|
|
| ============================================================================== |
| Feature extraction |
| ============================================================================== |
|
|
| Processed file [1/116] |
| Name: IMG_8361.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.118 |
| Features: 8938 |
| Processed file [2/116] |
| Name: IMG_8362.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.118 |
| Features: 9108 |
| Processed file [3/116] |
| Name: IMG_8363.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.140 |
| Features: 8968 |
| Processed file [4/116] |
| Name: IMG_8364.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.171 |
| Features: 9026 |
| Processed file [5/116] |
| Name: IMG_8365.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.165 |
| Features: 8945 |
| Processed file [6/116] |
| Name: IMG_8366.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.165 |
| Features: 8834 |
| Processed file [7/116] |
| Name: IMG_8367.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.147 |
| Features: 8534 |
| Processed file [8/116] |
| Name: IMG_8368.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.152 |
| Features: 12190 |
| Processed file [9/116] |
| Name: IMG_8369.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.152 |
| Features: 11737 |
| Processed file [10/116] |
| Name: IMG_8370.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.145 |
| Features: 8419 |
| Processed file [11/116] |
| Name: IMG_8371.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.154 |
| Features: 8287 |
| Processed file [12/116] |
| Name: IMG_8372.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.136 |
| Features: 8524 |
| Processed file [13/116] |
| Name: IMG_8373.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.136 |
| Features: 8665 |
| Processed file [14/116] |
| Name: IMG_8374.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.149 |
| Features: 8808 |
| Processed file [15/116] |
| Name: IMG_8375.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.181 |
| Features: 8951 |
| Processed file [16/116] |
| Name: IMG_8376.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.177 |
| Features: 9368 |
| Processed file [17/116] |
| Name: IMG_8377.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.154 |
| Features: 9658 |
| Processed file [18/116] |
| Name: IMG_8378.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.154 |
| Features: 9616 |
| Processed file [19/116] |
| Name: IMG_8379.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.143 |
| Features: 9930 |
| Processed file [20/116] |
| Name: IMG_8380.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.144 |
| Features: 9575 |
| Processed file [21/116] |
| Name: IMG_8381.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.144 |
| Features: 9425 |
| Processed file [22/116] |
| Name: IMG_8382.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.119 |
| Features: 9043 |
| Processed file [23/116] |
| Name: IMG_8383.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.082 |
| Features: 8303 |
| Processed file [24/116] |
| Name: IMG_8384.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.008 |
| Features: 8373 |
| Processed file [25/116] |
| Name: IMG_8385.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.008 |
| Features: 8267 |
| Processed file [26/116] |
| Name: IMG_8386.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.011 |
| Features: 8375 |
| Processed file [27/116] |
| Name: IMG_8387.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.002 |
| Features: 8610 |
| Processed file [28/116] |
| Name: IMG_8388.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.002 |
| Features: 8636 |
| Processed file [29/116] |
| Name: IMG_8389.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.014 |
| Features: 8454 |
| Processed file [30/116] |
| Name: IMG_8390.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.025 |
| Features: 8269 |
| Processed file [31/116] |
| Name: IMG_8391.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.029 |
| Features: 8367 |
| Processed file [32/116] |
| Name: IMG_8392.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.075 |
| Features: 11506 |
| Processed file [33/116] |
| Name: IMG_8393.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.075 |
| Features: 12263 |
| Processed file [34/116] |
| Name: IMG_8394.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.074 |
| Features: 12190 |
| Processed file [35/116] |
| Name: IMG_8395.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.077 |
| Features: 8320 |
| Processed file [36/116] |
| Name: IMG_8396.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.077 |
| Features: 8546 |
| Processed file [37/116] |
| Name: IMG_8397.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.088 |
| Features: 8835 |
| Processed file [38/116] |
| Name: IMG_8398.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.103 |
| Features: 9196 |
| Processed file [39/116] |
| Name: IMG_8399.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.103 |
| Features: 9401 |
| Processed file [40/116] |
| Name: IMG_8400.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.129 |
| Features: 10055 |
| Processed file [41/116] |
| Name: IMG_8401.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.128 |
| Features: 10320 |
| Processed file [42/116] |
| Name: IMG_8402.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.128 |
| Features: 10757 |
| Processed file [43/116] |
| Name: IMG_8403.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.152 |
| Features: 10853 |
| Processed file [44/116] |
| Name: IMG_8404.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.125 |
| Features: 10760 |
| Processed file [45/116] |
| Name: IMG_8405.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.125 |
| Features: 10439 |
| Processed file [46/116] |
| Name: IMG_8406.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.105 |
| Features: 10561 |
| Processed file [47/116] |
| Name: IMG_8407.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.085 |
| Features: 10660 |
| Processed file [48/116] |
| Name: IMG_8408.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.075 |
| Features: 10579 |
| Processed file [49/116] |
| Name: IMG_8409.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.069 |
| Features: 10425 |
| Processed file [50/116] |
| Name: IMG_8410.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.069 |
| Features: 9835 |
| Processed file [51/116] |
| Name: IMG_8411.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.076 |
| Features: 9804 |
| Processed file [52/116] |
| Name: IMG_8412.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.065 |
| Features: 9872 |
| Processed file [53/116] |
| Name: IMG_8413.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.065 |
| Features: 9286 |
| Processed file [54/116] |
| Name: IMG_8414.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.056 |
| Features: 9342 |
| Processed file [55/116] |
| Name: IMG_8415.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.074 |
| Features: 9381 |
| Processed file [56/116] |
| Name: IMG_8416.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.088 |
| Features: 9550 |
| Processed file [57/116] |
| Name: IMG_8417.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.107 |
| Features: 8700 |
| Processed file [58/116] |
| Name: IMG_8418.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.107 |
| Features: 8529 |
| Processed file [59/116] |
| Name: IMG_8419.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.153 |
| Features: 8546 |
| Processed file [60/116] |
| Name: IMG_8420.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.151 |
| Features: 8403 |
| Processed file [61/116] |
| Name: IMG_8421.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.151 |
| Features: 9913 |
| Processed file [62/116] |
| Name: IMG_8422.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.151 |
| Features: 10256 |
| Processed file [63/116] |
| Name: IMG_8423.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.186 |
| Features: 8511 |
| Processed file [64/116] |
| Name: IMG_8424.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.217 |
| Features: 10715 |
| Processed file [65/116] |
| Name: IMG_8425.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.217 |
| Features: 10904 |
| Processed file [66/116] |
| Name: IMG_8426.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.242 |
| Features: 8662 |
| Processed file [67/116] |
| Name: IMG_8427.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.234 |
| Features: 8237 |
| Processed file [68/116] |
| Name: IMG_8428.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.239 |
| Features: 8772 |
| Processed file [69/116] |
| Name: IMG_8429.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.239 |
| Features: 8673 |
| Processed file [70/116] |
| Name: IMG_8430.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.239 |
| Features: 8802 |
| Processed file [71/116] |
| Name: IMG_8431.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.232 |
| Features: 8785 |
| Processed file [72/116] |
| Name: IMG_8432.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.221 |
| Features: 11093 |
| Processed file [73/116] |
| Name: IMG_8433.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.215 |
| Features: 8824 |
| Processed file [74/116] |
| Name: IMG_8434.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.214 |
| Features: 8741 |
| Processed file [75/116] |
| Name: IMG_8435.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.214 |
| Features: 8324 |
| Processed file [76/116] |
| Name: IMG_8436.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.218 |
| Features: 9517 |
| Processed file [77/116] |
| Name: IMG_8437.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.215 |
| Features: 8313 |
| Processed file [78/116] |
| Name: IMG_8438.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.233 |
| Features: 12888 |
| Processed file [79/116] |
| Name: IMG_8439.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.236 |
| Features: 12562 |
| Processed file [80/116] |
| Name: IMG_8440.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.236 |
| Features: 12836 |
| Processed file [81/116] |
| Name: IMG_8441.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.233 |
| Features: 12716 |
| Processed file [82/116] |
| Name: IMG_8442.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.252 |
| Features: 8555 |
| Processed file [83/116] |
| Name: IMG_8443.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.258 |
| Features: 9430 |
| Processed file [84/116] |
| Name: IMG_8444.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.275 |
| Features: 9238 |
| Processed file [85/116] |
| Name: IMG_8445.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.275 |
| Features: 9845 |
| Processed file [86/116] |
| Name: IMG_8446.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.293 |
| Features: 10178 |
| Processed file [87/116] |
| Name: IMG_8447.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.293 |
| Features: 10128 |
| Processed file [88/116] |
| Name: IMG_8448.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.281 |
| Features: 9522 |
| Processed file [89/116] |
| Name: IMG_8449.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.289 |
| Features: 9446 |
| Processed file [90/116] |
| Name: IMG_8450.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.294 |
| Features: 9219 |
| Processed file [91/116] |
| Name: IMG_8451.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.306 |
| Features: 8832 |
| Processed file [92/116] |
| Name: IMG_8452.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.306 |
| Features: 8856 |
| Processed file [93/116] |
| Name: IMG_8453.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.305 |
| Features: 9363 |
| Processed file [94/116] |
| Name: IMG_8454.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.305 |
| Features: 9562 |
| Processed file [95/116] |
| Name: IMG_8455.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.308 |
| Features: 9064 |
| Processed file [96/116] |
| Name: IMG_8456.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.306 |
| Features: 9717 |
| Processed file [97/116] |
| Name: IMG_8457.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.304 |
| Features: 9160 |
| Processed file [98/116] |
| Name: IMG_8458.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.303 |
| Features: 8862 |
| Processed file [99/116] |
| Name: IMG_8459.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.302 |
| Features: 8746 |
| Processed file [100/116] |
| Name: IMG_8460.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.301 |
| Features: 12521 |
| Processed file [101/116] |
| Name: IMG_8461.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.300 |
| Features: 8637 |
| Processed file [102/116] |
| Name: IMG_8462.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.304 |
| Features: 8877 |
| Processed file [103/116] |
| Name: IMG_8463.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.306 |
| Features: 8535 |
| Processed file [104/116] |
| Name: IMG_8464.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.322 |
| Features: 13064 |
| Processed file [105/116] |
| Name: IMG_8465.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.322 |
| Features: 8328 |
| Processed file [106/116] |
| Name: IMG_8466.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.293 |
| Features: 8636 |
| Processed file [107/116] |
| Name: IMG_8467.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.290 |
| Features: 8896 |
| Processed file [108/116] |
| Name: IMG_8468.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.290 |
| Features: 9145 |
| Processed file [109/116] |
| Name: IMG_8469.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.290 |
| Features: 9016 |
| Processed file [110/116] |
| Name: IMG_8470.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.289 |
| Features: 8526 |
| Processed file [111/116] |
| Name: IMG_8471.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.303 |
| Features: 8600 |
| Processed file [112/116] |
| Name: IMG_8472.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.301 |
| Features: 8765 |
| Processed file [113/116] |
| Name: IMG_8473.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.301 |
| Features: 8713 |
| Processed file [114/116] |
| Name: IMG_8474.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.303 |
| Features: 8713 |
| Processed file [115/116] |
| Name: IMG_8475.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.312 |
| Features: 12515 |
| Processed file [116/116] |
| Name: IMG_8476.JPG |
| Dimensions: 4032 x 3024 |
| Camera: #1 - SIMPLE_RADIAL |
| Focal Length: 3225.60px (Prior) |
| GPS: LAT=37.883, LON=122.269, ALT=88.308 |
| Features: 12331 |
| Elapsed time: 0.228 [minutes] |
|
|
| ============================================================================== |
| Exhaustive feature matching |
| ============================================================================== |
|
|
| Matching block [1/3, 1/3] in 28.504s |
| Matching block [1/3, 2/3] in 28.255s |
| Matching block [1/3, 3/3] in 2.771s |
| Matching block [2/3, 1/3] in 30.088s |
| Matching block [2/3, 2/3] in 28.594s |
| Matching block [2/3, 3/3] in 2.687s |
| Matching block [3/3, 1/3] in 15.345s |
| Matching block [3/3, 2/3] in 15.297s |
| Matching block [3/3, 3/3] in 2.625s |
| Elapsed time: 2.574 [minutes] |
|
|
| ============================================================================== |
| Loading database |
| ============================================================================== |
|
|
| Loading cameras... 1 in 0.000s |
| Loading matches... 5967 in 0.034s |
| Loading images... 116 in 0.042s (connected 116) |
| Building correspondence graph... in 0.223s (ignored 0) |
|
|
| Elapsed time: 0.005 [minutes] |
|
|
|
|
| ============================================================================== |
| Initializing with image pair #44 and #42 |
| ============================================================================== |
|
|
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.412564e+03 0.00e+00 2.53e+06 0.00e+00 0.00e+00 1.00e+04 0 6.99e-03 2.02e-02 |
| 1 1.445043e+03 2.97e+03 2.72e+05 9.46e+00 9.92e-01 3.00e+04 1 1.19e-02 3.21e-02 |
| 2 1.383749e+03 6.13e+01 3.13e+04 1.11e+01 9.98e-01 9.00e+04 1 1.01e-02 4.23e-02 |
| 3 1.378726e+03 5.02e+00 3.57e+03 1.18e+01 1.00e+00 2.70e+05 1 7.98e-03 5.03e-02 |
| 4 1.377747e+03 9.79e-01 9.97e+03 9.68e+00 9.79e-01 8.10e+05 1 7.05e-03 5.73e-02 |
| 5 1.378250e+03 -5.03e-01 0.00e+00 1.15e+01 -8.72e-01 4.05e+05 1 2.28e-03 5.96e-02 |
| 6 1.377477e+03 2.70e-01 1.38e+04 6.55e+00 8.11e-01 5.33e+05 1 6.89e-03 6.65e-02 |
| 7 1.377308e+03 1.69e-01 2.64e+04 6.76e+00 4.37e-01 5.32e+05 1 6.95e-03 7.35e-02 |
| 8 1.376994e+03 3.14e-01 2.65e+04 6.44e+00 5.90e-01 5.35e+05 1 6.97e-03 8.05e-02 |
| 9 1.376683e+03 3.11e-01 2.65e+04 6.38e+00 5.89e-01 5.38e+05 1 6.96e-03 8.74e-02 |
| 10 1.376374e+03 3.09e-01 2.63e+04 6.36e+00 5.90e-01 5.41e+05 1 6.96e-03 9.44e-02 |
| 11 1.376069e+03 3.05e-01 2.62e+04 6.35e+00 5.91e-01 5.44e+05 1 6.96e-03 1.01e-01 |
| 12 1.375768e+03 3.01e-01 2.61e+04 6.34e+00 5.91e-01 5.48e+05 1 6.97e-03 1.08e-01 |
| 13 1.375471e+03 2.97e-01 2.59e+04 6.33e+00 5.91e-01 5.51e+05 1 6.95e-03 1.15e-01 |
| 14 1.375177e+03 2.94e-01 2.58e+04 6.32e+00 5.91e-01 5.54e+05 1 6.96e-03 1.22e-01 |
| 15 1.374887e+03 2.90e-01 2.57e+04 6.31e+00 5.91e-01 5.58e+05 1 6.96e-03 1.29e-01 |
| 16 1.374601e+03 2.86e-01 2.56e+04 6.30e+00 5.92e-01 5.61e+05 1 6.96e-03 1.36e-01 |
| 17 1.374318e+03 2.83e-01 2.54e+04 6.29e+00 5.92e-01 5.65e+05 1 6.96e-03 1.43e-01 |
| 18 1.374039e+03 2.79e-01 2.53e+04 6.28e+00 5.92e-01 5.68e+05 1 6.97e-03 1.50e-01 |
| 19 1.373763e+03 2.76e-01 2.52e+04 6.27e+00 5.92e-01 5.72e+05 1 7.00e-03 1.57e-01 |
| 20 1.373491e+03 2.72e-01 2.51e+04 6.26e+00 5.92e-01 5.75e+05 1 6.97e-03 1.64e-01 |
| 21 1.373222e+03 2.69e-01 2.49e+04 6.25e+00 5.92e-01 5.79e+05 1 6.98e-03 1.71e-01 |
| 22 1.372956e+03 2.66e-01 2.48e+04 6.24e+00 5.92e-01 5.83e+05 1 6.97e-03 1.78e-01 |
| 23 1.372693e+03 2.63e-01 2.47e+04 6.23e+00 5.92e-01 5.86e+05 1 6.97e-03 1.85e-01 |
| 24 1.372434e+03 2.59e-01 2.46e+04 6.22e+00 5.92e-01 5.90e+05 1 6.89e-03 1.92e-01 |
| 25 1.372178e+03 2.56e-01 2.45e+04 6.21e+00 5.92e-01 5.94e+05 1 6.89e-03 1.99e-01 |
| 26 1.371925e+03 2.53e-01 2.44e+04 6.20e+00 5.92e-01 5.97e+05 1 6.91e-03 2.06e-01 |
| 27 1.371675e+03 2.50e-01 2.43e+04 6.19e+00 5.92e-01 6.01e+05 1 6.92e-03 2.13e-01 |
| 28 1.371428e+03 2.47e-01 2.42e+04 6.18e+00 5.92e-01 6.05e+05 1 6.97e-03 2.20e-01 |
| 29 1.371184e+03 2.44e-01 2.40e+04 6.17e+00 5.92e-01 6.09e+05 1 6.97e-03 2.27e-01 |
| 30 1.370943e+03 2.41e-01 2.39e+04 6.16e+00 5.92e-01 6.13e+05 1 7.11e-03 2.34e-01 |
| 31 1.370704e+03 2.38e-01 2.38e+04 6.16e+00 5.92e-01 6.16e+05 1 6.95e-03 2.41e-01 |
| 32 1.370469e+03 2.35e-01 2.37e+04 6.15e+00 5.92e-01 6.20e+05 1 6.97e-03 2.48e-01 |
| 33 1.370237e+03 2.32e-01 2.36e+04 6.14e+00 5.92e-01 6.24e+05 1 6.96e-03 2.55e-01 |
| 34 1.370007e+03 2.30e-01 2.35e+04 6.13e+00 5.92e-01 6.28e+05 1 7.66e-03 2.62e-01 |
| 35 1.369780e+03 2.27e-01 2.34e+04 6.12e+00 5.92e-01 6.32e+05 1 9.78e-03 2.72e-01 |
| 36 1.369556e+03 2.24e-01 2.33e+04 6.11e+00 5.92e-01 6.36e+05 1 1.02e-02 2.83e-01 |
| 37 1.369335e+03 2.21e-01 2.32e+04 6.10e+00 5.92e-01 6.40e+05 1 9.57e-03 2.92e-01 |
| 38 1.369116e+03 2.19e-01 2.31e+04 6.09e+00 5.92e-01 6.44e+05 1 7.45e-03 3.00e-01 |
| 39 1.368900e+03 2.16e-01 2.30e+04 6.08e+00 5.92e-01 6.48e+05 1 7.11e-03 3.07e-01 |
| 40 1.368686e+03 2.14e-01 2.29e+04 6.07e+00 5.92e-01 6.52e+05 1 6.99e-03 3.14e-01 |
| 41 1.368475e+03 2.11e-01 2.28e+04 6.06e+00 5.92e-01 6.56e+05 1 6.98e-03 3.21e-01 |
| 42 1.368267e+03 2.08e-01 2.27e+04 6.06e+00 5.92e-01 6.60e+05 1 6.97e-03 3.28e-01 |
| 43 1.368061e+03 2.06e-01 2.26e+04 6.05e+00 5.92e-01 6.65e+05 1 6.97e-03 3.35e-01 |
| 44 1.367858e+03 2.03e-01 2.25e+04 6.04e+00 5.92e-01 6.69e+05 1 6.97e-03 3.42e-01 |
| 45 1.367657e+03 2.01e-01 2.24e+04 6.03e+00 5.92e-01 6.73e+05 1 6.97e-03 3.49e-01 |
| 46 1.367458e+03 1.99e-01 2.23e+04 6.02e+00 5.92e-01 6.77e+05 1 6.97e-03 3.56e-01 |
| 47 1.367262e+03 1.96e-01 2.21e+04 6.01e+00 5.92e-01 6.81e+05 1 6.97e-03 3.63e-01 |
| 48 1.367068e+03 1.94e-01 2.20e+04 6.00e+00 5.92e-01 6.86e+05 1 6.96e-03 3.70e-01 |
| 49 1.366877e+03 1.91e-01 2.19e+04 5.99e+00 5.92e-01 6.90e+05 1 6.97e-03 3.77e-01 |
| 50 1.366688e+03 1.89e-01 2.18e+04 5.98e+00 5.92e-01 6.94e+05 1 6.91e-03 3.83e-01 |
| 51 1.366501e+03 1.87e-01 2.17e+04 5.97e+00 5.92e-01 6.99e+05 1 6.95e-03 3.90e-01 |
| 52 1.366316e+03 1.85e-01 2.16e+04 5.96e+00 5.92e-01 7.03e+05 1 7.00e-03 3.97e-01 |
| 53 1.366134e+03 1.82e-01 2.15e+04 5.95e+00 5.92e-01 7.07e+05 1 7.14e-03 4.05e-01 |
| 54 1.365954e+03 1.80e-01 2.14e+04 5.95e+00 5.92e-01 7.12e+05 1 6.99e-03 4.12e-01 |
| 55 1.365776e+03 1.78e-01 2.13e+04 5.94e+00 5.92e-01 7.16e+05 1 6.97e-03 4.19e-01 |
| 56 1.365600e+03 1.76e-01 2.13e+04 5.93e+00 5.92e-01 7.21e+05 1 6.97e-03 4.25e-01 |
| 57 1.365426e+03 1.74e-01 2.12e+04 5.92e+00 5.92e-01 7.25e+05 1 6.96e-03 4.32e-01 |
| 58 1.365254e+03 1.72e-01 2.11e+04 5.91e+00 5.92e-01 7.30e+05 1 6.97e-03 4.39e-01 |
| 59 1.365085e+03 1.70e-01 2.11e+04 5.90e+00 5.92e-01 7.35e+05 1 6.97e-03 4.46e-01 |
| 60 1.364917e+03 1.68e-01 2.10e+04 5.89e+00 5.92e-01 7.39e+05 1 6.97e-03 4.53e-01 |
| 61 1.364751e+03 1.66e-01 2.09e+04 5.88e+00 5.92e-01 7.44e+05 1 6.97e-03 4.60e-01 |
| 62 1.364588e+03 1.64e-01 2.09e+04 5.87e+00 5.92e-01 7.48e+05 1 6.96e-03 4.67e-01 |
| 63 1.364426e+03 1.62e-01 2.08e+04 5.86e+00 5.92e-01 7.53e+05 1 6.97e-03 4.74e-01 |
| 64 1.364267e+03 1.60e-01 2.08e+04 5.85e+00 5.92e-01 7.58e+05 1 6.97e-03 4.81e-01 |
| 65 1.364109e+03 1.58e-01 2.07e+04 5.84e+00 5.92e-01 7.63e+05 1 6.98e-03 4.88e-01 |
| 66 1.363953e+03 1.56e-01 2.06e+04 5.83e+00 5.92e-01 7.67e+05 1 6.96e-03 4.95e-01 |
| 67 1.363799e+03 1.54e-01 2.06e+04 5.82e+00 5.92e-01 7.72e+05 1 6.97e-03 5.02e-01 |
| 68 1.363647e+03 1.52e-01 2.05e+04 5.81e+00 5.92e-01 7.77e+05 1 6.98e-03 5.09e-01 |
| 69 1.363497e+03 1.50e-01 2.04e+04 5.80e+00 5.92e-01 7.82e+05 1 6.97e-03 5.16e-01 |
| 70 1.363348e+03 1.48e-01 2.04e+04 5.79e+00 5.92e-01 7.87e+05 1 6.96e-03 5.23e-01 |
| 71 1.363202e+03 1.47e-01 2.03e+04 5.79e+00 5.92e-01 7.92e+05 1 6.97e-03 5.30e-01 |
| 72 1.363057e+03 1.45e-01 2.02e+04 5.78e+00 5.92e-01 7.97e+05 1 6.98e-03 5.37e-01 |
| 73 1.362913e+03 1.43e-01 2.02e+04 5.77e+00 5.92e-01 8.02e+05 1 6.97e-03 5.44e-01 |
| 74 1.362772e+03 1.41e-01 2.01e+04 5.76e+00 5.92e-01 8.07e+05 1 6.96e-03 5.51e-01 |
| 75 1.362632e+03 1.40e-01 2.00e+04 5.75e+00 5.92e-01 8.12e+05 1 6.95e-03 5.58e-01 |
| 76 1.362494e+03 1.38e-01 2.00e+04 5.74e+00 5.92e-01 8.17e+05 1 6.95e-03 5.65e-01 |
| 77 1.362358e+03 1.36e-01 1.99e+04 5.73e+00 5.92e-01 8.22e+05 1 6.96e-03 5.72e-01 |
| 78 1.362223e+03 1.35e-01 1.98e+04 5.72e+00 5.92e-01 8.27e+05 1 6.96e-03 5.79e-01 |
| 79 1.362090e+03 1.33e-01 1.98e+04 5.71e+00 5.92e-01 8.32e+05 1 6.95e-03 5.86e-01 |
| 80 1.361959e+03 1.31e-01 1.97e+04 5.70e+00 5.92e-01 8.38e+05 1 6.96e-03 5.93e-01 |
| 81 1.361829e+03 1.30e-01 1.97e+04 5.69e+00 5.92e-01 8.43e+05 1 6.96e-03 6.00e-01 |
| 82 1.361700e+03 1.28e-01 1.96e+04 5.68e+00 5.92e-01 8.48e+05 1 6.95e-03 6.07e-01 |
| 83 1.361574e+03 1.27e-01 1.95e+04 5.67e+00 5.92e-01 8.53e+05 1 6.97e-03 6.14e-01 |
| 84 1.361448e+03 1.25e-01 1.95e+04 5.66e+00 5.92e-01 8.59e+05 1 6.96e-03 6.21e-01 |
| 85 1.361325e+03 1.24e-01 1.94e+04 5.65e+00 5.92e-01 8.64e+05 1 6.96e-03 6.28e-01 |
| 86 1.361203e+03 1.22e-01 1.93e+04 5.64e+00 5.92e-01 8.70e+05 1 6.96e-03 6.35e-01 |
| 87 1.361082e+03 1.21e-01 1.93e+04 5.63e+00 5.92e-01 8.75e+05 1 6.96e-03 6.42e-01 |
| 88 1.360963e+03 1.19e-01 1.92e+04 5.62e+00 5.92e-01 8.81e+05 1 6.96e-03 6.49e-01 |
| 89 1.360845e+03 1.18e-01 1.91e+04 5.61e+00 5.92e-01 8.86e+05 1 6.96e-03 6.56e-01 |
| 90 1.360728e+03 1.16e-01 1.91e+04 5.60e+00 5.92e-01 8.92e+05 1 6.97e-03 6.63e-01 |
| 91 1.360613e+03 1.15e-01 1.90e+04 5.59e+00 5.92e-01 8.97e+05 1 6.96e-03 6.70e-01 |
| 92 1.360500e+03 1.14e-01 1.89e+04 5.58e+00 5.92e-01 9.03e+05 1 6.97e-03 6.77e-01 |
| 93 1.360388e+03 1.12e-01 1.89e+04 5.57e+00 5.92e-01 9.09e+05 1 6.96e-03 6.84e-01 |
| 94 1.360277e+03 1.11e-01 1.88e+04 5.56e+00 5.92e-01 9.14e+05 1 6.96e-03 6.90e-01 |
| 95 1.360167e+03 1.09e-01 1.87e+04 5.55e+00 5.92e-01 9.20e+05 1 6.96e-03 6.97e-01 |
| 96 1.360059e+03 1.08e-01 1.87e+04 5.54e+00 5.92e-01 9.26e+05 1 6.97e-03 7.04e-01 |
| 97 1.359952e+03 1.07e-01 1.86e+04 5.53e+00 5.92e-01 9.32e+05 1 6.96e-03 7.11e-01 |
| 98 1.359847e+03 1.06e-01 1.85e+04 5.52e+00 5.92e-01 9.37e+05 1 6.95e-03 7.18e-01 |
| 99 1.359743e+03 1.04e-01 1.85e+04 5.51e+00 5.92e-01 9.43e+05 1 6.96e-03 7.25e-01 |
| 100 1.359640e+03 1.03e-01 1.84e+04 5.50e+00 5.92e-01 9.49e+05 1 6.97e-03 7.32e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 8572 |
| Parameters : 6436 |
| Iterations : 101 |
| Time : 0.732694 [s] |
| Initial cost : 0.717471 [px] |
| Final cost : 0.398264 [px] |
| Termination : No convergence |
|
|
| => Filtered observations: 0 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #43 (3) |
| ============================================================================== |
|
|
| => Image sees 1511 / 7493 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 3022 |
| Parameters : 8 |
| Iterations : 20 |
| Time : 0.055115 [s] |
| Initial cost : 0.706416 [px] |
| Final cost : 0.588701 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1511 |
| => Added observations: 8066 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 27726 |
| Parameters : 17014 |
| Iterations : 26 |
| Time : 0.749438 [s] |
| Initial cost : 0.730115 [px] |
| Final cost : 0.501333 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 16 |
| => Completed observations: 229 |
| => Filtered observations: 303 |
| => Changed observations: 0.039530 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 27578 |
| Parameters : 17254 |
| Iterations : 26 |
| Time : 0.713816 [s] |
| Initial cost : 0.580559 [px] |
| Final cost : 0.550768 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 25 |
| => Filtered observations: 0 |
| => Changed observations: 0.001813 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.462214e+03 0.00e+00 6.73e+04 0.00e+00 0.00e+00 1.00e+04 0 1.84e-02 4.26e-02 |
| 1 8.451326e+03 1.09e+01 1.68e+02 1.49e+00 1.00e+00 3.00e+04 1 2.93e-02 7.19e-02 |
| 2 8.450477e+03 8.48e-01 1.35e+03 3.21e+00 9.98e-01 9.00e+04 1 2.78e-02 9.98e-02 |
| 3 8.448093e+03 2.38e+00 1.04e+04 9.74e+00 9.61e-01 2.70e+05 1 2.86e-02 1.28e-01 |
| 4 8.447352e+03 7.41e-01 8.55e+04 2.88e+01 1.02e-01 1.79e+05 1 2.88e-02 1.57e-01 |
| 5 8.437452e+03 9.90e+00 3.58e+04 1.87e+01 8.96e-01 3.55e+05 1 2.78e-02 1.85e-01 |
| 6 8.443611e+03 -6.16e+00 0.00e+00 3.58e+01 -6.36e-01 1.78e+05 1 9.59e-03 1.95e-01 |
| 7 8.432994e+03 4.46e+00 3.37e+04 1.81e+01 8.12e-01 2.34e+05 1 2.72e-02 2.22e-01 |
| 8 8.429343e+03 3.65e+00 5.59e+04 2.33e+01 5.60e-01 2.35e+05 1 2.76e-02 2.49e-01 |
| 9 8.423861e+03 5.48e+00 5.32e+04 2.27e+01 6.76e-01 2.45e+05 1 2.75e-02 2.77e-01 |
| 10 8.418871e+03 4.99e+00 5.51e+04 2.31e+01 6.37e-01 2.51e+05 1 2.74e-02 3.04e-01 |
| 11 8.413766e+03 5.10e+00 5.43e+04 2.29e+01 6.47e-01 2.57e+05 1 2.74e-02 3.32e-01 |
| 12 8.408844e+03 4.92e+00 5.39e+04 2.29e+01 6.39e-01 2.63e+05 1 2.75e-02 3.59e-01 |
| 13 8.404032e+03 4.81e+00 5.31e+04 2.27e+01 6.39e-01 2.69e+05 1 2.75e-02 3.87e-01 |
| 14 8.399375e+03 4.66e+00 5.21e+04 2.25e+01 6.37e-01 2.74e+05 1 2.75e-02 4.14e-01 |
| 15 8.394870e+03 4.50e+00 5.11e+04 2.22e+01 6.37e-01 2.80e+05 1 2.76e-02 4.42e-01 |
| 16 8.390527e+03 4.34e+00 4.99e+04 2.20e+01 6.37e-01 2.86e+05 1 2.76e-02 4.70e-01 |
| 17 8.386347e+03 4.18e+00 4.87e+04 2.17e+01 6.37e-01 2.92e+05 1 2.75e-02 4.97e-01 |
| 18 8.382333e+03 4.01e+00 4.74e+04 2.14e+01 6.37e-01 2.98e+05 1 2.74e-02 5.24e-01 |
| 19 8.378485e+03 3.85e+00 4.62e+04 2.11e+01 6.38e-01 3.04e+05 1 2.83e-02 5.53e-01 |
| 20 8.374802e+03 3.68e+00 4.49e+04 2.08e+01 6.39e-01 3.11e+05 1 2.81e-02 5.81e-01 |
| 21 8.371283e+03 3.52e+00 4.36e+04 2.05e+01 6.40e-01 3.18e+05 1 2.80e-02 6.09e-01 |
| 22 8.367925e+03 3.36e+00 4.22e+04 2.02e+01 6.41e-01 3.25e+05 1 2.79e-02 6.37e-01 |
| 23 8.364727e+03 3.20e+00 4.09e+04 1.99e+01 6.42e-01 3.33e+05 1 2.80e-02 6.65e-01 |
| 24 8.361686e+03 3.04e+00 3.96e+04 1.95e+01 6.43e-01 3.41e+05 1 2.97e-02 6.95e-01 |
| 25 8.358798e+03 2.89e+00 3.83e+04 1.92e+01 6.44e-01 3.49e+05 1 2.95e-02 7.24e-01 |
| 26 8.356061e+03 2.74e+00 3.70e+04 1.89e+01 6.46e-01 3.58e+05 1 2.94e-02 7.53e-01 |
| 27 8.353472e+03 2.59e+00 3.57e+04 1.85e+01 6.47e-01 3.67e+05 1 4.01e-02 7.93e-01 |
| 28 8.351026e+03 2.45e+00 3.45e+04 1.82e+01 6.49e-01 3.77e+05 1 3.58e-02 8.29e-01 |
| 29 8.348720e+03 2.31e+00 3.32e+04 1.79e+01 6.50e-01 3.88e+05 1 2.87e-02 8.58e-01 |
| 30 8.346550e+03 2.17e+00 3.19e+04 1.75e+01 6.52e-01 3.99e+05 1 2.80e-02 8.86e-01 |
| 31 8.344513e+03 2.04e+00 3.07e+04 1.72e+01 6.54e-01 4.11e+05 1 2.83e-02 9.14e-01 |
| 32 8.342605e+03 1.91e+00 2.95e+04 1.68e+01 6.55e-01 4.24e+05 1 2.82e-02 9.43e-01 |
| 33 8.340821e+03 1.78e+00 2.83e+04 1.65e+01 6.57e-01 4.37e+05 1 2.91e-02 9.72e-01 |
| 34 8.339159e+03 1.66e+00 2.71e+04 1.61e+01 6.59e-01 4.52e+05 1 2.92e-02 1.00e+00 |
| 35 8.337613e+03 1.55e+00 2.59e+04 1.58e+01 6.61e-01 4.68e+05 1 4.16e-02 1.04e+00 |
| 36 8.336179e+03 1.43e+00 2.47e+04 1.54e+01 6.63e-01 4.84e+05 1 5.16e-02 1.09e+00 |
| 37 8.334854e+03 1.32e+00 2.35e+04 1.51e+01 6.66e-01 5.03e+05 1 3.27e-02 1.13e+00 |
| 38 8.333634e+03 1.22e+00 2.24e+04 1.47e+01 6.68e-01 5.23e+05 1 2.91e-02 1.16e+00 |
| 39 8.332513e+03 1.12e+00 2.12e+04 1.43e+01 6.70e-01 5.44e+05 1 2.65e-02 1.18e+00 |
| 40 8.331488e+03 1.02e+00 2.01e+04 1.39e+01 6.73e-01 5.68e+05 1 2.59e-02 1.21e+00 |
| 41 8.330555e+03 9.33e-01 1.90e+04 1.35e+01 6.76e-01 5.93e+05 1 2.63e-02 1.23e+00 |
| 42 8.329709e+03 8.46e-01 1.79e+04 1.31e+01 6.78e-01 6.22e+05 1 2.58e-02 1.26e+00 |
| 43 8.328946e+03 7.63e-01 1.68e+04 1.27e+01 6.81e-01 6.53e+05 1 2.57e-02 1.29e+00 |
| 44 8.328261e+03 6.85e-01 1.58e+04 1.23e+01 6.85e-01 6.87e+05 1 2.59e-02 1.31e+00 |
| 45 8.327650e+03 6.11e-01 1.47e+04 1.19e+01 6.88e-01 7.26e+05 1 2.57e-02 1.34e+00 |
| 46 8.327109e+03 5.41e-01 1.37e+04 1.15e+01 6.92e-01 7.69e+05 1 2.61e-02 1.36e+00 |
| 47 8.326633e+03 4.76e-01 1.27e+04 1.11e+01 6.95e-01 8.18e+05 1 2.54e-02 1.39e+00 |
| 48 8.326218e+03 4.15e-01 1.17e+04 1.06e+01 7.00e-01 8.74e+05 1 2.54e-02 1.41e+00 |
| 49 8.325860e+03 3.58e-01 1.07e+04 1.02e+01 7.04e-01 9.37e+05 1 2.55e-02 1.44e+00 |
| 50 8.325554e+03 3.06e-01 9.71e+03 9.70e+00 7.09e-01 1.01e+06 1 2.54e-02 1.47e+00 |
| 51 8.325295e+03 2.59e-01 8.76e+03 9.21e+00 7.14e-01 1.10e+06 1 2.55e-02 1.49e+00 |
| 52 8.325080e+03 2.15e-01 7.84e+03 8.72e+00 7.20e-01 1.20e+06 1 2.57e-02 1.52e+00 |
| 53 8.324904e+03 1.76e-01 6.94e+03 8.20e+00 7.26e-01 1.32e+06 1 2.55e-02 1.54e+00 |
| 54 8.324762e+03 1.41e-01 6.07e+03 7.67e+00 7.34e-01 1.47e+06 1 2.54e-02 1.57e+00 |
| 55 8.324651e+03 1.11e-01 5.22e+03 7.12e+00 7.42e-01 1.66e+06 1 2.53e-02 1.59e+00 |
| 56 8.324567e+03 8.42e-02 4.40e+03 6.54e+00 7.51e-01 1.90e+06 1 2.63e-02 1.62e+00 |
| 57 8.324505e+03 6.17e-02 3.62e+03 5.93e+00 7.61e-01 2.22e+06 1 2.64e-02 1.65e+00 |
| 58 8.324462e+03 4.31e-02 2.88e+03 5.29e+00 7.73e-01 2.65e+06 1 2.61e-02 1.67e+00 |
| 59 8.324434e+03 2.82e-02 2.19e+03 4.61e+00 7.87e-01 3.27e+06 1 2.55e-02 1.70e+00 |
| 60 8.324417e+03 1.69e-02 1.55e+03 3.88e+00 8.03e-01 4.21e+06 1 2.57e-02 1.72e+00 |
| 61 8.324408e+03 8.86e-03 9.93e+02 3.11e+00 8.22e-01 5.74e+06 1 2.54e-02 1.75e+00 |
| 62 8.324405e+03 3.75e-03 5.32e+02 2.27e+00 8.42e-01 8.45e+06 1 2.53e-02 1.77e+00 |
| 63 8.324403e+03 1.10e-03 2.05e+02 1.41e+00 8.58e-01 1.33e+07 1 2.53e-02 1.80e+00 |
| 64 8.324403e+03 1.61e-04 4.05e+01 6.28e-01 8.57e-01 2.10e+07 1 2.56e-02 1.82e+00 |
| 65 8.324403e+03 6.01e-06 1.88e+00 1.35e-01 8.46e-01 3.14e+07 1 2.55e-02 1.85e+00 |
| 66 8.324403e+03 1.88e-08 8.85e-01 3.35e-03 1.00e+00 9.42e+07 1 2.54e-02 1.88e+00 |
| 67 8.324403e+03 -1.11e-10 0.00e+00 1.38e-04 -7.93e+00 4.71e+07 1 8.59e-03 1.88e+00 |
| 68 8.324403e+03 3.46e-11 5.14e-02 1.25e-04 1.01e+00 1.41e+08 1 2.50e-02 1.91e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 27628 |
| Parameters : 17290 |
| Iterations : 69 |
| Time : 1.91062 [s] |
| Initial cost : 0.553436 [px] |
| Final cost : 0.548911 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000507 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.320599e+03 0.00e+00 1.37e+03 0.00e+00 0.00e+00 1.00e+04 0 1.77e-02 4.03e-02 |
| 1 8.299237e+03 2.14e+01 5.83e+00 7.81e-01 1.00e+00 3.00e+04 1 2.76e-02 6.79e-02 |
| 2 8.299234e+03 2.48e-03 1.70e+00 5.13e-02 1.00e+00 9.00e+04 1 2.57e-02 9.36e-02 |
| 3 8.299234e+03 7.04e-04 2.33e+00 1.50e-01 9.98e-01 2.70e+05 1 2.56e-02 1.19e-01 |
| 4 8.299232e+03 2.00e-03 1.98e+01 4.39e-01 9.94e-01 8.10e+05 1 2.58e-02 1.45e-01 |
| 5 8.299226e+03 5.14e-03 1.52e+02 1.21e+00 9.76e-01 2.43e+06 1 2.61e-02 1.71e-01 |
| 6 8.299217e+03 9.14e-03 8.59e+02 2.89e+00 8.58e-01 3.83e+06 1 2.56e-02 1.97e-01 |
| 7 8.299210e+03 7.02e-03 9.41e+02 3.03e+00 7.99e-01 4.88e+06 1 2.55e-02 2.22e-01 |
| 8 8.299206e+03 3.95e-03 5.05e+02 2.22e+00 8.58e-01 7.72e+06 1 3.17e-02 2.54e-01 |
| 9 8.299205e+03 1.35e-03 2.69e+02 1.62e+00 8.37e-01 1.11e+07 1 2.64e-02 2.80e-01 |
| 10 8.299205e+03 2.72e-04 5.88e+01 7.57e-01 8.70e-01 1.87e+07 1 2.59e-02 3.06e-01 |
| 11 8.299205e+03 1.67e-05 5.70e+00 2.36e-01 8.28e-01 2.60e+07 1 2.59e-02 3.32e-01 |
| 12 8.299205e+03 1.21e-07 1.94e+00 1.51e-02 9.22e-01 6.51e+07 1 2.58e-02 3.58e-01 |
| 13 8.299205e+03 1.51e-10 4.09e-03 1.74e-04 9.98e-01 1.95e+08 1 2.58e-02 3.84e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 27626 |
| Parameters : 17287 |
| Iterations : 14 |
| Time : 0.385044 [s] |
| Initial cost : 0.548805 [px] |
| Final cost : 0.548099 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 0 |
| => Changed observations: 0.000000 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #45 (4) |
| ============================================================================== |
|
|
| => Image sees 3280 / 7472 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6326 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.087574 [s] |
| Initial cost : 0.810528 [px] |
| Final cost : 0.72305 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3160 |
