : 10746 Parameters : 1409 Iterations : 2 Time : 0.04369 [s] Initial cost : 0.358959 [px] Final cost : 0.352747 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 3 => Filtered observations: 1 => Changed observations: 0.000663 ============================================================================== Registering image #72 (57) ============================================================================== => Image sees 514 / 1230 points Pose refinement report ---------------------- Residuals : 1072 Parameters : 6 Iterations : 5 Time : 0.0121069 [s] Initial cost : 0.373982 [px] Final cost : 0.353249 [px] Termination : Convergence => Continued observations: 500 => Added observations: 490 Bundle adjustment report ------------------------ Residuals : 10080 Parameters : 1715 Iterations : 15 Time : 0.220211 [s] Initial cost : 0.335496 [px] Final cost : 0.327148 [px] Termination : Convergence => Merged observations: 389 => Completed observations: 295 => Filtered observations: 26 => Changed observations: 0.116298 Bundle adjustment report ------------------------ Residuals : 10240 Parameters : 1634 Iterations : 2 Time : 0.0284529 [s] Initial cost : 0.381827 [px] Final cost : 0.373469 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 7 => Filtered observations: 2 => Changed observations: 0.001455 ============================================================================== Registering image #73 (58) ============================================================================== => Image sees 539 / 1292 points Pose refinement report ---------------------- Residuals : 1098 Parameters : 6 Iterations : 5 Time : 0.00713491 [s] Initial cost : 0.376807 [px] Final cost : 0.360015 [px] Termination : Convergence => Continued observations: 524 => Added observations: 506 Bundle adjustment report ------------------------ Residuals : 10174 Parameters : 2024 Iterations : 7 Time : 0.103331 [s] Initial cost : 0.341029 [px] Final cost : 0.332557 [px] Termination : Convergence => Merged observations: 196 => Completed observations: 221 => Filtered observations: 27 => Changed observations: 0.076040 Bundle adjustment report ------------------------ Residuals : 10318 Parameters : 1967 Iterations : 3 Time : 0.0426841 [s] Initial cost : 0.389802 [px] Final cost : 0.380236 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 1 => Changed observations: 0.001184 ============================================================================== Registering image #74 (59) ============================================================================== => Image sees 612 / 1277 points Pose refinement report ---------------------- Residuals : 1266 Parameters : 6 Iterations : 5 Time : 0.00823903 [s] Initial cost : 0.443624 [px] Final cost : 0.367393 [px] Termination : Convergence => Continued observations: 604 => Added observations: 439 Bundle adjustment report ------------------------ Residuals : 10448 Parameters : 2276 Iterations : 10 Time : 0.143524 [s] Initial cost : 0.343845 [px] Final cost : 0.334538 [px] Termination : Convergence => Merged observations: 283 => Completed observations: 135 => Filtered observations: 34 => Changed observations: 0.076056 Bundle adjustment report ------------------------ Residuals : 10486 Parameters : 2219 Iterations : 2 Time : 0.0320048 [s] Initial cost : 0.384249 [px] Final cost : 0.376226 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.002683 ============================================================================== Retriangulation ============================================================================== => Completed observations: 7 => Merged observations: 567 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.228622e+04 0.00e+00 7.17e+03 0.00e+00 0.00e+00 1.00e+04 0 7.15e-02 2.66e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 1.4725e+07 Nonzeros in L: 62481 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.3 maxrank: update/downdate rank: 8 supernodal control: 1 40 (supernodal if flops/lnz >= 40) nmethods: number of ordering methods to try: 1 method 0: natural flop count: 1.4725e+07 nnz(L): 62481 OK 1 1.205199e+04 2.34e+02 4.66e+02 1.51e+01 9.99e-01 3.00e+04 1 2.65e-01 5.31e-01 2 1.205135e+04 6.41e-01 1.33e+02 6.05e+00 1.00e+00 9.00e+04 1 1.64e-01 6.95e-01 3 1.205124e+04 1.11e-01 7.54e+01 5.62e+00 1.00e+00 2.70e+05 1 1.71e-01 8.66e-01 Bundle adjustment report ------------------------ Residuals : 114998 Parameters : 24965 Iterations : 4 Time : 0.978537 [s] Initial cost : 0.326862 [px] Final cost : 0.323721 [px] Termination : Convergence => Completed observations: 7 => Merged observations: 58 => Filtered observations: 3 => Changed observations: 0.001183 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.211489e+04 0.00e+00 2.69e+03 0.00e+00 0.00e+00 1.00e+04 0 6.17e-02 2.34e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 1.4725e+07 Nonzeros in L: 62481 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.3 maxrank: update/downdate rank: 8 supernodal control: 1 40 (supernodal if flops/lnz >= 40) nmethods: number of ordering methods to try: 1 method 0: natural flop count: 1.4725e+07 nnz(L): 62481 OK 1 1.209947e+04 1.54e+01 3.88e+01 1.64e+00 1.00e+00 3.00e+04 1 2.55e-01 4.89e-01 Bundle adjustment report ------------------------ Residuals : 115000 Parameters : 24956 Iterations : 2 Time : 0.594738 [s] Initial cost : 0.324572 [px] Final cost : 0.324365 [px] Termination : Convergence => Completed observations: 1 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000052 => Filtered images: 0 ============================================================================== Registering image #75 (60) ============================================================================== => Image sees 556 / 1115 points Pose refinement report ---------------------- Residuals : 1126 Parameters : 6 Iterations : 5 Time : 0.0071969 [s] Initial cost : 0.376153 [px] Final cost : 0.357347 [px] Termination : Convergence => Continued observations: 546 => Added observations: 342 Bundle adjustment report ------------------------ Residuals : 10554 Parameters : 2219 Iterations : 9 Time : 0.143494 [s] Initial cost : 0.321096 [px] Final cost : 0.31015 [px] Termination : Convergence => Merged observations: 203 => Completed observations: 134 => Filtered observations: 13 => Changed observations: 0.058725 Bundle adjustment report ------------------------ Residuals : 10656 Parameters : 2165 Iterations : 2 Time : 0.0336242 [s] Initial cost : 0.373011 [px] Final cost : 0.367143 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000166 ============================================================================== Registering image #76 (61) ============================================================================== => Image sees 597 / 1086 points Pose refinement report ---------------------- Residuals : 1190 Parameters : 6 Iterations : 5 Time : 0.00891781 [s] Initial cost : 0.370264 [px] Final cost : 0.344878 [px] Termination : Convergence => Continued observations: 578 => Added observations: 278 Bundle adjustment report ------------------------ Residuals : 10380 Parameters : 2192 Iterations : 12 Time : 0.172343 [s] Initial cost : 0.336587 [px] Final cost : 0.326632 [px] Termination : Convergence => Merged observations: 125 => Completed observations: 84 => Filtered observations: 30 => Changed observations: 0.040577 Bundle adjustment report ------------------------ Residuals : 10378 Parameters : 2141 Iterations : 2 Time : 0.034133 [s] Initial cost : 0.377237 [px] Final cost : 0.371048 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 3 => Changed observations: 0.000679 ============================================================================== Registering image #77 (62) ============================================================================== => Image sees 550 / 1165 points Pose refinement report ---------------------- Residuals : 1124 Parameters : 6 Iterations : 5 Time : 0.00959778 [s] Initial cost : 0.376839 [px] Final cost : 0.357556 [px] Termination : Convergence => Continued observations: 542 => Added observations: 314 Bundle adjustment report ------------------------ Residuals : 10202 Parameters : 2192 Iterations : 9 Time : 0.138867 [s] Initial cost : 0.324465 [px] Final cost : 0.315127 [px] Termination : Convergence => Merged observations: 179 => Completed observations: 56 => Filtered observations: 11 => Changed observations: 0.042627 Bundle adjustment report ------------------------ Residuals : 10164 Parameters : 2156 Iterations : 2 Time : 0.036741 [s] Initial cost : 0.387355 [px] Final cost : 0.3812 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 0 => Filtered observations: 1 => Changed observations: 0.000174 ============================================================================== Registering image #78 (63) ============================================================================== => Image sees 601 / 1155 points Pose refinement report ---------------------- Residuals : 1244 Parameters : 6 Iterations : 5 Time : 0.010709 [s] Initial cost : 0.355822 [px] Final cost : 0.33567 [px] Termination : Convergence => Continued observations: 590 => Added observations: 317 Bundle adjustment report ------------------------ Residuals : 10470 Parameters : 2267 Iterations : 7 Time : 0.105769 [s] Initial cost : 0.321994 [px] Final cost : 0.315396 [px] Termination : Convergence => Merged observations: 245 => Completed observations: 50 => Filtered observations: 12 => Changed observations: 0.051884 Bundle adjustment report ------------------------ Residuals : 10490 Parameters : 2228 Iterations : 2 Time : 0.031054 [s] Initial cost : 0.380076 [px] Final cost : 0.374409 [px] Termination : Convergence => Merged observations: 22 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.004390 ============================================================================== Registering image #79 (64) ============================================================================== => Image sees 572 / 1085 points Pose refinement report ---------------------- Residuals : 1200 Parameters : 6 Iterations : 6 Time : 0.011317 [s] Initial cost : 0.937625 [px] Final cost : 0.32355 [px] Termination : Convergence => Continued observations: 561 => Added observations: 276 Bundle adjustment report ------------------------ Residuals : 10090 Parameters : 2129 Iterations : 14 Time : 0.19755 [s] Initial cost : 0.326562 [px] Final cost : 0.317685 [px] Termination : Convergence => Merged observations: 263 => Completed observations: 80 => Filtered observations: 14 => Changed observations: 0.061904 Bundle adjustment report ------------------------ Residuals : 10238 Parameters : 2096 Iterations : 2 Time : 0.0299571 [s] Initial cost : 0.380285 [px] Final cost : 0.374192 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 3 => Filtered observations: 1 => Changed observations: 0.000685 ============================================================================== Registering image #80 (65) ============================================================================== => Image sees 563 / 1037 points Pose refinement report ---------------------- Residuals : 1196 Parameters : 6 Iterations : 5 Time : 0.00767398 [s] Initial cost : 0.541166 [px] Final cost : 0.324577 [px] Termination : Convergence => Continued observations: 556 => Added observations: 226 Bundle adjustment report ------------------------ Residuals : 10218 Parameters : 2096 Iterations : 9 Time : 0.176065 [s] Initial cost : 0.324537 [px] Final cost : 0.313922 [px] Termination : Convergence => Merged observations: 323 => Completed observations: 38 => Filtered observations: 15 => Changed observations: 0.065723 Bundle adjustment report ------------------------ Residuals : 10160 Parameters : 2042 Iterations : 2 Time : 0.0310459 [s] Initial cost : 0.369295 [px] Final cost : 0.365341 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000351 ============================================================================== Retriangulation ============================================================================== => Completed observations: 5 => Merged observations: 1089 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.387944e+04 0.00e+00 4.26e+03 0.00e+00 0.00e+00 1.00e+04 0 6.44e-02 2.79e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 1.9697e+07 Nonzeros in L: 75855 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.3 maxrank: update/downdate rank: 8 supernodal control: 1 40 (supernodal if flops/lnz >= 40) nmethods: number of ordering methods to try: 1 method 0: natural flop count: 1.9697e+07 nnz(L): 75855 OK 1 1.371115e+04 1.68e+02 5.41e+02 1.25e+01 9.99e-01 3.00e+04 1 3.00e-01 5.79e-01 2 1.371037e+04 7.74e-01 1.77e+02 6.02e+00 9.99e-01 9.00e+04 1 1.71e-01 7.51e-01 3 1.371027e+04 1.08e-01 1.05e+02 4.89e+00 9.99e-01 2.70e+05 1 1.85e-01 9.36e-01 Bundle adjustment report ------------------------ Residuals : 125930 Parameters : 26885 Iterations : 4 Time : 1.0573 [s] Initial cost : 0.331987 [px] Final cost : 0.329958 [px] Termination : Convergence => Completed observations: 2 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000064 => Filtered images: 0 ============================================================================== Registering image #81 (66) ============================================================================== => Image sees 583 / 1108 points Pose refinement report ---------------------- Residuals : 1218 Parameters : 6 Iterations : 4 Time : 0.00942206 [s] Initial cost : 0.327887 [px] Final cost : 0.322945 [px] Termination : Convergence => Continued observations: 570 => Added observations: 375 Bundle adjustment report ------------------------ Residuals : 10504 Parameters : 2165 Iterations : 9 Time : 0.142224 [s] Initial cost : 0.300948 [px] Final cost : 0.292788 [px] Termination : Convergence => Merged observations: 376 => Completed observations: 61 => Filtered observations: 7 => Changed observations: 0.075665 Bundle adjustment report ------------------------ Residuals : 10404 Parameters : 2102 Iterations : 2 Time : 0.0327368 [s] Initial cost : 0.350275 [px] Final cost : 0.345764 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.001720 ============================================================================== Registering image #84 (67) ============================================================================== => Image sees 558 / 1210 points Pose refinement report ---------------------- Residuals : 1284 Parameters : 6 Iterations : 5 Time : 0.010237 [s] Initial cost : 0.482229 [px] Final cost : 0.36524 [px] Termination : Convergence => Continued observations: 546 => Added observations: 250 Bundle adjustment report ------------------------ Residuals : 12822 Parameters : 1763 Iterations : 6 Time : 0.103904 [s] Initial cost : 0.302408 [px] Final cost : 0.288822 [px] Termination : Convergence => Merged observations: 922 => Completed observations: 55 => Filtered observations: 13 => Changed observations: 0.131439 Bundle adjustment report ------------------------ Residuals : 11272 Parameters : 1820 Iterations : 2 Time : 0.0313981 [s] Initial cost : 0.355215 [px] Final cost : 0.349171 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 3 => Filtered observations: 0 => Changed observations: 0.002633 ============================================================================== Registering image #83 (68) ============================================================================== => Image sees 676 / 1134 points Pose refinement report ---------------------- Residuals : 1508 Parameters : 6 Iterations : 4 Time : 0.00874996 [s] Initial cost : 0.333043 [px] Final cost : 0.322893 [px] Termination : Convergence => Continued observations: 669 => Added observations: 345 Bundle adjustment report ------------------------ Residuals : 11752 Parameters : 2300 Iterations : 9 Time : 0.15192 [s] Initial cost : 0.315279 [px] Final cost : 0.303899 [px] Termination : Convergence => Merged observations: 582 => Completed observations: 69 => Filtered observations: 24 => Changed observations: 0.103543 Bundle adjustment report ------------------------ Residuals : 11636 Parameters : 2210 Iterations : 2 Time : 0.0360591 [s] Initial cost : 0.351931 [px] Final cost : 0.345198 [px] Termination : Convergence => Merged observations: 40 => Completed observations: 0 => Filtered observations: 0 => Changed observations: 0.006191 ============================================================================== Registering image #82 (69) ============================================================================== => Image sees 757 / 1053 points Pose refinement report ---------------------- Residuals : 1634 Parameters : 6 Iterations : 4 Time : 0.00885987 [s] Initial cost : 0.316441 [px] Final cost : 0.311308 [px] Termination : Convergence => Continued observations: 747 => Added observations: 145 Bundle adjustment report ------------------------ Residuals : 12216 Parameters : 2195 Iterations : 13 Time : 0.213901 [s] Initial cost : 0.302696 [px] Final cost : 0.294957 [px] Termination : Convergence => Merged observations: 589 => Completed observations: 63 => Filtered observations: 28 => Changed observations: 0.105394 Bundle adjustment report ------------------------ Residuals : 12086 Parameters : 2090 Iterations : 2 Time : 0.0376649 [s] Initial cost : 0.344098 [px] Final cost : 0.338326 [px] Termination : Convergence => Merged observations: 19 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.003601 ============================================================================== Registering image #85 (70) ============================================================================== => Image sees 733 / 1224 points Pose refinement report ---------------------- Residuals : 1636 Parameters : 6 Iterations : 6 Time : 0.012866 [s] Initial cost : 0.713898 [px] Final cost : 0.355709 [px] Termination : Convergence => Continued observations: 727 => Added observations: 290 Bundle adjustment report ------------------------ Residuals : 13516 Parameters : 2255 Iterations : 8 Time : 0.137496 [s] Initial cost : 0.31311 [px] Final cost : 0.303131 [px] Termination : Convergence => Merged observations: 927 => Completed observations: 69 => Filtered observations: 14 => Changed observations: 0.128679 Bundle adjustment report ------------------------ Residuals : 13138 Parameters : 2228 Iterations : 2 Time : 0.037565 [s] Initial cost : 0.358913 [px] Final cost : 0.35345 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 1 => Changed observations: 0.000280 ============================================================================== Registering image #86 (71) ============================================================================== => Image sees 732 / 1202 points Pose refinement report ---------------------- Residuals : 1660 Parameters : 6 Iterations : 4 Time : 0.012964 [s] Initial cost : 0.368322 [px] Final cost : 0.361435 [px] Termination : Convergence => Continued observations: 729 => Added observations: 280 Bundle adjustment report ------------------------ Residuals : 14042 Parameters : 1943 Iterations : 18 Time : 0.358228 [s] Initial cost : 0.314276 [px] Final cost : 0.303877 [px] Termination : Convergence => Merged observations: 1016 => Completed observations: 156 => Filtered observations: 26 => Changed observations: 0.151091 Bundle adjustment report ------------------------ Residuals : 13706 Parameters : 1802 Iterations : 3 Time : 0.051096 [s] Initial cost : 0.351667 [px] Final cost : 0.346721 [px] Termination : Convergence => Merged observations: 15 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.002053 ============================================================================== Registering image #87 (72) ============================================================================== => Image sees 769 / 1328 points Pose refinement report ---------------------- Residuals : 1676 Parameters : 6 Iterations : 6 Time : 0.013679 [s] Initial cost : 0.623438 [px] Final cost : 0.363368 [px] Termination : Convergence => Continued observations: 764 => Added observations: 325 Bundle adjustment report ------------------------ Residuals : 14026 Parameters : 2108 Iterations : 14 Time : 0.24511 [s] Initial cost : 0.321211 [px] Final cost : 0.310937 [px] Termination : Convergence => Merged observations: 682 => Completed observations: 75 => Filtered observations: 25 => Changed observations: 0.097227 Bundle adjustment report ------------------------ Residuals : 13896 Parameters : 2000 Iterations : 2 Time : 0.0364189 [s] Initial cost : 0.3643 [px] Final cost : 0.359114 [px] Termination : Convergence => Merged observations: 26 => Completed observations: 5 => Filtered observations: 0 => Changed observations: 0.003882 ============================================================================== Retriangulation ============================================================================== => Completed observations: 10 => Merged observations: 1022 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.635117e+04 0.00e+00 1.28e+04 0.00e+00 0.00e+00 1.00e+04 0 7.64e-02 3.53e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 2.6781e+07 Nonzeros in L: 93096 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.4 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: 2.6781e+07 nnz(L): 93096 OK 1 1.606848e+04 2.83e+02 3.15e+02 5.86e+00 1.00e+00 3.00e+04 1 3.93e-01 7.46e-01 2 1.606813e+04 3.53e-01 1.47e+02 4.12e+00 1.00e+00 9.00e+04 1 1.95e-01 9.41e-01 3 1.606807e+04 5.63e-02 1.04e+02 3.16e+00 1.00e+00 2.70e+05 1 1.94e-01 1.14e+00 Bundle adjustment report ------------------------ Residuals : 140316 Parameters : 28376 Iterations : 4 Time : 1.2719 [s] Initial cost : 0.341366 [px] Final cost : 0.338398 [px] Termination : Convergence => Completed observations: 2 => Merged observations: 0 => Filtered observations: 8 => Changed observations: 0.000143 => Filtered images: 0 ============================================================================== Registering image #88 (73) ============================================================================== => Image sees 797 / 1446 points Pose refinement report ---------------------- Residuals : 1664 Parameters : 6 Iterations : 6 Time : 0.0136111 [s] Initial cost : 0.666955 [px] Final cost : 0.365721 [px] Termination : Convergence => Continued observations: 793 => Added observations: 364 Bundle adjustment report ------------------------ Residuals : 13586 Parameters : 2336 Iterations : 13 Time : 0.239697 [s] Initial cost : 0.312388 [px] Final cost : 0.301309 [px] Termination : Convergence => Merged observations: 331 => Completed observations: 90 => Filtered observations: 19 => Changed observations: 0.056840 Bundle adjustment report ------------------------ Residuals : 13546 Parameters : 2279 Iterations : 2 Time : 0.037153 [s] Initial cost : 0.352495 [px] Final cost : 0.348656 [px] Termination : Convergence => Merged observations: 14 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.002330 ============================================================================== Registering image #89 (74) ============================================================================== => Image sees 840 / 1437 points Pose refinement report ---------------------- Residuals : 1756 Parameters : 6 Iterations : 4 Time : 0.0106871 [s] Initial cost : 0.370651 [px] Final cost : 0.367266 [px] Termination : Convergence => Continued observations: 837 => Added observations: 410 Bundle adjustment report ------------------------ Residuals : 13924 Parameters : 2642 Iterations : 7 Time : 0.126923 [s] Initial cost : 0.321756 [px] Final cost : 0.307415 [px] Termination : Convergence => Merged observations: 368 => Completed observations: 65 => Filtered observations: 31 => Changed observations: 0.059941 Bundle adjustment report ------------------------ Residuals : 14026 Parameters : 2597 Iterations : 3 Time : 0.0562088 [s] Initial cost : 0.354127 [px] Final cost : 0.349841 [px] Termination : Convergence => Merged observations: 33 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.004499 ============================================================================== Registering image #90 (75) ============================================================================== => Image sees 746 / 1390 points Pose refinement report ---------------------- Residuals : 1524 