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"cell_type": "code", "source": [ "import os\n", "import sys\n", "import subprocess\n", "from PIL import Image\n", "\n", "def run_cmd(cmd, check=True, capture=False):\n", " \"\"\"Run command with better error handling\"\"\"\n", " print(f\"Running: {' '.join(cmd)}\")\n", " result = subprocess.run(\n", " cmd,\n", " capture_output=capture,\n", " text=True,\n", " check=False\n", " )\n", " if check and result.returncode != 0:\n", " print(f\"❌ Command failed with code {result.returncode}\")\n", " if capture:\n", " print(f\"STDOUT: {result.stdout}\")\n", " print(f\"STDERR: {result.stderr}\")\n", " return result\n", "\n", "def setup_environment():\n", " \"\"\"\n", " Colab environment setup for Gaussian Splatting + LightGlue + pycolmap\n", " Python 3.12 compatible version (v8)\n", " \"\"\"\n", "\n", " print(\"🚀 Setting up COLAB environment (v8 - Python 3.12 compatible)\")\n", "\n", " WORK_DIR = \"/content/gaussian-splatting\"\n", "\n", " # =====================================================================\n", " # STEP 0: NumPy FIX (Python 3.12 compatible)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 0: Fix NumPy (Python 3.12 compatible)\")\n", " print(\"=\"*70)\n", "\n", " # Python 3.12 requires numpy >= 1.26\n", " #run_cmd([sys.executable, \"-m\", \"pip\", \"uninstall\", \"-y\", \"numpy\"])\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"numpy\"]) #no need to be 1.26.4\n", "\n", " # sanity check\n", " run_cmd([sys.executable, \"-c\", \"import numpy; print('NumPy:', numpy.__version__)\"])\n", "\n", " # =====================================================================\n", " # STEP 1: System packages (Colab)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 1: System packages\")\n", " print(\"=\"*70)\n", "\n", " run_cmd([\"apt-get\", \"update\", \"-qq\"])\n", " run_cmd([\n", " \"apt-get\", \"install\", \"-y\", \"-qq\",\n", " \"colmap\",\n", " \"build-essential\",\n", " \"cmake\",\n", " \"git\",\n", " \"libopenblas-dev\",\n", " \"xvfb\"\n", " ])\n", "\n", " # virtual display (COLMAP / OpenCV safety)\n", " os.environ[\"QT_QPA_PLATFORM\"] = \"offscreen\"\n", " os.environ[\"DISPLAY\"] = \":99\"\n", " subprocess.Popen(\n", " [\"Xvfb\", \":99\", \"-screen\", \"0\", \"1024x768x24\"],\n", " stdout=subprocess.DEVNULL,\n", " stderr=subprocess.DEVNULL\n", " )\n", "\n", " # =====================================================================\n", " # STEP 2: Clone Gaussian Splatting\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 2: Clone Gaussian Splatting\")\n", " print(\"=\"*70)\n", "\n", " if not os.path.exists(WORK_DIR):\n", " run_cmd([\n", " \"git\", \"clone\", \"--recursive\",\n", " \"https://github.com/graphdeco-inria/gaussian-splatting.git\",\n", " WORK_DIR\n", " ])\n", " else:\n", " print(\"✓ Repository already exists\")\n", "\n", " # =====================================================================\n", " # STEP 3: Python packages (FIXED ORDER & VERSIONS)\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 3: Python packages (VERBOSE MODE)\")\n", " print(\"=\"*70)\n", "\n", " # ---- PyTorch (Colab CUDA対応) ----\n", " print(\"\\n📦 Installing PyTorch...\")\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"torch\", \"torchvision\", \"torchaudio\"\n", " ])\n", "\n", " # ---- Core utils ----\n", " print(\"\\n📦 Installing core utilities...\")\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"opencv-python\",\n", " \"pillow\",\n", " \"imageio\",\n", " \"imageio-ffmpeg\",\n", " \"plyfile\",\n", " \"tqdm\",\n", " \"tensorboard\"\n", " ])\n", "\n", " # ---- transformers (NumPy 1.26 compatible) ----\n", " print(\"\\n📦 Installing transformers...\")\n", " # Install transformers with proper dependencies\n", " run_cmd([\n", " sys.executable, \"-m\", \"pip\", \"install\",\n", " \"transformers>=4.45.0\"\n", " ])\n", "\n", " # ---- LightGlue stack (GITHUB INSTALL) ----\n", " print(\"\\n📦 Installing LightGlue stack...\")\n", "\n", " # Install kornia first\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"kornia\"])\n", "\n", " # Install h5py (sometimes needed)\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"h5py\"])\n", "\n", " # Install matplotlib (LightGlue dependency)\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"matplotlib\"])\n", "\n", " # Install LightGlue directly from GitHub (more reliable)\n", " print(\" Installing LightGlue from GitHub...\")\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\",\n", " \"git+https://github.com/cvg/LightGlue.git\"])\n", "\n", " # Install pycolmap\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", \"pycolmap\"])\n", "\n", " # =====================================================================\n", " # STEP 4: Build GS submodules\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 4: Build Gaussian Splatting submodules\")\n", " print(\"=\"*70)\n", "\n", " submodules = {\n", " \"diff-gaussian-rasterization\":\n", " \"https://github.com/graphdeco-inria/diff-gaussian-rasterization.git\",\n", " \"simple-knn\":\n", " \"https://github.com/camenduru/simple-knn.git\"\n", " }\n", "\n", " for name, repo in submodules.items():\n", " print(f\"\\n📦 Installing {name}...\")\n", " path = os.path.join(WORK_DIR, \"submodules\", name)\n", " if not os.path.exists(path):\n", " run_cmd([\"git\", \"clone\", repo, path])\n", " run_cmd([sys.executable, \"-m\", \"pip\", \"install\", path])\n", "\n", " # =====================================================================\n", " # STEP 5: Detailed Verification\n", " # =====================================================================\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"STEP 5: Detailed Verification\")\n", " print(\"=\"*70)\n", "\n", " # NumPy (verify version first)\n", " print(\"\\n🔍 Testing NumPy...\")\n", " try:\n", " import numpy as np\n", " print(f\" ✓ NumPy: {np.__version__}\")\n", " except Exception as e:\n", " print(f\" ❌ NumPy failed: {e}\")\n", "\n", " # PyTorch\n", " print(\"\\n🔍 Testing PyTorch...\")\n", " try:\n", " import torch\n", " print(f\" ✓ PyTorch: {torch.__version__}\")\n", " print(f\" ✓ CUDA available: {torch.cuda.is_available()}\")\n", " if torch.cuda.is_available():\n", " print(f\" ✓ CUDA version: {torch.version.cuda}\")\n", " except Exception as e:\n", " print(f\" ❌ PyTorch failed: {e}\")\n", "\n", " # transformers\n", " print(\"\\n🔍 Testing transformers...\")\n", " try:\n", " import transformers\n", " print(f\" ✓ transformers version: {transformers.__version__}\")\n", " from transformers import AutoModel\n", " print(f\" ✓ AutoModel import: OK\")\n", " except Exception as e:\n", " print(f\" ❌ transformers failed: {e}\")\n", " print(f\" Attempting detailed diagnosis...\")\n", " result = run_cmd([\n", " sys.executable, \"-c\",\n", " \"import transformers; print(transformers.__version__)\"\n", " ], capture=True)\n", " print(f\" Output: {result.stdout}\")\n", " print(f\" Error: {result.stderr}\")\n", "\n", " # LightGlue\n", " print(\"\\n🔍 Testing LightGlue...\")\n", " try:\n", " from lightglue import LightGlue, ALIKED\n", " print(f\" ✓ LightGlue: OK\")\n", " print(f\" ✓ ALIKED: OK\")\n", " except Exception as e:\n", " print(f\" ❌ LightGlue failed: {e}\")\n", " print(f\" Attempting detailed diagnosis...\")\n", " result = run_cmd([\n", " sys.executable, \"-c\",\n", " \"from lightglue import LightGlue\"\n", " ], capture=True)\n", " print(f\" Output: {result.stdout}\")\n", " print(f\" Error: {result.stderr}\")\n", "\n", " # pycolmap\n", " print(\"\\n🔍 Testing pycolmap...\")\n", " try:\n", " import pycolmap\n", " print(f\" ✓ pycolmap: OK\")\n", " except Exception as e:\n", " print(f\" ❌ pycolmap failed: {e}\")\n", "\n", " # kornia\n", " print(\"\\n🔍 Testing kornia...\")\n", " try:\n", " import kornia\n", " print(f\" ✓ kornia: {kornia.__version__}\")\n", " except Exception as e:\n", " print(f\" ❌ kornia failed: {e}\")\n", "\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"✅ SETUP COMPLETE\")\n", " print(\"=\"*70)\n", " print(f\"Working dir: {WORK_DIR}\")\n", "\n", "\n", "\n", " print()\n", " print(\"-------!pip show numpy | grep Version--------\")\n", " !pip show numpy | grep Version\n", "\n", "\n", " return WORK_DIR\n", "\n", "\n", "if __name__ == \"__main__\":\n", " setup_environment()" ], "metadata": { "id": "z6cBHbABzZ0F", "colab": { "base_uri": "https://localhost:8080/" }, "outputId": "b1ac6f71-295b-41c7-c474-d41a1d7009c0" }, "execution_count": null, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "🚀 Setting up COLAB environment (v8 - Python 3.12 compatible)\n", "\n", "======================================================================\n", "STEP 0: Fix NumPy (Python 3.12 compatible)\n", "======================================================================\n", "Running: /usr/bin/python3 -m pip install numpy\n", "Running: /usr/bin/python3 -c import numpy; print('NumPy:', numpy.__version__)\n", "\n", "======================================================================\n", "STEP 1: System packages\n", "======================================================================\n", "Running: apt-get update -qq\n", "Running: apt-get install -y -qq colmap build-essential cmake git libopenblas-dev xvfb\n", "\n", "======================================================================\n", "STEP 2: Clone Gaussian Splatting\n", "======================================================================\n", "Running: git clone --recursive https://github.com/graphdeco-inria/gaussian-splatting.git /content/gaussian-splatting\n", "\n", "======================================================================\n", "STEP 3: Python packages (VERBOSE MODE)\n", "======================================================================\n", "\n", "📦 Installing PyTorch...\n", "Running: /usr/bin/python3 -m pip install torch torchvision torchaudio\n", "\n", "📦 Installing core utilities...\n", "Running: /usr/bin/python3 -m pip install opencv-python pillow imageio imageio-ffmpeg plyfile tqdm tensorboard\n", "\n", "📦 Installing transformers...\n", "Running: /usr/bin/python3 -m pip install transformers>=4.45.0\n", "\n", "📦 Installing LightGlue stack...\n", "Running: /usr/bin/python3 -m pip install kornia\n", "Running: /usr/bin/python3 -m pip install h5py\n", "Running: /usr/bin/python3 -m pip install matplotlib\n", " Installing LightGlue from GitHub...\n", "Running: /usr/bin/python3 -m pip install git+https://github.com/cvg/LightGlue.git\n", "Running: /usr/bin/python3 -m pip install pycolmap\n", "\n", "======================================================================\n", "STEP 4: Build Gaussian Splatting submodules\n", "======================================================================\n", "\n", "📦 Installing diff-gaussian-rasterization...\n", "Running: /usr/bin/python3 -m pip install /content/gaussian-splatting/submodules/diff-gaussian-rasterization\n", "\n", "📦 Installing simple-knn...\n", "Running: /usr/bin/python3 -m pip install /content/gaussian-splatting/submodules/simple-knn\n", "\n", "======================================================================\n", "STEP 5: Detailed Verification\n", "======================================================================\n", "\n", "🔍 Testing NumPy...\n", " ✓ NumPy: 2.0.2\n", "\n", "🔍 Testing PyTorch...\n", " ✓ PyTorch: 2.9.0+cu126\n", " ✓ CUDA available: True\n", " ✓ CUDA version: 12.6\n", "\n", "🔍 Testing transformers...\n", " ✓ transformers version: 5.0.0\n", " ✓ AutoModel import: OK\n", "\n", "🔍 Testing LightGlue...\n", " ✓ LightGlue: OK\n", " ✓ ALIKED: OK\n", "\n", "🔍 Testing pycolmap...\n", " ✓ pycolmap: OK\n", "\n", "🔍 Testing kornia...\n", " ✓ kornia: 0.8.2\n", "\n", "======================================================================\n", "✅ SETUP COMPLETE\n", "======================================================================\n", "Working dir: /content/gaussian-splatting\n", "\n", "-------!pip show numpy | grep Version--------\n", "Version: 2.0.2\n", "Version 3.1, 31 March 2009\n", " Version 3, 29 June 2007\n", " 5. Conveying Modified Source Versions.\n", " 14. Revised Versions of this License.\n" ] } ] }, { "cell_type": "code", "source": [ "import os\n", "\n", "%cd /content/gaussian-splatting\n", "\n", "files = ['database.py', 'h5_to_db.py', 'metric.py']\n", "base_url = 'https://huggingface.co/stpete2/imc25_utils/resolve/main/'\n", "\n", "for file in files:\n", " if not os.path.exists(file):\n", " !wget -q {base_url + file}\n", " print(f\"✓ {file} download complete\")\n", " else:\n", " print(f\"✓ {file} already exists\")\n" ], "metadata": { "id": "eJrkKiCLzt1G", "colab": { "base_uri": "https://localhost:8080/" }, "outputId": "e09a7893-85ed-4369-a062-9bc24dc4cd93" }, "execution_count": null, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "/content/gaussian-splatting\n", "✓ database.py download complete\n", "✓ h5_to_db.py download complete\n", "✓ metric.py download complete\n" ] } ] }, { "cell_type": "markdown", "source": [ "# **install libraries**" ], "metadata": { "id": "DwyCRLt4yYfx" } }, { "cell_type": "code", "source": [], "metadata": { "id": "uznATYrilO-N" }, "execution_count": null, "outputs": [] }, { "cell_type": "code", "source": [ "from database import COLMAPDatabase, image_ids_to_pair_id\n", "from h5_to_db import add_keypoints, add_matches\n", "from metric import *" ], "metadata": { "id": "WVr8ggyVuq6q" }, "execution_count": null, "outputs": [] }, { "cell_type": "code", "source": [ "\"\"\"\n", "Gaussian Splatting Pipeline\n", "Simple and robust pipeline: LightGlue → COLMAP → Gaussian Splatting\n", "\"\"\"\n", "\n", "import os\n", "import sys\n", "import gc\n", "import h5py\n", "import numpy as np\n", "import torch\n", "import torch.nn.functional as F\n", "from tqdm import tqdm\n", "from pathlib import Path\n", "import subprocess\n", "\n", "# LightGlue\n", "from lightglue import ALIKED, LightGlue\n", "from lightglue.utils import load_image\n", "\n", "# Transformers for DINO\n", "from transformers import AutoImageProcessor, AutoModel\n", "\n", "\n", "# ============================================================================\n", "# Configuration\n", "# ============================================================================\n", "class Config:\n", " # Feature extraction\n", " N_KEYPOINTS = 8192\n", " IMAGE_SIZE = 1024\n", "\n", " # Pair selection\n", " GLOBAL_TOPK = 200\n", " MIN_MATCHES = 10\n", " RATIO_THR = 1.2\n", "\n", " # Paths\n", " DINO_MODEL = \"facebook/dinov2-base\" # Change if using local path\n", "\n", " # Device\n", " DEVICE = torch.device('cuda' if torch.cuda.is_available() else 'cpu')" ], "metadata": { "id": "7NfrJdMvrPZn" }, "outputs": [], "execution_count": null }, { "cell_type": "code", "source": [ "def normalize_image_sizes_biplet(input_dir, output_dir=None, size=1024):\n", " \"\"\"\n", " Generates two square crops (Left & Right or Top & Bottom)\n", " from each image in a directory.\n", " \"\"\"\n", " if output_dir is None:\n", " output_dir = input_dir\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", "\n", " print(f\"Generating 2 cropped squares (Left/Right or Top/Bottom) for each image...\")\n", " print()\n", "\n", " converted_count = 0\n", " size_stats = {}\n", "\n", " for img_file in sorted(os.listdir(input_dir)):\n", " if not img_file.lower().endswith(('.jpg', '.jpeg', '.png')):\n", " continue\n", "\n", " input_path = os.path.join(input_dir, img_file)\n", "\n", " try:\n", " img = Image.open(input_path)\n", " original_size = img.size\n", "\n", " size_key = f\"{original_size[0]}x{original_size[1]}\"\n", " size_stats[size_key] = size_stats.get(size_key, 0) + 1\n", "\n", " # Generate 2 crops\n", " crops = generate_two_crops(img, size)\n", "\n", " base_name, ext = os.path.splitext(img_file)\n", " for mode, cropped_img in crops.items():\n", " output_path = os.path.join(output_dir, f\"{base_name}_{mode}{ext}\")\n", " cropped_img.save(output_path, quality=95)\n", "\n", " converted_count += 1\n", " print(f\" ✓ {img_file}: {original_size} → 2 square images generated\")\n", "\n", " except Exception as e:\n", " print(f\" ✗ Error processing {img_file}: {e}\")\n", "\n", " print(f\"\\nProcessing complete: {converted_count} source images processed\")\n", " print(f\"Original size distribution: {size_stats}\")\n", " return converted_count\n", "\n", "\n", "def generate_two_crops(img, size):\n", " \"\"\"\n", " Crops the image into a square and returns 2 variations\n", " (Left/Right for landscape, Top/Bottom for portrait).\n", " \"\"\"\n", " width, height = img.size\n", " crop_size = min(width, height)\n", " crops = {}\n", "\n", " if width > height:\n", " # Landscape → Left & Right\n", " positions = {\n", " 'left': 0,\n", " 'right': width - crop_size\n", " }\n", " for mode, x_offset in positions.items():\n", " box = (x_offset, 0, x_offset + crop_size, crop_size)\n", " crops[mode] = img.crop(box).resize(\n", " (size, size),\n", " Image.Resampling.LANCZOS\n", " )\n", "\n", " else:\n", " # Portrait or Square → Top & Bottom\n", " positions = {\n", " 'top': 0,\n", " 'bottom': height - crop_size\n", " }\n", " for mode, y_offset in positions.items():\n", " box = (0, y_offset, crop_size, y_offset + crop_size)\n", " crops[mode] = img.crop(box).resize(\n", " (size, size),\n", " Image.Resampling.LANCZOS\n", " )\n", "\n", " return crops" ], "metadata": { "id": "A6smO9X0el3d" }, "execution_count": null, "outputs": [] }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 1: Image Pair Selection (DINO + ALIKED local verify)\n", "# ============================================================================\n", "\n", "def load_torch_image(fname, device):\n", " \"\"\"Load image as torch tensor\"\"\"\n", " from PIL import Image\n", " import torchvision.transforms as T\n", "\n", " img = Image.open(fname).convert('RGB')\n", " transform = T.Compose([\n", " T.ToTensor(),\n", " ])\n", " return transform(img).unsqueeze(0).to(device)\n", "\n", "def extract_dino_global(image_paths, model_path, device):\n", " \"\"\"Extract DINO global descriptors\"\"\"\n", " print(\"\\n=== Extracting DINO Global Features ===\")\n", "\n", " processor = AutoImageProcessor.from_pretrained(model_path)\n", " model = AutoModel.from_pretrained(model_path).eval().to(device)\n", "\n", " global_descs = []\n", " for img_path in tqdm(image_paths):\n", " img = load_torch_image(img_path, device)\n", " with torch.no_grad():\n", " inputs = processor(images=img, return_tensors=\"pt\", do_rescale=False).to(device)\n", " outputs = model(**inputs)\n", " desc = F.normalize(outputs.last_hidden_state[:, 1:].max(dim=1)[0], dim=1, p=2)\n", " global_descs.append(desc.cpu())\n", "\n", " global_descs = torch.cat(global_descs, dim=0)\n", "\n", " del model\n", " torch.cuda.empty_cache()\n", " gc.collect()\n", "\n", " return global_descs\n", "\n", "def build_topk_pairs(global_feats, k, device):\n", " \"\"\"Build top-k similar pairs from global features\"\"\"\n", " g = global_feats.to(device)\n", " sim = g @ g.T\n", " sim.fill_diagonal_(-1)\n", "\n", " N = sim.size(0)\n", " k = min(k, N - 1)\n", "\n", " topk_indices = torch.topk(sim, k, dim=1).indices.cpu()\n", "\n", " pairs = []\n", " for i in range(N):\n", " for j in topk_indices[i]:\n", " j = j.item()\n", " if i < j:\n", " pairs.append((i, j))\n", "\n", " return list(set(pairs))\n", "\n", "def extract_aliked_features(image_paths, device):\n", " \"\"\"Extract ALIKED local features\"\"\"\n", " print(\"\\n=== Extracting ALIKED Local Features ===\")\n", "\n", " extractor = ALIKED(\n", " model_name=\"aliked-n16\",\n", " max_num_keypoints=Config.N_KEYPOINTS,\n", " detection_threshold=0.01,\n", " resize=Config.IMAGE_SIZE\n", " ).eval().to(device)\n", "\n", " features = []\n", " for img_path in tqdm(image_paths):\n", " img = load_torch_image(img_path, device)\n", " with torch.no_grad():\n", " feats = extractor.extract(img)\n", " kpts = feats['keypoints'].reshape(-1, 2).cpu()\n", " descs = feats['descriptors'].reshape(len(kpts), -1).cpu()\n", " features.append({'keypoints': kpts, 'descriptors': descs})\n", "\n", " del extractor\n", " torch.cuda.empty_cache()\n", " gc.collect()\n", "\n", " return features\n", "\n", "def verify_pairs_locally(pairs, features, device, threshold=Config.MIN_MATCHES):\n", " \"\"\"Verify pairs using local descriptor matching\"\"\"\n", " print(\"\\n=== Verifying Pairs with Local Features ===\")\n", "\n", " verified = []\n", " for i, j in tqdm(pairs):\n", " desc1 = features[i]['descriptors'].to(device)\n", " desc2 = features[j]['descriptors'].to(device)\n", "\n", " if len(desc1) == 0 or len(desc2) == 0:\n", " continue\n", "\n", " # Simple mutual nearest neighbor\n", " dist = torch.cdist(desc1, desc2, p=2)\n", " min_dist = dist.min(dim=1)[0]\n", " n_matches = (min_dist < Config.RATIO_THR).sum().item()\n", "\n", " if n_matches >= threshold:\n", " verified.append((i, j))\n", "\n", " return verified\n", "\n", "def get_image_pairs(image_paths):\n", " \"\"\"Main pair selection pipeline\"\"\"\n", " device = Config.DEVICE\n", "\n", " # 1. DINO global\n", " global_feats = extract_dino_global(image_paths, Config.DINO_MODEL, device)\n", " pairs = build_topk_pairs(global_feats, Config.GLOBAL_TOPK, device)\n", "\n", " print(f\"Initial pairs from global features: {len(pairs)}\")\n", "\n", " # 2. ALIKED local\n", " features = extract_aliked_features(image_paths, device)\n", "\n", " # 3. Local verification\n", " verified_pairs = verify_pairs_locally(pairs, features, device)\n", "\n", " print(f\"Verified pairs: {len(verified_pairs)}\")\n", "\n", " return verified_pairs, features" ], "metadata": { "id": "FNjFURfYmVcL" }, "outputs": [], "execution_count": null }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 2: Feature Matching (ALIKED + LightGlue)\n", "# ============================================================================\n", "\n", "def match_pairs_lightglue(image_paths, pairs, features, output_dir):\n", " \"\"\"\n", " Match image pairs using LightGlue\n", " \"\"\"\n", " print(\"\\n=== Matching with LightGlue ===\")\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", " keypoints_path = os.path.join(output_dir, 'keypoints.h5')\n", " matches_path = os.path.join(output_dir, 'matches.h5')\n", "\n", " if os.path.exists(keypoints_path):\n", " os.remove(keypoints_path)\n", " if os.path.exists(matches_path):\n", " os.remove(matches_path)\n", "\n", " device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')\n", " extractor = ALIKED(max_num_keypoints=4096, detection_threshold=0.2, nms_radius=2).eval().to(device)\n", " matcher = LightGlue(features='aliked').eval().to(device)\n", "\n", " if isinstance(features, dict):\n", " all_keypoints = features['keypoints']\n", " all_descriptors = features['descriptors']\n", " elif isinstance(features, list):\n", " all_keypoints = [f['keypoints'] for f in features]\n", " all_descriptors = [f['descriptors'] for f in features]\n", " else:\n", " raise ValueError(f\"Unsupported features type: {type(features)}\")\n", "\n", " with h5py.File(keypoints_path, 'w') as f_kp:\n", " for idx, img_path in enumerate(tqdm(image_paths, desc=\"Saving keypoints\")):\n", " img_name = os.path.splitext(os.path.basename(img_path))[0]\n", "\n", " kp = all_keypoints[idx]\n", " if torch.is_tensor(kp):\n", " kp = kp.cpu().numpy()\n", " f_kp.create_dataset(img_name, data=kp)\n", "\n", " # Match pairs\n", " with h5py.File(matches_path, 'w') as f_match:\n", " for idx1, idx2 in tqdm(pairs, desc=\"Matching\"):\n", " with torch.no_grad():\n", " kp0 = all_keypoints[idx1]\n", " kp1 = all_keypoints[idx2]\n", " desc0 = all_descriptors[idx1]\n", " desc1 = all_descriptors[idx2]\n", "\n", " if isinstance(kp0, np.ndarray):\n", " kp0 = torch.from_numpy(kp0).float().to(device)\n", " kp1 = torch.from_numpy(kp1).float().to(device)\n", " desc0 = torch.from_numpy(desc0).float().to(device)\n", " desc1 = torch.from_numpy(desc1).float().to(device)\n", " else:\n", " kp0 = kp0.float().to(device)\n", " kp1 = kp1.float().to(device)\n", " desc0 = desc0.float().to(device)\n", " desc1 = desc1.float().to(device)\n", "\n", " feats0 = {\n", " 'keypoints': kp0.unsqueeze(0) if kp0.dim() == 2 else kp0,\n", " 'descriptors': desc0.unsqueeze(0) if desc0.dim() == 2 else desc0,\n", " }\n", " feats1 = {\n", " 'keypoints': kp1.unsqueeze(0) if kp1.dim() == 2 else kp1,\n", " 'descriptors': desc1.unsqueeze(0) if desc1.dim() == 2 else desc1,\n", " }\n", "\n", " matches01 = matcher({'image0': feats0, 'image1': feats1})\n", "\n", " if 'matches0' in matches01:\n", " matches0 = matches01['matches0'].cpu().numpy()\n", " if matches0.ndim > 1:\n", " matches0 = matches0[0]\n", " valid = matches0 > -1\n", " matches = np.stack([np.where(valid)[0], matches0[valid]], axis=1)\n", " elif 'matches' in matches01:\n", " m = matches01['matches']\n", " if isinstance(m, list):\n", " matches = np.array(m)\n", " elif hasattr(m, 'cpu'):\n", " matches = m.cpu().numpy()\n", " else:\n", " matches = np.array(m)\n", " else:\n", " continue\n", "\n", " if len(matches) > 0:\n", " img_name1 = os.path.splitext(os.path.basename(image_paths[idx1]))[0]\n", " img_name2 = os.path.splitext(os.path.basename(image_paths[idx2]))[0]\n", " pair_key = f\"{img_name1}_{img_name2}\"\n", " f_match.create_dataset(pair_key, data=matches)\n", "\n", " print(f\"✓ Matches saved to {matches_path}\")\n" ], "metadata": { "id": "X-PKgmdwmVcL" }, "outputs": [], "execution_count": null }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 3: Import to COLMAP\n", "# ============================================================================\n", "\n", "def import_to_colmap(image_dir, feature_dir, database_path, single_camera=True):\n", " \"\"\"\n", " Import features and matches to COLMAP database\n", "\n", " Args:\n", " image_dir (str): Directory containing the images.\n", " feature_dir (str): Directory to save/load extracted features.\n", " database_path (str): Path to the database file.\n", " single_camera (bool): Set to True if all images have the same dimensions (e.g., pre-resized).\n", " \"\"\"\n", " print(\"\\n=== Creating COLMAP Database ===\")\n", "\n", " if os.path.exists(database_path):\n", " os.remove(database_path)\n", " print(f\"✓ Removed existing database\")\n", "\n", " db = COLMAPDatabase.connect(database_path)\n", " db.create_tables()\n", "\n", " print(f\"Single camera mode: {single_camera}\")\n", "\n", " image_files = [f for f in os.listdir(image_dir)\n", " if f.lower().endswith(('.jpg', '.jpeg', '.png'))]\n", " if not image_files:\n", " raise ValueError(f\"No images found in {image_dir}\")\n", "\n", " first_image = sorted(image_files)[0]\n", " img_ext = os.path.splitext(first_image)[1]\n", " print(f\"Detected image extension: '{img_ext}'\")\n", "\n", " fname_to_id = add_keypoints(\n", " db,\n", " feature_dir,\n", " image_dir,\n", " img_ext,\n", " 'PINHOLE',\n", " single_camera=single_camera\n", " )\n", "\n", " add_matches(db, feature_dir, fname_to_id)\n", " db.commit()\n", " db.close()\n", "\n", " print(f\"✓ Database created: {database_path}\")\n", "\n", "# ============================================================================\n", "# Step 4: Run COLMAP Mapper\n", "# ============================================================================\n", "\n", "def run_colmap_mapper(database_path, image_dir, output_dir):\n", " \"\"\"\n", " Run COLMAP mapper with verbose output\n", " \"\"\"\n", " print(\"\\n=== Running COLMAP Reconstruction ===\")\n", " os.makedirs(output_dir, exist_ok=True)\n", " cmd = [\n", " 'colmap', 'mapper',\n", " '--database_path', database_path,\n", " '--image_path', image_dir,\n", " '--output_path', output_dir,\n", " '--Mapper.ba_refine_focal_length', '0',\n", " '--Mapper.ba_refine_principal_point', '0',\n", " '--Mapper.ba_refine_extra_params', '0',\n", " '--Mapper.min_num_matches', '15',\n", " '--Mapper.init_min_num_inliers', '50',\n", " '--Mapper.max_num_models', '1',\n", " '--Mapper.num_threads', '16',\n", " ]\n", " print(f\"Command: {' '.join(cmd)}\\n\")\n", "\n", " process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True)\n", " for line in process.stdout:\n", " print(line, end='')\n", " process.wait()\n", " if process.returncode == 0:\n", " model_dir = os.path.join(output_dir, '0')\n", " if os.path.exists(model_dir):\n", " print(f\"\\n✓ COLMAP reconstruction complete: {model_dir}\")\n", " return model_dir\n", " raise RuntimeError(\"COLMAP reconstruction failed\")" ], "metadata": { "id": "NJedFruCmVcL" }, "outputs": [], "execution_count": null }, { "cell_type": "code", "source": [ "# ============================================================================\n", "# Step 5: Convert to Gaussian Splatting Format (if needed)\n", "# ============================================================================\n", "\n", "def convert_to_gs_format(colmap_model_dir, output_dir):\n", " \"\"\"\n", " Verify COLMAP output and prepare paths for Gaussian Splatting.\n", "\n", " Args:\n", " colmap_model_dir (str): Path to the COLMAP sparse/0 directory.\n", " Example: /content/output/colmap/sparse/0\n", " output_dir (str): Base output directory.\n", "\n", " Returns:\n", " colmap_parent_dir (str): The path to be passed to Gaussian Splatting.\n", " Example: /content/output/colmap (Parent directory containing 'sparse/')\n", " \"\"\"\n", " print(\"\\n=== Verifying COLMAP Model for Gaussian Splatting ===\")\n", "\n", " import pycolmap\n", " reconstruction = pycolmap.Reconstruction(colmap_model_dir)\n", "\n", " print(f\"Registered images: {len(reconstruction.images)}\")\n", " print(f\"3D points: {len(reconstruction.points3D)}\")\n", "\n", " # Check for files required by Gaussian Splatting\n", " required_files = ['cameras.bin', 'images.bin', 'points3D.bin']\n", " for file in required_files:\n", " file_path = os.path.join(colmap_model_dir, file)\n", " if not os.path.exists(file_path):\n", " raise FileNotFoundError(f\"Required file not found: {file}\")\n", " print(f\" ✓ {file}\")\n", "\n", " # Return the grandparent directory of sparse/0\n", " # /content/output/colmap/sparse/0 -> /content/output/colmap\n", " colmap_parent_dir = os.path.dirname(os.path.dirname(colmap_model_dir))\n", "\n", " print(f\"\\n✓ COLMAP model ready for Gaussian Splatting\")\n", " print(f\" Source path: {colmap_parent_dir}\")\n", "\n", " return colmap_parent_dir" ], "metadata": { "id": "4IioqnC1mVcM" }, "outputs": [], "execution_count": null }, { "cell_type": "code", "source": [ "def train_gaussian_splatting(colmap_dir, image_dir, output_dir, iterations=30000):\n", " \"\"\"\n", " Train a Gaussian Splatting model.\n", "\n", " Args:\n", " colmap_dir (str): COLMAP parent directory (the directory containing 'sparse/').\n", " Example: /content/output/colmap\n", " image_dir (str): Directory containing training images.\n", " Example: /content/output/processed_images\n", " output_dir (str): Base directory for Gaussian Splatting output.\n", " iterations (int): Total number of training iterations.\n", "\n", " Returns:\n", " gs_output_dir (str): Path to the generated Gaussian Splatting output.\n", " \"\"\"\n", " print(\"\\n=== Training Gaussian Splatting ===\")\n", "\n", " gs_output_dir = os.path.join(output_dir, 'gs_output')\n", " os.makedirs(gs_output_dir, exist_ok=True)\n", "\n", " # Verify the Gaussian Splatting directory structure\n", " sparse_dir = os.path.join(colmap_dir, 'sparse', '0')\n", " if not os.path.exists(sparse_dir):\n", " raise FileNotFoundError(f\"COLMAP sparse directory not found: {sparse_dir}\")\n", "\n", " print(f\"COLMAP sparse model: {sparse_dir}\")\n", " print(f\"Training images: {image_dir}\")\n", " print(f\"Output: {gs_output_dir}\")\n", " print(f\"Iterations: {iterations}\")\n", "\n", " # Gaussian Splatting command\n", " cmd = [\n", " 'python', 'train.py',\n", " '-s', colmap_dir, # Source directory (must contain 'sparse/')\n", " '--images', image_dir, # Explicitly specify the images directory\n", " '-m', gs_output_dir, # Model output directory\n", " '--iterations', str(iterations),\n", " '--test_iterations', str(iterations//2), str(iterations),\n", " '--save_iterations', str(iterations//2), str(iterations),\n", " ]\n", "\n", " print(f\"\\nCommand: {' '.join(cmd)}\\n\")\n", "\n", " result = subprocess.run(cmd, capture_output=True, text=True)\n", "\n", " print(result.stdout)\n", " if result.stderr:\n", " print(\"STDERR:\", result.stderr)\n", "\n", " if result.returncode != 0:\n", " raise RuntimeError(\"Gaussian Splatting training failed\")\n", "\n", " # Check for the existence of the generated PLY file\n", " ply_path = os.path.join(gs_output_dir, 'point_cloud', f'iteration_{iterations}', 'point_cloud.ply')\n", " if os.path.exists(ply_path):\n", " size_mb = os.path.getsize(ply_path) / (1024 * 1024)\n", " print(f\"\\n✓ Training complete!