| => Added observations: 3944 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 41834 |
| Parameters : 22681 |
| Iterations : 26 |
| Time : 1.09299 [s] |
| Initial cost : 0.64699 [px] |
| Final cost : 0.519019 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 18 |
| => Completed observations: 92 |
| => Filtered observations: 304 |
| => Changed observations: 0.019793 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 41410 |
| Parameters : 22612 |
| Iterations : 26 |
| Time : 1.10457 [s] |
| Initial cost : 0.624328 [px] |
| Final cost : 0.601519 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 29 |
| => Filtered observations: 1 |
| => Changed observations: 0.001449 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.507236e+04 0.00e+00 9.91e+03 0.00e+00 0.00e+00 1.00e+04 0 2.86e-02 6.37e-02 |
| 1 1.505409e+04 1.83e+01 1.78e+01 6.65e-01 1.00e+00 3.00e+04 1 4.44e-02 1.08e-01 |
| 2 1.505407e+04 2.01e-02 2.53e+01 4.28e-01 1.00e+00 9.00e+04 1 4.17e-02 1.50e-01 |
| 3 1.505402e+04 5.19e-02 2.16e+02 1.27e+00 9.96e-01 2.70e+05 1 4.32e-02 1.93e-01 |
| 4 1.505388e+04 1.39e-01 1.72e+03 3.61e+00 9.77e-01 8.10e+05 1 4.15e-02 2.35e-01 |
| 5 1.505363e+04 2.46e-01 1.12e+04 9.20e+00 7.62e-01 9.46e+05 1 4.30e-02 2.78e-01 |
| 6 1.505339e+04 2.47e-01 9.56e+03 8.52e+00 8.12e-01 1.25e+06 1 4.27e-02 3.20e-01 |
| 7 1.505321e+04 1.74e-01 9.33e+03 8.42e+00 7.62e-01 1.46e+06 1 4.38e-02 3.64e-01 |
| 8 1.505309e+04 1.26e-01 6.32e+03 6.94e+00 8.25e-01 2.01e+06 1 4.76e-02 4.12e-01 |
| 9 1.505302e+04 6.68e-02 4.92e+03 6.12e+00 7.96e-01 2.53e+06 1 4.23e-02 4.54e-01 |
| 10 1.505299e+04 3.38e-02 2.53e+03 4.39e+00 8.59e-01 4.02e+06 1 4.20e-02 4.96e-01 |
| 11 1.505298e+04 1.10e-02 1.31e+03 3.16e+00 8.44e-01 5.95e+06 1 4.20e-02 5.38e-01 |
| 12 1.505297e+04 2.27e-03 2.92e+02 1.49e+00 8.86e-01 1.10e+07 1 4.21e-02 5.80e-01 |
| 13 1.505297e+04 1.39e-04 2.90e+01 4.71e-01 8.51e-01 1.68e+07 1 4.20e-02 6.22e-01 |
| 14 1.505297e+04 9.48e-07 1.66e+00 2.14e-02 9.75e-01 5.05e+07 1 4.19e-02 6.64e-01 |
| 15 1.505297e+04 7.77e-10 7.08e-02 1.92e-05 1.08e+00 1.51e+08 1 4.20e-02 7.06e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 41466 |
| Parameters : 22648 |
| Iterations : 16 |
| Time : 0.708222 [s] |
| Initial cost : 0.602899 [px] |
| Final cost : 0.602511 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 0 |
| => Changed observations: 0.000000 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #46 (5) |
| ============================================================================== |
|
|
| => Image sees 3877 / 7640 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7306 |
| Parameters : 6 |
| Iterations : 25 |
| Time : 0.160727 [s] |
| Initial cost : 0.864761 [px] |
| Final cost : 0.821579 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3630 |
| => Added observations: 3140 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55006 |
| Parameters : 26821 |
| Iterations : 26 |
| Time : 0.849199 [s] |
| Initial cost : 0.748957 [px] |
| Final cost : 0.570654 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 116 |
| => Completed observations: 108 |
| => Filtered observations: 731 |
| => Changed observations: 0.034723 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53554 |
| Parameters : 26320 |
| Iterations : 26 |
| Time : 0.823747 [s] |
| Initial cost : 0.693099 [px] |
| Final cost : 0.655834 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 33 |
| => Filtered observations: 155 |
| => Changed observations: 0.007021 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 3 |
| => Completed observations: 4 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.298103e+04 0.00e+00 4.81e+03 0.00e+00 0.00e+00 1.00e+04 0 2.04e-02 6.81e-02 |
| 1 2.292723e+04 5.38e+01 1.13e+02 1.65e+00 1.00e+00 3.00e+04 1 4.57e-02 1.14e-01 |
| 2 2.292715e+04 7.89e-02 9.57e+01 6.25e-01 1.00e+00 9.00e+04 1 2.86e-02 1.43e-01 |
| 3 2.292711e+04 4.45e-02 3.30e+02 1.38e+00 1.00e+00 2.70e+05 1 2.76e-02 1.70e-01 |
| 4 2.292703e+04 8.00e-02 1.32e+03 3.43e+00 1.00e+00 8.10e+05 1 2.81e-02 1.98e-01 |
| 5 2.292694e+04 8.66e-02 3.33e+03 5.55e+00 9.95e-01 2.43e+06 1 3.26e-02 2.31e-01 |
| 6 2.292690e+04 3.68e-02 2.45e+03 4.76e+00 1.01e+00 7.29e+06 1 2.87e-02 2.60e-01 |
| 7 2.292690e+04 5.13e-03 3.70e+02 1.85e+00 1.04e+00 2.19e+07 1 3.07e-02 2.90e-01 |
| 8 2.292690e+04 1.55e-04 1.28e+01 3.41e-01 1.07e+00 6.56e+07 1 2.91e-02 3.19e-01 |
| 9 2.292690e+04 1.93e-06 1.56e+00 3.98e-02 1.09e+00 1.97e+08 1 2.87e-02 3.48e-01 |
| 10 2.292690e+04 2.02e-08 5.54e-01 3.98e-03 1.10e+00 5.90e+08 1 2.92e-02 3.77e-01 |
| 11 2.292690e+04 1.60e-10 5.67e-02 3.81e-04 8.79e-01 1.05e+09 1 2.80e-02 4.05e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53020 |
| Parameters : 25897 |
| Iterations : 12 |
| Time : 0.408309 [s] |
| Initial cost : 0.658362 [px] |
| Final cost : 0.657586 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 2 |
| => Completed observations: 0 |
| => Filtered observations: 1 |
| => Changed observations: 0.000113 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #47 (6) |
| ============================================================================== |
|
|
| => Image sees 4415 / 7664 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8818 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0934269 [s] |
| Initial cost : 0.695448 [px] |
| Final cost : 0.660991 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 4388 |
| => Added observations: 2119 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66034 |
| Parameters : 28708 |
| Iterations : 26 |
| Time : 0.944278 [s] |
| Initial cost : 0.609434 [px] |
| Final cost : 0.559702 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 72 |
| => Completed observations: 179 |
| => Filtered observations: 508 |
| => Changed observations: 0.022988 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65246 |
| Parameters : 28408 |
| Iterations : 9 |
| Time : 0.375689 [s] |
| Initial cost : 0.692287 [px] |
| Final cost : 0.673729 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 33 |
| => Completed observations: 54 |
| => Filtered observations: 4 |
| => Changed observations: 0.002789 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 2 |
| => Completed observations: 6 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.992393e+04 0.00e+00 5.40e+03 0.00e+00 0.00e+00 1.00e+04 0 2.00e-02 7.97e-02 |
| 1 2.986887e+04 5.51e+01 4.05e+00 2.23e+00 1.00e+00 3.00e+04 1 4.65e-02 1.26e-01 |
| 2 2.986882e+04 4.42e-02 1.54e+00 2.89e-01 1.00e+00 9.00e+04 1 3.36e-02 1.60e-01 |
| 3 2.986882e+04 1.70e-03 5.41e+00 2.13e-01 1.00e+00 2.70e+05 1 3.20e-02 1.92e-01 |
| 4 2.986882e+04 2.32e-03 3.44e+01 4.12e-01 1.00e+00 8.10e+05 1 3.27e-02 2.25e-01 |
| 5 2.986882e+04 1.74e-03 5.80e+01 5.26e-01 1.01e+00 2.43e+06 1 3.26e-02 2.57e-01 |
| 6 2.986882e+04 3.93e-04 2.14e+01 3.19e-01 1.02e+00 7.29e+06 1 3.31e-02 2.90e-01 |
| 7 2.986882e+04 1.95e-05 1.99e+00 7.90e-02 1.03e+00 2.19e+07 1 3.37e-02 3.24e-01 |
| 8 2.986882e+04 2.29e-07 1.11e+00 8.39e-03 1.05e+00 6.56e+07 1 3.31e-02 3.57e-01 |
| 9 2.986882e+04 4.15e-10 1.07e-01 5.41e-04 3.96e-01 6.50e+07 1 3.30e-02 3.90e-01 |
| 10 2.986882e+04 2.98e-10 6.47e-03 3.18e-05 7.18e+01 1.95e+08 1 3.34e-02 4.24e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65344 |
| Parameters : 28432 |
| Iterations : 11 |
| Time : 0.426974 [s] |
| Initial cost : 0.676716 [px] |
| Final cost : 0.676093 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 0 |
| => Completed observations: 0 |
| => Filtered observations: 4 |
| => Changed observations: 0.000122 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #41 (7) |
| ============================================================================== |
|
|
| => Image sees 3639 / 7037 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7200 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.0828111 [s] |
| Initial cost : 0.770459 [px] |
| Final cost : 0.755203 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3563 |
| => Added observations: 2313 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70248 |
| Parameters : 21253 |
| Iterations : 20 |
| Time : 0.664898 [s] |
| Initial cost : 0.64954 [px] |
| Final cost : 0.605354 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 103 |
| => Completed observations: 150 |
| => Filtered observations: 733 |
| => Changed observations: 0.028072 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69092 |
| Parameters : 21112 |
| Iterations : 3 |
| Time : 0.147906 [s] |
| Initial cost : 0.746755 [px] |
| Final cost : 0.728311 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 26 |
| => Completed observations: 73 |
| => Filtered observations: 9 |
| => Changed observations: 0.003126 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 4 |
| => Completed observations: 13 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.976836e+04 0.00e+00 5.52e+04 0.00e+00 0.00e+00 1.00e+04 0 2.45e-02 9.70e-02 |
| 1 3.944317e+04 3.25e+02 1.10e+04 5.40e+00 1.00e+00 3.00e+04 1 5.48e-02 1.52e-01 |
| 2 3.944084e+04 2.34e+00 3.50e+03 2.60e+00 1.00e+00 9.00e+04 1 3.85e-02 1.90e-01 |
| 3 3.943844e+04 2.40e+00 1.58e+04 6.42e+00 9.89e-01 2.70e+05 1 3.83e-02 2.29e-01 |
| 4 3.943541e+04 3.03e+00 4.93e+04 1.21e+01 9.15e-01 6.31e+05 1 3.84e-02 2.67e-01 |
| 5 3.943364e+04 1.77e+00 4.54e+04 1.17e+01 8.83e-01 1.14e+06 1 3.82e-02 3.05e-01 |
| 6 3.943307e+04 5.62e-01 1.18e+04 5.99e+00 9.77e-01 3.43e+06 1 3.81e-02 3.43e-01 |
| 7 3.943303e+04 4.59e-02 1.46e+03 2.10e+00 1.00e+00 1.03e+07 1 3.83e-02 3.82e-01 |
| 8 3.943303e+04 7.66e-04 2.75e+01 2.87e-01 1.02e+00 3.09e+07 1 3.89e-02 4.21e-01 |
| 9 3.943303e+04 2.64e-06 1.91e+00 1.82e-02 1.04e+00 9.26e+07 1 3.92e-02 4.60e-01 |
| 10 3.943303e+04 7.66e-09 1.18e-01 8.86e-04 1.07e+00 2.78e+08 1 3.88e-02 4.99e-01 |
| 11 3.943303e+04 3.13e-10 5.71e-03 4.22e-05 1.83e+01 8.33e+08 1 3.86e-02 5.37e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 76042 |
| Parameters : 31363 |
| Iterations : 12 |
| Time : 0.541436 [s] |
| Initial cost : 0.723173 [px] |
| Final cost : 0.720117 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 10 |
| => Completed observations: 6 |
| => Filtered observations: 16 |
| => Changed observations: 0.000842 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.950295e+04 0.00e+00 2.42e+03 0.00e+00 0.00e+00 1.00e+04 0 2.42e-02 9.77e-02 |
| 1 3.947080e+04 3.22e+01 2.33e+01 5.74e-01 1.00e+00 3.00e+04 1 5.46e-02 1.52e-01 |
| 2 3.947080e+04 1.94e-03 1.95e+00 5.87e-02 1.00e+00 9.00e+04 1 3.79e-02 1.90e-01 |
| 3 3.947080e+04 1.48e-03 8.58e+00 1.38e-01 1.00e+00 2.70e+05 1 3.73e-02 2.28e-01 |
| 4 3.947080e+04 2.02e-03 3.00e+01 2.56e-01 1.00e+00 8.10e+05 1 3.79e-02 2.65e-01 |
| 5 3.947079e+04 1.11e-03 3.36e+01 2.71e-01 1.01e+00 2.43e+06 1 4.30e-02 3.08e-01 |
| 6 3.947079e+04 1.60e-04 7.37e+00 1.26e-01 1.01e+00 7.29e+06 1 3.89e-02 3.47e-01 |
| 7 3.947079e+04 4.59e-06 1.97e+00 2.30e-02 1.02e+00 2.19e+07 1 3.78e-02 3.85e-01 |
| 8 3.947079e+04 3.14e-08 2.77e-01 1.78e-03 1.05e+00 6.56e+07 1 3.74e-02 4.23e-01 |
| 9 3.947079e+04 -2.18e-10 0.00e+00 8.90e-05 -2.41e+00 3.28e+07 1 2.70e-02 4.50e-01 |
| 10 3.947079e+04 8.00e-11 1.40e-02 8.84e-05 6.79e-01 3.44e+07 1 3.77e-02 4.87e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 76002 |
| Parameters : 31318 |
| Iterations : 11 |
| Time : 0.491217 [s] |
| Initial cost : 0.720945 [px] |
| Final cost : 0.720652 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1 |
| => Completed observations: 0 |
| => Filtered observations: 1 |
| => Changed observations: 0.000053 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #48 (8) |
| ============================================================================== |
|
|
| => Image sees 3565 / 6857 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6780 |
| Parameters : 6 |
| Iterations : 21 |
| Time : 0.119492 [s] |
| Initial cost : 0.915045 [px] |
| Final cost : 0.828629 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3361 |
| => Added observations: 2840 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 74826 |
| Parameters : 20695 |
| Iterations : 26 |
| Time : 0.860008 [s] |
| Initial cost : 0.705369 [px] |
| Final cost : 0.656349 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 51 |
| => Completed observations: 164 |
| => Filtered observations: 1520 |
| => Changed observations: 0.046374 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72090 |
| Parameters : 20386 |
| Iterations : 3 |
| Time : 0.147733 [s] |
| Initial cost : 0.775197 [px] |
| Final cost : 0.745546 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 35 |
| => Completed observations: 149 |
| => Filtered observations: 12 |
| => Changed observations: 0.005438 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 10 |
| => Completed observations: 5 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.895349e+04 0.00e+00 7.04e+04 0.00e+00 0.00e+00 1.00e+04 0 2.79e-02 1.13e-01 |
| 1 4.843396e+04 5.20e+02 8.86e+03 1.00e+01 9.99e-01 3.00e+04 1 6.01e-02 1.73e-01 |
| 2 4.839094e+04 4.30e+01 2.06e+04 1.45e+01 9.97e-01 9.00e+04 1 4.68e-02 2.20e-01 |
| 3 4.833145e+04 5.95e+01 3.69e+05 3.15e+01 8.04e-01 1.16e+05 1 4.48e-02 2.65e-01 |
| 4 4.827630e+04 5.52e+01 4.06e+05 3.13e+01 7.63e-01 1.36e+05 1 4.62e-02 3.11e-01 |
| 5 4.823099e+04 4.53e+01 3.11e+05 2.74e+01 8.21e-01 1.85e+05 1 4.53e-02 3.56e-01 |
| 6 4.820309e+04 2.79e+01 2.65e+05 2.54e+01 7.97e-01 2.34e+05 1 4.59e-02 4.02e-01 |
| 7 4.818569e+04 1.74e+01 1.65e+05 2.02e+01 8.63e-01 3.79e+05 1 4.59e-02 4.48e-01 |
| 8 4.817797e+04 7.72e+00 1.12e+05 1.67e+01 8.61e-01 6.09e+05 1 4.62e-02 4.94e-01 |
| 9 4.817510e+04 2.88e+00 4.36e+04 1.05e+01 9.39e-01 1.83e+06 1 4.83e-02 5.42e-01 |
| 10 4.817460e+04 4.92e-01 1.20e+04 5.52e+00 9.74e-01 5.48e+06 1 4.63e-02 5.89e-01 |
| 11 4.817458e+04 2.51e-02 4.78e+02 1.11e+00 1.01e+00 1.64e+07 1 4.67e-02 6.35e-01 |
| 12 4.817458e+04 1.02e-04 2.94e+00 8.61e-02 1.03e+00 4.93e+07 1 4.69e-02 6.82e-01 |
| 13 4.817458e+04 3.05e-07 7.03e-01 4.27e-03 1.05e+00 1.48e+08 1 4.64e-02 7.29e-01 |
| 14 4.817458e+04 1.16e-09 4.53e-02 2.32e-04 1.17e+00 4.44e+08 1 4.57e-02 7.74e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85950 |
| Parameters : 34555 |
| Iterations : 15 |
| Time : 0.779385 [s] |
| Initial cost : 0.754691 [px] |
| Final cost : 0.748662 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 27 |
| => Completed observations: 16 |
| => Filtered observations: 58 |
| => Changed observations: 0.002350 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.823462e+04 0.00e+00 7.05e+03 0.00e+00 0.00e+00 1.00e+04 0 2.77e-02 1.28e-01 |
| 1 4.813808e+04 9.65e+01 2.56e+01 9.55e-01 1.00e+00 3.00e+04 1 5.96e-02 1.88e-01 |
| 2 4.813804e+04 4.51e-02 5.90e+01 3.80e-01 1.00e+00 9.00e+04 1 5.11e-02 2.39e-01 |
| 3 4.813797e+04 7.06e-02 3.98e+02 8.98e-01 1.00e+00 2.70e+05 1 4.39e-02 2.83e-01 |
| 4 4.813788e+04 8.81e-02 1.25e+03 1.58e+00 9.98e-01 8.10e+05 1 4.34e-02 3.27e-01 |
| 5 4.813784e+04 4.16e-02 1.16e+03 1.52e+00 9.98e-01 2.43e+06 1 4.43e-02 3.71e-01 |
| 6 4.813783e+04 4.90e-03 1.94e+02 6.23e-01 1.01e+00 7.29e+06 1 4.45e-02 4.15e-01 |
| 7 4.813783e+04 1.06e-04 4.66e+00 9.57e-02 1.02e+00 2.19e+07 1 4.38e-02 4.59e-01 |
| 8 4.813783e+04 5.78e-07 9.08e-01 6.11e-03 1.05e+00 6.56e+07 1 4.50e-02 5.04e-01 |
| 9 4.813783e+04 2.66e-09 6.55e-02 3.07e-04 1.35e+00 1.97e+08 1 4.37e-02 5.48e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85798 |
| Parameters : 34414 |
| Iterations : 10 |
| Time : 0.5526 [s] |
| Initial cost : 0.749792 [px] |
| Final cost : 0.749039 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 6 |
| => Completed observations: 6 |
| => Filtered observations: 2 |
| => Changed observations: 0.000326 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #40 (9) |
| ============================================================================== |
|
|
| => Image sees 3249 / 6655 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6456 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.099937 [s] |
| Initial cost : 0.813769 [px] |
| Final cost : 0.744135 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3178 |
| => Added observations: 2531 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 73330 |
| Parameters : 18697 |
| Iterations : 26 |
| Time : 0.837429 [s] |
| Initial cost : 0.667126 [px] |
| Final cost : 0.626673 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 168 |
| => Completed observations: 131 |
| => Filtered observations: 790 |
| => Changed observations: 0.029701 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72022 |
| Parameters : 18472 |
| Iterations : 3 |
| Time : 0.142615 [s] |
| Initial cost : 0.777233 [px] |
| Final cost : 0.759096 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 67 |
| => Completed observations: 104 |
| => Filtered observations: 11 |
| => Changed observations: 0.005054 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 9 |
| => Completed observations: 0 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.513867e+04 0.00e+00 3.80e+04 0.00e+00 0.00e+00 1.00e+04 0 2.96e-02 1.30e-01 |
| 1 5.471021e+04 4.28e+02 9.31e+03 6.71e+00 1.00e+00 3.00e+04 1 6.25e-02 1.93e-01 |
| 2 5.468820e+04 2.20e+01 6.03e+04 8.24e+00 9.86e-01 9.00e+04 1 4.87e-02 2.42e-01 |
| 3 5.465730e+04 3.09e+01 2.17e+05 1.91e+01 8.85e-01 1.65e+05 1 5.30e-02 2.95e-01 |
| 4 5.463019e+04 2.71e+01 2.88e+05 2.34e+01 7.93e-01 2.07e+05 1 5.64e-02 3.51e-01 |
| 5 5.461069e+04 1.95e+01 1.65e+05 1.80e+01 8.95e-01 4.08e+05 1 5.12e-02 4.02e-01 |
| 6 5.460272e+04 7.97e+00 1.24e+05 1.56e+01 8.63e-01 6.60e+05 1 5.49e-02 4.57e-01 |
| 7 5.460003e+04 2.69e+00 3.45e+04 8.30e+00 9.68e-01 1.98e+06 1 5.05e-02 5.08e-01 |
| 8 5.459975e+04 2.78e-01 6.08e+03 3.49e+00 9.97e-01 5.94e+06 1 5.01e-02 5.58e-01 |
| 9 5.459975e+04 7.33e-03 1.58e+02 5.66e-01 1.01e+00 1.78e+07 1 4.89e-02 6.07e-01 |
| 10 5.459975e+04 2.74e-05 1.96e+00 3.96e-02 1.04e+00 5.35e+07 1 4.99e-02 6.57e-01 |
| 11 5.459975e+04 8.85e-08 3.04e-01 1.98e-03 1.05e+00 1.60e+08 1 4.95e-02 7.06e-01 |
| 12 5.459975e+04 4.37e-10 1.68e-02 1.02e-04 1.83e+00 4.81e+08 1 5.05e-02 7.57e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96092 |
| Parameters : 37633 |
| Iterations : 13 |
| Time : 0.762062 [s] |
| Initial cost : 0.757503 [px] |
| Final cost : 0.753792 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 35 |
| => Completed observations: 9 |
| => Filtered observations: 37 |
| => Changed observations: 0.001686 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.476237e+04 0.00e+00 9.24e+03 0.00e+00 0.00e+00 1.00e+04 0 3.22e-02 1.66e-01 |
| 1 5.464022e+04 1.22e+02 7.76e+01 8.69e-01 1.00e+00 3.00e+04 1 6.53e-02 2.32e-01 |
| 2 5.464015e+04 7.69e-02 1.28e+02 4.68e-01 1.00e+00 9.00e+04 1 5.01e-02 2.82e-01 |
| 3 5.464002e+04 1.21e-01 7.00e+02 1.06e+00 1.00e+00 2.70e+05 1 5.09e-02 3.33e-01 |
| 4 5.463989e+04 1.31e-01 1.79e+03 1.72e+00 1.00e+00 8.10e+05 1 5.03e-02 3.83e-01 |
| 5 5.463984e+04 5.00e-02 1.27e+03 1.45e+00 1.00e+00 2.43e+06 1 5.05e-02 4.33e-01 |
| 6 5.463984e+04 4.55e-03 1.55e+02 5.08e-01 1.01e+00 7.29e+06 1 5.01e-02 4.84e-01 |
| 7 5.463984e+04 7.81e-05 2.95e+00 6.88e-02 1.03e+00 2.19e+07 1 5.04e-02 5.34e-01 |
| 8 5.463984e+04 3.85e-07 6.16e-01 4.29e-03 1.05e+00 6.56e+07 1 5.06e-02 5.85e-01 |
| 9 5.463984e+04 7.20e-10 3.78e-02 2.14e-04 5.99e-01 6.61e+07 1 5.03e-02 6.35e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96038 |
| Parameters : 37558 |
| Iterations : 10 |
| Time : 0.640138 [s] |
| Initial cost : 0.755126 [px] |
| Final cost : 0.754281 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 6 |
| => Completed observations: 0 |
| => Filtered observations: 8 |
| => Changed observations: 0.000292 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #49 (10) |
| ============================================================================== |
|
|
| => Image sees 3206 / 6961 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6304 |
| Parameters : 6 |
| Iterations : 25 |
| Time : 0.126302 [s] |
| Initial cost : 0.876352 [px] |
| Final cost : 0.807188 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3120 |
| => Added observations: 2565 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 74812 |
| Parameters : 18487 |
| Iterations : 16 |
| Time : 0.535682 [s] |
| Initial cost : 0.688502 [px] |
| Final cost : 0.644513 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 185 |
| => Completed observations: 197 |
| => Filtered observations: 979 |
| => Changed observations: 0.036385 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 73266 |
| Parameters : 18346 |
| Iterations : 4 |
| Time : 0.178203 [s] |
| Initial cost : 0.796626 [px] |
| Final cost : 0.777651 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 79 |
| => Completed observations: 93 |
| => Filtered observations: 4 |
| => Changed observations: 0.004804 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 18 |
| => Completed observations: 11 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.402500e+04 0.00e+00 7.31e+05 0.00e+00 0.00e+00 1.00e+04 0 3.23e-02 1.47e-01 |
| 1 6.339331e+04 6.32e+02 4.55e+04 9.53e+00 9.99e-01 3.00e+04 1 7.12e-02 2.18e-01 |
| 2 6.333363e+04 5.97e+01 5.06e+04 1.44e+01 9.95e-01 9.00e+04 1 5.44e-02 2.72e-01 |
| 3 6.325578e+04 7.78e+01 5.21e+05 3.05e+01 7.88e-01 1.11e+05 1 5.58e-02 3.28e-01 |
| 4 6.318528e+04 7.05e+01 4.35e+05 2.71e+01 8.30e-01 1.56e+05 1 5.33e-02 3.82e-01 |
| 5 6.314094e+04 4.43e+01 3.57e+05 2.47e+01 8.21e-01 2.12e+05 1 5.47e-02 4.36e-01 |
| 6 6.311605e+04 2.49e+01 2.14e+05 1.92e+01 8.78e-01 3.73e+05 1 5.42e-02 4.90e-01 |
| 7 6.310645e+04 9.59e+00 1.21e+05 1.45e+01 8.95e-01 7.35e+05 1 5.38e-02 5.44e-01 |
| 8 6.310398e+04 2.48e+00 3.51e+04 7.87e+00 9.60e-01 2.20e+06 1 5.55e-02 6.00e-01 |
| 9 6.310377e+04 2.04e-01 3.78e+03 2.60e+00 9.91e-01 6.61e+06 1 5.29e-02 6.53e-01 |
| 10 6.310377e+04 2.39e-03 4.51e+01 2.86e-01 1.00e+00 1.98e+07 1 5.36e-02 7.06e-01 |
| 11 6.310377e+04 3.74e-06 1.58e+00 1.07e-02 1.03e+00 5.95e+07 1 5.61e-02 7.62e-01 |
| 12 6.310377e+04 6.63e-09 6.37e-02 4.07e-04 1.05e+00 1.79e+08 1 5.25e-02 8.15e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 106042 |
| Parameters : 40978 |
| Iterations : 13 |
| Time : 0.82047 [s] |
| Initial cost : 0.777027 [px] |
| Final cost : 0.771416 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 80 |
| => Completed observations: 16 |
| => Filtered observations: 93 |
| => Changed observations: 0.003565 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.334961e+04 0.00e+00 1.11e+04 0.00e+00 0.00e+00 1.00e+04 0 3.28e-02 1.46e-01 |
| 1 6.307760e+04 2.72e+02 2.96e+02 1.52e+00 1.00e+00 3.00e+04 1 7.10e-02 2.17e-01 |
| 2 6.307701e+04 5.96e-01 8.36e+02 1.09e+00 1.00e+00 9.00e+04 1 5.37e-02 2.71e-01 |
| 3 6.307614e+04 8.64e-01 5.00e+03 2.33e+00 9.95e-01 2.70e+05 1 5.78e-02 3.29e-01 |
| 4 6.307531e+04 8.38e-01 1.15e+04 3.54e+00 9.83e-01 8.10e+05 1 5.61e-02 3.85e-01 |
| 5 6.307503e+04 2.73e-01 6.55e+03 2.69e+00 9.81e-01 2.43e+06 1 5.53e-02 4.40e-01 |
| 6 6.307501e+04 2.03e-02 5.68e+02 7.94e-01 9.94e-01 7.29e+06 1 5.56e-02 4.96e-01 |
| 7 6.307501e+04 1.91e-04 5.67e+00 7.82e-02 1.01e+00 2.19e+07 1 6.02e-02 5.56e-01 |
| 8 6.307501e+04 4.18e-07 4.84e-01 2.78e-03 1.03e+00 6.56e+07 1 5.61e-02 6.12e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 105900 |
| Parameters : 40795 |
| Iterations : 9 |
| Time : 0.61806 [s] |
| Initial cost : 0.773435 [px] |
| Final cost : 0.771757 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 15 |
| => Completed observations: 8 |
| => Filtered observations: 21 |
| => Changed observations: 0.000831 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.307285e+04 0.00e+00 2.24e+03 0.00e+00 0.00e+00 1.00e+04 0 3.65e-02 1.75e-01 |
| 1 6.301938e+04 5.35e+01 1.91e+01 3.83e-01 1.00e+00 3.00e+04 1 7.14e-02 2.46e-01 |
| 2 6.301934e+04 3.63e-02 7.52e+01 2.49e-01 1.00e+00 9.00e+04 1 5.67e-02 3.03e-01 |
| 3 6.301929e+04 4.58e-02 2.87e+02 5.35e-01 9.97e-01 2.70e+05 1 5.56e-02 3.59e-01 |
| 4 6.301925e+04 4.44e-02 6.08e+02 8.12e-01 9.94e-01 8.10e+05 1 5.53e-02 4.14e-01 |
| 5 6.301923e+04 1.40e-02 3.45e+02 6.15e-01 9.91e-01 2.43e+06 1 5.44e-02 4.69e-01 |
| 6 6.301923e+04 9.06e-04 3.04e+01 1.81e-01 9.94e-01 7.29e+06 1 5.62e-02 5.25e-01 |
| 7 6.301923e+04 8.84e-06 1.99e+00 1.79e-02 1.01e+00 2.19e+07 1 5.53e-02 5.80e-01 |
| 8 6.301923e+04 2.20e-08 1.21e-01 6.40e-04 1.04e+00 6.56e+07 1 5.59e-02 6.36e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 105870 |
| Parameters : 40768 |
| Iterations : 9 |
| Time : 0.641743 [s] |
| Initial cost : 0.771853 [px] |
| Final cost : 0.771525 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 2 |
| => Completed observations: 0 |
| => Filtered observations: 7 |
| => Changed observations: 0.000170 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #50 (11) |
| ============================================================================== |
|
|
| => Image sees 2973 / 6811 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5902 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0573299 [s] |
| Initial cost : 0.746147 [px] |
| Final cost : 0.733823 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2897 |
| => Added observations: 2961 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72388 |
| Parameters : 17863 |
| Iterations : 26 |
| Time : 0.8108 [s] |
| Initial cost : 0.67537 [px] |
| Final cost : 0.632963 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 146 |
| => Completed observations: 125 |
| => Filtered observations: 580 |
| => Changed observations: 0.023512 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 71502 |
| Parameters : 17698 |
| Iterations : 3 |
| Time : 0.135709 [s] |
| Initial cost : 0.799799 [px] |
| Final cost : 0.786121 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 43 |
| => Completed observations: 89 |
| => Filtered observations: 6 |
| => Changed observations: 0.003860 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 22 |
| => Completed observations: 37 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 7.019535e+04 0.00e+00 1.17e+06 0.00e+00 0.00e+00 1.00e+04 0 3.51e-02 1.63e-01 |
| 1 6.954585e+04 6.50e+02 5.29e+03 3.94e+00 1.00e+00 3.00e+04 1 7.98e-02 2.43e-01 |
| 2 6.953152e+04 1.43e+01 1.29e+04 5.61e+00 9.98e-01 9.00e+04 1 6.12e-02 3.04e-01 |
| 3 6.951038e+04 2.11e+01 1.19e+05 1.17e+01 9.54e-01 2.70e+05 1 6.21e-02 3.66e-01 |
| 4 6.949429e+04 1.61e+01 2.62e+05 1.68e+01 7.78e-01 3.26e+05 1 6.24e-02 4.29e-01 |
| 5 6.948562e+04 8.68e+00 6.85e+04 8.68e+00 9.62e-01 9.78e+05 1 6.15e-02 4.90e-01 |
| 6 6.948439e+04 1.23e+00 2.44e+04 5.18e+00 9.59e-01 2.93e+06 1 6.13e-02 5.52e-01 |
| 7 6.948432e+04 7.34e-02 1.12e+03 1.12e+00 9.93e-01 8.80e+06 1 5.98e-02 6.12e-01 |
| 8 6.948432e+04 2.45e-04 4.55e+00 7.09e-02 1.01e+00 2.64e+07 1 6.10e-02 6.73e-01 |
| 9 6.948432e+04 2.33e-07 2.80e-01 1.56e-03 1.03e+00 7.92e+07 1 6.05e-02 7.33e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 116852 |
| Parameters : 44770 |
| Iterations : 10 |
| Time : 0.739148 [s] |
| Initial cost : 0.775061 [px] |
| Final cost : 0.771126 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 33 |
| => Completed observations: 27 |
| => Filtered observations: 49 |
| => Changed observations: 0.001866 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.957656e+04 0.00e+00 1.41e+04 0.00e+00 0.00e+00 1.00e+04 0 3.49e-02 1.63e-01 |
| 1 6.945516e+04 1.21e+02 1.73e+02 9.76e-01 1.00e+00 3.00e+04 1 7.34e-02 2.36e-01 |
| 2 6.945507e+04 9.87e-02 6.19e+01 3.81e-01 1.00e+00 9.00e+04 1 6.31e-02 2.99e-01 |
| 3 6.945497e+04 9.71e-02 5.37e+02 7.54e-01 9.96e-01 2.70e+05 1 6.27e-02 3.62e-01 |
| 4 6.945488e+04 8.54e-02 1.15e+03 1.07e+00 9.90e-01 8.10e+05 1 6.06e-02 4.23e-01 |
| 5 6.945486e+04 2.28e-02 5.44e+02 7.37e-01 9.85e-01 2.43e+06 1 6.08e-02 4.84e-01 |
| 6 6.945486e+04 1.16e-03 3.64e+01 1.90e-01 9.87e-01 7.29e+06 1 6.04e-02 5.44e-01 |
| 7 6.945486e+04 7.58e-06 1.99e+00 1.50e-02 1.00e+00 2.19e+07 1 6.11e-02 6.05e-01 |
| 8 6.945486e+04 1.19e-08 7.44e-02 3.62e-04 1.06e+00 6.56e+07 1 6.05e-02 6.66e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 116766 |
| Parameters : 44677 |
| Iterations : 9 |
| Time : 0.675588 [s] |
| Initial cost : 0.771922 [px] |
| Final cost : 0.771246 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 7 |
| => Completed observations: 6 |
| => Filtered observations: 5 |
| => Changed observations: 0.000308 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #51 (12) |
| ============================================================================== |
|
|
| => Image sees 3396 / 6863 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6830 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.105154 [s] |
| Initial cost : 0.743979 [px] |
| Final cost : 0.700485 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3347 |
| => Added observations: 2393 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 71676 |
| Parameters : 17881 |
| Iterations : 26 |
| Time : 0.821128 [s] |
| Initial cost : 0.655752 [px] |
| Final cost : 0.620766 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 175 |
| => Completed observations: 150 |
| => Filtered observations: 510 |
| => Changed observations: 0.023299 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70968 |
| Parameters : 17713 |
| Iterations : 3 |
| Time : 0.147972 [s] |
| Initial cost : 0.787775 [px] |
| Final cost : 0.774035 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 75 |
| => Completed observations: 89 |
| => Filtered observations: 16 |
| => Changed observations: 0.005073 |
|
|
| ============================================================================== |
| Registering image #52 (13) |
| ============================================================================== |
|
|
| => Image sees 3506 / 6820 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7096 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.070785 [s] |
| Initial cost : 0.796352 [px] |
| Final cost : 0.683754 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3469 |
| => Added observations: 2693 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 71796 |
| Parameters : 18481 |
| Iterations : 26 |
| Time : 0.810214 [s] |
| Initial cost : 0.650558 [px] |
| Final cost : 0.616684 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 218 |
| => Completed observations: 158 |
| => Filtered observations: 484 |
| => Changed observations: 0.023957 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 71178 |
| Parameters : 18334 |
| Iterations : 3 |
| Time : 0.13948 [s] |
| Initial cost : 0.7827 [px] |
| Final cost : 0.770072 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 28 |
| => Completed observations: 52 |
| => Filtered observations: 5 |
| => Changed observations: 0.002388 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 38 |
| => Completed observations: 23 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.470661e+04 0.00e+00 5.40e+05 0.00e+00 0.00e+00 1.00e+04 0 4.63e-02 2.53e-01 |
| 1 8.380774e+04 8.99e+02 1.36e+04 3.26e+00 1.00e+00 3.00e+04 1 8.75e-02 3.40e-01 |
| 2 8.380286e+04 4.88e+00 5.13e+03 1.87e+00 9.97e-01 9.00e+04 1 7.27e-02 4.13e-01 |
| 3 8.380244e+04 4.18e-01 6.40e+02 7.06e-01 9.97e-01 2.70e+05 1 7.45e-02 4.88e-01 |
| 4 8.380243e+04 8.30e-03 4.46e+01 1.43e-01 9.95e-01 8.10e+05 1 7.43e-02 5.62e-01 |
| 5 8.380243e+04 1.92e-04 4.15e+00 5.93e-02 9.88e-01 2.43e+06 1 7.31e-02 6.35e-01 |
| 6 8.380243e+04 6.62e-06 1.43e+00 1.30e-02 9.90e-01 7.29e+06 1 7.58e-02 7.11e-01 |
| 7 8.380243e+04 3.30e-08 1.17e-01 8.86e-04 1.01e+00 2.19e+07 1 7.43e-02 7.85e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 139454 |
| Parameters : 51181 |
| Iterations : 8 |
| Time : 0.792022 [s] |
| Initial cost : 0.779369 [px] |
| Final cost : 0.775198 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 25 |
| => Completed observations: 37 |
| => Filtered observations: 9 |
| => Changed observations: 0.001018 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 8.399234e+04 0.00e+00 8.08e+03 0.00e+00 0.00e+00 1.00e+04 0 4.16e-02 2.01e-01 |
| 1 8.391205e+04 8.03e+01 2.48e+02 6.31e-01 1.00e+00 3.00e+04 1 8.82e-02 2.90e-01 |
| 2 8.391198e+04 6.96e-02 8.43e+01 1.90e-01 9.97e-01 9.00e+04 1 7.36e-02 3.63e-01 |
| 3 8.391198e+04 5.22e-03 1.41e+01 7.72e-02 9.96e-01 2.70e+05 1 7.55e-02 4.39e-01 |
| 4 8.391198e+04 2.44e-04 3.02e+00 3.97e-02 9.90e-01 8.10e+05 1 7.41e-02 5.13e-01 |
| 5 8.391198e+04 3.28e-05 1.97e+00 2.26e-02 9.88e-01 2.43e+06 1 7.27e-02 5.86e-01 |
| 6 8.391198e+04 1.24e-06 6.37e-01 4.95e-03 9.90e-01 7.29e+06 1 7.41e-02 6.60e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 139486 |
| Parameters : 51169 |
| Iterations : 7 |
| Time : 0.666549 [s] |
| Initial cost : 0.775987 [px] |
| Final cost : 0.775616 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 5 |
| => Completed observations: 6 |
| => Filtered observations: 5 |
| => Changed observations: 0.000229 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #53 (14) |
| ============================================================================== |
|
|
| => Image sees 3112 / 6395 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6250 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.099165 [s] |
| Initial cost : 0.782153 [px] |
| Final cost : 0.742073 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3074 |
| => Added observations: 2467 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69678 |
| Parameters : 19027 |
| Iterations : 26 |
| Time : 0.796502 [s] |
| Initial cost : 0.667161 [px] |
| Final cost : 0.6287 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 122 |
| => Completed observations: 133 |
| => Filtered observations: 586 |
| => Changed observations: 0.024140 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 68808 |
| Parameters : 18868 |
| Iterations : 3 |
| Time : 0.135648 [s] |
| Initial cost : 0.794306 [px] |
| Final cost : 0.779277 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 48 |
| => Completed observations: 56 |
| => Filtered observations: 5 |
| => Changed observations: 0.003168 |
|
|
| ============================================================================== |
| Registering image #54 (15) |
| ============================================================================== |
|
|