Parameters : 6 Iterations : 5 Time : 0.0129991 [s] Initial cost : 0.457721 [px] Final cost : 0.384645 [px] Termination : Convergence => Continued observations: 740 => Added observations: 422 Bundle adjustment report ------------------------ Residuals : 13456 Parameters : 2678 Iterations : 8 Time : 0.195502 [s] Initial cost : 0.326014 [px] Final cost : 0.314854 [px] Termination : Convergence => Merged observations: 182 => Completed observations: 23 => Filtered observations: 28 => Changed observations: 0.031038 Bundle adjustment report ------------------------ Residuals : 13400 Parameters : 2657 Iterations : 3 Time : 0.080219 [s] Initial cost : 0.362507 [px] Final cost : 0.35972 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000267 ============================================================================== Registering image #91 (76) ============================================================================== => Image sees 730 / 1400 points Pose refinement report ---------------------- Residuals : 1474 Parameters : 6 Iterations : 4 Time : 0.01051 [s] Initial cost : 0.378261 [px] Final cost : 0.372806 [px] Termination : Convergence => Continued observations: 721 => Added observations: 463 Bundle adjustment report ------------------------ Residuals : 13210 Parameters : 2957 Iterations : 9 Time : 0.210458 [s] Initial cost : 0.320996 [px] Final cost : 0.311467 [px] Termination : Convergence => Merged observations: 113 => Completed observations: 33 => Filtered observations: 18 => Changed observations: 0.022189 Bundle adjustment report ------------------------ Residuals : 13204 Parameters : 2924 Iterations : 2 Time : 0.0453889 [s] Initial cost : 0.374952 [px] Final cost : 0.372512 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 0 => Changed observations: 0.000271 ============================================================================== Registering image #92 (77) ============================================================================== => Image sees 825 / 1606 points Pose refinement report ---------------------- Residuals : 1660 Parameters : 6 Iterations : 5 Time : 0.0138099 [s] Initial cost : 0.439136 [px] Final cost : 0.349995 [px] Termination : Convergence => Continued observations: 821 => Added observations: 508 Bundle adjustment report ------------------------ Residuals : 13656 Parameters : 3329 Iterations : 8 Time : 0.20151 [s] Initial cost : 0.320654 [px] Final cost : 0.312633 [px] Termination : Convergence => Merged observations: 59 => Completed observations: 19 => Filtered observations: 14 => Changed observations: 0.012066 Bundle adjustment report ------------------------ Residuals : 13670 Parameters : 3323 Iterations : 2 Time : 0.0469172 [s] Initial cost : 0.381642 [px] Final cost : 0.378077 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000131 ============================================================================== Registering image #93 (78) ============================================================================== => Image sees 897 / 1562 points Pose refinement report ---------------------- Residuals : 1820 Parameters : 6 Iterations : 4 Time : 0.0172701 [s] Initial cost : 0.353545 [px] Final cost : 0.342143 [px] Termination : Convergence => Continued observations: 893 => Added observations: 427 Bundle adjustment report ------------------------ Residuals : 14392 Parameters : 3632 Iterations : 10 Time : 0.235359 [s] Initial cost : 0.318413 [px] Final cost : 0.311072 [px] Termination : Convergence => Merged observations: 75 => Completed observations: 9 => Filtered observations: 15 => Changed observations: 0.012364 Bundle adjustment report ------------------------ Residuals : 14376 Parameters : 3617 Iterations : 3 Time : 0.0785351 [s] Initial cost : 0.380056 [px] Final cost : 0.377747 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 7 => Filtered observations: 0 => Changed observations: 0.000875 ============================================================================== Retriangulation ============================================================================== => Completed observations: 9 => Merged observations: 115 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.822114e+04 0.00e+00 2.11e+03 0.00e+00 0.00e+00 1.00e+04 0 8.09e-02 3.68e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 3.4058e+07 Nonzeros in L: 1.0928e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.4 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: 3.4058e+07 nnz(L): 1.0928e+05 OK 1 1.779238e+04 4.29e+02 2.58e+02 3.15e+00 1.00e+00 3.00e+04 1 3.88e-01 7.56e-01 2 1.779227e+04 1.08e-01 6.56e+01 6.68e-01 1.00e+00 9.00e+04 1 2.27e-01 9.83e-01 Bundle adjustment report ------------------------ Residuals : 155354 Parameters : 31724 Iterations : 3 Time : 1.14734 [s] Initial cost : 0.342473 [px] Final cost : 0.338419 [px] Termination : Convergence => Completed observations: 6 => Merged observations: 108 => Filtered observations: 8 => Changed observations: 0.001571 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.784666e+04 0.00e+00 5.76e+03 0.00e+00 0.00e+00 1.00e+04 0 6.39e-02 3.23e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 3.4058e+07 Nonzeros in L: 1.0928e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.4 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: 3.4058e+07 nnz(L): 1.0928e+05 OK 1 1.781511e+04 3.15e+01 2.98e+01 2.99e-01 1.00e+00 3.00e+04 1 4.06e-01 7.28e-01 Bundle adjustment report ------------------------ Residuals : 155340 Parameters : 31706 Iterations : 2 Time : 0.88378 [s] Initial cost : 0.338951 [px] Final cost : 0.338651 [px] Termination : Convergence => Completed observations: 4 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000077 => Filtered images: 0 ============================================================================== Registering image #94 (79) ============================================================================== => Image sees 920 / 1466 points Pose refinement report ---------------------- Residuals : 1870 Parameters : 6 Iterations : 4 Time : 0.00987506 [s] Initial cost : 0.29887 [px] Final cost : 0.294626 [px] Termination : Convergence => Continued observations: 916 => Added observations: 226 Bundle adjustment report ------------------------ Residuals : 15278 Parameters : 3194 Iterations : 9 Time : 0.195541 [s] Initial cost : 0.281675 [px] Final cost : 0.276769 [px] Termination : Convergence => Merged observations: 73 => Completed observations: 17 => Filtered observations: 16 => Changed observations: 0.012475 Bundle adjustment report ------------------------ Residuals : 15260 Parameters : 3179 Iterations : 3 Time : 0.084758 [s] Initial cost : 0.327613 [px] Final cost : 0.323419 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 2 => Filtered observations: 1 => Changed observations: 0.000353 ============================================================================== Registering image #95 (80) ============================================================================== => Image sees 928 / 1412 points Pose refinement report ---------------------- Residuals : 1880 Parameters : 6 Iterations : 4 Time : 0.0102768 [s] Initial cost : 0.290377 [px] Final cost : 0.281218 [px] Termination : Convergence => Continued observations: 926 => Added observations: 186 Bundle adjustment report ------------------------ Residuals : 16242 Parameters : 2915 Iterations : 17 Time : 0.376926 [s] Initial cost : 0.28146 [px] Final cost : 0.277721 [px] Termination : Convergence => Merged observations: 46 => Completed observations: 36 => Filtered observations: 22 => Changed observations: 0.011557 Bundle adjustment report ------------------------ Residuals : 16262 Parameters : 2900 Iterations : 2 Time : 0.04583 [s] Initial cost : 0.321469 [px] Final cost : 0.318449 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000444 ============================================================================== Registering image #101 (81) ============================================================================== => Image sees 891 / 1510 points Pose refinement report ---------------------- Residuals : 1804 Parameters : 6 Iterations : 6 Time : 0.0148752 [s] Initial cost : 0.663579 [px] Final cost : 0.278372 [px] Termination : Convergence => Continued observations: 888 => Added observations: 376 Bundle adjustment report ------------------------ Residuals : 15828 Parameters : 3032 Iterations : 11 Time : 0.239078 [s] Initial cost : 0.283675 [px] Final cost : 0.278099 [px] Termination : Convergence => Merged observations: 27 => Completed observations: 48 => Filtered observations: 20 => Changed observations: 0.010959 Bundle adjustment report ------------------------ Residuals : 15878 Parameters : 3020 Iterations : 3 Time : 0.0668828 [s] Initial cost : 0.311389 [px] Final cost : 0.306635 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 0 => Changed observations: 0.000460 ============================================================================== Registering image #100 (82) ============================================================================== => Image sees 971 / 1493 points Pose refinement report ---------------------- Residuals : 1964 Parameters : 6 Iterations : 5 Time : 0.0137129 [s] Initial cost : 0.419548 [px] Final cost : 0.274515 [px] Termination : Convergence => Continued observations: 966 => Added observations: 307 Bundle adjustment report ------------------------ Residuals : 17578 Parameters : 3305 Iterations : 9 Time : 0.210749 [s] Initial cost : 0.272144 [px] Final cost : 0.2676 [px] Termination : Convergence => Merged observations: 109 => Completed observations: 54 => Filtered observations: 13 => Changed observations: 0.018684 Bundle adjustment report ------------------------ Residuals : 17628 Parameters : 3284 Iterations : 3 Time : 0.086086 [s] Initial cost : 0.313607 [px] Final cost : 0.309116 [px] Termination : Convergence => Merged observations: 8 => Completed observations: 5 => Filtered observations: 1 => Changed observations: 0.001482 ============================================================================== Registering image #97 (83) ============================================================================== => Image sees 1018 / 1509 points Pose refinement report ---------------------- Residuals : 2096 Parameters : 6 Iterations : 6 Time : 0.026963 [s] Initial cost : 0.502811 [px] Final cost : 0.30987 [px] Termination : Convergence => Continued observations: 1016 => Added observations: 381 Bundle adjustment report ------------------------ Residuals : 18154 Parameters : 3194 Iterations : 12 Time : 0.276313 [s] Initial cost : 0.288439 [px] Final cost : 0.282274 [px] Termination : Convergence => Merged observations: 177 => Completed observations: 89 => Filtered observations: 25 => Changed observations: 0.029673 Bundle adjustment report ------------------------ Residuals : 18272 Parameters : 3164 Iterations : 3 Time : 0.0696349 [s] Initial cost : 0.332169 [px] Final cost : 0.32687 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 5 => Filtered observations: 1 => Changed observations: 0.000608 ============================================================================== Registering image #96 (84) ============================================================================== => Image sees 1073 / 1395 points Pose refinement report ---------------------- Residuals : 2200 Parameters : 6 Iterations : 5 Time : 0.014107 [s] Initial cost : 0.32279 [px] Final cost : 0.303469 [px] Termination : Convergence => Continued observations: 1071 => Added observations: 216 Bundle adjustment report ------------------------ Residuals : 19088 Parameters : 2927 Iterations : 11 Time : 0.261038 [s] Initial cost : 0.298088 [px] Final cost : 0.292224 [px] Termination : Convergence => Merged observations: 105 => Completed observations: 66 => Filtered observations: 36 => Changed observations: 0.020043 Bundle adjustment report ------------------------ Residuals : 19150 Parameters : 2894 Iterations : 3 Time : 0.073041 [s] Initial cost : 0.335825 [px] Final cost : 0.329876 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 0 => Changed observations: 0.001641 ============================================================================== Registering image #99 (85) ============================================================================== => Image sees 1040 / 1412 points Pose refinement report ---------------------- Residuals : 2118 Parameters : 6 Iterations : 4 Time : 0.0114272 [s] Initial cost : 0.30233 [px] Final cost : 0.297493 [px] Termination : Convergence => Continued observations: 1037 => Added observations: 202 Bundle adjustment report ------------------------ Residuals : 20012 Parameters : 2738 Iterations : 9 Time : 0.21366 [s] Initial cost : 0.287381 [px] Final cost : 0.281694 [px] Termination : Convergence => Merged observations: 122 => Completed observations: 43 => Filtered observations: 36 => Changed observations: 0.018877 Bundle adjustment report ------------------------ Residuals : 20026 Parameters : 2708 Iterations : 3 Time : 0.080409 [s] Initial cost : 0.3284 [px] Final cost : 0.323126 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 19 => Filtered observations: 1 => Changed observations: 0.001878 ============================================================================== Registering image #98 (86) ============================================================================== => Image sees 1063 / 1363 points Pose refinement report ---------------------- Residuals : 2166 Parameters : 6 Iterations : 5 Time : 0.0148828 [s] Initial cost : 0.335085 [px] Final cost : 0.296669 [px] Termination : Convergence => Continued observations: 1060 => Added observations: 135 Bundle adjustment report ------------------------ Residuals : 20956 Parameters : 2639 Iterations : 9 Time : 0.21885 [s] Initial cost : 0.280647 [px] Final cost : 0.27562 [px] Termination : Convergence => Merged observations: 147 => Completed observations: 29 => Filtered observations: 17 => Changed observations: 0.017248 Bundle adjustment report ------------------------ Residuals : 20904 Parameters : 2612 Iterations : 3 Time : 0.07374 [s] Initial cost : 0.324697 [px] Final cost : 0.32119 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 8 => Filtered observations: 0 => Changed observations: 0.000717 ============================================================================== Retriangulation ============================================================================== => Completed observations: 5 => Merged observations: 83 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.032781e+04 0.00e+00 8.30e+03 0.00e+00 0.00e+00 1.00e+04 0 6.94e-02 3.64e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 4.5663e+07 Nonzeros in L: 1.3287e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.5 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: 4.5663e+07 nnz(L): 1.3287e+05 OK 1 2.007577e+04 2.52e+02 3.63e+02 3.97e+00 1.00e+00 3.00e+04 1 4.21e-01 7.85e-01 2 2.007562e+04 1.49e-01 1.55e+01 2.24e+00 1.00e+00 9.00e+04 1 2.23e-01 1.01e+00 Bundle adjustment report ------------------------ Residuals : 175624 Parameters : 33701 Iterations : 3 Time : 1.17623 [s] Initial cost : 0.340215 [px] Final cost : 0.338098 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 32 => Filtered observations: 6 => Changed observations: 0.000433 => Filtered images: 0 ============================================================================== Registering image #7 (87) ============================================================================== => Image sees 538 / 1211 points Pose refinement report ---------------------- Residuals : 1172 Parameters : 6 Iterations : 4 Time : 0.00632 [s] Initial cost : 0.321419 [px] Final cost : 0.298883 [px] Termination : Convergence => Continued observations: 531 => Added observations: 159 Bundle adjustment report ------------------------ Residuals : 10874 Parameters : 1745 Iterations : 6 Time : 0.0857391 [s] Initial cost : 0.319105 [px] Final cost : 0.313053 [px] Termination : Convergence => Merged observations: 890 => Completed observations: 170 => Filtered observations: 28 => Changed observations: 0.170346 Bundle adjustment report ------------------------ Residuals : 11774 Parameters : 1616 Iterations : 3 Time : 0.0477459 [s] Initial cost : 0.345551 [px] Final cost : 0.339234 [px] Termination : Convergence => Merged observations: 37 => Completed observations: 8 => Filtered observations: 0 => Changed observations: 0.007074 ============================================================================== Registering image #31 (88) ============================================================================== => Image sees 478 / 816 points Pose refinement report ---------------------- Residuals : 1008 Parameters : 6 Iterations : 4 Time : 0.00529504 [s] Initial cost : 0.369903 [px] Final cost : 0.36782 [px] Termination : Convergence => Continued observations: 477 => Added observations: 184 Bundle adjustment report ------------------------ Residuals : 9354 Parameters : 971 Iterations : 5 Time : 0.0585878 [s] Initial cost : 0.331598 [px] Final cost : 0.325892 [px] Termination : Convergence => Merged observations: 239 => Completed observations: 71 => Filtered observations: 19 => Changed observations: 0.062942 Bundle adjustment report ------------------------ Residuals : 9412 Parameters : 953 Iterations : 3 Time : 0.035804 [s] Initial cost : 0.388398 [px] Final cost : 0.38423 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 4 => Filtered observations: 1 => Changed observations: 0.000951 ============================================================================== Registering image #38 (89) ============================================================================== => Image sees 537 / 932 points Pose refinement report ---------------------- Residuals : 1152 Parameters : 6 Iterations : 6 Time : 0.00968885 [s] Initial cost : 0.64294 [px] Final cost : 0.35359 [px] Termination : Convergence => Continued observations: 522 => Added observations: 168 Bundle adjustment report ------------------------ Residuals : 9432 Parameters : 1631 Iterations : 11 Time : 0.136066 [s] Initial cost : 0.35497 [px] Final cost : 0.342375 [px] Termination : Convergence => Merged observations: 201 => Completed observations: 40 => Filtered observations: 22 => Changed observations: 0.048346 Bundle adjustment report ------------------------ Residuals : 9380 Parameters : 1580 Iterations : 3 Time : 0.0378869 [s] Initial cost : 0.407075 [px] Final cost : 0.400606 [px] Termination : Convergence => Merged observations: 13 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.003511 ============================================================================== Registering image #6 (90) ============================================================================== => Image sees 504 / 1170 points Pose refinement report ---------------------- Residuals : 1068 Parameters : 6 Iterations : 5 Time : 0.00811005 [s] Initial cost : 0.487239 [px] Final cost : 0.326958 [px] Termination : Convergence => Continued observations: 496 => Added observations: 117 Bundle adjustment report ------------------------ Residuals : 11134 Parameters : 1496 Iterations : 8 Time : 0.112636 [s] Initial cost : 0.320326 [px] Final cost : 0.315338 [px] Termination : Convergence => Merged observations: 537 => Completed observations: 173 => Filtered observations: 22 => Changed observations: 0.111348 Bundle adjustment report ------------------------ Residuals : 11168 Parameters : 1430 Iterations : 3 Time : 0.0440071 [s] Initial cost : 0.364234 [px] Final cost : 0.358079 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000152 ============================================================================== Registering image #4 (91) ============================================================================== => Image sees 512 / 1158 points Pose refinement report ---------------------- Residuals : 1050 Parameters : 6 Iterations : 6 Time : 0.00852799 [s] Initial cost : 0.629744 [px] Final cost : 0.317896 [px] Termination : Convergence => Continued observations: 498 => Added observations: 176 Bundle adjustment report ------------------------ Residuals : 10710 Parameters : 1271 Iterations : 6 Time : 0.083303 [s] Initial cost : 0.310886 [px] Final cost : 0.304178 [px] Termination : Convergence => Merged observations: 595 => Completed observations: 289 => Filtered observations: 22 => Changed observations: 0.157346 Bundle adjustment report ------------------------ Residuals : 10532 Parameters : 1160 Iterations : 3 Time : 0.0417349 [s] Initial cost : 0.362085 [px] Final cost : 0.355358 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 10 => Filtered observations: 1 => Changed observations: 0.001924 ============================================================================== Registering image #5 (92) ============================================================================== => Image sees 553 / 1130 points Pose refinement report ---------------------- Residuals : 1160 Parameters : 6 Iterations : 5 Time : 0.00778008 [s] Initial cost : 0.333103 [px] Final cost : 0.314186 [px] Termination : Convergence => Continued observations: 546 => Added observations: 105 Bundle adjustment report ------------------------ Residuals : 11310 Parameters : 1331 Iterations : 8 Time : 0.121369 [s] Initial cost : 0.322184 [px] Final cost : 0.318782 [px] Termination : Convergence => Merged observations: 375 => Completed observations: 114 => Filtered observations: 20 => Changed observations: 0.076645 Bundle adjustment report ------------------------ Residuals : 11180 Parameters : 1262 Iterations : 3 Time : 0.043174 [s] Initial cost : 0.38024 [px] Final cost : 0.372638 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 0 => Changed observations: 0.001367 ============================================================================== Registering image #3 (93) ============================================================================== => Image sees 538 / 1111 points Pose refinement report ---------------------- Residuals : 1106 Parameters : 6 Iterations : 5 Time : 0.00797105 [s] Initial cost : 0.338268 [px] Final cost : 0.327138 [px] Termination : Convergence => Continued observations: 532 => Added observations: 789 Bundle adjustment report ------------------------ Residuals : 11828 Parameters : 1304 Iterations : 7 Time : 0.101954 [s] Initial cost : 0.312755 [px] Final cost : 0.307529 [px] Termination : Convergence => Merged observations: 174 => Completed observations: 1144 => Filtered observations: 19 => Changed observations: 0.198722 Bundle adjustment report ------------------------ Residuals : 12158 Parameters : 1073 Iterations : 3 Time : 0.0511601 [s] Initial cost : 0.361349 [px] Final cost : 0.353227 [px] Termination : Convergence => Merged observations: 19 => Completed observations: 7 => Filtered observations: 0 => Changed observations: 0.003894 ============================================================================== Registering image #2 (94) ============================================================================== => Image sees 598 / 1098 points Pose refinement report ---------------------- Residuals : 1214 Parameters : 6 Iterations : 4 Time : 0.010788 [s] Initial cost : 0.302984 [px] Final cost : 0.297115 [px] Termination : Convergence => Continued observations: 595 => Added observations: 253 Bundle adjustment report ------------------------ Residuals : 11572 Parameters : 1052 Iterations : 10 Time : 0.184663 [s] Initial cost : 0.321241 [px] Final cost : 0.31791 [px] Termination : Convergence => Merged observations: 80 => Completed observations: 259 => Filtered observations: 21 => Changed observations: 0.053780 Bundle adjustment report ------------------------ Residuals : 11622 Parameters : 1001 Iterations : 3 Time : 0.0466728 [s] Initial cost : 0.375471 [px] Final cost : 0.368447 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 21 => Filtered observations: 0 => Changed observations: 0.003123 ============================================================================== Registering image #1 (95) ============================================================================== => Image sees 609 / 995 points Pose refinement report ---------------------- Residuals : 1234 Parameters : 6 Iterations : 7 Time : 0.012506 [s] Initial cost : 0.504507 [px] Final cost : 0.318775 [px] Termination : Convergence => Continued observations: 609 => Added observations: 138 Bundle adjustment report ------------------------ Residuals : 11972 Parameters : 1034 Iterations : 7 Time : 0.108257 [s] Initial cost : 0.311325 [px] Final cost : 0.307558 [px] Termination : Convergence => Merged observations: 46 => Completed observations: 115 => Filtered observations: 8 => Changed observations: 0.025703 Bundle adjustment report ------------------------ Residuals : 12000 Parameters : 1010 Iterations : 2 Time : 0.0318372 [s] Initial cost : 0.370468 [px] Final cost : 0.366859 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 1 => Filtered observations: 0 => Changed observations: 0.000152 ============================================================================== Retriangulation ============================================================================== => Completed observations: 17 => Merged observations: 1156 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.362594e+04 0.00e+00 4.82e+03 0.00e+00 0.00e+00 1.00e+04 0 8.24e-02 4.23e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 6.1569e+07 Nonzeros in L: 1.6216e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.7 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: 6.1569e+07 nnz(L): 1.6216e+05 OK 1 2.305616e+04 5.70e+02 2.13e+03 1.87e+01 1.00e+00 3.00e+04 1 5.40e-01 9.63e-01 2 2.305442e+04 1.74e+00 4.30e+02 6.58e+00 9.98e-01 9.00e+04 1 2.62e-01 1.23e+00 3 2.305427e+04 1.49e-01 1.33e+02 2.57e+00 1.00e+00 2.70e+05 1 2.83e-01 1.51e+00 Bundle adjustment report ------------------------ Residuals : 193890 Parameters : 34820 Iterations : 4 Time : 1.7263 [s] Initial cost : 0.349073 [px] Final cost : 0.344824 [px] Termination : Convergence => Completed observations: 14 => Merged observations: 45 => Filtered observations: 11 => Changed observations: 0.000722 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.311273e+04 0.00e+00 3.92e+03 0.00e+00 0.00e+00 1.00e+04 0 8.58e-02 3.99e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 6.1569e+07 Nonzeros in L: 1.6216e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.7 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: 6.1569e+07 nnz(L): 1.6216e+05 OK 1 2.304387e+04 6.89e+01 9.38e+01 1.24e+01 9.85e-01 3.00e+04 1 5.20e-01 9.19e-01 2 2.304194e+04 1.93e+00 1.76e+01 5.25e+00 9.87e-01 9.00e+04 1 2.72e-01 1.19e+00 3 2.304189e+04 5.42e-02 7.45e+00 1.10e+00 9.99e-01 2.70e+05 1 2.74e-01 1.46e+00 Bundle adjustment report ------------------------ Residuals : 193880 Parameters : 34808 Iterations : 4 Time : 1.6773 [s] Initial cost : 0.34527 [px] Final cost : 0.344741 [px] Termination : Convergence => Completed observations: 0 => Merged observations: 0 => Filtered observations: 8 => Changed observations: 0.000083 => Filtered images: 0 ============================================================================== Registering image #37 (96) ============================================================================== => Image sees 520 / 924 points Pose refinement report ---------------------- Residuals : 1100 Parameters : 6 Iterations : 6 Time : 0.009305 [s] Initial cost : 0.526984 [px] Final cost : 0.353763 [px] Termination : Convergence => Continued observations: 502 => Added observations: 180 Bundle adjustment report ------------------------ Residuals : 9120 Parameters : 1463 Iterations : 13 Time : 0.172839 [s] Initial cost : 0.361232 [px] Final cost : 0.353611 [px] Termination : Convergence => Merged observations: 324 => Completed observations: 48 => Filtered observations: 24 => Changed observations: 0.074116 Bundle adjustment report ------------------------ Residuals : 9034 Parameters : 1400 Iterations : 2 Time : 0.0281239 [s] Initial cost : 0.423059 [px] Final cost : 0.413271 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.001132 ============================================================================== Registering image #36 (97) ============================================================================== => Image sees 531 / 909 points Pose refinement report ---------------------- Residuals : 1180 Parameters : 6 Iterations : 5 Time : 0.00868487 [s] Initial cost : 0.431945 [px] Final cost : 0.370079 [px] Termination : Convergence => Continued observations: 515 => Added observations: 205 Bundle adjustment report ------------------------ Residuals : 8972 Parameters : 1364 Iterations : 12 Time : 0.147687 [s] Initial cost : 0.380336 [px] Final cost : 0.369224 [px] Termination : Convergence => Merged observations: 437 => Completed observations: 62 => Filtered observations: 32 => Changed observations: 0.101491 Bundle adjustment report ------------------------ Residuals : 8860 Parameters : 1274 Iterations : 3 Time : 0.0371499 [s] Initial cost : 0.423267 [px] Final cost : 0.417242 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 9 => Filtered observations: 0 => Changed observations: 0.001740 ============================================================================== Registering image #33 (98) ============================================================================== => Image sees 519 / 950 points Pose refinement report ---------------------- Residuals : 1122 Parameters : 6 Iterations : 7 Time : 0.011131 [s] Initial cost : 0.489511 [px] Final cost : 0.399663 [px] Termination : Convergence => Continued observations: 510 => Added observations: 256 Bundle adjustment report ------------------------ Residuals : 9486 Parameters : 1037 Iterations : 9 Time : 0.109359 [s] Initial cost : 0.363931 [px] Final cost : 0.352881 [px] Termination : Convergence => Merged observations: 194 => Completed observations: 62 => Filtered observations: 30 => Changed observations: 0.053810 Bundle adjustment report ------------------------ Residuals : 9538 Parameters : 1010 Iterations : 3 Time : 0.037493 [s] Initial cost : 0.416314 [px] Final cost : 0.408971 [px] Termination : Convergence => Merged observations: 13 => Completed observations: 6 => Filtered observations: 0 => Changed observations: 0.003557 ============================================================================== Registering image #35 (99) ============================================================================== => Image sees 582 / 874 points Pose refinement report ---------------------- Residuals : 1308 Parameters : 6 Iterations : 5 Time : 0.0092299 [s] Initial cost : 0.426703 [px] Final cost : 0.390364 [px] Termination : Convergence => Continued observations: 573 => Added observations: 167 Bundle adjustment report ------------------------ Residuals : 9344 Parameters : 1112 Iterations : 11 Time : 0.155143 [s] Initial cost : 0.383537 [px] Final cost : 0.373933 [px] Termination : Convergence => Merged observations: 253 => Completed observations: 37 => Filtered observations: 45 => Changed observations: 0.059156 Bundle adjustment report ------------------------ Residuals : 8722 Parameters : 1106 Iterations : 3 Time : 0.036094 [s] Initial cost : 0.434251 [px] Final cost : 0.422987 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 16 => Filtered observations: 0 => Changed observations: 0.003051 ============================================================================== Registering image #34 (100) ============================================================================== => Image sees 600 / 893 points Pose refinement report ---------------------- Residuals : 1330 Parameters : 6 Iterations : 5 Time : 0.0100491 [s] Initial cost : 0.444234 [px] Final cost : 0.376818 [px] Termination : Convergence => Continued observations: 592 => Added observations: 90 Bundle adjustment report ------------------------ Residuals : 9966 Parameters : 1046 Iterations : 9 Time : 0.116488 [s] Initial cost : 0.401261 [px] Final cost : 0.388249 [px] Termination : Convergence => Merged observations: 152 => Completed observations: 58 => Filtered observations: 48 => Changed observations: 0.045271 Bundle adjustment report ------------------------ Residuals : 10000 Parameters : 1010 Iterations : 3 Time : 0.0378211 [s] Initial