\")\n", " print(f\" PLY file: {ply_path}\")\n", " print(f\" Size: {size_mb:.2f} MB\")\n", " else:\n", " print(f\"⚠️ Warning: PLY file not found at the expected location\")\n", "\n", " return gs_output_dir" ], "metadata": { "id": "EiHoRSfzQ01b" }, "execution_count": null, "outputs": [] }, { "cell_type": "markdown", "source": [ "# **main**" ], "metadata": { "id": "IqNcsheVywit" } }, { "cell_type": "code", "source": [ "# NumPy互換性の問題を修正\n", "import numpy as np\n", "\n", "print()\n", "print(\"-------!pip show numpy | grep Version--------\")\n", "!pip show numpy | grep Version\n", "\n", "# array_to_blob関数をモンキーパッチ\n", "def array_to_blob_fixed(array):\n", " return array.tobytes()\n", "\n", "# databaseモジュール内の関数を置き換え\n", "import sys\n", "if 'database' in sys.modules:\n", " sys.modules['database'].array_to_blob = array_to_blob_fixed" ], "metadata": { "id": "oKi5O7rTvdea", "colab": { "base_uri": "https://localhost:8080/" }, "outputId": "3388133d-53d9-49b6-e4d7-0fe91fefd372" }, "execution_count": null, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "\n", "-------!pip show numpy | grep Version--------\n", "Version: 2.0.2\n", "Version 3.1, 31 March 2009\n", " Version 3, 29 June 2007\n", " 5. Conveying Modified Source Versions.\n", " 14. Revised Versions of this License.\n" ] } ] }, { "cell_type": "code", "source": [ "def main_pipeline(image_dir, output_dir, square_size=1024):\n", " \"\"\"\n", " Complete pipeline: Images → Square Processing → COLMAP → Gaussian Splatting\n", " \"\"\"\n", " print(\"=\"*70)\n", " print(\"Gaussian Splatting Preparation Pipeline\")\n", " print(\"=\"*70)\n", "\n", " # Step 0: Standardize images to square format\n", " #processed_dir = os.path.join(output_dir, 'processed_images')\n", " #processed_image_dir = preprocess_images_square(image_dir, processed_dir, size=square_size)\n", "\n", " processed_image_dir = os.path.join(output_dir, \"processed_images\")\n", "\n", " normalize_image_sizes_biplet(\n", " input_dir=image_dir,\n", " output_dir=processed_image_dir,\n", " size=square_size\n", ")\n", "\n", " # Setup paths\n", " feature_dir = os.path.join(output_dir, 'features')\n", " colmap_dir = os.path.join(output_dir, 'colmap')\n", " database_path = os.path.join(colmap_dir, 'database.db')\n", " sparse_dir = os.path.join(colmap_dir, 'sparse')\n", "\n", " os.makedirs(output_dir, exist_ok=True)\n", " os.makedirs(colmap_dir, exist_ok=True)\n", "\n", " # Get image paths\n", " image_paths = sorted([\n", " os.path.join(processed_image_dir, f)\n", " for f in os.listdir(processed_image_dir)\n", " if f.lower().endswith(('.jpg', '.jpeg', '.png'))\n", " ])\n", "\n", " print(f\"\\n📸 Found {len(image_paths)} images\")\n", "\n", " # Step 1: Generate image pairs\n", " pairs, features = get_image_pairs(image_paths)\n", "\n", " # Step 2: Feature matching with LightGlue\n", " match_pairs_lightglue(image_paths, pairs, features, feature_dir)\n", "\n", " # Step 3: Import data into COLMAP\n", " # (single_camera=True assumes uniform image dimensions)\n", " import_to_colmap(processed_image_dir, feature_dir, database_path, single_camera=True)\n", "\n", " # Step 4: Run COLMAP Sparse Reconstruction\n", " model_dir = run_colmap_mapper(database_path, processed_image_dir, sparse_dir)\n", "\n", " # Step 5: Verify and prepare for Gaussian Splatting\n", " colmap_parent = convert_to_gs_format(model_dir, output_dir)\n", "\n", " # Step 6: Train Gaussian Splatting model\n", " gs_output = train_gaussian_splatting(\n", " colmap_dir=colmap_parent,\n", " image_dir=processed_image_dir,\n", " output_dir=output_dir,\n", " iterations=3000\n", " )\n", "\n", " print(\"\\n\" + \"=\"*70)\n", " print(\"✅ Full Pipeline Successfully Completed!\")\n", " print(\"=\"*70)\n", " print(f\"\\nGaussian Splatting model saved at: {gs_output}\")\n", "\n", " return gs_output\n", "\n", "\n", "# Example usage\n", "if __name__ == \"__main__\":\n", " # Example: Tourist photos with varying resolutions/aspect ratios\n", " IMAGE_DIR = \"/content/drive/MyDrive/your_folder/cyprus\"\n", " OUTPUT_DIR = \"/content/output\"\n", "\n", " gs_output = main_pipeline(IMAGE_DIR, OUTPUT_DIR, square_size=1024)" ], "metadata": { "id": "5-_UvgTtRiC_", "colab": { "base_uri": "https://localhost:8080/", "height": 1000, "referenced_widgets": [ "2e006d87a3d24b03bceb4629a83aad0c", "23a17e2714654d56ae83acb9bfa431f7", "611c1a39d8564ad8ba54188b32fe3417", "5651c9e83ac74dcdb3cb8effa30eb89e", "b6ad227c8bf140d8b1143cbe83fb1409", "e2e1b37e9a9b4981b2e276dbfddafeab", "9b07d6b2aee54570bb62864c208b0c4e", "39bb0c6b13414d97ab863661f6099f76", "5dd3ba11b79b4e9e86aad14b5b00cbf5", "252d003761a24ed6965f7dc2276bf168", "59683c7070d4429fb6a9de57424a21a3", "e08af23c845d460a80c0fb1c9ee4b23a", "a56a43e9a72848caa0a5b86145a5ae55", "5273862d4b8946f1a22b9d4baf43b03c", "cc1c25ddbaa84be98dc72a3904d9916b", "bfa06e36b52043c6b9369e7bdddcc218", "2a1f3b79e6a34c0a90d88e7db3068339", "537463ebf7db49729608e361af9bd2c4", "f8c0d49032be4e79a1d789786917a0e2", "8c1ed298355e4ae0af9980124c35f7bd", "df0a690919124f97b7433974f6acfb8e", "2ee1317f10934bc3a0d08ed8171c3094", "f8111221a5f045c4a2d0a9159656bb8e", "f3b8edab573a417cae1911bc861f7ab0", "207a02b893384a3eb11c7a1ed49b635b", "fe136b07823945f4bd78d3fbaa62bfb2", "10452eb96c5c47a896f7ba9f078a1d90", "0da8075bd6d94c88ab130cb5daa2b35b", "5f8e0bd43ddf4397acd5548eefdb91a0", "bb3aa2e4185148f6a2ee5786668eaa62", "d088dcea1ea0424791497c389da9de98", "4198cd6b1c374010b012bf2c2efbf3b3", "5a7f09b573794771ad28d37f6da7710b", "b6a895b982f74aa1893133c0e43e1424", "92e8818c369a4fdf9251737258cb7c38", "0e40bf3161274488981f92afb1a3a2b1", "3836587f900a416ca75243f842ea996a", "06f1ec6ebcb14d7c8f99471ff97f0cb5", "939a7c4ac2a64bb99e1da10a30b83f53", "9b4883438998436186d556fd46e52625", "e97d57a465c74a5387ec5220d036e9ae", "d97fd88f2b174deb8c465506a36190ef", "6409029ae8164723b5689ba243beae1c", "26e0f74fdafb42479a8c121ebdb021cc" ] }, "outputId": "a74d4e0b-36b7-48d2-87ff-2a1e519831fa" }, "execution_count": null, "outputs": [ { "output_type": "stream", "name": "stdout", "text": [ "======================================================================\n", "Gaussian Splatting Preparation Pipeline\n", "======================================================================\n", "Generating 2 cropped squares (Left/Right or Top/Bottom) for each image...\n", "\n", " ✓ DSC_6480.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6488.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6492.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6496.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6500.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6508.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6512.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6520.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6524.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6528.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6540.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6548.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6557.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6565.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6569.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6573.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6577.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6585.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6589.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6593.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6597.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6601.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6605.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6609.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6613.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6617.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6621.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6625.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6629.JPG: (6048, 4032) → 2 square images generated\n", " ✓ DSC_6633.JPG: (6048, 4032) → 2 square images generated\n", "\n", "Processing complete: 30 source images processed\n", "Original size distribution: {'6048x4032': 30}\n", "\n", "📸 Found 60 images\n", "\n", "=== Extracting DINO Global Features ===\n" ] }, { "output_type": "stream", "name": "stderr", "text": [ "/usr/local/lib/python3.12/dist-packages/huggingface_hub/utils/_auth.py:94: UserWarning: \n", "The secret `HF_TOKEN` does not exist in your Colab secrets.\n", "To authenticate with the Hugging Face Hub, create a token in your settings tab (https://huggingface.co/settings/tokens), set it as secret in your Google Colab and restart your session.\n", "You will be able to reuse this secret in all of your notebooks.\n", "Please note that authentication is recommended but still optional to access public models or datasets.\n", " warnings.warn(\n" ] }, { "output_type": "display_data", "data": { "text/plain": [ "preprocessor_config.json: 0%| | 0.00/436 [00:00 Filtered observations: 4\n", " => Changed observations: 0.016612\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 4\n", " => Merged observations: 0\n", " => Retriangulated observations: 1336\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.223620e+05 0.00e+00 4.56e+05 0.00e+00 0.00e+00 1.00e+04 0 3.16e-02 8.28e-02\n", " 1 7.286723e+04 1.49e+05 6.39e+05 4.18e+01 9.07e-01 2.18e+04 1 5.68e-02 1.40e-01\n", " 2 7.179085e+04 1.08e+03 4.17e+05 5.59e+01 6.28e-02 1.30e+04 1 5.29e-02 1.93e-01\n", " 3 5.702631e+04 1.48e+04 4.84e+04 3.57e+01 8.97e-01 2.62e+04 1 5.18e-02 2.44e-01\n", " 4 5.582174e+04 1.20e+03 6.27e+04 4.04e+01 6.48e-01 2.69e+04 1 5.73e-02 3.02e-01\n", " 5 5.518432e+04 6.37e+02 1.37e+04 3.27e+01 9.09e-01 5.94e+04 1 5.09e-02 3.53e-01\n", " 6 5.513009e+04 5.42e+01 1.64e+04 4.47e+01 5.74e-01 5.96e+04 1 5.77e-02 4.10e-01\n", " 7 5.509817e+04 3.19e+01 1.37e+04 3.69e+01 7.04e-01 6.39e+04 1 5.55e-02 4.66e-01\n", " 8 5.510684e+04 -8.67e+00 1.37e+04 3.31e+01 -4.46e-01 3.19e+04 1 4.25e-02 5.08e-01\n", " 9 5.509717e+04 9.98e-01 1.72e+04 1.83e+01 5.92e-02 1.89e+04 1 5.47e-02 5.63e-01\n", " 10 5.509106e+04 6.11e+00 9.85e+03 1.07e+01 3.98e-01 1.88e+04 1 5.54e-02 6.19e-01\n", " 11 5.508779e+04 3.27e+00 4.99e+03 9.77e+00 4.38e-01 1.88e+04 1 5.29e-02 6.72e-01\n", " 12 5.508627e+04 1.53e+00 2.62e+03 9.36e+00 4.09e-01 1.86e+04 1 6.93e-02 7.41e-01\n", " 13 5.508528e+04 9.89e-01 1.54e+03 8.82e+00 4.63e-01 1.86e+04 1 5.29e-02 7.94e-01\n", " 14 5.508452e+04 7.53e-01 7.23e+02 8.55e+00 5.53e-01 1.87e+04 1 5.09e-02 8.45e-01\n", " 15 5.508390e+04 6.20e-01 4.69e+02 8.24e+00 6.54e-01 1.92e+04 1 5.14e-02 8.96e-01\n", " 16 5.508334e+04 5.62e-01 1.97e+02 8.27e+00 7.57e-01 2.22e+04 1 5.86e-02 9.55e-01\n", " 17 5.508276e+04 5.82e-01 1.73e+02 9.25e+00 8.37e-01 3.20e+04 1 5.37e-02 1.01e+00\n", " 18 5.508200e+04 7.56e-01 9.58e+01 1.28e+01 8.84e-01 5.85e+04 1 5.50e-02 1.06e+00\n", " 19 5.508080e+04 1.20e+00 2.01e+02 2.21e+01 8.84e-01 1.07e+05 1 5.32e-02 1.12e+00\n", " 20 5.507907e+04 1.73e+00 2.83e+02 3.74e+01 8.13e-01 1.42e+05 1 5.38e-02 1.17e+00\n", " 21 5.507736e+04 1.71e+00 8.84e+02 4.57e+01 6.86e-01 1.49e+05 1 5.12e-02 1.22e+00\n", " 22 5.507608e+04 1.28e+00 1.79e+03 4.54e+01 4.79e-01 1.49e+05 1 5.34e-02 1.28e+00\n", " 23 5.507607e+04 1.07e-02 5.08e+03 4.29e+01 3.21e-03 7.54e+04 1 5.45e-02 1.33e+00\n", " 24 5.507768e+04 -1.60e+00 5.08e+03 2.17e+01 -2.92e-01 3.77e+04 1 2.27e-02 1.35e+00\n", " 25 5.507607e+04 3.28e-03 5.08e+03 1.13e+01 6.78e-04 9.43e+03 1 2.32e-02 1.38e+00\n", " 26 5.507435e+04 1.73e+00 2.11e+03 3.23e+00 5.03e-01 9.43e+03 1 6.24e-02 1.44e+00\n", " 27 5.507392e+04 4.30e-01 2.16e+02 2.81e+00 6.38e-01 9.63e+03 1 5.67e-02 1.50e+00\n", " 28 5.507377e+04 1.46e-01 8.62e+01 2.80e+00 6.36e-01 9.83e+03 1 7.46e-02 1.57e+00\n", " 29 5.507367e+04 9.81e-02 4.53e+01 2.81e+00 8.77e-01 1.72e+04 1 6.15e-02 1.63e+00\n", " 30 5.507353e+04 1.40e-01 2.88e+01 4.88e+00 9.34e-01 4.96e+04 1 5.91e-02 1.69e+00\n", " 31 5.507317e+04 3.61e-01 2.03e+01 1.38e+01 9.75e-01 1.49e+05 1 5.40e-02 1.74e+00\n", " 32 5.507227e+04 9.05e-01 2.68e+01 3.95e+01 9.17e-01 3.53e+05 1 5.14e-02 1.80e+00\n", " 33 5.507108e+04 1.18e+00 7.19e+01 8.58e+01 6.36e-01 3.60e+05 1 5.91e-02 1.85e+00\n", " 34 5.506963e+04 1.46e+00 1.09e+02 8.31e+01 7.84e-01 4.41e+05 1 5.59e-02 1.91e+00\n", " 35 5.506869e+04 9.39e-01 5.49e+02 9.52e+01 6.12e-01 4.46e+05 1 5.59e-02 1.97e+00\n", " 36 5.506814e+04 5.43e-01 1.37e+03 9.24e+01 3.42e-01 4.32e+05 1 5.37e-02 2.02e+00\n", " 37 5.506913e+04 -9.87e-01 1.37e+03 8.64e+01 -4.31e-01 2.16e+05 1 2.41e-02 2.04e+00\n", " 38 5.506902e+04 -8.75e-01 1.37e+03 4.52e+01 -4.43e-01 5.40e+04 1 2.89e-02 2.07e+00\n", " 39 5.506828e+04 -1.31e-01 1.37e+03 1.24e+01 -8.19e-02 6.75e+03 1 2.82e-02 2.10e+00\n", " 40 5.506759e+04 5.55e-01 5.19e+02 1.97e+00 5.92e-01 6.80e+03 1 5.82e-02 2.16e+00\n", " 41 5.506750e+04 8.96e-02 6.45e+01 1.71e+00 7.79e-01 8.22e+03 1 6.04e-02 2.22e+00\n", " 42 5.506747e+04 3.39e-02 3.63e+01 1.95e+00 7.37e-01 9.20e+03 1 6.05e-02 2.28e+00\n", " 43 5.506744e+04 2.36e-02 1.23e+01 2.10e+00 9.74e-01 2.76e+04 1 5.94e-02 2.34e+00\n", " 44 5.506739e+04 4.99e-02 1.48e+01 6.00e+00 9.42e-01 8.28e+04 1 5.64e-02 2.40e+00\n", " 45 5.506727e+04 1.26e-01 1.14e+01 1.72e+01 9.78e-01 2.48e+05 1 5.76e-02 2.45e+00\n", " 46 5.506694e+04 3.27e-01 1.76e+01 4.97e+01 9.38e-01 7.45e+05 1 6.25e-02 2.52e+00\n", " 47 5.506639e+04 5.50e-01 3.49e+01 1.38e+02 6.54e-01 7.67e+05 1 6.99e-02 2.59e+00\n", " 48 5.506575e+04 6.37e-01 1.10e+02 1.40e+02 7.69e-01 9.09e+05 1 5.57e-02 2.64e+00\n", " 49 5.506533e+04 4.21e-01 2.11e+02 1.60e+02 6.07e-01 9.18e+05 1 5.69e-02 2.70e+00\n", " 50 5.506521e+04 1.23e-01 1.07e+03 1.61e+02 1.66e-01 7.08e+05 1 6.50e-02 2.76e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 45344\n", " Parameters : 28361\n", " Iterations : 51\n", " Time : 2.76719 [s]\n", " Initial cost : 2.21447 [px]\n", " Final cost : 1.10199 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 127\n", " => Merged observations: 81\n", " => Filtered observations: 1349\n", " => Changed observations: 0.068675\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.172145e+04 0.00e+00 8.28e+04 0.00e+00 0.00e+00 1.00e+04 0 2.93e-02 7.23e-02\n", " 1 1.914892e+04 2.57e+03 3.93e+04 1.54e+01 9.65e-01 3.00e+04 1 5.48e-02 1.27e-01\n", " 2 1.900779e+04 1.41e+02 6.59e+04 1.64e+01 6.48e-01 3.08e+04 1 5.87e-02 1.86e-01\n", " 3 1.888494e+04 1.23e+02 2.09e+04 1.25e+01 9.14e-01 7.11e+04 1 5.12e-02 2.37e-01\n", " 4 1.884793e+04 3.70e+01 2.41e+04 1.99e+01 5.75e-01 7.14e+04 1 5.65e-02 2.94e-01\n", " 5 1.880833e+04 3.96e+01 8.56e+03 1.24e+01 8.23e-01 9.79e+04 1 5.27e-02 3.46e-01\n", " 6 1.879937e+04 8.96e+00 1.41e+04 9.68e+00 5.11e-01 9.79e+04 1 6.03e-02 4.07e-01\n", " 7 1.880138e+04 -2.01e+00 1.41e+04 5.74e+00 -1.54e-01 4.89e+04 1 2.40e-02 4.31e-01\n", " 8 1.879715e+04 2.22e+00 1.54e+04 4.03e+00 1.86e-01 3.92e+04 1 5.23e-02 4.83e-01\n", " 9 1.879699e+04 1.66e-01 1.77e+04 3.28e+00 1.58e-02 2.05e+04 1 5.69e-02 5.40e-01\n", " 10 1.879330e+04 3.68e+00 1.05e+04 2.22e+00 3.67e-01 2.02e+04 1 5.75e-02 5.98e-01\n", " 11 1.879128e+04 2.03e+00 4.71e+03 1.58e+00 4.47e-01 2.01e+04 1 6.00e-02 6.58e-01\n", " 12 1.879063e+04 6.45e-01 2.35e+03 1.15e+00 3.37e-01 1.95e+04 1 5.68e-02 7.14e-01\n", " 13 1.879033e+04 3.07e-01 1.26e+03 8.55e-01 3.44e-01 1.89e+04 1 7.24e-02 7.87e-01\n", " 14 1.879017e+04 1.54e-01 4.96e+02 6.16e-01 3.56e-01 1.84e+04 1 5.68e-02 8.44e-01\n", " 15 1.879009e+04 7.83e-02 2.96e+02 4.70e-01 3.86e-01 1.82e+04 1 5.87e-02 9.02e-01\n", " 16 1.879005e+04 4.36e-02 8.35e+01 3.57e-01 4.36e-01 1.82e+04 1 5.39e-02 9.56e-01\n", " 17 1.879003e+04 2.53e-02 6.98e+01 2.92e-01 5.03e-01 1.82e+04 1 5.49e-02 1.01e+00\n", " 18 1.879001e+04 1.58e-02 1.70e+01 2.40e-01 5.87e-01 1.83e+04 1 5.11e-02 1.06e+00\n", " 19 1.879000e+04 1.04e-02 1.85e+01 2.09e-01 6.74e-01 1.91e+04 1 5.44e-02 1.12e+00\n", " 20 1.878999e+04 7.31e-03 7.37e+00 1.88e-01 7.61e-01 2.23e+04 1 5.27e-02 1.17e+00\n", " 21 1.878999e+04 5.72e-03 7.17e+00 1.92e-01 8.24e-01 3.06e+04 1 5.13e-02 1.22e+00\n", " 22 1.878998e+04 5.01e-03 4.47e+00 2.24e-01 8.60e-01 4.87e+04 1 5.37e-02 1.27e+00\n", " 23 1.878998e+04 4.54e-03 6.22e+00 2.95e-01 8.36e-01 6.99e+04 1 5.44e-02 1.33e+00\n", " 24 1.878997e+04 3.48e-03 5.45e+00 3.45e-01 7.34e-01 7.78e+04 1 5.03e-02 1.38e+00\n", " 25 1.878997e+04 2.18e-03 1.19e+01 3.29e-01 4.95e-01 7.78e+04 1 4.87e-02 1.43e+00\n", " 26 1.878997e+04 1.16e-03 8.16e+00 2.94e-01 2.30e-01 6.72e+04 1 4.95e-02 1.48e+00\n", " 27 1.878997e+04 2.95e-04 2.67e+01 2.43e-01 4.37e-02 3.82e+04 1 4.90e-02 1.53e+00\n", " 28 1.878997e+04 8.11e-04 1.09e+01 1.52e-01 9.55e-02 2.50e+04 1 5.86e-02 1.59e+00\n", " 29 1.878997e+04 1.56e-03 2.18e+01 1.08e-01 2.12e-01 2.10e+04 1 5.83e-02 1.64e+00\n", " 30 1.878997e+04 1.29e-03 8.14e+00 8.36e-02 2.84e-01 1.94e+04 1 5.29e-02 1.70e+00\n", " 31 1.878996e+04 8.61e-04 8.17e+00 6.97e-02 3.46e-01 1.89e+04 1 4.86e-02 1.75e+00\n", " 32 1.878996e+04 5.75e-04 4.33e+00 6.12e-02 4.29e-01 1.88e+04 1 7.43e-02 1.82e+00\n", " 33 1.878996e+04 4.23e-04 3.54e+00 5.74e-02 5.44e-01 1.88e+04 1 5.87e-02 1.88e+00\n", " 34 1.878996e+04 3.47e-04 2.14e+00 5.48e-02 6.79e-01 1.97e+04 1 5.20e-02 1.93e+00\n", " 35 1.878996e+04 3.19e-04 1.99e+00 5.57e-02 8.02e-01 2.53e+04 1 5.37e-02 1.98e+00\n", " 36 1.878996e+04 3.69e-04 1.15e+00 6.91e-02 8.92e-01 4.87e+04 1 5.87e-02 2.04e+00\n", " 37 1.878996e+04 6.41e-04 1.97e+00 1.27e-01 9.38e-01 1.46e+05 1 5.24e-02 2.10e+00\n", " 38 1.878996e+04 1.55e-03 1.73e+00 3.34e-01 9.52e-01 4.38e+05 1 5.26e-02 2.15e+00\n", " 39 1.878996e+04 2.61e-03 6.14e+00 7.14e-01 9.13e-01 1.00e+06 1 5.18e-02 2.20e+00\n", " 40 1.878996e+04 1.65e-03 9.02e+00 8.58e-01 6.23e-01 1.02e+06 1 5.20e-02 2.25e+00\n", " 41 1.878996e+04 -1.33e-03 9.02e+00 4.74e-01 -4.84e-01 5.09e+05 1 2.44e-02 2.28e+00\n", " 42 1.878996e+04 -1.31e-03 9.02e+00 3.17e-01 -5.14e-01 1.27e+05 1 2.15e-02 2.30e+00\n", " 43 1.878996e+04 -7.19e-04 9.02e+00 1.19e-01 -3.34e-01 1.59e+04 1 2.10e-02 2.32e+00\n", " 44 1.878996e+04 4.62e-04 5.84e+00 3.23e-02 3.49e-01 1.55e+04 1 4.81e-02 2.37e+00\n", " 45 1.878996e+04 1.73e-04 2.63e+00 1.92e-02 4.18e-01 1.54e+04 1 4.93e-02 2.42e+00\n", " 46 1.878996e+04 7.83e-05 1.90e+00 1.67e-02 4.18e-01 1.53e+04 1 5.40e-02 2.47e+00\n", " 47 1.878996e+04 4.29e-05 9.64e-01 1.41e-02 5.68e-01 1.54e+04 1 4.98e-02 2.52e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 42558\n", " Parameters : 26636\n", " Iterations : 48\n", " Time : 2.52166 [s]\n", " Initial cost : 0.71442 [px]\n", " Final cost : 0.664465 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 86\n", " => Merged observations: 33\n", " => Filtered observations: 90\n", " => Changed observations: 0.009822\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.838278e+04 0.00e+00 2.19e+04 0.00e+00 0.00e+00 1.00e+04 0 2.97e-02 7.56e-02\n", " 1 1.790693e+04 4.76e+02 3.24e+03 6.10e+00 9.92e-01 3.00e+04 1 5.81e-02 1.34e-01\n", " 2 1.788598e+04 2.09e+01 1.43e+04 5.62e+00 9.40e-01 9.00e+04 1 5.04e-02 1.84e-01\n", " 3 1.786265e+04 2.33e+01 2.03e+04 5.39e+00 9.28e-01 2.40e+05 1 5.53e-02 2.40e-01\n", " 4 1.784042e+04 2.22e+01 3.90e+03 6.71e+00 9.98e-01 7.21e+05 1 7.14e-02 3.11e-01\n", " 5 1.783395e+04 6.47e+00 1.09e+04 6.21e+00 8.88e-01 1.36e+06 1 5.74e-02 3.68e-01\n", " 6 1.783311e+04 8.43e-01 2.26e+03 3.60e+00 5.02e-01 1.36e+06 1 5.08e-02 4.19e-01\n", " 7 1.783573e+04 -2.62e+00 2.26e+03 2.42e+00 -1.54e+00 6.79e+05 1 2.25e-02 4.42e-01\n", " 8 1.783547e+04 -2.36e+00 2.26e+03 2.16e+00 -1.40e+00 1.70e+05 1 2.21e-02 4.64e-01\n", " 9 1.783446e+04 -1.35e+00 2.26e+03 1.72e+00 -8.27e-01 2.12e+04 1 2.20e-02 4.86e-01\n", " 10 1.783281e+04 3.04e-01 2.13e+03 9.15e-01 2.59e-01 1.91e+04 1 5.16e-02 5.38e-01\n", " 11 1.783262e+04 1.82e-01 6.59e+02 5.40e-01 3.31e-01 1.84e+04 1 6.27e-02 6.00e-01\n", " 12 1.783255e+04 7.18e-02 4.40e+02 4.02e-01 2.76e-01 1.69e+04 1 5.40e-02 6.54e-01\n", " 13 1.783252e+04 3.64e-02 1.19e+02 2.53e-01 3.23e-01 1.62e+04 1 5.28e-02 7.07e-01\n", " 14 1.783250e+04 1.58e-02 8.55e+01 1.68e-01 3.26e-01 1.55e+04 1 5.24e-02 7.60e-01\n", " 15 1.783249e+04 7.26e-03 1.74e+01 1.05e-01 3.82e-01 1.53e+04 1 5.69e-02 8.17e-01\n", " 16 1.783249e+04 3.47e-03 1.68e+01 7.10e-02 4.22e-01 1.52e+04 1 5.23e-02 8.69e-01\n", " 17 1.783249e+04 1.95e-03 6.63e+00 5.08e-02 5.50e-01 1.53e+04 1 5.34e-02 9.22e-01\n", " 18 1.783249e+04 1.32e-03 5.00e+00 4.12e-02 6.67e-01 1.58e+04 1 5.55e-02 9.78e-01\n", " 19 1.783249e+04 1.05e-03 2.47e+00 3.79e-02 8.29e-01 2.21e+04 1 6.19e-02 1.04e+00\n", " 20 1.783248e+04 1.18e-03 2.13e+00 4.86e-02 9.03e-01 4.65e+04 1 5.26e-02 1.09e+00\n", " 21 1.783248e+04 1.87e-03 1.99e+00 9.51e-02 9.57e-01 1.39e+05 1 5.16e-02 1.14e+00\n", " 22 1.783248e+04 3.09e-03 2.97e+00 2.44e-01 9.37e-01 4.17e+05 1 5.08e-02 1.20e+00\n", " 23 1.783248e+04 3.10e-03 4.07e+00 5.11e-01 8.41e-01 6.11e+05 1 4.98e-02 1.24e+00\n", " 24 1.783248e+04 9.82e-04 1.42e+01 4.75e-01 3.00e-01 5.74e+05 1 8.55e-02 1.33e+00\n", " 25 1.783248e+04 -2.83e-03 1.42e+01 3.05e-01 -4.87e-01 2.87e+05 1 4.54e-02 1.38e+00\n", " 26 1.783248e+04 -2.63e-03 1.42e+01 2.01e-01 -5.05e-01 7.18e+04 1 4.24e-02 1.42e+00\n", " 27 1.783248e+04 -7.60e-04 1.42e+01 9.25e-02 -1.76e-01 8.97e+03 1 4.84e-02 1.47e+00\n", " 28 1.783247e+04 1.16e-03 5.39e+00 3.32e-02 4.86e-01 8.97e+03 1 9.23e-02 1.56e+00\n", " 29 1.783247e+04 2.58e-04 2.51e+00 1.12e-02 6.84e-01 9.44e+03 1 8.92e-02 1.65e+00\n", " 30 1.783247e+04 9.10e-05 1.50e+00 9.95e-03 6.54e-01 9.72e+03 1 9.50e-02 1.74e+00\n", " 31 1.783247e+04 5.25e-05 2.00e+00 7.73e-03 9.34e-01 2.81e+04 1 8.74e-02 1.83e+00\n", " 32 1.783247e+04 9.61e-05 1.98e+00 2.14e-02 9.06e-01 6.03e+04 1 9.10e-02 1.92e+00\n", " 33 1.783247e+04 1.62e-04 1.70e+00 4.26e-02 9.79e-01 1.81e+05 1 1.04e-01 2.03e+00\n", " 34 1.783247e+04 4.13e-04 2.00e+00 1.08e-01 9.71e-01 5.43e+05 1 8.89e-02 2.12e+00\n", " 35 1.783247e+04 1.00e-03 1.93e+00 2.11e-01 9.61e-01 1.63e+06 1 8.02e-02 2.20e+00\n", " 36 1.783247e+04 2.44e-03 5.31e+00 2.50e-01 9.35e-01 4.78e+06 1 8.63e-02 2.28e+00\n", " 37 1.783246e+04 6.59e-03 3.58e+01 4.49e-01 9.00e-01 9.79e+06 1 8.51e-02 2.37e+00\n", " 38 1.783245e+04 1.25e-02 1.38e+02 9.86e-01 7.92e-01 1.22e+07 1 8.02e-02 2.45e+00\n", " 39 1.783244e+04 9.73e-03 4.00e+02 1.29e+00 3.93e-01 1.21e+07 1 8.52e-02 2.54e+00\n", " 40 1.783246e+04 -1.73e-02 4.00e+02 1.23e+00 -3.56e-01 6.05e+06 1 3.87e-02 2.57e+00\n", " 41 1.783246e+04 -2.37e-02 4.00e+02 6.37e-01 -5.97e-01 1.51e+06 1 3.94e-02 2.61e+00\n", " 42 1.783247e+04 -2.78e-02 4.00e+02 2.89e-01 -8.39e-01 1.89e+05 1 4.05e-02 2.65e+00\n", " 43 1.783246e+04 -1.67e-02 4.00e+02 2.33e-01 -5.50e-01 1.18e+04 1 4.10e-02 2.70e+00\n", " 44 1.783243e+04 7.73e-03 1.44e+01 9.43e-02 4.39e-01 1.18e+04 1 9.33e-02 2.79e+00\n", " 45 1.783243e+04 1.84e-03 8.25e+00 3.31e-02 5.20e-01 1.18e+04 1 9.01e-02 2.88e+00\n", " 46 1.783243e+04 5.81e-04 4.20e+00 2.38e-02 4.61e-01 1.18e+04 1 8.54e-02 2.96e+00\n", " 47 1.783243e+04 2.18e-04 2.20e+00 9.39e-03 6.49e-01 1.21e+04 1 8.36e-02 3.05e+00\n", " 48 1.783243e+04 1.00e-04 1.75e+00 7.38e-03 6.45e-01 1.24e+04 1 8.38e-02 3.13e+00\n", " 49 1.783243e+04 5.65e-05 1.81e+00 3.50e-03 8.85e-01 2.28e+04 1 8.84e-02 3.22e+00\n", " 50 1.783243e+04 5.81e-05 2.00e+00 4.41e-03 8.43e-01 3.36e+04 1 9.47e-02 3.32e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 42550\n", " Parameters : 26564\n", " Iterations : 51\n", " Time : 3.31852 [s]\n", " Initial cost : 0.657288 [px]\n", " Final cost : 0.647374 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 22\n", " => Merged observations: 4\n", " => Filtered observations: 36\n", " => Changed observations: 0.002914\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.765355e+04 0.00e+00 8.01e+03 0.00e+00 0.00e+00 1.00e+04 0 5.59e-02 1.29e-01\n", " 1 1.745523e+04 1.98e+02 1.04e+03 4.38e+00 9.97e-01 3.00e+04 1 9.56e-02 2.25e-01\n", " 2 1.744682e+04 8.41e+00 4.49e+03 4.29e+00 1.00e+00 9.00e+04 1 7.98e-02 3.05e-01\n", " 3 1.744158e+04 5.24e+00 8.55e+03 3.12e+00 9.67e-01 2.70e+05 1 8.51e-02 3.90e-01\n", " 4 1.743739e+04 4.19e+00 3.97e+03 2.99e+00 9.85e-01 8.10e+05 1 8.40e-02 4.74e-01\n", " 5 1.743612e+04 1.27e+00 3.26e+03 2.49e+00 8.47e-01 1.22e+06 1 7.94e-02 5.54e-01\n", " 6 1.743639e+04 -2.69e-01 3.26e+03 1.40e+00 -4.77e-01 6.08e+05 1 4.22e-02 5.96e-01\n", " 7 1.743636e+04 -2.37e-01 3.26e+03 1.22e+00 -4.27e-01 1.52e+05 1 3.85e-02 6.35e-01\n", " 8 1.743622e+04 -9.76e-02 3.26e+03 9.07e-01 -1.90e-01 1.90e+04 1 3.62e-02 6.71e-01\n", " 9 1.743596e+04 1.57e-01 4.14e+02 4.45e-01 4.45e-01 1.90e+04 1 7.90e-02 7.51e-01\n", " 10 1.743592e+04 4.57e-02 1.79e+02 2.56e-01 3.69e-01 1.87e+04 1 9.53e-02 8.46e-01\n", " 11 1.743589e+04 2.52e-02 6.91e+01 2.01e-01 3.69e-01 1.83e+04 1 8.56e-02 9.32e-01\n", " 12 1.743588e+04 1.56e-02 5.10e+01 1.33e-01 4.57e-01 1.83e+04 1 9.39e-02 1.03e+00\n", " 13 1.743587e+04 1.07e-02 1.52e+01 1.02e-01 5.30e-01 1.83e+04 1 1.01e-01 1.13e+00\n", " 14 1.743586e+04 8.02e-03 1.51e+01 7.16e-02 6.59e-01 1.89e+04 1 8.51e-02 1.21e+00\n", " 15 1.743585e+04 6.58e-03 7.22e+00 6.06e-02 7.56e-01 2.19e+04 1 9.48e-02 1.31e+00\n", " 16 1.743584e+04 6.18e-03 6.63e+00 5.33e-02 8.52e-01 3.35e+04 1 1.06e-01 1.41e+00\n", " 17 1.743584e+04 7.45e-03 4.57e+00 7.07e-02 9.00e-01 6.85e+04 1 9.31e-02 1.51e+00\n", " 18 1.743583e+04 1.03e-02 7.83e+00 1.15e-01 9.00e-01 1.41e+05 1 9.81e-02 1.61e+00\n", " 19 1.743582e+04 1.03e-02 6.85e+00 1.86e-01 8.16e-01 1.88e+05 1 8.26e-02 1.69e+00\n", " 20 1.743581e+04 3.55e-03 2.91e+01 1.98e-01 3.43e-01 1.83e+05 1 5.12e-02 1.74e+00\n", " 21 1.743582e+04 -4.80e-03 2.91e+01 2.05e-01 -3.33e-01 9.14e+04 1 2.36e-02 1.76e+00\n", " 22 1.743582e+04 -2.38e-03 2.91e+01 1.55e-01 -1.82e-01 2.29e+04 1 2.25e-02 1.79e+00\n", " 23 1.743581e+04 2.27e-03 1.16e+01 8.87e-02 2.40e-01 2.00e+04 1 5.39e-02 1.84e+00\n", " 24 1.743581e+04 1.50e-03 1.40e+01 5.72e-02 2.96e-01 1.88e+04 1 5.41e-02 1.89e+00\n", " 25 1.743581e+04 9.54e-04 6.65e+00 4.36e-02 3.36e-01 1.81e+04 1 5.58e-02 1.95e+00\n", " 26 1.743581e+04 6.02e-04 5.77e+00 3.04e-02 4.14e-01 1.80e+04 1 4.78e-02 2.00e+00\n", " 27 1.743581e+04 4.09e-04 3.33e+00 2.39e-02 5.01e-01 1.80e+04 1 4.77e-02 2.05e+00\n", " 28 1.743581e+04 3.07e-04 2.54e+00 1.88e-02 6.27e-01 1.83e+04 1 5.16e-02 2.10e+00\n", " 29 1.743581e+04 2.52e-04 1.84e+00 1.69e-02 7.43e-01 2.07e+04 1 5.28e-02 2.15e+00\n", " 30 1.743581e+04 2.38e-04 1.22e+00 1.68e-02 8.45e-01 3.08e+04 1 6.37e-02 2.21e+00\n", " 31 1.743581e+04 2.96e-04 1.56e+00 2.34e-02 9.07e-01 6.71e+04 1 5.08e-02 2.26e+00\n", " 32 1.743581e+04 4.88e-04 1.56e+00 4.59e-02 9.24e-01 1.71e+05 1 5.52e-02 2.32e+00\n", " 33 1.743580e+04 7.65e-04 1.83e+00 9.81e-02 9.00e-01 3.53e+05 1 5.05e-02 2.37e+00\n", " 34 1.743580e+04 8.51e-04 3.55e+00 1.49e-01 7.44e-01 3.99e+05 1 4.76e-02 2.42e+00\n", " 35 1.743580e+04 3.84e-04 5.26e+00 1.24e-01 2.71e-01 3.64e+05 1 4.91e-02 2.47e+00\n", " 36 1.743580e+04 -9.45e-04 5.26e+00 1.09e-01 -3.45e-01 1.82e+05 1 2.27e-02 2.49e+00\n", " 37 1.743580e+04 -8.46e-04 5.26e+00 7.89e-02 -3.60e-01 4.55e+04 1 2.13e-02 2.51e+00\n", " 38 1.743580e+04 -6.89e-06 5.26e+00 4.66e-02 -3.84e-03 5.68e+03 1 2.58e-02 2.54e+00\n", " 39 1.743580e+04 5.15e-04 3.57e+00 1.71e-02 5.82e-01 5.71e+03 1 5.39e-02 2.59e+00\n", " 40 1.743580e+04 9.70e-05 1.46e+00 3.65e-03 9.05e-01 1.21e+04 1 5.07e-02 2.64e+00\n", " 41 1.743580e+04 6.16e-05 1.79e+00 6.43e-03 7.69e-01 1.44e+04 1 5.33e-02 2.69e+00\n", " 42 1.743580e+04 4.49e-05 1.43e+00 4.67e-03 9.79e-01 4.32e+04 1 5.64e-02 2.75e+00\n", " 43 1.743580e+04 9.71e-05 1.72e+00 1.34e-02 9.36e-01 1.29e+05 1 4.91e-02 2.80e+00\n", " 44 1.743580e+04 2.56e-04 1.77e+00 3.32e-02 9.79e-01 3.87e+05 1 5.09e-02 2.85e+00\n", " 45 1.743580e+04 7.25e-04 1.76e+00 7.29e-02 9.73e-01 1.16e+06 1 5.28e-02 2.90e+00\n", " 46 1.743580e+04 2.08e-03 2.95e+00 1.29e-01 9.63e-01 3.48e+06 1 5.08e-02 2.95e+00\n", " 47 1.743579e+04 6.08e-03 2.06e+01 3.68e-01 9.47e-01 1.04e+07 1 5.61e-02 3.01e+00\n", " 48 1.743578e+04 1.80e-02 1.11e+02 1.17e+00 9.20e-01 2.58e+07 1 5.21e-02 3.06e+00\n", " 49 1.743573e+04 4.09e-02 7.51e+02 2.96e+00 8.18e-01 3.47e+07 1 5.14e-02 3.11e+00\n", " 50 1.743570e+04 3.67e-02 1.79e+03 3.95e+00 4.51e-01 3.46e+07 1 5.90e-02 3.17e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 42522\n", " Parameters : 26546\n", " Iterations : 51\n", " Time : 3.17619 [s]\n", " Initial cost : 0.644331 [px]\n", " Final cost : 0.640343 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 13\n", " => Merged observations: 17\n", " => Filtered observations: 26\n", " => Changed observations: 0.002634\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.738319e+04 0.00e+00 5.02e+03 0.00e+00 0.00e+00 1.00e+04 0 2.85e-02 7.38e-02\n", " 1 1.726444e+04 1.19e+02 8.04e+02 1.89e+00 9.98e-01 3.00e+04 1 6.30e-02 1.37e-01\n", " 2 1.725998e+04 4.47e+00 3.42e+03 2.09e+00 9.89e-01 9.00e+04 1 5.30e-02 1.90e-01\n", " 3 1.725529e+04 4.68e+00 5.57e+03 2.41e+00 9.82e-01 2.70e+05 1 5.14e-02 2.41e-01\n", " 4 1.725066e+04 4.63e+00 4.25e+03 3.28e+00 9.58e-01 8.10e+05 1 5.26e-02 2.94e-01\n", " 5 1.724934e+04 1.32e+00 7.05e+03 3.00e+00 5.93e-01 8.15e+05 1 5.35e-02 3.47e-01\n", " 6 1.725072e+04 -1.37e+00 7.05e+03 2.05e+00 -7.85e-01 4.08e+05 1 2.34e-02 3.71e-01\n", " 7 1.725048e+04 -1.14e+00 7.05e+03 1.87e+00 -6.62e-01 1.02e+05 1 2.28e-02 3.94e-01\n", " 8 1.724968e+04 -3.34e-01 7.05e+03 1.45e+00 -2.10e-01 1.27e+04 1 2.19e-02 4.16e-01\n", " 9 1.724875e+04 5.88e-01 9.84e+02 6.68e-01 5.45e-01 1.27e+04 1 5.12e-02 4.67e-01\n", " 10 1.724865e+04 1.09e-01 1.81e+02 2.67e-01 5.17e-01 1.27e+04 1 9.53e-02 5.62e-01\n", " 11 1.724861e+04 3.95e-02 6.27e+01 1.94e-01 4.82e-01 1.27e+04 1 5.61e-02 6.18e-01\n", " 12 1.724859e+04 2.01e-02 2.52e+01 9.57e-02 6.73e-01 1.33e+04 1 5.17e-02 6.70e-01\n", " 13 1.724857e+04 1.34e-02 1.07e+01 7.81e-02 7.54e-01 1.53e+04 1 5.05e-02 7.21e-01\n", " 14 1.724856e+04 1.16e-02 6.47e+00 5.81e-02 9.21e-01 3.80e+04 1 4.84e-02 7.69e-01\n", " 15 1.724854e+04 2.07e-02 7.87e+00 1.14e-01 9.37e-01 1.14e+05 1 4.99e-02 8.19e-01\n", " 16 1.724850e+04 3.62e-02 1.20e+01 2.38e-01 9.53e-01 3.42e+05 1 4.64e-02 8.65e-01\n", " 17 1.724847e+04 3.23e-02 2.62e+01 4.22e-01 8.65e-01 5.59e+05 1 4.85e-02 9.14e-01\n", " 18 1.724847e+04 1.05e-03 7.62e+01 3.95e-01 4.91e-02 3.23e+05 1 5.17e-02 9.66e-01\n", " 19 1.724850e+04 -3.05e-02 7.62e+01 3.32e-01 -7.19e-01 1.61e+05 1 4.42e-02 1.01e+00\n", " 20 1.724849e+04 -2.16e-02 7.62e+01 2.86e-01 -5.29e-01 4.03e+04 1 2.30e-02 1.03e+00\n", " 21 1.724847e+04 -1.33e-04 7.62e+01 1.96e-01 -3.94e-03 5.04e+03 1 2.06e-02 1.05e+00\n", " 22 1.724846e+04 1.01e-02 1.45e+01 7.19e-02 5.98e-01 5.08e+03 1 4.97e-02 1.10e+00\n", " 23 1.724846e+04 1.74e-03 4.56e+00 1.46e-02 9.33e-01 1.44e+04 1 4.98e-02 1.15e+00\n", " 24 1.724846e+04 1.05e-03 3.67e+00 3.01e-02 6.88e-01 1.52e+04 1 5.34e-02 1.21e+00\n", " 25 1.724846e+04 4.84e-04 1.88e+00 1.16e-02 9.16e-01 3.58e+04 1 5.32e-02 1.26e+00\n", " 26 1.724846e+04 4.94e-04 2.12e+00 2.62e-02 7.74e-01 4.28e+04 1 5.08e-02 1.31e+00\n", " 27 1.724846e+04 3.54e-04 1.81e+00 2.68e-02 7.93e-01 5.35e+04 1 4.79e-02 1.36e+00\n", " 28 1.724846e+04 3.13e-04 2.18e+00 3.13e-02 6.68e-01 5.56e+04 1 4.82e-02 1.41e+00\n", " 29 1.724846e+04 2.54e-04 2.84e+00 3.14e-02 5.47e-01 5.57e+04 1 4.64e-02 1.45e+00\n", " 30 1.724846e+04 1.99e-04 3.01e+00 3.22e-02 3.91e-01 5.51e+04 1 5.60e-02 1.51e+00\n", " 31 1.724846e+04 1.49e-04 4.27e+00 3.28e-02 2.49e-01 4.89e+04 1 4.85e-02 1.56e+00\n", " 32 1.724846e+04 1.08e-04 4.08e+00 3.32e-02 1.50e-01 3.64e+04 1 4.90e-02 1.61e+00\n", " 33 1.724846e+04 1.18e-04 5.31e+00 3.02e-02 1.48e-01 2.70e+04 1 4.76e-02 1.65e+00\n", " 34 1.724846e+04 1.55e-04 3.93e+00 2.60e-02 2.14e-01 2.27e+04 1 4.86e-02 1.70e+00\n", " 35 1.724846e+04 1.47e-04 3.78e+00 2.04e-02 2.80e-01 2.09e+04 1 5.52e-02 1.76e+00\n", " 36 1.724845e+04 1.17e-04 2.52e+00 1.61e-02 3.47e-01 2.03e+04 1 5.01e-02 1.81e+00\n", " 37 1.724845e+04 9.13e-05 2.06e+00 1.27e-02 4.28e-01 2.03e+04 1 4.90e-02 1.86e+00\n", " 38 1.724845e+04 7.54e-05 1.96e+00 1.07e-02 5.33e-01 2.03e+04 1 4.89e-02 1.91e+00\n", " 39 1.724845e+04 6.62e-05 1.10e+00 9.18e-03 6.47e-01 2.08e+04 1 5.27e-02 1.96e+00\n", " 40 1.724845e+04 6.20e-05 9.54e-01 8.50e-03 7.57e-01 2.41e+04 1 5.80e-02 2.02e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 42494\n", " Parameters : 26516\n", " Iterations : 41\n", " Time : 2.01924 [s]\n", " Initial cost : 0.639589 [px]\n", " Final cost : 0.637105 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 8\n", " => Merged observations: 4\n", " => Filtered observations: 9\n", " => Changed observations: 0.000988\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #22 (14)\n", "==============================================================================\n", "\n", " => Image sees 418 / 5597 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 268\n", " Parameters : 6\n", " Iterations : 24\n", " Time : 0.00532913 [s]\n", " Initial cost : 0.901449 [px]\n", " Final cost : 0.883254 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 132\n", " => Added observations: 2577\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 21818\n", " Parameters : 11702\n", " Iterations : 26\n", " Time : 0.511984 [s]\n", " Initial cost : 1.22307 [px]\n", " Final cost : 0.909935 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 10\n", " => Completed observations: 25\n", " => Filtered observations: 1100\n", " => Changed observations: 0.100274\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 21996\n", " Parameters : 13901\n", " Iterations : 6\n", " Time : 0.13865 [s]\n", " Initial cost : 0.667886 [px]\n", " Final cost : 0.626454 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 4\n", " => Completed observations: 173\n", " => Filtered observations: 12\n", " => Changed observations: 0.016541\n", "\n", "==============================================================================\n", "Registering image #21 (15)\n", "==============================================================================\n", "\n", " => Image sees 775 / 5036 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 804\n", " Parameters : 6\n", " Iterations : 41\n", " Time : 0.0276799 [s]\n", " Initial cost : 0.928129 [px]\n", " Final cost : 0.878752 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 399\n", " => Added observations: 2383\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 19164\n", " Parameters : 6776\n", " Iterations : 26\n", " Time : 0.503797 [s]\n", " Initial cost : 1.35386 [px]\n", " Final cost : 1.18369 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 6\n", " => Completed observations: 27\n", " => Filtered observations: 2238\n", " => Changed observations: 0.205818\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 14080\n", " Parameters : 3422\n", " Iterations : 6\n", " Time : 0.0811939 [s]\n", " Initial cost : 0.758904 [px]\n", " Final cost : 0.685651 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 9\n", " => Completed observations: 250\n", " => Filtered observations: 41\n", " => Changed observations: 0.035327\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 13\n", " => Merged observations: 10\n", " => Retriangulated observations: 2896\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 6.923806e+05 0.00e+00 1.12e+06 0.00e+00 0.00e+00 1.00e+04 0 3.70e-02 1.04e-01\n", " 1 7.726769e+05 -8.03e+04 1.12e+06 1.36e+02 -1.81e-01 5.00e+03 1 3.01e-02 1.34e-01\n", " 2 5.974493e+05 9.49e+04 3.37e+06 8.89e+01 2.16e-01 4.23e+03 1 5.55e-02 1.90e-01\n", " 3 2.529823e+05 3.44e+05 2.30e+05 3.66e+01 9.79e-01 1.27e+04 1 5.95e-02 2.49e-01\n", " 4 3.552782e+05 -1.02e+05 2.30e+05 5.96e+01 -8.42e+00 6.34e+03 1 2.76e-02 2.77e-01\n", " 5 2.475795e+05 5.40e+03 5.66e+05 3.56e+01 5.25e-01 6.34e+03 1 7.20e-02 3.49e-01\n", " 6 2.414405e+05 6.14e+03 8.14e+04 2.37e+01 9.81e-01 1.90e+04 1 5.93e-02 4.08e-01\n", " 7 2.424882e+05 -1.05e+03 8.14e+04 4.42e+01 -5.75e-01 9.51e+03 1 2.94e-02 4.38e-01\n", " 8 2.405013e+05 9.39e+02 1.02e+05 2.66e+01 7.73e-01 1.14e+04 1 6.84e-02 5.06e-01\n", " 9 2.398267e+05 6.75e+02 3.71e+04 2.05e+01 7.07e-01 1.22e+04 1 7.19e-02 5.78e-01\n", " 10 2.391703e+05 6.56e+02 4.86e+04 1.24e+01 8.91e-01 2.35e+04 1 6.09e-02 6.39e-01\n", " 11 2.387066e+05 4.64e+02 7.11e+04 1.06e+01 9.44e-01 7.05e+04 1 6.56e-02 7.05e-01\n", " 12 2.382211e+05 4.86e+02 2.77e+05 1.49e+01 8.74e-01 1.21e+05 1 6.34e-02 7.68e-01\n", " 13 2.379323e+05 2.89e+02 1.69e+05 1.20e+01 9.68e-01 3.64e+05 1 6.92e-02 8.37e-01\n", " 14 2.472900e+05 -9.36e+03 1.69e+05 2.19e+01 -2.79e+01 1.82e+05 1 3.04e-02 8.68e-01\n", " 15 2.378732e+05 5.91e+01 6.67e+05 1.10e+01 3.04e-01 1.71e+05 1 5.97e-02 9.28e-01\n", " 16 2.378537e+05 1.95e+01 7.14e+05 5.97e+00 6.42e-02 1.03e+05 1 5.68e-02 9.84e-01\n", " 17 2.379363e+05 -8.26e+01 7.14e+05 3.23e+00 -2.71e-01 5.16e+04 1 2.78e-02 1.01e+00\n", " 18 2.377820e+05 7.17e+01 9.32e+05 1.69e+00 2.71e-01 4.71e+04 1 6.49e-02 1.08e+00\n", " 19 2.377179e+05 6.41e+01 3.50e+05 1.36e+00 3.70e-01 4.63e+04 1 5.69e-02 1.13e+00\n", " 20 2.376973e+05 2.06e+01 3.32e+05 1.23e+00 3.81e-01 4.56e+04 1 5.59e-02 1.19e+00\n", " 21 2.376835e+05 1.38e+01 1.76e+05 1.13e+00 4.62e-01 4.56e+04 1 5.89e-02 1.25e+00\n", " 22 2.376744e+05 9.15e+00 1.50e+05 1.08e+00 5.78e-01 4.58e+04 1 6.62e-02 1.32e+00\n", " 23 2.376671e+05 7.25e+00 8.98e+04 1.03e+00 7.11e-01 4.95e+04 1 6.29e-02 1.38e+00\n", " 24 2.376605e+05 6.64e+00 7.02e+04 1.07e+00 8.23e-01 6.78e+04 1 6.43e-02 1.44e+00\n", " 25 2.376527e+05 7.81e+00 5.99e+04 1.41e+00 9.07e-01 1.48e+05 1 6.09e-02 1.50e+00\n", " 26 2.376378e+05 1.48e+01 8.25e+04 2.91e+00 9.21e-01 3.67e+05 1 8.93e-02 1.59e+00\n", " 27 2.376107e+05 2.72e+01 2.24e+05 6.52e+00 8.96e-01 7.29e+05 1 6.26e-02 1.66e+00\n", " 28 2.375971e+05 1.36e+01 9.75e+05 1.02e+01 3.11e-01 6.91e+05 1 6.72e-02 1.72e+00\n", " 29 2.376443e+05 -4.72e+01 9.75e+05 6.28e+00 -5.80e-01 3.45e+05 1 2.95e-02 1.75e+00\n", " 30 2.376183e+05 -2.12e+01 9.75e+05 3.14e+00 -2.82e-01 8.64e+04 1 2.77e-02 1.78e+00\n", " 31 2.375874e+05 9.68e+00 9.21e+05 8.10e-01 1.54e-01 6.49e+04 1 7.85e-02 1.86e+00\n", " 32 2.375800e+05 7.45e+00 8.34e+05 5.99e-01 1.96e-01 5.30e+04 1 6.47e-02 1.92e+00\n", " 33 2.375724e+05 7.61e+00 5.35e+05 4.79e-01 2.90e-01 4.93e+04 1 5.98e-02 1.98e+00\n", " 34 2.375687e+05 3.69e+00 3.74e+05 4.29e-01 3.44e-01 4.79e+04 1 5.66e-02 2.04e+00\n", " 35 2.375665e+05 2.18e+00 2.39e+05 4.10e-01 4.07e-01 4.76e+04 1 7.44e-02 2.11e+00\n", " 36 2.375651e+05 1.37e+00 1.50e+05 3.98e-01 5.36e-01 4.76e+04 1 6.16e-02 2.18e+00\n", " 37 2.375641e+05 1.04e+00 1.01e+05 3.94e-01 6.78e-01 4.98e+04 1 5.76e-02 2.23e+00\n", " 38 2.375631e+05 9.40e-01 6.08e+04 4.06e-01 8.29e-01 6.95e+04 1 5.83e-02 2.29e+00\n", " 39 2.375619e+05 1.19e+00 5.34e+04 5.60e-01 9.21e-01 1.72e+05 1 6.43e-02 2.36e+00\n", " 40 2.375592e+05 2.76e+00 5.86e+04 1.36e+00 9.63e-01 5.16e+05 1 6.12e-02 2.42e+00\n", " 41 2.375518e+05 7.35e+00 1.26e+05 3.91e+00 9.83e-01 1.55e+06 1 5.92e-02 2.48e+00\n", " 42 2.375370e+05 1.49e+01 5.32e+05 1.03e+01 8.64e-01 2.52e+06 1 6.01e-02 2.54e+00\n", " 43 2.375414e+05 -4.38e+00 5.32e+05 1.12e+01 -2.63e-01 1.26e+06 1 3.61e-02 2.57e+00\n", " 44 2.375382e+05 -1.22e+00 5.32e+05 5.56e+00 -1.08e-01 3.15e+05 1 4.90e-02 2.62e+00\n", " 45 2.375376e+05 -6.21e-01 5.32e+05 1.39e+00 -8.77e-02 3.93e+04 1 2.85e-02 2.65e+00\n", " 46 2.375352e+05 1.82e+00 4.03e+05 1.76e-01 4.24e-01 3.92e+04 1 5.92e-02 2.71e+00\n", " 47 2.375346e+05 5.65e-01 1.55e+05 1.72e-01 5.43e-01 3.92e+04 1 5.74e-02 2.77e+00\n", " 48 2.375343e+05 2.90e-01 1.17e+05 1.72e-01 6.39e-01 4.01e+04 1 6.24e-02 2.83e+00\n", " 49 2.375341e+05 2.17e-01 3.73e+04 1.74e-01 8.70e-01 6.75e+04 1 5.75e-02 2.89e+00\n", " 50 2.375338e+05 3.16e-01 4.68e+04 2.92e-01 9.45e-01 2.03e+05 1 5.82e-02 2.95e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 53204\n", " Parameters : 32999\n", " Iterations : 51\n", " Time : 2.94791 [s]\n", " Initial cost : 3.60745 [px]\n", " Final cost : 2.11296 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 152\n", " => Merged observations: 30\n", " => Filtered observations: 4733\n", " => Changed observations: 0.184761\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.870079e+04 0.00e+00 3.36e+05 0.00e+00 0.00e+00 1.00e+04 0 3.46e-02 9.49e-02\n", " 1 2.064903e+04 8.05e+03 3.29e+05 1.46e+01 8.37e-01 1.44e+04 1 5.87e-02 1.54e-01\n", " 2 1.872492e+04 1.92e+03 2.02e+05 9.13e+00 9.40e-01 4.32e+04 1 5.50e-02 2.09e-01\n", " 3 1.814505e+04 5.80e+02 4.50e+05 7.76e+00 9.41e-01 1.29e+05 1 5.29e-02 2.62e-01\n", " 4 1.773681e+04 4.08e+02 8.97e+05 7.49e+00 8.68e-01 2.16e+05 1 5.77e-02 3.19e-01\n", " 5 1.759091e+04 1.46e+02 4.31e+05 6.26e+00 6.31e-01 2.20e+05 1 5.45e-02 3.74e-01\n", " 6 1.768627e+04 -9.54e+01 4.31e+05 6.36e+00 -6.41e-01 1.10e+05 1 2.22e-02 3.96e-01\n", " 7 1.762853e+04 -3.76e+01 4.31e+05 5.60e+00 -2.85e-01 2.75e+04 1 2.26e-02 4.19e-01\n", " 8 1.753952e+04 5.14e+01 5.97e+04 3.74e+00 4.96e-01 2.75e+04 1 4.82e-02 4.67e-01\n", " 9 1.749966e+04 3.99e+01 2.27e+04 2.67e+00 7.51e-01 3.15e+04 1 4.71e-02 5.14e-01\n", " 10 1.748791e+04 1.17e+01 1.72e+04 1.99e+00 5.73e-01 3.16e+04 1 5.83e-02 5.73e-01\n", " 11 1.747780e+04 1.01e+01 9.46e+03 1.65e+00 7.07e-01 3.40e+04 1 7.06e-02 6.43e-01\n", " 12 1.747055e+04 7.25e+00 7.15e+03 1.29e+00 7.13e-01 3.68e+04 1 5.94e-02 7.03e-01\n", " 13 1.746424e+04 6.32e+00 7.53e+03 1.14e+00 7.86e-01 4.53e+04 1 5.25e-02 7.55e-01\n", " 14 1.745852e+04 5.72e+00 1.08e+04 1.01e+00 7.89e-01 5.61e+04 1 6.25e-02 8.18e-01\n", " 15 1.745308e+04 5.43e+00 1.40e+04 1.06e+00 8.12e-01 7.41e+04 1 5.40e-02 8.72e-01\n", " 16 1.744812e+04 4.97e+00 2.06e+04 1.10e+00 7.49e-01 8.46e+04 1 5.55e-02 9.27e-01\n", " 17 1.744398e+04 4.13e+00 2.02e+04 1.26e+00 6.83e-01 8.89e+04 1 5.56e-02 9.83e-01\n", " 18 1.744121e+04 2.77e+00 1.81e+04 1.38e+00 4.79e-01 8.89e+04 1 6.32e-02 1.05e+00\n", " 19 1.743907e+04 2.14e+00 1.31e+04 1.61e+00 3.58e-01 8.69e+04 1 5.18e-02 1.10e+00\n", " 20 1.743833e+04 7.39e-01 1.41e+04 1.82e+00 1.09e-01 5.88e+04 1 4.69e-02 1.15e+00\n", " 21 1.743717e+04 1.16e+00 1.53e+04 1.93e+00 1.49e-01 4.37e+04 1 5.32e-02 1.20e+00\n", " 22 1.743573e+04 1.44e+00 1.36e+04 1.79e+00 1.89e-01 3.53e+04 1 5.26e-02 1.25e+00\n", " 23 1.743360e+04 2.13e+00 9.49e+03 1.54e+00 3.49e-01 3.43e+04 1 5.87e-02 1.31e+00\n", " 24 1.743223e+04 1.37e+00 6.35e+03 1.22e+00 3.42e-01 3.33e+04 1 4.99e-02 1.36e+00\n", " 25 1.743114e+04 1.09e+00 4.16e+03 1.01e+00 4.07e-01 3.31e+04 1 4.88e-02 1.41e+00\n", " 26 1.743031e+04 8.26e-01 2.64e+03 7.96e-01 4.46e-01 3.30e+04 1 5.56e-02 1.46e+00\n", " 27 1.742960e+04 7.08e-01 1.75e+03 6.50e-01 5.29e-01 3.30e+04 1 4.99e-02 1.51e+00\n", " 28 1.742898e+04 6.24e-01 1.07e+03 5.13e-01 6.04e-01 3.33e+04 1 5.51e-02 1.57e+00\n", " 29 1.742840e+04 5.79e-01 7.49e+02 4.21e-01 6.92e-01 3.53e+04 1 5.03e-02 1.62e+00\n", " 30 1.742783e+04 5.70e-01 6.60e+02 3.41e-01 7.66e-01 4.16e+04 1 8.11e-02 1.70e+00\n", " 31 1.742720e+04 6.31e-01 8.68e+02 3.05e-01 8.32e-01 5.88e+04 1 6.24e-02 1.76e+00\n", " 32 1.742636e+04 8.41e-01 1.36e+03 2.96e-01 8.75e-01 1.02e+05 1 8.60e-02 1.85e+00\n", " 33 1.742499e+04 1.37e+00 3.46e+03 3.57e-01 9.01e-01 2.11e+05 1 9.82e-02 1.95e+00\n", " 34 1.742240e+04 2.59e+00 1.02e+04 4.66e-01 9.10e-01 4.69e+05 1 8.82e-02 2.04e+00\n", " 35 1.741735e+04 5.04e+00 3.13e+04 7.00e-01 8.99e-01 9.54e+05 1 9.18e-02 2.13e+00\n", " 36 1.740932e+04 8.04e+00 5.97e+04 1.03e+00 8.53e-01 1.47e+06 1 1.06e-01 2.23e+00\n", " 37 1.740152e+04 7.79e+00 8.19e+04 1.55e+00 6.67e-01 1.53e+06 1 8.65e-02 2.32e+00\n", " 38 1.740188e+04 -3.52e-01 8.19e+04 2.49e+00 -2.86e-02 7.65e+05 1 4.10e-02 2.36e+00\n", " 39 1.740466e+04 -3.13e+00 8.19e+04 2.45e+00 -3.45e-01 1.91e+05 1 3.66e-02 2.40e+00\n", " 40 1.740491e+04 -3.38e+00 8.19e+04 2.26e+00 -5.19e-01 2.39e+04 1 4.11e-02 2.44e+00\n", " 41 1.740001e+04 1.52e+00 7.97e+03 1.39e+00 3.13e-01 2.27e+04 1 9.15e-02 2.53e+00\n", " 42 1.739898e+04 1.03e+00 2.51e+03 8.07e-01 4.83e-01 2.27e+04 1 8.36e-02 2.62e+00\n", " 43 1.739865e+04 3.28e-01 1.25e+03 5.54e-01 3.89e-01 2.25e+04 1 1.22e-01 2.74e+00\n", " 44 1.739845e+04 1.96e-01 8.01e+02 3.56e-01 4.85e-01 2.25e+04 1 9.51e-02 2.83e+00\n", " 45 1.739831e+04 1.38e-01 8.08e+02 2.37e-01 5.98e-01 2.26e+04 1 8.25e-02 2.92e+00\n", " 46 1.739820e+04 1.17e-01 8.10e+02 1.54e-01 7.50e-01 2.59e+04 1 8.50e-02 3.00e+00\n", " 47 1.739808e+04 1.21e-01 8.10e+02 1.08e-01 8.66e-01 4.26e+04 1 8.74e-02 3.09e+00\n", " 48 1.739789e+04 1.89e-01 7.85e+02 8.99e-02 9.40e-01 1.28e+05 1 8.85e-02 3.18e+00\n", " 49 1.739733e+04 5.55e-01 5.23e+02 1.06e-01 9.75e-01 3.83e+05 1 9.42e-02 3.27e+00\n", " 50 1.739573e+04 1.61e+00 3.08e+03 1.57e-01 9.82e-01 1.15e+06 1 8.76e-02 3.36e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43432\n", " Parameters : 27431\n", " Iterations : 51\n", " Time : 3.36209 [s]\n", " Initial cost : 0.812909 [px]\n", " Final cost : 0.632873 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 187\n", " => Merged observations: 6\n", " => Filtered observations: 107\n", " => Changed observations: 0.013815\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.706654e+04 0.00e+00 1.91e+04 0.00e+00 0.00e+00 1.00e+04 0 4.94e-02 1.35e-01\n", " 1 1.651688e+04 5.50e+02 2.58e+04 5.86e+00 9.18e-01 2.42e+04 1 9.77e-02 2.33e-01\n", " 2 1.649060e+04 2.63e+01 1.48e+04 6.97e+00 2.91e-01 2.25e+04 1 9.54e-02 3.29e-01\n", " 3 1.641854e+04 7.21e+01 1.33e+04 4.46e+00 9.33e-01 6.44e+04 1 1.04e-01 4.33e-01\n", " 4 1.640621e+04 1.23e+01 4.73e+04 5.38e+00 6.22e-01 6.53e+04 1 8.83e-02 5.22e-01\n", " 5 1.639210e+04 1.41e+01 3.21e+04 2.79e+00 9.74e-01 1.96e+05 1 8.75e-02 6.10e-01\n", " 6 1.638140e+04 1.07e+01 1.25e+05 2.05e+00 9.78e-01 5.88e+05 1 8.94e-02 6.99e-01\n", " 7 1.636958e+04 1.18e+01 5.64e+05 8.99e-01 9.60e-01 1.76e+06 1 7.83e-02 7.77e-01\n", " 8 1.636107e+04 8.50e+00 9.03e+05 6.52e-01 8.89e-01 3.33e+06 1 7.76e-02 8.55e-01\n", " 9 1.635446e+04 6.61e+00 4.37e+05 3.32e-01 9.69e-01 9.99e+06 1 9.55e-02 9.51e-01\n", " 10 1.634555e+04 8.91e+00 1.12e+06 5.44e-01 7.81e-01 1.21e+07 1 8.39e-02 1.03e+00\n", " 11 1.633710e+04 8.45e+00 1.62e+06 7.15e-01 6.20e-01 1.23e+07 1 8.98e-02 1.12e+00\n", " 12 1.632973e+04 7.37e+00 1.83e+06 7.78e-01 4.44e-01 1.23e+07 1 9.62e-02 1.22e+00\n", " 13 1.632663e+04 3.10e+00 1.97e+06 1.17e+00 1.38e-01 8.92e+06 1 8.27e-02 1.30e+00\n", " 14 1.632954e+04 -2.91e+00 1.97e+06 1.64e+00 -8.31e-02 4.46e+06 1 3.97e-02 1.34e+00\n", " 15 1.630671e+04 1.99e+01 8.05e+05 1.44e+00 7.13e-01 4.83e+06 1 1.03e-01 1.45e+00\n", " 16 1.630188e+04 4.83e+00 7.55e+05 2.23e+00 2.50e-01 4.29e+06 1 9.52e-02 1.54e+00\n", " 17 1.633332e+04 -3.14e+01 7.55e+05 3.47e+00 -9.78e-01 2.15e+06 1 3.85e-02 1.58e+00\n", " 18 1.631206e+04 -1.02e+01 7.55e+05 3.25e+00 -4.08e-01 5.37e+05 1 3.92e-02 1.62e+00\n", " 19 1.630730e+04 -5.42e+00 7.55e+05 3.04e+00 -2.86e-01 6.71e+04 1 4.76e-02 1.67e+00\n", " 20 1.629700e+04 4.88e+00 2.55e+04 2.42e+00 2.93e-01 6.26e+04 1 8.63e-02 1.75e+00\n", " 21 1.629670e+04 3.03e-01 2.33e+04 2.39e+00 2.46e-02 3.37e+04 1 9.06e-02 1.85e+00\n", " 22 1.629283e+04 3.87e+00 1.73e+04 2.06e+00 3.38e-01 3.26e+04 1 1.06e-01 1.95e+00\n", " 23 1.629044e+04 2.39e+00 9.36e+03 1.48e+00 3.81e-01 3.22e+04 1 8.27e-02 2.03e+00\n", " 24 1.628934e+04 1.09e+00 5.56e+03 1.15e+00 3.53e-01 3.14e+04 1 5.10e-02 2.09e+00\n", " 25 1.628881e+04 5.36e-01 2.97e+03 8.47e-01 3.31e-01 3.02e+04 1 5.19e-02 2.14e+00\n", " 26 1.628849e+04 3.18e-01 1.74e+03 6.32e-01 3.59e-01 2.95e+04 1 5.47e-02 2.19e+00\n", " 27 1.628828e+04 2.09e-01 8.06e+02 4.52e-01 4.15e-01 2.94e+04 1 4.93e-02 2.24e+00\n", " 28 1.628813e+04 1.56e-01 5.00e+02 3.28e-01 5.06e-01 2.94e+04 1 4.87e-02 2.29e+00\n", " 29 1.628799e+04 1.32e-01 1.99e+02 2.35e-01 6.29e-01 2.99e+04 1 5.02e-02 2.34e+00\n", " 30 1.628787e+04 1.22e-01 1.50e+02 1.71e-01 7.46e-01 3.40e+04 1 4.89e-02 2.39e+00\n", " 31 1.628774e+04 1.30e-01 7.10e+01 1.30e-01 8.52e-01 5.20e+04 1 6.08e-02 2.45e+00\n", " 32 1.628755e+04 1.93e-01 1.26e+02 1.15e-01 9.15e-01 1.22e+05 1 6.35e-02 2.51e+00\n", " 33 1.628710e+04 4.50e-01 1.20e+03 1.29e-01 9.61e-01 3.66e+05 1 5.98e-02 2.57e+00\n", " 34 1.628575e+04 1.35e+00 1.10e+04 1.99e-01 9.65e-01 1.10e+06 1 5.62e-02 2.63e+00\n", " 35 1.628175e+04 3.99e+00 8.57e+04 3.09e-01 9.56e-01 3.30e+06 1 6.23e-02 2.69e+00\n", " 36 1.628050e+04 1.25e+00 5.42e+05 9.15e-01 9.29e-02 2.14e+06 1 5.39e-02 2.75e+00\n", " 37 1.626905e+04 1.15e+01 4.34e+05 1.06e+00 4.70e-01 2.14e+06 1 5.70e-02 2.80e+00\n", " 38 1.627599e+04 -6.94e+00 4.34e+05 1.94e+00 -2.34e-01 1.07e+06 1 2.30e-02 2.83e+00\n", " 39 1.625412e+04 1.49e+01 2.15e+05 1.46e+00 6.67e-01 1.11e+06 1 5.30e-02 2.88e+00\n", " 40 1.624644e+04 7.68e+00 1.71e+05 2.07e+00 4.48e-01 1.11e+06 1 6.00e-02 2.94e+00\n", " 41 1.627677e+04 -3.03e+01 1.71e+05 3.56e+00 -1.26e+00 5.55e+05 1 2.33e-02 2.96e+00\n", " 42 1.625945e+04 -1.30e+01 1.71e+05 3.18e+00 -6.98e-01 1.39e+05 1 2.13e-02 2.98e+00\n", " 43 1.624959e+04 -3.16e+00 1.71e+05 2.67e+00 -2.34e-01 1.73e+04 1 2.23e-02 3.01e+00\n", " 44 1.623983e+04 6.61e+00 9.36e+03 1.50e+00 6.46e-01 1.78e+04 1 4.92e-02 3.06e+00\n", " 45 1.623850e+04 1.33e+00 1.67e+03 6.20e-01 6.41e-01 1.82e+04 1 5.46e-02 3.11e+00\n", " 46 1.623813e+04 3.72e-01 8.56e+02 4.31e-01 5.62e-01 1.82e+04 1 6.07e-02 3.17e+00\n", " 47 1.623787e+04 2.56e-01 1.62e+02 2.24e-01 7.61e-01 2.12e+04 1 5.61e-02 3.23e+00\n", " 48 1.623762e+04 2.50e-01 1.25e+02 1.51e-01 8.77e-01 3.72e+04 1 5.04e-02 3.28e+00\n", " 49 1.623721e+04 4.13e-01 3.31e+02 1.10e-01 9.68e-01 1.11e+05 1 5.00e-02 3.33e+00\n", " 50 1.623601e+04 1.20e+00 2.93e+03 1.89e-01 9.71e-01 3.34e+05 1 5.13e-02 3.38e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43588\n", " Parameters : 27320\n", " Iterations : 51\n", " Time : 3.38175 [s]\n", " Initial cost : 0.625733 [px]\n", " Final cost : 0.610318 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 47\n", " => Merged observations: 6\n", " => Filtered observations: 18\n", " => Changed observations: 0.003258\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.643197e+04 0.00e+00 7.95e+04 0.00e+00 0.00e+00 1.00e+04 0 3.26e-02 7.81e-02\n", " 1 1.630969e+04 1.22e+02 6.09e+03 1.19e+00 1.00e+00 3.00e+04 1 7.90e-02 1.57e-01\n", " 2 1.630482e+04 4.87e+00 1.15e+04 1.35e+00 9.93e-01 9.00e+04 1 5.67e-02 2.14e-01\n", " 3 1.630104e+04 3.78e+00 1.91e+04 1.59e+00 8.89e-01 1.71e+05 1 5.30e-02 2.67e-01\n", " 4 1.629858e+04 2.46e+00 3.71e+03 1.05e+00 9.98e-01 5.12e+05 1 5.66e-02 3.24e-01\n", " 5 1.629367e+04 4.91e+00 1.38e+04 6.63e-01 9.90e-01 1.54e+06 1 5.61e-02 3.80e-01\n", " 6 1.628694e+04 6.73e+00 1.62e+05 9.98e-01 6.56e-01 1.58e+06 1 5.43e-02 4.34e-01\n", " 7 1.627920e+04 7.74e+00 1.59e+05 8.39e-01 8.15e-01 2.12e+06 1 5.18e-02 4.86e-01\n", " 8 1.627926e+04 -6.02e-02 1.59e+05 1.32e+00 -8.56e-03 1.06e+06 1 2.27e-02 5.09e-01\n", " 9 1.627732e+04 1.88e+00 5.70e+04 1.14e+00 3.90e-01 1.05e+06 1 5.35e-02 5.62e-01\n", " 10 1.628013e+04 -2.80e+00 5.70e+04 1.84e+00 -4.34e-01 5.23e+05 1 2.95e-02 5.92e-01\n", " 11 1.627975e+04 -2.43e+00 5.70e+04 1.83e+00 -4.32e-01 1.31e+05 1 2.58e-02 6.17e-01\n", " 12 1.627800e+04 -6.78e-01 5.70e+04 1.64e+00 -1.48e-01 1.64e+04 1 2.30e-02 6.40e-01\n", " 13 1.627579e+04 1.53e+00 9.83e+03 8.91e-01 5.35e-01 1.64e+04 1 4.83e-02 6.89e-01\n", " 14 1.627539e+04 3.97e-01 4.24e+03 3.81e-01 5.98e-01 1.65e+04 1 5.16e-02 7.40e-01\n", " 15 1.627526e+04 1.32e-01 3.16e+03 2.40e-01 5.70e-01 1.65e+04 1 5.27e-02 7.93e-01\n", " 16 1.627519e+04 7.01e-02 2.23e+03 1.23e-01 7.21e-01 1.81e+04 1 5.90e-02 8.52e-01\n", " 17 1.627514e+04 5.05e-02 1.68e+03 7.65e-02 8.28e-01 2.52e+04 1 5.24e-02 9.05e-01\n", " 18 1.627509e+04 5.48e-02 1.57e+03 4.94e-02 9.25e-01 6.57e+04 1 5.39e-02 9.59e-01\n", " 19 1.627497e+04 1.21e-01 1.93e+03 4.98e-02 9.65e-01 1.97e+05 1 6.33e-02 1.02e+00\n", " 20 1.627463e+04 3.33e-01 1.77e+03 8.54e-02 9.76e-01 5.92e+05 1 5.12e-02 1.07e+00\n", " 21 1.627372e+04 9.18e-01 9.68e+03 1.36e-01 9.87e-01 1.77e+06 1 6.15e-02 1.13e+00\n", " 22 1.627179e+04 1.93e+00 9.81e+04 3.62e-01 8.27e-01 2.46e+06 1 5.36e-02 1.19e+00\n", " 23 1.626983e+04 1.95e+00 1.25e+05 4.31e-01 8.01e-01 3.15e+06 1 5.23e-02 1.24e+00\n", " 24 1.626839e+04 1.44e+00 1.22e+05 7.02e-01 6.36e-01 3.21e+06 1 4.98e-02 1.29e+00\n", " 25 1.626808e+04 3.15e-01 7.08e+04 1.15e+00 1.47e-01 2.38e+06 1 4.94e-02 1.34e+00\n", " 26 1.627167e+04 -3.59e+00 7.08e+04 1.95e+00 -1.03e+00 1.19e+06 1 2.16e-02 1.36e+00\n", " 27 1.627157e+04 -3.50e+00 7.08e+04 1.92e+00 -1.09e+00 2.97e+05 1 2.20e-02 1.38e+00\n", " 28 1.627080e+04 -2.72e+00 7.08e+04 1.81e+00 -9.19e-01 3.72e+04 1 2.06e-02 1.40e+00\n", " 29 1.626795e+04 1.28e-01 7.10e+03 1.26e+00 5.01e-02 2.15e+04 1 5.65e-02 1.46e+00\n", " 30 1.626725e+04 7.03e-01 3.28e+03 8.76e-01 3.54e-01 2.10e+04 1 5.05e-02 1.51e+00\n", " 31 1.626698e+04 2.67e-01 1.42e+03 5.63e-01 3.42e-01 2.03e+04 1 4.91e-02 1.56e+00\n", " 32 1.626688e+04 1.02e-01 5.20e+02 3.63e-01 3.18e-01 1.94e+04 1 4.84e-02 1.61e+00\n", " 33 1.626684e+04 4.26e-02 2.67e+02 2.31e-01 3.30e-01 1.87e+04 1 5.07e-02 1.66e+00\n", " 34 1.626682e+04 1.92e-02 1.02e+02 1.41e-01 3.68e-01 1.83e+04 1 6.17e-02 1.72e+00\n", " 35 1.626681e+04 9.39e-03 4.63e+01 8.54e-02 4.36e-01 1.83e+04 1 5.79e-02 1.78e+00\n", " 36 1.626680e+04 5.77e-03 5.92e+01 5.13e-02 5.68e-01 1.83e+04 1 5.43e-02 1.83e+00\n", " 37 1.626680e+04 4.45e-03 3.81e+01 3.10e-02 7.34e-01 2.04e+04 1 5.12e-02 1.88e+00\n", " 38 1.626679e+04 4.36e-03 4.28e+01 1.95e-02 8.76e-01 3.54e+04 1 5.57e-02 1.94e+00\n", " 39 1.626679e+04 7.15e-03 3.43e+01 1.57e-02 9.50e-01 1.06e+05 1 5.19e-02 1.99e+00\n", " 40 1.626676e+04 2.11e-02 7.98e+01 1.88e-02 9.81e-01 3.19e+05 1 4.91e-02 2.04e+00\n", " 41 1.626670e+04 6.24e-02 4.96e+02 3.18e-02 9.82e-01 9.57e+05 1 4.87e-02 2.09e+00\n", " 42 1.626652e+04 1.80e-01 3.70e+03 5.09e-02 9.89e-01 2.87e+06 1 4.82e-02 2.14e+00\n", " 43 1.626605e+04 4.73e-01 3.98e+04 1.18e-01 9.55e-01 8.61e+06 1 7.68e-02 2.22e+00\n", " 44 1.626556e+04 4.90e-01 4.33e+05 1.94e-01 4.46e-01 8.60e+06 1 5.29e-02 2.27e+00\n", " 45 1.626449e+04 1.07e+00 2.91e+04 2.27e-01 9.46e-01 2.58e+07 1 5.03e-02 2.32e+00\n", " 46 1.626621e+04 -1.72e+00 2.91e+04 3.61e-01 -1.79e+00 1.29e+07 1 2.23e-02 2.34e+00\n", " 47 1.626419e+04 3.04e-01 2.22e+05 3.63e-01 5.60e-01 1.29e+07 1 4.98e-02 2.39e+00\n", " 48 1.626420e+04 -1.50e-02 2.22e+05 6.35e-01 -2.35e-02 6.46e+06 1 2.18e-02 2.41e+00\n", " 49 1.626428e+04 -9.55e-02 2.22e+05 6.25e-01 -1.87e-01 1.62e+06 1 2.51e-02 2.44e+00\n", " 50 1.626433e+04 -1.47e-01 2.22e+05 6.13e-01 -3.58e-01 2.02e+05 1 2.26e-02 2.46e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43646\n", " Parameters : 27293\n", " Iterations : 51\n", " Time : 2.46212 [s]\n", " Initial cost : 0.613582 [px]\n", " Final cost : 0.610441 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 21\n", " => Merged observations: 0\n", " => Filtered observations: 8\n", " => Changed observations: 0.001329\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.636134e+04 0.00e+00 1.29e+06 0.00e+00 0.00e+00 1.00e+04 0 2.94e-02 7.46e-02\n", " 1 1.629217e+04 6.92e+01 6.84e+04 1.10e+00 9.97e-01 3.00e+04 1 6.24e-02 1.37e-01\n", " 2 1.629074e+04 1.43e+00 4.74e+04 1.51e+00 9.76e-01 9.00e+04 1 4.92e-02 1.86e-01\n", " 3 1.629000e+04 7.42e-01 5.74e+04 2.12e+00 9.03e-01 1.89e+05 1 5.42e-02 2.40e-01\n", " 4 1.628967e+04 3.25e-01 7.31e+03 1.48e+00 9.33e-01 5.43e+05 1 4.94e-02 2.90e-01\n", " 5 1.628940e+04 2.74e-01 2.91e+04 6.57e-01 8.73e-01 9.28e+05 1 5.11e-02 3.41e-01\n", " 6 1.628916e+04 2.34e-01 3.94e+04 2.77e-01 7.20e-01 1.01e+06 1 5.41e-02 3.95e-01\n", " 7 1.628907e+04 9.19e-02 5.96e+04 4.33e-01 2.48e-01 8.99e+05 1 5.09e-02 4.46e-01\n", " 8 1.628926e+04 -1.86e-01 5.96e+04 7.22e-01 -3.21e-01 4.50e+05 1 2.17e-02 4.68e-01\n", " 9 1.628927e+04 -1.97e-01 5.96e+04 7.05e-01 -3.73e-01 1.12e+05 1 1.96e-02 4.87e-01\n", " 10 1.628915e+04 -7.92e-02 5.96e+04 6.20e-01 -1.73e-01 1.40e+04 1 2.13e-02 5.09e-01\n", " 11 1.628894e+04 1.31e-01 1.32e+04 3.21e-01 4.55e-01 1.40e+04 1 5.41e-02 5.63e-01\n", " 12 1.628891e+04 3.40e-02 7.35e+03 1.14e-01 5.61e-01 1.41e+04 1 5.17e-02 6.15e-01\n", " 13 1.628890e+04 1.15e-02 5.44e+03 7.29e-02 5.57e-01 1.41e+04 1 6.50e-02 6.80e-01\n", " 14 1.628889e+04 5.44e-03 3.74e+03 3.09e-02 7.40e-01 1.58e+04 1 5.99e-02 7.40e-01\n", " 15 1.628889e+04 3.85e-03 2.83e+03 1.96e-02 8.44e-01 2.35e+04 1 5.68e-02 7.97e-01\n", " 16 1.628888e+04 4.48e-03 2.51e+03 1.08e-02 9.47e-01 7.04e+04 1 5.19e-02 8.48e-01\n", " 17 1.628887e+04 1.18e-02 2.41e+03 1.26e-02 9.78e-01 2.11e+05 1 5.14e-02 9.00e-01\n", " 18 1.628884e+04 3.28e-02 2.38e+03 1.90e-02 9.87e-01 6.34e+05 1 6.35e-02 9.63e-01\n", " 19 1.628875e+04 8.35e-02 2.69e+03 3.21e-02 9.90e-01 1.90e+06 1 5.99e-02 1.02e+00\n", " 20 1.628858e+04 1.73e-01 2.66e+03 6.93e-02 9.82e-01 5.70e+06 1 5.10e-02 1.07e+00\n", " 21 1.628829e+04 2.92e-01 3.60e+04 1.25e-01 9.78e-01 1.71e+07 1 5.47e-02 1.13e+00\n", " 22 1.628779e+04 4.98e-01 2.60e+05 2.01e-01 8.90e-01 3.26e+07 1 4.92e-02 1.18e+00\n", " 23 1.628732e+04 4.76e-01 8.60e+05 2.59e-01 6.96e-01 3.47e+07 1 5.30e-02 1.23e+00\n", " 24 1.628701e+04 3.01e-01 1.08e+05 4.35e-01 5.54e-01 3.47e+07 1 5.15e-02 1.28e+00\n", " 25 1.628724e+04 -2.27e-01 1.08e+05 7.45e-01 -3.95e-01 1.74e+07 1 2.24e-02 1.31e+00\n", " 26 1.628729e+04 -2.78e-01 1.08e+05 7.48e-01 -5.53e-01 4.34e+06 1 2.16e-02 1.33e+00\n", " 27 1.628733e+04 -3.17e-01 1.08e+05 7.48e-01 -7.11e-01 5.42e+05 1 2.12e-02 1.35e+00\n", " 28 1.628729e+04 -2.72e-01 1.08e+05 7.22e-01 -6.35e-01 3.39e+04 1 2.09e-02 1.37e+00\n", " 29 1.628696e+04 5.26e-02 4.65e+04 4.68e-01 1.49e-01 2.52e+04 1 4.85e-02 1.42e+00\n", " 30 1.628691e+04 5.05e-02 7.09e+03 3.38e-01 2.29e-01 2.17e+04 1 6.10e-02 1.48e+00\n", " 31 1.628688e+04 3.13e-02 4.68e+03 2.32e-01 2.70e-01 1.98e+04 1 5.24e-02 1.53e+00\n", " 32 1.628687e+04 1.49e-02 2.25e+03 1.48e-01 2.97e-01 1.86e+04 1 5.07e-02 1.58e+00\n", " 33 1.628686e+04 6.38e-03 1.28e+03 9.12e-02 3.17e-01 1.77e+04 1 5.11e-02 1.63e+00\n", " 34 1.628686e+04 2.48e-03 7.20e+02 5.42e-02 3.36e-01 1.71e+04 1 5.66e-02 1.69e+00\n", " 35 1.628686e+04 9.43e-04 4.38e+02 3.15e-02 3.59e-01 1.67e+04 1 7.15e-02 1.76e+00\n", " 36 1.628686e+04 3.70e-04 2.59e+02 1.80e-02 4.02e-01 1.66e+04 1 5.31e-02 1.81e+00\n", " 37 1.628685e+04 1.73e-04 1.74e+02 1.02e-02 4.92e-01 1.66e+04 1 5.17e-02 1.87e+00\n", " 38 1.628685e+04 1.08e-04 1.22e+02 5.80e-03 6.53e-01 1.71e+04 1 5.47e-02 1.92e+00\n", " 39 1.628685e+04 8.92e-05 9.19e+01 3.34e-03 8.25e-01 2.36e+04 1 4.91e-02 1.97e+00\n", " 40 1.628685e+04 1.12e-04 8.32e+01 2.20e-03 9.35e-01 6.94e+04 1 4.92e-02 2.02e+00\n", " 41 1.628685e+04 3.21e-04 1.10e+02 2.22e-03 9.80e-01 2.08e+05 1 4.83e-02 2.07e+00\n", " 42 1.628685e+04 9.57e-04 1.00e+02 3.24e-03 9.87e-01 6.24e+05 1 5.26e-02 2.12e+00\n", " 43 1.628685e+04 2.85e-03 1.12e+02 5.05e-03 9.89e-01 1.87e+06 1 5.71e-02 2.18e+00\n", " 44 1.628684e+04 8.48e-03 2.95e+02 9.06e-03 9.89e-01 5.62e+06 1 5.65e-02 2.23e+00\n", " 45 1.628682e+04 2.48e-02 2.97e+03 1.46e-02 9.90e-01 1.69e+07 1 5.38e-02 2.29e+00\n", " 46 1.628675e+04 6.94e-02 3.36e+04 3.05e-02 9.86e-01 5.06e+07 1 5.05e-02 2.34e+00\n", " 47 1.628658e+04 1.63e-01 3.63e+05 4.75e-02 9.50e-01 1.52e+08 1 5.34e-02 2.39e+00\n", " 48 1.628651e+04 7.36e-02 4.94e+06 9.67e-02 2.53e-01 1.35e+08 1 5.04e-02 2.44e+00\n", " 49 1.628628e+04 2.27e-01 1.74e+06 1.43e-01 8.52e-01 2.08e+08 1 5.11e-02 2.49e+00\n", " 50 1.628628e+04 5.23e-03 1.74e+06 2.51e-01 5.20e-02 1.21e+08 1 5.10e-02 2.54e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 43672\n", " Parameters : 27284\n", " Iterations : 51\n", " Time : 2.54599 [s]\n", " Initial cost : 0.61208 [px]\n", " Final cost : 0.610674 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 9\n", " => Merged observations: 0\n", " => Filtered observations: 3\n", " => Changed observations: 0.000550\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #52 (16)\n", "==============================================================================\n", "\n", " => Image sees 281 / 6081 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #31 (16)\n", "==============================================================================\n", "\n", " => Image sees 282 / 4911 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #54 (16)\n", "==============================================================================\n", "\n", " => Image sees 260 / 6071 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #12 (16)\n", "==============================================================================\n", "\n", " => Image sees 254 / 4734 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #30 (16)\n", "==============================================================================\n", "\n", " => Image sees 258 / 5459 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #29 (16)\n", "==============================================================================\n", "\n", " => Image sees 257 / 4375 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #2 (16)\n", "==============================================================================\n", "\n", " => Image sees 256 / 5302 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #47 (16)\n", "==============================================================================\n", "\n", " => Image sees 258 / 5830 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 118\n", " Parameters : 6\n", " Iterations : 19\n", " Time : 0.00225806 [s]\n", " Initial cost : 0.774684 [px]\n", " Final cost : 0.756465 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 59\n", " => Added observations: 2885\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 25302\n", " Parameters : 9629\n", " Iterations : 26\n", " Time : 0.60273 [s]\n", " Initial cost : 0.966165 [px]\n", " Final cost : 0.759087 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 15\n", " => Filtered observations: 1320\n", " => Changed observations: 0.102432\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 22678\n", " Parameters : 8153\n", " Iterations : 5\n", " Time : 0.103939 [s]\n", " Initial cost : 0.66648 [px]\n", " Final cost : 0.6458 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 4\n", " => Completed observations: 190\n", " => Filtered observations: 19\n", " => Changed observations: 0.018173\n", "\n", "==============================================================================\n", "Registering image #48 (17)\n", "==============================================================================\n", "\n", " => Image sees 739 / 6450 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 900\n", " Parameters : 6\n", " Iterations : 17\n", " Time : 0.01279 [s]\n", " Initial cost : 0.895431 [px]\n", " Final cost : 0.671992 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 444\n", " => Added observations: 1274\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 18636\n", " Parameters : 7262\n", " Iterations : 26\n", " Time : 0.50601 [s]\n", " Initial cost : 1.15533 [px]\n", " Final cost : 0.905507 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 25\n", " => Filtered observations: 1295\n", " => Changed observations: 0.116649\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 15938\n", " Parameters : 5876\n", " Iterations : 7\n", " Time : 0.11244 [s]\n", " Initial cost : 0.717174 [px]\n", " Final cost : 0.668091 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 7\n", " => Completed observations: 197\n", " => Filtered observations: 31\n", " => Changed observations: 0.023578\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 15\n", " => Merged observations: 8\n", " => Retriangulated observations: 501\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.467198e+05 0.00e+00 3.33e+07 0.00e+00 0.00e+00 1.00e+04 0 3.36e-02 8.84e-02\n", " 1 7.872329e+04 6.80e+04 2.86e+06 9.79e+01 7.32e-01 1.11e+04 1 6.39e-02 1.52e-01\n", " 2 5.832731e+04 2.04e+04 5.93e+05 1.01e+02 9.61e-01 3.33e+04 1 6.53e-02 2.18e-01\n", " 3 5.788840e+04 4.39e+02 1.80e+06 1.21e+02 3.82e-01 3.29e+04 1 6.56e-02 2.83e-01\n", " 4 5.708750e+04 8.01e+02 9.53e+05 9.11e+01 9.51e-01 9.88e+04 1 6.29e-02 3.46e-01\n", " 5 5.716038e+04 -7.29e+01 9.53e+05 1.67e+02 -4.04e-01 4.94e+04 1 2.86e-02 3.75e-01\n", " 6 5.699925e+04 8.83e+01 8.50e+05 9.85e+01 6.90e-01 5.22e+04 1 8.36e-02 4.58e-01\n", " 7 5.694370e+04 5.55e+01 4.07e+05 9.41e+01 7.59e-01 6.06e+04 1 5.89e-02 5.17e-01\n", " 8 5.692344e+04 2.03e+01 2.17e+05 1.07e+02 5.06e-01 6.06e+04 1 5.77e-02 5.75e-01\n", " 9 5.691913e+04 4.31e+00 8.92e+04 1.07e+02 1.19e-01 4.21e+04 1 6.20e-02 6.37e-01\n", " 10 5.692794e+04 -8.80e+00 8.92e+04 7.70e+01 -2.19e-01 2.10e+04 1 3.14e-02 6.69e-01\n", " 11 5.690841e+04 1.07e+01 3.80e+04 3.98e+01 3.15e-01 2.00e+04 1 6.59e-02 7.35e-01\n", " 12 5.689749e+04 1.09e+01 1.98e+04 3.66e+01 4.76e-01 2.00e+04 1 6.25e-02 7.97e-01\n", " 13 5.689188e+04 5.61e+00 1.19e+04 3.64e+01 4.78e-01 2.00e+04 1 6.01e-02 8.57e-01\n", " 14 5.688818e+04 3.71e+00 6.97e+03 3.62e+01 5.11e-01 2.00e+04 1 6.57e-02 9.23e-01\n", " 15 5.688543e+04 2.75e+00 5.65e+03 3.63e+01 5.80e-01 2.01e+04 1 6.40e-02 9.87e-01\n", " 16 5.688312e+04 2.31e+00 4.47e+03 3.65e+01 6.60e-01 2.08e+04 1 7.36e-02 1.06e+00\n", " 17 5.688111e+04 2.01e+00 3.86e+03 3.78e+01 7.35e-01 2.32e+04 1 6.03e-02 1.12e+00\n", " 18 5.687914e+04 1.97e+00 3.60e+03 4.24e+01 7.95e-01 2.92e+04 1 6.79e-02 1.19e+00\n", " 19 5.687698e+04 2.15e+00 3.83e+03 5.36e+01 8.25e-01 4.02e+04 1 5.84e-02 1.25e+00\n", " 20 5.687442e+04 2.56e+00 4.43e+03 7.45e+01 8.22e-01 5.48e+04 1 6.13e-02 1.31e+00\n", " 21 5.687157e+04 2.86e+00 5.31e+03 1.02e+02 7.77e-01 6.61e+04 1 5.62e-02 1.37e+00\n", " 22 5.686887e+04 2.70e+00 5.57e+03 1.25e+02 6.79e-01 6.92e+04 1 6.27e-02 1.43e+00\n", " 23 5.686693e+04 1.94e+00 5.64e+03 1.33e+02 4.69e-01 6.92e+04 1 7.69e-02 1.50e+00\n", " 24 5.686593e+04 9.95e-01 8.84e+03 1.35e+02 1.96e-01 5.65e+04 1 5.77e-02 1.56e+00\n", " 25 5.686690e+04 -9.64e-01 8.84e+03 1.11e+02 -1.44e-01 2.82e+04 1 2.69e-02 1.59e+00\n", " 26 5.686518e+04 7.53e-01 1.08e+04 5.57e+01 1.39e-01 2.05e+04 1 7.61e-02 1.67e+00\n", " 27 5.686359e+04 1.59e+00 6.21e+03 4.05e+01 3.39e-01 1.98e+04 1 1.07e-01 1.77e+00\n", " 28 5.686258e+04 1.01e+00 3.71e+03 3.93e+01 3.75e-01 1.95e+04 1 1.03e-01 1.88e+00\n", " 29 5.686184e+04 7.43e-01 3.53e+03 