| => Image sees 3457 / 6374 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5534 |
| Parameters : 6 |
| Iterations : 24 |
| Time : 0.1063 [s] |
| Initial cost : 0.967206 [px] |
| Final cost : 0.935519 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2732 |
| => Added observations: 2545 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70186 |
| Parameters : 18685 |
| Iterations : 26 |
| Time : 0.814824 [s] |
| Initial cost : 0.857277 [px] |
| Final cost : 0.818492 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 44 |
| => Completed observations: 89 |
| => Filtered observations: 3417 |
| => Changed observations: 0.101160 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63460 |
| Parameters : 17500 |
| Iterations : 4 |
| Time : 0.154946 [s] |
| Initial cost : 0.822263 [px] |
| Final cost : 0.775877 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 47 |
| => Completed observations: 421 |
| => Filtered observations: 27 |
| => Changed observations: 0.015600 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 90 |
| => Completed observations: 32 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 9.884912e+04 0.00e+00 3.42e+06 0.00e+00 0.00e+00 1.00e+04 0 4.98e-02 2.36e-01 |
| 1 9.591050e+04 2.94e+03 4.98e+04 3.58e+00 9.99e-01 3.00e+04 1 9.66e-02 3.33e-01 |
| 2 9.590296e+04 7.54e+00 7.63e+03 1.52e+00 9.95e-01 9.00e+04 1 8.06e-02 4.13e-01 |
| 3 9.590263e+04 3.30e-01 8.33e+02 5.33e-01 9.96e-01 2.70e+05 1 8.10e-02 4.94e-01 |
| 4 9.590262e+04 9.30e-03 1.06e+02 2.07e-01 9.89e-01 8.10e+05 1 8.06e-02 5.75e-01 |
| 5 9.590262e+04 7.38e-04 1.51e+01 1.02e-01 9.86e-01 2.43e+06 1 8.12e-02 6.56e-01 |
| 6 9.590262e+04 2.25e-05 1.99e+00 2.00e-02 9.89e-01 7.29e+06 1 9.27e-02 7.49e-01 |
| 7 9.590262e+04 8.69e-08 1.62e-01 1.18e-03 1.00e+00 2.19e+07 1 8.07e-02 8.30e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 154440 |
| Parameters : 56083 |
| Iterations : 8 |
| Time : 0.837324 [s] |
| Initial cost : 0.80003 [px] |
| Final cost : 0.788017 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 40 |
| => Completed observations: 29 |
| => Filtered observations: 46 |
| => Changed observations: 0.001489 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 9.593418e+04 0.00e+00 2.30e+04 0.00e+00 0.00e+00 1.00e+04 0 5.15e-02 2.66e-01 |
| 1 9.573578e+04 1.98e+02 2.07e+02 1.01e+00 9.99e-01 3.00e+04 1 1.02e-01 3.68e-01 |
| 2 9.573562e+04 1.53e-01 1.25e+01 1.67e-01 9.97e-01 9.00e+04 1 8.42e-02 4.52e-01 |
| 3 9.573562e+04 6.42e-04 1.99e+00 1.81e-02 9.97e-01 2.70e+05 1 8.58e-02 5.38e-01 |
| 4 9.573562e+04 4.18e-05 1.68e+00 1.64e-02 9.90e-01 8.10e+05 1 8.30e-02 6.21e-01 |
| 5 9.573562e+04 7.33e-06 1.06e+00 8.85e-03 9.87e-01 2.43e+06 1 8.24e-02 7.04e-01 |
| 6 9.573562e+04 2.23e-07 2.70e-01 1.72e-03 9.86e-01 7.29e+06 1 8.46e-02 7.88e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 154412 |
| Parameters : 56041 |
| Iterations : 7 |
| Time : 0.79594 [s] |
| Initial cost : 0.788218 [px] |
| Final cost : 0.787402 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 14 |
| => Completed observations: 0 |
| => Filtered observations: 23 |
| => Changed observations: 0.000479 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #55 (16) |
| ============================================================================== |
|
|
| => Image sees 3378 / 5998 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6142 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.0857689 [s] |
| Initial cost : 0.848747 [px] |
| Final cost : 0.814632 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3013 |
| => Added observations: 3582 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69738 |
| Parameters : 18958 |
| Iterations : 26 |
| Time : 0.811545 [s] |
| Initial cost : 0.817157 [px] |
| Final cost : 0.740768 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 101 |
| => Completed observations: 262 |
| => Filtered observations: 2177 |
| => Changed observations: 0.072844 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65886 |
| Parameters : 18067 |
| Iterations : 4 |
| Time : 0.180555 [s] |
| Initial cost : 0.829364 [px] |
| Final cost : 0.798147 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 80 |
| => Completed observations: 282 |
| => Filtered observations: 19 |
| => Changed observations: 0.011565 |
|
|
| ============================================================================== |
| Registering image #56 (17) |
| ============================================================================== |
|
|
| => Image sees 3150 / 5653 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5086 |
| Parameters : 6 |
| Iterations : 30 |
| Time : 0.120536 [s] |
| Initial cost : 0.924596 [px] |
| Final cost : 0.861986 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2464 |
| => Added observations: 2583 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 73920 |
| Parameters : 17764 |
| Iterations : 26 |
| Time : 0.845516 [s] |
| Initial cost : 0.838868 [px] |
| Final cost : 0.766979 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 60 |
| => Completed observations: 87 |
| => Filtered observations: 2762 |
| => Changed observations: 0.078707 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62990 |
| Parameters : 16081 |
| Iterations : 4 |
| Time : 0.141018 [s] |
| Initial cost : 0.855836 [px] |
| Final cost : 0.816262 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 60 |
| => Completed observations: 434 |
| => Filtered observations: 19 |
| => Changed observations: 0.016288 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 69 |
| => Completed observations: 18 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.128812e+05 0.00e+00 1.05e+06 0.00e+00 0.00e+00 1.00e+04 0 5.40e-02 2.75e-01 |
| 1 1.098057e+05 3.08e+03 8.90e+04 4.06e+00 9.99e-01 3.00e+04 1 1.06e-01 3.81e-01 |
| 2 1.097811e+05 2.46e+01 7.21e+03 2.18e+00 9.96e-01 9.00e+04 1 8.68e-02 4.67e-01 |
| 3 1.097791e+05 2.02e+00 1.98e+03 1.94e+00 9.99e-01 2.70e+05 1 9.01e-02 5.58e-01 |
| 4 1.097783e+05 7.21e-01 7.46e+03 2.04e+00 9.89e-01 8.10e+05 1 9.03e-02 6.48e-01 |
| 5 1.097782e+05 1.05e-01 1.83e+03 9.71e-01 9.87e-01 2.43e+06 1 8.96e-02 7.38e-01 |
| 6 1.097782e+05 2.52e-03 5.10e+01 1.61e-01 9.93e-01 7.29e+06 1 9.34e-02 8.31e-01 |
| 7 1.097782e+05 7.37e-06 1.01e+00 7.94e-03 1.01e+00 2.19e+07 1 9.44e-02 9.25e-01 |
| 8 1.097782e+05 7.07e-09 3.66e-02 1.66e-04 9.92e-01 6.56e+07 1 1.03e-01 1.03e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 169930 |
| Parameters : 61282 |
| Iterations : 9 |
| Time : 1.03819 [s] |
| Initial cost : 0.815034 [px] |
| Final cost : 0.803754 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 62 |
| => Completed observations: 19 |
| => Filtered observations: 55 |
| => Changed observations: 0.001601 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.098167e+05 0.00e+00 1.57e+04 0.00e+00 0.00e+00 1.00e+04 0 5.45e-02 2.86e-01 |
| 1 1.095184e+05 2.98e+02 1.79e+02 1.33e+00 1.00e+00 3.00e+04 1 1.07e-01 3.93e-01 |
| 2 1.095179e+05 4.90e-01 2.07e+01 3.56e-01 9.99e-01 9.00e+04 1 9.02e-02 4.83e-01 |
| 3 1.095179e+05 1.65e-02 3.46e+01 1.66e-01 9.99e-01 2.70e+05 1 8.90e-02 5.72e-01 |
| 4 1.095179e+05 6.31e-03 7.10e+01 1.74e-01 9.92e-01 8.10e+05 1 8.71e-02 6.59e-01 |
| 5 1.095179e+05 8.80e-04 1.69e+01 8.15e-02 9.88e-01 2.43e+06 1 9.06e-02 7.50e-01 |
| 6 1.095179e+05 1.97e-05 1.86e+00 1.33e-02 9.93e-01 7.29e+06 1 9.30e-02 8.43e-01 |
| 7 1.095179e+05 5.91e-08 1.22e-01 6.40e-04 1.02e+00 2.19e+07 1 9.35e-02 9.37e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 169924 |
| Parameters : 61237 |
| Iterations : 8 |
| Time : 0.944939 [s] |
| Initial cost : 0.803909 [px] |
| Final cost : 0.802814 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 24 |
| => Completed observations: 11 |
| => Filtered observations: 17 |
| => Changed observations: 0.000612 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.095778e+05 0.00e+00 5.42e+03 0.00e+00 0.00e+00 1.00e+04 0 4.88e-02 2.70e-01 |
| 1 1.094747e+05 1.03e+02 3.34e+01 4.34e-01 9.99e-01 3.00e+04 1 1.02e-01 3.72e-01 |
| 2 1.094746e+05 5.43e-02 3.57e+00 6.70e-02 1.00e+00 9.00e+04 1 9.05e-02 4.62e-01 |
| 3 1.094746e+05 2.80e-03 1.60e+01 7.97e-02 9.95e-01 2.70e+05 1 9.20e-02 5.54e-01 |
| 4 1.094746e+05 1.46e-03 1.85e+01 8.45e-02 9.91e-01 8.10e+05 1 8.92e-02 6.44e-01 |
| 5 1.094746e+05 2.03e-04 4.25e+00 3.92e-02 9.88e-01 2.43e+06 1 9.13e-02 7.35e-01 |
| 6 1.094746e+05 4.54e-06 7.87e-01 6.37e-03 9.93e-01 7.29e+06 1 8.95e-02 8.25e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 169930 |
| Parameters : 61219 |
| Iterations : 7 |
| Time : 0.83291 [s] |
| Initial cost : 0.80302 [px] |
| Final cost : 0.802642 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 8 |
| => Completed observations: 0 |
| => Filtered observations: 6 |
| => Changed observations: 0.000165 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #39 (18) |
| ============================================================================== |
|
|
| => Image sees 2676 / 5845 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5264 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0663719 [s] |
| Initial cost : 0.768676 [px] |
| Final cost : 0.762484 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2571 |
| => Added observations: 2736 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 73526 |
| Parameters : 17137 |
| Iterations : 26 |
| Time : 0.834505 [s] |
| Initial cost : 0.686741 [px] |
| Final cost : 0.636765 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 129 |
| => Completed observations: 134 |
| => Filtered observations: 655 |
| => Changed observations: 0.024971 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72582 |
| Parameters : 16990 |
| Iterations : 3 |
| Time : 0.13933 [s] |
| Initial cost : 0.8027 [px] |
| Final cost : 0.788558 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 50 |
| => Completed observations: 53 |
| => Filtered observations: 14 |
| => Changed observations: 0.003224 |
|
|
| ============================================================================== |
| Registering image #38 (19) |
| ============================================================================== |
|
|
| => Image sees 2809 / 5886 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5614 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0819361 [s] |
| Initial cost : 0.779503 [px] |
| Final cost : 0.725412 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2737 |
| => Added observations: 2088 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 68286 |
| Parameters : 16201 |
| Iterations : 26 |
| Time : 0.75201 [s] |
| Initial cost : 0.668855 [px] |
| Final cost : 0.628196 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 112 |
| => Completed observations: 106 |
| => Filtered observations: 457 |
| => Changed observations: 0.019770 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 67708 |
| Parameters : 16114 |
| Iterations : 3 |
| Time : 0.125781 [s] |
| Initial cost : 0.798631 [px] |
| Final cost : 0.787019 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 43 |
| => Completed observations: 38 |
| => Filtered observations: 12 |
| => Changed observations: 0.002747 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 74 |
| => Completed observations: 36 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.228490e+05 0.00e+00 3.11e+06 0.00e+00 0.00e+00 1.00e+04 0 5.41e-02 2.88e-01 |
| 1 1.200166e+05 2.83e+03 5.72e+04 2.45e+00 1.00e+00 3.00e+04 1 1.15e-01 4.03e-01 |
| 2 1.200023e+05 1.44e+01 2.10e+04 2.51e+00 9.96e-01 9.00e+04 1 1.02e-01 5.05e-01 |
| 3 1.199998e+05 2.49e+00 1.11e+04 1.66e+00 9.91e-01 2.70e+05 1 1.01e-01 6.06e-01 |
| 4 1.199995e+05 2.96e-01 3.77e+03 1.10e+00 9.87e-01 8.10e+05 1 9.90e-02 7.05e-01 |
| 5 1.199995e+05 2.89e-02 4.88e+02 4.41e-01 9.89e-01 2.43e+06 1 9.87e-02 8.04e-01 |
| 6 1.199995e+05 5.37e-04 1.06e+01 6.48e-02 9.95e-01 7.29e+06 1 9.84e-02 9.02e-01 |
| 7 1.199995e+05 1.35e-06 4.71e-01 2.89e-03 1.01e+00 2.19e+07 1 9.58e-02 9.98e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 188718 |
| Parameters : 67537 |
| Iterations : 8 |
| Time : 1.007 [s] |
| Initial cost : 0.806825 [px] |
| Final cost : 0.797412 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 19 |
| => Completed observations: 8 |
| => Filtered observations: 20 |
| => Changed observations: 0.000498 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #37 (20) |
| ============================================================================== |
|
|
| => Image sees 2879 / 5691 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5752 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.0775461 [s] |
| Initial cost : 0.84518 [px] |
| Final cost : 0.762734 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2815 |
| => Added observations: 2054 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 67130 |
| Parameters : 16360 |
| Iterations : 26 |
| Time : 0.701228 [s] |
| Initial cost : 0.683364 [px] |
| Final cost : 0.648292 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 75 |
| => Completed observations: 104 |
| => Filtered observations: 660 |
| => Changed observations: 0.024996 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66032 |
| Parameters : 16225 |
| Iterations : 3 |
| Time : 0.123317 [s] |
| Initial cost : 0.815107 [px] |
| Final cost : 0.799976 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 36 |
| => Completed observations: 79 |
| => Filtered observations: 7 |
| => Changed observations: 0.003695 |
|
|
| ============================================================================== |
| Registering image #36 (21) |
| ============================================================================== |
|
|
| => Image sees 2764 / 5478 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5538 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0795281 [s] |
| Initial cost : 0.758077 [px] |
| Final cost : 0.740004 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2708 |
| => Added observations: 2038 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63194 |
| Parameters : 16255 |
| Iterations : 26 |
| Time : 0.687488 [s] |
| Initial cost : 0.680302 [px] |
| Final cost : 0.640838 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 55 |
| => Completed observations: 104 |
| => Filtered observations: 603 |
| => Changed observations: 0.024116 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62244 |
| Parameters : 16117 |
| Iterations : 3 |
| Time : 0.117129 [s] |
| Initial cost : 0.803051 [px] |
| Final cost : 0.787816 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 24 |
| => Completed observations: 66 |
| => Filtered observations: 8 |
| => Changed observations: 0.003149 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 83 |
| => Completed observations: 38 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.387552e+05 0.00e+00 3.58e+06 0.00e+00 0.00e+00 1.00e+04 0 6.08e-02 3.24e-01 |
| 1 1.333284e+05 5.43e+03 6.22e+04 2.02e+00 1.00e+00 3.00e+04 1 1.28e-01 4.52e-01 |
| 2 1.333179e+05 1.04e+01 1.13e+03 1.80e+00 1.00e+00 9.00e+04 1 1.09e-01 5.61e-01 |
| 3 1.333133e+05 4.60e+00 1.15e+04 2.55e+00 9.97e-01 2.70e+05 1 1.15e-01 6.76e-01 |
| 4 1.333114e+05 1.93e+00 1.81e+04 2.52e+00 9.85e-01 8.10e+05 1 1.13e-01 7.88e-01 |
| 5 1.333112e+05 2.19e-01 3.11e+03 1.02e+00 9.86e-01 2.43e+06 1 1.12e-01 9.00e-01 |
| 6 1.333112e+05 3.64e-03 5.24e+01 1.37e-01 9.92e-01 7.29e+06 1 1.12e-01 1.01e+00 |
| 7 1.333112e+05 6.67e-06 6.86e-01 5.05e-03 1.01e+00 2.19e+07 1 1.12e-01 1.12e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 206214 |
| Parameters : 72826 |
| Iterations : 8 |
| Time : 1.13362 [s] |
| Initial cost : 0.820287 [px] |
| Final cost : 0.804034 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 14 |
| => Completed observations: 5 |
| => Filtered observations: 33 |
| => Changed observations: 0.000504 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.331533e+05 0.00e+00 6.32e+03 0.00e+00 0.00e+00 1.00e+04 0 5.88e-02 3.44e-01 |
| 1 1.330598e+05 9.35e+01 2.16e+01 3.45e-01 1.00e+00 3.00e+04 1 1.30e-01 4.74e-01 |
| 2 1.330597e+05 4.10e-02 1.82e+01 1.28e-01 9.99e-01 9.00e+04 1 1.13e-01 5.87e-01 |
| 3 1.330597e+05 3.03e-02 1.42e+02 2.14e-01 9.95e-01 2.70e+05 1 1.15e-01 7.02e-01 |
| 4 1.330597e+05 1.40e-02 1.41e+02 2.07e-01 9.89e-01 8.10e+05 1 1.14e-01 8.16e-01 |
| 5 1.330597e+05 1.50e-03 2.13e+01 8.24e-02 9.86e-01 2.43e+06 1 1.14e-01 9.30e-01 |
| 6 1.330597e+05 2.34e-05 1.35e+00 1.10e-02 9.91e-01 7.29e+06 1 1.13e-01 1.04e+00 |
| 7 1.330597e+05 4.51e-08 5.60e-02 3.98e-04 9.94e-01 2.19e+07 1 1.11e-01 1.15e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 206176 |
| Parameters : 72823 |
| Iterations : 8 |
| Time : 1.16377 [s] |
| Initial cost : 0.803631 [px] |
| Final cost : 0.803349 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 3 |
| => Completed observations: 0 |
| => Filtered observations: 7 |
| => Changed observations: 0.000097 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #35 (22) |
| ============================================================================== |
|
|
| => Image sees 2632 / 5330 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5244 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.0555961 [s] |
| Initial cost : 0.73156 [px] |
| Final cost : 0.716108 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2548 |
| => Added observations: 2129 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62172 |
| Parameters : 15967 |
| Iterations : 26 |
| Time : 0.686949 [s] |
| Initial cost : 0.664938 [px] |
| Final cost : 0.621489 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 110 |
| => Completed observations: 85 |
| => Filtered observations: 489 |
| => Changed observations: 0.022003 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61410 |
| Parameters : 15874 |
| Iterations : 3 |
| Time : 0.117046 [s] |
| Initial cost : 0.778502 [px] |
| Final cost : 0.764798 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 12 |
| => Completed observations: 45 |
| => Filtered observations: 8 |
| => Changed observations: 0.002117 |
|
|
| ============================================================================== |
| Registering image #87 (23) |
| ============================================================================== |
|
|
| => Image sees 2888 / 5579 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5670 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.0547712 [s] |
| Initial cost : 0.797269 [px] |
| Final cost : 0.77634 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2721 |
| => Added observations: 856 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 88846 |
| Parameters : 13198 |
| Iterations : 26 |
| Time : 0.86421 [s] |
| Initial cost : 0.718271 [px] |
| Final cost : 0.6763 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 123 |
| => Completed observations: 107 |
| => Filtered observations: 912 |
| => Changed observations: 0.025707 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87482 |
| Parameters : 13033 |
| Iterations : 3 |
| Time : 0.14446 [s] |
| Initial cost : 0.851793 [px] |
| Final cost : 0.838327 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 56 |
| => Completed observations: 94 |
| => Filtered observations: 13 |
| => Changed observations: 0.003726 |
|
|
| ============================================================================== |
| Registering image #86 (24) |
| ============================================================================== |
|
|
| => Image sees 2987 / 5124 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4754 |
| Parameters : 6 |
| Iterations : 24 |
| Time : 0.0896549 [s] |
| Initial cost : 0.912991 [px] |
| Final cost : 0.882067 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2275 |
| => Added observations: 2290 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85786 |
| Parameters : 12913 |
| Iterations : 26 |
| Time : 0.835974 [s] |
| Initial cost : 0.82217 [px] |
| Final cost : 0.787294 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 80 |
| => Completed observations: 150 |
| => Filtered observations: 2660 |
| => Changed observations: 0.067377 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 81606 |
| Parameters : 11974 |
| Iterations : 3 |
| Time : 0.137322 [s] |
| Initial cost : 0.875232 [px] |
| Final cost : 0.849088 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 74 |
| => Completed observations: 265 |
| => Filtered observations: 28 |
| => Changed observations: 0.008994 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 81 |
| => Completed observations: 58 |
| => Retriangulated observations: 34 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.533433e+05 0.00e+00 3.99e+06 0.00e+00 0.00e+00 1.00e+04 0 6.66e-02 3.62e-01 |
| 1 1.485795e+05 4.76e+03 1.46e+04 1.82e+00 1.00e+00 3.00e+04 1 1.29e-01 4.91e-01 |
| 2 1.485713e+05 8.22e+00 2.20e+04 2.02e+00 9.97e-01 9.00e+04 1 1.18e-01 6.09e-01 |
| 3 1.485665e+05 4.78e+00 2.65e+04 2.63e+00 9.90e-01 2.70e+05 1 1.21e-01 7.29e-01 |
| 4 1.485649e+05 1.64e+00 1.35e+04 2.07e+00 9.89e-01 8.10e+05 1 1.20e-01 8.50e-01 |
| 5 1.485647e+05 1.34e-01 1.37e+03 6.85e-01 9.92e-01 2.43e+06 1 1.21e-01 9.70e-01 |
| 6 1.485647e+05 1.55e-03 1.58e+01 7.75e-02 9.97e-01 7.29e+06 1 1.21e-01 1.09e+00 |
| 7 1.485647e+05 2.32e-06 3.47e-01 2.66e-03 1.01e+00 2.19e+07 1 1.23e-01 1.21e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 225272 |
| Parameters : 78142 |
| Iterations : 8 |
| Time : 1.22533 [s] |
| Initial cost : 0.825047 [px] |
| Final cost : 0.81209 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 52 |
| => Completed observations: 41 |
| => Filtered observations: 65 |
| => Changed observations: 0.001403 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.481324e+05 0.00e+00 3.40e+04 0.00e+00 0.00e+00 1.00e+04 0 6.59e-02 3.63e-01 |
| 1 1.478969e+05 2.36e+02 1.57e+01 4.66e-01 1.00e+00 3.00e+04 1 1.49e-01 5.11e-01 |
| 2 1.478968e+05 4.35e-02 1.45e+01 8.36e-02 1.00e+00 9.00e+04 1 1.25e-01 6.36e-01 |
| 3 1.478968e+05 2.90e-03 4.08e+00 3.64e-02 9.96e-01 2.70e+05 1 1.27e-01 7.63e-01 |
| 4 1.478968e+05 7.24e-05 1.34e+00 6.45e-03 9.96e-01 8.10e+05 1 1.25e-01 8.88e-01 |
| 5 1.478968e+05 2.43e-07 9.68e-02 3.75e-04 1.00e+00 2.43e+06 1 1.29e-01 1.02e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 225244 |
| Parameters : 78112 |
| Iterations : 6 |
| Time : 1.02769 [s] |
| Initial cost : 0.810958 [px] |
| Final cost : 0.810313 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 13 |
| => Completed observations: 5 |
| => Filtered observations: 15 |
| => Changed observations: 0.000293 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #88 (25) |
| ============================================================================== |
|
|
| => Image sees 3220 / 5341 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6572 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.071887 [s] |
| Initial cost : 0.840251 [px] |
| Final cost : 0.735484 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3093 |
| => Added observations: 1691 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85602 |
| Parameters : 13210 |
| Iterations : 26 |
| Time : 0.842413 [s] |
| Initial cost : 0.719587 [px] |
| Final cost : 0.683256 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 245 |
| => Completed observations: 180 |
| => Filtered observations: 1071 |
| => Changed observations: 0.034952 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 83914 |
| Parameters : 12685 |
| Iterations : 4 |
| Time : 0.163416 [s] |
| Initial cost : 0.861361 [px] |
| Final cost : 0.846924 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 139 |
| => Completed observations: 168 |
| => Filtered observations: 23 |
| => Changed observations: 0.007865 |
|
|
| ============================================================================== |
| Registering image #89 (26) |
| ============================================================================== |
|
|
| => Image sees 3235 / 4843 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6634 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0973771 [s] |
| Initial cost : 0.809941 [px] |
| Final cost : 0.759256 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3066 |
| => Added observations: 1404 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 81914 |
| Parameters : 12634 |
| Iterations : 26 |
| Time : 0.821887 [s] |
| Initial cost : 0.724666 [px] |
| Final cost : 0.684582 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 213 |
| => Completed observations: 203 |
| => Filtered observations: 1080 |
| => Changed observations: 0.036526 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 77452 |
| Parameters : 11929 |
| Iterations : 3 |
| Time : 0.128267 [s] |
| Initial cost : 0.846909 [px] |
| Final cost : 0.831666 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 172 |
| => Completed observations: 162 |
| => Filtered observations: 63 |
| => Changed observations: 0.010252 |
|
|
| ============================================================================== |
| Registering image #85 (27) |
| ============================================================================== |
|
|
| => Image sees 3119 / 5227 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6318 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0856009 [s] |
| Initial cost : 0.792804 [px] |
| Final cost : 0.778868 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2971 |
| => Added observations: 1665 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87884 |
| Parameters : 13876 |
| Iterations : 26 |
| Time : 0.844401 [s] |
| Initial cost : 0.746678 [px] |
| Final cost : 0.697251 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 233 |
| => Completed observations: 143 |
| => Filtered observations: 1367 |
| => Changed observations: 0.039666 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 85620 |
| Parameters : 13237 |
| Iterations : 3 |
| Time : 0.144788 [s] |
| Initial cost : 0.858537 [px] |
| Final cost : 0.844912 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 164 |
| => Completed observations: 155 |
| => Filtered observations: 14 |
| => Changed observations: 0.007779 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 217 |
| => Completed observations: 118 |
| => Retriangulated observations: 38 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.752293e+05 0.00e+00 5.26e+06 0.00e+00 0.00e+00 1.00e+04 0 7.25e-02 4.05e-01 |
| 1 1.691796e+05 6.05e+03 1.32e+05 8.16e+00 1.00e+00 3.00e+04 1 1.44e-01 5.49e-01 |
| 2 1.690992e+05 8.04e+01 1.87e+05 1.34e+01 9.85e-01 9.00e+04 1 1.37e-01 6.85e-01 |
| 3 1.690640e+05 3.52e+01 1.54e+05 1.16e+01 9.77e-01 2.70e+05 1 1.33e-01 8.18e-01 |
| 4 1.690549e+05 9.14e+00 5.04e+04 6.37e+00 9.89e-01 8.10e+05 1 1.33e-01 9.51e-01 |
| 5 1.690543e+05 5.87e-01 3.55e+03 1.69e+00 9.97e-01 2.43e+06 1 1.31e-01 1.08e+00 |
| 6 1.690543e+05 4.99e-03 3.23e+01 1.65e-01 1.00e+00 7.29e+06 1 1.32e-01 1.22e+00 |
| 7 1.690543e+05 5.94e-06 3.89e-01 5.37e-03 1.01e+00 2.19e+07 1 1.31e-01 1.35e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 248266 |
| Parameters : 82561 |
| Iterations : 8 |
| Time : 1.35779 [s] |
| Initial cost : 0.840127 [px] |
| Final cost : 0.825191 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 81 |
| => Completed observations: 191 |
| => Filtered observations: 96 |
| => Changed observations: 0.002965 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.689763e+05 0.00e+00 2.84e+04 0.00e+00 0.00e+00 1.00e+04 0 5.98e-02 3.86e-01 |
| 1 1.686154e+05 3.61e+02 6.22e+01 4.94e-01 1.00e+00 3.00e+04 1 1.52e-01 5.38e-01 |
| 2 1.686152e+05 1.21e-01 8.62e+01 2.58e-01 9.99e-01 9.00e+04 1 1.36e-01 6.74e-01 |
| 3 1.686152e+05 9.33e-03 3.59e+01 1.69e-01 9.94e-01 2.70e+05 1 1.38e-01 8.13e-01 |
| 4 1.686152e+05 9.72e-04 6.41e+00 6.78e-02 9.95e-01 8.10e+05 1 1.39e-01 9.52e-01 |
| 5 1.686152e+05 4.98e-05 1.05e+00 1.58e-02 9.97e-01 2.43e+06 1 1.51e-01 1.10e+00 |
| 6 1.686152e+05 4.36e-07 1.26e-01 1.48e-03 1.00e+00 7.29e+06 1 1.45e-01 1.25e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 248232 |
| Parameters : 82492 |
| Iterations : 7 |
| Time : 1.26078 [s] |
| Initial cost : 0.825057 [px] |
| Final cost : 0.824175 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 19 |
| => Completed observations: 39 |
| => Filtered observations: 33 |
| => Changed observations: 0.000733 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.685135e+05 0.00e+00 1.74e+04 0.00e+00 0.00e+00 1.00e+04 0 6.77e-02 4.03e-01 |
| 1 1.684314e+05 8.21e+01 2.65e+01 1.76e-01 1.00e+00 3.00e+04 1 1.51e-01 5.54e-01 |
| 2 1.684314e+05 9.95e-03 5.19e+00 4.78e-02 1.00e+00 9.00e+04 1 1.33e-01 6.87e-01 |
| 3 1.684314e+05 3.11e-04 1.92e+00 2.86e-02 9.94e-01 2.70e+05 1 1.32e-01 8.19e-01 |
| 4 1.684314e+05 1.86e-05 8.69e-01 9.62e-03 9.95e-01 8.10e+05 1 1.32e-01 9.51e-01 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 248204 |
| Parameters : 82468 |
| Iterations : 5 |
| Time : 0.962431 [s] |
| Initial cost : 0.823973 [px] |
| Final cost : 0.823772 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 7 |
| => Completed observations: 18 |
| => Filtered observations: 13 |
| => Changed observations: 0.000306 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #84 (28) |
| ============================================================================== |
|
|
| => Image sees 2968 / 5064 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6122 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.086201 [s] |
| Initial cost : 0.778034 [px] |
| Final cost : 0.765613 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2849 |
| => Added observations: 1509 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 79610 |
| Parameters : 12754 |
| Iterations : 26 |
| Time : 0.775752 [s] |
| Initial cost : 0.735889 [px] |
| Final cost : 0.704726 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 170 |
| => Completed observations: 157 |
| => Filtered observations: 1204 |
| => Changed observations: 0.038463 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 78002 |
| Parameters : 12379 |
| Iterations : 3 |
| Time : 0.139283 [s] |
| Initial cost : 0.868393 [px] |
| Final cost : 0.854277 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 44 |
| => Completed observations: 153 |
| => Filtered observations: 17 |
| => Changed observations: 0.005487 |
|
|
| ============================================================================== |
| Registering image #83 (29) |
| ============================================================================== |
|
|
| => Image sees 2935 / 4794 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5886 |
| Parameters : 6 |
| Iterations : 20 |
| Time : 0.094419 [s] |
| Initial cost : 0.867454 [px] |
| Final cost : 0.82977 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2726 |
| => Added observations: 1463 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 67204 |
| Parameters : 11047 |
| Iterations : 26 |
| Time : 0.644218 [s] |
| Initial cost : 0.773749 [px] |
| Final cost : 0.73509 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 193 |
| => Completed observations: 111 |
| => Filtered observations: 1821 |
| => Changed observations: 0.063240 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64476 |
| Parameters : 10594 |
| Iterations : 3 |
| Time : 0.106017 [s] |
| Initial cost : 0.861161 [px] |
| Final cost : 0.839671 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 37 |
| => Completed observations: 253 |
| => Filtered observations: 17 |
| => Changed observations: 0.009523 |
|
|
| ============================================================================== |
| Registering image #57 (30) |
| ============================================================================== |
|
|
| => Image sees 2857 / 5139 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5338 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.079536 [s] |
| Initial cost : 0.882897 [px] |
| Final cost : 0.802188 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2505 |
| => Added observations: 3028 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70472 |
| Parameters : 15808 |
| Iterations : 26 |
| Time : 0.707879 [s] |
| Initial cost : 0.804792 [px] |
| Final cost : 0.753814 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 79 |
| => Completed observations: 148 |
| => Filtered observations: 2096 |
| => Changed observations: 0.065927 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66684 |
| Parameters : 14632 |
| Iterations : 4 |
| Time : 0.162819 [s] |
| Initial cost : 0.855005 [px] |
| Final cost : 0.830275 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 127 |
| => Completed observations: 364 |
| => Filtered observations: 29 |
| => Changed observations: 0.015596 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 131 |
| => Completed observations: 59 |
| => Retriangulated observations: 0 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.880424e+05 0.00e+00 6.97e+05 0.00e+00 0.00e+00 1.00e+04 0 7.87e-02 4.47e-01 |
| 1 1.865663e+05 1.48e+03 5.17e+04 9.75e+00 1.00e+00 3.00e+04 1 1.65e-01 6.12e-01 |
| 2 1.864878e+05 7.85e+01 1.61e+05 1.50e+01 9.86e-01 9.00e+04 1 1.45e-01 7.57e-01 |
| 3 1.864497e+05 3.81e+01 1.49e+05 1.36e+01 9.80e-01 2.70e+05 1 1.46e-01 9.03e-01 |
| 4 1.864401e+05 9.56e+00 4.63e+04 7.45e+00 9.91e-01 8.10e+05 1 1.50e-01 1.05e+00 |
| 5 1.864395e+05 5.60e-01 3.00e+03 1.90e+00 9.98e-01 2.43e+06 1 1.49e-01 1.20e+00 |
| 6 1.864395e+05 4.40e-03 2.63e+01 1.75e-01 1.00e+00 7.29e+06 1 1.47e-01 1.35e+00 |
| 7 1.864395e+05 4.74e-06 2.82e-01 5.34e-03 1.01e+00 2.19e+07 1 1.45e-01 1.49e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 268582 |
| Parameters : 88024 |
| Iterations : 8 |
| Time : 1.50552 [s] |
| Initial cost : 0.836738 [px] |
| Final cost : 0.833164 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 76 |
| => Completed observations: 56 |
| => Filtered observations: 60 |
| => Changed observations: 0.001430 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.866269e+05 0.00e+00 1.19e+04 0.00e+00 0.00e+00 1.00e+04 0 7.88e-02 4.45e-01 |
| 1 1.863580e+05 2.69e+02 2.94e+02 8.61e-01 1.00e+00 3.00e+04 1 1.66e-01 6.11e-01 |
| 2 1.863576e+05 4.44e-01 8.01e+02 1.06e+00 9.99e-01 9.00e+04 1 1.40e-01 7.51e-01 |