cost : 0.44027 [px] Final cost : 0.432109 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 24 => Filtered observations: 0 => Changed observations: 0.004202 ============================================================================== Registering image #32 (101) ============================================================================== => Image sees 552 / 839 points Pose refinement report ---------------------- Residuals : 1212 Parameters : 6 Iterations : 6 Time : 0.0101111 [s] Initial cost : 0.604356 [px] Final cost : 0.390327 [px] Termination : Convergence => Continued observations: 545 => Added observations: 144 Bundle adjustment report ------------------------ Residuals : 9488 Parameters : 971 Iterations : 5 Time : 0.059902 [s] Initial cost : 0.375318 [px] Final cost : 0.370186 [px] Termination : Convergence => Merged observations: 279 => Completed observations: 54 => Filtered observations: 26 => Changed observations: 0.066704 Bundle adjustment report ------------------------ Residuals : 9300 Parameters : 932 Iterations : 2 Time : 0.0246382 [s] Initial cost : 0.446752 [px] Final cost : 0.440844 [px] Termination : Convergence => Merged observations: 0 => Completed observations: 17 => Filtered observations: 0 => Changed observations: 0.003175 ============================================================================== Retriangulation ============================================================================== => Completed observations: 19 => Merged observations: 1648 => Retriangulated observations: 0 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.564276e+04 0.00e+00 8.83e+03 0.00e+00 0.00e+00 1.00e+04 0 8.06e-02 4.37e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 7.3998e+07 Nonzeros in L: 1.8332e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.7 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: 7.3998e+07 nnz(L): 1.8332e+05 OK 1 2.534493e+04 2.98e+02 1.29e+02 6.43e+00 1.00e+00 3.00e+04 1 5.94e-01 1.03e+00 2 2.534481e+04 1.17e-01 1.52e+01 5.94e-01 1.00e+00 9.00e+04 1 3.03e-01 1.33e+00 Bundle adjustment report ------------------------ Residuals : 202802 Parameters : 35516 Iterations : 3 Time : 1.55766 [s] Initial cost : 0.355587 [px] Final cost : 0.353515 [px] Termination : Convergence => Completed observations: 8 => Merged observations: 75 => Filtered observations: 16 => Changed observations: 0.000976 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.530602e+04 0.00e+00 8.05e+03 0.00e+00 0.00e+00 1.00e+04 0 8.69e-02 4.68e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 7.3998e+07 Nonzeros in L: 1.8332e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.7 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: 7.3998e+07 nnz(L): 1.8332e+05 OK 1 2.525883e+04 4.72e+01 2.07e+02 4.71e+00 1.00e+00 3.00e+04 1 5.84e-01 1.05e+00 Bundle adjustment report ------------------------ Residuals : 202766 Parameters : 35498 Iterations : 2 Time : 1.26811 [s] Initial cost : 0.353276 [px] Final cost : 0.352947 [px] Termination : Convergence => Completed observations: 2 => Merged observations: 0 => Filtered observations: 2 => Changed observations: 0.000039 => Filtered images: 0 Elapsed time: 1.133 [minutes] [02:45:09] 🎉 Done COLMAP bundle adjustment. process_data.py:441 ============================================================================== Global bundle adjustment ============================================================================== iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 2.525515e+04 0.00e+00 9.00e+02 0.00e+00 0.00e+00 1.00e+04 0 8.67e-02 4.41e-01 CHOLMOD version 3.0.14, Oct 22, 2019: Symbolic Analysis: status: OK Architecture: Linux sizeof(int): 4 sizeof(SuiteSparse_long): 8 sizeof(void *): 8 sizeof(double): 8 sizeof(Int): 4 (CHOLMOD's basic integer) sizeof(BLAS_INT): 4 (integer used in the BLAS) Results from most recent analysis: Cholesky flop count: 7.4734e+07 Nonzeros in L: 1.8453e+05 memory blocks in use: 11 memory in use (MB): 0.0 peak memory usage (MB): 0.7 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: 7.4734e+07 nnz(L): 1.8453e+05 OK 1 2.524858e+04 6.56e+00 8.25e+02 1.36e+00 1.00e+00 3.00e+04 1 6.19e-01 1.06e+00 2 2.524226e+04 6.33e+00 2.81e+03 2.93e+00 9.99e-01 9.00e+04 1 2.93e-01 1.35e+00 3 2.523305e+04 9.21e+00 1.24e+04 5.61e+00 9.80e-01 2.70e+05 1 3.05e-01 1.66e+00 4 2.522717e+04 5.87e+00 1.76e+04 6.48e+00 9.38e-01 8.10e+05 1 3.05e-01 1.96e+00 5 2.522568e+04 1.50e+00 5.05e+03 3.46e+00 9.84e-01 2.43e+06 1 2.89e-01 2.25e+00 6 2.522560e+04 7.97e-02 3.70e+02 9.62e-01 1.01e+00 7.29e+06 1 2.96e-01 2.55e+00 7 2.522559e+04 5.74e-03 7.64e+01 1.60e+00 9.99e-01 2.19e+07 1 2.86e-01 2.83e+00 8 2.522558e+04 1.38e-02 4.62e+01 4.42e+00 9.98e-01 6.56e+07 1 2.92e-01 3.13e+00 9 2.522555e+04 2.85e-02 2.12e+02 1.07e+01 9.95e-01 1.97e+08 1 2.90e-01 3.42e+00 10 2.522551e+04 3.43e-02 6.25e+02 1.85e+01 9.90e-01 5.90e+08 1 2.99e-01 3.71e+00 11 2.522550e+04 1.58e-02 5.58e+02 1.77e+01 9.89e-01 1.77e+09 1 2.68e-01 3.98e+00 12 2.522550e+04 1.92e-03 9.46e+01 7.35e+00 9.98e-01 5.31e+09 1 2.85e-01 4.27e+00 13 2.522550e+04 3.92e-05 2.29e+00 1.13e+00 1.00e+00 1.59e+10 1 3.11e-01 4.58e+00 14 2.522550e+04 1.01e-07 6.35e-03 6.04e-02 1.00e+00 4.78e+10 1 3.16e-01 4.90e+00 15 2.522550e+04 6.18e-11 1.41e-04 1.19e-03 1.31e+00 1.43e+11 1 2.83e-01 5.18e+00 16 2.522550e+04 1.46e-11 6.36e-06 1.46e-05 9.71e+02 4.30e+11 1 2.86e-01 5.46e+00 17 2.522550e+04 -1.09e-11 6.36e-06 2.30e-07 -5.53e+05 2.15e+11 1 2.22e-01 5.69e+00 18 2.522550e+04 -3.64e-12 6.36e-06 2.30e-07 -2.77e+05 5.38e+10 1 2.11e-01 5.90e+00 19 2.522550e+04 -4.00e-11 6.36e-06 2.29e-07 -1.66e+06 6.73e+09 1 2.06e-01 6.10e+00 20 2.522550e+04 -3.64e-12 6.36e-06 2.21e-07 -2.77e+05 4.20e+08 1 2.07e-01 6.31e+00 21 2.522550e+04 -7.28e-12 6.36e-06 1.39e-07 -4.19e+05 1.31e+07 1 2.25e-01 6.54e+00 22 2.522550e+04 3.64e-12 6.36e-06 1.75e-08 0.00e+00 2.05e+05 1 2.06e-01 6.74e+00 23 2.522550e+04 2.18e-11 2.46e-07 8.34e-09 7.86e+05 6.16e+05 1 2.81e-01 7.02e+00 24 2.522550e+04 -3.27e-11 2.46e-07 5.05e-09 -2.08e+07 3.08e+05 1 2.23e-01 7.25e+00 25 2.522550e+04 -2.18e-11 2.46e-07 4.22e-09 -1.68e+07 7.70e+04 1 2.06e-01 7.45e+00 26 2.522550e+04 -4.37e-11 2.46e-07 2.14e-09 -4.42e+07 9.62e+03 1 2.10e-01 7.66e+00 27 2.522550e+04 -3.64e-11 2.46e-07 3.89e-10 -1.74e+08 6.01e+02 1 2.14e-01 7.88e+00 28 2.522550e+04 2.91e-11 1.66e-07 4.49e-11 5.69e+08 1.80e+03 1 2.78e-01 8.15e+00 29 2.522550e+04 -1.46e-11 1.66e-07 8.62e-11 -2.68e+08 9.02e+02 1 2.26e-01 8.38e+00 30 2.522550e+04 -1.09e-11 1.66e-07 4.83e-11 -3.83e+08 2.26e+02 1 2.11e-01 8.59e+00 31 2.522550e+04 -2.91e-11 1.66e-07 1.49e-11 -3.63e+09 2.82e+01 1 2.09e-01 8.80e+00 32 2.522550e+04 7.28e-12 2.28e-07 2.14e-12 5.38e+09 8.46e+01 1 2.79e-01 9.08e+00 33 2.522550e+04 -2.18e-11 2.28e-07 5.99e-12 -6.94e+09 4.23e+01 1 2.12e-01 9.29e+00 34 2.522550e+04 -2.91e-11 2.28e-07 3.10e-12 -1.73e+10 1.06e+01 1 2.16e-01 9.51e+00 35 2.522550e+04 1.82e-11 2.76e-07 8.28e-13 3.31e+10 3.17e+01 1 2.91e-01 9.80e+00 36 2.522550e+04 -3.64e-11 2.76e-07 2.33e-12 -3.70e+10 1.59e+01 1 2.01e-01 1.00e+01 37 2.522550e+04 -2.18e-11 2.76e-07 1.19e-12 -4.59e+10 3.96e+00 1 2.10e-01 1.02e+01 38 2.522550e+04 -3.27e-11 2.76e-07 3.48e-13 -1.57e+11 4.96e-01 1 2.06e-01 1.04e+01 39 2.522550e+04 -7.28e-12 2.76e-07 7.32e-14 -1.57e+11 3.10e-02 1 2.15e-01 1.06e+01 40 2.522550e+04 7.28e-12 2.76e-07 1.79e-15 -1.92e+11 9.68e-04 1 2.04e-01 1.08e+01 41 2.522550e+04 1.09e-11 2.76e-07 1.01e-17 0.00e+00 1.51e-05 1 2.07e-01 1.10e+01 42 2.522550e+04 1.09e-11 2.76e-07 1.36e-20 0.00e+00 1.18e-07 1 2.08e-01 1.12e+01 Bundle adjustment report ------------------------ Residuals : 202766 Parameters : 35500 Iterations : 43 Time : 11.4668 [s] Initial cost : 0.352921 [px] Final cost : 0.352714 [px] Termination : Convergence Elapsed time: 0.193 [minutes] [02:45:20] 🎉 Done refining intrinsics. process_data.py:452 ────────────────────────────────────────────── 🎉 🎉 🎉 All DONE 🎉 🎉 🎉 ────────────────────────────────────────────── Starting with 101 images No downscaling performed. Colmap matched 101 images ────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
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