3.87e+01 4.35e-01 1.95e+04 1 1.10e-01 1.99e+00\n", " 30 5.686127e+04 5.68e-01 3.53e+03 3.88e+01 5.15e-01 1.95e+04 1 1.04e-01 2.09e+00\n", " 31 5.686077e+04 4.95e-01 3.53e+03 3.89e+01 6.18e-01 1.97e+04 1 1.05e-01 2.20e+00\n", " 32 5.686033e+04 4.42e-01 3.53e+03 3.95e+01 7.15e-01 2.15e+04 1 1.05e-01 2.30e+00\n", " 33 5.685989e+04 4.40e-01 3.53e+03 4.30e+01 7.99e-01 2.73e+04 1 1.24e-01 2.43e+00\n", " 34 5.685938e+04 5.12e-01 3.54e+03 5.49e+01 8.53e-01 4.20e+04 1 1.12e-01 2.54e+00\n", " 35 5.685866e+04 7.23e-01 3.56e+03 8.50e+01 8.69e-01 7.02e+04 1 9.73e-02 2.64e+00\n", " 36 5.685759e+04 1.07e+00 5.86e+03 1.43e+02 8.42e-01 1.03e+05 1 9.75e-02 2.73e+00\n", " 37 5.685629e+04 1.30e+00 8.93e+03 2.13e+02 7.59e-01 1.20e+05 1 1.05e-01 2.84e+00\n", " 38 5.685522e+04 1.08e+00 1.03e+04 2.50e+02 5.47e-01 1.20e+05 1 9.45e-02 2.93e+00\n", " 39 5.685482e+04 3.98e-01 1.02e+04 2.53e+02 1.56e-01 9.03e+04 1 1.01e-01 3.03e+00\n", " 40 5.685635e+04 -1.53e+00 1.02e+04 1.93e+02 -3.79e-01 4.51e+04 1 6.12e-02 3.10e+00\n", " 41 5.685523e+04 -4.10e-01 1.02e+04 9.61e+01 -1.20e-01 1.13e+04 1 4.71e-02 3.14e+00\n", " 42 5.685382e+04 9.98e-01 3.50e+03 2.40e+01 4.41e-01 1.13e+04 1 9.54e-02 3.24e+00\n", " 43 5.685347e+04 3.55e-01 3.50e+03 2.39e+01 5.93e-01 1.13e+04 1 1.08e-01 3.35e+00\n", " 44 5.685331e+04 1.55e-01 3.50e+03 2.41e+01 6.32e-01 1.15e+04 1 9.93e-02 3.45e+00\n", " 45 5.685319e+04 1.16e-01 3.50e+03 2.45e+01 8.49e-01 1.75e+04 1 1.06e-01 3.55e+00\n", " 46 5.685304e+04 1.53e-01 3.51e+03 3.72e+01 9.32e-01 4.93e+04 1 1.06e-01 3.66e+00\n", " 47 5.685264e+04 4.04e-01 3.79e+03 1.05e+02 9.59e-01 1.48e+05 1 1.10e-01 3.77e+00\n", " 48 5.685155e+04 1.09e+00 1.47e+04 3.19e+02 9.19e-01 3.60e+05 1 1.09e-01 3.88e+00\n", " 49 5.684946e+04 2.09e+00 5.52e+04 7.90e+02 8.47e-01 5.41e+05 1 1.08e-01 3.99e+00\n", " 50 5.684717e+04 2.30e+00 1.04e+05 1.22e+03 7.95e-01 6.81e+05 1 9.84e-02 4.09e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 49222\n", " Parameters : 30617\n", " Iterations : 51\n", " Time : 4.08834 [s]\n", " Initial cost : 1.72649 [px]\n", " Final cost : 1.07467 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 68\n", " => Merged observations: 8\n", " => Filtered observations: 685\n", " => Changed observations: 0.030921\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.102201e+04 0.00e+00 2.24e+05 0.00e+00 0.00e+00 1.00e+04 0 4.91e-02 1.27e-01\n", " 1 1.851479e+04 2.51e+03 4.50e+04 9.95e+00 9.89e-01 3.00e+04 1 9.24e-02 2.20e-01\n", " 2 1.840308e+04 1.12e+02 7.24e+04 1.26e+01 7.73e-01 3.58e+04 1 9.12e-02 3.11e-01\n", " 3 1.834528e+04 5.78e+01 5.35e+04 8.67e+00 8.45e-01 5.33e+04 1 1.03e-01 4.14e-01\n", " 4 1.832378e+04 2.15e+01 4.10e+04 8.52e+00 7.98e-01 6.75e+04 1 1.07e-01 5.21e-01\n", " 5 1.831212e+04 1.17e+01 1.77e+04 6.59e+00 8.65e-01 1.11e+05 1 1.34e-01 6.55e-01\n", " 6 1.830670e+04 5.41e+00 5.56e+03 5.48e+00 8.45e-01 1.65e+05 1 9.81e-02 7.53e-01\n", " 7 1.830362e+04 3.09e+00 1.52e+04 3.40e+00 9.56e-01 4.94e+05 1 9.95e-02 8.53e-01\n", " 8 1.830223e+04 1.38e+00 7.95e+04 2.40e+00 8.53e-01 7.63e+05 1 1.06e-01 9.59e-01\n", " 9 1.830182e+04 4.18e-01 8.21e+04 1.15e+00 3.00e-01 7.16e+05 1 9.86e-02 1.06e+00\n", " 10 1.830324e+04 -1.42e+00 8.21e+04 1.65e+00 -5.67e-01 3.58e+05 1 4.70e-02 1.10e+00\n", " 11 1.830325e+04 -1.44e+00 8.21e+04 1.59e+00 -6.54e-01 8.96e+04 1 4.73e-02 1.15e+00\n", " 12 1.830249e+04 -6.77e-01 8.21e+04 1.33e+00 -3.60e-01 1.12e+04 1 4.66e-02 1.20e+00\n", " 13 1.830128e+04 5.41e-01 3.30e+03 6.19e-01 4.59e-01 1.12e+04 1 6.67e-02 1.27e+00\n", " 14 1.830115e+04 1.25e-01 3.04e+03 1.89e-01 5.95e-01 1.13e+04 1 5.45e-02 1.32e+00\n", " 15 1.830111e+04 3.61e-02 3.11e+03 1.31e-01 5.43e-01 1.13e+04 1 5.73e-02 1.38e+00\n", " 16 1.830110e+04 1.85e-02 2.87e+03 5.02e-02 7.93e-01 1.41e+04 1 6.75e-02 1.44e+00\n", " 17 1.830108e+04 1.69e-02 2.95e+03 3.94e-02 8.91e-01 2.71e+04 1 7.33e-02 1.52e+00\n", " 18 1.830105e+04 2.82e-02 3.03e+03 4.39e-02 9.83e-01 8.13e+04 1 7.40e-02 1.59e+00\n", " 19 1.830097e+04 7.57e-02 5.68e+03 8.94e-02 9.86e-01 2.44e+05 1 6.42e-02 1.66e+00\n", " 20 1.830077e+04 2.07e-01 2.69e+04 1.37e-01 9.90e-01 7.32e+05 1 5.71e-02 1.71e+00\n", " 21 1.830020e+04 5.67e-01 1.09e+05 1.51e-01 9.82e-01 2.19e+06 1 5.42e-02 1.77e+00\n", " 22 1.829876e+04 1.44e+00 5.71e+05 1.80e-01 9.76e-01 6.58e+06 1 5.63e-02 1.82e+00\n", " 23 1.829585e+04 2.91e+00 4.15e+06 3.74e-01 9.44e-01 1.98e+07 1 6.35e-02 1.89e+00\n", " 24 1.829197e+04 3.88e+00 2.65e+07 6.37e-01 8.01e-01 2.53e+07 1 5.60e-02 1.94e+00\n", " 25 1.829031e+04 1.65e+00 3.71e+06 1.23e+00 4.31e-01 2.52e+07 1 5.52e-02 2.00e+00\n", " 26 1.829640e+04 -6.09e+00 3.71e+06 2.36e+00 -1.16e+00 1.26e+07 1 2.68e-02 2.03e+00\n", " 27 1.829693e+04 -6.61e+00 3.71e+06 2.36e+00 -1.43e+00 3.15e+06 1 2.56e-02 2.05e+00\n", " 28 1.829721e+04 -6.90e+00 3.71e+06 2.35e+00 -1.67e+00 3.94e+05 1 2.50e-02 2.08e+00\n", " 29 1.829584e+04 -5.53e+00 3.71e+06 2.23e+00 -1.40e+00 2.46e+04 1 3.04e-02 2.11e+00\n", " 30 1.828989e+04 4.22e-01 5.82e+05 1.31e+00 1.37e-01 1.78e+04 1 5.52e-02 2.16e+00\n", " 31 1.828919e+04 7.04e-01 2.63e+05 8.27e-01 3.62e-01 1.74e+04 1 5.81e-02 2.22e+00\n", " 32 1.828895e+04 2.36e-01 1.90e+05 5.43e-01 3.13e-01 1.66e+04 1 5.68e-02 2.28e+00\n", " 33 1.828885e+04 1.01e-01 1.37e+05 3.45e-01 3.25e-01 1.59e+04 1 6.61e-02 2.34e+00\n", " 34 1.828881e+04 3.95e-02 1.02e+05 2.13e-01 3.26e-01 1.52e+04 1 5.63e-02 2.40e+00\n", " 35 1.828880e+04 1.65e-02 7.66e+04 1.28e-01 3.60e-01 1.49e+04 1 5.85e-02 2.46e+00\n", " 36 1.828879e+04 6.71e-03 5.93e+04 7.50e-02 3.89e-01 1.47e+04 1 5.98e-02 2.52e+00\n", " 37 1.828879e+04 3.10e-03 4.65e+04 4.46e-02 4.70e-01 1.47e+04 1 7.77e-02 2.60e+00\n", " 38 1.828878e+04 1.72e-03 3.69e+04 2.58e-02 5.78e-01 1.48e+04 1 5.74e-02 2.65e+00\n", " 39 1.828878e+04 1.20e-03 2.93e+04 1.57e-02 7.46e-01 1.68e+04 1 5.55e-02 2.71e+00\n", " 40 1.828878e+04 1.09e-03 2.64e+04 9.86e-03 8.63e-01 2.72e+04 1 5.42e-02 2.76e+00\n", " 41 1.828878e+04 1.54e-03 3.28e+04 8.78e-03 9.44e-01 8.17e+04 1 6.24e-02 2.83e+00\n", " 42 1.828878e+04 4.19e-03 5.38e+04 1.14e-02 9.64e-01 2.45e+05 1 5.59e-02 2.88e+00\n", " 43 1.828876e+04 1.22e-02 1.90e+04 1.68e-02 9.76e-01 7.35e+05 1 6.05e-02 2.94e+00\n", " 44 1.828873e+04 3.61e-02 4.94e+03 2.78e-02 9.74e-01 2.21e+06 1 5.40e-02 3.00e+00\n", " 45 1.828862e+04 1.06e-01 7.28e+04 5.34e-02 9.67e-01 6.62e+06 1 6.62e-02 3.06e+00\n", " 46 1.828832e+04 3.01e-01 3.85e+05 1.01e-01 9.59e-01 1.99e+07 1 5.92e-02 3.12e+00\n", " 47 1.828754e+04 7.80e-01 3.23e+06 2.07e-01 9.33e-01 5.67e+07 1 6.16e-02 3.18e+00\n", " 48 1.828607e+04 1.47e+00 2.14e+07 3.92e-01 8.55e-01 8.84e+07 1 5.38e-02 3.24e+00\n", " 49 1.828527e+04 8.04e-01 9.36e+06 7.66e-01 5.09e-01 8.84e+07 1 7.06e-02 3.31e+00\n", " 50 1.828671e+04 -1.45e+00 9.36e+06 1.48e+00 -7.39e-01 4.42e+07 1 2.61e-02 3.33e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 47768\n", " Parameters : 29801\n", " Iterations : 51\n", " Time : 3.33559 [s]\n", " Initial cost : 0.663389 [px]\n", " Final cost : 0.618703 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 24\n", " => Merged observations: 0\n", " => Filtered observations: 67\n", " => Changed observations: 0.003810\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.773025e+04 0.00e+00 9.35e+06 0.00e+00 0.00e+00 1.00e+04 0 3.00e-02 7.97e-02\n", " 1 1.753894e+04 1.91e+02 1.91e+05 3.87e+00 9.97e-01 3.00e+04 1 6.96e-02 1.49e-01\n", " 2 1.752195e+04 1.70e+01 3.39e+05 3.19e+00 9.13e-01 6.90e+04 1 7.76e-02 2.27e-01\n", " 3 1.751389e+04 8.07e+00 3.39e+05 2.05e+00 7.22e-01 7.56e+04 1 6.16e-02 2.89e-01\n", " 4 1.750826e+04 5.62e+00 9.28e+04 1.01e+00 9.26e-01 1.99e+05 1 5.82e-02 3.47e-01\n", " 5 1.750666e+04 1.60e+00 4.77e+04 1.26e+00 5.74e-01 2.00e+05 1 6.40e-02 4.11e-01\n", " 6 1.750629e+04 3.72e-01 1.78e+04 1.55e+00 1.50e-01 1.49e+05 1 5.60e-02 4.67e-01\n", " 7 1.750921e+04 -2.92e+00 1.78e+04 1.99e+00 -8.01e-01 7.43e+04 1 2.42e-02 4.91e-01\n", " 8 1.750781e+04 -1.52e+00 1.78e+04 1.75e+00 -4.43e-01 1.86e+04 1 2.31e-02 5.14e-01\n", " 9 1.750554e+04 7.50e-01 4.95e+03 1.10e+00 2.84e-01 1.72e+04 1 5.60e-02 5.70e-01\n", " 10 1.750506e+04 4.82e-01 3.91e+03 5.92e-01 4.22e-01 1.71e+04 1 6.22e-02 6.33e-01\n", " 11 1.750489e+04 1.64e-01 3.75e+03 4.11e-01 3.70e-01 1.68e+04 1 5.76e-02 6.90e-01\n", " 12 1.750480e+04 8.70e-02 3.61e+03 2.53e-01 4.53e-01 1.68e+04 1 6.29e-02 7.53e-01\n", " 13 1.750475e+04 5.21e-02 3.50e+03 1.71e-01 5.54e-01 1.68e+04 1 5.82e-02 8.11e-01\n", " 14 1.750471e+04 3.83e-02 3.43e+03 1.16e-01 7.08e-01 1.81e+04 1 6.02e-02 8.72e-01\n", " 15 1.750468e+04 3.30e-02 3.38e+03 9.25e-02 8.34e-01 2.58e+04 1 5.82e-02 9.30e-01\n", " 16 1.750464e+04 3.88e-02 3.35e+03 1.00e-01 9.22e-01 6.46e+04 1 5.55e-02 9.85e-01\n", " 17 1.750457e+04 7.14e-02 3.39e+03 1.85e-01 9.61e-01 1.94e+05 1 5.79e-02 1.04e+00\n", " 18 1.750447e+04 1.06e-01 3.17e+03 3.32e-01 9.54e-01 5.82e+05 1 6.90e-02 1.11e+00\n", " 19 1.750440e+04 6.74e-02 3.07e+03 3.99e-01 7.64e-01 6.82e+05 1 6.16e-02 1.17e+00\n", " 20 1.750442e+04 -1.81e-02 3.07e+03 3.44e-01 -2.67e-01 3.41e+05 1 2.70e-02 1.20e+00\n", " 21 1.750442e+04 -1.73e-02 3.07e+03 3.08e-01 -2.72e-01 8.52e+04 1 2.52e-02 1.23e+00\n", " 22 1.750440e+04 -6.28e-03 3.07e+03 2.27e-01 -1.19e-01 1.07e+04 1 3.86e-02 1.26e+00\n", " 23 1.750438e+04 1.46e-02 3.18e+03 9.92e-02 4.83e-01 1.07e+04 1 5.87e-02 1.32e+00\n", " 24 1.750438e+04 3.71e-03 3.17e+03 2.97e-02 6.74e-01 1.11e+04 1 6.31e-02 1.39e+00\n", " 25 1.750438e+04 1.68e-03 3.17e+03 2.32e-02 7.21e-01 1.22e+04 1 6.05e-02 1.45e+00\n", " 26 1.750438e+04 1.29e-03 3.16e+03 1.49e-02 9.38e-01 3.65e+04 1 5.47e-02 1.50e+00\n", " 27 1.750437e+04 2.96e-03 3.17e+03 3.52e-02 9.77e-01 1.10e+05 1 7.08e-02 1.57e+00\n", " 28 1.750437e+04 5.89e-03 3.18e+03 6.90e-02 1.00e+00 3.29e+05 1 5.83e-02 1.63e+00\n", " 29 1.750436e+04 7.42e-03 3.15e+03 9.51e-02 9.96e-01 9.86e+05 1 5.45e-02 1.69e+00\n", " 30 1.750435e+04 6.39e-03 3.32e+03 8.70e-02 8.93e-01 1.91e+06 1 5.74e-02 1.74e+00\n", " 31 1.750435e+04 6.41e-03 3.93e+03 6.98e-02 6.42e-01 1.96e+06 1 6.10e-02 1.80e+00\n", " 32 1.750435e+04 1.76e-03 3.83e+03 1.01e-01 1.20e-01 1.36e+06 1 5.65e-02 1.86e+00\n", " 33 1.750436e+04 -1.56e-02 3.83e+03 1.90e-01 -5.20e-01 6.80e+05 1 2.37e-02 1.88e+00\n", " 34 1.750436e+04 -1.68e-02 3.83e+03 1.86e-01 -6.17e-01 1.70e+05 1 2.40e-02 1.91e+00\n", " 35 1.750436e+04 -1.20e-02 3.83e+03 1.69e-01 -4.86e-01 2.12e+04 1 2.30e-02 1.93e+00\n", " 36 1.750434e+04 4.46e-03 3.26e+03 9.89e-02 2.41e-01 1.87e+04 1 5.44e-02 1.99e+00\n", " 37 1.750434e+04 2.30e-03 3.19e+03 5.81e-02 2.81e-01 1.72e+04 1 6.94e-02 2.06e+00\n", " 38 1.750434e+04 1.14e-03 3.16e+03 3.89e-02 3.03e-01 1.62e+04 1 5.30e-02 2.11e+00\n", " 39 1.750434e+04 5.14e-04 3.15e+03 2.33e-02 3.49e-01 1.58e+04 1 5.40e-02 2.16e+00\n", " 40 1.750434e+04 2.36e-04 3.14e+03 1.41e-02 3.95e-01 1.57e+04 1 5.87e-02 2.22e+00\n", " 41 1.750434e+04 1.26e-04 3.14e+03 8.36e-03 5.06e-01 1.57e+04 1 8.18e-02 2.30e+00\n", " 42 1.750434e+04 8.63e-05 3.13e+03 5.00e-03 6.55e-01 1.61e+04 1 5.65e-02 2.36e+00\n", " 43 1.750434e+04 7.33e-05 3.14e+03 3.05e-03 8.24e-01 2.22e+04 1 6.11e-02 2.42e+00\n", " 44 1.750434e+04 9.16e-05 3.13e+03 2.17e-03 9.23e-01 5.62e+04 1 5.71e-02 2.48e+00\n", " 45 1.750434e+04 2.24e-04 3.16e+03 2.47e-03 9.73e-01 1.69e+05 1 6.14e-02 2.54e+00\n", " 46 1.750434e+04 6.62e-04 3.16e+03 3.58e-03 9.79e-01 5.06e+05 1 5.56e-02 2.59e+00\n", " 47 1.750433e+04 1.97e-03 3.21e+03 5.85e-03 9.80e-01 1.52e+06 1 5.34e-02 2.65e+00\n", " 48 1.750433e+04 5.90e-03 3.59e+03 1.06e-02 9.77e-01 4.55e+06 1 5.32e-02 2.70e+00\n", " 49 1.750431e+04 1.76e-02 5.83e+03 2.00e-02 9.72e-01 1.37e+07 1 5.92e-02 2.76e+00\n", " 50 1.750426e+04 5.17e-02 6.57e+04 3.82e-02 9.65e-01 4.10e+07 1 5.78e-02 2.82e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 47678\n", " Parameters : 29741\n", " Iterations : 51\n", " Time : 2.82058 [s]\n", " Initial cost : 0.609815 [px]\n", " Final cost : 0.605917 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 5\n", " => Merged observations: 0\n", " => Filtered observations: 18\n", " => Changed observations: 0.000965\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.740454e+04 0.00e+00 6.57e+04 0.00e+00 0.00e+00 1.00e+04 0 3.85e-02 8.80e-02\n", " 1 1.734351e+04 6.10e+01 3.73e+03 4.29e-01 1.00e+00 3.00e+04 1 6.66e-02 1.55e-01\n", " 2 1.734324e+04 2.73e-01 3.83e+03 1.73e-01 9.49e-01 9.00e+04 1 9.33e-02 2.48e-01\n", " 3 1.734301e+04 2.31e-01 3.34e+03 2.39e-01 9.68e-01 2.70e+05 1 6.45e-02 3.13e-01\n", " 4 1.734277e+04 2.35e-01 3.28e+03 4.69e-01 9.31e-01 7.51e+05 1 6.32e-02 3.76e-01\n", " 5 1.734268e+04 9.39e-02 3.12e+03 5.47e-01 5.39e-01 7.51e+05 1 7.06e-02 4.47e-01\n", " 6 1.734279e+04 -1.04e-01 3.12e+03 5.52e-01 -5.41e-01 3.76e+05 1 2.46e-02 4.71e-01\n", " 7 1.734277e+04 -9.33e-02 3.12e+03 5.14e-01 -5.00e-01 9.39e+04 1 2.55e-02 4.97e-01\n", " 8 1.734272e+04 -4.10e-02 3.12e+03 4.12e-01 -2.43e-01 1.17e+04 1 2.94e-02 5.26e-01\n", " 9 1.734263e+04 4.75e-02 3.15e+03 1.92e-01 4.50e-01 1.17e+04 1 5.67e-02 5.83e-01\n", " 10 1.734262e+04 1.10e-02 3.14e+03 6.25e-02 5.67e-01 1.18e+04 1 5.71e-02 6.40e-01\n", " 11 1.734262e+04 3.78e-03 3.13e+03 4.36e-02 5.63e-01 1.18e+04 1 5.56e-02 6.96e-01\n", " 12 1.734262e+04 2.03e-03 3.12e+03 2.17e-02 8.07e-01 1.53e+04 1 6.67e-02 7.62e-01\n", " 13 1.734261e+04 1.91e-03 3.13e+03 2.14e-02 9.04e-01 3.24e+04 1 6.02e-02 8.22e-01\n", " 14 1.734261e+04 3.26e-03 3.12e+03 3.46e-02 9.86e-01 9.72e+04 1 5.88e-02 8.81e-01\n", " 15 1.734260e+04 6.86e-03 3.14e+03 6.93e-02 9.95e-01 2.92e+05 1 5.81e-02 9.39e-01\n", " 16 1.734259e+04 9.60e-03 3.10e+03 9.90e-02 1.00e+00 8.75e+05 1 7.02e-02 1.01e+00\n", " 17 1.734259e+04 7.57e-03 3.22e+03 1.02e-01 9.09e-01 1.94e+06 1 5.57e-02 1.07e+00\n", " 18 1.734258e+04 5.87e-03 3.53e+03 7.76e-02 6.11e-01 1.96e+06 1 5.63e-02 1.12e+00\n", " 19 1.734258e+04 4.65e-04 4.17e+03 1.06e-01 3.30e-02 1.08e+06 1 5.81e-02 1.18e+00\n", " 20 1.734260e+04 -1.81e-02 4.17e+03 1.92e-01 -6.15e-01 5.39e+05 1 2.53e-02 1.21e+00\n", " 21 1.734260e+04 -1.80e-02 4.17e+03 1.88e-01 -6.55e-01 1.35e+05 1 2.81e-02 1.23e+00\n", " 22 1.734259e+04 -1.11e-02 4.17e+03 1.68e-01 -4.38e-01 1.68e+04 1 2.43e-02 1.26e+00\n", " 23 1.734258e+04 5.76e-03 3.11e+03 9.16e-02 3.18e-01 1.61e+04 1 5.46e-02 1.31e+00\n", " 24 1.734257e+04 2.04e-03 3.11e+03 4.41e-02 3.54e-01 1.57e+04 1 5.67e-02 1.37e+00\n", " 25 1.734257e+04 7.77e-04 3.10e+03 2.94e-02 3.40e-01 1.52e+04 1 5.51e-02 1.42e+00\n", " 26 1.734257e+04 3.18e-04 3.09e+03 1.62e-02 3.99e-01 1.51e+04 1 7.57e-02 1.50e+00\n", " 27 1.734257e+04 1.46e-04 3.10e+03 9.75e-03 4.57e-01 1.50e+04 1 5.70e-02 1.56e+00\n", " 28 1.734257e+04 8.59e-05 3.11e+03 5.49e-03 6.15e-01 1.52e+04 1 5.48e-02 1.61e+00\n", " 29 1.734257e+04 6.58e-05 3.10e+03 3.29e-03 7.69e-01 1.80e+04 1 5.43e-02 1.67e+00\n", " 30 1.734257e+04 6.81e-05 3.10e+03 2.07e-03 9.10e-01 4.03e+04 1 5.88e-02 1.72e+00\n", " 31 1.734257e+04 1.42e-04 3.11e+03 2.01e-03 9.62e-01 1.21e+05 1 5.39e-02 1.78e+00\n", " 32 1.734257e+04 4.15e-04 3.10e+03 2.85e-03 9.82e-01 3.63e+05 1 5.52e-02 1.83e+00\n", " 33 1.734257e+04 1.23e-03 3.13e+03 4.34e-03 9.82e-01 1.09e+06 1 6.12e-02 1.90e+00\n", " 34 1.734257e+04 3.66e-03 3.27e+03 7.84e-03 9.80e-01 3.27e+06 1 7.16e-02 1.97e+00\n", " 35 1.734256e+04 1.09e-02 4.16e+03 1.45e-02 9.76e-01 9.80e+06 1 6.12e-02 2.03e+00\n", " 36 1.734252e+04 3.24e-02 2.61e+04 2.75e-02 9.71e-01 2.94e+07 1 5.43e-02 2.08e+00\n", " 37 1.734243e+04 9.40e-02 2.50e+05 5.29e-02 9.64e-01 8.82e+07 1 5.47e-02 2.14e+00\n", " 38 1.734217e+04 2.56e-01 2.43e+06 1.01e-01 9.51e-01 2.65e+08 1 6.57e-02 2.20e+00\n", " 39 1.734159e+04 5.80e-01 2.66e+07 1.95e-01 9.19e-01 6.45e+08 1 5.59e-02 2.26e+00\n", " 40 1.734100e+04 5.96e-01 1.09e+08 3.68e-01 7.56e-01 7.44e+08 1 5.59e-02 2.31e+00\n", " 41 1.734114e+04 -1.46e-01 1.09e+08 7.06e-01 -2.81e-01 3.72e+08 1 2.40e-02 2.34e+00\n", " 42 1.734123e+04 -2.33e-01 1.09e+08 7.06e-01 -5.35e-01 9.31e+07 1 2.22e-02 2.36e+00\n", " 43 1.734129e+04 -2.98e-01 1.09e+08 7.06e-01 -8.05e-01 1.16e+07 1 2.29e-02 2.38e+00\n", " 44 1.734131e+04 -3.15e-01 1.09e+08 7.05e-01 -8.95e-01 7.27e+05 1 2.63e-02 2.41e+00\n", " 45 1.734127e+04 -2.76e-01 1.09e+08 6.83e-01 -7.93e-01 2.27e+04 1 2.87e-02 2.44e+00\n", " 46 1.734093e+04 6.92e-02 1.44e+05 3.75e-01 2.56e-01 2.03e+04 1 6.36e-02 2.50e+00\n", " 47 1.734089e+04 3.30e-02 6.48e+05 2.36e-01 2.57e-01 1.83e+04 1 6.33e-02 2.57e+00\n", " 48 1.734088e+04 1.70e-02 3.10e+05 1.65e-01 2.71e-01 1.67e+04 1 5.85e-02 2.62e+00\n", " 49 1.734087e+04 8.15e-03 2.07e+05 1.01e-01 3.12e-01 1.58e+04 1 5.59e-02 2.68e+00\n", " 50 1.734087e+04 3.24e-03 1.51e+05 6.14e-02 3.24e-01 1.52e+04 1 5.56e-02 2.74e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 47648\n", " Parameters : 29726\n", " Iterations : 51\n", " Time : 2.7382 [s]\n", " Initial cost : 0.604378 [px]\n", " Final cost : 0.603272 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 4\n", " => Merged observations: 0\n", " => Filtered observations: 2\n", " => Changed observations: 0.000252\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #20 (18)\n", "==============================================================================\n", "\n", " => Image sees 839 / 5752 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 1254\n", " Parameters : 6\n", " Iterations : 46\n", " Time : 0.0522552 [s]\n", " Initial cost : 0.900701 [px]\n", " Final cost : 0.855631 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 616\n", " => Added observations: 6991\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 27728\n", " Parameters : 12224\n", " Iterations : 26\n", " Time : 0.799629 [s]\n", " Initial cost : 1.62542 [px]\n", " Final cost : 1.22015 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 6\n", " => Completed observations: 164\n", " => Filtered observations: 4593\n", " => Changed observations: 0.334951\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 18380\n", " Parameters : 8498\n", " Iterations : 4\n", " Time : 0.0800021 [s]\n", " Initial cost : 0.859073 [px]\n", " Final cost : 0.711944 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 10\n", " => Completed observations: 834\n", " => Filtered observations: 92\n", " => Changed observations: 0.098062\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 63\n", " => Merged observations: 6\n", " => Retriangulated observations: 1645\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 5.172797e+05 0.00e+00 1.31e+06 0.00e+00 0.00e+00 1.00e+04 0 3.65e-02 9.82e-02\n", " 1 1.709166e+05 3.46e+05 4.52e+05 3.45e+01 9.48e-01 3.00e+04 1 6.97e-02 1.68e-01\n", " 2 1.566867e+05 1.42e+04 1.73e+05 2.34e+01 9.65e-01 9.00e+04 1 6.60e-02 2.34e-01\n", " 3 1.575331e+05 -8.46e+02 1.73e+05 1.93e+01 -9.96e-01 4.50e+04 1 3.34e-02 2.67e-01\n", " 4 1.562721e+05 4.15e+02 1.29e+05 1.66e+01 4.96e-01 4.50e+04 1 7.71e-02 3.44e-01\n", " 5 1.559111e+05 3.61e+02 6.12e+04 6.27e+00 8.81e-01 8.05e+04 1 7.21e-02 4.16e-01\n", " 6 1.559056e+05 5.57e+00 4.70e+04 5.26e+00 1.49e-01 5.98e+04 1 6.73e-02 4.84e-01\n", " 7 1.559324e+05 -2.68e+01 4.70e+04 4.66e+00 -7.73e-01 2.99e+04 1 3.07e-02 5.15e-01\n", " 8 1.559077e+05 -2.12e+00 4.70e+04 3.70e+00 -6.48e-02 7.48e+03 1 2.88e-02 5.43e-01\n", " 9 1.558893e+05 1.63e+01 1.06e+04 1.95e+00 6.33e-01 7.62e+03 1 7.44e-02 6.18e-01\n", " 10 1.558867e+05 2.57e+00 1.06e+04 6.38e-01 7.08e-01 8.22e+03 1 9.00e-02 7.08e-01\n", " 11 1.558863e+05 4.45e-01 1.05e+04 4.82e-01 5.58e-01 8.23e+03 1 6.32e-02 7.71e-01\n", " 12 1.558862e+05 1.38e-01 1.06e+04 3.00e-01 7.92e-01 1.03e+04 1 7.22e-02 8.43e-01\n", " 13 1.558861e+05 6.41e-02 1.04e+04 3.01e-01 7.81e-01 1.25e+04 1 7.03e-02 9.14e-01\n", " 14 1.558861e+05 3.93e-02 1.03e+04 2.96e-01 9.66e-01 3.76e+04 1 6.71e-02 9.81e-01\n", " 15 1.558860e+05 4.19e-02 1.16e+04 5.71e-01 9.16e-01 8.89e+04 1 1.26e-01 1.11e+00\n", " 16 1.558860e+05 1.97e-02 1.16e+04 5.79e-01 8.00e-01 1.14e+05 1 1.20e-01 1.23e+00\n", " 17 1.558860e+05 -5.09e-04 1.16e+04 2.91e-01 -3.61e-02 5.68e+04 1 6.39e-02 1.29e+00\n", " 18 1.558860e+05 1.63e-03 9.79e+03 2.15e-01 1.27e-01 4.01e+04 1 1.31e-01 1.42e+00\n", " 19 1.558860e+05 -8.63e-04 9.79e+03 1.42e-01 -5.29e-02 2.00e+04 1 5.94e-02 1.48e+00\n", " 20 1.558860e+05 2.98e-03 9.58e+03 1.00e-01 2.11e-01 1.68e+04 1 1.20e-01 1.60e+00\n", " 21 1.558860e+05 2.10e-03 9.76e+03 6.88e-02 2.58e-01 1.51e+04 1 1.39e-01 1.74e+00\n", " 22 1.558860e+05 1.24e-03 9.50e+03 4.85e-02 3.03e-01 1.42e+04 1 1.27e-01 1.87e+00\n", " 23 1.558860e+05 6.24e-04 9.67e+03 3.40e-02 3.38e-01 1.37e+04 1 1.34e-01 2.00e+00\n", " 24 1.558860e+05 3.07e-04 9.41e+03 2.45e-02 3.88e-01 1.36e+04 1 1.12e-01 2.11e+00\n", " 25 1.558860e+05 1.56e-04 9.55e+03 1.85e-02 4.48e-01 1.36e+04 1 1.18e-01 2.23e+00\n", " 26 1.558860e+05 8.84e-05 9.60e+03 1.44e-02 5.49e-01 1.36e+04 1 1.16e-01 2.35e+00\n", " 27 1.558860e+05 5.64e-05 9.73e+03 1.16e-02 6.59e-01 1.40e+04 1 1.30e-01 2.48e+00\n", " 28 1.558860e+05 4.08e-05 9.86e+03 9.72e-03 7.80e-01 1.70e+04 1 1.20e-01 2.60e+00\n", " 29 1.558860e+05 3.78e-05 9.55e+03 9.33e-03 8.75e-01 2.94e+04 1 1.36e-01 2.74e+00\n", " 30 1.558860e+05 5.02e-05 9.64e+03 1.12e-02 9.28e-01 7.88e+04 1 1.20e-01 2.86e+00\n", " 31 1.558860e+05 1.06e-04 9.45e+03 1.40e-02 9.40e-01 2.36e+05 1 1.44e-01 3.00e+00\n", " 32 1.558860e+05 2.90e-04 9.20e+03 9.41e-03 9.41e-01 7.09e+05 1 1.32e-01 3.13e+00\n", " 33 1.558860e+05 8.47e-04 8.71e+03 8.14e-03 9.20e-01 1.74e+06 1 1.28e-01 3.26e+00\n", " 34 1.558860e+05 2.02e-03 7.76e+03 1.54e-02 8.73e-01 2.98e+06 1 1.32e-01 3.39e+00\n", " 35 1.558860e+05 3.07e-03 6.88e+03 3.15e-02 7.15e-01 3.24e+06 1 1.28e-01 3.52e+00\n", " 36 1.558860e+05 1.39e-03 7.32e+03 6.45e-02 2.14e-01 2.73e+06 1 1.14e-01 3.63e+00\n", " 37 1.558860e+05 -7.53e-03 7.32e+03 1.32e-01 -5.47e-01 1.36e+06 1 5.60e-02 3.69e+00\n", " 38 1.558860e+05 -8.90e-03 7.32e+03 1.30e-01 -7.36e-01 3.41e+05 1 6.21e-02 3.75e+00\n", " 39 1.558860e+05 -8.52e-03 7.32e+03 1.24e-01 -7.88e-01 4.26e+04 1 6.03e-02 3.81e+00\n", " 40 1.558860e+05 -1.33e-03 7.32e+03 8.82e-02 -1.42e-01 2.67e+03 1 5.74e-02 3.87e+00\n", " 41 1.558860e+05 2.36e-03 9.61e+03 2.04e-02 6.92e-01 2.83e+03 1 1.33e-01 4.00e+00\n", " 42 1.558860e+05 4.67e-04 9.62e+03 5.09e-03 1.00e+00 8.48e+03 1 1.02e-01 4.11e+00\n", " 43 1.558860e+05 4.43e-04 9.67e+03 1.25e-02 7.79e-01 1.03e+04 1 1.05e-01 4.21e+00\n", " 44 1.558860e+05 1.23e-04 9.64e+03 4.24e-03 1.02e+00 3.08e+04 1 1.27e-01 4.34e+00\n", " 45 1.558860e+05 6.67e-05 1.00e+04 5.64e-03 7.60e-01 3.59e+04 1 1.37e-01 4.48e+00\n", " 46 1.558860e+05 4.49e-05 9.52e+03 3.13e-03 7.23e-01 3.94e+04 1 1.25e-01 4.60e+00\n", " 47 1.558860e+05 4.62e-05 9.54e+03 4.04e-03 6.64e-01 4.08e+04 1 1.57e-01 4.76e+00\n", " 48 1.558860e+05 4.67e-05 9.71e+03 4.62e-03 6.04e-01 4.12e+04 1 1.27e-01 4.89e+00\n", " 49 1.558860e+05 4.44e-05 9.73e+03 5.42e-03 5.00e-01 4.12e+04 1 9.02e-02 4.98e+00\n", " 50 1.558860e+05 4.24e-05 9.48e+03 6.41e-03 4.09e-01 4.10e+04 1 6.71e-02 5.04e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 58308\n", " Parameters : 35483\n", " Iterations : 51\n", " Time : 5.04595 [s]\n", " Initial cost : 2.97851 [px]\n", " Final cost : 1.63508 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 148\n", " => Merged observations: 15\n", " => Filtered observations: 4522\n", " => Changed observations: 0.160698\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.737631e+04 0.00e+00 1.42e+05 0.00e+00 0.00e+00 1.00e+04 0 3.61e-02 9.57e-02\n", " 1 2.017125e+04 7.21e+03 4.47e+04 1.62e+01 9.84e-01 3.00e+04 1 6.46e-02 1.60e-01\n", " 2 1.988154e+04 2.90e+02 4.91e+04 1.90e+01 6.79e-01 3.14e+04 1 5.63e-02 2.17e-01\n", " 3 1.962398e+04 2.58e+02 2.11e+04 8.75e+00 9.27e-01 8.34e+04 1 6.03e-02 2.77e-01\n", " 4 1.954435e+04 7.96e+01 3.18e+04 1.27e+01 7.59e-01 9.67e+04 1 6.33e-02 3.40e-01\n", " 5 1.949494e+04 4.94e+01 7.85e+03 7.51e+00 9.84e-01 2.90e+05 1 5.98e-02 4.00e-01\n", " 6 1.949041e+04 4.52e+00 6.22e+03 6.32e+00 4.90e-01 2.90e+05 1 5.91e-02 4.59e-01\n", " 7 1.950686e+04 -1.64e+01 6.22e+03 3.48e+00 -1.59e+00 1.45e+05 1 3.15e-02 4.91e-01\n", " 8 1.950252e+04 -1.21e+01 6.22e+03 3.20e+00 -1.18e+00 3.63e+04 1 2.66e-02 5.18e-01\n", " 9 1.949178e+04 -1.36e+00 6.22e+03 2.26e+00 -1.50e-01 4.53e+03 1 2.76e-02 5.45e-01\n", " 10 1.948705e+04 3.37e+00 4.84e+03 7.70e-01 6.82e-01 4.77e+03 1 6.40e-02 6.09e-01\n", " 11 1.948656e+04 4.88e-01 4.73e+03 1.61e-01 9.78e-01 1.43e+04 1 5.77e-02 6.67e-01\n", " 12 1.948629e+04 2.72e-01 4.94e+03 4.17e-01 7.03e-01 1.53e+04 1 5.56e-02 7.23e-01\n", " 13 1.948619e+04 9.81e-02 4.81e+03 2.53e-01 8.71e-01 2.60e+04 1 6.33e-02 7.86e-01\n", " 14 1.948612e+04 6.45e-02 4.79e+03 3.51e-01 7.44e-01 2.94e+04 1 7.54e-02 8.61e-01\n", " 15 1.948609e+04 3.59e-02 4.77e+03 2.99e-01 6.49e-01 3.02e+04 1 6.00e-02 9.21e-01\n", " 16 1.948607e+04 1.86e-02 4.63e+03 2.45e-01 4.71e-01 3.02e+04 1 6.38e-02 9.85e-01\n", " 17 1.948606e+04 9.38e-03 4.74e+03 1.98e-01 2.91e-01 2.81e+04 1 6.42e-02 1.05e+00\n", " 18 1.948606e+04 5.24e-03 4.84e+03 1.61e-01 1.86e-01 2.25e+04 1 6.18e-02 1.11e+00\n", " 19 1.948605e+04 4.54e-03 4.76e+03 1.24e-01 1.87e-01 1.81e+04 1 6.59e-02 1.18e+00\n", " 20 1.948605e+04 4.20e-03 4.70e+03 9.23e-02 2.51e-01 1.61e+04 1 6.10e-02 1.24e+00\n", " 21 1.948604e+04 2.73e-03 4.80e+03 6.58e-02 2.94e-01 1.51e+04 1 6.75e-02 1.31e+00\n", " 22 1.948604e+04 1.56e-03 4.75e+03 4.76e-02 3.42e-01 1.46e+04 1 6.52e-02 1.37e+00\n", " 23 1.948604e+04 8.36e-04 4.80e+03 3.45e-02 3.86e-01 1.44e+04 1 5.90e-02 1.43e+00\n", " 24 1.948604e+04 4.61e-04 4.81e+03 2.64e-02 4.54e-01 1.44e+04 1 6.18e-02 1.49e+00\n", " 25 1.948604e+04 2.69e-04 4.69e+03 2.07e-02 5.29e-01 1.44e+04 1 7.12e-02 1.56e+00\n", " 26 1.948604e+04 1.68e-04 4.78e+03 1.69e-02 6.32e-01 1.47e+04 1 6.35e-02 1.63e+00\n", " 27 1.948604e+04 1.13e-04 4.79e+03 1.41e-02 7.20e-01 1.61e+04 1 6.39e-02 1.69e+00\n", " 28 1.948604e+04 8.31e-05 4.74e+03 1.28e-02 8.20e-01 2.18e+04 1 6.25e-02 1.75e+00\n", " 29 1.948604e+04 7.09e-05 4.85e+03 1.36e-02 8.42e-01 3.21e+04 1 6.99e-02 1.82e+00\n", " 30 1.948604e+04 6.20e-05 4.71e+03 1.45e-02 8.49e-01 4.86e+04 1 7.82e-02 1.90e+00\n", " 31 1.948604e+04 5.20e-05 4.79e+03 1.40e-02 7.55e-01 5.61e+04 1 6.33e-02 1.96e+00\n", " 32 1.948604e+04 3.44e-05 4.80e+03 1.01e-02 5.31e-01 5.61e+04 1 6.26e-02 2.03e+00\n", " 33 1.948604e+04 1.98e-05 4.73e+03 8.06e-03 2.50e-01 4.99e+04 1 6.58e-02 2.09e+00\n", " 34 1.948604e+04 7.67e-06 4.74e+03 8.27e-03 6.90e-02 3.04e+04 1 6.13e-02 2.15e+00\n", " 35 1.948604e+04 1.25e-05 4.77e+03 8.70e-03 8.38e-02 1.93e+04 1 6.07e-02 2.22e+00\n", " 36 1.948604e+04 3.13e-05 4.79e+03 7.23e-03 2.31e-01 1.67e+04 1 7.84e-02 2.29e+00\n", " 37 1.948604e+04 2.48e-05 4.81e+03 5.12e-03 3.03e-01 1.57e+04 1 6.63e-02 2.36e+00\n", " 38 1.948604e+04 1.71e-05 4.71e+03 3.57e-03 3.78e-01 1.55e+04 1 6.86e-02 2.43e+00\n", " 39 1.948604e+04 1.28e-05 4.81e+03 2.43e-03 5.00e-01 1.55e+04 1 6.85e-02 2.50e+00\n", " 40 1.948604e+04 1.04e-05 4.80e+03 1.67e-03 6.35e-01 1.58e+04 1 7.08e-02 2.57e+00\n", " 41 1.948604e+04 8.93e-06 4.78e+03 1.16e-03 7.32e-01 1.76e+04 1 6.89e-02 2.64e+00\n", " 42 1.948604e+04 9.82e-06 4.83e+03 8.56e-04 8.79e-01 3.11e+04 1 7.04e-02 2.71e+00\n", " 43 1.948604e+04 1.66e-05 4.78e+03 8.35e-04 9.41e-01 9.34e+04 1 6.81e-02 2.78e+00\n", " 44 1.948604e+04 4.82e-05 4.59e+03 1.21e-03 9.48e-01 2.80e+05 1 6.81e-02 2.84e+00\n", " 45 1.948604e+04 1.44e-04 4.66e+03 2.25e-03 9.49e-01 8.41e+05 1 9.23e-02 2.94e+00\n", " 46 1.948604e+04 4.26e-04 4.04e+03 4.62e-03 9.27e-01 2.24e+06 1 6.55e-02 3.00e+00\n", " 47 1.948604e+04 1.10e-03 4.31e+03 9.97e-03 8.78e-01 3.93e+06 1 6.15e-02 3.06e+00\n", " 48 1.948604e+04 1.67e-03 5.53e+03 2.17e-02 6.99e-01 4.19e+06 1 5.88e-02 3.12e+00\n", " 49 1.948604e+04 3.29e-04 4.70e+03 4.72e-02 8.78e-02 2.69e+06 1 6.85e-02 3.19e+00\n", " 50 1.948604e+04 -7.22e-03 4.70e+03 1.02e-01 -8.17e-01 1.34e+06 1 2.66e-02 3.22e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 49320\n", " Parameters : 31091\n", " Iterations : 51\n", " Time : 3.21989 [s]\n", " Initial cost : 0.745034 [px]\n", " Final cost : 0.628565 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 156\n", " => Merged observations: 4\n", " => Filtered observations: 110\n", " => Changed observations: 0.010949\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.912539e+04 0.00e+00 2.03e+04 0.00e+00 0.00e+00 1.00e+04 0 3.45e-02 8.91e-02\n", " 1 1.851444e+04 6.11e+02 5.44e+03 3.32e+00 1.01e+00 3.00e+04 1 6.93e-02 1.58e-01\n", " 2 1.848580e+04 2.86e+01 6.39e+03 2.47e+00 1.07e+00 9.00e+04 1 6.32e-02 2.22e-01\n", " 3 1.848111e+04 4.69e+00 6.92e+03 2.53e+00 1.08e+00 2.70e+05 1 6.01e-02 2.82e-01\n", " 4 1.848066e+04 4.50e-01 5.73e+03 1.66e+00 1.03e+00 8.10e+05 1 6.78e-02 3.50e-01\n", " 5 1.848069e+04 -3.15e-02 5.73e+03 5.03e-01 -3.72e-01 4.05e+05 1 2.91e-02 3.79e-01\n", " 6 1.848069e+04 -2.56e-02 5.73e+03 4.63e-01 -3.05e-01 1.01e+05 1 2.51e-02 4.04e-01\n", " 7 1.848066e+04 -2.15e-03 5.73e+03 3.29e-01 -2.71e-02 1.27e+04 1 2.51e-02 4.29e-01\n", " 8 1.848063e+04 3.06e-02 4.78e+03 1.22e-01 6.01e-01 1.28e+04 1 7.12e-02 5.00e-01\n", " 9 1.848062e+04 8.16e-03 4.73e+03 6.56e-02 6.19e-01 1.29e+04 1 7.62e-02 5.77e-01\n", " 10 1.848062e+04 3.88e-03 4.83e+03 5.12e-02 6.38e-01 1.32e+04 1 7.63e-02 6.53e-01\n", " 11 1.848061e+04 2.35e-03 4.79e+03 3.96e-02 7.81e-01 1.61e+04 1 6.05e-02 7.13e-01\n", " 12 1.848061e+04 1.79e-03 4.80e+03 3.80e-02 8.55e-01 2.51e+04 1 6.65e-02 7.80e-01\n", " 13 1.848061e+04 1.63e-03 4.81e+03 4.57e-02 9.09e-01 5.55e+04 1 7.27e-02 8.53e-01\n", " 14 1.848061e+04 1.43e-03 4.84e+03 6.41e-02 8.44e-01 8.24e+04 1 5.96e-02 9.12e-01\n", " 15 1.848061e+04 4.80e-04 4.81e+03 5.42e-02 4.42e-01 8.23e+04 1 6.23e-02 9.75e-01\n", " 16 1.848061e+04 -3.01e-04 4.81e+03 4.19e-02 -2.31e-01 4.12e+04 1 3.91e-02 1.01e+00\n", " 17 1.848061e+04 8.40e-06 4.79e+03 3.12e-02 7.36e-03 2.10e+04 1 6.00e-02 1.07e+00\n", " 18 1.848061e+04 2.22e-04 4.78e+03 2.47e-02 1.78e-01 1.66e+04 1 5.64e-02 1.13e+00\n", " 19 1.848061e+04 2.00e-04 4.89e+03 1.69e-02 2.64e-01 1.50e+04 1 5.93e-02 1.19e+00\n", " 20 1.848061e+04 1.14e-04 4.76e+03 1.14e-02 3.15e-01 1.43e+04 1 7.06e-02 1.26e+00\n", " 21 1.848061e+04 5.94e-05 4.87e+03 7.44e-03 3.70e-01 1.41e+04 1 5.76e-02 1.32e+00\n", " 22 1.848061e+04 3.10e-05 4.82e+03 5.08e-03 4.39e-01 1.40e+04 1 6.15e-02 1.38e+00\n", " 23 1.848061e+04 2.01e-05 4.84e+03 3.56e-03 5.78e-01 1.41e+04 1 5.81e-02 1.44e+00\n", " 24 1.848061e+04 1.34e-05 4.73e+03 2.72e-03 6.80e-01 1.48e+04 1 6.06e-02 1.50e+00\n", " 25 1.848061e+04 1.26e-05 4.86e+03 2.22e-03 8.90e-01 2.80e+04 1 5.86e-02 1.56e+00\n", " 26 1.848061e+04 1.77e-05 4.79e+03 3.08e-03 9.00e-01 5.74e+04 1 5.89e-02 1.62e+00\n", " 27 1.848061e+04 3.18e-05 4.78e+03 4.03e-03 9.18e-01 1.38e+05 1 7.15e-02 1.69e+00\n", " 28 1.848061e+04 7.04e-05 4.77e+03 4.28e-03 9.20e-01 3.39e+05 1 6.63e-02 1.75e+00\n", " 29 1.848061e+04 1.63e-04 4.58e+03 4.61e-03 8.70e-01 5.70e+05 1 5.87e-02 1.81e+00\n", " 30 1.848061e+04 2.35e-04 4.49e+03 8.58e-03 6.76e-01 5.96e+05 1 6.35e-02 1.88e+00\n", " 31 1.848061e+04 4.00e-05 4.55e+03 1.84e-02 7.27e-02 3.67e+05 1 6.57e-02 1.94e+00\n", " 32 1.848061e+04 -9.41e-04 4.55e+03 3.85e-02 -7.23e-01 1.83e+05 1 3.58e-02 1.98e+00\n", " 33 1.848061e+04 -8.06e-04 4.55e+03 3.62e-02 -6.74e-01 4.59e+04 1 2.48e-02 2.00e+00\n", " 34 1.848061e+04 -1.71e-04 4.55e+03 2.69e-02 -1.70e-01 5.73e+03 1 2.68e-02 2.03e+00\n", " 35 1.848061e+04 2.73e-04 4.86e+03 9.65e-03 5.68e-01 5.75e+03 1 6.07e-02 2.09e+00\n", " 36 1.848061e+04 5.25e-05 4.81e+03 1.34e-03 9.20e-01 1.42e+04 1 5.66e-02 2.15e+00\n", " 37 1.848061e+04 2.48e-05 4.76e+03 3.24e-03 6.29e-01 1.44e+04 1 7.28e-02 2.22e+00\n", " 38 1.848061e+04 1.12e-05 4.91e+03 8.77e-04 8.26e-01 1.99e+04 1 6.12e-02 2.28e+00\n", " 39 1.848061e+04 1.13e-05 4.85e+03 1.15e-03 8.29e-01 2.78e+04 1 5.61e-02 2.34e+00\n", " 40 1.848061e+04 1.43e-05 4.77e+03 8.55e-04 8.97e-01 5.58e+04 1 5.65e-02 2.39e+00\n", " 41 1.848061e+04 2.83e-05 4.79e+03 1.17e-03 9.29e-01 1.51e+05 1 6.89e-02 2.46e+00\n", " 42 1.848061e+04 7.55e-05 4.70e+03 1.97e-03 9.29e-01 4.13e+05 1 5.77e-02 2.52e+00\n", " 43 1.848061e+04 2.00e-04 4.49e+03 4.04e-03 8.90e-01 7.85e+05 1 5.51e-02 2.58e+00\n", " 44 1.848061e+04 3.43e-04 4.38e+03 8.71e-03 7.50e-01 8.98e+05 1 6.13e-02 2.64e+00\n", " 45 1.848061e+04 1.69e-04 4.42e+03 1.90e-02 2.37e-01 7.84e+05 1 7.72e-02 2.71e+00\n", " 46 1.848061e+04 -9.66e-04 4.42e+03 4.14e-02 -6.02e-01 3.92e+05 1 2.57e-02 2.74e+00\n", " 47 1.848061e+04 -1.03e-03 4.42e+03 4.01e-02 -7.33e-01 9.80e+04 1 2.39e-02 2.76e+00\n", " 48 1.848061e+04 -5.95e-04 4.42e+03 3.40e-02 -4.95e-01 1.22e+04 1 2.33e-02 2.79e+00\n", " 49 1.848061e+04 2.70e-04 4.84e+03 1.55e-02 3.71e-01 1.20e+04 1 5.80e-02 2.84e+00\n", " 50 1.848061e+04 7.95e-05 4.79e+03 6.00e-03 4.50e-01 1.20e+04 1 5.90e-02 2.90e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 49400\n", " Parameters : 30977\n", " Iterations : 51\n", " Time : 2.90583 [s]\n", " Initial cost : 0.622217 [px]\n", " Final cost : 0.611638 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 67\n", " => Merged observations: 9\n", " => Filtered observations: 42\n", " => Changed observations: 