| 3 1.863574e+05 2.17e-01 8.27e+02 9.55e-01 9.97e-01 2.70e+05 1 1.42e-01 8.93e-01 |
| 4 1.863573e+05 5.26e-02 2.68e+02 5.22e-01 9.97e-01 8.10e+05 1 1.53e-01 1.05e+00 |
| 5 1.863573e+05 2.86e-03 1.75e+01 1.31e-01 9.98e-01 2.43e+06 1 1.51e-01 1.20e+00 |
| 6 1.863573e+05 2.30e-05 5.72e-01 1.20e-02 1.00e+00 7.29e+06 1 1.46e-01 1.34e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 268600 |
| Parameters : 87973 |
| Iterations : 7 |
| Time : 1.35637 [s] |
| Initial cost : 0.833555 [px] |
| Final cost : 0.832952 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 18 |
| => Completed observations: 12 |
| => Filtered observations: 19 |
| => Changed observations: 0.000365 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #90 (31) |
| ============================================================================== |
|
|
| => Image sees 2924 / 4708 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5902 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.0852911 [s] |
| Initial cost : 0.89893 [px] |
| Final cost : 0.830419 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2674 |
| => Added observations: 1588 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 78922 |
| Parameters : 12832 |
| Iterations : 26 |
| Time : 0.78134 [s] |
| Initial cost : 0.757371 [px] |
| Final cost : 0.712685 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 255 |
| => Completed observations: 156 |
| => Filtered observations: 1529 |
| => Changed observations: 0.049162 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 76576 |
| Parameters : 12466 |
| Iterations : 3 |
| Time : 0.138331 [s] |
| Initial cost : 0.85761 [px] |
| Final cost : 0.83819 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 180 |
| => Completed observations: 170 |
| => Filtered observations: 18 |
| => Changed observations: 0.009611 |
|
|
| ============================================================================== |
| Registering image #34 (32) |
| ============================================================================== |
|
|
| => Image sees 2466 / 6546 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4914 |
| Parameters : 6 |
| Iterations : 30 |
| Time : 0.115829 [s] |
| Initial cost : 0.82554 [px] |
| Final cost : 0.794131 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2363 |
| => Added observations: 1949 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60534 |
| Parameters : 13729 |
| Iterations : 26 |
| Time : 0.629774 [s] |
| Initial cost : 0.702698 [px] |
| Final cost : 0.659893 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 67 |
| => Completed observations: 118 |
| => Filtered observations: 742 |
| => Changed observations: 0.030627 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59432 |
| Parameters : 13636 |
| Iterations : 4 |
| Time : 0.136877 [s] |
| Initial cost : 0.817097 [px] |
| Final cost : 0.799721 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 50 |
| => Completed observations: 48 |
| => Filtered observations: 9 |
| => Changed observations: 0.003601 |
|
|
| ============================================================================== |
| Registering image #33 (33) |
| ============================================================================== |
|
|
| => Image sees 2493 / 6570 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5006 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.074074 [s] |
| Initial cost : 0.811766 [px] |
| Final cost : 0.783078 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2375 |
| => Added observations: 2690 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60124 |
| Parameters : 14992 |
| Iterations : 26 |
| Time : 0.667696 [s] |
| Initial cost : 0.698883 [px] |
| Final cost : 0.65225 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 111 |
| => Completed observations: 116 |
| => Filtered observations: 710 |
| => Changed observations: 0.031169 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59138 |
| Parameters : 14899 |
| Iterations : 3 |
| Time : 0.12427 [s] |
| Initial cost : 0.813476 [px] |
| Final cost : 0.796559 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 82 |
| => Completed observations: 88 |
| => Filtered observations: 12 |
| => Changed observations: 0.006155 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 307 |
| => Completed observations: 165 |
| => Retriangulated observations: 21 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.168420e+05 0.00e+00 4.22e+06 0.00e+00 0.00e+00 1.00e+04 0 8.58e-02 5.35e-01 |
| 1 2.069362e+05 9.91e+03 2.17e+04 2.55e+00 1.00e+00 3.00e+04 1 1.94e-01 7.29e-01 |
| 2 2.069323e+05 3.92e+00 6.38e+02 1.28e+00 1.00e+00 9.00e+04 1 1.59e-01 8.87e-01 |
| 3 2.069315e+05 7.47e-01 1.72e+03 1.31e+00 9.99e-01 2.70e+05 1 1.60e-01 1.05e+00 |
| 4 2.069314e+05 1.97e-01 7.35e+02 8.43e-01 9.98e-01 8.10e+05 1 1.62e-01 1.21e+00 |
| 5 2.069313e+05 1.08e-02 5.03e+01 2.21e-01 9.98e-01 2.43e+06 1 1.61e-01 1.37e+00 |
| 6 2.069313e+05 8.61e-05 8.87e-01 2.04e-02 1.00e+00 7.29e+06 1 1.63e-01 1.53e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 291872 |
| Parameters : 95545 |
| Iterations : 7 |
| Time : 1.54819 [s] |
| Initial cost : 0.861937 [px] |
| Final cost : 0.842009 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 60 |
| => Completed observations: 27 |
| => Filtered observations: 88 |
| => Changed observations: 0.001199 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.063754e+05 0.00e+00 3.06e+04 0.00e+00 0.00e+00 1.00e+04 0 7.57e-02 5.05e-01 |
| 1 2.061010e+05 2.74e+02 4.98e+01 5.37e-01 1.00e+00 3.00e+04 1 1.72e-01 6.77e-01 |
| 2 2.061009e+05 1.55e-01 1.61e+02 4.30e-01 1.00e+00 9.00e+04 1 1.64e-01 8.41e-01 |
| 3 2.061008e+05 5.50e-02 1.72e+02 3.98e-01 9.98e-01 2.70e+05 1 1.55e-01 9.95e-01 |
| 4 2.061008e+05 1.37e-02 5.68e+01 2.23e-01 9.98e-01 8.10e+05 1 1.58e-01 1.15e+00 |
| 5 2.061008e+05 7.34e-04 3.72e+00 5.60e-02 9.98e-01 2.43e+06 1 1.55e-01 1.31e+00 |
| 6 2.061008e+05 5.78e-06 2.54e-01 5.08e-03 1.00e+00 7.29e+06 1 1.59e-01 1.47e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 291814 |
| Parameters : 95527 |
| Iterations : 7 |
| Time : 1.48129 [s] |
| Initial cost : 0.840961 [px] |
| Final cost : 0.840401 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 10 |
| => Completed observations: 0 |
| => Filtered observations: 19 |
| => Changed observations: 0.000199 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #75 (34) |
| ============================================================================== |
|
|
| => Image sees 2577 / 5071 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4634 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0742779 [s] |
| Initial cost : 0.903024 [px] |
| Final cost : 0.870208 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2202 |
| => Added observations: 1824 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65718 |
| Parameters : 16324 |
| Iterations : 26 |
| Time : 0.697635 [s] |
| Initial cost : 0.797504 [px] |
| Final cost : 0.734913 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 73 |
| => Completed observations: 105 |
| => Filtered observations: 1949 |
| => Changed observations: 0.064731 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64348 |
| Parameters : 14260 |
| Iterations : 4 |
| Time : 0.140131 [s] |
| Initial cost : 0.855976 [px] |
| Final cost : 0.827539 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 84 |
| => Completed observations: 223 |
| => Filtered observations: 35 |
| => Changed observations: 0.010630 |
|
|
| ============================================================================== |
| Registering image #76 (35) |
| ============================================================================== |
|
|
| => Image sees 2510 / 4749 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 3586 |
| Parameters : 6 |
| Iterations : 23 |
| Time : 0.068588 [s] |
| Initial cost : 0.932885 [px] |
| Final cost : 0.891688 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1726 |
| => Added observations: 2775 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59404 |
| Parameters : 15463 |
| Iterations : 26 |
| Time : 0.653389 [s] |
| Initial cost : 0.93032 [px] |
| Final cost : 0.83167 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 72 |
| => Completed observations: 139 |
| => Filtered observations: 3085 |
| => Changed observations: 0.110969 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53924 |
| Parameters : 14245 |
| Iterations : 4 |
| Time : 0.125176 [s] |
| Initial cost : 0.861585 [px] |
| Final cost : 0.819431 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 91 |
| => Completed observations: 372 |
| => Filtered observations: 27 |
| => Changed observations: 0.018174 |
|
|
| ============================================================================== |
| Registering image #74 (36) |
| ============================================================================== |
|
|
| => Image sees 2694 / 5258 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5408 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.066978 [s] |
| Initial cost : 0.816232 [px] |
| Final cost : 0.778764 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2520 |
| => Added observations: 3186 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56094 |
| Parameters : 16117 |
| Iterations : 26 |
| Time : 0.6311 [s] |
| Initial cost : 0.832581 [px] |
| Final cost : 0.776365 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 161 |
| => Completed observations: 135 |
| => Filtered observations: 1927 |
| => Changed observations: 0.079260 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 57828 |
| Parameters : 15130 |
| Iterations : 3 |
| Time : 0.147416 [s] |
| Initial cost : 0.846524 [px] |
| Final cost : 0.822554 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 84 |
| => Completed observations: 335 |
| => Filtered observations: 9 |
| => Changed observations: 0.014803 |
|
|
| ============================================================================== |
| Registering image #32 (37) |
| ============================================================================== |
|
|
| => Image sees 3044 / 5795 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6016 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.057061 [s] |
| Initial cost : 0.803758 [px] |
| Final cost : 0.783172 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2805 |
| => Added observations: 2672 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62156 |
| Parameters : 15568 |
| Iterations : 26 |
| Time : 0.664863 [s] |
| Initial cost : 0.787509 [px] |
| Final cost : 0.730231 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 128 |
| => Completed observations: 155 |
| => Filtered observations: 1566 |
| => Changed observations: 0.059495 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59478 |
| Parameters : 14887 |
| Iterations : 4 |
| Time : 0.131306 [s] |
| Initial cost : 0.842584 [px] |
| Final cost : 0.817067 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 61 |
| => Completed observations: 239 |
| => Filtered observations: 19 |
| => Changed observations: 0.010727 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 174 |
| => Completed observations: 115 |
| => Retriangulated observations: 256 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.642815e+05 0.00e+00 1.73e+06 0.00e+00 0.00e+00 1.00e+04 0 8.00e-02 5.30e-01 |
| 1 2.426869e+05 1.22e+05 1.32e+05 5.18e+00 9.96e-01 3.00e+04 1 1.91e-01 7.21e-01 |
| 2 2.421468e+05 5.40e+02 7.88e+03 4.14e+00 9.99e-01 9.00e+04 1 1.71e-01 8.92e-01 |
| 3 2.421304e+05 1.64e+01 2.97e+04 5.01e+00 9.98e-01 2.70e+05 1 1.72e-01 1.06e+00 |
| 4 2.421259e+05 4.54e+00 1.48e+04 3.41e+00 9.97e-01 8.10e+05 1 1.68e-01 1.23e+00 |
| 5 2.421256e+05 2.60e-01 1.09e+03 9.23e-01 9.98e-01 2.43e+06 1 1.71e-01 1.40e+00 |
| 6 2.421256e+05 2.15e-03 9.39e+00 8.70e-02 1.00e+00 7.29e+06 1 1.71e-01 1.57e+00 |
| 7 2.421256e+05 2.39e-06 1.29e-01 2.72e-03 1.01e+00 2.19e+07 1 1.70e-01 1.74e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 318202 |
| Parameters : 104803 |
| Iterations : 8 |
| Time : 1.75871 [s] |
| Initial cost : 1.06996 [px] |
| Final cost : 0.872306 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 126 |
| => Completed observations: 43 |
| => Filtered observations: 474 |
| => Changed observations: 0.004041 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.304215e+05 0.00e+00 1.21e+05 0.00e+00 0.00e+00 1.00e+04 0 9.18e-02 5.50e-01 |
| 1 2.281845e+05 2.24e+03 6.64e+03 2.67e+00 1.00e+00 3.00e+04 1 2.02e-01 7.52e-01 |
| 2 2.281704e+05 1.41e+01 3.74e+02 9.77e-01 1.00e+00 9.00e+04 1 1.79e-01 9.32e-01 |
| 3 2.281684e+05 2.03e+00 1.41e+03 1.17e+00 1.00e+00 2.70e+05 1 1.67e-01 1.10e+00 |
| 4 2.281678e+05 5.25e-01 1.47e+03 9.75e-01 9.99e-01 8.10e+05 1 1.72e-01 1.27e+00 |
| 5 2.281678e+05 3.00e-02 1.27e+02 2.82e-01 9.98e-01 2.43e+06 1 1.71e-01 1.44e+00 |
| 6 2.281678e+05 2.53e-04 1.52e+00 2.71e-02 1.00e+00 7.29e+06 1 1.71e-01 1.61e+00 |
| 7 2.281678e+05 2.86e-07 4.49e-02 8.55e-04 1.00e+00 2.19e+07 1 1.73e-01 1.79e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 317502 |
| Parameters : 104581 |
| Iterations : 8 |
| Time : 1.80015 [s] |
| Initial cost : 0.851899 [px] |
| Final cost : 0.847723 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 96 |
| => Completed observations: 34 |
| => Filtered observations: 55 |
| => Changed observations: 0.001165 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.282591e+05 0.00e+00 6.41e+04 0.00e+00 0.00e+00 1.00e+04 0 7.46e-02 5.52e-01 |
| 1 2.280510e+05 2.08e+02 6.47e+01 2.90e-01 1.00e+00 3.00e+04 1 1.92e-01 7.44e-01 |
| 2 2.280510e+05 6.03e-02 5.11e+00 6.58e-02 1.01e+00 9.00e+04 1 1.71e-01 9.14e-01 |
| 3 2.280510e+05 1.91e-03 4.29e+00 5.43e-02 1.00e+00 2.70e+05 1 1.69e-01 1.08e+00 |
| 4 2.280510e+05 4.50e-04 1.77e+00 3.21e-02 9.98e-01 8.10e+05 1 1.75e-01 1.26e+00 |
| 5 2.280510e+05 2.55e-05 4.56e-01 8.42e-03 9.98e-01 2.43e+06 1 1.83e-01 1.44e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 317584 |
| Parameters : 104545 |
| Iterations : 6 |
| Time : 1.45573 [s] |
| Initial cost : 0.847783 [px] |
| Final cost : 0.847396 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 19 |
| => Completed observations: 56 |
| => Filtered observations: 18 |
| => Changed observations: 0.000586 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.281575e+05 0.00e+00 1.20e+04 0.00e+00 0.00e+00 1.00e+04 0 8.36e-02 5.28e-01 |
| 1 2.280625e+05 9.50e+01 1.36e+01 1.54e-01 1.00e+00 3.00e+04 1 2.04e-01 7.31e-01 |
| 2 2.280625e+05 5.18e-03 1.90e+00 4.89e-02 1.00e+00 9.00e+04 1 1.81e-01 9.12e-01 |
| 3 2.280625e+05 6.31e-04 2.20e+00 3.87e-02 9.98e-01 2.70e+05 1 1.83e-01 1.09e+00 |
| 4 2.280625e+05 1.41e-04 9.73e-01 1.92e-02 9.98e-01 8.10e+05 1 1.79e-01 1.27e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 317586 |
| Parameters : 104524 |
| Iterations : 5 |
| Time : 1.28782 [s] |
| Initial cost : 0.847592 [px] |
| Final cost : 0.847415 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 6 |
| => Completed observations: 18 |
| => Filtered observations: 6 |
| => Changed observations: 0.000189 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #77 (38) |
| ============================================================================== |
|
|
| => Image sees 2805 / 4605 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5072 |
| Parameters : 6 |
| Iterations : 24 |
| Time : 0.106673 [s] |
| Initial cost : 0.912087 [px] |
| Final cost : 0.868697 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2320 |
| => Added observations: 2616 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63258 |
| Parameters : 15346 |
| Iterations : 26 |
| Time : 0.637711 [s] |
| Initial cost : 0.899916 [px] |
| Final cost : 0.820862 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 135 |
| => Completed observations: 158 |
| => Filtered observations: 2781 |
| => Changed observations: 0.097189 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56418 |
| Parameters : 14110 |
| Iterations : 4 |
| Time : 0.126872 [s] |
| Initial cost : 0.908517 [px] |
| Final cost : 0.868624 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 74 |
| => Completed observations: 377 |
| => Filtered observations: 32 |
| => Changed observations: 0.017122 |
|
|
| ============================================================================== |
| Registering image #73 (39) |
| ============================================================================== |
|
|
| => Image sees 3019 / 5540 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6310 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0949481 [s] |
| Initial cost : 0.811435 [px] |
| Final cost : 0.778128 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2850 |
| => Added observations: 3378 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63198 |
| Parameters : 16951 |
| Iterations : 26 |
| Time : 0.719698 [s] |
| Initial cost : 0.80856 [px] |
| Final cost : 0.764493 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 227 |
| => Completed observations: 167 |
| => Filtered observations: 1924 |
| => Changed observations: 0.073357 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59788 |
| Parameters : 15781 |
| Iterations : 3 |
| Time : 0.112571 [s] |
| Initial cost : 0.865434 [px] |
| Final cost : 0.841177 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 122 |
| => Completed observations: 338 |
| => Filtered observations: 9 |
| => Changed observations: 0.015689 |
|
|
| ============================================================================== |
| Registering image #72 (40) |
| ============================================================================== |
|
|
| => Image sees 2774 / 5619 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5468 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.081223 [s] |
| Initial cost : 0.917846 [px] |
| Final cost : 0.832797 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2491 |
| => Added observations: 2794 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63726 |
| Parameters : 16156 |
| Iterations : 26 |
| Time : 0.647911 [s] |
| Initial cost : 0.79692 [px] |
| Final cost : 0.751306 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 148 |
| => Completed observations: 130 |
| => Filtered observations: 1934 |
| => Changed observations: 0.069422 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60448 |
| Parameters : 15298 |
| Iterations : 4 |
| Time : 0.132113 [s] |
| Initial cost : 0.85712 [px] |
| Final cost : 0.830909 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 112 |
| => Completed observations: 276 |
| => Filtered observations: 32 |
| => Changed observations: 0.013896 |
|
|
| ============================================================================== |
| Registering image #71 (41) |
| ============================================================================== |
|
|
| => Image sees 2970 / 5265 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4666 |
| Parameters : 6 |
| Iterations : 32 |
| Time : 0.117669 [s] |
| Initial cost : 0.973151 [px] |
| Final cost : 0.901883 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2086 |
| => Added observations: 3400 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64372 |
| Parameters : 15157 |
| Iterations : 26 |
| Time : 0.657597 [s] |
| Initial cost : 0.911318 [px] |
| Final cost : 0.859799 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 90 |
| => Completed observations: 133 |
| => Filtered observations: 3393 |
| => Changed observations: 0.112347 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53972 |
| Parameters : 13018 |
| Iterations : 4 |
| Time : 0.116652 [s] |
| Initial cost : 0.899341 [px] |
| Final cost : 0.852542 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 90 |
| => Completed observations: 422 |
| => Filtered observations: 52 |
| => Changed observations: 0.020900 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 371 |
| => Completed observations: 111 |
| => Retriangulated observations: 1027 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.572850e+05 0.00e+00 1.68e+07 0.00e+00 0.00e+00 1.00e+04 0 8.09e-02 5.81e-01 |
| 1 2.929399e+05 6.43e+04 1.10e+05 5.66e+00 9.98e-01 3.00e+04 1 2.19e-01 7.99e-01 |
| 2 2.926889e+05 2.51e+02 5.89e+03 3.02e+00 1.00e+00 9.00e+04 1 1.85e-01 9.84e-01 |
| 3 2.926760e+05 1.28e+01 2.05e+04 3.57e+00 9.99e-01 2.70e+05 1 1.89e-01 1.17e+00 |
| 4 2.926723e+05 3.76e+00 1.07e+04 2.50e+00 9.98e-01 8.10e+05 1 1.86e-01 1.36e+00 |
| 5 2.926720e+05 2.40e-01 8.69e+02 7.16e-01 9.98e-01 2.43e+06 1 2.01e-01 1.56e+00 |
| 6 2.926720e+05 2.25e-03 8.27e+00 7.20e-02 1.00e+00 7.29e+06 1 2.04e-01 1.77e+00 |
| 7 2.926720e+05 2.78e-06 1.07e-01 2.37e-03 1.00e+00 2.19e+07 1 2.00e-01 1.97e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 347930 |
| Parameters : 115060 |
| Iterations : 8 |
| Time : 1.99723 [s] |
| Initial cost : 1.01335 [px] |
| Final cost : 0.917159 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 255 |
| => Completed observations: 196 |
| => Filtered observations: 1546 |
| => Changed observations: 0.011479 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.576742e+05 0.00e+00 1.83e+05 0.00e+00 0.00e+00 1.00e+04 0 8.37e-02 5.86e-01 |
| 1 2.515358e+05 6.14e+03 1.36e+04 4.15e+00 1.00e+00 3.00e+04 1 2.14e-01 8.00e-01 |
| 2 2.515050e+05 3.08e+01 5.26e+03 1.80e+00 1.00e+00 9.00e+04 1 1.88e-01 9.88e-01 |
| 3 2.515030e+05 2.00e+00 7.00e+02 7.72e-01 1.00e+00 2.70e+05 1 1.90e-01 1.18e+00 |
| 4 2.515026e+05 4.19e-01 7.10e+02 6.96e-01 9.99e-01 8.10e+05 1 1.94e-01 1.37e+00 |
| 5 2.515026e+05 2.57e-02 9.25e+01 2.29e-01 9.99e-01 2.43e+06 1 1.88e-01 1.56e+00 |
| 6 2.515026e+05 2.43e-04 1.13e+00 2.39e-02 1.00e+00 7.29e+06 1 1.91e-01 1.75e+00 |
| 7 2.515026e+05 3.04e-07 3.98e-02 8.08e-04 1.00e+00 2.19e+07 1 1.90e-01 1.94e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 345346 |
| Parameters : 114547 |
| Iterations : 8 |
| Time : 1.95692 [s] |
| Initial cost : 0.86379 [px] |
| Final cost : 0.853383 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 389 |
| => Completed observations: 62 |
| => Filtered observations: 131 |
| => Changed observations: 0.003371 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.522700e+05 0.00e+00 3.34e+04 0.00e+00 0.00e+00 1.00e+04 0 8.57e-02 5.92e-01 |
| 1 2.512989e+05 9.71e+02 6.80e+02 1.17e+00 1.00e+00 3.00e+04 1 2.11e-01 8.03e-01 |
| 2 2.512977e+05 1.23e+00 1.26e+03 9.11e-01 9.99e-01 9.00e+04 1 2.04e-01 1.01e+00 |
| 3 2.512975e+05 1.45e-01 6.09e+02 5.76e-01 9.97e-01 2.70e+05 1 1.87e-01 1.19e+00 |
| 4 2.512975e+05 2.52e-02 1.16e+02 2.44e-01 9.98e-01 8.10e+05 1 1.90e-01 1.38e+00 |
| 5 2.512975e+05 1.49e-03 6.16e+00 5.93e-02 9.99e-01 2.43e+06 1 1.91e-01 1.58e+00 |
| 6 2.512975e+05 1.40e-05 2.97e-01 5.80e-03 1.00e+00 7.29e+06 1 1.88e-01 1.76e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 345862 |
| Parameters : 114484 |
| Iterations : 7 |
| Time : 1.77992 [s] |
| Initial cost : 0.854046 [px] |
| Final cost : 0.852398 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 60 |
| => Completed observations: 72 |
| => Filtered observations: 44 |
| => Changed observations: 0.001018 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.514898e+05 0.00e+00 3.97e+04 0.00e+00 0.00e+00 1.00e+04 0 8.90e-02 5.79e-01 |
| 1 2.512164e+05 2.73e+02 3.53e+02 6.61e-01 1.00e+00 3.00e+04 1 2.04e-01 7.82e-01 |
| 2 2.512160e+05 4.05e-01 5.65e+02 6.24e-01 9.98e-01 9.00e+04 1 1.97e-01 9.80e-01 |
| 3 2.512159e+05 7.13e-02 3.01e+02 4.07e-01 9.97e-01 2.70e+05 1 1.93e-01 1.17e+00 |
| 4 2.512159e+05 1.27e-02 5.77e+01 1.72e-01 9.98e-01 8.10e+05 1 1.88e-01 1.36e+00 |
| 5 2.512159e+05 7.47e-04 3.01e+00 4.19e-02 9.99e-01 2.43e+06 1 1.85e-01 1.55e+00 |
| 6 2.512159e+05 7.04e-06 2.14e-01 4.10e-03 1.00e+00 7.29e+06 1 1.85e-01 1.73e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 345892 |
| Parameters : 114439 |
| Iterations : 7 |
| Time : 1.74589 [s] |
| Initial cost : 0.852688 [px] |
| Final cost : 0.852223 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 34 |
| => Completed observations: 26 |
| => Filtered observations: 27 |
| => Changed observations: 0.000503 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.513164e+05 0.00e+00 2.28e+04 0.00e+00 0.00e+00 1.00e+04 0 8.75e-02 5.85e-01 |
| 1 2.511723e+05 1.44e+02 4.60e+01 3.04e-01 1.00e+00 3.00e+04 1 2.16e-01 8.01e-01 |
| 2 2.511722e+05 5.78e-02 7.18e+01 2.16e-01 9.99e-01 9.00e+04 1 1.84e-01 9.85e-01 |
| 3 2.511722e+05 1.11e-02 4.39e+01 1.52e-01 9.97e-01 2.70e+05 1 1.81e-01 1.17e+00 |
| 4 2.511722e+05 2.45e-03 9.84e+00 7.23e-02 9.98e-01 8.10e+05 1 1.82e-01 1.35e+00 |
| 5 2.511722e+05 1.49e-04 1.07e+00 1.85e-02 9.99e-01 2.43e+06 1 1.83e-01 1.53e+00 |
| 6 2.511722e+05 1.41e-06 9.63e-02 1.83e-03 1.00e+00 7.29e+06 1 1.79e-01 1.71e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 345906 |
| Parameters : 114430 |
| Iterations : 7 |
| Time : 1.72567 [s] |
| Initial cost : 0.852376 [px] |
| Final cost : 0.852132 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 13 |
| => Completed observations: 10 |
| => Filtered observations: 20 |
| => Changed observations: 0.000249 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #31 (42) |
| ============================================================================== |
|
|
| => Image sees 2906 / 5224 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5700 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.066452 [s] |
| Initial cost : 0.8771 [px] |
| Final cost : 0.83404 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2579 |
| => Added observations: 2847 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 76668 |
| Parameters : 17674 |
| Iterations : 26 |
| Time : 0.814312 [s] |
| Initial cost : 0.830539 [px] |
| Final cost : 0.768225 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 177 |
| => Completed observations: 162 |
| => Filtered observations: 2378 |
| => Changed observations: 0.070877 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72600 |
| Parameters : 16654 |
| Iterations : 3 |
| Time : 0.129146 [s] |
| Initial cost : 0.883788 [px] |
| Final cost : 0.858573 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 89 |
| => Completed observations: 287 |
| => Filtered observations: 20 |
| => Changed observations: 0.010909 |
|
|
| ============================================================================== |
| Registering image #30 (43) |
| ============================================================================== |
|
|
| => Image sees 3050 / 5258 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6398 |
| Parameters : 6 |
| Iterations : 11 |
| Time : 0.0642202 [s] |
| Initial cost : 0.808845 [px] |
| Final cost : 0.781301 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2876 |
| => Added observations: 2829 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64168 |
| Parameters : 14209 |
| Iterations : 26 |
| Time : 0.628773 [s] |
| Initial cost : 0.819671 [px] |
| Final cost : 0.769536 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 132 |
| => Completed observations: 158 |
| => Filtered observations: 2081 |
| => Changed observations: 0.073900 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60756 |
| Parameters : 13072 |
| Iterations : 3 |
| Time : 0.110295 [s] |
| Initial cost : 0.86849 [px] |
| Final cost : 0.845377 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 125 |
| => Completed observations: 360 |
| => Filtered observations: 14 |
| => Changed observations: 0.016426 |
|
|
| ============================================================================== |
| Registering image #29 (44) |
| ============================================================================== |
|
|
| => Image sees 3061 / 5277 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6486 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0735979 [s] |
| Initial cost : 0.830638 [px] |
| Final cost : 0.775364 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2875 |
| => Added observations: 3056 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64558 |
| Parameters : 14497 |
| Iterations : 26 |
| Time : 0.638422 [s] |
| Initial cost : 0.811265 [px] |
| Final cost : 0.759925 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 188 |
| => Completed observations: 174 |
| => Filtered observations: 1878 |
| => Changed observations: 0.069395 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61392 |
| Parameters : 13501 |
| Iterations : 3 |
| Time : 0.108731 [s] |
| Initial cost : 0.864542 [px] |
| Final cost : 0.84055 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 159 |
| => Completed observations: 298 |
| => Filtered observations: 18 |
| => Changed observations: 0.015474 |
|
|
| ============================================================================== |
| Registering image #28 (45) |
| ============================================================================== |
|
|
| => Image sees 3034 / 5405 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6176 |
| Parameters : 6 |
| Iterations : 22 |
| Time : 0.106668 [s] |
| Initial cost : 0.911849 [px] |
| Final cost : 0.832373 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2736 |
| => Added observations: 2798 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63052 |
| Parameters : 14875 |
| Iterations : 26 |
| Time : 0.63712 [s] |
| Initial cost : 0.826247 [px] |
| Final cost : 0.779158 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 103 |
| => Completed observations: 129 |
| => Filtered observations: 2174 |
| => Changed observations: 0.076318 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59374 |
| Parameters : 13936 |
| Iterations : 3 |
| Time : 0.10535 [s] |
| Initial cost : 0.879389 [px] |
| Final cost : 0.851418 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 115 |
| => Completed observations: 286 |
| => Filtered observations: 12 |
| => Changed observations: 0.013912 |
|
|
| ============================================================================== |
| Registering image #27 (46) |
| ============================================================================== |
|
|
| => Image sees 2982 / 5409 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6388 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.091243 [s] |
| Initial cost : 0.825572 [px] |
| Final cost : 0.800976 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2833 |
| => Added observations: 2832 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61518 |
| Parameters : 15274 |
| Iterations : 26 |
| Time : 0.652583 [s] |
| Initial cost : 0.810373 [px] |
| Final cost : 0.764586 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 216 |
| => Completed observations: 159 |
| => Filtered observations: 1707 |
| => Changed observations: 0.067688 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58986 |
| Parameters : 14413 |
| Iterations : 3 |
| Time : 0.109297 [s] |
| Initial cost : 0.880613 [px] |
| Final cost : 0.857015 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 38 |
| => Completed observations: 227 |
| => Filtered observations: 13 |
| => Changed observations: 0.009426 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 200 |
| => Completed observations: 103 |
| => Retriangulated observations: 483 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.596187e+05 0.00e+00 1.07e+07 0.00e+00 0.00e+00 1.00e+04 0 9.57e-02 6.68e-01 |
| 1 3.221030e+05 3.75e+04 2.36e+05 6.46e+00 9.99e-01 3.00e+04 1 2.66e-01 9.35e-01 |
| 2 3.219967e+05 1.06e+02 5.94e+04 4.57e+00 1.00e+00 9.00e+04 1 2.38e-01 1.17e+00 |
| 3 3.219931e+05 3.58e+00 3.80e+03 1.93e+00 9.98e-01 2.70e+05 1 2.42e-01 1.41e+00 |
| 4 3.219930e+05 1.81e-01 1.53e+02 3.04e-01 1.00e+00 8.10e+05 1 2.37e-01 1.65e+00 |
| 5 3.219929e+05 9.43e-03 1.58e+01 1.11e-01 9.99e-01 2.43e+06 1 2.24e-01 1.88e+00 |
| 6 3.219929e+05 1.14e-04 5.44e-01 1.45e-02 1.00e+00 7.29e+06 1 2.27e-01 2.10e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 387544 |
| Parameters : 127282 |
| Iterations : 7 |
| Time : 2.12186 [s] |
| Initial cost : 0.963298 [px] |
| Final cost : 0.911513 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 239 |
| => Completed observations: 209 |
| => Filtered observations: 782 |
| => Changed observations: 0.006348 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.881467e+05 0.00e+00 2.72e+05 0.00e+00 0.00e+00 1.00e+04 0 9.23e-02 6.98e-01 |
| 1 2.837869e+05 4.36e+03 6.76e+03 2.86e+00 1.00e+00 3.00e+04 1 2.38e-01 9.37e-01 |
| 2 2.837553e+05 3.15e+01 3.16e+03 9.55e-01 1.00e+00 9.00e+04 1 2.18e-01 1.16e+00 |
| 3 2.837540e+05 1.37e+00 3.11e+02 6.13e-01 1.00e+00 2.70e+05 1 2.24e-01 1.38e+00 |
| 4 2.837536e+05 3.58e-01 6.59e+02 5.74e-01 9.99e-01 8.10e+05 1 2.20e-01 1.60e+00 |
| 5 2.837536e+05 2.84e-02 8.64e+01 1.99e-01 9.99e-01 2.43e+06 1 2.12e-01 1.81e+00 |
| 6 2.837536e+05 3.54e-04 1.35e+00 2.37e-02 1.00e+00 7.29e+06 1 2.24e-01 2.04e+00 |
| 7 2.837536e+05 5.76e-07 4.42e-02 9.28e-04 1.00e+00 2.19e+07 1 2.26e-01 2.26e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 386454 |
| Parameters : 127015 |
| Iterations : 8 |
| Time : 2.28087 [s] |
| Initial cost : 0.863491 [px] |
| Final cost : 0.856883 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 159 |
| => Completed observations: 114 |
| => Filtered observations: 84 |
| => Changed observations: 0.001848 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 2.839451e+05 0.00e+00 1.07e+05 0.00e+00 0.00e+00 1.00e+04 0 9.62e-02 7.00e-01 |
| 1 2.834721e+05 4.73e+02 1.96e+02 4.58e-01 1.00e+00 3.00e+04 1 2.44e-01 9.44e-01 |
| 2 2.834718e+05 3.04e-01 3.28e+02 3.50e-01 9.99e-01 9.00e+04 1 2.22e-01 1.17e+00 |
| 3 2.834718e+05 2.73e-02 1.16e+02 2.13e-01 9.97e-01 2.70e+05 1 2.20e-01 1.39e+00 |
| 4 2.834718e+05 4.96e-03 2.00e+01 8.93e-02 9.98e-01 8.10e+05 1 2.17e-01 1.60e+00 |
| 5 2.834718e+05 3.67e-04 1.60e+00 2.40e-02 9.99e-01 2.43e+06 1 2.20e-01 1.82e+00 |
| 6 2.834718e+05 4.54e-06 1.41e-01 2.71e-03 1.00e+00 7.29e+06 1 2.18e-01 2.04e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 386604 |
| Parameters : 126967 |
| Iterations : 7 |
| Time : 2.05919 [s] |
| Initial cost : 0.857006 [px] |
| Final cost : 0.856292 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 46 |
| => Completed observations: 12 |
| => Filtered observations: 37 |
| => Changed observations: 0.000491 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #26 (47) |
| ============================================================================== |
|
|
| => Image sees 2985 / 5301 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6416 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0765049 [s] |
| Initial cost : 0.800965 [px] |
| Final cost : 0.766825 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2848 |
| => Added observations: 2481 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 68482 |
| Parameters : 16672 |
| Iterations : 26 |
| Time : 0.779305 [s] |
| Initial cost : 0.776947 [px] |
| Final cost : 0.730754 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 162 |
| => Completed observations: 161 |
| => Filtered observations: 1463 |
| => Changed observations: 0.052160 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66256 |
| Parameters : 16033 |
| Iterations : 3 |
| Time : 0.123897 [s] |
| Initial cost : 0.866717 [px] |
| Final cost : 0.846396 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 148 |
| => Completed observations: 206 |
| => Filtered observations: 14 |
| => Changed observations: 0.011108 |
|
|
| ============================================================================== |
| Registering image #70 (48) |
| ============================================================================== |
|
|
| => Image sees 3151 / 5208 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6782 |
| Parameters : 6 |
| Iterations : 29 |
| Time : 0.156265 [s] |
| Initial cost : 0.878131 [px] |
| Final cost : 0.854079 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2818 |
| => Added observations: 2565 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69572 |
| Parameters : 15658 |
| Iterations : 26 |
| Time : 0.697023 [s] |
| Initial cost : 0.843432 [px] |
| Final cost : 0.791139 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 192 |
| => Completed observations: 170 |
| => Filtered observations: 2610 |
| => Changed observations: 0.085437 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62322 |
| Parameters : 13624 |
| Iterations : 3 |
| Time : 0.105567 [s] |
| Initial cost : 0.899552 [px] |
| Final cost : 0.869168 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 132 |
| => Completed observations: 319 |
| => Filtered observations: 35 |
| => Changed observations: 0.015596 |
|
|
| ============================================================================== |
| Registering image #69 (49) |
| ============================================================================== |
|
|
| => Image sees 2861 / 5162 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6380 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.0974319 [s] |
| Initial cost : 0.855559 [px] |
| Final cost : 0.825828 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2655 |
| => Added observations: 3094 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66334 |
| Parameters : 14929 |
| Iterations : 26 |
| Time : 0.663609 [s] |
| Initial cost : 0.813006 [px] |
| Final cost : 0.766502 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 301 |
| => Completed observations: 181 |
| => Filtered observations: 2020 |
| => Changed observations: 0.075436 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61288 |
| Parameters : 14119 |
| Iterations : 3 |
| Time : 0.10664 [s] |
| Initial cost : 0.900378 [px] |
| Final cost : 0.873874 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 263 |
| => Completed observations: 289 |
| => Filtered observations: 14 |
| => Changed observations: 0.018470 |
|
|
| ============================================================================== |
| Registering image #68 (50) |
| ============================================================================== |
|
|
| => Image sees 2851 / 5169 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6272 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0853651 [s] |
| Initial cost : 0.857826 [px] |
| Final cost : 0.817629 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2685 |
| => Added observations: 2315 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62180 |
| Parameters : 14140 |
| Iterations : 26 |
| Time : 0.642029 [s] |
| Initial cost : 0.789856 [px] |
| Final cost : 0.746903 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 295 |
| => Completed observations: 149 |
| => Filtered observations: 1496 |
| => Changed observations: 0.062399 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60264 |
| Parameters : 13642 |
| Iterations : 3 |
| Time : 0.104142 [s] |
| Initial cost : 0.893318 [px] |
| Final cost : 0.871217 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 91 |
| => Completed observations: 219 |
| => Filtered observations: 16 |
| => Changed observations: 0.010819 |
|
|
| ============================================================================== |
| Registering image #25 (51) |
| ============================================================================== |
|
|
| => Image sees 2718 / 4896 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6014 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.067131 [s] |
| Initial cost : 0.804853 [px] |
| Final cost : 0.794202 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2579 |
| => Added observations: 2426 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61562 |
| Parameters : 12856 |
| Iterations : 26 |
| Time : 0.605308 [s] |
| Initial cost : 0.792364 [px] |
| Final cost : 0.747473 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 154 |
| => Completed observations: 117 |
| => Filtered observations: 1525 |
| => Changed observations: 0.058348 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59004 |
| Parameters : 12097 |
| Iterations : 3 |
| Time : 0.108401 [s] |
| Initial cost : 0.880181 [px] |
| Final cost : 0.860077 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 133 |
| => Completed observations: 227 |
| => Filtered observations: 10 |
| => Changed observations: 0.012542 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 372 |
| => Completed observations: 183 |
| => Retriangulated observations: 452 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.532851e+05 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 1.16e-01 8.80e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 9.1357e+06 |
| Nonzeros in L: 45451 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 9.1357e+06 |
| nnz(L): 45451 |
| OK |
| 1 3.443611e+05 1.09e+05 1.14e+05 5.54e+00 9.99e-01 3.00e+04 1 4.18e-01 1.30e+00 |
| 2 3.441480e+05 2.13e+02 6.32e+04 6.19e+00 1.00e+00 9.00e+04 1 2.43e-01 1.54e+00 |
| 3 3.441205e+05 2.75e+01 7.16e+04 4.96e+00 9.96e-01 2.70e+05 1 2.37e-01 1.78e+00 |
| 4 3.441108e+05 9.60e+00 2.37e+04 3.04e+00 9.98e-01 8.10e+05 1 2.32e-01 2.01e+00 |
| 5 3.441099e+05 9.48e-01 2.43e+03 1.05e+00 9.99e-01 2.43e+06 1 2.32e-01 2.24e+00 |
| 6 3.441099e+05 1.53e-02 4.07e+01 1.41e-01 1.00e+00 7.29e+06 1 2.32e-01 2.47e+00 |
| 7 3.441099e+05 3.26e-05 2.76e-01 6.46e-03 1.00e+00 2.19e+07 1 2.33e-01 2.71e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 426800 |
| Parameters : 139066 |
| Iterations : 8 |
| Time : 2.72703 [s] |
| Initial cost : 1.03056 [px] |
| Final cost : 0.897917 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 303 |
| => Completed observations: 372 |
| => Filtered observations: 889 |
| => Changed observations: 0.007329 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.206724e+05 0.00e+00 4.77e+05 0.00e+00 0.00e+00 1.00e+04 0 1.03e-01 7.95e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 9.1357e+06 |
| Nonzeros in L: 45451 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 9.1357e+06 |
| nnz(L): 45451 |
| OK |
| 1 3.162843e+05 4.39e+03 3.82e+04 2.31e+00 1.00e+00 3.00e+04 1 3.97e-01 1.19e+00 |
| 2 3.162622e+05 2.21e+01 9.20e+03 1.26e+00 1.00e+00 9.00e+04 1 2.40e-01 1.43e+00 |
| 3 3.162613e+05 9.08e-01 2.46e+01 4.74e-01 1.00e+00 2.70e+05 1 2.37e-01 1.67e+00 |
| 4 3.162611e+05 1.56e-01 4.50e+01 2.70e-01 1.00e+00 8.10e+05 1 2.30e-01 1.90e+00 |
| 5 3.162611e+05 1.39e-02 2.92e+01 1.15e-01 9.99e-01 2.43e+06 1 2.33e-01 2.13e+00 |
| 6 3.162611e+05 2.09e-04 7.86e-01 1.56e-02 1.00e+00 7.29e+06 1 2.31e-01 2.36e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 425628 |
| Parameters : 138739 |
| Iterations : 7 |
| Time : 2.38327 [s] |
| Initial cost : 0.867992 [px] |
| Final cost : 0.862001 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 229 |
| => Completed observations: 127 |
| => Filtered observations: 137 |
| => Changed observations: 0.002317 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.165331e+05 0.00e+00 1.77e+05 0.00e+00 0.00e+00 1.00e+04 0 1.10e-01 8.02e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 9.1357e+06 |
| Nonzeros in L: 45451 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 9.1357e+06 |
| nnz(L): 45451 |
| OK |
| 1 3.158678e+05 6.65e+02 5.78e+02 4.61e-01 1.00e+00 3.00e+04 1 3.88e-01 1.19e+00 |
| 2 3.158676e+05 2.69e-01 3.97e+02 3.21e-01 9.99e-01 9.00e+04 1 2.32e-01 1.42e+00 |
| 3 3.158675e+05 2.62e-02 1.14e+02 1.86e-01 9.97e-01 2.70e+05 1 2.32e-01 1.65e+00 |
| 4 3.158675e+05 3.51e-03 1.46e+01 6.79e-02 9.98e-01 8.10e+05 1 2.34e-01 1.89e+00 |
| 5 3.158675e+05 2.83e-04 1.03e+00 1.82e-02 9.99e-01 2.43e+06 1 2.30e-01 2.12e+00 |
| 6 3.158675e+05 4.23e-06 1.23e-01 2.26e-03 1.00e+00 7.29e+06 1 2.31e-01 2.35e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 425810 |
| Parameters : 138664 |
| Iterations : 7 |
| Time : 2.36839 [s] |
| Initial cost : 0.862187 [px] |
| Final cost : 0.86128 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 71 |
| => Completed observations: 22 |
| => Filtered observations: 57 |
| => Changed observations: 0.000705 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.159035e+05 0.00e+00 9.79e+04 0.00e+00 0.00e+00 1.00e+04 0 1.08e-01 8.02e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 9.1357e+06 |
| Nonzeros in L: 45451 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 9.1357e+06 |
| nnz(L): 45451 |
| OK |
| 1 3.156867e+05 2.17e+02 8.55e+01 2.67e-01 1.00e+00 3.00e+04 1 3.98e-01 1.20e+00 |
| 2 3.156866e+05 3.52e-02 4.03e+01 1.13e-01 9.99e-01 9.00e+04 1 2.40e-01 1.44e+00 |
| 3 3.156866e+05 3.00e-03 1.29e+01 6.38e-02 9.97e-01 2.70e+05 1 2.43e-01 1.68e+00 |
| 4 3.156866e+05 4.54e-04 1.94e+00 2.41e-02 9.98e-01 8.10e+05 1 2.44e-01 1.93e+00 |
| 5 3.156866e+05 3.73e-05 4.05e-01 6.59e-03 9.99e-01 2.43e+06 1 2.41e-01 2.17e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 425836 |
| Parameters : 138646 |
| Iterations : 6 |
| Time : 2.18787 [s] |
| Initial cost : 0.861303 [px] |
| Final cost : 0.861007 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 38 |
| => Completed observations: 51 |
| => Filtered observations: 24 |
| => Changed observations: 0.000531 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.158198e+05 0.00e+00 3.49e+04 0.00e+00 0.00e+00 1.00e+04 0 1.10e-01 8.09e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 9.1357e+06 |
| Nonzeros in L: 45451 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 9.1357e+06 |
| nnz(L): 45451 |
| OK |
| 1 3.157041e+05 1.16e+02 1.20e+01 1.32e-01 1.00e+00 3.00e+04 1 3.92e-01 1.20e+00 |
| 2 3.157041e+05 7.03e-03 3.17e+00 2.40e-02 1.00e+00 9.00e+04 1 2.31e-01 1.43e+00 |
| 3 3.157041e+05 1.37e-04 1.68e+00 1.08e-02 9.98e-01 2.70e+05 1 2.32e-01 1.66e+00 |
| 4 3.157041e+05 3.00e-05 4.43e-01 5.42e-03 9.99e-01 8.10e+05 1 2.33e-01 1.90e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 425864 |
| Parameters : 138637 |
| Iterations : 5 |
| Time : 1.91793 [s] |
| Initial cost : 0.861161 [px] |
| Final cost : 0.861003 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 13 |
| => Completed observations: 5 |
| => Filtered observations: 10 |
| => Changed observations: 0.000131 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #24 (52) |
| ============================================================================== |
|
|
| => Image sees 2757 / 4715 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4414 |
| Parameters : 6 |
| Iterations : 40 |
| Time : 0.139024 [s] |
| Initial cost : 0.932566 [px] |
| Final cost : 0.907819 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1861 |
| => Added observations: 3008 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 72000 |
| Parameters : 15382 |
| Iterations : 26 |
| Time : 0.722779 [s] |
| Initial cost : 0.961365 [px] |
| Final cost : 0.879926 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 130 |
| => Completed observations: 125 |
| => Filtered observations: 3702 |
| => Changed observations: 0.109917 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64584 |
| Parameters : 14161 |
| Iterations : 4 |
| Time : 0.136788 [s] |
| Initial cost : 0.906115 [px] |
| Final cost : 0.866945 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 141 |
| => Completed observations: 482 |
| => Filtered observations: 16 |
| => Changed observations: 0.019788 |
|
|
| ============================================================================== |
| Registering image #67 (53) |
| ============================================================================== |
|
|
| => Image sees 2642 / 4407 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5806 |
| Parameters : 6 |
| Iterations : 21 |
| Time : 0.09675 [s] |
| Initial cost : 0.893352 [px] |
| Final cost : 0.850025 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2492 |
| => Added observations: 1950 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60966 |
| Parameters : 11806 |
| Iterations : 26 |
| Time : 0.600887 [s] |
| Initial cost : 0.786717 [px] |
| Final cost : 0.74602 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 177 |
| => Completed observations: 142 |
| => Filtered observations: 1498 |
| => Changed observations: 0.059607 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58848 |
| Parameters : 11368 |
| Iterations : 3 |
| Time : 0.104686 [s] |
| Initial cost : 0.891051 [px] |
| Final cost : 0.870413 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 174 |
| => Completed observations: 156 |
| => Filtered observations: 14 |
| => Changed observations: 0.011691 |
|
|
| ============================================================================== |
| Registering image #23 (54) |
| ============================================================================== |
|
|
| => Image sees 2682 / 4696 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5102 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0625281 [s] |
| Initial cost : 0.86468 [px] |
| Final cost : 0.835347 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2162 |
| => Added observations: 2629 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61968 |
| Parameters : 12007 |
| Iterations : 26 |
| Time : 0.605223 [s] |
| Initial cost : 0.863351 [px] |
| Final cost : 0.783827 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 117 |
| => Completed observations: 157 |
| => Filtered observations: 2239 |
| => Changed observations: 0.081106 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58266 |
| Parameters : 11041 |
| Iterations : 3 |
| Time : 0.0963349 [s] |
| Initial cost : 0.884758 [px] |
| Final cost : 0.859287 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 142 |
| => Completed observations: 289 |
| => Filtered observations: 15 |
| => Changed observations: 0.015309 |
|
|
| ============================================================================== |
| Registering image #22 (55) |
| ============================================================================== |
|
|
| => Image sees 2592 / 5264 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5048 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.065449 [s] |
| Initial cost : 0.876568 [px] |
| Final cost : 0.845576 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2218 |
| => Added observations: 2811 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55910 |
| Parameters : 12460 |
| Iterations : 26 |
| Time : 0.562041 [s] |
| Initial cost : 0.862402 [px] |
| Final cost : 0.788872 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 62 |
| => Completed observations: 137 |
| => Filtered observations: 1929 |
| => Changed observations: 0.076122 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52358 |
| Parameters : 12487 |
| Iterations : 4 |
| Time : 0.11696 [s] |
| Initial cost : 0.901665 [px] |
| Final cost : 0.872991 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 195 |
| => Completed observations: 313 |
| => Filtered observations: 20 |
| => Changed observations: 0.020169 |
|
|
| ============================================================================== |
| Registering image #21 (56) |
| ============================================================================== |
|
|
| => Image sees 2802 / 5637 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5780 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0672131 [s] |
| Initial cost : 0.846765 [px] |
| Final cost : 0.813541 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2564 |
| => Added observations: 2924 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56190 |
| Parameters : 13711 |
| Iterations : 26 |
| Time : 0.567936 [s] |
| Initial cost : 0.833032 [px] |
| Final cost : 0.768673 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 142 |
| => Completed observations: 149 |
| => Filtered observations: 1741 |
| => Changed observations: 0.072326 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53380 |
| Parameters : 13009 |
| Iterations : 3 |
| Time : 0.0964332 [s] |
| Initial cost : 0.894661 [px] |
| Final cost : 0.869155 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 144 |
| => Completed observations: 288 |
| => Filtered observations: 12 |
| => Changed observations: 0.016635 |
|
|
| ============================================================================== |
| Registering image #20 (57) |
| ============================================================================== |
|
|
| => Image sees 2594 / 5658 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5346 |
| Parameters : 6 |
| Iterations : 22 |
| Time : 0.0896859 [s] |
| Initial cost : 0.858465 [px] |
| Final cost : 0.834288 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2399 |
| => Added observations: 2427 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52662 |
| Parameters : 13441 |
| Iterations : 26 |
| Time : 0.56271 [s] |
| Initial cost : 0.812163 [px] |
| Final cost : 0.760613 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 89 |
| => Completed observations: 150 |
| => Filtered observations: 1481 |
| => Changed observations: 0.065322 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 50228 |
| Parameters : 12985 |
| Iterations : 3 |
| Time : 0.0910742 [s] |
| Initial cost : 0.889166 [px] |
| Final cost : 0.865198 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 104 |
| => Completed observations: 256 |
| => Filtered observations: 24 |
| => Changed observations: 0.015290 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 471 |
| => Completed observations: 247 |
| => Retriangulated observations: 2524 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 7.423400e+05 0.00e+00 2.60e+07 0.00e+00 0.00e+00 1.00e+04 0 1.13e-01 9.02e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.2814e+07 |
| Nonzeros in L: 56953 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 1.2814e+07 |
| nnz(L): 56953 |
| OK |
| 1 5.194054e+05 2.23e+05 2.39e+05 1.02e+01 9.96e-01 3.00e+04 1 4.34e-01 1.34e+00 |
| 2 5.186731e+05 7.32e+02 6.65e+03 2.26e+00 9.97e-01 9.00e+04 1 2.56e-01 1.59e+00 |
| 3 5.186595e+05 1.36e+01 1.30e+04 2.16e+00 1.00e+00 2.70e+05 1 2.72e-01 1.86e+00 |
| 4 5.186537e+05 5.74e+00 8.52e+03 1.91e+00 9.99e-01 8.10e+05 1 2.58e-01 2.12e+00 |
| 5 5.186530e+05 7.06e-01 1.36e+03 7.98e-01 9.99e-01 2.43e+06 1 2.57e-01 2.38e+00 |
| 6 5.186530e+05 1.47e-02 3.17e+01 1.25e-01 1.00e+00 7.29e+06 1 2.48e-01 2.63e+00 |
| 7 5.186530e+05 4.14e-05 3.76e-01 6.67e-03 1.00e+00 2.19e+07 1 2.54e-01 2.88e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 470370 |
| Parameters : 153475 |
| Iterations : 8 |
| Time : 2.90319 [s] |
| Initial cost : 1.25627 [px] |
| Final cost : 1.05007 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 660 |
| => Completed observations: 528 |
| => Filtered observations: 3914 |
| => Changed observations: 0.021694 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.628280e+05 0.00e+00 3.51e+05 0.00e+00 0.00e+00 1.00e+04 0 1.17e-01 8.89e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.2814e+07 |
| Nonzeros in L: 56953 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 1.2814e+07 |
| nnz(L): 56953 |
| OK |
| 1 3.498696e+05 1.30e+04 1.05e+04 4.19e+00 1.00e+00 3.00e+04 1 4.23e-01 1.31e+00 |
| 2 3.498257e+05 4.39e+01 2.23e+03 1.41e+00 1.00e+00 9.00e+04 1 2.59e-01 1.57e+00 |
| 3 3.498212e+05 4.57e+00 5.67e+03 1.29e+00 9.99e-01 2.70e+05 1 2.63e-01 1.83e+00 |
| 4 3.498193e+05 1.84e+00 3.07e+03 1.03e+00 9.99e-01 8.10e+05 1 2.61e-01 2.09e+00 |
| 5 3.498191e+05 2.12e-01 4.31e+02 4.10e-01 9.99e-01 2.43e+06 1 2.50e-01 2.35e+00 |
| 6 3.498191e+05 4.11e-03 9.61e+00 6.15e-02 1.00e+00 7.29e+06 1 2.50e-01 2.60e+00 |
| 7 3.498191e+05 1.07e-05 2.34e-01 3.16e-03 1.00e+00 2.19e+07 1 2.54e-01 2.85e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 463826 |
| Parameters : 152140 |
| Iterations : 8 |
| Time : 2.87129 [s] |
| Initial cost : 0.884449 [px] |
| Final cost : 0.868449 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 653 |
| => Completed observations: 201 |
| => Filtered observations: 237 |
| => Changed observations: 0.004704 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.510741e+05 0.00e+00 9.85e+04 0.00e+00 0.00e+00 1.00e+04 0 1.15e-01 8.84e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.2814e+07 |
| Nonzeros in L: 56953 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 1.2814e+07 |
| nnz(L): 56953 |
| OK |
| 1 3.494007e+05 1.67e+03 1.31e+03 9.14e-01 1.00e+00 3.00e+04 1 4.32e-01 1.32e+00 |
| 2 3.494000e+05 7.38e-01 3.05e+02 2.37e-01 1.00e+00 9.00e+04 1 2.54e-01 1.57e+00 |
| 3 3.494000e+05 3.56e-02 3.12e+00 9.08e-02 1.00e+00 2.70e+05 1 2.51e-01 1.82e+00 |
| 4 3.494000e+05 8.60e-03 1.94e+00 5.52e-02 1.00e+00 8.10e+05 1 2.50e-01 2.07e+00 |
| 5 3.494000e+05 9.57e-04 1.74e+00 2.64e-02 1.00e+00 2.43e+06 1 2.53e-01 2.32e+00 |
| 6 3.494000e+05 1.86e-05 2.87e-01 4.11e-03 1.00e+00 7.29e+06 1 2.65e-01 2.59e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 464656 |
| Parameters : 152038 |
| Iterations : 7 |
| Time : 2.6182 [s] |
| Initial cost : 0.869228 [px] |
| Final cost : 0.867153 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 108 |
| => Completed observations: 18 |
| => Filtered observations: 73 |
| => Changed observations: 0.000857 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.495159e+05 0.00e+00 6.06e+04 0.00e+00 0.00e+00 1.00e+04 0 1.24e-01 9.28e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.2814e+07 |
| Nonzeros in L: 56953 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.2 |
| maxrank: update/downdate rank: 8 |
| supernodal control: 1 40 (supernodal if flops/lnz >= 40) |
| nmethods: number of ordering methods to try: 1 |
| method 0: natural |
| flop count: 1.2814e+07 |
| nnz(L): 56953 |
| OK |
| 1 3.491870e+05 3.29e+02 1.91e+02 3.44e-01 1.00e+00 3.00e+04 1 4.60e-01 1.39e+00 |
| 2 3.491870e+05 6.86e-02 1.55e+01 4.40e-02 1.00e+00 9.00e+04 1 2.72e-01 1.66e+00 |
| 3 3.491870e+05 2.63e-03 1.98e+00 1.92e-02 1.00e+00 2.70e+05 1 2.73e-01 1.93e+00 |
| 4 3.491870e+05 9.17e-04 1.10e+00 2.07e-02 1.00e+00 8.10e+05 1 2.82e-01 2.22e+00 |
| 5 3.491870e+05 1.06e-04 5.82e-01 9.00e-03 1.00e+00 2.43e+06 1 2.79e-01 2.49e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 464726 |
| Parameters : 152020 |
| Iterations : 6 |
| Time : 2.51586 [s] |
| Initial cost : 0.867231 [px] |
| Final cost : 0.866823 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 36 |
| => Completed observations: 13 |
| => Filtered observations: 30 |
| => Changed observations: 0.000340 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #19 (58) |
| ============================================================================== |
|
|
| => Image sees 2773 / 6036 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5956 |
| Parameters : 6 |
| Iterations : 20 |
| Time : 0.0902238 [s] |
| Initial cost : 0.871134 [px] |
| Final cost : 0.855271 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2606 |
| => Added observations: 2799 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 77914 |
| Parameters : 20680 |
| Iterations : 26 |
| Time : 0.833312 [s] |
| Initial cost : 0.784481 [px] |
| Final cost : 0.751815 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 73 |
| => Completed observations: 168 |
| => Filtered observations: 1976 |
| => Changed observations: 0.056909 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 74752 |
| Parameters : 20140 |
| Iterations : 4 |
| Time : 0.161286 [s] |
| Initial cost : 0.907307 [px] |
| Final cost : 0.884547 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 99 |
| => Completed observations: 241 |
| => Filtered observations: 13 |
| => Changed observations: 0.009445 |
|
|
| ============================================================================== |
| Registering image #18 (59) |
| ============================================================================== |
|
|
| => Image sees 2807 / 5998 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6012 |
| Parameters : 6 |
| Iterations : 30 |
| Time : 0.140666 [s] |
| Initial cost : 0.888876 [px] |
| Final cost : 0.853725 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2620 |
| => Added observations: 2962 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55858 |
| Parameters : 16165 |
| Iterations : 26 |
| Time : 0.694576 [s] |
| Initial cost : 0.816235 [px] |
| Final cost : 0.756671 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 151 |
| => Completed observations: 137 |
| => Filtered observations: 1653 |
| => Changed observations: 0.069498 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53322 |
| Parameters : 15736 |
| Iterations : 4 |
| Time : 0.126524 [s] |
| Initial cost : 0.893335 [px] |
| Final cost : 0.864998 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 52 |
| => Completed observations: 240 |
| => Filtered observations: 16 |
| => Changed observations: 0.011552 |
|
|
| ============================================================================== |
| Registering image #17 (60) |
| ============================================================================== |
|
|
| => Image sees 2909 / 5934 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6232 |
| Parameters : 6 |
| Iterations : 21 |
| Time : 0.102448 [s] |
| Initial cost : 0.868214 [px] |
| Final cost : 0.828129 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2759 |
| => Added observations: 2636 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56758 |
| Parameters : 16636 |
| Iterations : 26 |
| Time : 0.681617 [s] |
| Initial cost : 0.783277 [px] |
| Final cost : 0.735845 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 220 |
| => Completed observations: 174 |
| => Filtered observations: 1490 |
| => Changed observations: 0.066387 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54410 |
| Parameters : 16177 |
| Iterations : 4 |
| Time : 0.153653 [s] |
| Initial cost : 0.888931 [px] |
| Final cost : 0.861579 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 140 |
| => Completed observations: 258 |
| => Filtered observations: 20 |
| => Changed observations: 0.015365 |
|
|
| ============================================================================== |
| Registering image #16 (61) |
| ============================================================================== |
|
|
| => Image sees 2540 / 5309 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4676 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.070307 [s] |
| Initial cost : 0.889226 [px] |
| Final cost : 0.86142 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1951 |
| => Added observations: 2618 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54914 |
| Parameters : 15625 |
| Iterations : 26 |
| Time : 0.601766 [s] |
| Initial cost : 0.891161 [px] |
| Final cost : 0.821206 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 68 |
| => Completed observations: 142 |
| => Filtered observations: 2607 |
| => Changed observations: 0.102597 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 50456 |
| Parameters : 14866 |
| Iterations : 5 |
| Time : 0.137422 [s] |
| Initial cost : 0.910537 [px] |
| Final cost : 0.870953 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 117 |
| => Completed observations: 433 |
| => Filtered observations: 32 |
| => Changed observations: 0.023070 |
|
|
| ============================================================================== |
| Registering image #82 (62) |
| ============================================================================== |
|
|
| => Image sees 2558 / 4062 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5314 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.069185 [s] |
| Initial cost : 0.891246 [px] |
| Final cost : 0.872101 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2317 |
| => Added observations: 1513 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63136 |
| Parameters : 9328 |
| Iterations : 26 |
| Time : 0.604859 [s] |
| Initial cost : 0.858816 [px] |
| Final cost : 0.788098 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 150 |
| => Completed observations: 161 |
| => Filtered observations: 2000 |
| => Changed observations: 0.073207 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59188 |
| Parameters : 9043 |
| Iterations : 3 |
| Time : 0.0890329 [s] |
| Initial cost : 0.912141 [px] |
| Final cost : 0.888351 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 84 |
| => Completed observations: 185 |
| => Filtered observations: 32 |
| => Changed observations: 0.010171 |
|
|
| ============================================================================== |
| Registering image #81 (63) |
| ============================================================================== |
|
|
| => Image sees 2907 / 5175 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6182 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0717769 [s] |
| Initial cost : 0.814094 [px] |
| Final cost : 0.80559 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2727 |
| => Added observations: 1699 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 75322 |
| Parameters : 11944 |
| Iterations : 26 |
| Time : 0.711045 [s] |
| Initial cost : 0.767558 [px] |
| Final cost : 0.7281 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 213 |
| => Completed observations: 174 |
| => Filtered observations: 1455 |
| => Changed observations: 0.048910 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 73388 |
| Parameters : 11467 |
| Iterations : 3 |
| Time : 0.112658 [s] |
| Initial cost : 0.87806 [px] |
| Final cost : 0.862215 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 86 |
| => Completed observations: 139 |
| => Filtered observations: 13 |
| => Changed observations: 0.006486 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 659 |
| => Completed observations: 283 |
| => Retriangulated observations: 1912 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 7.118641e+05 0.00e+00 5.46e+05 0.00e+00 0.00e+00 1.00e+04 0 1.33e-01 1.01e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.7368e+07 |
| Nonzeros in L: 69751 |
| 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: 1.7368e+07 |
| nnz(L): 69751 |
| OK |
| 1 5.386939e+05 1.73e+05 3.21e+05 1.28e+01 9.99e-01 3.00e+04 1 5.05e-01 1.52e+00 |
| 2 5.382420e+05 4.52e+02 6.30e+04 4.46e+00 1.00e+00 9.00e+04 1 2.83e-01 1.80e+00 |
| 3 5.382368e+05 5.25e+00 6.15e+03 1.57e+00 1.00e+00 2.70e+05 1 2.96e-01 2.10e+00 |
| 4 5.382366e+05 1.43e-01 7.13e+01 2.53e-01 1.00e+00 8.10e+05 1 2.84e-01 2.38e+00 |
| 5 5.382366e+05 1.15e-02 5.17e+00 8.23e-02 1.00e+00 2.43e+06 1 2.79e-01 2.66e+00 |
| 6 5.382366e+05 2.84e-04 8.84e-01 1.61e-02 1.00e+00 7.29e+06 1 2.77e-01 2.93e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 510304 |
| Parameters : 167095 |
| Iterations : 7 |
| Time : 2.95893 [s] |
| Initial cost : 1.18109 [px] |
| Final cost : 1.027 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 633 |
| => Completed observations: 429 |
| => Filtered observations: 3211 |
| => Changed observations: 0.016747 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.980917e+05 0.00e+00 3.02e+05 0.00e+00 0.00e+00 1.00e+04 0 1.37e-01 1.00e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.7368e+07 |
| Nonzeros in L: 69751 |
| 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: 1.7368e+07 |
| nnz(L): 69751 |
| OK |
| 1 3.846504e+05 1.34e+04 1.01e+05 6.67e+00 1.00e+00 3.00e+04 1 4.89e-01 1.49e+00 |
| 2 3.845456e+05 1.05e+02 6.29e+04 4.13e+00 1.00e+00 9.00e+04 1 2.82e-01 1.78e+00 |
| 3 3.845410e+05 4.60e+00 1.51e+04 2.09e+00 9.98e-01 2.70e+05 1 2.82e-01 2.06e+00 |
| 4 3.845406e+05 4.90e-01 1.86e+03 7.29e-01 9.99e-01 8.10e+05 1 2.83e-01 2.34e+00 |
| 5 3.845405e+05 5.40e-02 1.21e+02 2.17e-01 1.00e+00 2.43e+06 1 2.82e-01 2.62e+00 |
| 6 3.845405e+05 1.24e-03 2.33e+00 3.37e-02 1.00e+00 7.29e+06 1 2.82e-01 2.90e+00 |
| 7 3.845405e+05 3.96e-06 1.73e-01 1.91e-03 1.00e+00 2.19e+07 1 2.84e-01 3.19e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 505092 |
| Parameters : 166075 |
| Iterations : 8 |
| Time : 3.21207 [s] |
| Initial cost : 0.887782 [px] |
| Final cost : 0.872541 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 674 |
| => Completed observations: 269 |
| => Filtered observations: 234 |
| => Changed observations: 0.004661 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.862816e+05 0.00e+00 9.64e+04 0.00e+00 0.00e+00 1.00e+04 0 1.26e-01 9.84e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.7368e+07 |
| Nonzeros in L: 69751 |
| 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: 1.7368e+07 |