0.004777\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.858088e+04 0.00e+00 1.93e+04 0.00e+00 0.00e+00 1.00e+04 0 3.24e-02 8.76e-02\n", " 1 1.832781e+04 2.53e+02 4.23e+03 1.39e+00 1.00e+00 3.00e+04 1 5.82e-02 1.46e-01\n", " 2 1.832313e+04 4.69e+00 3.99e+03 1.11e+00 1.03e+00 9.00e+04 1 6.47e-02 2.11e-01\n", " 3 1.832204e+04 1.09e+00 4.31e+03 1.35e+00 1.02e+00 2.70e+05 1 5.63e-02 2.67e-01\n", " 4 1.832186e+04 1.78e-01 4.22e+03 1.11e+00 1.05e+00 8.10e+05 1 5.56e-02 3.23e-01\n", " 5 1.832184e+04 1.32e-02 2.93e+03 4.06e-01 7.10e-01 8.74e+05 1 6.15e-02 3.84e-01\n", " 6 1.832186e+04 -1.74e-02 2.93e+03 1.65e-01 -9.92e-01 4.37e+05 1 2.73e-02 4.11e-01\n", " 7 1.832186e+04 -1.59e-02 2.93e+03 1.58e-01 -9.24e-01 1.09e+05 1 3.12e-02 4.43e-01\n", " 8 1.832185e+04 -8.80e-03 2.93e+03 1.31e-01 -5.38e-01 1.37e+04 1 2.50e-02 4.68e-01\n", " 9 1.832184e+04 3.63e-03 4.03e+03 6.04e-02 3.49e-01 1.33e+04 1 5.70e-02 5.25e-01\n", " 10 1.832184e+04 1.21e-03 4.05e+03 2.81e-02 3.92e-01 1.32e+04 1 5.84e-02 5.83e-01\n", " 11 1.832184e+04 5.00e-04 4.02e+03 2.02e-02 3.72e-01 1.29e+04 1 6.61e-02 6.49e-01\n", " 12 1.832184e+04 2.33e-04 3.92e+03 1.19e-02 4.65e-01 1.29e+04 1 5.93e-02 7.09e-01\n", " 13 1.832184e+04 1.26e-04 3.90e+03 8.13e-03 5.44e-01 1.30e+04 1 7.88e-02 7.87e-01\n", " 14 1.832184e+04 7.61e-05 3.93e+03 5.81e-03 6.85e-01 1.36e+04 1 6.44e-02 8.52e-01\n", " 15 1.832184e+04 5.44e-05 3.99e+03 4.69e-03 7.88e-01 1.69e+04 1 6.82e-02 9.20e-01\n", " 16 1.832184e+04 4.86e-05 3.88e+03 4.78e-03 9.13e-01 3.86e+04 1 6.31e-02 9.83e-01\n", " 17 1.832184e+04 6.54e-05 3.86e+03 8.08e-03 9.16e-01 9.14e+04 1 6.18e-02 1.05e+00\n", " 18 1.832184e+04 8.17e-05 3.85e+03 1.13e-02 8.88e-01 1.72e+05 1 6.67e-02 1.11e+00\n", " 19 1.832184e+04 9.15e-05 3.70e+03 1.03e-02 6.90e-01 1.82e+05 1 5.78e-02 1.17e+00\n", " 20 1.832184e+04 3.58e-05 3.80e+03 1.05e-02 1.89e-01 1.47e+05 1 5.88e-02 1.23e+00\n", " 21 1.832184e+04 -1.45e-04 3.80e+03 1.85e-02 -3.72e-01 7.33e+04 1 2.90e-02 1.26e+00\n", " 22 1.832184e+04 -8.80e-05 3.80e+03 1.62e-02 -2.62e-01 1.83e+04 1 2.87e-02 1.29e+00\n", " 23 1.832184e+04 5.62e-05 3.94e+03 9.80e-03 2.43e-01 1.61e+04 1 7.25e-02 1.36e+00\n", " 24 1.832184e+04 3.53e-05 3.92e+03 6.01e-03 3.06e-01 1.52e+04 1 5.70e-02 1.42e+00\n", " 25 1.832184e+04 2.22e-05 3.97e+03 4.26e-03 3.61e-01 1.49e+04 1 5.74e-02 1.47e+00\n", " 26 1.832184e+04 1.45e-05 3.85e+03 2.75e-03 4.61e-01 1.49e+04 1 5.81e-02 1.53e+00\n", " 27 1.832184e+04 1.14e-05 3.93e+03 1.85e-03 6.06e-01 1.51e+04 1 8.02e-02 1.61e+00\n", " 28 1.832184e+04 1.02e-05 3.91e+03 1.22e-03 7.79e-01 1.82e+04 1 5.97e-02 1.67e+00\n", " 29 1.832184e+04 1.08e-05 3.81e+03 9.03e-04 8.58e-01 2.88e+04 1 6.39e-02 1.74e+00\n", " 30 1.832184e+04 1.60e-05 3.88e+03 8.65e-04 8.94e-01 5.64e+04 1 7.96e-02 1.82e+00\n", " 31 1.832184e+04 3.19e-05 3.91e+03 1.14e-03 9.40e-01 1.69e+05 1 6.57e-02 1.88e+00\n", " 32 1.832184e+04 9.51e-05 3.79e+03 1.97e-03 9.49e-01 5.07e+05 1 5.87e-02 1.94e+00\n", " 33 1.832184e+04 2.77e-04 3.29e+03 4.09e-03 9.15e-01 1.19e+06 1 6.94e-02 2.01e+00\n", " 34 1.832184e+04 6.11e-04 2.76e+03 8.99e-03 8.30e-01 1.67e+06 1 6.63e-02 2.08e+00\n", " 35 1.832184e+04 6.14e-04 2.98e+03 2.01e-02 4.99e-01 1.67e+06 1 5.83e-02 2.13e+00\n", " 36 1.832184e+04 -7.54e-04 2.98e+03 4.50e-02 -3.22e-01 8.35e+05 1 2.64e-02 2.16e+00\n", " 37 1.832184e+04 -1.14e-03 2.98e+03 4.43e-02 -6.14e-01 2.09e+05 1 2.54e-02 2.19e+00\n", " 38 1.832184e+04 -1.09e-03 2.98e+03 4.07e-02 -7.27e-01 2.61e+04 1 2.50e-02 2.21e+00\n", " 39 1.832184e+04 8.01e-05 3.99e+03 2.43e-02 7.30e-02 1.61e+04 1 5.64e-02 2.27e+00\n", " 40 1.832184e+04 1.94e-04 4.02e+03 1.71e-02 2.42e-01 1.41e+04 1 6.39e-02 2.33e+00\n", " 41 1.832184e+04 1.12e-04 3.87e+03 1.07e-02 3.02e-01 1.33e+04 1 5.92e-02 2.39e+00\n", " 42 1.832184e+04 5.12e-05 3.93e+03 6.60e-03 3.38e-01 1.29e+04 1 6.22e-02 2.45e+00\n", " 43 1.832184e+04 2.52e-05 3.93e+03 3.94e-03 4.17e-01 1.28e+04 1 6.16e-02 2.51e+00\n", " 44 1.832184e+04 1.28e-05 3.97e+03 2.34e-03 4.88e-01 1.28e+04 1 6.83e-02 2.58e+00\n", " 45 1.832184e+04 9.67e-06 3.93e+03 1.40e-03 6.90e-01 1.36e+04 1 5.99e-02 2.64e+00\n", " 46 1.832184e+04 7.49e-06 3.91e+03 8.53e-04 7.41e-01 1.53e+04 1 5.75e-02 2.70e+00\n", " 47 1.832184e+04 9.77e-06 3.91e+03 5.67e-04 1.01e+00 4.58e+04 1 5.79e-02 2.76e+00\n", " 48 1.832184e+04 2.56e-05 3.90e+03 5.93e-04 9.64e-01 1.37e+05 1 7.76e-02 2.84e+00\n", " 49 1.832184e+04 7.74e-05 3.79e+03 1.04e-03 9.81e-01 4.12e+05 1 5.84e-02 2.89e+00\n", " 50 1.832184e+04 2.30e-04 3.44e+03 2.11e-03 9.70e-01 1.24e+06 1 5.60e-02 2.95e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 49448\n", " Parameters : 30926\n", " Iterations : 51\n", " Time : 2.9527 [s]\n", " Initial cost : 0.612998 [px]\n", " Final cost : 0.60871 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 29\n", " => Merged observations: 5\n", " => Filtered observations: 9\n", " => Changed observations: 0.001739\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 1.846027e+04 0.00e+00 1.38e+04 0.00e+00 0.00e+00 1.00e+04 0 3.30e-02 8.95e-02\n", " 1 1.834664e+04 1.14e+02 4.01e+03 7.64e-01 1.00e+00 3.00e+04 1 6.47e-02 1.54e-01\n", " 2 1.834620e+04 4.49e-01 3.88e+03 2.85e-01 1.05e+00 9.00e+04 1 6.01e-02 2.14e-01\n", " 3 1.834615e+04 4.65e-02 3.93e+03 1.97e-01 1.02e+00 2.70e+05 1 5.97e-02 2.74e-01\n", " 4 1.834615e+04 3.22e-03 3.57e+03 1.68e-01 7.22e-01 2.96e+05 1 7.50e-02 3.49e-01\n", " 5 1.834615e+04 -2.68e-03 3.57e+03 8.14e-02 -7.88e-01 1.48e+05 1 2.66e-02 3.76e-01\n", " 6 1.834615e+04 -2.05e-03 3.57e+03 7.12e-02 -6.29e-01 3.70e+04 1 2.50e-02 4.01e-01\n", " 7 1.834615e+04 -1.44e-04 3.57e+03 4.50e-02 -5.25e-02 4.63e+03 1 2.70e-02 4.28e-01\n", " 8 1.834614e+04 7.68e-04 3.84e+03 1.42e-02 6.22e-01 4.70e+03 1 1.06e-01 5.34e-01\n", " 9 1.834614e+04 1.56e-04 3.91e+03 3.37e-03 9.69e-01 1.41e+04 1 1.13e-01 6.47e-01\n", " 10 1.834614e+04 1.14e-04 3.90e+03 9.65e-03 7.15e-01 1.53e+04 1 9.89e-02 7.47e-01\n", " 11 1.834614e+04 4.87e-05 3.85e+03 7.36e-03 8.99e-01 3.11e+04 1 1.19e-01 8.66e-01\n", " 12 1.834614e+04 4.62e-05 3.88e+03 1.17e-02 8.06e-01 4.03e+04 1 1.19e-01 9.85e-01\n", " 13 1.834614e+04 3.72e-05 3.80e+03 1.08e-02 7.43e-01 4.55e+04 1 1.14e-01 1.10e+00\n", " 14 1.834614e+04 2.99e-05 3.79e+03 8.94e-03 5.83e-01 4.57e+04 1 1.01e-01 1.20e+00\n", " 15 1.834614e+04 2.38e-05 3.78e+03 7.08e-03 4.07e-01 4.54e+04 1 9.61e-02 1.30e+00\n", " 16 1.834614e+04 1.75e-05 3.92e+03 6.94e-03 2.31e-01 3.93e+04 1 9.70e-02 1.39e+00\n", " 17 1.834614e+04 1.19e-05 3.77e+03 7.41e-03 1.18e-01 2.72e+04 1 9.20e-02 1.49e+00\n", " 18 1.834614e+04 1.76e-05 3.80e+03 7.48e-03 1.49e-01 2.02e+04 1 8.80e-02 1.57e+00\n", " 19 1.834614e+04 2.49e-05 3.88e+03 6.27e-03 2.44e-01 1.78e+04 1 1.00e-01 1.67e+00\n", " 20 1.834614e+04 2.11e-05 3.86e+03 4.71e-03 3.13e-01 1.69e+04 1 1.02e-01 1.78e+00\n", " 21 1.834614e+04 1.71e-05 3.85e+03 3.43e-03 4.11e-01 1.68e+04 1 1.06e-01 1.88e+00\n", " 22 1.834614e+04 1.38e-05 3.75e+03 2.48e-03 5.21e-01 1.68e+04 1 1.18e-01 2.00e+00\n", " 23 1.834614e+04 1.12e-05 3.96e+03 1.80e-03 5.99e-01 1.70e+04 1 1.01e-01 2.10e+00\n", " 24 1.834614e+04 1.14e-05 3.86e+03 1.32e-03 7.80e-01 2.06e+04 1 9.74e-02 2.20e+00\n", " 25 1.834614e+04 1.22e-05 3.86e+03 1.06e-03 8.33e-01 2.92e+04 1 1.02e-01 2.30e+00\n", " 26 1.834614e+04 1.68e-05 3.76e+03 1.05e-03 8.76e-01 5.09e+04 1 1.12e-01 2.41e+00\n", " 27 1.834614e+04 3.01e-05 3.83e+03 1.31e-03 9.32e-01 1.44e+05 1 1.02e-01 2.51e+00\n", " 28 1.834614e+04 8.16e-05 3.68e+03 2.23e-03 9.15e-01 3.34e+05 1 1.06e-01 2.62e+00\n", " 29 1.834614e+04 1.81e-04 3.52e+03 4.45e-03 8.52e-01 5.12e+05 1 1.12e-01 2.74e+00\n", " 30 1.834614e+04 2.29e-04 3.37e+03 9.53e-03 6.19e-01 5.19e+05 1 1.05e-01 2.84e+00\n", " 31 1.834614e+04 -3.66e-05 3.37e+03 2.05e-02 -5.93e-02 2.60e+05 1 5.37e-02 2.90e+00\n", " 32 1.834614e+04 -1.40e-04 3.37e+03 1.96e-02 -3.04e-01 6.49e+04 1 5.13e-02 2.95e+00\n", " 33 1.834614e+04 -7.38e-05 3.37e+03 1.56e-02 -2.26e-01 8.12e+03 1 4.39e-02 2.99e+00\n", " 34 1.834614e+04 7.96e-05 3.93e+03 6.25e-03 4.92e-01 8.12e+03 1 1.12e-01 3.10e+00\n", " 35 1.834614e+04 1.89e-05 3.93e+03 1.39e-03 7.02e-01 8.69e+03 1 9.10e-02 3.19e+00\n", " 36 1.834614e+04 9.16e-06 3.89e+03 1.28e-03 7.72e-01 1.04e+04 1 9.10e-02 3.29e+00\n", " 37 1.834614e+04 6.62e-06 3.87e+03 2.81e-04 9.11e-01 2.32e+04 1 1.05e-01 3.39e+00\n", " 38 1.834614e+04 1.40e-05 3.86e+03 5.24e-04 9.75e-01 6.96e+04 1 1.01e-01 3.49e+00\n", " 39 1.834614e+04 4.08e-05 3.88e+03 5.17e-04 9.84e-01 2.09e+05 1 1.08e-01 3.60e+00\n", " 40 1.834614e+04 1.23e-04 3.64e+03 1.02e-03 9.94e-01 6.27e+05 1 1.19e-01 3.72e+00\n", " 41 1.834614e+04 3.65e-04 2.98e+03 2.14e-03 9.79e-01 1.88e+06 1 1.00e-01 3.82e+00\n", " 42 1.834614e+04 1.09e-03 4.37e+03 4.81e-03 9.69e-01 5.64e+06 1 1.06e-01 3.93e+00\n", " 43 1.834614e+04 3.20e-03 1.37e+04 1.09e-02 9.46e-01 1.69e+07 1 1.02e-01 4.03e+00\n", " 44 1.834613e+04 9.22e-03 7.56e+04 2.50e-02 9.05e-01 3.62e+07 1 1.19e-01 4.15e+00\n", " 45 1.834611e+04 1.71e-02 2.54e+05 5.73e-02 7.74e-01 4.33e+07 1 1.11e-01 4.26e+00\n", " 46 1.834611e+04 6.98e-03 2.95e+05 1.31e-01 2.09e-01 3.62e+07 1 6.13e-02 4.32e+00\n", " 47 1.834617e+04 -6.34e-02 2.95e+05 3.00e-01 -8.28e-01 1.81e+07 1 2.59e-02 4.35e+00\n", " 48 1.834618e+04 -7.14e-02 2.95e+05 3.00e-01 -1.04e+00 4.53e+06 1 2.43e-02 4.37e+00\n", " 49 1.834618e+04 -7.65e-02 2.95e+05 2.99e-01 -1.23e+00 5.66e+05 1 2.54e-02 4.39e+00\n", " 50 1.834617e+04 -6.88e-02 2.95e+05 2.87e-01 -1.14e+00 3.54e+04 1 2.47e-02 4.42e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 49488\n", " Parameters : 30917\n", " Iterations : 51\n", " Time : 4.42191 [s]\n", " Initial cost : 0.610758 [px]\n", " Final cost : 0.608866 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 7\n", " => Merged observations: 0\n", " => Filtered observations: 4\n", " => Changed observations: 0.000445\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #23 (19)\n", "==============================================================================\n", "\n", " => Image sees 1032 / 6166 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 950\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 0.012845 [s]\n", " Initial cost : 0.940241 [px]\n", " Final cost : 0.917838 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 470\n", " => Added observations: 5646\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 22534\n", " Parameters : 11990\n", " Iterations : 26\n", " Time : 0.644137 [s]\n", " Initial cost : 1.62055 [px]\n", " Final cost : 1.31021 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 28\n", " => Completed observations: 151\n", " => Filtered observations: 4868\n", " => Changed observations: 0.383598\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 12330\n", " Parameters : 6578\n", " Iterations : 5\n", " Time : 0.068475 [s]\n", " Initial cost : 0.965176 [px]\n", " Final cost : 0.859336 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 13\n", " => Completed observations: 1236\n", " => Filtered observations: 44\n", " => Changed observations: 0.154850\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 86\n", " => Merged observations: 6\n", " => Retriangulated observations: 5190\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 7.365578e+05 0.00e+00 1.03e+06 0.00e+00 0.00e+00 1.00e+04 0 4.72e-02 1.24e-01\n", " 1 2.390221e+05 4.98e+05 1.46e+06 3.55e+01 9.59e-01 3.00e+04 1 9.21e-02 2.16e-01\n", " 2 2.139727e+05 2.50e+04 3.18e+05 3.67e+01 9.45e-01 9.00e+04 1 7.35e-02 2.90e-01\n", " 3 2.108575e+05 3.12e+03 8.23e+04 2.62e+01 1.00e+00 2.70e+05 1 8.83e-02 3.78e-01\n", " 4 2.092272e+05 1.63e+03 1.89e+05 2.53e+01 9.55e-01 8.10e+05 1 7.51e-02 4.53e-01\n", " 5 7.346148e+05 -5.25e+05 1.89e+05 4.11e+01 -6.85e+02 4.05e+05 1 3.91e-02 4.92e-01\n", " 6 2.145369e+05 -5.31e+03 1.89e+05 3.73e+01 -6.93e+00 1.01e+05 1 3.90e-02 5.31e-01\n", " 7 2.086595e+05 5.68e+02 3.12e+06 2.53e+01 7.51e-01 1.16e+05 1 8.17e-02 6.13e-01\n", " 8 2.078609e+05 7.99e+02 7.13e+05 3.14e+01 9.87e-01 3.47e+05 1 7.50e-02 6.88e-01\n", " 9 2.077431e+05 1.18e+02 3.26e+05 1.70e+01 4.23e-01 3.46e+05 1 8.07e-02 7.69e-01\n", " 10 6.002305e+05 -3.92e+05 3.26e+05 2.25e+01 -1.06e+03 1.73e+05 1 5.41e-02 8.23e-01\n", " 11 2.075901e+05 1.53e+02 7.23e+05 1.76e+01 4.15e-01 1.72e+05 1 7.76e-02 9.01e-01\n", " 12 2.075629e+05 2.72e+01 1.74e+05 2.94e+01 8.51e-02 1.10e+05 1 7.27e-02 9.73e-01\n", " 13 2.082436e+05 -6.81e+02 1.74e+05 1.35e+01 -1.85e+00 5.48e+04 1 3.61e-02 1.01e+00\n", " 14 2.077096e+05 -1.47e+02 1.74e+05 1.04e+01 -4.05e-01 1.37e+04 1 3.91e-02 1.05e+00\n", " 15 2.072724e+05 2.90e+02 6.52e+04 5.83e+00 8.67e-01 2.27e+04 1 7.36e-02 1.12e+00\n", " 16 2.072072e+05 6.52e+01 2.54e+04 4.73e+00 1.12e+00 6.81e+04 1 7.42e-02 1.20e+00\n", " 17 2.071710e+05 3.62e+01 3.16e+04 6.72e+00 1.12e+00 2.04e+05 1 8.95e-02 1.29e+00\n", " 18 2.071308e+05 4.02e+01 4.49e+04 9.26e+00 9.43e-01 6.13e+05 1 7.42e-02 1.36e+00\n", " 19 2.073935e+05 -2.63e+02 4.49e+04 9.89e+00 -3.49e+00 3.06e+05 1 3.49e-02 1.39e+00\n", " 20 2.080843e+05 -9.54e+02 4.49e+04 8.29e+00 -1.28e+01 7.66e+04 1 3.21e-02 1.43e+00\n", " 21 2.071313e+05 -5.11e-01 4.49e+04 5.80e+00 -7.16e-03 9.57e+03 1 3.39e-02 1.46e+00\n", " 22 2.070662e+05 6.46e+01 2.67e+04 2.82e+00 1.19e+00 2.87e+04 1 8.41e-02 1.55e+00\n", " 23 2.069885e+05 7.77e+01 2.85e+04 4.71e+00 1.70e+00 8.61e+04 1 7.53e-02 1.62e+00\n", " 24 2.068815e+05 1.07e+02 1.04e+05 7.23e+00 1.68e+00 2.58e+05 1 7.16e-02 1.69e+00\n", " 25 2.067427e+05 1.39e+02 3.42e+05 1.25e+01 1.57e+00 7.75e+05 1 8.36e-02 1.78e+00\n", " 26 2.066499e+05 9.28e+01 3.59e+05 1.93e+01 9.18e-01 1.87e+06 1 9.07e-02 1.87e+00\n", " 27 2.066102e+05 3.97e+01 9.47e+05 1.28e+01 2.07e-01 1.56e+06 1 7.72e-02 1.94e+00\n", " 28 2.120655e+05 -5.46e+03 9.47e+05 1.85e+01 -1.88e+01 7.81e+05 1 3.97e-02 1.98e+00\n", " 29 2.113415e+05 -4.73e+03 9.47e+05 1.71e+01 -1.65e+01 1.95e+05 1 4.33e-02 2.03e+00\n", " 30 2.092200e+05 -2.61e+03 9.47e+05 1.33e+01 -9.31e+00 2.44e+04 1 3.57e-02 2.06e+00\n", " 31 2.066430e+05 -3.28e+01 9.47e+05 6.83e+00 -1.38e-01 1.52e+03 1 3.49e-02 2.10e+00\n", " 32 2.064683e+05 1.42e+02 1.47e+05 1.36e+00 9.85e-01 4.57e+03 1 7.26e-02 2.17e+00\n", " 33 2.064409e+05 2.74e+01 9.53e+05 1.69e+00 9.43e-01 1.37e+04 1 8.71e-02 2.26e+00\n", " 34 2.064102e+05 3.07e+01 8.26e+05 2.66e+00 9.32e-01 3.88e+04 1 7.60e-02 2.33e+00\n", " 35 2.063784e+05 3.18e+01 1.48e+05 4.60e+00 1.04e+00 1.16e+05 1 7.62e-02 2.41e+00\n", " 36 2.063467e+05 3.17e+01 4.83e+04 9.77e+00 1.13e+00 3.49e+05 1 9.65e-02 2.51e+00\n", " 37 2.063297e+05 1.70e+01 5.27e+05 2.09e+01 7.95e-01 4.40e+05 1 7.84e-02 2.58e+00\n", " 38 2.063169e+05 1.28e+01 3.08e+04 4.49e+01 9.65e-01 1.32e+06 1 7.11e-02 2.66e+00\n", " 39 2.063592e+05 -4.23e+01 3.08e+04 1.40e+02 -7.43e+00 6.60e+05 1 3.46e-02 2.69e+00\n", " 40 2.063146e+05 2.31e+00 2.90e+05 8.52e+01 4.89e-01 6.60e+05 1 8.51e-02 2.78e+00\n", " 41 2.063128e+05 1.78e+00 6.70e+04 9.62e+01 5.75e-01 6.62e+05 1 8.39e-02 2.86e+00\n", " 42 2.063151e+05 -2.27e+00 6.70e+04 9.71e+01 -7.19e-01 3.31e+05 1 4.46e-02 2.90e+00\n", " 43 2.063147e+05 -1.90e+00 6.70e+04 4.93e+01 -6.30e-01 8.28e+04 1 3.35e-02 2.94e+00\n", " 44 2.063132e+05 -4.00e-01 6.70e+04 1.25e+01 -1.44e-01 1.04e+04 1 3.27e-02 2.97e+00\n", " 45 2.063117e+05 1.11e+00 2.83e+04 1.63e+00 6.34e-01 1.06e+04 1 7.66e-02 3.05e+00\n", " 46 2.063114e+05 2.77e-01 2.82e+04 1.56e+00 8.73e-01 1.80e+04 1 7.15e-02 3.12e+00\n", " 47 2.063113e+05 1.32e-01 2.82e+04 2.67e+00 8.38e-01 2.61e+04 1 7.61e-02 3.19e+00\n", " 48 2.063112e+05 8.49e-02 2.81e+04 3.86e+00 9.52e-01 7.82e+04 1 8.85e-02 3.28e+00\n", " 49 2.063111e+05 8.24e-02 2.86e+04 1.16e+01 8.32e-01 1.11e+05 1 7.69e-02 3.36e+00\n", " 50 2.063111e+05 5.38e-02 2.89e+04 1.63e+01 4.62e-01 1.11e+05 1 7.03e-02 3.43e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 64918\n", " Parameters : 39761\n", " Iterations : 51\n", " Time : 3.43314 [s]\n", " Initial cost : 3.36838 [px]\n", " Final cost : 1.7827 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 253\n", " => Merged observations: 19\n", " => Filtered observations: 4981\n", " => Changed observations: 0.161835\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 3.566845e+04 0.00e+00 1.30e+05 0.00e+00 0.00e+00 1.00e+04 0 3.44e-02 9.49e-02\n", " 1 2.836455e+04 7.30e+03 4.56e+05 2.80e+01 7.78e-01 1.21e+04 1 6.94e-02 1.64e-01\n", " 2 2.617796e+04 2.19e+03 2.08e+04 1.49e+01 9.91e-01 3.62e+04 1 6.15e-02 2.26e-01\n", " 3 2.612242e+04 5.55e+01 4.41e+04 3.00e+01 5.31e-01 3.63e+04 1 6.11e-02 2.87e-01\n", " 4 2.606622e+04 5.62e+01 2.23e+04 2.07e+01 6.70e-01 3.78e+04 1 6.92e-02 3.56e-01\n", " 5 2.603447e+04 3.17e+01 1.74e+04 1.53e+01 6.95e-01 4.01e+04 1 7.91e-02 4.35e-01\n", " 6 2.601761e+04 1.69e+01 1.41e+04 1.08e+01 7.67e-01 4.73e+04 1 6.39e-02 4.99e-01\n", " 7 2.601074e+04 6.88e+00 1.26e+04 8.19e+00 7.36e-01 5.29e+04 1 6.15e-02 5.61e-01\n", " 8 2.600727e+04 3.47e+00 1.09e+04 6.13e+00 7.33e-01 5.89e+04 1 6.35e-02 6.24e-01\n", " 9 2.600554e+04 1.73e+00 1.03e+04 5.13e+00 5.30e-01 5.89e+04 1 6.87e-02 6.93e-01\n", " 10 2.600482e+04 7.12e-01 9.69e+03 4.22e+00 2.16e-01 4.98e+04 1 5.89e-02 7.52e-01\n", " 11 2.600468e+04 1.42e-01 9.83e+03 3.43e+00 3.09e-02 2.73e+04 1 5.91e-02 8.11e-01\n", " 12 2.600404e+04 6.46e-01 1.09e+04 2.13e+00 1.21e-01 1.90e+04 1 6.00e-02 8.71e-01\n", " 13 2.600253e+04 1.51e+00 9.37e+03 1.51e+00 3.45e-01 1.85e+04 1 7.22e-02 9.43e-01\n", " 14 2.600172e+04 8.13e-01 9.30e+03 1.24e+00 3.84e-01 1.82e+04 1 6.34e-02 1.01e+00\n", " 15 2.600119e+04 5.25e-01 9.39e+03 1.09e+00 4.40e-01 1.82e+04 1 6.32e-02 1.07e+00\n", " 16 2.600082e+04 3.75e-01 9.38e+03 9.94e-01 5.40e-01 1.82e+04 1 5.96e-02 1.13e+00\n", " 17 2.600050e+04 3.15e-01 9.32e+03 9.36e-01 6.61e-01 1.88e+04 1 7.19e-02 1.20e+00\n", " 18 2.600022e+04 2.83e-01 9.41e+03 9.22e-01 7.81e-01 2.29e+04 1 6.19e-02 1.26e+00\n", " 19 2.599991e+04 3.09e-01 9.43e+03 1.07e+00 8.64e-01 3.73e+04 1 6.12e-02 1.32e+00\n", " 20 2.599946e+04 4.50e-01 9.43e+03 1.65e+00 9.16e-01 8.79e+04 1 6.86e-02 1.39e+00\n", " 21 2.599859e+04 8.73e-01 9.97e+03 3.50e+00 9.17e-01 2.09e+05 1 8.38e-02 1.48e+00\n", " 22 2.599726e+04 1.33e+00 1.06e+04 6.42e+00 8.53e-01 3.22e+05 1 6.19e-02 1.54e+00\n", " 23 2.599656e+04 6.93e-01 1.16e+04 6.93e+00 4.06e-01 3.20e+05 1 6.03e-02 1.60e+00\n", " 24 2.599857e+04 -2.00e+00 1.16e+04 4.55e+00 -7.90e-01 1.60e+05 1 2.84e-02 1.63e+00\n", " 25 2.599815e+04 -1.59e+00 1.16e+04 2.89e+00 -6.86e-01 4.00e+04 1 2.76e-02 1.66e+00\n", " 26 2.599672e+04 -1.55e-01 1.16e+04 1.25e+00 -8.43e-02 5.00e+03 1 3.68e-02 1.69e+00\n", " 27 2.599601e+04 5.53e-01 9.20e+03 3.66e-01 6.45e-01 5.13e+03 1 5.98e-02 1.75e+00\n", " 28 2.599591e+04 1.03e-01 9.16e+03 1.09e-01 9.76e-01 1.54e+04 1 5.97e-02 1.81e+00\n", " 29 2.599582e+04 8.55e-02 9.07e+03 3.25e-01 7.53e-01 1.77e+04 1 5.83e-02 1.87e+00\n", " 30 2.599577e+04 5.61e-02 9.14e+03 3.30e-01 9.42e-01 5.31e+04 1 6.80e-02 1.94e+00\n", " 31 2.599564e+04 1.27e-01 9.21e+03 9.30e-01 9.42e-01 1.59e+05 1 6.49e-02 2.00e+00\n", " 32 2.599537e+04 2.69e-01 1.02e+04 2.32e+00 9.32e-01 4.48e+05 1 7.35e-02 2.08e+00\n", " 33 2.599505e+04 3.17e-01 1.27e+04 3.96e+00 8.12e-01 5.91e+05 1 6.32e-02 2.14e+00\n", " 34 2.599506e+04 -2.02e-03 1.27e+04 2.93e+00 -6.37e-03 2.96e+05 1 3.91e-02 2.18e+00\n", " 35 2.599507e+04 -1.95e-02 1.27e+04 1.91e+00 -7.25e-02 7.39e+04 1 2.95e-02 2.21e+00\n", " 36 2.599506e+04 -5.83e-03 1.27e+04 6.74e-01 -3.15e-02 9.24e+03 1 2.77e-02 2.24e+00\n", " 37 2.599501e+04 4.84e-02 9.09e+03 1.56e-01 5.38e-01 9.24e+03 1 6.31e-02 2.30e+00\n", " 38 2.599499e+04 1.28e-02 9.18e+03 8.28e-02 7.69e-01 1.09e+04 1 6.77e-02 2.37e+00\n", " 39 2.599498e+04 7.81e-03 9.16e+03 9.43e-02 8.03e-01 1.41e+04 1 6.08e-02 2.43e+00\n", " 40 2.599498e+04 8.08e-03 9.07e+03 1.14e-01 9.72e-01 4.22e+04 1 7.43e-02 2.50e+00\n", " 41 2.599496e+04 2.09e-02 9.15e+03 3.24e-01 9.79e-01 1.27e+05 1 6.29e-02 2.57e+00\n", " 42 2.599491e+04 4.79e-02 9.64e+03 8.27e-01 9.88e-01 3.80e+05 1 6.94e-02 2.64e+00\n", " 43 2.599484e+04 7.13e-02 1.23e+04 1.63e+00 9.55e-01 1.14e+06 1 6.56e-02 2.70e+00\n", " 44 2.599479e+04 4.35e-02 1.77e+04 1.83e+00 7.73e-01 1.36e+06 1 6.22e-02 2.76e+00\n", " 45 2.599481e+04 -1.71e-02 1.77e+04 8.10e-01 -4.12e-01 6.81e+05 1 2.94e-02 2.79e+00\n", " 46 2.599481e+04 -1.92e-02 1.77e+04 6.13e-01 -5.21e-01 1.70e+05 1 2.97e-02 2.82e+00\n", " 47 2.599481e+04 -1.48e-02 1.77e+04 2.81e-01 -4.89e-01 2.13e+04 1 3.73e-02 2.86e+00\n", " 48 2.599479e+04 4.79e-03 8.06e+03 9.54e-02 2.37e-01 1.86e+04 1 5.98e-02 2.92e+00\n", " 49 2.599479e+04 2.68e-03 8.54e+03 6.21e-02 2.69e-01 1.69e+04 1 6.43e-02 2.98e+00\n", " 50 2.599478e+04 1.67e-03 8.80e+03 4.69e-02 3.13e-01 1.61e+04 1 6.34e-02 3.05e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 55038\n", " Parameters : 34763\n", " Iterations : 51\n", " Time : 3.04979 [s]\n", " Initial cost : 0.805028 [px]\n", " Final cost : 0.687245 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 137\n", " => Merged observations: 29\n", " => Filtered observations: 159\n", " => Changed observations: 0.011810\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.517521e+04 0.00e+00 1.51e+04 0.00e+00 0.00e+00 1.00e+04 0 3.28e-02 9.14e-02\n", " 1 2.444248e+04 7.33e+02 2.39e+04 6.71e+00 9.84e-01 3.00e+04 1 7.22e-02 1.64e-01\n", " 2 2.441568e+04 2.68e+01 1.15e+04 4.02e+00 9.30e-01 8.23e+04 1 6.25e-02 2.26e-01\n", " 3 2.440971e+04 5.98e+00 1.38e+04 2.07e+00 9.44e-01 2.47e+05 1 5.92e-02 2.85e-01\n", " 4 2.440910e+04 6.06e-01 1.37e+04 1.82e+00 5.68e-01 2.47e+05 1 1.21e-01 4.06e-01\n", " 5 2.440984e+04 -7.41e-01 1.37e+04 1.38e+00 -8.34e-01 1.24e+05 1 4.28e-02 4.49e-01\n", " 6 2.440962e+04 -5.21e-01 1.37e+04 1.06e+00 -6.08e-01 3.09e+04 1 2.80e-02 4.77e-01\n", " 7 2.440906e+04 3.49e-02 8.10e+03 6.41e-01 4.90e-02 1.78e+04 1 6.15e-02 5.39e-01\n", " 8 2.440891e+04 1.56e-01 8.58e+03 4.52e-01 2.74e-01 1.63e+04 1 6.30e-02 6.02e-01\n", " 9 2.440884e+04 7.28e-02 8.62e+03 2.87e-01 3.03e-01 1.54e+04 1 7.23e-02 6.74e-01\n", " 10 2.440880e+04 3.40e-02 8.63e+03 1.91e-01 3.33e-01 1.48e+04 1 6.32e-02 7.37e-01\n", " 11 2.440879e+04 1.49e-02 8.61e+03 1.28e-01 3.77e-01 1.46e+04 1 6.19e-02 7.99e-01\n", " 12 2.440878e+04 7.56e-03 8.64e+03 9.56e-02 4.56e-01 1.46e+04 1 6.35e-02 8.63e-01\n", " 13 2.440877e+04 4.66e-03 8.61e+03 7.98e-02 5.98e-01 1.47e+04 1 7.06e-02 9.33e-01\n", " 14 2.440877e+04 3.59e-03 8.67e+03 7.32e-02 7.56e-01 1.70e+04 1 5.97e-02 9.93e-01\n", " 15 2.440877e+04 3.54e-03 8.67e+03 7.96e-02 8.89e-01 3.21e+04 1 6.01e-02 1.05e+00\n", " 16 2.440876e+04 5.89e-03 8.76e+03 1.42e-01 9.47e-01 9.63e+04 1 5.99e-02 1.11e+00\n", " 17 2.440875e+04 1.42e-02 9.39e+03 3.72e-01 9.66e-01 2.89e+05 1 7.41e-02 1.19e+00\n", " 18 2.440872e+04 2.42e-02 1.17e+04 7.91e-01 9.23e-01 7.32e+05 1 6.18e-02 1.25e+00\n", " 19 2.440870e+04 1.88e-02 1.56e+04 9.44e-01 7.28e-01 8.09e+05 1 6.24e-02 1.31e+00\n", " 20 2.440871e+04 -5.40e-03 1.56e+04 5.18e-01 -2.20e-01 4.05e+05 1 2.99e-02 1.34e+00\n", " 21 2.440871e+04 -7.43e-03 1.56e+04 3.65e-01 -3.62e-01 1.01e+05 1 3.05e-02 1.37e+00\n", " 22 2.440871e+04 -4.71e-03 1.56e+04 1.62e-01 -3.00e-01 1.26e+04 1 4.10e-02 1.41e+00\n", " 23 2.440870e+04 3.63e-03 8.02e+03 5.39e-02 4.08e-01 1.26e+04 1 8.58e-02 1.50e+00\n", " 24 2.440870e+04 1.11e-03 8.26e+03 2.40e-02 5.27e-01 1.26e+04 1 6.86e-02 1.57e+00\n", " 25 2.440870e+04 4.93e-04 8.27e+03 2.00e-02 5.54e-01 1.26e+04 1 6.77e-02 1.64e+00\n", " 26 2.440870e+04 3.19e-04 8.37e+03 1.57e-02 7.84e-01 1.54e+04 1 6.43e-02 1.70e+00\n", " 27 2.440870e+04 3.16e-04 8.35e+03 1.80e-02 8.91e-01 2.96e+04 1 5.88e-02 1.76e+00\n", " 28 2.440870e+04 5.50e-04 8.36e+03 3.24e-02 9.69e-01 8.89e+04 1 5.98e-02 1.82e+00\n", " 29 2.440870e+04 1.44e-03 8.64e+03 8.63e-02 9.73e-01 2.67e+05 1 6.93e-02 1.89e+00\n", " 30 2.440869e+04 3.29e-03 1.11e+04 1.85e-01 9.70e-01 8.00e+05 1 6.23e-02 1.95e+00\n", " 31 2.440869e+04 6.73e-03 1.71e+04 2.60e-01 9.36e-01 2.37e+06 1 5.97e-02 2.01e+00\n", " 32 2.440867e+04 1.63e-02 4.54e+04 1.56e-01 8.96e-01 4.72e+06 1 6.08e-02 2.07e+00\n", " 33 2.440864e+04 2.89e-02 7.07e+04 1.03e-01 7.68e-01 5.57e+06 1 7.53e-02 2.15e+00\n", " 34 2.440862e+04 1.69e-02 6.24e+04 1.78e-01 2.93e-01 5.20e+06 1 1.19e-01 2.27e+00\n", " 35 2.440869e+04 -6.53e-02 6.24e+04 3.88e-01 -5.29e-01 2.60e+06 1 5.14e-02 2.32e+00\n", " 36 2.440871e+04 -8.11e-02 6.24e+04 3.79e-01 -7.66e-01 6.50e+05 1 6.27e-02 2.38e+00\n", " 37 2.440871e+04 -8.41e-02 6.24e+04 3.51e-01 -9.10e-01 8.13e+04 1 5.67e-02 2.44e+00\n", " 38 2.440866e+04 -3.16e-02 6.24e+04 2.69e-01 -3.80e-01 5.08e+03 1 5.52e-02 2.49e+00\n", " 39 2.440860e+04 2.14e-02 7.71e+03 7.54e-02 6.11e-01 5.14e+03 1 1.45e-01 2.64e+00\n", " 40 2.440860e+04 3.91e-03 7.65e+03 1.10e-02 9.77e-01 1.54e+04 1 1.14e-01 2.75e+00\n", " 41 2.440860e+04 2.09e-03 9.74e+03 3.19e-02 6.29e-01 1.57e+04 1 1.34e-01 2.89e+00\n", " 42 2.440860e+04 5.16e-04 8.90e+03 7.41e-03 7.94e-01 1.97e+04 1 1.19e-01 3.00e+00\n", " 43 2.440860e+04 2.52e-04 8.60e+03 1.00e-02 6.17e-01 1.99e+04 1 1.29e-01 3.13e+00\n", " 44 2.440860e+04 1.80e-04 7.87e+03 5.53e-03 7.53e-01 2.29e+04 1 1.07e-01 3.24e+00\n", " 45 2.440860e+04 1.75e-04 7.37e+03 5.14e-03 7.96e-01 2.89e+04 1 1.08e-01 3.35e+00\n", " 46 2.440860e+04 2.05e-04 7.48e+03 4.43e-03 8.75e-01 5.01e+04 1 1.19e-01 3.47e+00\n", " 47 2.440860e+04 3.37e-04 7.61e+03 5.61e-03 8.92e-01 9.67e+04 1 1.14e-01 3.58e+00\n", " 48 2.440859e+04 6.35e-04 8.49e+03 8.28e-03 8.90e-01 1.85e+05 1 1.27e-01 3.71e+00\n", " 49 2.440859e+04 1.16e-03 9.92e+03 1.47e-02 8.32e-01 2.61e+05 1 1.22e-01 3.83e+00\n", " 50 2.440859e+04 1.40e-03 1.05e+04 2.34e-02 6.33e-01 2.66e+05 1 1.17e-01 3.95e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 54986\n", " Parameters : 34616\n", " Iterations : 51\n", " Time : 3.95215 [s]\n", " Initial cost : 0.676644 [px]\n", " Final cost : 0.666262 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 25\n", " => Merged observations: 10\n", " => Filtered observations: 69\n", " => Changed observations: 0.003783\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.400797e+04 0.00e+00 1.09e+04 0.00e+00 0.00e+00 1.00e+04 0 6.41e-02 1.62e-01\n", " 1 2.368376e+04 3.24e+02 8.92e+03 3.26e+00 9.92e-01 3.00e+04 1 1.20e-01 2.83e-01\n", " 2 2.367517e+04 8.59e+00 9.42e+03 1.37e+00 9.99e-01 9.00e+04 1 1.20e-01 4.02e-01\n", " 3 2.367353e+04 1.64e+00 1.11e+04 1.00e+00 9.75e-01 2.70e+05 1 1.22e-01 5.24e-01\n", " 4 2.367345e+04 8.64e-02 1.23e+04 1.01e+00 4.00e-01 2.68e+05 1 1.29e-01 6.53e-01\n", " 5 2.367364e+04 -1.94e-01 1.23e+04 7.53e-01 -7.49e-01 1.34e+05 1 5.48e-02 7.08e-01\n", " 6 2.367359e+04 -1.41e-01 1.23e+04 5.84e-01 -5.66e-01 3.35e+04 1 5.27e-02 7.61e-01\n", " 7 2.367344e+04 4.34e-03 7.99e+03 3.57e-01 2.08e-02 1.78e+04 1 1.09e-01 8.70e-01\n", " 8 2.367340e+04 4.62e-02 8.52e+03 2.56e-01 2.66e-01 1.62e+04 1 1.12e-01 9.83e-01\n", " 9 2.367337e+04 2.22e-02 8.57e+03 1.58e-01 3.05e-01 1.52e+04 1 1.08e-01 1.09e+00\n", " 10 2.367336e+04 1.01e-02 8.58e+03 1.04e-01 3.37e-01 1.47e+04 1 1.27e-01 1.22e+00\n", " 11 2.367336e+04 4.43e-03 8.64e+03 6.79e-02 3.85e-01 1.46e+04 1 1.15e-01 1.33e+00\n", " 12 2.367336e+04 2.23e-03 8.57e+03 5.01e-02 4.71e-01 1.46e+04 1 1.12e-01 1.45e+00\n", " 13 2.367335e+04 1.40e-03 8.62e+03 4.13e-02 6.18e-01 1.47e+04 1 1.20e-01 1.57e+00\n", " 14 2.367335e+04 1.10e-03 8.67e+03 3.79e-02 7.80e-01 1.79e+04 1 1.20e-01 1.69e+00\n", " 15 2.367335e+04 1.15e-03 8.49e+03 4.32e-02 9.03e-01 3.76e+04 1 1.27e-01 1.81e+00\n", " 16 2.367335e+04 2.13e-03 8.79e+03 8.51e-02 9.54e-01 1.13e+05 1 1.11e-01 1.92e+00\n", " 17 2.367335e+04 5.09e-03 9.52e+03 2.17e-01 9.66e-01 3.39e+05 1 1.33e-01 2.06e+00\n", " 18 2.367334e+04 8.79e-03 1.21e+04 4.40e-01 9.24e-01 8.65e+05 1 9.65e-02 2.15e+00\n", " 19 2.367333e+04 9.17e-03 1.79e+04 4.77e-01 7.89e-01 1.07e+06 1 6.46e-02 2.22e+00\n", " 20 2.367332e+04 3.25e-03 1.33e+04 2.56e-01 2.40e-01 9.41e+05 1 7.04e-02 2.29e+00\n", " 21 2.367334e+04 -1.53e-02 1.33e+04 1.73e-01 -5.48e-01 4.70e+05 1 3.12e-02 2.32e+00\n", " 22 2.367334e+04 -1.67e-02 1.33e+04 1.67e-01 -6.77e-01 1.18e+05 1 2.94e-02 2.35e+00\n", " 23 2.367333e+04 -1.04e-02 1.33e+04 1.44e-01 -4.84e-01 1.47e+04 1 2.84e-02 2.38e+00\n", " 24 2.367332e+04 4.76e-03 8.16e+03 6.97e-02 3.45e-01 1.43e+04 1 6.25e-02 2.44e+00\n", " 25 2.367332e+04 1.55e-03 8.22e+03 3.01e-02 4.03e-01 1.42e+04 1 7.47e-02 2.52e+00\n", " 26 2.367332e+04 5.78e-04 8.26e+03 2.11e-02 3.80e-01 1.40e+04 1 6.71e-02 2.58e+00\n", " 27 2.367332e+04 2.63e-04 8.53e+03 1.09e-02 4.90e-01 1.40e+04 1 6.33e-02 2.65e+00\n", " 28 2.367332e+04 1.57e-04 8.35e+03 7.00e-03 6.10e-01 1.41e+04 1 7.42e-02 2.72e+00\n", " 29 2.367332e+04 1.20e-04 8.59e+03 4.13e-03 7.91e-01 1.76e+04 1 8.11e-02 2.80e+00\n", " 30 2.367332e+04 1.35e-04 8.53e+03 3.48e-03 9.16e-01 4.14e+04 1 6.22e-02 2.86e+00\n", " 31 2.367332e+04 3.03e-04 8.57e+03 5.98e-03 9.71e-01 1.24e+05 1 6.34e-02 2.93e+00\n", " 32 2.367332e+04 8.93e-04 9.51e+03 1.43e-02 9.78e-01 3.73e+05 1 6.13e-02 2.99e+00\n", " 33 2.367331e+04 2.64e-03 1.25e+04 2.90e-02 9.75e-01 1.12e+06 1 6.97e-02 3.06e+00\n", " 34 2.367330e+04 7.80e-03 2.28e+04 3.04e-02 9.66e-01 3.35e+06 1 6.27e-02 3.12e+00\n", " 35 2.367328e+04 2.30e-02 6.92e+04 3.85e-02 9.49e-01 1.01e+07 1 6.00e-02 3.18e+00\n", " 36 2.367321e+04 6.69e-02 2.25e+05 6.60e-02 9.24e-01 2.59e+07 1 6.20e-02 3.24e+00\n", " 37 2.367306e+04 1.58e-01 5.86e+05 1.47e-01 8.63e-01 4.18e+07 1 7.16e-02 3.31e+00\n", " 38 2.367287e+04 1.85e-01 7.62e+05 3.11e-01 6.17e-01 4.24e+07 1 6.07e-02 3.38e+00\n", " 39 2.367294e+04 -7.08e-02 7.62e+05 6.69e-01 -1.55e-01 2.12e+07 1 3.13e-02 3.41e+00\n", " 40 2.367305e+04 -1.75e-01 7.62e+05 6.66e-01 -4.98e-01 5.30e+06 1 2.84e-02 3.44e+00\n", " 41 2.367312e+04 -2.49e-01 7.62e+05 6.51e-01 -9.20e-01 6.62e+05 1 2.74e-02 3.46e+00\n", " 42 2.367311e+04 -2.39e-01 7.62e+05 5.88e-01 -9.68e-01 4.14e+04 1 2.74e-02 3.49e+00\n", " 43 2.367289e+04 -1.44e-02 7.62e+05 3.70e-01 -6.89e-02 1.29e+03 1 2.80e-02 3.52e+00\n", " 44 2.367283e+04 4.23e-02 7.61e+03 5.70e-02 8.03e-01 1.67e+03 1 6.92e-02 3.59e+00\n", " 45 2.367282e+04 9.94e-03 7.47e+03 2.21e-02 9.44e-01 5.00e+03 1 6.06e-02 3.65e+00\n", " 46 2.367281e+04 1.46e-02 1.63e+04 4.56e-02 8.70e-01 8.41e+03 1 6.20e-02 3.71e+00\n", " 47 2.367280e+04 7.89e-03 2.81e+04 3.58e-02 9.07e-01 1.82e+04 1 9.27e-02 3.80e+00\n", " 48 2.367279e+04 3.10e-03 5.29e+04 2.96e-02 8.50e-01 2.77e+04 1 6.24e-02 3.87e+00\n", " 49 2.367279e+04 7.49e-04 5.77e+04 9.40e-03 1.00e+00 8.32e+04 1 6.19e-02 3.93e+00\n", " 50 2.367279e+04 5.47e-04 8.79e+04 1.58e-02 8.18e-01 1.12e+05 1 6.03e-02 3.99e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 54890\n", " Parameters : 34577\n", " Iterations : 51\n", " Time : 3.9898 [s]\n", " Initial cost : 0.66135 [px]\n", " Final cost : 0.656717 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 26\n", " => Merged observations: 6\n", " => Filtered observations: 37\n", " => Changed observations: 0.002514\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.352520e+04 0.00e+00 8.84e+04 0.00e+00 0.00e+00 1.00e+04 0 4.17e-02 1.07e-01\n", " 1 2.330563e+04 2.20e+02 7.46e+03 1.57e+00 1.00e+00 3.00e+04 1 8.13e-02 1.89e-01\n", " 2 2.330018e+04 5.45e+00 1.09e+04 9.83e-01 1.01e+00 9.00e+04 1 6.40e-02 2.53e-01\n", " 3 2.329901e+04 1.17e+00 1.05e+04 7.37e-01 9.71e-01 2.70e+05 1 6.32e-02 3.16e-01\n", " 4 2.329893e+04 7.82e-02 1.01e+04 4.56e-01 6.20e-01 2.74e+05 1 6.07e-02 3.77e-01\n", " 5 2.329900e+04 -7.39e-02 1.01e+04 3.71e-01 -7.54e-01 1.37e+05 1 3.40e-02 4.11e-01\n", " 6 2.329898e+04 -5.32e-02 1.01e+04 3.22e-01 -5.59e-01 3.42e+04 1 3.36e-02 4.44e-01\n", " 7 2.329893e+04 1.85e-03 8.15e+03 2.17e-01 2.31e-02 1.83e+04 1 5.93e-02 5.04e-01\n", " 8 2.329891e+04 1.68e-02 8.16e+03 1.60e-01 2.51e-01 1.63e+04 1 5.94e-02 5.63e-01\n", " 9 2.329890e+04 8.58e-03 8.38e+03 9.82e-02 2.94e-01 1.52e+04 1 7.78e-02 6.41e-01\n", " 10 2.329890e+04 3.87e-03 8.43e+03 6.22e-02 3.25e-01 1.46e+04 1 6.38e-02 7.05e-01\n", " 11 2.329890e+04 1.58e-03 8.24e+03 3.78e-02 3.56e-01 1.43e+04 1 7.72e-02 7.82e-01\n", " 12 2.329890e+04 6.79e-04 8.48e+03 2.42e-02 4.10e-01 1.42e+04 1 6.64e-02 8.49e-01\n", " 13 2.329890e+04 3.43e-04 8.51e+03 1.69e-02 5.09e-01 1.42e+04 1 6.29e-02 9.12e-01\n", " 14 2.329890e+04 2.27e-04 8.29e+03 1.36e-02 6.77e-01 1.48e+04 1 6.17e-02 9.73e-01\n", " 15 2.329890e+04 1.90e-04 8.31e+03 1.26e-02 8.31e-01 2.09e+04 1 6.20e-02 1.04e+00\n", " 16 2.329890e+04 2.37e-04 8.40e+03 1.65e-02 9.33e-01 6.00e+04 1 6.68e-02 1.10e+00\n", " 17 2.329890e+04 6.11e-04 8.71e+03 4.26e-02 9.70e-01 1.80e+05 1 6.05e-02 1.16e+00\n", " 18 2.329889e+04 1.52e-03 9.75e+03 1.01e-01 9.64e-01 5.40e+05 1 6.05e-02 1.22e+00\n", " 19 2.329889e+04 3.36e-03 1.35e+04 1.67e-01 9.50e-01 1.62e+06 1 6.09e-02 1.28e+00\n", " 20 2.329888e+04 8.07e-03 2.66e+04 1.54e-01 9.15e-01 3.77e+06 1 7.07e-02 1.36e+00\n", " 21 2.329887e+04 1.72e-02 5.48e+04 5.40e-02 8.43e-01 5.57e+06 1 5.92e-02 1.41e+00\n", " 22 2.329885e+04 2.01e-02 6.22e+04 1.10e-01 5.86e-01 5.60e+06 1 6.62e-02 1.48e+00\n", " 23 2.329885e+04 -6.42e-03 6.22e+04 2.27e-01 -1.13e-01 2.80e+06 1 3.05e-02 1.51e+00\n", " 24 2.329887e+04 -1.94e-02 6.22e+04 2.22e-01 -4.47e-01 7.00e+05 1 2.92e-02 1.54e+00\n", " 25 2.329887e+04 -2.65e-02 6.22e+04 2.07e-01 -7.95e-01 8.75e+04 1 3.82e-02 1.58e+00\n", " 26 2.329886e+04 -1.14e-02 6.22e+04 1.61e-01 -3.97e-01 5.47e+03 1 3.10e-02 1.61e+00\n", " 27 2.329884e+04 7.51e-03 7.15e+03 4.71e-02 6.00e-01 5.52e+03 1 6.30e-02 1.67e+00\n", " 28 2.329884e+04 1.36e-03 7.27e+03 6.64e-03 9.64e-01 1.65e+04 1 6.70e-02 1.74e+00\n", " 29 2.329884e+04 6.69e-04 1.02e+04 1.87e-02 6.14e-01 1.67e+04 1 8.65e-02 1.83e+00\n", " 30 2.329884e+04 2.06e-04 9.64e+03 5.25e-03 7.63e-01 1.96e+04 1 6.27e-02 1.89e+00\n", " 31 2.329884e+04 1.34e-04 9.10e+03 6.05e-03 6.95e-01 2.08e+04 1 6.28e-02 1.95e+00\n", " 32 2.329884e+04 1.17e-04 8.32e+03 3.59e-03 8.32e-01 2.94e+04 1 6.07e-02 2.01e+00\n", " 33 2.329884e+04 1.46e-04 8.03e+03 3.65e-03 8.65e-01 4.81e+04 1 6.61e-02 2.08e+00\n", " 34 2.329884e+04 2.33e-04 7.88e+03 3.99e-03 9.14e-01 1.12e+05 1 5.98e-02 2.14e+00\n", " 35 2.329883e+04 5.27e-04 7.92e+03 6.53e-03 9.19e-01 2.71e+05 1 6.03e-02 2.20e+00\n", " 36 2.329883e+04 1.25e-03 1.06e+04 1.09e-02 8.94e-01 5.30e+05 1 6.32e-02 2.26e+00\n", " 37 2.329883e+04 2.29e-03 1.20e+04 2.16e-02 8.04e-01 6.84e+05 1 7.85e-02 2.34e+00\n", " 38 2.329883e+04 2.19e-03 1.20e+04 3.91e-02 4.94e-01 6.84e+05 1 6.01e-02 2.40e+00\n", " 39 2.329883e+04 -1.21e-03 1.20e+04 8.05e-02 -1.54e-01 3.42e+05 1 2.87e-02 2.43e+00\n", " 40 2.329883e+04 -2.30e-03 1.20e+04 7.64e-02 -3.70e-01 8.55e+04 1 2.70e-02 2.46e+00\n", " 41 2.329883e+04 -1.34e-03 1.20e+04 6.27e-02 -2.81e-01 1.07e+04 1 2.96e-02 2.49e+00\n", " 42 2.329883e+04 1.20e-03 8.09e+03 2.73e-02 4.49e-01 1.07e+04 1 6.64e-02 2.55e+00\n", " 43 2.329883e+04 2.97e-04 7.99e+03 7.73e-03 6.14e-01 1.08e+04 1 7.05e-02 2.62e+00\n", " 44 2.329883e+04 1.10e-04 8.04e+03 5.89e-03 6.13e-01 1.09e+04 1 6.44e-02 2.69e+00\n", " 45 2.329883e+04 6.79e-05 8.10e+03 1.89e-03 8.81e-01 1.97e+04 1 6.50e-02 2.75e+00\n", " 46 2.329883e+04 9.88e-05 8.18e+03 1.95e-03 9.38e-01 5.90e+04 1 8.24e-02 2.84e+00\n", " 47 2.329883e+04 2.85e-04 8.19e+03 1.78e-03 9.84e-01 1.77e+05 1 5.94e-02 2.89e+00\n", " 48 2.329883e+04 8.48e-04 9.56e+03 3.37e-03 9.86e-01 5.31e+05 1 6.10e-02 2.96e+00\n", " 49 2.329882e+04 2.53e-03 1.31e+04 5.71e-03 9.82e-01 1.59e+06 1 6.09e-02 3.02e+00\n", " 50 2.329882e+04 7.55e-03 2.57e+04 1.25e-02 9.76e-01 4.78e+06 1 6.83e-02 3.08e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 54864\n", " Parameters : 34565\n", " Iterations : 51\n", " Time : 3.08719 [s]\n", " Initial cost : 0.654822 [px]\n", " Final cost : 0.651663 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 16\n", " => Merged observations: 4\n", " => Filtered observations: 27\n", " => Changed observations: 0.001713\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #24 (20)\n", "==============================================================================\n", "\n", " => Image sees 1618 / 5162 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 2396\n", " Parameters : 6\n", " Iterations : 17\n", " Time : 0.031503 [s]\n", " Initial cost : 0.898881 [px]\n", " Final cost : 0.882664 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 1156\n", " => Added observations: 3590\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 23962\n", " Parameters : 12980\n", " Iterations : 26\n", " Time : 0.712653 [s]\n", " Initial cost : 1.25648 [px]\n", " Final cost : 1.05376 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 41\n", " => Completed observations: 184\n", " => Filtered observations: 3249\n", " => Changed observations: 0.258887\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 17806\n", " Parameters : 10508\n", " Iterations : 6\n", " Time : 0.117752 [s]\n", " Initial cost : 0.899604 [px]\n", " Final cost : 0.800913 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 41\n", " => Completed observations: 661\n", " => Filtered observations: 16\n", " => Changed observations: 0.069432\n", "\n", "==============================================================================\n", "Registering image #46 (21)\n", "==============================================================================\n", "\n", " => Image sees 319 / 6276 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #45 (21)\n", "==============================================================================\n", "\n", " => Image sees 291 / 4776 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #51 (21)\n", "==============================================================================\n", "\n", " => Image sees 308 / 7201 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #60 (21)\n", "==============================================================================\n", "\n", " => Image sees 326 / 5057 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 206\n", " Parameters : 6\n", " Iterations : 19\n", " Time : 0.00326085 [s]\n", " Initial cost : 0.819662 [px]\n", " Final cost : 0.736693 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 94\n", " => Added observations: 329\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 13592\n", " Parameters : 4328\n", " Iterations : 26\n", " Time : 0.374705 [s]\n", " Initial cost : 0.778981 [px]\n", " Final cost : 0.736 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 7\n", " => Completed observations: 10\n", " => Filtered observations: 391\n", " => Changed observations: 0.053340\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 11664\n", " Parameters : 3731\n", " Iterations : 7\n", " Time : 0.087918 [s]\n", " Initial cost : 0.749843 [px]\n", " Final cost : 0.733561 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 59\n", " => Filtered observations: 3\n", " => Changed observations: 0.008417\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 23\n", " => Merged observations: 6\n", " => Retriangulated observations: 1624\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.274177e+05 0.00e+00 6.22e+05 0.00e+00 0.00e+00 1.00e+04 0 4.47e-02 1.33e-01\n", " 1 9.801516e+04 1.29e+05 3.69e+06 4.25e+01 9.31e-01 2.77e+04 1 7.74e-02 2.11e-01\n", " 2 8.715547e+04 1.09e+04 6.10e+05 1.40e+01 9.07e-01 5.98e+04 1 7.11e-02 2.82e-01\n", " 3 8.929684e+04 -2.14e+03 6.10e+05 1.48e+01 -1.61e+00 2.99e+04 1 3.36e-02 3.16e-01\n", " 4 8.805153e+04 -8.96e+02 6.10e+05 1.25e+01 -6.99e-01 7.47e+03 1 4.26e-02 3.58e-01\n", " 5 8.631525e+04 8.40e+02 1.91e+05 7.34e+00 7.08e-01 8.05e+03 1 7.20e-02 4.30e-01\n", " 6 8.608394e+04 2.31e+02 9.71e+04 4.94e+00 6.18e-01 8.16e+03 1 7.19e-02 5.02e-01\n", " 7 8.591261e+04 1.71e+02 4.12e+04 4.43e+00 8.34e-01 1.16e+04 1 7.73e-02 5.80e-01\n", " 8 8.567136e+04 2.41e+02 3.60e+04 6.72e+00 9.96e-01 3.49e+04 1 7.37e-02 6.53e-01\n", " 9 8.526474e+04 4.07e+02 1.09e+05 2.26e+01 8.39e-01 5.06e+04 1 7.54e-02 7.29e-01\n", " 10 8.541899e+04 -1.54e+02 1.09e+05 3.20e+01 -2.24e-01 2.53e+04 1 3.80e-02 7.67e-01\n", " 11 8.491771e+04 3.47e+02 1.19e+05 2.44e+01 5.64e-01 2.54e+04 1 8.52e-02 8.52e-01\n", " 12 8.450510e+04 4.13e+02 6.29e+04 2.58e+01 8.53e-01 3.91e+04 1 7.59e-02 9.28e-01\n", " 13 8.455227e+04 -4.72e+01 6.29e+04 1.99e+01 -2.67e-01 1.96e+04 1 3.36e-02 9.62e-01\n", " 14 8.447067e+04 3.44e+01 8.96e+04 1.52e+01 2.22e-01 1.67e+04 1 9.06e-02 1.05e+00\n", " 15 8.441433e+04 5.63e+01 7.68e+04 1.29e+01 4.16e-01 1.66e+04 1 9.31e-02 1.15e+00\n", " 16 8.441308e+04 1.25e+00 7.67e+04 6.89e+00 1.30e-02 8.64e+03 1 7.67e-02 1.22e+00\n", " 17 8.435971e+04 5.34e+01 3.93e+04 4.97e+00 6.14e-01 8.74e+03 1 7.58e-02 1.30e+00\n", " 18 8.434516e+04 1.46e+01 1.74e+04 2.95e+00 5.30e-01 8.74e+03 1 8.25e-02 1.38e+00\n", " 19 8.433978e+04 5.38e+00 1.79e+04 2.84e+00 5.54e-01 8.75e+03 1 7.33e-02 1.45e+00\n", " 20 8.433780e+04 1.98e+00 1.75e+04 1.85e+00 5.09e-01 8.75e+03 1 7.20e-02 1.53e+00\n", " 21 8.433674e+04 1.05e+00 1.75e+04 1.71e+00 6.06e-01 8.84e+03 1 7.90e-02 1.60e+00\n", " 22 8.433611e+04 6.30e-01 1.70e+04 1.21e+00 6.60e-01 9.14e+03 1 7.63e-02 1.68e+00\n", " 23 8.433569e+04 4.23e-01 1.68e+04 1.11e+00 7.89e-01 1.13e+04 1 7.01e-02 1.75e+00\n", " 24 8.433534e+04 3.45e-01 1.72e+04 9.69e-01 8.31e-01 1.59e+04 1 8.68e-02 1.84e+00\n", " 25 8.433502e+04 3.24e-01 1.71e+04 1.10e+00 9.04e-01 3.38e+04 1 7.59e-02 1.91e+00\n", " 26 8.433459e+04 4.31e-01 1.68e+04 1.31e+00 8.82e-01 6.10e+04 1 7.10e-02 1.99e+00\n", " 27 8.433402e+04 5.64e-01 1.77e+04 1.88e+00 8.46e-01 9.13e+04 1 9.20e-02 2.08e+00\n", " 28 8.433346e+04 5.61e-01 1.76e+04 2.10e+00 7.06e-01 9.81e+04 1 9.31e-02 2.17e+00\n", " 29 8.433334e+04 1.23e-01 1.82e+04 2.25e+00 1.76e-01 7.71e+04 1 7.67e-02 2.25e+00\n", " 30 8.433368e+04 -3.37e-01 1.82e+04 1.94e+00 -3.35e-01 3.86e+04 1 4.24e-02 2.29e+00\n", " 31 8.433351e+04 -1.73e-01 1.82e+04 1.28e+00 -1.84e-01 9.64e+03 1 3.36e-02 2.32e+00\n", " 32 8.433313e+04 2.10e-01 1.60e+04 5.26e-01 2.81e-01 8.89e+03 1 7.26e-02 2.40e+00\n", " 33 8.433303e+04 1.04e-01 1.67e+04 3.07e-01 3.30e-01 8.56e+03 1 7.09e-02 2.47e+00\n", " 34 8.433298e+04 4.96e-02 1.66e+04 2.56e-01 3.54e-01 8.35e+03 1 7.67e-02 2.54e+00\n", " 35 8.433295e+04 2.51e-02 1.68e+04 1.91e-01 4.22e-01 8.32e+03 1 7.14e-02 2.61e+00\n", " 36 8.433294e+04 1.49e-02 1.68e+04 1.75e-01 5.23e-01 8.32e+03 1 7.57e-02 2.69e+00\n", " 37 8.433293e+04 1.04e-02 1.64e+04 1.62e-01 6.72e-01 8.67e+03 1 7.93e-02 2.77e+00\n", " 38 8.433292e+04 8.68e-03 1.60e+04 1.66e-01 8.08e-01 1.13e+04 1 7.29e-02 2.84e+00\n", " 39 8.433291e+04 9.70e-03 1.66e+04 2.12e-01 9.09e-01 2.50e+04 1 7.46e-02 2.92e+00\n", " 40 8.433289e+04 1.89e-02 1.68e+04 4.60e-01 9.54e-01 7.49e+04 1 8.08e-02 3.00e+00\n", " 41 8.433284e+04 4.92e-02 1.75e+04 1.33e+00 9.64e-01 2.25e+05 1 7.06e-02 3.07e+00\n", " 42 8.433273e+04 1.10e-01 1.99e+04 3.70e+00 9.55e-01 6.74e+05 1 7.56e-02 3.14e+00\n", " 43 8.433258e+04 1.50e-01 2.66e+04 1.00e+01 8.88e-01 1.27e+06 1 1.10e-01 3.25e+00\n", " 44 8.433252e+04 5.64e-02 3.06e+04 1.77e+01 5.53e-01 1.27e+06 1 1.28e-01 3.38e+00\n", " 45 8.433253e+04 -4.28e-03 3.06e+04 1.80e+01 -3.87e-02 6.35e+05 1 6.07e-02 3.44e+00\n", " 46 8.433254e+04 -2.20e-02 3.06e+04 9.18e+00 -2.51e-01 1.59e+05 1 7.12e-02 3.52e+00\n", " 47 8.433255e+04 -2.96e-02 3.06e+04 2.37e+00 -4.28e-01 1.98e+04 1 5.58e-02 3.57e+00\n", " 48 8.433252e+04 1.68e-03 1.50e+04 3.61e-01 2.95e-02 1.08e+04 1 1.32e-01 3.70e+00\n", " 49 8.433251e+04 1.11e-02 1.61e+04 2.05e-01 2.19e-01 9.18e+03 1 1.51e-01 3.86e+00\n", " 50 8.433250e+04 7.26e-03 1.56e+04 1.64e-01 2.76e-01 8.42e+03 1 1.34e-01 3.99e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 62938\n", " Parameters : 39077\n", " Iterations : 51\n", " Time : 3.99368 [s]\n", " Initial cost : 1.90088 [px]\n", " Final cost : 1.15755 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 271\n", " => Merged observations: 34\n", " => Filtered observations: 1707\n", " => Changed observations: 0.063936\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 3.399631e+04 0.00e+00 8.21e+04 0.00e+00 0.00e+00 1.00e+04 0 7.66e-02 2.07e-01\n", " 1 3.043904e+04 3.56e+03 5.12e+04 1.22e+01 8.20e-01 1.36e+04 1 1.26e-01 3.34e-01\n", " 2 2.965591e+04 7.83e+02 4.18e+04 8.12e+00 8.75e-01 2.35e+04 1 1.48e-01 4.82e-01\n", " 3 2.954274e+04 1.13e+02 5.66e+04 7.16e+00 6.79e-01 2.46e+04 1 1.28e-01 6.10e-01\n", " 4 2.947526e+04 6.75e+01 4.04e+04 4.61e+00 9.09e-01 5.41e+04 1 1.39e-01 7.49e-01\n", " 5 2.946211e+04 1.32e+01 5.50e+04 4.40e+00 7.63e-01 6.33e+04 1 1.18e-01 8.68e-01\n", " 6 2.945645e+04 5.66e+00 2.36e+04 2.30e+00 8.50e-01 9.64e+04 1 1.27e-01 9.95e-01\n", " 7 2.945586e+04 5.86e-01 1.34e+04 1.43e+00 3.67e-01 9.47e+04 1 1.31e-01 1.13e+00\n", " 8 2.945606e+04 -2.02e-01 1.34e+04 1.10e+00 -1.44e-01 4.73e+04 1 7.45e-02 1.20e+00\n", " 9 2.945581e+04 4.95e-02 7.48e+03 9.50e-01 3.79e-02 2.65e+04 1 1.46e-01 1.35e+00\n", " 10 2.945554e+04 2.67e-01 7.51e+03 7.76e-01 2.19e-01 2.25e+04 1 1.20e-01 1.47e+00\n", " 11 2.945535e+04 1.96e-01 7.23e+03 5.52e-01 2.78e-01 2.06e+04 1 1.17e-01 1.58e+00\n", " 12 2.945524e+04 1.08e-01 7.39e+03 3.81e-01 3.04e-01 1.95e+04 1 1.27e-01 1.71e+00\n", " 13 2.945519e+04 5.39e-02 7.37e+03 2.53e-01 3.28e-01 1.87e+04 1 1.18e-01 1.83e+00\n", " 14 2.945516e+04 2.86e-02 7.46e+03 1.64e-01 3.81e-01 1.85e+04 1 1.30e-01 1.96e+00\n", " 15 2.945514e+04 1.64e-02 7.21e+03 1.05e-01 4.60e-01 1.84e+04 1 1.27e-01 2.09e+00\n", " 16 2.945513e+04 1.12e-02 7.41e+03 6.74e-02 5.90e-01 1.86e+04 1 1.28e-01 2.22e+00\n", " 17 2.945512e+04 8.82e-03 7.30e+03 4.32e-02 7.32e-01 2.06e+04 1 1.44e-01 2.36e+00\n", " 18 2.945511e+04 8.35e-03 7.43e+03 2.92e-02 8.58e-01 3.25e+04 1 1.36e-01 2.50e+00\n", " 19 2.945510e+04 1.17e-02 7.44e+03 2.36e-02 9.33e-01 9.23e+04 1 1.45e-01 2.64e+00\n", " 20 2.945507e+04 2.97e-02 7.55e+03 2.63e-02 9.71e-01 2.77e+05 1 1.24e-01 2.76e+00\n", " 21 2.945500e+04 6.75e-02 8.51e+03 3.56e-02 9.76e-01 8.31e+05 1 1.36e-01 2.90e+00\n", " 22 2.945491e+04 8.93e-02 1.09e+04 5.29e-02 9.63e-01 2.49e+06 1 1.06e-01 3.01e+00\n", " 23 2.945488e+04 2.88e-02 2.21e+04 7.95e-02 7.83e-01 3.05e+06 1 6.77e-02 3.07e+00\n", " 24 2.945489e+04 -1.11e-03 2.21e+04 1.22e-01 -6.28e-02 1.52e+06 1 3.15e-02 3.11e+00\n", " 25 2.945489e+04 -3.60e-03 2.21e+04 1.22e-01 -2.42e-01 3.81e+05 1 2.99e-02 3.14e+00\n", " 26 2.945489e+04 -4.59e-03 2.21e+04 1.18e-01 -3.57e-01 4.76e+04 1 3.02e-02 3.17e+00\n", " 27 2.945488e+04 8.90e-05 5.96e+03 9.20e-02 7.74e-03 2.44e+04 1 7.37e-02 3.24e+00\n", " 28 2.945488e+04 2.15e-03 6.68e+03 7.36e-02 2.04e-01 2.02e+04 1 7.72e-02 3.32e+00\n", " 29 2.945488e+04 1.50e-03 6.91e+03 4.94e-02 2.65e-01 1.83e+04 1 7.79e-02 3.39e+00\n", " 30 2.945488e+04 7.64e-04 7.03e+03 3.18e-02 3.01e-01 1.72e+04 1 7.63e-02 3.47e+00\n", " 31 2.945488e+04 3.40e-04 7.06e+03 1.95e-02 3.31e-01 1.66e+04 1 6.68e-02 3.54e+00\n", " 32 2.945488e+04 1.48e-04 7.27e+03 1.17e-02 3.74e-01 1.63e+04 1 7.14e-02 3.61e+00\n", " 33 2.945488e+04 7.07e-05 7.10e+03 6.89e-03 4.46e-01 1.63e+04 1 7.71e-02 3.69e+00\n", " 34 2.945488e+04 4.23e-05 7.34e+03 4.06e-03 5.77e-01 1.63e+04 1 7.32e-02 3.76e+00\n", " 35 2.945488e+04 3.39e-05 7.35e+03 2.39e-03 7.72e-01 1.95e+04 1 7.01e-02 3.83e+00\n", " 36 2.945488e+04 3.49e-05 7.13e+03 1.51e-03 8.94e-01 3.80e+04 1 7.38e-02 3.90e+00\n", " 37 2.945488e+04 6.56e-05 7.50e+03 1.26e-03 9.66e-01 1.14e+05 1 6.73e-02 3.97e+00\n", " 38 2.945488e+04 1.94e-04 7.45e+03 1.51e-03 9.85e-01 3.42e+05 1 6.66e-02 4.04e+00\n", " 39 2.945488e+04 5.72e-04 8.89e+03 2.13e-03 9.88e-01 1.03e+06 1 6.56e-02 4.10e+00\n", " 40 2.945488e+04 1.65e-03 1.19e+04 3.18e-03 9.93e-01 3.08e+06 1 7.42e-02 4.18e+00\n", " 41 2.945487e+04 4.34e-03 2.82e+04 4.89e-03 9.93e-01 9.24e+06 1 7.25e-02 4.25e+00\n", " 42 2.945486e+04 9.25e-03 8.23e+04 7.43e-03 9.93e-01 2.77e+07 1 6.76e-02 4.32e+00\n", " 43 2.945485e+04 1.50e-02 2.51e+05 1.18e-02 9.89e-01 8.31e+07 1 9.18e-02 4.41e+00\n", " 44 2.945482e+04 3.37e-02 1.71e+06 1.75e-02 9.88e-01 2.49e+08 1 6.98e-02 4.48e+00\n", " 45 2.945473e+04 8.53e-02 1.60e+07 2.93e-02 9.83e-01 7.48e+08 1 1.27e-01 4.61e+00\n", " 46 2.945456e+04 1.67e-01 1.01e+08 4.27e-02 9.27e-01 1.99e+09 1 1.61e-01 4.77e+00\n", " 47 2.945437e+04 1.90e-01 2.88e+08 6.92e-02 7.08e-01 2.15e+09 1 1.39e-01 4.91e+00\n", " 48 2.945416e+04 2.17e-01 1.14e+08 1.03e-01 8.97e-01 4.28e+09 1 1.66e-01 5.07e+00\n", " 49 2.945393e+04 2.24e-01 1.48e+08 1.57e-01 8.13e-01 5.68e+09 1 1.59e-01 5.23e+00\n", " 50 2.945362e+04 3.06e-01 5.72e+07 2.47e-01 7.77e-01 6.84e+09 1 2.76e-01 5.51e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 59934\n", " Parameters : 37343\n", " Iterations : 51\n", " Time : 5.51901 [s]\n", " Initial cost : 0.753146 [px]\n", " Final cost : 0.701024 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 179\n", " => Merged observations: 14\n", " => Filtered observations: 197\n", " => Changed observations: 0.013014\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.879246e+04 0.00e+00 5.74e+07 0.00e+00 0.00e+00 1.00e+04 0 7.05e-02 1.86e-01\n", " 1 2.796332e+04 8.29e+02 1.34e+06 4.18e+00 9.99e-01 3.00e+04 1 1.47e-01 3.33e-01\n", " 2 2.793975e+04 2.36e+01 3.49e+06 2.12e+00 9.90e-01 9.00e+04 1 8.29e-02 4.16e-01\n", " 3 2.793207e+04 7.67e+00 4.75e+06 1.36e+00 9.79e-01 2.70e+05 1 6.78e-02 4.84e-01\n", " 4 2.793132e+04 7.53e-01 8.48e+05 7.00e-01 7.00e-01 2.89e+05 1 6.93e-02 5.53e-01\n", " 5 2.793153e+04 -2.11e-01 8.48e+05 7.61e-01 -4.18e-01 1.44e+05 1 3.48e-02 5.88e-01\n", " 6 2.793147e+04 -1.50e-01 8.48e+05 7.19e-01 -3.00e-01 3.61e+04 1 3.72e-02 6.26e-01\n", " 7 2.793128e+04 4.50e-02 3.22e+04 5.50e-01 9.80e-02 2.37e+04 1 6.79e-02 6.93e-01\n", " 8 2.793120e+04 7.61e-02 1.05e+04 4.13e-01 2.18e-01 2.01e+04 1 8.77e-02 7.81e-01\n", " 9 2.793115e+04 5.18e-02 1.89e+04 2.83e-01 2.76e-01 1.84e+04 1 8.35e-02 8.65e-01\n", " 10 2.793112e+04 2.45e-02 3.25e+04 1.82e-01 2.95e-01 1.73e+04 1 7.36e-02 9.38e-01\n", " 11 2.793111e+04 1.08e-02 1.05e+04 1.13e-01 3.20e-01 1.65e+04 1 7.86e-02 1.02e+00\n", " 12 2.793111e+04 4.26e-03 2.91e+04 6.76e-02 3.37e-01 1.59e+04 1 7.39e-02 1.09e+00\n", " 13 2.793111e+04 1.66e-03 4.25e+04 3.98e-02 3.65e-01 1.56e+04 1 6.97e-02 1.16e+00\n", " 14 2.793111e+04 6.55e-04 2.56e+04 2.28e-02 4.03e-01 1.55e+04 1 6.87e-02 1.23e+00\n", " 15 2.793111e+04 2.93e-04 1.06e+04 1.33e-02 4.83e-01 1.55e+04 1 6.97e-02 1.30e+00\n", " 16 2.793111e+04 1.61e-04 2.32e+04 7.59e-03 6.06e-01 1.57e+04 1 7.39e-02 1.37e+00\n", " 17 2.793111e+04 1.07e-04 1.86e+04 4.55e-03 7.58e-01 1.82e+04 1 6.60e-02 1.44e+00\n", " 18 2.793111e+04 9.42e-05 1.70e+04 2.90e-03 8.86e-01 3.37e+04 1 6.76e-02 1.51e+00\n", " 19 2.793111e+04 1.30e-04 1.50e+04 2.64e-03 9.63e-01 1.01e+05 1 7.03e-02 1.58e+00\n", " 20 2.793111e+04 2.16e-04 2.05e+04 3.00e-03 9.46e-01 3.03e+05 1 6.68e-02 1.64e+00\n", " 21 2.793110e+04 2.76e-04 5.19e+04 3.79e-03 9.47e-01 9.10e+05 1 6.84e-02 1.71e+00\n", " 22 2.793110e+04 5.18e-04 1.98e+04 5.64e-03 9.29e-01 2.48e+06 1 9.12e-02 1.80e+00\n", " 23 2.793110e+04 1.36e-03 2.57e+04 9.01e-03 9.33e-01 7.05e+06 1 6.84e-02 1.87e+00\n", " 24 2.793110e+04 3.84e-03 8.17e+04 1.43e-02 9.39e-01 2.11e+07 1 7.90e-02 1.95e+00\n", " 25 2.793109e+04 1.14e-02 2.46e+05 2.32e-02 9.46e-01 6.34e+07 1 6.88e-02 2.02e+00\n", " 26 2.793106e+04 3.27e-02 7.77e+05 3.69e-02 9.52e-01 1.90e+08 1 7.85e-02 2.10e+00\n", " 27 2.793097e+04 8.61e-02 4.06e+06 6.04e-02 9.50e-01 5.71e+08 1 9.06e-02 2.19e+00\n", " 28 2.793079e+04 1.83e-01 2.89e+07 9.56e-02 9.39e-01 1.71e+09 1 7.57e-02 2.26e+00\n", " 29 2.793053e+04 2.52e-01 2.01e+08 1.56e-01 8.54e-01 2.66e+09 1 6.97e-02 2.33e+00\n", " 30 2.793041e+04 1.23e-01 5.16e+07 2.49e-01 6.21e-01 2.69e+09 1 7.69e-02 2.41e+00\n", " 31 2.793043e+04 -1.62e-02 5.16e+07 4.00e-01 -8.71e-02 1.35e+09 1 3.24e-02 2.44e+00\n", " 32 2.793045e+04 -4.38e-02 5.16e+07 4.00e-01 -2.83e-01 3.37e+08 1 3.08e-02 2.47e+00\n", " 33 2.793048e+04 -6.68e-02 5.16e+07 4.00e-01 -5.13e-01 4.21e+07 1 3.20e-02 2.51e+00\n", " 34 2.793048e+04 -7.36e-02 5.16e+07 3.99e-01 -6.00e-01 2.63e+06 1 3.28e-02 2.54e+00\n", " 35 2.793048e+04 -7.21e-02 5.16e+07 3.97e-01 -5.92e-01 8.22e+04 1 3.07e-02 2.57e+00\n", " 36 2.793043e+04 -2.12e-02 5.16e+07 3.29e-01 -1.81e-01 1.28e+03 1 3.20e-02 2.60e+00\n", " 37 2.793038e+04 2.64e-02 2.46e+05 4.48e-02 8.27e-01 1.78e+03 1 7.45e-02 2.68e+00\n", " 38 2.793038e+04 7.72e-03 1.41e+05 2.36e-02 9.27e-01 4.73e+03 1 6.73e-02 2.74e+00\n", " 39 2.793037e+04 8.04e-03 2.55e+05 4.03e-02 8.59e-01 7.51e+03 1 8.37e-02 2.83e+00\n", " 40 2.793036e+04 3.13e-03 5.36e+05 2.83e-02 9.11e-01 1.69e+04 1 8.79e-02 2.92e+00\n", " 41 2.793036e+04 1.19e-03 1.22e+06 2.20e-02 8.89e-01 3.18e+04 1 6.90e-02 2.98e+00\n", " 42 2.793036e+04 3.95e-04 1.71e+06 8.60e-03 9.82e-01 9.54e+04 1 7.03e-02 3.06e+00\n", " 43 2.793036e+04 1.40e-04 2.34e+06 6.55e-03 7.91e-01 1.19e+05 1 7.89e-02 3.13e+00\n", " 44 2.793036e+04 1.31e-05 1.41e+05 5.09e-03 3.62e-01 1.16e+05 1 7.28e-02 3.21e+00\n", " 45 2.793036e+04 -5.22e-06 1.41e+05 5.97e-03 -1.28e-01 5.82e+04 1 3.73e-02 3.24e+00\n", " 46 2.793036e+04 9.84e-07 7.92e+04 5.28e-03 2.62e-02 3.14e+04 1 7.51e-02 3.32e+00\n", " 47 2.793036e+04 2.06e-06 5.33e+04 4.92e-03 5.15e-02 1.83e+04 1 7.78e-02 3.40e+00\n", " 48 2.793036e+04 1.12e-05 5.06e+04 3.37e-03 4.13e-01 1.82e+04 1 7.45e-02 3.47e+00\n", " 49 2.793036e+04 6.55e-07 3.49e+04 2.00e-03 6.06e-02 1.08e+04 1 7.25e-02 3.54e+00\n", " 50 2.793036e+04 1.59e-06 7.98e+03 1.04e-03 3.91e-01 1.07e+04 1 7.60e-02 3.62e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 59896\n", " Parameters : 37148\n", " Iterations : 51\n", " Time : 3.62364 [s]\n", " Initial cost : 0.693331 [px]\n", " Final cost : 0.682872 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 131\n", " => Merged observations: 5\n", " => Filtered observations: 66\n", " => Changed observations: 0.006745\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.817150e+04 0.00e+00 7.66e+04 0.00e+00 0.00e+00 1.00e+04 0 3.83e-02 1.07e-01\n", " 1 2.764564e+04 5.26e+02 3.04e+04 2.31e+00 1.00e+00 3.00e+04 1 9.89e-02 2.06e-01\n", " 2 2.762900e+04 1.66e+01 3.51e+04 1.65e+00 9.97e-01 9.00e+04 1 7.36e-02 2.79e-01\n", " 3 2.762306e+04 5.93e+00 4.59e+04 1.19e+00 9.91e-01 2.70e+05 1 8.01e-02 3.59e-01\n", " 4 2.762243e+04 6.36e-01 8.66e+04 4.72e-01 9.81e-01 8.10e+05 1 6.79e-02 4.27e-01\n", " 5 2.762243e+04 5.30e-05 6.79e+04 1.99e-01 1.09e-03 4.06e+05 1 6.66e-02 4.94e-01\n", " 6 2.762247e+04 -4.41e-02 6.79e+04 3.14e-01 -5.47e-01 2.03e+05 1 3.21e-02 5.26e-01\n", " 7 2.762246e+04 -3.59e-02 6.79e+04 3.01e-01 -4.48e-01 5.08e+04 1 3.19e-02 5.58e-01\n", " 8 2.762243e+04 -5.61e-03 6.79e+04 2.44e-01 -7.43e-02 6.35e+03 1 3.86e-02 5.97e-01\n", " 9 2.762240e+04 2.60e-02 1.14e+04 9.88e-02 5.82e-01 6.38e+03 1 6.46e-02 6.61e-01\n", " 10 2.762240e+04 3.24e-03 8.42e+04 1.56e-02 9.00e-01 1.31e+04 1 6.70e-02 7.28e-01\n", " 11 2.762240e+04 7.81e-04 4.33e+04 2.34e-02 6.12e-01 1.32e+04 1 6.63e-02 7.95e-01\n", " 12 2.762239e+04 2.08e-04 6.87e+04 7.01e-03 7.90e-01 1.65e+04 1 7.58e-02 8.70e-01\n", " 13 2.762239e+04 9.50e-05 3.26e+04 6.06e-03 7.17e-01 1.79e+04 1 6.70e-02 9.38e-01\n", " 14 2.762239e+04 5.72e-05 3.13e+04 2.79e-03 8.53e-01 2.76e+04 1 6.90e-02 1.01e+00\n", " 15 2.762239e+04 6.01e-05 1.14e+04 2.71e-03 9.14e-01 6.39e+04 1 7.22e-02 1.08e+00\n", " 16 2.762239e+04 9.19e-05 1.66e+04 2.81e-03 9.44e-01 1.92e+05 1 6.83e-02 1.15e+00\n", " 17 2.762239e+04 1.49e-04 4.29e+04 3.18e-03 8.95e-01 3.78e+05 1 8.68e-02 1.23e+00\n", " 18 2.762239e+04 1.30e-04 1.10e+05 4.82e-03 8.14e-01 5.02e+05 1 8.07e-02 1.31e+00\n", " 19 2.762239e+04 6.78e-05 2.48e+04 7.60e-03 4.88e-01 5.02e+05 1 6.89e-02 1.38e+00\n", " 20 2.762239e+04 -1.29e-07 2.48e+04 1.21e-02 -6.93e-04 2.51e+05 1 3.31e-02 1.42e+00\n", " 21 2.762239e+04 -2.29e-05 2.48e+04 1.17e-02 -1.49e-01 6.28e+04 1 3.03e-02 1.45e+00\n", " 22 2.762239e+04 -4.06e-06 2.48e+04 9.80e-03 -3.33e-02 7.85e+03 1 3.02e-02 1.48e+00\n", " 23 2.762239e+04 4.13e-05 8.74e+04 4.30e-03 5.72e-01 7.87e+03 1 7.68e-02 1.55e+00\n", " 24 2.762239e+04 3.78e-06 1.47e+04 7.74e-04 4.74e-01 7.87e+03 1 6.67e-02 1.62e+00\n", " 25 2.762239e+04 1.81e-06 4.58e+04 6.21e-04 6.77e-01 8.23e+03 1 6.82e-02 1.69e+00\n", " 26 2.762239e+04 2.17e-06 3.17e+04 1.80e-04 1.41e+00 2.47e+04 1 7.72e-02 1.77e+00\n", " 27 2.762239e+04 6.47e-06 3.96e+04 2.63e-04 1.61e+00 7.41e+04 1 7.36e-02 1.84e+00\n", " 28 2.762239e+04 7.66e-06 4.46e+04 1.62e-04 6.98e-01 7.90e+04 1 6.82e-02 1.91e+00\n", " 29 2.762239e+04 1.56e-05 2.15e+04 1.68e-04 1.41e+00 2.37e+05 1 7.04e-02 1.98e+00\n", " 30 2.762239e+04 2.90e-05 3.42e+04 2.31e-04 9.43e-01 7.11e+05 1 6.90e-02 2.05e+00\n", " 31 2.762239e+04 8.46e-05 1.17e+05 3.59e-04 9.88e-01 2.13e+06 1 6.59e-02 2.11e+00\n", " 32 2.762239e+04 2.48e-04 1.48e+04 5.83e-04 9.86e-01 6.40e+06 1 7.07e-02 2.18e+00\n", " 33 2.762239e+04 7.51e-04 7.15e+04 9.56e-04 1.00e+00 1.92e+07 1 9.37e-02 2.28e+00\n", " 34 2.762239e+04 2.24e-03 1.12e+05 1.63e-03 9.98e-01 5.76e+07 1 7.13e-02 2.35e+00\n", " 35 2.762238e+04 6.65e-03 3.14e+05 2.67e-03 9.99e-01 1.73e+08 1 8.02e-02 2.43e+00\n", " 36 2.762236e+04 1.93e-02 1.06e+06 4.75e-03 9.98e-01 5.18e+08 1 6.86e-02 2.50e+00\n", " 37 2.762231e+04 5.24e-02 4.66e+06 7.70e-03 9.98e-01 1.56e+09 1 7.10e-02 2.57e+00\n", " 38 2.762219e+04 1.19e-01 5.60e+07 1.48e-02 9.95e-01 4.67e+09 1 7.58e-02 2.65e+00\n", " 39 2.762202e+04 1.70e-01 5.98e+08 2.29e-02 9.69e-01 1.40e+10 1 7.46e-02 2.72e+00\n", " 40 2.762192e+04 9.90e-02 1.88e+09 3.58e-02 9.47e-01 4.20e+10 1 7.78e-02 2.80e+00\n", " 41 2.762191e+04 1.66e-02 6.29e+09 5.92e-02 5.62e-01 4.21e+10 1 8.21e-02 2.88e+00\n", " 42 2.762192e+04 -1.04e-02 6.29e+09 9.94e-02 -4.93e-01 2.10e+10 1 3.37e-02 2.91e+00\n", " 43 2.762191e+04 2.28e-03 3.65e+09 9.94e-02 1.21e-01 1.47e+10 1 6.83e-02 2.98e+00\n", " 44 2.762192e+04 -1.88e-02 3.65e+09 1.66e-01 -6.37e-01 7.33e+09 1 3.61e-02 3.02e+00\n", " 45 2.762192e+04 -1.87e-02 3.65e+09 1.66e-01 -6.45e-01 1.83e+09 1 3.26e-02 3.05e+00\n", " 46 2.762192e+04 -1.88e-02 3.65e+09 1.66e-01 -6.54e-01 2.29e+08 1 3.68e-02 3.09e+00\n", " 47 2.762192e+04 -1.88e-02 3.65e+09 1.66e-01 -6.54e-01 1.43e+07 1 3.63e-02 3.12e+00\n", " 48 2.762192e+04 -1.85e-02 3.65e+09 1.66e-01 -6.45e-01 4.47e+05 1 3.19e-02 3.16e+00\n", " 49 2.762192e+04 -1.11e-02 3.65e+09 1.60e-01 -3.94e-01 6.99e+03 1 3.52e-02 3.19e+00\n", " 50 2.762190e+04 8.69e-03 1.04e+08 5.32e-02 6.24e-01 7.10e+03 1 8.89e-02 3.28e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 60026\n", " Parameters : 37088\n", " Iterations : 51\n", " Time : 3.28401 [s]\n", " Initial cost : 0.68507 [px]\n", " Final cost : 0.678355 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 62\n", " => Merged observations: 4\n", " => Filtered observations: 46\n", " => Changed observations: 0.003732\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.765824e+04 0.00e+00 1.02e+08 0.00e+00 0.00e+00 1.00e+04 0 4.26e-02 1.09e-01\n", " 1 2.738054e+04 2.78e+02 8.42e+07 2.02e+00 9.98e-01 3.00e+04 1 1.39e-01 2.47e-01\n", " 2 2.736663e+04 1.39e+01 1.97e+08 1.61e+00 9.97e-01 9.00e+04 1 1.23e-01 3.70e-01\n", " 3 2.736105e+04 5.58e+00 2.77e+08 1.60e+00 9.80e-01 2.70e+05 1 1.07e-01 4.77e-01\n", " 4 2.736030e+04 7.51e-01 3.90e+07 9.60e-01 7.94e-01 3.39e+05 1 1.33e-01 6.10e-01\n", " 5 2.736045e+04 -1.49e-01 3.90e+07 6.23e-01 -3.98e-01 1.70e+05 1 6.00e-02 6.70e-01\n", " 6 2.736043e+04 -1.26e-01 3.90e+07 5.92e-01 -3.61e-01 4.24e+04 1 5.64e-02 7.27e-01\n", " 7 2.736030e+04 -9.31e-04 3.90e+07 4.62e-01 -3.02e-03 5.30e+03 1 5.76e-02 7.84e-01\n", " 8 2.736020e+04 1.04e-01 1.44e+07 1.75e-01 6.29e-01 5.39e+03 1 1.46e-01 9.30e-01\n", " 9 2.736018e+04 1.57e-02 1.99e+07 3.06e-02 9.81e-01 1.62e+04 1 1.57e-01 1.09e+00\n", " 10 2.736017e+04 9.74e-03 3.96e+06 6.32e-02 7.80e-01 1.96e+04 1 1.28e-01 1.22e+00\n", " 11 2.736017e+04 5.27e-03 7.15e+06 3.47e-02 8.90e-01 3.75e+04 1 1.17e-01 1.33e+00\n", " 12 2.736016e+04 5.94e-03 3.15e+06 3.95e-02 9.00e-01 7.67e+04 1 1.40e-01 1.47e+00\n", " 13 2.736015e+04 8.69e-03 2.63e+06 3.89e-02 9.32e-01 2.16e+05 1 1.15e-01 1.59e+00\n", " 14 2.736013e+04 1.95e-02 6.20e+06 3.79e-02 9.15e-01 5.03e+05 1 1.26e-01 1.71e+00\n", " 15 2.736010e+04 3.15e-02 4.36e+06 5.71e-02 8.83e-01 9.12e+05 1 1.13e-01 1.83e+00\n", " 16 2.736008e+04 2.37e-02 4.37e+06 9.48e-02 6.68e-01 9.48e+05 1 1.27e-01 1.95e+00\n", " 17 2.736008e+04 -2.37e-03 4.37e+06 1.60e-01 -7.66e-02 4.74e+05 1 6.00e-02 2.01e+00\n", " 18 2.736009e+04 -6.93e-03 4.37e+06 1.57e-01 -2.71e-01 1.18e+05 1 6.72e-02 2.08e+00\n", " 19 2.736009e+04 -5.88e-03 4.37e+06 1.42e-01 -2.79e-01 1.48e+04 1 5.63e-02 2.14e+00\n", " 20 2.736007e+04 5.23e-03 4.72e+06 7.77e-02 3.46e-01 1.44e+04 1 1.38e-01 2.27e+00\n", " 21 2.736007e+04 1.74e-03 2.69e+06 3.51e-02 3.93e-01 1.42e+04 1 1.28e-01 2.40e+00\n", " 22 2.736007e+04 5.92e-04 4.49e+06 2.26e-02 3.54e-01 1.39e+04 1 1.33e-01 2.54e+00\n", " 23 2.736007e+04 4.31e-04 3.82e+06 1.20e-02 6.87e-01 1.47e+04 1 1.28e-01 2.66e+00\n", " 24 2.736007e+04 3.93e-05 2.22e+06 7.15e-03 1.22e-01 1.02e+04 1 1.22e-01 2.79e+00\n", " 25 2.736007e+04 1.18e-04 2.88e+06 3.52e-03 7.22e-01 1.12e+04 1 1.20e-01 2.91e+00\n", " 26 2.736007e+04 1.84e-04 1.87e+06 1.52e-03 1.36e+00 3.36e+04 1 1.34e-01 3.04e+00\n", " 27 2.736007e+04 3.09e-04 5.53e+06 1.31e-03 8.23e-01 4.61e+04 1 1.23e-01 3.16e+00\n", " 28 2.736007e+04 7.56e-04 5.67e+06 1.33e-03 1.50e+00 1.38e+05 1 1.36e-01 3.30e+00\n", " 29 2.736007e+04 1.30e-03 3.90e+06 1.80e-03 8.88e-01 2.59e+05 1 1.20e-01 3.42e+00\n", " 30 2.736007e+04 2.49e-03 9.57e+06 2.65e-03 9.70e-01 7.78e+05 1 1.39e-01 3.56e+00\n", " 31 2.736006e+04 6.77e-03 1.11e+07 4.45e-03 1.00e+00 2.33e+06 1 1.24e-01 3.68e+00\n", " 32 2.736005e+04 1.39e-02 3.15e+06 7.48e-03 1.01e+00 7.00e+06 1 1.49e-01 3.83e+00\n", " 33 2.736003e+04 1.31e-02 5.85e+06 1.29e-02 9.78e-01 2.10e+07 1 1.20e-01 3.95e+00\n", " 34 2.736003e+04 2.45e-03 2.60e+06 2.23e-02 7.84e-01 2.57e+07 1 1.43e-01 4.10e+00\n", " 35 2.736003e+04 -2.66e-04 2.60e+06 3.85e-02 -1.56e-01 1.28e+07 1 5.58e-02 4.15e+00\n", " 36 2.736003e+04 -5.50e-04 2.60e+06 3.84e-02 -3.89e-01 3.21e+06 1 6.63e-02 4.22e+00\n", " 37 2.736003e+04 -7.40e-04 2.60e+06 3.83e-02 -6.21e-01 4.02e+05 1 5.26e-02 4.27e+00\n", " 38 2.736003e+04 -6.85e-04 2.60e+06 3.68e-02 -6.09e-01 2.51e+04 1 4.22e-02 4.31e+00\n", " 39 2.736003e+04 1.41e-04 4.97e+06 2.30e-02 1.50e-01 1.87e+04 1 9.66e-02 4.41e+00\n", " 40 2.736003e+04 1.80e-04 5.66e+06 1.52e-02 3.20e-01 1.78e+04 1 6.68e-02 4.48e+00\n", " 41 2.736003e+04 2.29e-06 4.94e+06 1.02e-02 8.62e-03 9.15e+03 1 7.51e-02 4.55e+00\n", " 42 2.736003e+04 1.98e-04 2.73e+06 5.00e-03 1.95e+00 2.75e+04 1 7.24e-02 4.62e+00\n", " 43 2.736003e+04 -2.51e-05 2.73e+06 2.43e-03 -1.42e+00 1.37e+04 1 3.22e-02 4.66e+00\n", " 44 2.736003e+04 -1.41e-04 2.73e+06 1.92e-03 -8.75e+00 3.43e+03 1 3.38e-02 4.69e+00\n", " 45 2.736003e+04 -1.07e-04 2.73e+06 1.10e-03 -8.43e+00 4.29e+02 1 3.27e-02 4.72e+00\n", " 46 2.736003e+04 7.06e-05 3.01e+06 4.26e-04 8.99e+00 1.29e+03 1 7.85e-02 4.80e+00\n", " 47 2.736003e+04 -2.75e-04 3.01e+06 3.25e-04 -1.40e+02 6.44e+02 1 3.62e-02 4.84e+00\n", " 48 2.736003e+04 -3.08e-04 3.01e+06 2.20e-04 -2.06e+02 1.61e+02 1 3.11e-02 4.87e+00\n", " 49 2.736003e+04 -1.08e-04 3.01e+06 8.21e-05 -1.55e+02 2.01e+01 1 3.09e-02 4.90e+00\n", " 50 2.736003e+04 -4.69e-05 3.01e+06 1.19e-05 -3.36e+02 1.26e+00 1 3.06e-02 4.93e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 60056\n", " Parameters : 37043\n", " Iterations : 51\n", " Time : 4.9327 [s]\n", " Initial cost : 0.678632 [px]\n", " Final cost : 0.674963 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 36\n", " => Merged observations: 18\n", " => Filtered observations: 42\n", " => Changed observations: 0.003197\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #28 (22)\n", "==============================================================================\n", "\n", " => Image sees 331 / 5477 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 156\n", " Parameters : 6\n", " Iterations : 15\n", " Time : 0.0021801 [s]\n", " Initial cost : 0.916082 [px]\n", " Final cost : 0.88202 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 78\n", " => Added observations: 1362\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 17074\n", " Parameters : 6698\n", " Iterations : 26\n", " Time : 0.349237 [s]\n", " Initial cost : 1.00574 [px]\n", " Final cost : 0.911183 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 15\n", " => Filtered observations: 1068\n", " => Changed observations: 0.110906\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 16174\n", " Parameters : 5396\n", " Iterations : 26\n", " Time : 0.318503 [s]\n", " Initial cost : 0.835316 [px]\n", " Final cost : 0.814516 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 5\n", " => Completed observations: 180\n", " => Filtered observations: 1\n", " => Changed observations: 0.021365\n", "\n", "==============================================================================\n", "Registering image #25 (23)\n", "==============================================================================\n", "\n", " => Image sees 284 / 4700 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #35 (23)\n", "==============================================================================\n", "\n", " => Image sees 292 / 7008 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #15 (23)\n", "==============================================================================\n", "\n", " => Image sees 268 / 3844 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #44 (23)\n", "==============================================================================\n", "\n", " => Image sees 291 / 6947 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #53 (23)\n", "==============================================================================\n", "\n", " => Image sees 269 / 6380 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #50 (23)\n", "==============================================================================\n", "\n", " => Image sees 269 / 4738 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #27 (23)\n", "==============================================================================\n", "\n", " => Image sees 241 / 5006 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #32 (23)\n", "==============================================================================\n", "\n", " => Image sees 244 / 5325 