| nnz(L): 69751 |
| OK |
| 1 3.848049e+05 1.48e+03 1.45e+03 8.50e-01 1.00e+00 3.00e+04 1 4.76e-01 1.46e+00 |
| 2 3.848041e+05 8.49e-01 8.32e+02 4.71e-01 1.00e+00 9.00e+04 1 2.84e-01 1.74e+00 |
| 3 3.848040e+05 5.85e-02 2.24e+02 2.60e-01 9.98e-01 2.70e+05 1 2.75e-01 2.02e+00 |
| 4 3.848040e+05 6.70e-03 2.65e+01 8.82e-02 9.99e-01 8.10e+05 1 2.78e-01 2.30e+00 |
| 5 3.848040e+05 7.15e-04 1.61e+00 2.52e-02 1.00e+00 2.43e+06 1 2.83e-01 2.58e+00 |
| 6 3.848040e+05 1.65e-05 3.23e-01 3.87e-03 1.00e+00 7.29e+06 1 2.76e-01 2.85e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 505968 |
| Parameters : 165982 |
| Iterations : 7 |
| Time : 2.8792 [s] |
| Initial cost : 0.873757 [px] |
| Final cost : 0.872084 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 94 |
| => Completed observations: 12 |
| => Filtered observations: 62 |
| => Changed observations: 0.000664 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 3.849471e+05 0.00e+00 5.15e+04 0.00e+00 0.00e+00 1.00e+04 0 1.25e-01 9.86e-01 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.7368e+07 |
| Nonzeros in L: 69751 |
| 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: 1.7368e+07 |
| nnz(L): 69751 |
| OK |
| 1 3.846792e+05 2.68e+02 4.49e+01 3.26e-01 1.00e+00 3.00e+04 1 4.70e-01 1.46e+00 |
| 2 3.846792e+05 5.92e-02 5.13e+01 1.32e-01 1.00e+00 9.00e+04 1 2.79e-01 1.73e+00 |
| 3 3.846792e+05 8.55e-03 2.70e+01 8.78e-02 9.99e-01 2.70e+05 1 2.73e-01 2.01e+00 |
| 4 3.846792e+05 3.03e-03 6.44e+00 4.67e-02 9.99e-01 8.10e+05 1 2.72e-01 2.28e+00 |
| 5 3.846792e+05 3.95e-04 1.05e+00 1.77e-02 1.00e+00 2.43e+06 1 2.75e-01 2.55e+00 |
| 6 3.846792e+05 9.20e-06 2.46e-01 2.87e-03 1.00e+00 7.29e+06 1 2.74e-01 2.83e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 506032 |
| Parameters : 165979 |
| Iterations : 7 |
| Time : 2.85294 [s] |
| Initial cost : 0.872191 [px] |
| Final cost : 0.871887 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 28 |
| => Completed observations: 36 |
| => Filtered observations: 25 |
| => Changed observations: 0.000352 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #80 (64) |
| ============================================================================== |
|
|
| => Image sees 2920 / 5579 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6364 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.068691 [s] |
| Initial cost : 0.803812 [px] |
| Final cost : 0.779131 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2758 |
| => Added observations: 2009 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 98550 |
| Parameters : 18283 |
| Iterations : 26 |
| Time : 0.942563 [s] |
| Initial cost : 0.756207 [px] |
| Final cost : 0.729946 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 268 |
| => Completed observations: 215 |
| => Filtered observations: 1550 |
| => Changed observations: 0.041258 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 96454 |
| Parameters : 17818 |
| Iterations : 3 |
| Time : 0.148174 [s] |
| Initial cost : 0.910094 [px] |
| Final cost : 0.895472 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 161 |
| => Completed observations: 227 |
| => Filtered observations: 13 |
| => Changed observations: 0.008315 |
|
|
| ============================================================================== |
| Registering image #79 (65) |
| ============================================================================== |
|
|
| => Image sees 3023 / 5628 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6520 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0972521 [s] |
| Initial cost : 0.875458 [px] |
| Final cost : 0.80124 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2840 |
| => Added observations: 2013 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70218 |
| Parameters : 11773 |
| Iterations : 26 |
| Time : 0.707754 [s] |
| Initial cost : 0.77557 [px] |
| Final cost : 0.73912 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 359 |
| => Completed observations: 201 |
| => Filtered observations: 1594 |
| => Changed observations: 0.061352 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 67792 |
| Parameters : 11215 |
| Iterations : 3 |
| Time : 0.105267 [s] |
| Initial cost : 0.891317 [px] |
| Final cost : 0.873739 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 205 |
| => Completed observations: 194 |
| => Filtered observations: 20 |
| => Changed observations: 0.012361 |
|
|
| ============================================================================== |
| Registering image #78 (66) |
| ============================================================================== |
|
|
| => Image sees 3361 / 5572 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6906 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0881741 [s] |
| Initial cost : 0.934232 [px] |
| Final cost : 0.858838 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3027 |
| => Added observations: 2094 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70192 |
| Parameters : 12472 |
| Iterations : 26 |
| Time : 0.675105 [s] |
| Initial cost : 0.841724 [px] |
| Final cost : 0.798018 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 344 |
| => Completed observations: 226 |
| => Filtered observations: 2471 |
| => Changed observations: 0.086648 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64992 |
| Parameters : 12058 |
| Iterations : 3 |
| Time : 0.107726 [s] |
| Initial cost : 0.921169 [px] |
| Final cost : 0.893491 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 180 |
| => Completed observations: 349 |
| => Filtered observations: 38 |
| => Changed observations: 0.017448 |
|
|
| ============================================================================== |
| Registering image #91 (67) |
| ============================================================================== |
|
|
| => Image sees 2670 / 4718 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5688 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.073602 [s] |
| Initial cost : 0.805539 [px] |
| Final cost : 0.784134 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2454 |
| => Added observations: 2052 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 71502 |
| Parameters : 12238 |
| Iterations : 26 |
| Time : 0.689163 [s] |
| Initial cost : 0.779769 [px] |
| Final cost : 0.732716 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 196 |
| => Completed observations: 156 |
| => Filtered observations: 1403 |
| => Changed observations: 0.049090 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 69356 |
| Parameters : 11770 |
| Iterations : 3 |
| Time : 0.111803 [s] |
| Initial cost : 0.878565 [px] |
| Final cost : 0.860754 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 87 |
| => Completed observations: 181 |
| => Filtered observations: 10 |
| => Changed observations: 0.008017 |
|
|
| ============================================================================== |
| Registering image #58 (68) |
| ============================================================================== |
|
|
| => Image sees 2500 / 4595 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5240 |
| Parameters : 6 |
| Iterations : 25 |
| Time : 0.102494 [s] |
| Initial cost : 0.850257 [px] |
| Final cost : 0.822786 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2066 |
| => Added observations: 2458 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65352 |
| Parameters : 12763 |
| Iterations : 26 |
| Time : 0.64629 [s] |
| Initial cost : 0.869365 [px] |
| Final cost : 0.785183 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 94 |
| => Completed observations: 127 |
| => Filtered observations: 2007 |
| => Changed observations: 0.068185 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62052 |
| Parameters : 11911 |
| Iterations : 3 |
| Time : 0.102356 [s] |
| Initial cost : 0.902563 [px] |
| Final cost : 0.876898 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 165 |
| => Completed observations: 369 |
| => Filtered observations: 17 |
| => Changed observations: 0.017759 |
|
|
| ============================================================================== |
| Registering image #66 (69) |
| ============================================================================== |
|
|
| => Image sees 2368 / 4657 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5210 |
| Parameters : 6 |
| Iterations : 23 |
| Time : 0.093322 [s] |
| Initial cost : 0.885731 [px] |
| Final cost : 0.839639 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2016 |
| => Added observations: 2156 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54636 |
| Parameters : 13657 |
| Iterations : 26 |
| Time : 0.554892 [s] |
| Initial cost : 0.864997 [px] |
| Final cost : 0.781967 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 341 |
| => Completed observations: 163 |
| => Filtered observations: 1667 |
| => Changed observations: 0.079471 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54040 |
| Parameters : 15166 |
| Iterations : 3 |
| Time : 0.102193 [s] |
| Initial cost : 0.912219 [px] |
| Final cost : 0.886393 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 103 |
| => Completed observations: 240 |
| => Filtered observations: 30 |
| => Changed observations: 0.013805 |
|
|
| ============================================================================== |
| Registering image #65 (70) |
| ============================================================================== |
|
|
| => Image sees 2499 / 5609 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5554 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.079396 [s] |
| Initial cost : 0.863081 [px] |
| Final cost : 0.843686 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2194 |
| => Added observations: 3127 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54972 |
| Parameters : 15664 |
| Iterations : 26 |
| Time : 0.580325 [s] |
| Initial cost : 0.839845 [px] |
| Final cost : 0.7847 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 224 |
| => Completed observations: 159 |
| => Filtered observations: 1881 |
| => Changed observations: 0.082369 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 51998 |
| Parameters : 14920 |
| Iterations : 4 |
| Time : 0.119538 [s] |
| Initial cost : 0.912918 [px] |
| Final cost : 0.883698 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 178 |
| => Completed observations: 283 |
| => Filtered observations: 42 |
| => Changed observations: 0.019347 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 798 |
| => Completed observations: 586 |
| => Retriangulated observations: 2487 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.197061e+06 0.00e+00 3.40e+07 0.00e+00 0.00e+00 1.00e+04 0 1.49e-01 1.13e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 2.3911e+07 |
| Nonzeros in L: 86320 |
| 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: 2.3911e+07 |
| nnz(L): 86320 |
| OK |
| 1 7.458171e+05 4.51e+05 2.68e+05 7.96e+00 9.97e-01 3.00e+04 1 5.74e-01 1.70e+00 |
| 2 7.442054e+05 1.61e+03 1.82e+03 1.70e+00 9.95e-01 9.00e+04 1 3.07e-01 2.01e+00 |
| 3 7.442018e+05 3.64e+00 1.09e+03 6.38e-01 9.99e-01 2.70e+05 1 3.14e-01 2.33e+00 |
| 4 7.442013e+05 5.27e-01 5.49e+02 4.96e-01 1.00e+00 8.10e+05 1 3.06e-01 2.63e+00 |
| 5 7.442012e+05 8.28e-02 9.83e+01 2.35e-01 1.00e+00 2.43e+06 1 3.14e-01 2.95e+00 |
| 6 7.442012e+05 2.35e-03 3.16e+00 4.35e-02 1.00e+00 7.29e+06 1 2.98e-01 3.24e+00 |
| 7 7.442012e+05 9.35e-06 2.60e-01 2.81e-03 1.00e+00 2.19e+07 1 3.06e-01 3.55e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 559788 |
| Parameters : 181579 |
| Iterations : 8 |
| Time : 3.57677 [s] |
| Initial cost : 1.46233 [px] |
| Final cost : 1.15301 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 752 |
| => Completed observations: 876 |
| => Filtered observations: 4049 |
| => Changed observations: 0.020283 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.434726e+05 0.00e+00 2.85e+05 0.00e+00 0.00e+00 1.00e+04 0 1.50e-01 1.11e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 2.3911e+07 |
| Nonzeros in L: 86320 |
| 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: 2.3911e+07 |
| nnz(L): 86320 |
| OK |
| 1 4.267107e+05 1.68e+04 2.68e+04 4.42e+00 1.00e+00 3.00e+04 1 5.49e-01 1.66e+00 |
| 2 4.266642e+05 4.65e+01 1.79e+03 1.03e+00 1.00e+00 9.00e+04 1 3.02e-01 1.96e+00 |
| 3 4.266636e+05 5.97e-01 3.94e+01 1.45e-01 1.00e+00 2.70e+05 1 3.03e-01 2.26e+00 |
| 4 4.266636e+05 7.42e-03 6.30e+00 5.27e-02 1.00e+00 8.10e+05 1 3.23e-01 2.59e+00 |
| 5 4.266636e+05 9.14e-04 1.92e+00 2.37e-02 1.00e+00 2.43e+06 1 3.09e-01 2.89e+00 |
| 6 4.266636e+05 2.40e-05 4.33e-01 4.21e-03 1.00e+00 7.29e+06 1 2.97e-01 3.19e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 553164 |
| Parameters : 180340 |
| Iterations : 7 |
| Time : 3.21962 [s] |
| Initial cost : 0.895378 [px] |
| Final cost : 0.878245 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 850 |
| => Completed observations: 169 |
| => Filtered observations: 291 |
| => Changed observations: 0.004736 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.285063e+05 0.00e+00 5.70e+04 0.00e+00 0.00e+00 1.00e+04 0 1.43e-01 1.12e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 2.3911e+07 |
| Nonzeros in L: 86320 |
| 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: 2.3911e+07 |
| nnz(L): 86320 |
| OK |
| 1 4.266680e+05 1.84e+03 1.10e+03 7.95e-01 1.00e+00 3.00e+04 1 5.62e-01 1.68e+00 |
| 2 4.266674e+05 5.82e-01 2.35e+02 2.30e-01 1.00e+00 9.00e+04 1 3.13e-01 1.99e+00 |
| 3 4.266674e+05 1.39e-02 3.93e+01 9.66e-02 9.99e-01 2.70e+05 1 3.21e-01 2.31e+00 |
| 4 4.266674e+05 1.35e-03 3.74e+00 3.22e-02 9.99e-01 8.10e+05 1 3.26e-01 2.64e+00 |
| 5 4.266674e+05 1.74e-04 8.61e-01 1.08e-02 1.00e+00 2.43e+06 1 3.23e-01 2.96e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 554280 |
| Parameters : 180259 |
| Iterations : 6 |
| Time : 2.98835 [s] |
| Initial cost : 0.879253 [px] |
| Final cost : 0.877365 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 139 |
| => Completed observations: 58 |
| => Filtered observations: 91 |
| => Changed observations: 0.001039 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.269465e+05 0.00e+00 2.23e+04 0.00e+00 0.00e+00 1.00e+04 0 1.48e-01 1.17e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 2.3911e+07 |
| Nonzeros in L: 86320 |
| 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: 2.3911e+07 |
| nnz(L): 86320 |
| OK |
| 1 4.265256e+05 4.21e+02 1.74e+02 3.12e-01 1.00e+00 3.00e+04 1 5.83e-01 1.75e+00 |
| 2 4.265255e+05 6.63e-02 2.94e+01 9.15e-02 1.00e+00 9.00e+04 1 3.31e-01 2.08e+00 |
| 3 4.265255e+05 1.29e-03 4.22e+00 3.40e-02 9.98e-01 2.70e+05 1 3.32e-01 2.41e+00 |
| 4 4.265255e+05 4.81e-05 1.10e+00 7.76e-03 9.99e-01 8.10e+05 1 3.32e-01 2.74e+00 |
| 5 4.265255e+05 3.31e-06 1.30e-01 1.62e-03 1.00e+00 2.43e+06 1 3.31e-01 3.07e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 554376 |
| Parameters : 180232 |
| Iterations : 6 |
| Time : 3.10189 [s] |
| Initial cost : 0.877576 [px] |
| Final cost : 0.877143 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 40 |
| => Completed observations: 39 |
| => Filtered observations: 39 |
| => Changed observations: 0.000426 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #64 (71) |
| ============================================================================== |
|
|
| => Image sees 2614 / 5563 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5584 |
| Parameters : 6 |
| Iterations : 30 |
| Time : 0.125198 [s] |
| Initial cost : 0.883058 [px] |
| Final cost : 0.848718 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2317 |
| => Added observations: 2790 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 87060 |
| Parameters : 22402 |
| Iterations : 26 |
| Time : 0.876895 [s] |
| Initial cost : 0.806422 [px] |
| Final cost : 0.768069 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 144 |
| => Completed observations: 162 |
| => Filtered observations: 2168 |
| => Changed observations: 0.056834 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 84272 |
| Parameters : 21016 |
| Iterations : 4 |
| Time : 0.164576 [s] |
| Initial cost : 0.922214 [px] |
| Final cost : 0.897975 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 109 |
| => Completed observations: 258 |
| => Filtered observations: 59 |
| => Changed observations: 0.010110 |
|
|
| ============================================================================== |
| Registering image #63 (72) |
| ============================================================================== |
|
|
| => Image sees 2777 / 4904 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5396 |
| Parameters : 6 |
| Iterations : 28 |
| Time : 0.118898 [s] |
| Initial cost : 0.915196 [px] |
| Final cost : 0.889581 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2298 |
| => Added observations: 2934 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52704 |
| Parameters : 14383 |
| Iterations : 26 |
| Time : 0.55589 [s] |
| Initial cost : 0.909221 [px] |
| Final cost : 0.839175 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 74 |
| => Completed observations: 146 |
| => Filtered observations: 2454 |
| => Changed observations: 0.101472 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 48664 |
| Parameters : 13555 |
| Iterations : 4 |
| Time : 0.181201 [s] |
| Initial cost : 0.916214 [px] |
| Final cost : 0.875503 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 112 |
| => Completed observations: 366 |
| => Filtered observations: 49 |
| => Changed observations: 0.021659 |
|
|
| ============================================================================== |
| Registering image #15 (73) |
| ============================================================================== |
|
|
| => Image sees 2583 / 5184 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5150 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.0549009 [s] |
| Initial cost : 0.856484 [px] |
| Final cost : 0.853328 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2066 |
| => Added observations: 2847 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56286 |
| Parameters : 13060 |
| Iterations : 26 |
| Time : 0.565594 [s] |
| Initial cost : 0.888236 [px] |
| Final cost : 0.796141 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 166 |
| => Completed observations: 176 |
| => Filtered observations: 2149 |
| => Changed observations: 0.088512 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52570 |
| Parameters : 12082 |
| Iterations : 4 |
| Time : 0.112761 [s] |
| Initial cost : 0.91338 [px] |
| Final cost : 0.884828 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 107 |
| => Completed observations: 384 |
| => Filtered observations: 14 |
| => Changed observations: 0.019212 |
|
|
| ============================================================================== |
| Registering image #14 (74) |
| ============================================================================== |
|
|
| => Image sees 2717 / 5495 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5464 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.0740559 [s] |
| Initial cost : 0.88556 [px] |
| Final cost : 0.83111 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2287 |
| => Added observations: 3258 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52930 |
| Parameters : 15661 |
| Iterations : 26 |
| Time : 0.588813 [s] |
| Initial cost : 0.885792 [px] |
| Final cost : 0.798144 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 174 |
| => Completed observations: 168 |
| => Filtered observations: 2107 |
| => Changed observations: 0.092537 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 49202 |
| Parameters : 14770 |
| Iterations : 3 |
| Time : 0.148549 [s] |
| Initial cost : 0.909883 [px] |
| Final cost : 0.878351 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 132 |
| => Completed observations: 350 |
| => Filtered observations: 23 |
| => Changed observations: 0.020528 |
|
|
| ============================================================================== |
| Registering image #13 (75) |
| ============================================================================== |
|
|
| => Image sees 3028 / 5410 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6448 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.0854161 [s] |
| Initial cost : 0.855139 [px] |
| Final cost : 0.79381 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2727 |
| => Added observations: 3131 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53952 |
| Parameters : 15427 |
| Iterations : 26 |
| Time : 0.611051 [s] |
| Initial cost : 0.853826 [px] |
| Final cost : 0.787421 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 217 |
| => Completed observations: 147 |
| => Filtered observations: 1790 |
| => Changed observations: 0.079849 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 50886 |
| Parameters : 14656 |
| Iterations : 3 |
| Time : 0.10096 [s] |
| Initial cost : 0.897669 [px] |
| Final cost : 0.869503 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 103 |
| => Completed observations: 303 |
| => Filtered observations: 13 |
| => Changed observations: 0.016468 |
|
|
| ============================================================================== |
| Registering image #12 (76) |
| ============================================================================== |
|
|
| => Image sees 2958 / 5371 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6202 |
| Parameters : 6 |
| Iterations : 20 |
| Time : 0.095181 [s] |
| Initial cost : 0.8737 [px] |
| Final cost : 0.830235 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2648 |
| => Added observations: 2750 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54716 |
| Parameters : 15595 |
| Iterations : 26 |
| Time : 0.624309 [s] |
| Initial cost : 0.839308 [px] |
| Final cost : 0.779796 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 111 |
| => Completed observations: 152 |
| => Filtered observations: 1820 |
| => Changed observations: 0.076139 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 51602 |
| Parameters : 14938 |
| Iterations : 3 |
| Time : 0.099314 [s] |
| Initial cost : 0.893511 [px] |
| Final cost : 0.864808 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 74 |
| => Completed observations: 262 |
| => Filtered observations: 18 |
| => Changed observations: 0.013720 |
|
|
| ============================================================================== |
| Registering image #11 (77) |
| ============================================================================== |
|
|
| => Image sees 2779 / 5182 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5914 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.08114 [s] |
| Initial cost : 0.820009 [px] |
| Final cost : 0.811667 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2517 |
| => Added observations: 2587 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55148 |
| Parameters : 15349 |
| Iterations : 26 |
| Time : 0.602714 [s] |
| Initial cost : 0.813794 [px] |
| Final cost : 0.751477 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 191 |
| => Completed observations: 139 |
| => Filtered observations: 1404 |
| => Changed observations: 0.062885 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 51230 |
| Parameters : 14770 |
| Iterations : 3 |
| Time : 0.108104 [s] |
| Initial cost : 0.881273 [px] |
| Final cost : 0.855244 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 109 |
| => Completed observations: 214 |
| => Filtered observations: 13 |
| => Changed observations: 0.013117 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 1246 |
| => Completed observations: 482 |
| => Retriangulated observations: 2814 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.372522e+06 0.00e+00 6.95e+07 0.00e+00 0.00e+00 1.00e+04 0 1.54e-01 1.24e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 3.1919e+07 |
| Nonzeros in L: 1.0465e+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: 3.1919e+07 |
| nnz(L): 1.0465e+05 |
| OK |
| 1 8.207406e+05 5.52e+05 9.71e+04 1.10e+01 9.97e-01 3.00e+04 1 6.18e-01 1.86e+00 |
| 2 8.189730e+05 1.77e+03 1.81e+04 4.33e+00 9.98e-01 9.00e+04 1 3.51e-01 2.21e+00 |
| 3 8.189579e+05 1.52e+01 2.43e+04 2.48e+00 1.00e+00 2.70e+05 1 3.53e-01 2.57e+00 |
| 4 8.189554e+05 2.44e+00 4.45e+03 1.13e+00 1.00e+00 8.10e+05 1 3.47e-01 2.91e+00 |
| 5 8.189550e+05 4.31e-01 4.92e+02 5.04e-01 1.00e+00 2.43e+06 1 3.50e-01 3.26e+00 |
| 6 8.189550e+05 1.49e-02 1.74e+01 1.03e-01 1.00e+00 7.29e+06 1 3.50e-01 3.61e+00 |
| 7 8.189550e+05 7.39e-05 6.56e-01 7.47e-03 1.00e+00 2.19e+07 1 3.43e-01 3.96e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 614970 |
| Parameters : 200719 |
| Iterations : 8 |
| Time : 3.98525 [s] |
| Initial cost : 1.49394 [px] |
| Final cost : 1.15399 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 993 |
| => Completed observations: 1089 |
| => Filtered observations: 5143 |
| => Changed observations: 0.023497 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.925073e+05 0.00e+00 3.46e+05 0.00e+00 0.00e+00 1.00e+04 0 1.51e-01 1.21e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 3.1919e+07 |
| Nonzeros in L: 1.0465e+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: 3.1919e+07 |
| nnz(L): 1.0465e+05 |
| OK |
| 1 4.701408e+05 2.24e+04 2.63e+04 5.29e+00 1.00e+00 3.00e+04 1 5.79e-01 1.79e+00 |
| 2 4.699594e+05 1.81e+02 7.14e+03 1.68e+00 1.00e+00 9.00e+04 1 3.31e-01 2.12e+00 |
| 3 4.699561e+05 3.27e+00 3.50e+02 3.36e-01 1.00e+00 2.70e+05 1 3.28e-01 2.45e+00 |
| 4 4.699559e+05 2.09e-01 6.13e+01 2.44e-01 1.00e+00 8.10e+05 1 3.25e-01 2.77e+00 |
| 5 4.699559e+05 3.45e-02 2.99e+01 1.33e-01 1.00e+00 2.43e+06 1 3.42e-01 3.11e+00 |
| 6 4.699559e+05 1.08e-03 1.84e+00 2.63e-02 1.00e+00 7.29e+06 1 3.32e-01 3.45e+00 |
| 7 4.699559e+05 4.75e-06 2.39e-01 1.81e-03 1.00e+00 2.19e+07 1 3.34e-01 3.78e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 606662 |
| Parameters : 199372 |
| Iterations : 8 |
| Time : 3.81223 [s] |
| Initial cost : 0.901017 [px] |
| Final cost : 0.880147 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1201 |
| => Completed observations: 500 |
| => Filtered observations: 497 |
| => Changed observations: 0.007246 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.718725e+05 0.00e+00 1.13e+05 0.00e+00 0.00e+00 1.00e+04 0 1.56e-01 1.21e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 3.1919e+07 |
| Nonzeros in L: 1.0465e+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: 3.1919e+07 |
| nnz(L): 1.0465e+05 |
| OK |
| 1 4.688596e+05 3.01e+03 2.88e+03 8.57e-01 1.00e+00 3.00e+04 1 5.92e-01 1.81e+00 |
| 2 4.688546e+05 5.06e+00 1.67e+02 2.22e-01 1.00e+00 9.00e+04 1 3.36e-01 2.14e+00 |
| 3 4.688545e+05 8.88e-02 1.00e+01 5.84e-02 1.00e+00 2.70e+05 1 3.33e-01 2.48e+00 |
| 4 4.688545e+05 4.87e-03 3.65e+00 4.07e-02 1.00e+00 8.10e+05 1 3.32e-01 2.81e+00 |
| 5 4.688545e+05 8.04e-04 1.93e+00 2.05e-02 1.00e+00 2.43e+06 1 3.26e-01 3.13e+00 |
| 6 4.688545e+05 2.52e-05 5.02e-01 4.03e-03 1.00e+00 7.29e+06 1 3.31e-01 3.46e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 608070 |
| Parameters : 199150 |
| Iterations : 7 |
| Time : 3.49381 [s] |
| Initial cost : 0.880918 [px] |
| Final cost : 0.878096 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 220 |
| => Completed observations: 130 |
| => Filtered observations: 156 |
| => Changed observations: 0.001664 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 4.691337e+05 0.00e+00 2.99e+04 0.00e+00 0.00e+00 1.00e+04 0 1.54e-01 1.23e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 3.1919e+07 |
| Nonzeros in L: 1.0465e+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: 3.1919e+07 |
| nnz(L): 1.0465e+05 |
| OK |
| 1 4.684284e+05 7.05e+02 6.71e+02 3.32e-01 1.00e+00 3.00e+04 1 6.09e-01 1.84e+00 |
| 2 4.684280e+05 3.62e-01 1.95e+02 1.59e-01 1.00e+00 9.00e+04 1 3.29e-01 2.17e+00 |
| 3 4.684280e+05 1.13e-02 2.72e+01 7.35e-02 9.99e-01 2.70e+05 1 3.27e-01 2.50e+00 |
| 4 4.684280e+05 2.12e-04 2.00e+00 1.50e-02 9.99e-01 8.10e+05 1 3.26e-01 2.82e+00 |
| 5 4.684280e+05 4.25e-06 2.07e-01 1.96e-03 1.00e+00 2.43e+06 1 3.34e-01 3.16e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 608198 |
| Parameters : 199117 |
| Iterations : 6 |
| Time : 3.18602 [s] |
| Initial cost : 0.878265 [px] |
| Final cost : 0.877605 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 55 |
| => Completed observations: 22 |
| => Filtered observations: 51 |
| => Changed observations: 0.000421 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #10 (78) |
| ============================================================================== |
|
|
| => Image sees 2600 / 5232 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5598 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.0762351 [s] |
| Initial cost : 0.907009 [px] |
| Final cost : 0.815421 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2364 |
| => Added observations: 2359 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 102888 |
| Parameters : 25975 |
| Iterations : 26 |
| Time : 1.07179 [s] |
| Initial cost : 0.757744 [px] |
| Final cost : 0.728884 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 129 |
| => Completed observations: 190 |
| => Filtered observations: 1742 |
| => Changed observations: 0.040063 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99936 |
| Parameters : 25567 |
| Iterations : 3 |
| Time : 0.171863 [s] |
| Initial cost : 0.913278 [px] |
| Final cost : 0.894351 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 101 |
| => Completed observations: 192 |
| => Filtered observations: 24 |
| => Changed observations: 0.006344 |
|
|
| ============================================================================== |
| Registering image #9 (79) |
| ============================================================================== |
|
|
| => Image sees 2512 / 5903 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5088 |
| Parameters : 6 |
| Iterations : 23 |
| Time : 0.0955758 [s] |
| Initial cost : 0.910274 [px] |
| Final cost : 0.810732 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2220 |
| => Added observations: 2631 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54512 |
| Parameters : 14881 |
| Iterations : 26 |
| Time : 0.589546 [s] |
| Initial cost : 0.801998 [px] |
| Final cost : 0.739241 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 142 |
| => Completed observations: 159 |
| => Filtered observations: 1210 |
| => Changed observations: 0.055437 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52646 |
| Parameters : 14464 |
| Iterations : 3 |
| Time : 0.101038 [s] |
| Initial cost : 0.839973 [px] |
| Final cost : 0.816694 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 43 |
| => Completed observations: 150 |
| => Filtered observations: 14 |
| => Changed observations: 0.007864 |
|
|
| ============================================================================== |
| Registering image #8 (80) |
| ============================================================================== |
|
|
| => Image sees 2526 / 5743 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4044 |
| Parameters : 6 |
| Iterations : 28 |
| Time : 0.0873399 [s] |
| Initial cost : 0.882225 [px] |
| Final cost : 0.866617 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1696 |
| => Added observations: 3147 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54016 |
| Parameters : 14566 |
| Iterations : 26 |
| Time : 0.592377 [s] |
| Initial cost : 0.97645 [px] |
| Final cost : 0.876728 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 66 |
| => Completed observations: 113 |
| => Filtered observations: 3015 |
| => Changed observations: 0.118261 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 48654 |
| Parameters : 13204 |
| Iterations : 4 |
| Time : 0.187479 [s] |
| Initial cost : 0.877266 [px] |
| Final cost : 0.82696 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 56 |
| => Completed observations: 503 |
| => Filtered observations: 29 |
| => Changed observations: 0.024171 |
|
|
| ============================================================================== |
| Registering image #62 (81) |
| ============================================================================== |
|
|
| => Image sees 2654 / 4772 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5236 |
| Parameters : 6 |
| Iterations : 28 |
| Time : 0.113947 [s] |
| Initial cost : 0.939356 [px] |
| Final cost : 0.894275 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2026 |
| => Added observations: 2932 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59902 |
| Parameters : 13300 |
| Iterations : 26 |
| Time : 0.591799 [s] |
| Initial cost : 0.921887 [px] |
| Final cost : 0.840012 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 144 |
| => Completed observations: 141 |
| => Filtered observations: 2854 |
| => Changed observations: 0.104805 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56526 |
| Parameters : 11374 |
| Iterations : 3 |
| Time : 0.0960388 [s] |
| Initial cost : 0.906591 [px] |
| Final cost : 0.870683 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 119 |
| => Completed observations: 363 |
| => Filtered observations: 61 |
| => Changed observations: 0.019212 |
|
|
| ============================================================================== |
| Registering image #59 (82) |
| ============================================================================== |
|
|
| => Image sees 2673 / 5236 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5986 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0906489 [s] |
| Initial cost : 0.897704 [px] |
| Final cost : 0.884728 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2109 |
| => Added observations: 3558 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60476 |
| Parameters : 14014 |
| Iterations : 26 |
| Time : 0.585763 [s] |
| Initial cost : 0.985013 [px] |
| Final cost : 0.893759 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 108 |
| => Completed observations: 165 |
| => Filtered observations: 3624 |