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #59 (23)\n", "==============================================================================\n", "\n", " => Image sees 285 / 4351 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 244\n", " Parameters : 6\n", " Iterations : 18\n", " Time : 0.00390697 [s]\n", " Initial cost : 0.805582 [px]\n", " Final cost : 0.769108 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 110\n", " => Added observations: 2333\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 14466\n", " Parameters : 6776\n", " Iterations : 26\n", " Time : 0.427587 [s]\n", " Initial cost : 1.43334 [px]\n", " Final cost : 0.748902 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 568\n", " => Filtered observations: 484\n", " => Changed observations: 0.120366\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 14642\n", " Parameters : 7250\n", " Iterations : 6\n", " Time : 0.0974538 [s]\n", " Initial cost : 0.670212 [px]\n", " Final cost : 0.622501 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 9\n", " => Completed observations: 114\n", " => Filtered observations: 2\n", " => Changed observations: 0.014159\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 20\n", " => Merged observations: 10\n", " => Retriangulated observations: 2870\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 5.642596e+05 0.00e+00 8.82e+06 0.00e+00 0.00e+00 1.00e+04 0 5.32e-02 1.39e-01\n", " 1 2.047926e+05 3.59e+05 1.08e+07 2.41e+01 9.85e-01 3.00e+04 1 9.03e-02 2.29e-01\n", " 2 1.979376e+05 6.86e+03 4.97e+06 3.43e+01 7.59e-01 3.48e+04 1 8.28e-02 3.12e-01\n", " 3 1.957732e+05 2.16e+03 8.63e+06 2.06e+01 9.45e-01 1.05e+05 1 8.99e-02 4.02e-01\n", " 4 1.958303e+05 -5.71e+01 8.63e+06 3.48e+01 -3.28e-01 5.23e+04 1 3.96e-02 4.42e-01\n", " 5 1.956640e+05 1.09e+02 7.13e+06 2.28e+01 6.59e-01 5.40e+04 1 8.23e-02 5.24e-01\n", " 6 1.956148e+05 4.92e+01 6.72e+06 2.01e+01 7.80e-01 6.56e+04 1 8.23e-02 6.07e-01\n", " 7 1.956046e+05 1.03e+01 4.67e+06 2.10e+01 6.10e-01 6.63e+04 1 1.07e-01 7.14e-01\n", " 8 1.955996e+05 4.94e+00 7.45e+06 1.97e+01 6.09e-01 6.70e+04 1 8.05e-02 7.94e-01\n", " 9 1.955974e+05 2.29e+00 2.93e+06 1.84e+01 5.49e-01 6.70e+04 1 8.99e-02 8.84e-01\n", " 10 1.955960e+05 1.31e+00 6.75e+06 1.70e+01 5.35e-01 6.71e+04 1 8.30e-02 9.67e-01\n", " 11 1.955953e+05 7.32e-01 1.57e+07 1.58e+01 4.95e-01 6.71e+04 1 8.78e-02 1.06e+00\n", " 12 1.955949e+05 4.58e-01 1.56e+07 1.47e+01 4.90e-01 6.71e+04 1 9.88e-02 1.15e+00\n", " 13 1.955946e+05 2.96e-01 8.25e+06 1.37e+01 4.81e-01 6.71e+04 1 8.50e-02 1.24e+00\n", " 14 1.955944e+05 2.10e-01 2.52e+06 1.28e+01 5.02e-01 6.71e+04 1 8.38e-02 1.32e+00\n", " 15 1.955942e+05 1.52e-01 4.10e+06 1.20e+01 5.21e-01 6.71e+04 1 9.05e-02 1.41e+00\n", " 16 1.955941e+05 1.15e-01 6.29e+06 1.13e+01 5.54e-01 6.71e+04 1 8.26e-02 1.50e+00\n", " 17 1.955940e+05 8.81e-02 4.20e+06 1.07e+01 5.85e-01 6.75e+04 1 8.32e-02 1.58e+00\n", " 18 1.955939e+05 6.98e-02 6.48e+06 1.02e+01 6.26e-01 6.86e+04 1 1.00e-01 1.68e+00\n", " 19 1.955939e+05 5.66e-02 9.78e+06 9.78e+00 6.68e-01 7.13e+04 1 9.63e-02 1.78e+00\n", " 20 1.955938e+05 4.73e-02 2.56e+06 9.61e+00 7.10e-01 7.70e+04 1 8.52e-02 1.86e+00\n", " 21 1.955938e+05 4.12e-02 9.03e+06 9.79e+00 7.50e-01 8.80e+04 1 9.36e-02 1.95e+00\n", " 22 1.955937e+05 3.81e-02 1.10e+07 1.05e+01 7.94e-01 1.10e+05 1 8.14e-02 2.04e+00\n", " 23 1.955937e+05 3.77e-02 8.20e+06 1.22e+01 8.27e-01 1.53e+05 1 8.29e-02 2.12e+00\n", " 24 1.955937e+05 3.96e-02 3.90e+06 1.53e+01 8.50e-01 2.33e+05 1 1.03e-01 2.22e+00\n", " 25 1.955936e+05 4.27e-02 1.59e+06 2.03e+01 8.65e-01 3.82e+05 1 8.72e-02 2.31e+00\n", " 26 1.955936e+05 4.44e-02 3.00e+06 2.72e+01 8.70e-01 6.40e+05 1 8.57e-02 2.40e+00\n", " 27 1.955935e+05 4.07e-02 3.93e+06 3.45e+01 8.61e-01 1.03e+06 1 8.98e-02 2.49e+00\n", " 28 1.955935e+05 3.10e-02 5.53e+06 3.81e+01 8.47e-01 1.54e+06 1 8.24e-02 2.57e+00\n", " 29 1.955935e+05 1.98e-02 6.39e+06 3.62e+01 8.23e-01 2.11e+06 1 8.30e-02 2.65e+00\n", " 30 1.955935e+05 1.09e-02 7.70e+06 2.90e+01 7.51e-01 2.42e+06 1 1.04e-01 2.75e+00\n", " 31 1.955935e+05 5.50e-03 5.36e+06 1.89e+01 6.37e-01 2.47e+06 1 8.91e-02 2.84e+00\n", " 32 1.955935e+05 2.61e-03 6.42e+06 1.10e+01 4.36e-01 2.47e+06 1 8.29e-02 2.93e+00\n", " 33 1.955935e+05 1.83e-03 6.89e+06 6.30e+00 3.79e-01 2.43e+06 1 9.23e-02 3.02e+00\n", " 34 1.955935e+05 1.28e-03 2.33e+07 3.57e+00 3.03e-01 2.29e+06 1 8.46e-02 3.10e+00\n", " 35 1.955935e+05 9.35e-04 3.62e+07 2.01e+00 2.47e-01 2.03e+06 1 8.69e-02 3.19e+00\n", " 36 1.955935e+05 5.51e-04 5.16e+07 1.09e+00 1.59e-01 1.54e+06 1 9.53e-02 3.29e+00\n", " 37 1.955935e+05 5.05e-04 8.54e+07 5.81e-01 1.59e-01 1.17e+06 1 8.63e-02 3.37e+00\n", " 38 1.955935e+05 2.03e-04 1.30e+08 3.18e-01 6.83e-02 7.12e+05 1 8.80e-02 3.46e+00\n", " 39 1.955935e+05 3.59e-04 1.79e+08 1.71e-01 1.29e-01 5.05e+05 1 9.21e-02 3.55e+00\n", " 40 1.955935e+05 6.37e-05 2.13e+08 1.04e-01 2.39e-02 2.71e+05 1 8.28e-02 3.64e+00\n", " 41 1.955935e+05 1.23e-04 1.97e+08 6.43e-02 4.99e-02 1.57e+05 1 8.27e-02 3.72e+00\n", " 42 1.955935e+05 2.46e-04 1.23e+08 4.41e-02 1.16e-01 1.08e+05 1 1.19e-01 3.84e+00\n", " 43 1.955935e+05 1.61e-04 3.52e+07 3.68e-02 9.49e-02 7.04e+04 1 8.37e-02 3.92e+00\n", " 44 1.955935e+05 3.33e-04 6.14e+06 2.90e-02 2.60e-01 6.34e+04 1 8.16e-02 4.00e+00\n", " 45 1.955935e+05 9.19e-05 6.39e+06 2.40e-02 1.06e-01 4.25e+04 1 9.17e-02 4.09e+00\n", " 46 1.955935e+05 1.38e-04 3.31e+06 1.79e-02 2.44e-01 3.75e+04 1 8.68e-02 4.18e+00\n", " 47 1.955935e+05 -2.66e-05 3.31e+06 1.33e-02 -8.61e-02 1.87e+04 1 4.36e-02 4.22e+00\n", " 48 1.955935e+05 1.00e-04 5.73e+06 1.08e-02 3.42e-01 1.82e+04 1 9.49e-02 4.32e+00\n", " 49 1.955935e+05 -8.01e-06 5.73e+06 5.98e-03 -9.25e-02 9.09e+03 1 4.47e-02 4.36e+00\n", " 50 1.955935e+05 8.56e-05 2.66e+06 4.44e-03 1.09e+00 2.73e+04 1 8.29e-02 4.45e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 72222\n", " Parameters : 44492\n", " Iterations : 51\n", " Time : 4.45127 [s]\n", " Initial cost : 2.79515 [px]\n", " Final cost : 1.64567 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 220\n", " => Merged observations: 39\n", " => Filtered observations: 3595\n", " => Changed observations: 0.106726\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 3.644640e+04 0.00e+00 1.06e+07 0.00e+00 0.00e+00 1.00e+04 0 5.12e-02 1.32e-01\n", " 1 2.961848e+04 6.83e+03 7.55e+06 1.20e+01 9.66e-01 3.00e+04 1 8.75e-02 2.19e-01\n", " 2 2.927578e+04 3.43e+02 2.47e+06 2.16e+01 8.31e-01 4.23e+04 1 9.34e-02 3.13e-01\n", " 3 2.926180e+04 1.40e+01 2.56e+06 2.00e+01 1.15e-01 2.90e+04 1 7.63e-02 3.89e-01\n", " 4 2.915141e+04 1.10e+02 2.73e+06 9.48e+00 8.88e-01 5.45e+04 1 9.67e-02 4.86e-01\n", " 5 2.914387e+04 7.54e+00 7.37e+06 9.55e+00 3.25e-01 5.23e+04 1 7.83e-02 5.64e-01\n", " 6 2.912654e+04 1.73e+01 8.41e+06 4.29e+00 9.53e-01 1.57e+05 1 8.37e-02 6.48e-01\n", " 7 2.912497e+04 1.57e+00 6.75e+06 4.44e+00 7.18e-01 1.71e+05 1 8.59e-02 7.34e-01\n", " 8 2.912398e+04 9.91e-01 2.33e+06 2.81e+00 8.74e-01 2.94e+05 1 8.05e-02 8.14e-01\n", " 9 2.912349e+04 4.88e-01 6.59e+06 3.77e+00 7.23e-01 3.23e+05 1 7.82e-02 8.92e-01\n", " 10 2.912318e+04 3.10e-01 2.50e+06 3.43e+00 5.30e-01 3.23e+05 1 8.68e-02 9.79e-01\n", " 11 2.912302e+04 1.59e-01 8.59e+06 2.89e+00 2.70e-01 2.94e+05 1 7.74e-02 1.06e+00\n", " 12 2.912300e+04 2.51e-02 7.22e+06 2.28e+00 3.65e-02 1.64e+05 1 7.78e-02 1.13e+00\n", " 13 2.912307e+04 -7.48e-02 7.22e+06 1.38e+00 -8.42e-02 8.18e+04 1 3.95e-02 1.17e+00\n", " 14 2.912298e+04 1.94e-02 7.72e+05 9.65e-01 2.30e-02 4.38e+04 1 8.42e-02 1.26e+00\n", " 15 2.912283e+04 1.49e-01 5.07e+06 7.47e-01 1.86e-01 3.51e+04 1 9.65e-02 1.35e+00\n", " 16 2.912269e+04 1.40e-01 3.27e+06 5.67e-01 2.64e-01 3.18e+04 1 7.96e-02 1.43e+00\n", " 17 2.912260e+04 8.30e-02 3.84e+06 4.25e-01 2.95e-01 2.97e+04 1 9.00e-02 1.52e+00\n", " 18 2.912256e+04 4.71e-02 2.76e+06 3.17e-01 3.31e-01 2.86e+04 1 8.36e-02 1.61e+00\n", " 19 2.912253e+04 2.68e-02 5.25e+06 2.48e-01 3.85e-01 2.83e+04 1 7.99e-02 1.69e+00\n", " 20 2.912251e+04 1.73e-02 3.75e+06 2.07e-01 4.78e-01 2.83e+04 1 9.10e-02 1.78e+00\n", " 21 2.912250e+04 1.28e-02 7.46e+06 1.86e-01 6.09e-01 2.86e+04 1 7.81e-02 1.86e+00\n", " 22 2.912249e+04 1.07e-02 4.69e+06 1.76e-01 7.44e-01 3.23e+04 1 7.91e-02 1.94e+00\n", " 23 2.912248e+04 1.09e-02 5.17e+06 1.90e-01 8.66e-01 5.33e+04 1 8.73e-02 2.02e+00\n", " 24 2.912246e+04 1.62e-02 6.40e+06 3.00e-01 9.39e-01 1.60e+05 1 7.81e-02 2.10e+00\n", " 25 2.912242e+04 4.17e-02 6.60e+06 8.11e-01 9.76e-01 4.80e+05 1 7.45e-02 2.18e+00\n", " 26 2.912234e+04 8.42e-02 5.82e+06 1.84e+00 9.74e-01 1.44e+06 1 8.36e-02 2.26e+00\n", " 27 2.912224e+04 1.01e-01 1.42e+06 2.76e+00 9.22e-01 3.61e+06 1 7.78e-02 2.34e+00\n", " 28 2.912218e+04 6.04e-02 8.07e+06 1.90e+00 9.04e-01 7.64e+06 1 8.62e-02 2.42e+00\n", " 29 2.912216e+04 1.33e-02 3.65e+06 5.82e-01 5.98e-01 7.70e+06 1 8.35e-02 2.51e+00\n", " 30 2.912216e+04 -1.07e-03 3.65e+06 1.45e-01 -7.05e-02 3.85e+06 1 4.00e-02 2.55e+00\n", " 31 2.912216e+04 -2.52e-03 3.65e+06 1.38e-01 -1.84e-01 9.63e+05 1 3.52e-02 2.58e+00\n", " 32 2.912217e+04 -3.33e-03 3.65e+06 1.22e-01 -2.67e-01 1.20e+05 1 4.58e-02 2.63e+00\n", " 33 2.912216e+04 -1.02e-03 3.65e+06 1.03e-01 -8.55e-02 7.52e+03 1 3.47e-02 2.66e+00\n", " 34 2.912216e+04 4.44e-03 3.96e+06 4.15e-02 6.08e-01 7.60e+03 1 8.38e-02 2.75e+00\n", " 35 2.912216e+04 4.69e-04 3.15e+06 5.08e-03 1.06e+00 2.28e+04 1 8.84e-02 2.84e+00\n", " 36 2.912216e+04 1.08e-04 3.63e+06 8.84e-03 6.06e-01 2.30e+04 1 7.24e-02 2.91e+00\n", " 37 2.912216e+04 1.48e-04 9.03e+06 3.46e-03 3.30e+00 6.90e+04 1 9.58e-02 3.00e+00\n", " 38 2.912216e+04 -1.04e-04 9.03e+06 5.29e-03 -2.15e+00 3.45e+04 1 7.83e-02 3.08e+00\n", " 39 2.912216e+04 -3.69e-05 9.03e+06 3.25e-03 -1.22e+00 8.63e+03 1 7.06e-02 3.15e+00\n", " 40 2.912216e+04 -2.22e-05 9.03e+06 1.33e-03 -1.84e+00 1.08e+03 1 6.49e-02 3.22e+00\n", " 41 2.912216e+04 -4.86e-05 9.03e+06 3.26e-04 -1.62e+01 6.74e+01 1 6.00e-02 3.28e+00\n", " 42 2.912216e+04 1.29e-05 2.62e+06 4.53e-05 2.36e+01 2.02e+02 1 1.44e-01 3.42e+00\n", " 43 2.912216e+04 -9.34e-05 2.62e+06 8.56e-05 -1.26e+02 1.01e+02 1 7.20e-02 3.50e+00\n", " 44 2.912216e+04 -4.74e-05 2.62e+06 4.83e-05 -1.12e+02 2.53e+01 1 6.31e-02 3.56e+00\n", " 45 2.912216e+04 -8.45e-05 2.62e+06 1.40e-05 -6.73e+02 3.16e+00 1 6.15e-02 3.62e+00\n", " 46 2.912216e+04 -8.77e-06 2.62e+06 1.89e-06 -4.91e+02 1.98e-01 1 7.19e-02 3.69e+00\n", " 47 2.912216e+04 1.74e-06 2.62e+06 1.20e-07 1.13e+03 5.93e-01 1 1.40e-01 3.83e+00\n", " 48 2.912216e+04 -2.64e-05 2.62e+06 3.57e-07 -6.77e+03 2.96e-01 1 6.99e-02 3.90e+00\n", " 49 2.912216e+04 -5.43e-06 2.62e+06 1.79e-07 -2.53e+03 7.41e-02 1 7.13e-02 3.97e+00\n", " 50 2.912216e+04 8.44e-07 2.62e+06 4.48e-08 1.31e+03 2.22e-01 1 1.29e-01 4.10e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65422\n", " Parameters : 41117\n", " Iterations : 51\n", " Time : 4.10725 [s]\n", " Initial cost : 0.746389 [px]\n", " Final cost : 0.667191 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 259\n", " => Merged observations: 111\n", " => Filtered observations: 163\n", " => Changed observations: 0.016294\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.905281e+04 0.00e+00 1.48e+07 0.00e+00 0.00e+00 1.00e+04 0 6.45e-02 1.96e-01\n", " 1 2.790840e+04 1.14e+03 5.15e+06 4.65e+00 9.91e-01 3.00e+04 1 1.56e-01 3.53e-01\n", " 2 2.784134e+04 6.71e+01 4.96e+06 3.21e+00 1.00e+00 9.00e+04 1 1.55e-01 5.08e-01\n", " 3 2.782439e+04 1.70e+01 3.84e+06 1.96e+00 9.88e-01 2.70e+05 1 1.36e-01 6.44e-01\n", " 4 2.782261e+04 1.78e+00 5.88e+06 8.48e-01 9.98e-01 8.10e+05 1 1.35e-01 7.80e-01\n", " 5 2.782244e+04 1.74e-01 2.95e+06 8.84e-01 9.27e-01 2.15e+06 1 1.38e-01 9.18e-01\n", " 6 2.782240e+04 3.06e-02 1.00e+07 9.12e-01 4.65e-01 2.15e+06 1 1.40e-01 1.06e+00\n", " 7 2.782240e+04 4.28e-04 4.17e+06 4.11e-01 7.88e-03 1.10e+06 1 1.25e-01 1.18e+00\n", " 8 2.782244e+04 -3.72e-02 4.17e+06 3.14e-01 -4.51e-01 5.50e+05 1 6.68e-02 1.25e+00\n", " 9 2.782244e+04 -3.48e-02 4.17e+06 3.00e-01 -4.26e-01 1.37e+05 1 7.97e-02 1.33e+00\n", " 10 2.782242e+04 -1.88e-02 4.17e+06 2.68e-01 -2.36e-01 1.72e+04 1 7.05e-02 1.40e+00\n", " 11 2.782238e+04 2.48e-02 5.13e+06 1.56e-01 3.95e-01 1.70e+04 1 1.32e-01 1.53e+00\n", " 12 2.782237e+04 6.02e-03 3.49e+06 6.48e-02 4.18e-01 1.69e+04 1 1.29e-01 1.66e+00\n", " 13 2.782237e+04 1.56e-03 5.63e+06 3.77e-02 3.75e-01 1.67e+04 1 1.41e-01 1.80e+00\n", " 14 2.782237e+04 4.64e-04 4.06e+06 1.85e-02 4.21e-01 1.66e+04 1 1.24e-01 1.93e+00\n", " 15 2.782237e+04 1.69e-04 4.23e+06 1.01e-02 5.12e-01 1.66e+04 1 1.51e-01 2.08e+00\n", " 16 2.782237e+04 7.04e-05 2.57e+06 5.52e-03 6.52e-01 1.71e+04 1 1.35e-01 2.21e+00\n", " 17 2.782237e+04 7.37e-05 4.83e+06 3.69e-03 1.37e+00 5.13e+04 1 1.49e-01 2.36e+00\n", " 18 2.782237e+04 3.10e-05 3.17e+06 7.79e-03 3.17e-01 4.89e+04 1 1.64e-01 2.53e+00\n", " 19 2.782237e+04 6.71e-05 1.56e+06 7.18e-03 7.49e-01 5.57e+04 1 1.49e-01 2.68e+00\n", " 20 2.782237e+04 7.58e-05 4.51e+06 7.82e-03 7.71e-01 6.63e+04 1 7.30e-02 2.75e+00\n", " 21 2.782237e+04 2.20e-04 3.23e+06 8.85e-03 1.93e+00 1.99e+05 1 7.36e-02 2.82e+00\n", " 22 2.782237e+04 1.72e-04 2.17e+06 2.29e-02 5.36e-01 1.99e+05 1 8.69e-02 2.91e+00\n", " 23 2.782237e+04 3.80e-04 4.37e+06 2.03e-02 1.22e+00 5.97e+05 1 7.49e-02 2.99e+00\n", " 24 2.782237e+04 8.13e-04 4.19e+06 4.30e-02 9.37e-01 1.79e+06 1 7.37e-02 3.06e+00\n", " 25 2.782237e+04 2.27e-03 3.18e+06 5.77e-02 9.96e-01 5.37e+06 1 8.53e-02 3.14e+00\n", " 26 2.782236e+04 4.87e-03 7.32e+06 3.79e-02 9.64e-01 1.61e+07 1 7.37e-02 3.22e+00\n", " 27 2.782236e+04 6.14e-03 8.23e+06 1.83e-02 9.47e-01 4.83e+07 1 7.30e-02 3.29e+00\n", " 28 2.782235e+04 1.57e-03 1.49e+07 2.54e-02 6.45e-01 4.95e+07 1 8.31e-02 3.37e+00\n", " 29 2.782236e+04 -5.70e-04 1.49e+07 3.89e-02 -3.68e-01 2.48e+07 1 4.03e-02 3.42e+00\n", " 30 2.782236e+04 -6.24e-04 1.49e+07 3.88e-02 -4.36e-01 6.19e+06 1 3.94e-02 3.45e+00\n", " 31 2.782236e+04 -7.09e-04 1.49e+07 3.87e-02 -5.29e-01 7.74e+05 1 6.22e-02 3.52e+00\n", " 32 2.782236e+04 -6.57e-04 1.49e+07 3.79e-02 -5.00e-01 4.84e+04 1 3.45e-02 3.55e+00\n", " 33 2.782235e+04 9.07e-06 3.47e+06 2.86e-02 7.44e-03 2.47e+04 1 8.56e-02 3.64e+00\n", " 34 2.782235e+04 2.91e-04 4.05e+06 2.15e-02 2.92e-01 2.31e+04 1 7.57e-02 3.71e+00\n", " 35 2.782235e+04 5.73e-05 2.21e+06 1.36e-02 1.29e-01 1.64e+04 1 7.35e-02 3.79e+00\n", " 36 2.782235e+04 2.05e-04 3.53e+06 7.74e-03 1.17e+00 4.92e+04 1 8.17e-02 3.87e+00\n", " 37 2.782235e+04 -7.53e-05 3.53e+06 5.16e-03 -1.52e+00 2.46e+04 1 3.68e-02 3.90e+00\n", " 38 2.782235e+04 -1.17e-04 3.53e+06 4.25e-03 -2.53e+00 6.15e+03 1 3.33e-02 3.94e+00\n", " 39 2.782235e+04 -6.54e-05 3.53e+06 2.31e-03 -1.91e+00 7.69e+02 1 3.41e-02 3.97e+00\n", " 40 2.782235e+04 -4.71e-05 3.53e+06 7.50e-04 -2.69e+00 4.80e+01 1 3.34e-02 4.01e+00\n", " 41 2.782235e+04 -5.09e-05 3.53e+06 1.12e-04 -1.18e+01 1.50e+00 1 3.24e-02 4.04e+00\n", " 42 2.782235e+04 -5.13e-05 3.53e+06 6.80e-06 -6.87e+01 2.35e-02 1 3.46e-02 4.07e+00\n", " 43 2.782235e+04 3.20e-08 3.53e+06 1.16e-07 9.86e-01 7.04e-02 1 8.00e-02 4.15e+00\n", " 44 2.782235e+04 -5.72e-07 3.53e+06 3.49e-07 -6.73e+00 3.52e-02 1 3.68e-02 4.19e+00\n", " 45 2.782235e+04 -6.02e-07 3.53e+06 1.74e-07 -1.34e+01 8.80e-03 1 3.53e-02 4.23e+00\n", " 46 2.782235e+04 1.17e-08 3.53e+06 4.35e-08 9.90e-01 2.64e-02 1 8.77e-02 4.31e+00\n", " 47 2.782235e+04 3.31e-08 3.53e+06 1.31e-07 9.88e-01 7.92e-02 1 7.93e-02 4.39e+00\n", " 48 2.782235e+04 -1.64e-06 3.53e+06 3.94e-07 -1.89e+01 3.96e-02 1 3.73e-02 4.43e+00\n", " 49 2.782235e+04 -6.01e-07 3.53e+06 1.97e-07 -1.30e+01 9.89e-03 1 3.33e-02 4.46e+00\n", " 50 2.782235e+04 1.19e-08 3.53e+06 4.90e-08 9.77e-01 2.97e-02 1 1.03e-01 4.57e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65612\n", " Parameters : 40964\n", " Iterations : 51\n", " Time : 4.56964 [s]\n", " Initial cost : 0.66543 [px]\n", " Final cost : 0.651186 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 108\n", " => Merged observations: 9\n", " => Filtered observations: 51\n", " => Changed observations: 0.005121\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.809949e+04 0.00e+00 1.02e+07 0.00e+00 0.00e+00 1.00e+04 0 4.92e-02 1.22e-01\n", " 1 2.766785e+04 4.32e+02 2.88e+06 1.48e+00 9.99e-01 3.00e+04 1 7.87e-02 2.01e-01\n", " 2 2.766271e+04 5.14e+00 3.08e+06 6.74e-01 1.01e+00 9.00e+04 1 7.47e-02 2.76e-01\n", " 3 2.766152e+04 1.19e+00 3.50e+06 4.92e-01 9.91e-01 2.70e+05 1 8.13e-02 3.57e-01\n", " 4 2.766141e+04 1.12e-01 2.29e+06 2.18e-01 8.62e-01 4.34e+05 1 7.24e-02 4.30e-01\n", " 5 2.766142e+04 -6.13e-03 2.29e+06 1.72e-01 -1.93e-01 2.17e+05 1 3.74e-02 4.67e-01\n", " 6 2.766141e+04 -3.90e-03 2.29e+06 1.63e-01 -1.25e-01 5.43e+04 1 3.58e-02 5.03e-01\n", " 7 2.766141e+04 4.06e-03 3.55e+06 1.32e-01 1.41e-01 3.96e+04 1 8.02e-02 5.83e-01\n", " 8 2.766140e+04 2.91e-03 3.26e+06 1.18e-01 1.15e-01 2.72e+04 1 7.43e-02 6.57e-01\n", " 9 2.766140e+04 4.21e-03 4.42e+06 9.38e-02 2.23e-01 2.33e+04 1 7.79e-02 7.35e-01\n", " 10 2.766140e+04 2.68e-03 1.86e+06 6.31e-02 2.72e-01 2.12e+04 1 8.45e-02 8.20e-01\n", " 11 2.766139e+04 1.45e-03 3.18e+06 4.04e-02 3.38e-01 2.05e+04 1 9.71e-02 9.17e-01\n", " 12 2.766139e+04 5.00e-04 4.39e+06 2.46e-02 2.94e-01 1.92e+04 1 7.52e-02 9.92e-01\n", " 13 2.766139e+04 1.86e-04 1.89e+06 1.48e-02 2.83e-01 1.78e+04 1 8.74e-02 1.08e+00\n", " 14 2.766139e+04 1.47e-04 2.88e+06 8.28e-03 6.02e-01 1.79e+04 1 7.31e-02 1.15e+00\n", " 15 2.766139e+04 1.75e-04 1.92e+06 4.79e-03 1.77e+00 5.37e+04 1 7.80e-02 1.23e+00\n", " 16 2.766139e+04 -9.22e-06 1.92e+06 5.38e-03 -9.71e-02 2.69e+04 1 3.57e-02 1.27e+00\n", " 17 2.766139e+04 -5.06e-05 1.92e+06 3.65e-03 -7.86e-01 6.71e+03 1 4.41e-02 1.31e+00\n", " 18 2.766139e+04 -4.84e-05 1.92e+06 1.66e-03 -1.78e+00 8.39e+02 1 3.34e-02 1.34e+00\n", " 19 2.766139e+04 -4.48e-05 1.92e+06 4.89e-04 -5.26e+00 5.24e+01 1 3.35e-02 1.38e+00\n", " 20 2.766139e+04 -3.61e-05 1.92e+06 7.23e-05 -1.93e+01 1.64e+00 1 3.30e-02 1.41e+00\n", " 21 2.766139e+04 8.86e-06 8.47e+05 4.49e-06 2.43e+01 4.92e+00 1 7.02e-02 1.48e+00\n", " 22 2.766139e+04 -5.01e-06 8.47e+05 1.03e-05 -1.55e+01 2.46e+00 1 3.93e-02 1.52e+00\n", " 23 2.766139e+04 -5.12e-06 8.47e+05 5.66e-06 -2.55e+01 6.15e-01 1 3.72e-02 1.56e+00\n", " 24 2.766139e+04 5.25e-07 5.59e+05 1.58e-06 7.41e+00 1.84e+00 1 7.40e-02 1.63e+00\n", " 25 2.766139e+04 3.88e-07 6.21e+05 4.18e-06 2.89e+00 5.53e+00 1 7.57e-02 1.71e+00\n", " 26 2.766139e+04 -4.33e-07 6.21e+05 1.03e-05 -1.73e+00 2.77e+00 1 4.62e-02 1.75e+00\n", " 27 2.766139e+04 2.74e-06 6.63e+05 5.50e-06 1.94e+01 8.30e+00 1 7.07e-02 1.82e+00\n", " 28 2.766139e+04 -1.20e-05 6.63e+05 1.37e-05 -4.09e+01 4.15e+00 1 3.65e-02 1.86e+00\n", " 29 2.766139e+04 -5.54e-06 6.63e+05 7.33e-06 -3.41e+01 1.04e+00 1 3.74e-02 1.90e+00\n", " 30 2.766139e+04 -2.74e-06 6.63e+05 1.97e-06 -5.96e+01 1.30e-01 1 4.78e-02 1.95e+00\n", " 31 2.766139e+04 -4.31e-06 6.63e+05 2.53e-07 -7.03e+02 8.10e-03 1 4.36e-02 1.99e+00\n", " 32 2.766139e+04 1.96e-10 6.63e+05 1.59e-08 6.16e-01 8.21e-03 1 7.31e-02 2.06e+00\n", " 33 2.766139e+04 4.95e-10 6.63e+05 1.61e-08 1.30e+00 2.46e-02 1 7.57e-02 2.14e+00\n", " 34 2.766139e+04 1.14e-09 6.63e+05 4.82e-08 9.79e-01 7.39e-02 1 8.60e-02 2.22e+00\n", " 35 2.766139e+04 3.53e-09 6.63e+05 1.44e-07 1.01e+00 2.22e-01 1 7.46e-02 2.30e+00\n", " 36 2.766139e+04 -4.28e-06 6.63e+05 4.29e-07 -4.17e+02 1.11e-01 1 3.59e-02 2.34e+00\n", " 37 2.766139e+04 -4.31e-06 6.63e+05 2.16e-07 -8.30e+02 2.77e-02 1 3.52e-02 2.37e+00\n", " 38 2.766139e+04 1.12e-09 6.63e+05 5.41e-08 8.45e-01 4.13e-02 1 8.19e-02 2.45e+00\n", " 39 2.766139e+04 2.02e-09 6.63e+05 8.05e-08 1.03e+00 1.24e-01 1 8.03e-02 2.53e+00\n", " 40 2.766139e+04 -4.31e-06 6.63e+05 2.40e-07 -7.48e+02 6.20e-02 1 3.69e-02 2.57e+00\n", " 41 2.766139e+04 2.77e-09 6.63e+05 1.20e-07 9.56e-01 1.86e-01 1 7.50e-02 2.64e+00\n", " 42 2.766139e+04 -4.31e-06 6.63e+05 3.59e-07 -5.04e+02 9.30e-02 1 4.73e-02 2.69e+00\n", " 43 2.766139e+04 -4.31e-06 6.63e+05 1.80e-07 -9.99e+02 2.32e-02 1 3.45e-02 2.73e+00\n", " 44 2.766139e+04 1.16e-09 6.63e+05 4.51e-08 1.07e+00 6.97e-02 1 7.56e-02 2.80e+00\n", " 45 2.766139e+04 3.05e-09 6.63e+05 1.35e-07 9.46e-01 2.09e-01 1 7.60e-02 2.88e+00\n", " 46 2.766139e+04 -4.30e-06 6.63e+05 4.02e-07 -4.52e+02 1.05e-01 1 4.55e-02 2.92e+00\n", " 47 2.766139e+04 -4.31e-06 6.63e+05 2.02e-07 -8.97e+02 2.62e-02 1 5.19e-02 2.98e+00\n", " 48 2.766139e+04 1.34e-09 6.63e+05 5.06e-08 1.08e+00 7.85e-02 1 7.03e-02 3.05e+00\n", " 49 2.766139e+04 3.45e-09 6.63e+05 1.51e-07 9.58e-01 2.35e-01 1 7.36e-02 3.12e+00\n", " 50 2.766139e+04 -4.28e-06 6.63e+05 4.50e-07 -4.05e+02 1.18e-01 1 4.49e-02 3.16e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65716\n", " Parameters : 40934\n", " Iterations : 51\n", " Time : 3.16783 [s]\n", " Initial cost : 0.653903 [px]\n", " Final cost : 0.648786 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 64\n", " => Merged observations: 16\n", " => Filtered observations: 27\n", " => Changed observations: 0.003256\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.792279e+04 0.00e+00 4.12e+06 0.00e+00 0.00e+00 1.00e+04 0 5.49e-02 1.29e-01\n", " 1 2.763399e+04 2.89e+02 4.13e+06 1.28e+00 1.00e+00 3.00e+04 1 8.38e-02 2.12e-01\n", " 2 2.763176e+04 2.22e+00 3.54e+06 4.98e-01 9.94e-01 9.00e+04 1 8.02e-02 2.93e-01\n", " 3 2.763095e+04 8.19e-01 6.18e+06 4.68e-01 8.87e-01 1.68e+05 1 8.95e-02 3.82e-01\n", " 4 2.763065e+04 2.92e-01 7.53e+06 3.22e-01 8.61e-01 2.68e+05 1 7.31e-02 4.55e-01\n", " 5 2.763056e+04 9.48e-02 6.87e+06 1.91e-01 9.27e-01 7.11e+05 1 7.72e-02 5.33e-01\n", " 6 2.763055e+04 1.14e-02 4.68e+06 1.21e-01 5.79e-01 7.14e+05 1 8.88e-02 6.21e-01\n", " 7 2.763055e+04 -5.91e-03 4.68e+06 1.18e-01 -4.22e-01 3.57e+05 1 3.57e-02 6.57e-01\n", " 8 2.763055e+04 -5.09e-03 4.68e+06 1.15e-01 -3.64e-01 8.92e+04 1 3.31e-02 6.90e-01\n", " 9 2.763055e+04 -1.45e-03 4.68e+06 1.00e-01 -1.07e-01 1.12e+04 1 5.08e-02 7.41e-01\n", " 10 2.763054e+04 5.10e-03 1.30e+06 4.91e-02 5.43e-01 1.12e+04 1 7.48e-02 8.16e-01\n", " 11 2.763054e+04 6.28e-04 2.16e+06 1.12e-02 6.49e-01 1.15e+04 1 8.15e-02 8.98e-01\n", " 12 2.763054e+04 1.49e-04 8.59e+06 6.91e-03 6.78e-01 1.20e+04 1 7.81e-02 9.76e-01\n", " 13 2.763054e+04 6.29e-05 6.80e+06 2.57e-03 8.99e-01 2.45e+04 1 7.55e-02 1.05e+00\n", " 14 2.763054e+04 4.09e-05 4.18e+06 3.33e-03 5.11e-01 2.45e+04 1 8.56e-02 1.14e+00\n", " 15 2.763054e+04 1.52e-05 8.88e+06 2.71e-03 2.71e-01 2.23e+04 1 7.52e-02 1.21e+00\n", " 16 2.763054e+04 1.27e-04 4.77e+06 2.14e-03 3.28e+00 6.69e+04 1 7.25e-02 1.28e+00\n", " 17 2.763054e+04 7.46e-05 2.71e+06 4.40e-03 1.15e+00 2.01e+05 1 8.25e-02 1.37e+00\n", " 18 2.763054e+04 -5.03e-05 2.71e+06 5.98e-03 -9.44e-01 1.00e+05 1 3.68e-02 1.40e+00\n", " 19 2.763054e+04 4.16e-05 5.23e+06 4.11e-03 1.02e+00 3.01e+05 1 7.16e-02 1.48e+00\n", " 20 2.763054e+04 -6.38e-05 5.23e+06 4.61e-03 -2.67e+00 1.51e+05 1 3.82e-02 1.51e+00\n", " 21 2.763054e+04 -3.98e-06 5.23e+06 3.39e-03 -2.00e-01 3.76e+04 1 3.29e-02 1.55e+00\n", " 22 2.763054e+04 -3.00e-05 5.23e+06 1.44e-03 -3.08e+00 4.71e+03 1 4.53e-02 1.59e+00\n", " 23 2.763054e+04 -6.58e-05 5.23e+06 3.40e-04 -2.86e+01 2.94e+02 1 3.66e-02 1.63e+00\n", " 24 2.763054e+04 -5.73e-05 5.23e+06 4.63e-05 -9.03e+01 9.19e+00 1 3.39e-02 1.66e+00\n", " 25 2.763054e+04 -4.33e-05 5.23e+06 4.41e-06 -1.13e+02 1.44e-01 1 3.51e-02 1.70e+00\n", " 26 2.763054e+04 3.79e-06 3.88e+06 2.93e-07 6.56e+01 4.31e-01 1 9.52e-02 1.79e+00\n", " 27 2.763054e+04 -5.46e-06 3.88e+06 7.05e-07 -4.78e+01 2.15e-01 1 4.67e-02 1.84e+00\n", " 28 2.763054e+04 -3.07e-07 3.88e+06 3.90e-07 -4.55e+00 5.39e-02 1 3.43e-02 1.87e+00\n", " 29 2.763054e+04 -1.75e-06 3.88e+06 1.07e-07 -8.97e+01 6.73e-03 1 3.44e-02 1.91e+00\n", " 30 2.763054e+04 2.56e-09 3.88e+06 1.37e-08 9.91e-01 2.02e-02 1 7.16e-02 1.98e+00\n", " 31 2.763054e+04 -1.83e-06 3.88e+06 4.06e-08 -2.43e+02 1.01e-02 1 4.36e-02 2.02e+00\n", " 32 2.763054e+04 3.75e-09 3.88e+06 2.04e-08 9.79e-01 3.03e-02 1 7.18e-02 2.10e+00\n", " 33 2.763054e+04 -1.83e-06 3.88e+06 6.01e-08 -1.66e+02 1.51e-02 1 6.44e-02 2.16e+00\n", " 34 2.763054e+04 5.37e-09 3.88e+06 3.03e-08 9.63e-01 4.54e-02 1 1.27e-01 2.29e+00\n", " 35 2.763054e+04 -1.78e-06 3.88e+06 8.86e-08 -1.11e+02 2.27e-02 1 3.97e-02 2.33e+00\n", " 36 2.763054e+04 -1.83e-06 3.88e+06 4.49e-08 -2.24e+02 5.68e-03 1 3.54e-02 2.36e+00\n", " 37 2.763054e+04 2.15e-09 3.88e+06 1.13e-08 1.03e+00 1.70e-02 1 7.57e-02 2.44e+00\n", " 38 2.763054e+04 5.94e-09 3.88e+06 3.37e-08 9.75e-01 5.11e-02 1 9.08e-02 2.53e+00\n", " 39 2.763054e+04 -1.76e-06 3.88e+06 9.81e-08 -1.01e+02 2.56e-02 1 3.66e-02 2.57e+00\n", " 40 2.763054e+04 -1.83e-06 3.88e+06 4.98e-08 -2.06e+02 6.39e-03 1 3.87e-02 2.60e+00\n", " 41 2.763054e+04 2.26e-09 3.88e+06 1.26e-08 1.00e+00 1.92e-02 1 7.48e-02 2.68e+00\n", " 42 2.763054e+04 -1.83e-06 3.88e+06 3.73e-08 -2.75e+02 9.59e-03 1 3.87e-02 2.72e+00\n", " 43 2.763054e+04 3.32e-09 3.88e+06 1.88e-08 9.91e-01 2.88e-02 1 1.03e-01 2.82e+00\n", " 44 2.763054e+04 -1.83e-06 3.88e+06 5.53e-08 -1.87e+02 1.44e-02 1 3.84e-02 2.86e+00\n", " 45 2.763054e+04 4.86e-09 3.88e+06 2.79e-08 9.82e-01 4.31e-02 1 7.31e-02 2.93e+00\n", " 46 2.763054e+04 -1.81e-06 3.88e+06 8.17e-08 -1.28e+02 2.16e-02 1 3.55e-02 2.97e+00\n", " 47 2.763054e+04 -1.83e-06 3.88e+06 4.13e-08 -2.53e+02 5.39e-03 1 3.61e-02 3.00e+00\n", " 48 2.763054e+04 1.83e-09 3.88e+06 1.04e-08 9.90e-01 1.62e-02 1 8.17e-02 3.09e+00\n", " 49 2.763054e+04 5.22e-09 3.88e+06 3.10e-08 9.63e-01 4.85e-02 1 7.44e-02 3.16e+00\n", " 50 2.763054e+04 -1.77e-06 3.88e+06 9.04e-08 -1.15e+02 2.43e-02 1 3.52e-02 3.20e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65790\n", " Parameters : 40916\n", " Iterations : 51\n", " Time : 3.19958 [s]\n", " Initial cost : 0.651478 [px]\n", " Final cost : 0.648059 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 27\n", " => Merged observations: 8\n", " => Filtered observations: 9\n", " => Changed observations: 0.001338\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #38 (24)\n", "==============================================================================\n", "\n", " => Image sees 211 / 5248 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #1 (24)\n", "==============================================================================\n", "\n", " => Image sees 203 / 5197 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #39 (24)\n", "==============================================================================\n", "\n", " => Image sees 172 / 5688 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #55 (24)\n", "==============================================================================\n", "\n", " => Image sees 162 / 3964 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #11 (24)\n", "==============================================================================\n", "\n", " => Image sees 176 / 4040 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #40 (24)\n", "==============================================================================\n", "\n", " => Image sees 122 / 5332 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #37 (24)\n", "==============================================================================\n", "\n", " => Image sees 56 / 4254 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #56 (24)\n", "==============================================================================\n", "\n", " => Image sees 50 / 3290 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #41 (24)\n", "==============================================================================\n", "\n", " => Image sees 492 / 6656 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #16 (24)\n", "==============================================================================\n", "\n", " => Image sees 505 / 4328 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #43 (24)\n", "==============================================================================\n", "\n", " => Image sees 474 / 6261 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #34 (24)\n", "==============================================================================\n", "\n", " => Image sees 455 / 4513 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #52 (24)\n", "==============================================================================\n", "\n", " => Image sees 464 / 6081 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #33 (24)\n", "==============================================================================\n", "\n", " => Image sees 585 / 5348 points\n", "\n", "Pose refinement report\n", "----------------------\n", " Residuals : 412\n", " Parameters : 6\n", " Iterations : 44\n", " Time : 0.0141928 [s]\n", " Initial cost : 0.909106 [px]\n", " Final cost : 0.901808 [px]\n", " Termination : Convergence\n", "\n", " => Continued observations: 196\n", " => Added observations: 269\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 18666\n", " Parameters : 8684\n", " Iterations : 26\n", " Time : 0.377054 [s]\n", " Initial cost : 0.73419 [px]\n", " Final cost : 0.692883 [px]\n", " Termination : No convergence\n", "\n", " => Merged observations: 10\n", " => Completed observations: 30\n", " => Filtered observations: 447\n", " => Changed observations: 0.042396\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 18772\n", " Parameters : 8318\n", " Iterations : 5\n", " Time : 0.0732141 [s]\n", " Initial cost : 0.708017 [px]\n", " Final cost : 0.685214 [px]\n", " Termination : Convergence\n", "\n", " => Merged observations: 0\n", " => Completed observations: 34\n", " => Filtered observations: 1\n", " => Changed observations: 0.003162\n", "\n", "==============================================================================\n", "Registering image #41 (25)\n", "==============================================================================\n", "\n", " => Image sees 494 / 6656 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #16 (25)\n", "==============================================================================\n", "\n", " => Image sees 510 / 4328 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #34 (25)\n", "==============================================================================\n", "\n", " => Image sees 455 / 4513 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #43 (25)\n", "==============================================================================\n", "\n", " => Image sees 469 / 6261 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #52 (25)\n", "==============================================================================\n", "\n", " => Image sees 464 / 6081 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #12 (25)\n", "==============================================================================\n", "\n", " => Image sees 411 / 4734 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #54 (25)\n", "==============================================================================\n", "\n", " => Image sees 420 / 6071 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #26 (25)\n", "==============================================================================\n", "\n", " => Image sees 423 / 4908 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #2 (25)\n", "==============================================================================\n", "\n", " => Image sees 426 / 5302 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #49 (25)\n", "==============================================================================\n", "\n", " => Image sees 395 / 4537 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #42 (25)\n", "==============================================================================\n", "\n", " => Image sees 411 / 7192 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #31 (25)\n", "==============================================================================\n", "\n", " => Image sees 389 / 4911 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #30 (25)\n", "==============================================================================\n", "\n", " => Image sees 387 / 5459 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #29 (25)\n", "==============================================================================\n", "\n", " => Image sees 379 / 4375 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #46 (25)\n", "==============================================================================\n", "\n", " => Image sees 372 / 6276 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #36 (25)\n", "==============================================================================\n", "\n", " => Image sees 368 / 5769 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #45 (25)\n", "==============================================================================\n", "\n", " => Image sees 327 / 4776 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #51 (25)\n", "==============================================================================\n", "\n", " => Image sees 337 / 7201 