| => Changed observations: 0.128878 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54366 |
| Parameters : 12037 |
| Iterations : 4 |
| Time : 0.106581 [s] |
| Initial cost : 0.952625 [px] |
| Final cost : 0.911685 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 236 |
| => Completed observations: 679 |
| => Filtered observations: 49 |
| => Changed observations: 0.035463 |
|
|
| ============================================================================== |
| Registering image #60 (83) |
| ============================================================================== |
|
|
| => Image sees 2980 / 5132 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7070 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.078948 [s] |
| Initial cost : 0.89321 [px] |
| Final cost : 0.880763 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2541 |
| => Added observations: 3903 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58908 |
| Parameters : 15322 |
| Iterations : 26 |
| Time : 0.612186 [s] |
| Initial cost : 0.963121 [px] |
| Final cost : 0.895654 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 141 |
| => Completed observations: 136 |
| => Filtered observations: 3584 |
| => Changed observations: 0.131086 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52636 |
| Parameters : 13423 |
| Iterations : 4 |
| Time : 0.112255 [s] |
| Initial cost : 0.963239 [px] |
| Final cost : 0.914925 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 189 |
| => Completed observations: 502 |
| => Filtered observations: 51 |
| => Changed observations: 0.028194 |
|
|
| ============================================================================== |
| Registering image #61 (84) |
| ============================================================================== |
|
|
| => Image sees 3306 / 4917 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6406 |
| Parameters : 6 |
| Iterations : 22 |
| Time : 0.118705 [s] |
| Initial cost : 0.940668 [px] |
| Final cost : 0.904775 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2330 |
| => Added observations: 4282 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59164 |
| Parameters : 15154 |
| Iterations : 26 |
| Time : 0.598442 [s] |
| Initial cost : 1.04273 [px] |
| Final cost : 0.954062 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 268 |
| => Completed observations: 145 |
| => Filtered observations: 4452 |
| => Changed observations: 0.164458 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 51154 |
| Parameters : 13855 |
| Iterations : 4 |
| Time : 0.115208 [s] |
| Initial cost : 0.973306 [px] |
| Final cost : 0.91092 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 299 |
| => Completed observations: 572 |
| => Filtered observations: 51 |
| => Changed observations: 0.036048 |
|
|
| ============================================================================== |
| Registering image #7 (85) |
| ============================================================================== |
|
|
| => Image sees 2289 / 4469 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4300 |
| Parameters : 6 |
| Iterations : 21 |
| Time : 0.0723629 [s] |
| Initial cost : 0.856871 [px] |
| Final cost : 0.848438 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1718 |
| => Added observations: 3232 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 52708 |
| Parameters : 14566 |
| Iterations : 26 |
| Time : 0.55212 [s] |
| Initial cost : 0.936347 [px] |
| Final cost : 0.842401 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 125 |
| => Completed observations: 117 |
| => Filtered observations: 2684 |
| => Changed observations: 0.111027 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 48126 |
| Parameters : 13069 |
| Iterations : 3 |
| Time : 0.14864 [s] |
| Initial cost : 0.892913 [px] |
| Final cost : 0.85447 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 106 |
| => Completed observations: 399 |
| => Filtered observations: 26 |
| => Changed observations: 0.022067 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 1322 |
| => Completed observations: 489 |
| => Retriangulated observations: 3582 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.515942e+06 0.00e+00 6.34e+07 0.00e+00 0.00e+00 1.00e+04 0 1.65e-01 1.49e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 4.3057e+07 |
| Nonzeros in L: 1.2776e+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: 4.3057e+07 |
| nnz(L): 1.2776e+05 |
| OK |
| 1 8.401689e+05 6.76e+05 1.37e+05 1.26e+01 9.98e-01 3.00e+04 1 7.05e-01 2.20e+00 |
| 2 8.381413e+05 2.03e+03 5.34e+04 4.49e+00 9.99e-01 9.00e+04 1 4.70e-01 2.67e+00 |
| 3 8.381258e+05 1.55e+01 1.18e+04 2.10e+00 1.00e+00 2.70e+05 1 4.18e-01 3.08e+00 |
| 4 8.381245e+05 1.22e+00 1.05e+03 4.95e-01 1.00e+00 8.10e+05 1 4.13e-01 3.50e+00 |
| 5 8.381243e+05 2.09e-01 7.86e+01 3.11e-01 1.00e+00 2.43e+06 1 4.72e-01 3.97e+00 |
| 6 8.381243e+05 8.08e-03 7.30e+00 7.13e-02 1.00e+00 7.29e+06 1 4.79e-01 4.45e+00 |
| 7 8.381243e+05 4.51e-05 6.02e-01 5.56e-03 1.00e+00 2.19e+07 1 4.36e-01 4.88e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 666064 |
| Parameters : 219670 |
| Iterations : 8 |
| Time : 4.91791 [s] |
| Initial cost : 1.50863 [px] |
| Final cost : 1.12175 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1656 |
| => Completed observations: 2150 |
| => Filtered observations: 6210 |
| => Changed observations: 0.030075 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.417439e+05 0.00e+00 4.36e+05 0.00e+00 0.00e+00 1.00e+04 0 1.77e-01 1.43e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 4.3057e+07 |
| Nonzeros in L: 1.2776e+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: 4.3057e+07 |
| nnz(L): 1.2776e+05 |
| OK |
| 1 5.152743e+05 2.65e+04 1.72e+04 4.49e+00 1.00e+00 3.00e+04 1 7.18e-01 2.15e+00 |
| 2 5.151840e+05 9.03e+01 6.35e+02 1.34e+00 1.00e+00 9.00e+04 1 4.82e-01 2.63e+00 |
| 3 5.151805e+05 3.42e+00 1.48e+03 6.36e-01 1.00e+00 2.70e+05 1 4.27e-01 3.06e+00 |
| 4 5.151791e+05 1.42e+00 1.44e+02 5.91e-01 1.00e+00 8.10e+05 1 4.76e-01 3.54e+00 |
| 5 5.151788e+05 2.72e-01 1.74e+02 3.62e-01 1.00e+00 2.43e+06 1 4.23e-01 3.96e+00 |
| 6 5.151788e+05 9.87e-03 9.06e+00 7.83e-02 1.00e+00 7.29e+06 1 4.79e-01 4.44e+00 |
| 7 5.151788e+05 5.13e-05 7.26e-01 5.87e-03 1.00e+00 2.19e+07 1 4.82e-01 4.92e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 656938 |
| Parameters : 217591 |
| Iterations : 8 |
| Time : 4.95677 [s] |
| Initial cost : 0.908102 [px] |
| Final cost : 0.885558 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1513 |
| => Completed observations: 784 |
| => Filtered observations: 692 |
| => Changed observations: 0.009100 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.169273e+05 0.00e+00 2.71e+05 0.00e+00 0.00e+00 1.00e+04 0 1.75e-01 1.50e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 4.3057e+07 |
| Nonzeros in L: 1.2776e+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: 4.3057e+07 |
| nnz(L): 1.2776e+05 |
| OK |
| 1 5.128052e+05 4.12e+03 1.39e+03 1.20e+00 1.00e+00 3.00e+04 1 7.16e-01 2.21e+00 |
| 2 5.128026e+05 2.63e+00 5.26e+01 1.94e-01 1.00e+00 9.00e+04 1 4.61e-01 2.67e+00 |
| 3 5.128025e+05 4.81e-02 2.25e+01 5.85e-02 1.00e+00 2.70e+05 1 4.63e-01 3.14e+00 |
| 4 5.128025e+05 1.91e-02 2.05e+00 7.01e-02 1.00e+00 8.10e+05 1 4.60e-01 3.60e+00 |
| 5 5.128025e+05 3.69e-03 2.49e+00 4.23e-02 1.00e+00 2.43e+06 1 4.71e-01 4.07e+00 |
| 6 5.128025e+05 1.35e-04 9.42e-01 9.15e-03 1.00e+00 7.29e+06 1 4.61e-01 4.53e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 658578 |
| Parameters : 217219 |
| Iterations : 7 |
| Time : 4.56398 [s] |
| Initial cost : 0.885954 [px] |
| Final cost : 0.882412 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 249 |
| => Completed observations: 284 |
| => Filtered observations: 242 |
| => Changed observations: 0.002354 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.126688e+05 0.00e+00 1.23e+05 0.00e+00 0.00e+00 1.00e+04 0 1.75e-01 1.55e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 4.3057e+07 |
| Nonzeros in L: 1.2776e+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: 4.3057e+07 |
| nnz(L): 1.2776e+05 |
| OK |
| 1 5.116789e+05 9.90e+02 1.94e+02 3.93e-01 1.00e+00 3.00e+04 1 7.29e-01 2.28e+00 |
| 2 5.116787e+05 1.66e-01 7.03e+00 3.82e-02 1.00e+00 9.00e+04 1 4.58e-01 2.74e+00 |
| 3 5.116787e+05 2.38e-03 1.92e+00 1.24e-02 1.00e+00 2.70e+05 1 4.73e-01 3.21e+00 |
| 4 5.116787e+05 1.01e-03 1.84e+00 1.70e-02 1.00e+00 8.10e+05 1 4.84e-01 3.70e+00 |
| 5 5.116787e+05 1.97e-04 9.62e-01 9.82e-03 1.00e+00 2.43e+06 1 4.74e-01 4.17e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 658592 |
| Parameters : 217105 |
| Iterations : 6 |
| Time : 4.20559 [s] |
| Initial cost : 0.882288 [px] |
| Final cost : 0.881435 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 76 |
| => Completed observations: 47 |
| => Filtered observations: 86 |
| => Changed observations: 0.000635 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.115405e+05 0.00e+00 2.43e+04 0.00e+00 0.00e+00 1.00e+04 0 1.73e-01 1.56e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 4.3057e+07 |
| Nonzeros in L: 1.2776e+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: 4.3057e+07 |
| nnz(L): 1.2776e+05 |
| OK |
| 1 5.112333e+05 3.07e+02 7.18e+01 2.05e-01 1.00e+00 3.00e+04 1 7.18e-01 2.28e+00 |
| 2 5.112333e+05 3.40e-02 1.10e+01 3.87e-02 1.00e+00 9.00e+04 1 4.63e-01 2.75e+00 |
| 3 5.112333e+05 6.06e-04 1.94e+00 1.81e-02 9.99e-01 2.70e+05 1 4.70e-01 3.22e+00 |
| 4 5.112333e+05 1.53e-04 7.15e-01 8.31e-03 1.00e+00 8.10e+05 1 4.10e-01 3.63e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 658572 |
| Parameters : 217081 |
| Iterations : 5 |
| Time : 3.66105 [s] |
| Initial cost : 0.88133 [px] |
| Final cost : 0.881065 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 40 |
| => Completed observations: 0 |
| => Filtered observations: 33 |
| => Changed observations: 0.000222 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #6 (86) |
| ============================================================================== |
|
|
| => Image sees 2355 / 5274 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4592 |
| Parameters : 6 |
| Iterations : 22 |
| Time : 0.084235 [s] |
| Initial cost : 0.905382 [px] |
| Final cost : 0.855785 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1794 |
| => Added observations: 3638 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 107270 |
| Parameters : 27784 |
| Iterations : 26 |
| Time : 1.27715 [s] |
| Initial cost : 0.835811 [px] |
| Final cost : 0.787491 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 164 |
| => Completed observations: 197 |
| => Filtered observations: 3155 |
| => Changed observations: 0.065554 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 101852 |
| Parameters : 26557 |
| Iterations : 3 |
| Time : 0.188796 [s] |
| Initial cost : 0.933923 [px] |
| Final cost : 0.905343 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 231 |
| => Completed observations: 409 |
| => Filtered observations: 32 |
| => Changed observations: 0.013196 |
|
|
| ============================================================================== |
| Registering image #5 (87) |
| ============================================================================== |
|
|
| => Image sees 2744 / 5649 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5698 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0979099 [s] |
| Initial cost : 0.93751 [px] |
| Final cost : 0.847802 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2259 |
| => Added observations: 3910 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55300 |
| Parameters : 16219 |
| Iterations : 26 |
| Time : 0.68685 [s] |
| Initial cost : 0.903073 [px] |
| Final cost : 0.84016 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 215 |
| => Completed observations: 143 |
| => Filtered observations: 2597 |
| => Changed observations: 0.106872 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 50950 |
| Parameters : 14956 |
| Iterations : 4 |
| Time : 0.138987 [s] |
| Initial cost : 0.897755 [px] |
| Final cost : 0.858695 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 167 |
| => Completed observations: 436 |
| => Filtered observations: 38 |
| => Changed observations: 0.025162 |
|
|
| ============================================================================== |
| Registering image #4 (88) |
| ============================================================================== |
|
|
| => Image sees 3258 / 5910 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7124 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.073823 [s] |
| Initial cost : 0.840338 [px] |
| Final cost : 0.830214 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2852 |
| => Added observations: 4166 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58634 |
| Parameters : 17602 |
| Iterations : 26 |
| Time : 0.7863 [s] |
| Initial cost : 0.89874 [px] |
| Final cost : 0.83446 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 251 |
| => Completed observations: 185 |
| => Filtered observations: 2677 |
| => Changed observations: 0.106184 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 53952 |
| Parameters : 16252 |
| Iterations : 4 |
| Time : 0.161525 [s] |
| Initial cost : 0.899977 [px] |
| Final cost : 0.862259 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 228 |
| => Completed observations: 440 |
| => Filtered observations: 44 |
| => Changed observations: 0.026394 |
|
|
| ============================================================================== |
| Registering image #3 (89) |
| ============================================================================== |
|
|
| => Image sees 3569 / 5929 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8006 |
| Parameters : 6 |
| Iterations : 29 |
| Time : 0.192871 [s] |
| Initial cost : 0.862424 [px] |
| Final cost : 0.825583 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3112 |
| => Added observations: 3781 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61702 |
| Parameters : 18298 |
| Iterations : 26 |
| Time : 0.842655 [s] |
| Initial cost : 0.890252 [px] |
| Final cost : 0.828604 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 217 |
| => Completed observations: 221 |
| => Filtered observations: 2840 |
| => Changed observations: 0.106253 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56852 |
| Parameters : 16996 |
| Iterations : 4 |
| Time : 0.160885 [s] |
| Initial cost : 0.893946 [px] |
| Final cost : 0.855602 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 185 |
| => Completed observations: 420 |
| => Filtered observations: 38 |
| => Changed observations: 0.022620 |
|
|
| ============================================================================== |
| Registering image #2 (90) |
| ============================================================================== |
|
|
| => Image sees 3844 / 5944 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 9246 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.104209 [s] |
| Initial cost : 0.834396 [px] |
| Final cost : 0.825888 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3502 |
| => Added observations: 3797 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 67436 |
| Parameters : 19747 |
| Iterations : 26 |
| Time : 0.826755 [s] |
| Initial cost : 0.865333 [px] |
| Final cost : 0.807479 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 367 |
| => Completed observations: 209 |
| => Filtered observations: 2818 |
| => Changed observations: 0.100658 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62778 |
| Parameters : 18397 |
| Iterations : 4 |
| Time : 0.189222 [s] |
| Initial cost : 0.879801 [px] |
| Final cost : 0.842145 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 159 |
| => Completed observations: 403 |
| => Filtered observations: 41 |
| => Changed observations: 0.019211 |
|
|
| ============================================================================== |
| Registering image #1 (91) |
| ============================================================================== |
|
|
| => Image sees 3882 / 5431 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 8536 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.13719 [s] |
| Initial cost : 0.874078 [px] |
| Final cost : 0.85845 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3015 |
| => Added observations: 3910 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 70518 |
| Parameters : 19126 |
| Iterations : 26 |
| Time : 0.862118 [s] |
| Initial cost : 0.926722 [px] |
| Final cost : 0.856509 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 309 |
| => Completed observations: 219 |
| => Filtered observations: 3707 |
| => Changed observations: 0.120111 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64118 |
| Parameters : 17527 |
| Iterations : 4 |
| Time : 0.179839 [s] |
| Initial cost : 0.898685 [px] |
| Final cost : 0.852945 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 261 |
| => Completed observations: 587 |
| => Filtered observations: 53 |
| => Changed observations: 0.028104 |
|
|
| ============================================================================== |
| Registering image #104 (92) |
| ============================================================================== |
|
|
| => Image sees 2625 / 5639 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5538 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0694671 [s] |
| Initial cost : 0.836973 [px] |
| Final cost : 0.820876 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2355 |
| => Added observations: 1354 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64260 |
| Parameters : 11641 |
| Iterations : 26 |
| Time : 0.729902 [s] |
| Initial cost : 0.799975 [px] |
| Final cost : 0.730318 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 347 |
| => Completed observations: 177 |
| => Filtered observations: 1323 |
| => Changed observations: 0.057485 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62628 |
| Parameters : 11344 |
| Iterations : 3 |
| Time : 0.132875 [s] |
| Initial cost : 0.889406 [px] |
| Final cost : 0.868433 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 124 |
| => Completed observations: 161 |
| => Filtered observations: 51 |
| => Changed observations: 0.010730 |
|
|
| ============================================================================== |
| Registering image #103 (93) |
| ============================================================================== |
|
|
| => Image sees 2542 / 4662 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5798 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.07112 [s] |
| Initial cost : 0.837967 [px] |
| Final cost : 0.794648 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2386 |
| => Added observations: 2022 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63422 |
| Parameters : 11599 |
| Iterations : 26 |
| Time : 0.686611 [s] |
| Initial cost : 0.760317 [px] |
| Final cost : 0.720814 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 317 |
| => Completed observations: 217 |
| => Filtered observations: 1056 |
| => Changed observations: 0.050140 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61976 |
| Parameters : 11251 |
| Iterations : 3 |
| Time : 0.130368 [s] |
| Initial cost : 0.884409 [px] |
| Final cost : 0.867181 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 130 |
| => Completed observations: 167 |
| => Filtered observations: 14 |
| => Changed observations: 0.010036 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 741 |
| => Completed observations: 652 |
| => Retriangulated observations: 3108 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.683815e+06 0.00e+00 2.56e+07 0.00e+00 0.00e+00 1.00e+04 0 2.12e-01 1.94e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 5.6524e+07 |
| Nonzeros in L: 1.5318e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.6 |
| 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: 5.6524e+07 |
| nnz(L): 1.5318e+05 |
| OK |
| 1 9.363771e+05 7.47e+05 9.60e+04 1.18e+01 9.96e-01 3.00e+04 1 7.97e-01 2.74e+00 |
| 2 9.335626e+05 2.81e+03 5.52e+03 1.81e+00 1.00e+00 9.00e+04 1 4.43e-01 3.19e+00 |
| 3 9.335530e+05 9.63e+00 4.85e+03 1.14e+00 1.00e+00 2.70e+05 1 4.70e-01 3.65e+00 |
| 4 9.335471e+05 5.86e+00 2.58e+03 1.32e+00 1.00e+00 8.10e+05 1 4.53e-01 4.11e+00 |
| 5 9.335457e+05 1.41e+00 7.94e+02 8.27e-01 1.00e+00 2.43e+06 1 4.87e-01 4.59e+00 |
| 6 9.335457e+05 6.65e-02 4.65e+01 2.05e-01 1.00e+00 7.29e+06 1 4.55e-01 5.05e+00 |
| 7 9.335457e+05 4.64e-04 1.87e+00 1.79e-02 1.00e+00 2.19e+07 1 4.85e-01 5.53e+00 |
| 8 9.335457e+05 4.43e-07 8.13e-02 5.47e-04 1.00e+00 6.56e+07 1 4.29e-01 5.96e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 729748 |
| Parameters : 239650 |
| Iterations : 9 |
| Time : 6.00526 [s] |
| Initial cost : 1.51901 [px] |
| Final cost : 1.13105 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1459 |
| => Completed observations: 2195 |
| => Filtered observations: 5407 |
| => Changed observations: 0.024833 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.866241e+05 0.00e+00 5.04e+05 0.00e+00 0.00e+00 1.00e+04 0 2.08e-01 1.95e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 5.6524e+07 |
| Nonzeros in L: 1.5318e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.6 |
| 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: 5.6524e+07 |
| nnz(L): 1.5318e+05 |
| OK |
| 1 5.636996e+05 2.29e+04 5.39e+04 4.80e+00 1.00e+00 3.00e+04 1 7.82e-01 2.73e+00 |
| 2 5.636566e+05 4.30e+01 2.48e+04 2.61e+00 9.99e-01 9.00e+04 1 4.54e-01 3.19e+00 |
| 3 5.636508e+05 5.78e+00 3.61e+02 1.06e+00 9.99e-01 2.70e+05 1 4.29e-01 3.62e+00 |
| 4 5.636479e+05 2.86e+00 7.21e+02 8.20e-01 1.00e+00 8.10e+05 1 4.49e-01 4.07e+00 |
| 5 5.636473e+05 6.41e-01 2.81e+02 5.54e-01 1.00e+00 2.43e+06 1 4.42e-01 4.51e+00 |
| 6 5.636473e+05 2.85e-02 1.94e+01 1.34e-01 1.00e+00 7.29e+06 1 4.77e-01 4.98e+00 |
| 7 5.636473e+05 1.86e-04 1.09e+00 1.14e-02 1.00e+00 2.19e+07 1 4.82e-01 5.47e+00 |
| 8 5.636473e+05 1.64e-07 5.40e-02 3.32e-04 1.01e+00 6.56e+07 1 4.26e-01 5.89e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 721834 |
| Parameters : 237793 |
| Iterations : 9 |
| Time : 5.93412 [s] |
| Initial cost : 0.901491 [px] |
| Final cost : 0.88366 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1401 |
| => Completed observations: 748 |
| => Filtered observations: 565 |
| => Changed observations: 0.007520 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.660112e+05 0.00e+00 1.11e+05 0.00e+00 0.00e+00 1.00e+04 0 2.10e-01 1.99e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 5.6524e+07 |
| Nonzeros in L: 1.5318e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.6 |
| 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: 5.6524e+07 |
| nnz(L): 1.5318e+05 |
| OK |
| 1 5.624713e+05 3.54e+03 8.79e+02 9.42e-01 1.00e+00 3.00e+04 1 8.29e-01 2.82e+00 |
| 2 5.624703e+05 1.08e+00 1.13e+02 1.69e-01 1.00e+00 9.00e+04 1 4.33e-01 3.25e+00 |
| 3 5.624702e+05 1.54e-02 3.78e+01 8.56e-02 1.00e+00 2.70e+05 1 4.25e-01 3.68e+00 |
| 4 5.624702e+05 3.54e-04 2.12e+00 1.80e-02 9.99e-01 8.10e+05 1 4.50e-01 4.13e+00 |
| 5 5.624702e+05 1.33e-05 3.05e-01 3.04e-03 1.00e+00 2.43e+06 1 4.78e-01 4.61e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 723488 |
| Parameters : 237490 |
| Iterations : 6 |
| Time : 4.64922 [s] |
| Initial cost : 0.884498 [px] |
| Final cost : 0.881727 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 240 |
| => Completed observations: 138 |
| => Filtered observations: 169 |
| => Changed observations: 0.001512 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 5.627738e+05 0.00e+00 4.07e+04 0.00e+00 0.00e+00 1.00e+04 0 1.91e-01 2.01e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 5.6524e+07 |
| Nonzeros in L: 1.5318e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.6 |
| 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: 5.6524e+07 |
| nnz(L): 1.5318e+05 |
| OK |
| 1 5.619991e+05 7.75e+02 2.05e+02 4.29e-01 1.00e+00 3.00e+04 1 7.65e-01 2.77e+00 |
| 2 5.619990e+05 1.46e-01 6.22e+00 5.17e-02 1.00e+00 9.00e+04 1 4.23e-01 3.19e+00 |
| 3 5.619990e+05 1.27e-03 2.80e+00 2.42e-02 1.00e+00 2.70e+05 1 4.11e-01 3.61e+00 |
| 4 5.619990e+05 4.48e-05 7.61e-01 6.02e-03 9.99e-01 8.10e+05 1 4.16e-01 4.02e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 723630 |
| Parameters : 237433 |
| Iterations : 5 |
| Time : 4.0641 [s] |
| Initial cost : 0.881878 [px] |
| Final cost : 0.881271 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 53 |
| => Completed observations: 53 |
| => Filtered observations: 63 |
| => Changed observations: 0.000467 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #105 (94) |
| ============================================================================== |
|
|
| => Image sees 2801 / 4507 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6344 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0785999 [s] |
| Initial cost : 0.793091 [px] |
| Final cost : 0.771708 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2624 |
| => Added observations: 1737 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 110530 |
| Parameters : 22999 |
| Iterations : 26 |
| Time : 1.24431 [s] |
| Initial cost : 0.76158 [px] |
| Final cost : 0.735039 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 323 |
| => Completed observations: 234 |
| => Filtered observations: 1864 |
| => Changed observations: 0.043807 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 107392 |
| Parameters : 22399 |
| Iterations : 3 |
| Time : 0.207557 [s] |
| Initial cost : 0.924016 [px] |
| Final cost : 0.906662 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 166 |
| => Completed observations: 327 |
| => Filtered observations: 36 |
| => Changed observations: 0.009852 |
|
|
| ============================================================================== |
| Registering image #101 (95) |
| ============================================================================== |
|
|
| => Image sees 2509 / 4279 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5644 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.075062 [s] |
| Initial cost : 0.847924 [px] |
| Final cost : 0.810568 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2313 |
| => Added observations: 1579 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62638 |
| Parameters : 10672 |
| Iterations : 26 |
| Time : 0.715765 [s] |
| Initial cost : 0.782047 [px] |
| Final cost : 0.738212 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 314 |
| => Completed observations: 167 |
| => Filtered observations: 1284 |
| => Changed observations: 0.056356 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60692 |
| Parameters : 10222 |
| Iterations : 3 |
| Time : 0.125228 [s] |
| Initial cost : 0.895306 [px] |
| Final cost : 0.876531 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 141 |
| => Completed observations: 160 |
| => Filtered observations: 12 |
| => Changed observations: 0.010314 |
|
|
| ============================================================================== |
| Registering image #102 (96) |
| ============================================================================== |
|
|
| => Image sees 2566 / 3925 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5822 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.075784 [s] |
| Initial cost : 0.863158 [px] |
| Final cost : 0.798612 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2422 |
| => Added observations: 1562 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58928 |
| Parameters : 9901 |
| Iterations : 26 |
| Time : 0.620101 [s] |
| Initial cost : 0.779682 [px] |
| Final cost : 0.745411 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 322 |
| => Completed observations: 171 |
| => Filtered observations: 1445 |
| => Changed observations: 0.065775 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 56654 |
| Parameters : 9247 |
| Iterations : 3 |
| Time : 0.116433 [s] |
| Initial cost : 0.900509 [px] |
| Final cost : 0.880728 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 183 |
| => Completed observations: 171 |
| => Filtered observations: 29 |
| => Changed observations: 0.013521 |
|
|
| ============================================================================== |
| Registering image #100 (97) |
| ============================================================================== |
|
|
| => Image sees 2911 / 4680 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6624 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.120188 [s] |
| Initial cost : 0.852524 [px] |
| Final cost : 0.818706 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2685 |
| => Added observations: 2042 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59774 |
| Parameters : 11380 |
| Iterations : 26 |
| Time : 0.663943 [s] |
| Initial cost : 0.81892 [px] |
| Final cost : 0.773124 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 327 |
| => Completed observations: 192 |
| => Filtered observations: 1800 |
| => Changed observations: 0.077592 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 57240 |
| Parameters : 10768 |
| Iterations : 3 |
| Time : 0.126922 [s] |
| Initial cost : 0.906243 [px] |
| Final cost : 0.881804 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 270 |
| => Completed observations: 276 |
| => Filtered observations: 13 |
| => Changed observations: 0.019532 |
|
|
| ============================================================================== |
| Registering image #99 (98) |
| ============================================================================== |
|
|
| => Image sees 2907 / 4155 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5628 |
| Parameters : 6 |
| Iterations : 27 |
| Time : 0.137865 [s] |
| Initial cost : 0.927273 [px] |
| Final cost : 0.893176 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2244 |
| => Added observations: 2056 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63576 |
| Parameters : 11665 |
| Iterations : 26 |
| Time : 0.734043 [s] |
| Initial cost : 0.90961 [px] |
| Final cost : 0.846548 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 250 |
| => Completed observations: 159 |
| => Filtered observations: 2789 |
| => Changed observations: 0.100604 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55514 |
| Parameters : 10018 |
| Iterations : 3 |
| Time : 0.134991 [s] |
| Initial cost : 0.91831 [px] |
| Final cost : 0.884454 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 116 |
| => Completed observations: 400 |
| => Filtered observations: 21 |
| => Changed observations: 0.019346 |
|
|
| ============================================================================== |
| Registering image #98 (99) |
| ============================================================================== |
|
|
| => Image sees 2530 / 4560 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5360 |
| Parameters : 6 |
| Iterations : 12 |
| Time : 0.058543 [s] |
| Initial cost : 0.829153 [px] |
| Final cost : 0.819845 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2119 |
| => Added observations: 2179 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 64554 |
| Parameters : 13849 |
| Iterations : 26 |
| Time : 0.737074 [s] |
| Initial cost : 0.832703 [px] |
| Final cost : 0.770505 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 311 |
| => Completed observations: 152 |
| => Filtered observations: 1756 |
| => Changed observations: 0.068749 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61664 |
| Parameters : 13030 |
| Iterations : 3 |
| Time : 0.142987 [s] |
| Initial cost : 0.882179 [px] |
| Final cost : 0.858904 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 103 |
| => Completed observations: 207 |
| => Filtered observations: 16 |
| => Changed observations: 0.010573 |
|
|
| ============================================================================== |
| Registering image #97 (100) |
| ============================================================================== |
|
|
| => Image sees 2827 / 4945 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6268 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.0946369 [s] |
| Initial cost : 0.848104 [px] |
| Final cost : 0.826016 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2505 |
| => Added observations: 2619 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65674 |
| Parameters : 13798 |
| Iterations : 26 |
| Time : 0.771919 [s] |
| Initial cost : 0.832475 [px] |
| Final cost : 0.773506 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 274 |
| => Completed observations: 191 |
| => Filtered observations: 1870 |
| => Changed observations: 0.071109 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62780 |
| Parameters : 13051 |
| Iterations : 3 |
| Time : 0.146052 [s] |
| Initial cost : 0.893362 [px] |
| Final cost : 0.869965 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 107 |
| => Completed observations: 296 |
| => Filtered observations: 21 |
| => Changed observations: 0.013507 |
|
|
| ============================================================================== |
| Registering image #96 (101) |
| ============================================================================== |
|
|
| => Image sees 2944 / 4576 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6696 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.081419 [s] |
| Initial cost : 0.840085 [px] |
| Final cost : 0.810428 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2632 |
| => Added observations: 2086 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60176 |
| Parameters : 12487 |
| Iterations : 26 |
| Time : 0.660675 [s] |
| Initial cost : 0.848837 [px] |
| Final cost : 0.779403 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 344 |
| => Completed observations: 193 |
| => Filtered observations: 1652 |
| => Changed observations: 0.072753 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 57754 |
| Parameters : 11881 |
| Iterations : 3 |
| Time : 0.129608 [s] |
| Initial cost : 0.912764 [px] |
| Final cost : 0.887932 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 178 |
| => Completed observations: 218 |
| => Filtered observations: 43 |
| => Changed observations: 0.015202 |
|
|
| ============================================================================== |
| Registering image #95 (102) |
| ============================================================================== |
|
|
| => Image sees 3013 / 4543 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6294 |
| Parameters : 6 |
| Iterations : 26 |
| Time : 0.146887 [s] |
| Initial cost : 0.929765 [px] |
| Final cost : 0.875755 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2384 |
| => Added observations: 2311 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59406 |
| Parameters : 11998 |
| Iterations : 26 |
| Time : 0.652692 [s] |
| Initial cost : 0.94851 [px] |
| Final cost : 0.871422 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 352 |
| => Completed observations: 146 |
| => Filtered observations: 2943 |
| => Changed observations: 0.115847 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54634 |
| Parameters : 10738 |
| Iterations : 3 |
| Time : 0.11779 [s] |
| Initial cost : 0.934863 [px] |
| Final cost : 0.901541 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 165 |
| => Completed observations: 551 |
| => Filtered observations: 26 |
| => Changed observations: 0.027163 |
|
|
| ============================================================================== |
| Registering image #92 (103) |
| ============================================================================== |
|
|
| => Image sees 2646 / 4454 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5670 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0797892 [s] |
| Initial cost : 0.803605 [px] |
| Final cost : 0.787258 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2296 |
| => Added observations: 2185 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 66816 |
| Parameters : 11068 |
| Iterations : 26 |
| Time : 0.724772 [s] |
| Initial cost : 0.869055 [px] |
| Final cost : 0.798854 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 298 |
| => Completed observations: 153 |
| => Filtered observations: 2106 |
| => Changed observations: 0.076539 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63450 |
| Parameters : 10006 |
| Iterations : 3 |
| Time : 0.135187 [s] |
| Initial cost : 0.916006 [px] |
| Final cost : 0.895134 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 153 |
| => Completed observations: 380 |
| => Filtered observations: 24 |
| => Changed observations: 0.017557 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 800 |
| => Completed observations: 395 |
| => Retriangulated observations: 1816 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.508756e+06 0.00e+00 1.50e+07 0.00e+00 0.00e+00 1.00e+04 0 2.08e-01 2.24e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 7.697e+07 |
| Nonzeros in L: 1.8819e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.8 |
| 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: 7.697e+07 |
| nnz(L): 1.8819e+05 |
| OK |
| 1 9.507923e+05 5.58e+05 1.74e+05 1.40e+01 9.77e-01 3.00e+04 1 8.57e-01 3.09e+00 |
| 2 9.381424e+05 1.26e+04 3.31e+04 2.80e+00 9.95e-01 9.00e+04 1 4.80e-01 3.57e+00 |
| 3 9.380820e+05 6.05e+01 1.29e+04 1.65e+00 9.98e-01 2.70e+05 1 4.79e-01 4.05e+00 |
| 4 9.380731e+05 8.82e+00 3.95e+03 1.62e+00 1.00e+00 8.10e+05 1 5.29e-01 4.58e+00 |
| 5 9.380707e+05 2.41e+00 9.81e+02 1.08e+00 1.00e+00 2.43e+06 1 4.71e-01 5.05e+00 |
| 6 9.380706e+05 1.34e-01 6.71e+01 2.92e-01 1.00e+00 7.29e+06 1 4.76e-01 5.53e+00 |
| 7 9.380706e+05 1.12e-03 1.37e+00 2.82e-02 1.00e+00 2.19e+07 1 4.93e-01 6.02e+00 |
| 8 9.380706e+05 1.29e-06 1.36e-01 9.49e-04 1.00e+00 6.56e+07 1 4.76e-01 6.50e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 787868 |
| Parameters : 254290 |
| Iterations : 9 |
| Time : 6.54374 [s] |
| Initial cost : 1.38383 [px] |
| Final cost : 1.09117 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 922 |
| => Completed observations: 1121 |
| => Filtered observations: 3463 |
| => Changed observations: 0.013977 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.313180e+05 0.00e+00 4.22e+05 0.00e+00 0.00e+00 1.00e+04 0 2.10e-01 2.26e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 7.697e+07 |
| Nonzeros in L: 1.8819e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.8 |
| 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: 7.697e+07 |
| nnz(L): 1.8819e+05 |
| OK |
| 1 6.146277e+05 1.67e+04 1.32e+04 3.67e+00 1.00e+00 3.00e+04 1 8.57e-01 3.12e+00 |
| 2 6.145900e+05 3.77e+01 1.05e+04 1.26e+00 1.00e+00 9.00e+04 1 4.92e-01 3.61e+00 |
| 3 6.145798e+05 1.01e+01 6.70e+03 1.28e+00 9.99e-01 2.70e+05 1 4.73e-01 4.09e+00 |
| 4 6.145718e+05 8.08e+00 2.81e+03 1.43e+00 1.00e+00 8.10e+05 1 4.74e-01 4.56e+00 |
| 5 6.145697e+05 2.04e+00 7.91e+02 9.24e-01 1.00e+00 2.43e+06 1 4.65e-01 5.03e+00 |
| 6 6.145696e+05 1.03e-01 4.89e+01 2.37e-01 1.00e+00 7.29e+06 1 4.62e-01 5.49e+00 |
| 7 6.145696e+05 7.71e-04 1.84e+00 2.16e-02 1.00e+00 2.19e+07 1 4.59e-01 5.95e+00 |
| 8 6.145696e+05 7.75e-07 1.25e-01 6.80e-04 1.00e+00 6.56e+07 1 4.61e-01 6.41e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 782774 |
| Parameters : 253066 |
| Iterations : 9 |
| Time : 6.45354 [s] |
| Initial cost : 0.898061 [px] |
| Final cost : 0.886069 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 863 |
| => Completed observations: 423 |
| => Filtered observations: 323 |
| => Changed observations: 0.004111 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.163188e+05 0.00e+00 5.81e+04 0.00e+00 0.00e+00 1.00e+04 0 1.94e-01 2.22e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 7.697e+07 |
| Nonzeros in L: 1.8819e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.8 |
| 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: 7.697e+07 |
| nnz(L): 1.8819e+05 |
| OK |
| 1 6.144125e+05 1.91e+03 4.17e+02 8.84e-01 1.00e+00 3.00e+04 1 8.41e-01 3.07e+00 |
| 2 6.144116e+05 9.04e-01 1.02e+03 4.20e-01 1.00e+00 9.00e+04 1 4.58e-01 3.52e+00 |
| 3 6.144116e+05 7.21e-02 2.25e+02 2.07e-01 9.99e-01 2.70e+05 1 4.85e-01 4.01e+00 |
| 4 6.144116e+05 1.81e-03 9.17e+00 3.85e-02 9.99e-01 8.10e+05 1 4.71e-01 4.48e+00 |
| 5 6.144116e+05 5.88e-05 6.50e-01 5.92e-03 1.00e+00 2.43e+06 1 4.60e-01 4.94e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 783850 |
| Parameters : 252901 |
| Iterations : 6 |
| Time : 4.98591 [s] |
| Initial cost : 0.886719 [px] |
| Final cost : 0.885346 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 119 |
| => Completed observations: 40 |
| => Filtered observations: 103 |
| => Changed observations: 0.000668 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.143362e+05 0.00e+00 2.49e+04 0.00e+00 0.00e+00 1.00e+04 0 2.06e-01 2.24e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 7.697e+07 |
| Nonzeros in L: 1.8819e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.8 |
| 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: 7.697e+07 |
| nnz(L): 1.8819e+05 |
| OK |
| 1 6.139114e+05 4.25e+02 7.14e+01 6.11e-01 1.00e+00 3.00e+04 1 8.55e-01 3.09e+00 |
| 2 6.139112e+05 1.16e-01 7.96e+01 1.39e-01 1.00e+00 9.00e+04 1 4.63e-01 3.56e+00 |
| 3 6.139112e+05 6.90e-03 1.86e+01 6.31e-02 9.99e-01 2.70e+05 1 5.21e-01 4.08e+00 |
| 4 6.139112e+05 1.59e-04 1.72e+00 1.01e-02 9.99e-01 8.10e+05 1 5.34e-01 4.61e+00 |
| 5 6.139112e+05 2.19e-06 1.59e-01 7.67e-04 1.00e+00 2.43e+06 1 5.35e-01 5.15e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 783882 |
| Parameters : 252880 |
| Iterations : 6 |
| Time : 5.19207 [s] |
| Initial cost : 0.885274 [px] |
| Final cost : 0.884968 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 32 |
| => Completed observations: 33 |
| => Filtered observations: 26 |
| => Changed observations: 0.000232 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #93 (104) |
| ============================================================================== |
|
|
| => Image sees 2626 / 4469 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5978 |
| Parameters : 6 |
| Iterations : 13 |
| Time : 0.0736551 [s] |
| Initial cost : 0.824245 [px] |
| Final cost : 0.816557 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2351 |
| => Added observations: 2177 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 91558 |
| Parameters : 17899 |
| Iterations : 26 |
| Time : 0.935364 [s] |
| Initial cost : 0.833132 [px] |
| Final cost : 0.786126 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 170 |
| => Completed observations: 154 |
| => Filtered observations: 2314 |
| => Changed observations: 0.057625 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 88216 |
| Parameters : 17161 |
| Iterations : 3 |
| Time : 0.171253 [s] |
| Initial cost : 0.938668 [px] |
| Final cost : 0.917929 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 215 |
| => Completed observations: 312 |
| => Filtered observations: 31 |
| => Changed observations: 0.012651 |
|
|
| ============================================================================== |
| Registering image #94 (105) |
| ============================================================================== |
|
|
| => Image sees 2879 / 4112 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6476 |
| Parameters : 6 |
| Iterations : 14 |
| Time : 0.0847611 [s] |
| Initial cost : 0.832305 [px] |
| Final cost : 0.816227 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2563 |
| => Added observations: 1864 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 54368 |
| Parameters : 10366 |
| Iterations : 26 |
| Time : 0.594181 [s] |
| Initial cost : 0.869136 [px] |
| Final cost : 0.816063 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 348 |
| => Completed observations: 184 |
| => Filtered observations: 2043 |
| => Changed observations: 0.094725 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55412 |
| Parameters : 10426 |
| Iterations : 3 |
| Time : 0.117571 [s] |
| Initial cost : 0.940852 [px] |
| Final cost : 0.912755 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 93 |
| => Completed observations: 381 |
| => Filtered observations: 68 |
| => Changed observations: 0.019563 |
|
|
| ============================================================================== |
| Registering image #108 (106) |
| ============================================================================== |
|
|
| => Image sees 2241 / 4700 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4946 |
| Parameters : 6 |
| Iterations : 25 |
| Time : 0.10787 [s] |
| Initial cost : 0.904137 [px] |
| Final cost : 0.864504 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1953 |
| => Added observations: 1578 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60574 |
| Parameters : 11278 |
| Iterations : 26 |
| Time : 0.741002 [s] |
| Initial cost : 0.83861 [px] |
| Final cost : 0.785689 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 70 |
| => Completed observations: 178 |
| => Filtered observations: 1694 |
| => Changed observations: 0.064120 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58004 |
| Parameters : 10801 |
| Iterations : 3 |
| Time : 0.13559 [s] |
| Initial cost : 0.935792 [px] |
| Final cost : 0.912811 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 155 |
| => Completed observations: 201 |
| => Filtered observations: 10 |
| => Changed observations: 0.012620 |
|
|
| ============================================================================== |
| Registering image #107 (107) |
| ============================================================================== |
|
|
| => Image sees 2574 / 4555 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6038 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.104514 [s] |
| Initial cost : 0.856032 [px] |
| Final cost : 0.828983 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2339 |
| => Added observations: 2466 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62492 |
| Parameters : 12229 |
| Iterations : 26 |
| Time : 0.671174 [s] |
| Initial cost : 0.834281 [px] |
| Final cost : 0.791343 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 321 |
| => Completed observations: 248 |
| => Filtered observations: 1790 |
| => Changed observations: 0.075498 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60076 |
| Parameters : 11581 |
| Iterations : 3 |
| Time : 0.135602 [s] |
| Initial cost : 0.935119 [px] |
| Final cost : 0.913331 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 240 |
| => Completed observations: 300 |
| => Filtered observations: 25 |
| => Changed observations: 0.018810 |
|
|
| ============================================================================== |
| Registering image #106 (108) |
| ============================================================================== |
|
|
| => Image sees 2950 / 4198 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7028 |
| Parameters : 6 |
| Iterations : 20 |
| Time : 0.128305 [s] |
| Initial cost : 0.902798 [px] |
| Final cost : 0.838524 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2663 |
| => Added observations: 2078 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 61536 |
| Parameters : 11593 |
| Iterations : 26 |
| Time : 0.730072 [s] |
| Initial cost : 0.854476 [px] |
| Final cost : 0.79777 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 574 |
| => Completed observations: 230 |
| => Filtered observations: 2171 |
| => Changed observations: 0.096691 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58276 |
| Parameters : 10606 |
| Iterations : 5 |
| Time : 0.173997 [s] |
| Initial cost : 0.922198 [px] |
| Final cost : 0.893856 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 228 |
| => Completed observations: 445 |
| => Filtered observations: 34 |
| => Changed observations: 0.024264 |
|
|
| ============================================================================== |
| Registering image #109 (109) |
| ============================================================================== |
|
|
| => Image sees 2888 / 4358 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6762 |
| Parameters : 6 |
| Iterations : 18 |
| Time : 0.116593 [s] |
| Initial cost : 0.861748 [px] |
| Final cost : 0.820836 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2665 |
| => Added observations: 1619 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62900 |
| Parameters : 11404 |
| Iterations : 26 |
| Time : 0.732601 [s] |
| Initial cost : 0.813517 [px] |
| Final cost : 0.765411 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 470 |
| => Completed observations: 293 |
| => Filtered observations: 1590 |
| => Changed observations: 0.074817 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60684 |
| Parameters : 10867 |
| Iterations : 3 |
| Time : 0.129587 [s] |
| Initial cost : 0.927317 [px] |
| Final cost : 0.905646 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 187 |
| => Completed observations: 254 |
| => Filtered observations: 33 |
| => Changed observations: 0.015622 |
|
|
| ============================================================================== |
| Registering image #110 (110) |
| ============================================================================== |
|
|
| => Image sees 2467 / 3801 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 4970 |
| Parameters : 6 |
| Iterations : 19 |
| Time : 0.0868771 [s] |
| Initial cost : 0.921896 [px] |
| Final cost : 0.909398 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1847 |
| => Added observations: 1977 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59916 |
| Parameters : 9742 |
| Iterations : 26 |
| Time : 0.647665 [s] |
| Initial cost : 0.954224 [px] |
| Final cost : 0.865949 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 127 |
| => Completed observations: 197 |
| => Filtered observations: 2736 |
| => Changed observations: 0.102143 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 55564 |
| Parameters : 8653 |
| Iterations : 3 |
| Time : 0.125648 [s] |
| Initial cost : 0.922917 [px] |
| Final cost : 0.891852 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 157 |
| => Completed observations: 369 |
| => Filtered observations: 32 |
| => Changed observations: 0.020085 |
|
|
| ============================================================================== |
| Registering image #111 (111) |
| ============================================================================== |
|
|
| => Image sees 2346 / 4358 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 5206 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.073359 [s] |
| Initial cost : 0.866733 [px] |
| Final cost : 0.859305 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 1955 |
| => Added observations: 2457 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 57000 |
| Parameters : 9898 |
| Iterations : 26 |
| Time : 0.669568 [s] |
| Initial cost : 0.906793 [px] |
| Final cost : 0.840191 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 200 |
| => Completed observations: 219 |
| => Filtered observations: 2305 |
| => Changed observations: 0.095579 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58522 |
| Parameters : 9028 |
| Iterations : 3 |
| Time : 0.117652 [s] |
| Initial cost : 0.916914 [px] |
| Final cost : 0.893214 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 181 |
| => Completed observations: 319 |
| => Filtered observations: 39 |
| => Changed observations: 0.018420 |
|
|
| ============================================================================== |
| Registering image #113 (112) |
| ============================================================================== |
|
|
| => Image sees 2596 / 5545 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6110 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0857399 [s] |
| Initial cost : 0.848989 [px] |
| Final cost : 0.828573 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2361 |
| => Added observations: 2824 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62778 |
| Parameters : 11659 |
| Iterations : 26 |
| Time : 0.71383 [s] |
| Initial cost : 0.833693 [px] |
| Final cost : 0.779418 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 194 |
| => Completed observations: 209 |
| => Filtered observations: 1869 |
| => Changed observations: 0.072382 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 60002 |
| Parameters : 10900 |
| Iterations : 3 |
| Time : 0.129332 [s] |
| Initial cost : 0.911824 [px] |
| Final cost : 0.889471 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 161 |
| => Completed observations: 261 |
| => Filtered observations: 31 |
| => Changed observations: 0.015099 |
|
|
| ============================================================================== |
| Registering image #112 (113) |
| ============================================================================== |
|
|
| => Image sees 3179 / 5455 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7848 |
| Parameters : 6 |
| Iterations : 16 |
| Time : 0.118896 [s] |
| Initial cost : 0.833338 [px] |
| Final cost : 0.800314 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 3029 |
| => Added observations: 2318 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 65312 |
| Parameters : 12046 |
| Iterations : 26 |
| Time : 0.713419 [s] |
| Initial cost : 0.812573 [px] |
| Final cost : 0.776963 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 418 |
| => Completed observations: 222 |
| => Filtered observations: 1926 |
| => Changed observations: 0.078577 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62096 |
| Parameters : 11101 |
| Iterations : 3 |
| Time : 0.131018 [s] |
| Initial cost : 0.915324 [px] |
| Final cost : 0.893743 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 214 |
| => Completed observations: 353 |
| => Filtered observations: 26 |
| => Changed observations: 0.019099 |
|
|
| ============================================================================== |
| Registering image #114 (114) |
| ============================================================================== |
|
|
| => Image sees 3030 / 4449 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 7224 |
| Parameters : 6 |
| Iterations : 24 |
| Time : 0.159466 [s] |
| Initial cost : 0.904654 [px] |
| Final cost : 0.847408 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2718 |
| => Added observations: 2659 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 63106 |
| Parameters : 12232 |
| Iterations : 26 |
| Time : 0.765071 [s] |
| Initial cost : 0.869558 [px] |
| Final cost : 0.813417 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 251 |
| => Completed observations: 295 |
| => Filtered observations: 2408 |
| => Changed observations: 0.093620 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 58312 |
| Parameters : 11737 |
| Iterations : 4 |
| Time : 0.158119 [s] |
| Initial cost : 0.940136 [px] |
| Final cost : 0.910614 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 268 |
| => Completed observations: 338 |
| => Filtered observations: 32 |
| => Changed observations: 0.021882 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 1352 |
| => Completed observations: 783 |
| => Retriangulated observations: 2650 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.699376e+06 0.00e+00 1.96e+07 0.00e+00 0.00e+00 1.00e+04 0 2.26e-01 2.51e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.0458e+08 |
| Nonzeros in L: 2.3086e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.9 |
| 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: 1.0458e+08 |
| nnz(L): 2.3086e+05 |
| OK |
| 1 1.119704e+06 5.80e+05 2.13e+05 1.20e+01 9.94e-01 3.00e+04 1 9.89e-01 3.50e+00 |
| 2 1.115787e+06 3.92e+03 3.35e+04 2.82e+00 1.00e+00 9.00e+04 1 5.31e-01 4.03e+00 |
| 3 1.115782e+06 5.38e+00 5.88e+03 1.02e+00 1.00e+00 2.70e+05 1 5.86e-01 4.61e+00 |
| 4 1.115782e+06 7.72e-02 2.77e+02 2.20e-01 1.00e+00 8.10e+05 1 5.96e-01 5.21e+00 |
| 5 1.115782e+06 1.13e-02 9.55e+00 7.33e-02 1.00e+00 2.43e+06 1 5.97e-01 5.80e+00 |
| 6 1.115782e+06 7.09e-04 1.97e+00 2.02e-02 1.00e+00 7.29e+06 1 6.08e-01 6.41e+00 |
| 7 1.115782e+06 6.90e-06 3.17e-01 2.11e-03 1.00e+00 2.19e+07 1 5.94e-01 7.01e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 857968 |
| Parameters : 273022 |
| Iterations : 8 |
| Time : 7.05738 [s] |
| Initial cost : 1.40737 [px] |
| Final cost : 1.14039 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 905 |
| => Completed observations: 927 |
| => Filtered observations: 4364 |
| => Changed observations: 0.014443 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.932178e+05 0.00e+00 6.01e+05 0.00e+00 0.00e+00 1.00e+04 0 2.16e-01 2.47e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.0458e+08 |
| Nonzeros in L: 2.3086e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.9 |
| 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: 1.0458e+08 |
| nnz(L): 2.3086e+05 |
| OK |
| 1 6.747677e+05 1.85e+04 4.76e+03 4.17e+00 1.00e+00 3.00e+04 1 1.04e+00 3.50e+00 |
| 2 6.747503e+05 1.74e+01 5.70e+02 7.26e-01 1.00e+00 9.00e+04 1 6.03e-01 4.11e+00 |
| 3 6.747501e+05 1.41e-01 1.78e+02 1.76e-01 1.00e+00 2.70e+05 1 5.96e-01 4.70e+00 |
| 4 6.747501e+05 2.64e-03 9.86e+00 3.94e-02 1.00e+00 8.10e+05 1 5.95e-01 5.30e+00 |
| 5 6.747501e+05 3.66e-04 1.59e+00 1.27e-02 1.00e+00 2.43e+06 1 4.95e-01 5.79e+00 |
| 6 6.747501e+05 2.06e-05 5.73e-01 3.28e-03 1.00e+00 7.29e+06 1 5.16e-01 6.31e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 851020 |
| Parameters : 271621 |
| Iterations : 7 |
| Time : 6.35922 [s] |
| Initial cost : 0.902537 [px] |
| Final cost : 0.890434 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 1084 |
| => Completed observations: 772 |
| => Filtered observations: 333 |
| => Changed observations: 0.005144 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.782350e+05 0.00e+00 6.48e+04 0.00e+00 0.00e+00 1.00e+04 0 2.15e-01 2.50e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.0458e+08 |
| Nonzeros in L: 2.3086e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.9 |
| 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: 1.0458e+08 |
| nnz(L): 2.3086e+05 |
| OK |
| 1 6.759588e+05 2.28e+03 1.32e+02 8.99e-01 1.00e+00 3.00e+04 1 9.97e-01 3.50e+00 |
| 2 6.759584e+05 4.43e-01 3.56e+01 1.43e-01 1.00e+00 9.00e+04 1 5.91e-01 4.09e+00 |
| 3 6.759584e+05 6.37e-03 4.00e+00 3.79e-02 1.00e+00 2.70e+05 1 5.91e-01 4.68e+00 |
| 4 6.759584e+05 1.23e-03 1.91e+00 1.39e-02 1.00e+00 8.10e+05 1 5.26e-01 5.21e+00 |
| 5 6.759584e+05 3.22e-04 1.57e+00 1.10e-02 1.00e+00 2.43e+06 1 5.26e-01 5.73e+00 |
| 6 6.759584e+05 1.83e-05 5.44e-01 3.08e-03 1.00e+00 7.29e+06 1 5.72e-01 6.31e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 852516 |
| Parameters : 271408 |
| Iterations : 7 |
| Time : 6.3549 [s] |
| Initial cost : 0.891947 [px] |
| Final cost : 0.890448 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 149 |
| => Completed observations: 129 |
| => Filtered observations: 104 |
| => Changed observations: 0.000896 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.761865e+05 0.00e+00 1.92e+04 0.00e+00 0.00e+00 1.00e+04 0 2.48e-01 2.53e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.0458e+08 |
| Nonzeros in L: 2.3086e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 0.9 |
| 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: 1.0458e+08 |
| nnz(L): 2.3086e+05 |
| OK |
| 1 6.757435e+05 4.43e+02 2.43e+01 3.17e-01 1.00e+00 3.00e+04 1 1.01e+00 3.53e+00 |
| 2 6.757434e+05 3.80e-02 1.95e+00 3.47e-02 1.00e+00 9.00e+04 1 5.45e-01 4.08e+00 |
| 3 6.757434e+05 3.67e-04 7.66e-01 5.65e-03 1.00e+00 2.70e+05 1 5.23e-01 4.60e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 852606 |
| Parameters : 271366 |
| Iterations : 4 |
| Time : 4.65129 [s] |
| Initial cost : 0.890552 [px] |
| Final cost : 0.89026 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 37 |
| => Completed observations: 80 |
| => Filtered observations: 18 |
| => Changed observations: 0.000317 |
| => Filtered images: 0 |
|
|
| ============================================================================== |
| Registering image #115 (115) |
| ============================================================================== |
|
|
| => Image sees 2829 / 4815 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6536 |
| Parameters : 6 |
| Iterations : 15 |
| Time : 0.0878122 [s] |
| Initial cost : 0.85573 [px] |
| Final cost : 0.830277 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2545 |
| => Added observations: 1896 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 103850 |
| Parameters : 19447 |
| Iterations : 26 |
| Time : 1.11582 [s] |
| Initial cost : 0.809165 [px] |
| Final cost : 0.772019 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 340 |
| => Completed observations: 263 |
| => Filtered observations: 2446 |
| => Changed observations: 0.058719 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 99472 |
| Parameters : 19279 |
| Iterations : 3 |
| Time : 0.192025 [s] |
| Initial cost : 0.951521 [px] |
| Final cost : 0.931197 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 268 |
| => Completed observations: 368 |
| => Filtered observations: 67 |
| => Changed observations: 0.014135 |
|
|
| ============================================================================== |
| Registering image #116 (116) |
| ============================================================================== |
|
|
| => Image sees 2978 / 4714 points |
|
|
| Pose refinement report |
| ---------------------- |
| Residuals : 6730 |
| Parameters : 6 |
| Iterations : 17 |
| Time : 0.107161 [s] |
| Initial cost : 0.849639 [px] |
| Final cost : 0.830801 [px] |
| Termination : Convergence |
|
|
| => Continued observations: 2735 |
| => Added observations: 1565 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 62256 |
| Parameters : 9958 |
| Iterations : 26 |
| Time : 0.630351 [s] |
| Initial cost : 0.840003 [px] |
| Final cost : 0.792305 [px] |
| Termination : No convergence |
|
|
| => Merged observations: 180 |
| => Completed observations: 209 |
| => Filtered observations: 1937 |
| => Changed observations: 0.074724 |
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 59324 |
| Parameters : 9361 |
| Iterations : 3 |
| Time : 0.117942 [s] |
| Initial cost : 0.942032 [px] |
| Final cost : 0.919339 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 174 |
| => Completed observations: 233 |
| => Filtered observations: 45 |
| => Changed observations: 0.015238 |
|
|
| ============================================================================== |
| Retriangulation |
| ============================================================================== |
|
|
| => Merged observations: 314 |
| => Completed observations: 610 |
| => Retriangulated observations: 1644 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 1.126687e+06 0.00e+00 7.90e+06 0.00e+00 0.00e+00 1.00e+04 0 2.22e-01 2.57e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.1022e+08 |
| Nonzeros in L: 2.3909e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 1.0 |
| 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: 1.1022e+08 |
| nnz(L): 2.3909e+05 |
| OK |
| 1 8.490634e+05 2.78e+05 2.58e+05 1.84e+01 9.88e-01 3.00e+04 1 1.01e+00 3.58e+00 |
| 2 8.458064e+05 3.26e+03 2.23e+04 3.46e+00 9.99e-01 9.00e+04 1 5.52e-01 4.13e+00 |
| 3 8.458007e+05 5.73e+00 4.17e+03 8.37e-01 1.00e+00 2.70e+05 1 5.18e-01 4.65e+00 |
| 4 8.458002e+05 5.01e-01 4.97e+02 3.88e-01 1.00e+00 8.10e+05 1 5.25e-01 5.17e+00 |
| 5 8.458000e+05 1.39e-01 5.52e+01 2.35e-01 1.00e+00 2.43e+06 1 5.81e-01 5.75e+00 |
| 6 8.458000e+05 8.20e-03 3.59e+00 6.54e-02 1.00e+00 7.29e+06 1 5.30e-01 6.28e+00 |
| 7 8.458000e+05 7.36e-05 9.28e-01 6.56e-03 1.00e+00 2.19e+07 1 5.90e-01 6.87e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 867128 |
| Parameters : 274342 |
| Iterations : 8 |
| Time : 6.92188 [s] |
| Initial cost : 1.13988 [px] |
| Final cost : 0.987625 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 564 |
| => Completed observations: 486 |
| => Filtered observations: 2866 |
| => Changed observations: 0.009032 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.960939e+05 0.00e+00 4.47e+05 0.00e+00 0.00e+00 1.00e+04 0 2.16e-01 2.55e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.1022e+08 |
| Nonzeros in L: 2.3909e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 1.0 |
| 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: 1.1022e+08 |
| nnz(L): 2.3909e+05 |
| OK |
| 1 6.838375e+05 1.23e+04 4.48e+03 3.26e+00 1.00e+00 3.00e+04 1 1.04e+00 3.59e+00 |
| 2 6.838268e+05 1.06e+01 9.02e+03 1.37e+00 1.00e+00 9.00e+04 1 5.85e-01 4.17e+00 |
| 3 6.838259e+05 9.34e-01 2.64e+03 6.58e-01 9.99e-01 2.70e+05 1 5.33e-01 4.71e+00 |
| 4 6.838256e+05 3.02e-01 3.17e+02 3.02e-01 1.00e+00 8.10e+05 1 6.11e-01 5.32e+00 |
| 5 6.838255e+05 8.13e-02 3.18e+01 1.78e-01 1.00e+00 2.43e+06 1 5.76e-01 5.90e+00 |
| 6 6.838255e+05 4.68e-03 1.97e+00 4.88e-02 1.00e+00 7.29e+06 1 6.00e-01 6.50e+00 |
| 7 6.838255e+05 4.08e-05 8.02e-01 4.81e-03 1.00e+00 2.19e+07 1 5.64e-01 7.06e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 862516 |
| Parameters : 273220 |
| Iterations : 8 |
| Time : 7.10906 [s] |
| Initial cost : 0.89836 [px] |
| Final cost : 0.890408 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 593 |
| => Completed observations: 176 |
| => Filtered observations: 216 |
| => Changed observations: 0.002284 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.852794e+05 0.00e+00 7.53e+04 0.00e+00 0.00e+00 1.00e+04 0 2.51e-01 2.59e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.1022e+08 |
| Nonzeros in L: 2.3909e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 1.0 |
| 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: 1.1022e+08 |
| nnz(L): 2.3909e+05 |
| OK |
| 1 6.840776e+05 1.20e+03 1.15e+02 5.78e-01 1.00e+00 3.00e+04 1 1.07e+00 3.66e+00 |
| 2 6.840774e+05 2.21e-01 6.49e+01 1.28e-01 1.00e+00 9.00e+04 1 5.10e-01 4.17e+00 |
| 3 6.840774e+05 6.31e-03 1.62e+01 5.54e-02 9.99e-01 2.70e+05 1 5.05e-01 4.68e+00 |
| 4 6.840774e+05 3.05e-04 1.36e+00 1.29e-02 1.00e+00 8.10e+05 1 4.99e-01 5.18e+00 |
| 5 6.840774e+05 5.34e-05 7.43e-01 4.72e-03 1.00e+00 2.43e+06 1 5.04e-01 5.68e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 863264 |
| Parameters : 273139 |
| Iterations : 6 |
| Time : 5.73051 [s] |
| Initial cost : 0.890968 [px] |
| Final cost : 0.890186 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 82 |
| => Completed observations: 167 |
| => Filtered observations: 72 |
| => Changed observations: 0.000744 |
|
|
| ============================================================================== |
| Global bundle adjustment |
| ============================================================================== |
|
|
| iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time |
| 0 6.841580e+05 0.00e+00 3.57e+04 0.00e+00 0.00e+00 1.00e+04 0 2.50e-01 2.55e+00 |
|
|
| CHOLMOD version 3.0.11, May 4, 2016: Symbolic Analysis: status: OK |
| Architecture: Linux |
| sizeof(int): 4 |
| sizeof(SuiteSparse_long): 8 |
| sizeof(void *): 8 |
| sizeof(double): 8 |
| sizeof(Int): 4 (CHOLMOD's basic integer) |
| sizeof(BLAS_INT): 4 (integer used in the BLAS) |
| Results from most recent analysis: |
| Cholesky flop count: 1.1022e+08 |
| Nonzeros in L: 2.3909e+05 |
| memory blocks in use: 11 |
| memory in use (MB): 0.0 |
| peak memory usage (MB): 1.0 |
| 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: 1.1022e+08 |
| nnz(L): 2.3909e+05 |
| OK |
| 1 6.838987e+05 2.59e+02 4.38e+01 2.05e-01 1.00e+00 3.00e+04 1 1.05e+00 3.60e+00 |
| 2 6.838987e+05 9.27e-03 1.96e+00 1.48e-02 1.00e+00 9.00e+04 1 5.92e-01 4.20e+00 |
| 3 6.838987e+05 3.63e-05 4.38e-01 2.78e-03 1.00e+00 2.70e+05 1 5.93e-01 4.79e+00 |
|
|
|
|
| Bundle adjustment report |
| ------------------------ |
| Residuals : 863284 |
| Parameters : 273100 |
| Iterations : 4 |
| Time : 4.83999 [s] |
| Initial cost : 0.890228 [px] |
| Final cost : 0.89006 [px] |
| Termination : Convergence |
|
|
| => Merged observations: 30 |
| => Completed observations: 28 |
| => Filtered observations: 17 |
| => Changed observations: 0.000174 |
| => Filtered images: 0 |
|
|
| Elapsed time: 7.315 [minutes] |
|
|