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #15 (25)\n", "==============================================================================\n", "\n", " => Image sees 311 / 3844 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #25 (25)\n", "==============================================================================\n", "\n", " => Image sees 290 / 4700 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #35 (25)\n", "==============================================================================\n", "\n", " => Image sees 311 / 7008 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #44 (25)\n", "==============================================================================\n", "\n", " => Image sees 319 / 6947 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #50 (25)\n", "==============================================================================\n", "\n", " => Image sees 298 / 4738 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #53 (25)\n", "==============================================================================\n", "\n", " => Image sees 278 / 6380 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #32 (25)\n", "==============================================================================\n", "\n", " => Image sees 275 / 5325 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #27 (25)\n", "==============================================================================\n", "\n", " => Image sees 270 / 5006 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #38 (25)\n", "==============================================================================\n", "\n", " => Image sees 213 / 5248 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #1 (25)\n", "==============================================================================\n", "\n", " => Image sees 203 / 5197 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #39 (25)\n", "==============================================================================\n", "\n", " => Image sees 175 / 5688 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #55 (25)\n", "==============================================================================\n", "\n", " => Image sees 163 / 3964 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #11 (25)\n", "==============================================================================\n", "\n", " => Image sees 178 / 4040 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #40 (25)\n", "==============================================================================\n", "\n", " => Image sees 121 / 5332 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #37 (25)\n", "==============================================================================\n", "\n", " => Image sees 56 / 4254 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #56 (25)\n", "==============================================================================\n", "\n", " => Image sees 49 / 3290 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 3\n", " => Merged observations: 0\n", " => Retriangulated observations: 350\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 9.299089e+04 0.00e+00 4.09e+06 0.00e+00 0.00e+00 1.00e+04 0 7.68e-02 1.92e-01\n", " 1 1.113901e+05 -1.84e+04 4.09e+06 7.80e+01 -5.29e-01 5.00e+03 1 8.75e-02 2.80e-01\n", " 2 7.213021e+04 2.09e+04 3.95e+06 7.04e+01 6.02e-01 5.04e+03 1 1.53e-01 4.33e-01\n", " 3 5.925088e+04 1.29e+04 4.81e+06 1.11e+01 8.95e-01 9.96e+03 1 1.40e-01 5.73e-01\n", " 4 5.762892e+04 1.62e+03 3.91e+06 1.02e+01 9.46e-01 2.99e+04 1 1.57e-01 7.30e-01\n", " 5 5.745705e+04 1.72e+02 2.49e+06 5.79e+00 9.96e-01 8.97e+04 1 1.36e-01 8.66e-01\n", " 6 5.743689e+04 2.02e+01 2.96e+06 3.38e+00 9.92e-01 2.69e+05 1 1.52e-01 1.02e+00\n", " 7 5.743511e+04 1.78e+00 3.13e+06 1.43e+00 1.03e+00 8.07e+05 1 1.40e-01 1.16e+00\n", " 8 5.743506e+04 4.78e-02 5.57e+06 2.70e-01 8.07e-01 1.05e+06 1 1.54e-01 1.31e+00\n", " 9 5.743506e+04 -2.22e-03 5.57e+06 1.34e-01 -1.14e-01 5.26e+05 1 7.04e-02 1.38e+00\n", " 10 5.743506e+04 -1.65e-03 5.57e+06 1.32e-01 -8.48e-02 1.31e+05 1 6.30e-02 1.44e+00\n", " 11 5.743506e+04 1.02e-03 4.59e+06 1.22e-01 5.28e-02 7.66e+04 1 1.47e-01 1.59e+00\n", " 12 5.743506e+04 1.97e-03 3.17e+06 1.11e-01 1.09e-01 5.19e+04 1 1.48e-01 1.74e+00\n", " 13 5.743505e+04 2.53e-03 3.65e+06 9.02e-02 1.85e-01 4.15e+04 1 1.48e-01 1.89e+00\n", " 14 5.743505e+04 2.06e-03 2.53e+06 6.55e-02 2.58e-01 3.72e+04 1 1.34e-01 2.02e+00\n", " 15 5.743505e+04 1.06e-03 3.16e+06 4.44e-02 2.70e-01 3.40e+04 1 1.47e-01 2.17e+00\n", " 16 5.743505e+04 5.85e-04 5.70e+06 2.88e-02 3.39e-01 3.28e+04 1 1.34e-01 2.30e+00\n", " 17 5.743505e+04 1.61e-04 2.33e+06 1.80e-02 2.32e-01 2.85e+04 1 1.46e-01 2.45e+00\n", " 18 5.743505e+04 5.92e-05 2.21e+06 1.08e-02 2.21e-01 2.43e+04 1 1.23e-01 2.57e+00\n", " 19 5.743505e+04 1.50e-04 3.57e+06 5.82e-03 1.75e+00 7.28e+04 1 1.60e-01 2.73e+00\n", " 20 5.743505e+04 -1.01e-04 3.57e+06 3.84e-03 -4.05e+00 3.64e+04 1 5.74e-02 2.79e+00\n", " 21 5.743505e+04 -5.40e-05 3.57e+06 3.33e-03 -2.26e+00 9.10e+03 1 9.38e-02 2.88e+00\n", " 22 5.743505e+04 -7.10e-05 3.57e+06 1.98e-03 -3.80e+00 1.14e+03 1 1.04e-01 2.99e+00\n", " 23 5.743505e+04 -1.15e-04 3.57e+06 6.26e-04 -1.25e+01 7.11e+01 1 8.18e-02 3.07e+00\n", " 24 5.743505e+04 -5.95e-05 3.57e+06 1.01e-04 -2.43e+01 2.22e+00 1 5.46e-02 3.13e+00\n", " 25 5.743505e+04 -1.44e-05 3.57e+06 6.75e-06 -3.26e+01 3.47e-02 1 6.36e-02 3.19e+00\n", " 26 5.743505e+04 2.29e-08 3.57e+06 1.39e-07 9.86e-01 1.04e-01 1 1.55e-01 3.34e+00\n", " 27 5.743505e+04 1.17e-07 3.57e+06 4.01e-07 2.03e+00 3.12e-01 1 1.19e-01 3.46e+00\n", " 28 5.743505e+04 -6.72e-06 3.57e+06 1.12e-06 -5.83e+01 1.56e-01 1 3.63e-02 3.50e+00\n", " 29 5.743505e+04 3.30e-08 3.58e+06 5.77e-07 4.93e-01 1.56e-01 1 8.71e-02 3.59e+00\n", " 30 5.743505e+04 1.07e-07 3.58e+06 5.59e-07 2.04e+00 4.68e-01 1 7.51e-02 3.66e+00\n", " 31 5.743505e+04 -1.50e-05 3.58e+06 1.56e-06 -1.44e+02 2.34e-01 1 3.63e-02 3.70e+00\n", " 32 5.743505e+04 -1.69e-06 3.58e+06 8.06e-07 -2.80e+01 5.86e-02 1 3.61e-02 3.73e+00\n", " 33 5.743505e+04 1.73e-08 3.58e+06 2.07e-07 9.85e-01 1.76e-01 1 8.14e-02 3.82e+00\n", " 34 5.743505e+04 3.18e-08 3.58e+06 6.04e-07 7.20e-01 1.92e-01 1 8.32e-02 3.90e+00\n", " 35 5.743505e+04 8.36e-08 3.58e+06 6.41e-07 2.10e+00 5.76e-01 1 1.01e-01 4.00e+00\n", " 36 5.743505e+04 -1.50e-05 3.58e+06 1.79e-06 -1.76e+02 2.88e-01 1 4.94e-02 4.05e+00\n", " 37 5.743505e+04 -7.83e-06 3.58e+06 9.23e-07 -1.63e+02 7.20e-02 1 3.96e-02 4.09e+00\n", " 38 5.743505e+04 1.30e-08 3.58e+06 2.37e-07 9.53e-01 2.16e-01 1 7.86e-02 4.17e+00\n", " 39 5.743505e+04 -4.28e-08 3.58e+06 6.91e-07 -1.21e+00 1.08e-01 1 3.78e-02 4.20e+00\n", " 40 5.743505e+04 1.82e-08 3.58e+06 3.50e-07 9.68e-01 3.24e-01 1 8.47e-02 4.29e+00\n", " 41 5.743505e+04 -1.50e-05 3.58e+06 1.01e-06 -3.21e+02 1.62e-01 1 3.80e-02 4.33e+00\n", " 42 5.743505e+04 4.46e-08 3.58e+06 5.14e-07 1.77e+00 4.86e-01 1 7.37e-02 4.40e+00\n", " 43 5.743505e+04 -1.50e-05 3.58e+06 1.46e-06 -2.48e+02 2.43e-01 1 3.75e-02 4.44e+00\n", " 44 5.743505e+04 -7.86e-06 3.58e+06 7.49e-07 -2.38e+02 6.08e-02 1 3.45e-02 4.47e+00\n", " 45 5.743505e+04 8.70e-09 3.58e+06 1.91e-07 9.69e-01 1.82e-01 1 8.16e-02 4.56e+00\n", " 46 5.743505e+04 4.40e-08 3.58e+06 5.61e-07 1.80e+00 5.47e-01 1 7.68e-02 4.63e+00\n", " 47 5.743505e+04 -1.50e-05 3.58e+06 1.60e-06 -2.51e+02 2.73e-01 1 3.74e-02 4.67e+00\n", " 48 5.743505e+04 -7.86e-06 3.58e+06 8.16e-07 -2.42e+02 6.84e-02 1 3.54e-02 4.70e+00\n", " 49 5.743505e+04 8.19e-09 3.58e+06 2.08e-07 9.28e-01 1.83e-01 1 8.60e-02 4.79e+00\n", " 50 5.743505e+04 2.13e-08 3.58e+06 5.47e-07 9.78e-01 5.49e-01 1 7.94e-02 4.87e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66694\n", " Parameters : 41204\n", " Iterations : 51\n", " Time : 4.87382 [s]\n", " Initial cost : 1.1808 [px]\n", " Final cost : 0.927994 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 81\n", " => Merged observations: 14\n", " => Filtered observations: 432\n", " => Changed observations: 0.015804\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.929388e+04 0.00e+00 5.43e+06 0.00e+00 0.00e+00 1.00e+04 0 4.13e-02 1.18e-01\n", " 1 2.786823e+04 1.43e+03 6.20e+06 6.77e+00 9.65e-01 3.00e+04 1 7.53e-02 1.94e-01\n", " 2 2.773371e+04 1.35e+02 3.92e+06 3.66e+00 9.42e-01 9.00e+04 1 7.88e-02 2.73e-01\n", " 3 2.769983e+04 3.39e+01 4.09e+06 3.90e+00 9.47e-01 2.70e+05 1 8.20e-02 3.55e-01\n", " 4 2.769610e+04 3.74e+00 5.20e+06 2.21e+00 7.29e-01 2.99e+05 1 7.44e-02 4.29e-01\n", " 5 2.769762e+04 -1.53e+00 5.20e+06 1.47e+00 -6.86e-01 1.49e+05 1 3.69e-02 4.66e-01\n", " 6 2.769721e+04 -1.11e+00 5.20e+06 1.39e+00 -5.06e-01 3.73e+04 1 3.60e-02 5.02e-01\n", " 7 2.769597e+04 1.21e-01 3.83e+06 1.06e+00 6.00e-02 2.22e+04 1 8.52e-02 5.87e-01\n", " 8 2.769544e+04 5.37e-01 5.51e+06 7.48e-01 3.33e-01 2.14e+04 1 1.39e-01 7.26e-01\n", " 9 2.769523e+04 2.09e-01 6.49e+06 4.71e-01 3.32e-01 2.06e+04 1 8.40e-02 8.10e-01\n", " 10 2.769515e+04 8.11e-02 2.09e+06 3.00e-01 3.21e-01 1.97e+04 1 7.42e-02 8.84e-01\n", " 11 2.769512e+04 3.04e-02 3.35e+06 1.85e-01 3.20e-01 1.89e+04 1 7.65e-02 9.61e-01\n", " 12 2.769511e+04 1.18e-02 5.58e+06 1.10e-01 3.37e-01 1.82e+04 1 1.12e-01 1.07e+00\n", " 13 2.769510e+04 4.28e-03 2.13e+06 6.39e-02 3.58e-01 1.78e+04 1 7.59e-02 1.15e+00\n", " 14 2.769510e+04 1.41e-03 3.69e+06 3.67e-02 3.54e-01 1.74e+04 1 7.66e-02 1.23e+00\n", " 15 2.769510e+04 4.69e-04 2.75e+06 2.08e-02 3.66e-01 1.71e+04 1 8.74e-02 1.31e+00\n", " 16 2.769510e+04 2.03e-04 2.78e+06 1.20e-02 4.95e-01 1.71e+04 1 7.69e-02 1.39e+00\n", " 17 2.769510e+04 8.28e-05 3.37e+06 7.00e-03 6.23e-01 1.73e+04 1 8.12e-02 1.47e+00\n", " 18 2.769510e+04 -8.22e-06 3.37e+06 4.44e-03 -1.77e-01 8.65e+03 1 3.84e-02 1.51e+00\n", " 19 2.769510e+04 5.86e-05 3.12e+06 2.89e-03 1.65e+00 2.60e+04 1 8.18e-02 1.59e+00\n", " 20 2.769510e+04 -1.14e-05 3.12e+06 3.59e-03 -7.38e-01 1.30e+04 1 3.66e-02 1.63e+00\n", " 21 2.769510e+04 -4.65e-05 3.12e+06 2.16e-03 -4.33e+00 3.25e+03 1 3.46e-02 1.66e+00\n", " 22 2.769510e+04 -4.27e-05 3.12e+06 6.92e-04 -9.32e+00 4.06e+02 1 3.41e-02 1.70e+00\n", " 23 2.769510e+04 6.50e-06 4.11e+06 1.52e-04 4.20e+00 1.22e+03 1 6.99e-02 1.77e+00\n", " 24 2.769510e+04 -9.13e-05 4.11e+06 2.59e-04 -6.33e+01 6.08e+02 1 4.76e-02 1.81e+00\n", " 25 2.769510e+04 -6.33e-05 4.11e+06 1.41e-04 -7.58e+01 1.52e+02 1 3.38e-02 1.85e+00\n", " 26 2.769510e+04 2.92e-06 1.05e+06 4.11e-05 1.08e+01 4.56e+02 1 7.21e-02 1.92e+00\n", " 27 2.769510e+04 -1.76e-05 1.05e+06 1.02e-04 -3.10e+01 2.28e+02 1 3.61e-02 1.96e+00\n", " 28 2.769510e+04 -1.79e-05 1.05e+06 5.42e-05 -5.75e+01 5.70e+01 1 3.38e-02 1.99e+00\n", " 29 2.769510e+04 8.14e-06 2.51e+06 1.46e-05 9.34e+01 1.71e+02 1 9.94e-02 2.09e+00\n", " 30 2.769510e+04 -6.75e-06 2.51e+06 4.01e-05 -2.98e+01 8.56e+01 1 3.67e-02 2.13e+00\n", " 31 2.769510e+04 -9.71e-06 2.51e+06 2.08e-05 -8.16e+01 2.14e+01 1 3.38e-02 2.16e+00\n", " 32 2.769510e+04 9.87e-06 1.04e+06 5.36e-06 3.13e+02 6.42e+01 1 7.56e-02 2.24e+00\n", " 33 2.769510e+04 -4.84e-05 1.04e+06 1.55e-05 -5.48e+02 3.21e+01 1 3.74e-02 2.27e+00\n", " 34 2.769510e+04 -9.01e-06 1.04e+06 7.88e-06 -1.99e+02 8.02e+00 1 4.17e-02 2.31e+00\n", " 35 2.769510e+04 -1.51e-05 1.04e+06 1.99e-06 -1.27e+03 1.00e+00 1 3.74e-02 2.35e+00\n", " 36 2.769510e+04 -5.86e-06 1.04e+06 2.50e-07 -3.26e+03 6.27e-02 1 3.44e-02 2.39e+00\n", " 37 2.769510e+04 7.12e-07 1.04e+06 1.57e-08 3.88e+03 1.88e-01 1 7.16e-02 2.46e+00\n", " 38 2.769510e+04 -4.04e-06 1.04e+06 4.70e-08 -8.65e+03 9.40e-02 1 3.52e-02 2.49e+00\n", " 39 2.769510e+04 -1.82e-06 1.04e+06 2.35e-08 -7.00e+03 2.35e-02 1 4.14e-02 2.54e+00\n", " 40 2.769510e+04 6.91e-11 1.04e+06 5.88e-09 7.50e-01 2.69e-02 1 7.38e-02 2.61e+00\n", " 41 2.769510e+04 -3.64e-12 1.04e+06 6.72e-09 -2.20e-01 1.34e-02 1 3.95e-02 2.65e+00\n", " 42 2.769510e+04 1.82e-11 1.04e+06 3.36e-09 8.58e-02 8.57e-03 1 7.29e-02 2.72e+00\n", " 43 2.769510e+04 -2.55e-11 1.04e+06 2.14e-09 -1.87e+00 4.28e-03 1 4.57e-02 2.77e+00\n", " 44 2.769510e+04 2.91e-11 1.04e+06 1.07e-09 2.64e-01 3.88e-03 1 7.34e-02 2.84e+00\n", " 45 2.769510e+04 -1.02e-10 1.04e+06 9.69e-10 -8.75e+00 1.94e-03 1 3.63e-02 2.88e+00\n", " 46 2.769510e+04 6.91e-11 1.04e+06 4.84e-10 9.88e+00 5.81e-03 1 7.34e-02 2.95e+00\n", " 47 2.769510e+04 -7.28e-12 1.04e+06 1.45e-09 -7.81e-01 2.91e-03 1 4.41e-02 2.99e+00\n", " 48 2.769510e+04 -1.67e-10 1.04e+06 7.27e-10 -1.86e+01 7.27e-04 1 4.17e-02 3.04e+00\n", " 49 2.769510e+04 -6.18e-11 1.04e+06 1.82e-10 -2.94e+01 9.08e-05 1 4.80e-02 3.08e+00\n", " 50 2.769510e+04 -3.27e-11 1.04e+06 2.27e-11 -1.36e+02 5.68e-06 1 4.14e-02 3.13e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 65986\n", " Parameters : 40826\n", " Iterations : 51\n", " Time : 3.12918 [s]\n", " Initial cost : 0.666289 [px]\n", " Final cost : 0.647852 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 47\n", " => Merged observations: 16\n", " => Filtered observations: 22\n", " => Changed observations: 0.002576\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.778235e+04 0.00e+00 1.67e+07 0.00e+00 0.00e+00 1.00e+04 0 4.29e-02 1.19e-01\n", " 1 2.762077e+04 1.62e+02 7.88e+06 4.79e-01 1.00e+00 3.00e+04 1 8.79e-02 2.07e-01\n", " 2 2.761936e+04 1.41e+00 1.43e+06 3.87e-01 9.98e-01 9.00e+04 1 7.59e-02 2.83e-01\n", " 3 2.761899e+04 3.72e-01 2.16e+06 3.10e-01 9.87e-01 2.70e+05 1 7.34e-02 3.56e-01\n", " 4 2.761896e+04 3.14e-02 2.84e+06 1.76e-01 6.13e-01 2.73e+05 1 8.60e-02 4.42e-01\n", " 5 2.761897e+04 -1.30e-02 2.84e+06 1.76e-01 -3.88e-01 1.37e+05 1 3.75e-02 4.80e-01\n", " 6 2.761897e+04 -8.60e-03 2.84e+06 1.66e-01 -2.60e-01 3.41e+04 1 3.31e-02 5.13e-01\n", " 7 2.761895e+04 4.85e-03 5.27e+06 1.23e-01 1.63e-01 2.61e+04 1 7.29e-02 5.86e-01\n", " 8 2.761895e+04 4.21e-03 3.94e+06 9.21e-02 2.16e-01 2.21e+04 1 9.05e-02 6.76e-01\n", " 9 2.761895e+04 2.86e-03 4.01e+06 6.23e-02 2.84e-01 2.04e+04 1 7.77e-02 7.54e-01\n", " 10 2.761895e+04 1.16e-03 2.70e+06 3.88e-02 2.80e-01 1.88e+04 1 8.09e-02 8.35e-01\n", " 11 2.761895e+04 5.36e-04 3.63e+06 2.31e-02 3.42e-01 1.82e+04 1 9.99e-02 9.35e-01\n", " 12 2.761895e+04 1.70e-04 1.96e+06 1.31e-02 3.26e-01 1.75e+04 1 7.46e-02 1.01e+00\n", " 13 2.761894e+04 6.19e-05 4.94e+06 7.31e-03 3.69e-01 1.72e+04 1 7.59e-02 1.09e+00\n", " 14 2.761894e+04 1.41e-06 3.76e+06 3.97e-03 2.78e-02 9.33e+03 1 8.41e-02 1.17e+00\n", " 15 2.761894e+04 5.95e-05 2.61e+06 1.62e-03 4.61e+00 2.80e+04 1 7.48e-02 1.24e+00\n", " 16 2.761894e+04 2.63e-06 7.77e+06 7.13e-04 1.51e+00 8.40e+04 1 7.32e-02 1.32e+00\n", " 17 2.761894e+04 -1.43e-05 7.77e+06 9.20e-04 -1.40e+01 4.20e+04 1 3.58e-02 1.35e+00\n", " 18 2.761894e+04 2.58e-05 3.61e+06 7.41e-04 2.76e+01 1.26e+05 1 7.97e-02 1.43e+00\n", " 19 2.761894e+04 -5.58e-05 3.61e+06 7.94e-04 -7.65e+01 6.30e+04 1 3.95e-02 1.47e+00\n", " 20 2.761894e+04 -7.17e-06 3.61e+06 6.95e-04 -1.02e+01 1.57e+04 1 3.51e-02 1.51e+00\n", " 21 2.761894e+04 -3.82e-05 3.61e+06 4.24e-04 -6.97e+01 1.97e+03 1 3.37e-02 1.54e+00\n", " 22 2.761894e+04 -8.40e-06 3.61e+06 1.25e-04 -3.64e+01 1.23e+02 1 3.96e-02 1.58e+00\n", " 23 2.761894e+04 -6.40e-05 3.61e+06 1.92e-05 -1.11e+03 3.85e+00 1 3.60e-02 1.62e+00\n", " 24 2.761894e+04 -1.22e-05 3.61e+06 1.26e-06 -1.11e+03 6.01e-02 1 4.41e-02 1.66e+00\n", " 25 2.761894e+04 1.82e-05 3.61e+06 2.37e-08 1.50e+04 1.80e-01 1 7.29e-02 1.73e+00\n", " 26 2.761894e+04 -1.93e-05 3.61e+06 7.25e-08 -7.58e+03 9.01e-02 1 3.65e-02 1.77e+00\n", " 27 2.761894e+04 -1.90e-05 3.61e+06 3.60e-08 -1.21e+04 2.25e-02 1 3.33e-02 1.80e+00\n", " 28 2.761894e+04 5.90e-06 3.61e+06 8.91e-09 1.23e+04 6.76e-02 1 8.44e-02 1.89e+00\n", " 29 2.761894e+04 -1.95e-05 3.61e+06 2.71e-08 -1.66e+04 3.38e-02 1 5.14e-02 1.94e+00\n", " 30 2.761894e+04 -1.95e-05 3.61e+06 1.35e-08 -2.99e+04 8.45e-03 1 3.58e-02 1.98e+00\n", " 31 2.761894e+04 1.78e-10 3.61e+06 3.34e-09 9.43e-01 2.53e-02 1 7.73e-02 2.05e+00\n", " 32 2.761894e+04 -2.11e-05 3.61e+06 1.01e-08 -4.24e+04 1.27e-02 1 4.27e-02 2.10e+00\n", " 33 2.761894e+04 -2.11e-05 3.61e+06 5.03e-09 -8.12e+04 3.17e-03 1 4.70e-02 2.14e+00\n", " 34 2.761894e+04 -1.64e-10 3.61e+06 1.25e-09 -2.27e+00 3.96e-04 1 3.41e-02 2.18e+00\n", " 35 2.761894e+04 -4.73e-11 3.61e+06 1.57e-10 -4.28e+00 2.48e-05 1 3.35e-02 2.21e+00\n", " 36 2.761894e+04 7.64e-11 3.61e+06 9.80e-12 1.64e+02 7.43e-05 1 7.42e-02 2.29e+00\n", " 37 2.761894e+04 -1.89e-10 3.61e+06 2.94e-11 -1.23e+02 3.71e-05 1 4.49e-02 2.33e+00\n", " 38 2.761894e+04 -1.96e-10 3.61e+06 1.47e-11 -2.55e+02 9.28e-06 1 3.61e-02 2.37e+00\n", " 39 2.761894e+04 -2.18e-10 3.61e+06 3.67e-12 -1.13e+03 1.16e-06 1 3.72e-02 2.40e+00\n", " 40 2.761894e+04 -5.09e-11 3.61e+06 4.59e-13 -2.33e+03 7.25e-08 1 4.00e-02 2.44e+00\n", " 41 2.761894e+04 -1.09e-11 3.61e+06 2.87e-14 -1.17e+04 2.27e-09 1 3.78e-02 2.48e+00\n", " 42 2.761894e+04 7.28e-12 3.61e+06 9.15e-16 0.00e+00 3.54e-11 1 3.50e-02 2.52e+00\n", " 43 2.761894e+04 7.28e-12 3.61e+06 7.51e-19 0.00e+00 2.77e-13 1 4.43e-02 2.56e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66036\n", " Parameters : 40793\n", " Iterations : 44\n", " Time : 2.60012 [s]\n", " Initial cost : 0.648626 [px]\n", " Final cost : 0.646715 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 18\n", " => Merged observations: 7\n", " => Filtered observations: 13\n", " => Changed observations: 0.001151\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.762666e+04 0.00e+00 1.72e+07 0.00e+00 0.00e+00 1.00e+04 0 4.13e-02 1.24e-01\n", " 1 2.754845e+04 7.82e+01 5.33e+06 3.12e-01 1.00e+00 3.00e+04 1 7.92e-02 2.03e-01\n", " 2 2.754788e+04 5.72e-01 7.90e+06 2.77e-01 9.98e-01 9.00e+04 1 9.43e-02 2.98e-01\n", " 3 2.754779e+04 8.71e-02 1.97e+06 2.26e-01 9.75e-01 2.70e+05 1 8.53e-02 3.83e-01\n", " 4 2.754779e+04 5.06e-03 3.95e+06 1.27e-01 3.76e-01 2.66e+05 1 7.69e-02 4.60e-01\n", " 5 2.754779e+04 -5.48e-03 3.95e+06 1.16e-01 -4.06e-01 1.33e+05 1 3.65e-02 4.96e-01\n", " 6 2.754779e+04 -3.72e-03 3.95e+06 1.09e-01 -2.78e-01 3.32e+04 1 3.34e-02 5.30e-01\n", " 7 2.754779e+04 1.92e-03 3.54e+06 8.01e-02 1.60e-01 2.53e+04 1 8.35e-02 6.13e-01\n", " 8 2.754778e+04 1.71e-03 4.76e+06 5.66e-02 2.25e-01 2.17e+04 1 7.34e-02 6.87e-01\n", " 9 2.754778e+04 1.12e-03 4.35e+06 3.80e-02 3.00e-01 2.04e+04 1 7.29e-02 7.60e-01\n", " 10 2.754778e+04 4.30e-04 8.19e+06 2.31e-02 2.87e-01 1.89e+04 1 8.54e-02 8.45e-01\n", " 11 2.754778e+04 6.78e-05 8.08e+06 1.39e-02 1.22e-01 1.32e+04 1 7.81e-02 9.23e-01\n", " 12 2.754778e+04 1.81e-04 5.03e+06 6.73e-03 1.06e+00 3.96e+04 1 8.10e-02 1.00e+00\n", " 13 2.754778e+04 4.78e-05 9.32e+06 4.19e-03 1.34e+00 1.19e+05 1 8.39e-02 1.09e+00\n", " 14 2.754778e+04 -5.08e-05 9.32e+06 5.12e-03 -1.61e+00 5.94e+04 1 3.89e-02 1.13e+00\n", " 15 2.754778e+04 -6.01e-05 9.32e+06 4.52e-03 -1.97e+00 1.49e+04 1 3.63e-02 1.16e+00\n", " 16 2.754778e+04 -5.29e-05 9.32e+06 2.77e-03 -2.21e+00 1.86e+03 1 3.54e-02 1.20e+00\n", " 17 2.754778e+04 -3.62e-05 9.32e+06 8.10e-04 -3.64e+00 1.16e+02 1 3.49e-02 1.23e+00\n", " 18 2.754778e+04 -5.30e-05 9.32e+06 1.22e-04 -2.24e+01 3.63e+00 1 5.44e-02 1.29e+00\n", " 19 2.754778e+04 -1.88e-05 9.32e+06 8.00e-06 -4.69e+01 5.67e-02 1 4.77e-02 1.34e+00\n", " 20 2.754778e+04 -1.87e-06 9.32e+06 1.49e-07 -6.65e+01 4.43e-04 1 3.65e-02 1.37e+00\n", " 21 2.754778e+04 1.13e-10 9.32e+06 1.16e-09 3.97e-01 4.39e-04 1 7.65e-02 1.45e+00\n", " 22 2.754778e+04 2.95e-10 9.32e+06 1.15e-09 1.11e+00 1.32e-03 1 7.68e-02 1.53e+00\n", " 23 2.754778e+04 8.73e-10 9.32e+06 3.44e-09 1.20e+00 3.95e-03 1 8.53e-02 1.61e+00\n", " 24 2.754778e+04 1.84e-09 9.32e+06 1.03e-08 8.44e-01 5.86e-03 1 7.88e-02 1.69e+00\n", " 25 2.754778e+04 3.00e-09 9.32e+06 1.53e-08 9.51e-01 1.76e-02 1 7.38e-02 1.76e+00\n", " 26 2.754778e+04 8.77e-09 9.32e+06 4.61e-08 9.61e-01 5.28e-02 1 8.29e-02 1.85e+00\n", " 27 2.754778e+04 -1.87e-06 9.32e+06 1.40e-07 -7.66e+01 2.64e-02 1 3.67e-02 1.88e+00\n", " 28 2.754778e+04 5.58e-08 9.32e+06 6.95e-08 4.34e+00 7.91e-02 1 7.51e-02 1.96e+00\n", " 29 2.754778e+04 -4.09e-06 9.32e+06 2.11e-07 -1.25e+02 3.96e-02 1 3.59e-02 1.99e+00\n", " 30 2.754778e+04 -4.11e-06 9.32e+06 1.05e-07 -2.34e+02 9.89e-03 1 3.42e-02 2.03e+00\n", " 31 2.754778e+04 4.48e-09 9.32e+06 2.61e-08 9.59e-01 2.97e-02 1 8.84e-02 2.12e+00\n", " 32 2.754778e+04 -4.12e-06 9.32e+06 7.88e-08 -3.13e+02 1.48e-02 1 3.86e-02 2.16e+00\n", " 33 2.754778e+04 6.35e-09 9.32e+06 3.93e-08 9.41e-01 4.45e-02 1 7.38e-02 2.23e+00\n", " 34 2.754778e+04 -4.11e-06 9.32e+06 1.19e-07 -2.22e+02 2.23e-02 1 3.95e-02 2.27e+00\n", " 35 2.754778e+04 8.98e-09 9.32e+06 5.91e-08 9.30e-01 6.10e-02 1 1.00e-01 2.37e+00\n", " 36 2.754778e+04 -4.11e-06 9.32e+06 1.64e-07 -1.76e+02 3.05e-02 1 3.87e-02 2.41e+00\n", " 37 2.754778e+04 -4.12e-06 9.32e+06 8.14e-08 -3.33e+02 7.62e-03 1 3.70e-02 2.45e+00\n", " 38 2.754778e+04 3.02e-09 9.32e+06 2.03e-08 9.34e-01 2.19e-02 1 1.16e-01 2.56e+00\n", " 39 2.754778e+04 8.31e-09 9.32e+06 5.85e-08 9.34e-01 6.34e-02 1 1.49e-01 2.71e+00\n", " 40 2.754778e+04 -4.11e-06 9.32e+06 1.71e-07 -1.80e+02 3.17e-02 1 6.17e-02 2.77e+00\n", " 41 2.754778e+04 -4.12e-06 9.32e+06 8.52e-08 -3.42e+02 7.93e-03 1 6.12e-02 2.83e+00\n", " 42 2.754778e+04 3.07e-09 9.32e+06 2.12e-08 9.82e-01 2.38e-02 1 1.52e-01 2.99e+00\n", " 43 2.754778e+04 8.31e-09 9.32e+06 6.39e-08 9.25e-01 6.14e-02 1 1.46e-01 3.13e+00\n", " 44 2.754778e+04 -4.11e-06 9.32e+06 1.66e-07 -1.98e+02 3.07e-02 1 7.59e-02 3.21e+00\n", " 45 2.754778e+04 -4.12e-06 9.32e+06 8.29e-08 -3.77e+02 7.67e-03 1 6.34e-02 3.27e+00\n", " 46 2.754778e+04 2.79e-09 9.32e+06 2.06e-08 9.75e-01 2.30e-02 1 1.43e-01 3.42e+00\n", " 47 2.754778e+04 7.64e-09 9.32e+06 6.22e-08 9.34e-01 6.66e-02 1 1.36e-01 3.55e+00\n", " 48 2.754778e+04 -4.11e-06 9.32e+06 1.81e-07 -1.96e+02 3.33e-02 1 6.36e-02 3.62e+00\n", " 49 2.754778e+04 -4.12e-06 9.32e+06 9.03e-08 -3.71e+02 8.32e-03 1 7.09e-02 3.69e+00\n", " 50 2.754778e+04 2.62e-09 9.32e+06 2.25e-08 9.03e-01 1.74e-02 1 1.33e-01 3.82e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66046\n", " Parameters : 40778\n", " Iterations : 51\n", " Time : 3.82602 [s]\n", " Initial cost : 0.646757 [px]\n", " Final cost : 0.645833 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 6\n", " => Merged observations: 0\n", " => Filtered observations: 5\n", " => Changed observations: 0.000333\n", " => Filtered images: 0\n", "\n", "==============================================================================\n", "Registering image #54 (25)\n", "==============================================================================\n", "\n", " => Image sees 424 / 6071 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #26 (25)\n", "==============================================================================\n", "\n", " => Image sees 426 / 4908 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #12 (25)\n", "==============================================================================\n", "\n", " => Image sees 408 / 4734 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #2 (25)\n", "==============================================================================\n", "\n", " => Image sees 420 / 5302 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #49 (25)\n", "==============================================================================\n", "\n", " => Image sees 396 / 4537 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #42 (25)\n", "==============================================================================\n", "\n", " => Image sees 412 / 7192 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #31 (25)\n", "==============================================================================\n", "\n", " => Image sees 392 / 4911 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #29 (25)\n", "==============================================================================\n", "\n", " => Image sees 377 / 4375 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #30 (25)\n", "==============================================================================\n", "\n", " => Image sees 383 / 5459 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #46 (25)\n", "==============================================================================\n", "\n", " => Image sees 371 / 6276 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #36 (25)\n", "==============================================================================\n", "\n", " => Image sees 365 / 5769 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #45 (25)\n", "==============================================================================\n", "\n", " => Image sees 327 / 4776 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #51 (25)\n", "==============================================================================\n", "\n", " => Image sees 335 / 7201 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #15 (25)\n", "==============================================================================\n", "\n", " => Image sees 310 / 3844 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #25 (25)\n", "==============================================================================\n", "\n", " => Image sees 294 / 4700 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #35 (25)\n", "==============================================================================\n", "\n", " => Image sees 310 / 7008 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #44 (25)\n", "==============================================================================\n", "\n", " => Image sees 321 / 6947 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #50 (25)\n", "==============================================================================\n", "\n", " => Image sees 299 / 4738 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #53 (25)\n", "==============================================================================\n", "\n", " => Image sees 279 / 6380 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #32 (25)\n", "==============================================================================\n", "\n", " => Image sees 276 / 5325 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #27 (25)\n", "==============================================================================\n", "\n", " => Image sees 265 / 5006 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #38 (25)\n", "==============================================================================\n", "\n", " => Image sees 212 / 5248 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #1 (25)\n", "==============================================================================\n", "\n", " => Image sees 203 / 5197 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #39 (25)\n", "==============================================================================\n", "\n", " => Image sees 175 / 5688 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #55 (25)\n", "==============================================================================\n", "\n", " => Image sees 163 / 3964 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #11 (25)\n", "==============================================================================\n", "\n", " => Image sees 178 / 4040 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #40 (25)\n", "==============================================================================\n", "\n", " => Image sees 121 / 5332 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #37 (25)\n", "==============================================================================\n", "\n", " => Image sees 56 / 4254 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Registering image #56 (25)\n", "==============================================================================\n", "\n", " => Image sees 48 / 3290 points\n", " => Could not register, trying another image.\n", "\n", "==============================================================================\n", "Retriangulation\n", "==============================================================================\n", "\n", " => Completed observations: 0\n", " => Merged observations: 9\n", " => Retriangulated observations: 107\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 4.057147e+04 0.00e+00 1.09e+07 0.00e+00 0.00e+00 1.00e+04 0 5.94e-02 1.87e-01\n", " 1 2.987900e+04 1.07e+04 1.22e+06 2.71e+00 9.96e-01 3.00e+04 1 1.51e-01 3.37e-01\n", " 2 2.983053e+04 4.85e+01 6.29e+06 2.22e+00 5.26e-01 3.00e+04 1 1.59e-01 4.97e-01\n", " 3 2.978023e+04 5.03e+01 4.29e+06 1.09e+00 9.68e-01 9.00e+04 1 1.31e-01 6.28e-01\n", " 4 2.977655e+04 3.68e+00 3.63e+06 1.03e+00 8.95e-01 1.77e+05 1 1.47e-01 7.76e-01\n", " 5 2.977596e+04 5.88e-01 4.95e+06 4.30e-01 9.61e-01 5.32e+05 1 1.50e-01 9.26e-01\n", " 6 2.977598e+04 -1.81e-02 4.95e+06 2.95e-01 -2.29e-01 2.66e+05 1 6.96e-02 9.96e-01\n", " 7 2.977597e+04 -1.24e-02 4.95e+06 2.82e-01 -1.57e-01 6.65e+04 1 6.96e-02 1.07e+00\n", " 8 2.977595e+04 9.89e-03 8.92e+06 2.28e-01 1.32e-01 4.75e+04 1 1.48e-01 1.21e+00\n", " 9 2.977595e+04 3.79e-03 2.76e+06 2.10e-01 5.02e-02 2.75e+04 1 1.20e-01 1.33e+00\n", " 10 2.977593e+04 1.39e-02 3.77e+06 1.74e-01 2.13e-01 2.31e+04 1 7.77e-02 1.41e+00\n", " 11 2.977592e+04 9.22e-03 5.14e+06 1.14e-01 2.76e-01 2.12e+04 1 9.99e-02 1.51e+00\n", " 12 2.977592e+04 4.20e-03 3.23e+06 7.23e-02 3.01e-01 1.99e+04 1 7.54e-02 1.59e+00\n", " 13 2.977592e+04 1.69e-03 5.45e+06 4.27e-02 3.24e-01 1.91e+04 1 7.16e-02 1.66e+00\n", " 14 2.977592e+04 5.84e-04 6.47e+06 2.49e-02 3.26e-01 1.83e+04 1 8.37e-02 1.74e+00\n", " 15 2.977592e+04 1.92e-04 3.49e+06 1.38e-02 3.32e-01 1.77e+04 1 7.54e-02 1.82e+00\n", " 16 2.977592e+04 4.03e-05 3.10e+06 7.57e-03 2.30e-01 1.53e+04 1 7.59e-02 1.89e+00\n", " 17 2.977592e+04 7.89e-05 3.07e+06 3.79e-03 1.62e+00 4.58e+04 1 9.47e-02 1.99e+00\n", " 18 2.977592e+04 5.11e-06 3.45e+06 2.81e-03 3.94e-01 4.53e+04 1 7.56e-02 2.06e+00\n", " 19 2.977592e+04 -2.27e-05 3.45e+06 2.69e-03 -1.93e+00 2.27e+04 1 3.56e-02 2.10e+00\n", " 20 2.977592e+04 -4.98e-05 3.45e+06 2.13e-03 -4.69e+00 5.67e+03 1 3.81e-02 2.14e+00\n", " 21 2.977592e+04 -5.88e-05 3.45e+06 1.04e-03 -8.78e+00 7.08e+02 1 3.42e-02 2.17e+00\n", " 22 2.977592e+04 -9.70e-05 3.45e+06 2.78e-04 -3.87e+01 4.43e+01 1 4.47e-02 2.22e+00\n", " 23 2.977592e+04 -5.16e-05 3.45e+06 3.71e-05 -9.53e+01 1.38e+00 1 3.96e-02 2.26e+00\n", " 24 2.977592e+04 -2.29e-05 3.45e+06 2.16e-06 -2.33e+02 2.16e-02 1 3.70e-02 2.29e+00\n", " 25 2.977592e+04 9.28e-07 3.09e+06 3.48e-08 2.09e+02 6.48e-02 1 7.30e-02 2.37e+00\n", " 26 2.977592e+04 -3.92e-07 3.09e+06 1.06e-07 -3.40e+01 3.24e-02 1 3.55e-02 2.40e+00\n", " 27 2.977592e+04 -4.07e-07 3.09e+06 5.25e-08 -6.64e+01 8.11e-03 1 4.54e-02 2.45e+00\n", " 28 2.977592e+04 1.56e-09 3.09e+06 1.31e-08 9.72e-01 2.43e-02 1 9.11e-02 2.54e+00\n", " 29 2.977592e+04 -4.08e-07 3.09e+06 3.94e-08 -8.93e+01 1.22e-02 1 3.59e-02 2.58e+00\n", " 30 2.977592e+04 2.16e-09 3.09e+06 1.96e-08 9.26e-01 3.18e-02 1 7.22e-02 2.65e+00\n", " 31 2.977592e+04 -4.07e-07 3.09e+06 5.18e-08 -7.13e+01 1.59e-02 1 4.00e-02 2.69e+00\n", " 32 2.977592e+04 2.88e-09 3.09e+06 2.58e-08 9.81e-01 4.77e-02 1 7.23e-02 2.76e+00\n", " 33 2.977592e+04 -4.05e-07 3.09e+06 7.82e-08 -5.07e+01 2.39e-02 1 3.85e-02 2.80e+00\n", " 34 2.977592e+04 -4.08e-07 3.09e+06 3.89e-08 -9.78e+01 5.96e-03 1 3.78e-02 2.84e+00\n", " 35 2.977592e+04 1.05e-09 3.09e+06 9.68e-09 9.62e-01 1.79e-02 1 8.17e-02 2.92e+00\n", " 36 2.977592e+04 2.93e-09 2.98e+06 2.92e-08 9.37e-01 5.37e-02 1 7.84e-02 3.00e+00\n", " 37 2.977592e+04 -4.04e-07 2.98e+06 8.86e-08 -4.82e+01 2.68e-02 1 3.77e-02 3.03e+00\n", " 38 2.977592e+04 -4.08e-07 2.98e+06 4.40e-08 -9.27e+01 6.71e-03 1 3.40e-02 3.07e+00\n", " 39 2.977592e+04 1.09e-09 2.98e+06 1.10e-08 9.73e-01 2.01e-02 1 8.42e-02 3.15e+00\n", " 40 2.977592e+04 3.27e-09 2.88e+06 3.30e-08 9.97e-01 6.04e-02 1 7.80e-02 3.23e+00\n", " 41 2.977592e+04 -4.04e-07 2.88e+06 1.00e-07 -4.60e+01 3.02e-02 1 3.89e-02 3.27e+00\n", " 42 2.977592e+04 -4.08e-07 2.88e+06 4.99e-08 -8.83e+01 7.55e-03 1 3.62e-02 3.31e+00\n", " 43 2.977592e+04 1.05e-09 2.88e+06 1.24e-08 8.94e-01 1.48e-02 1 8.78e-02 3.39e+00\n", " 44 2.977592e+04 2.12e-09 2.88e+06 2.44e-08 9.36e-01 4.38e-02 1 7.52e-02 3.47e+00\n", " 45 2.977592e+04 -4.06e-07 2.88e+06 7.29e-08 -6.52e+01 2.19e-02 1 3.56e-02 3.50e+00\n", " 46 2.977592e+04 3.13e-09 2.78e+06 3.63e-08 9.67e-01 6.57e-02 1 8.97e-02 3.59e+00\n", " 47 2.977592e+04 -3.95e-07 2.78e+06 1.10e-07 -4.58e+01 3.28e-02 1 4.25e-02 3.64e+00\n", " 48 2.977592e+04 -4.08e-07 2.78e+06 5.48e-08 -8.99e+01 8.21e-03 1 3.61e-02 3.67e+00\n", " 49 2.977592e+04 1.06e-09 2.78e+06 1.36e-08 8.91e-01 1.57e-02 1 7.37e-02 3.75e+00\n", " 50 2.977592e+04 2.06e-09 2.78e+06 2.62e-08 9.42e-01 4.72e-02 1 8.84e-02 3.83e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66262\n", " Parameters : 40835\n", " Iterations : 51\n", " Time : 3.83872 [s]\n", " Initial cost : 0.782489 [px]\n", " Final cost : 0.670348 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 17\n", " => Merged observations: 7\n", " => Filtered observations: 92\n", " => Changed observations: 0.003501\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.801843e+04 0.00e+00 2.06e+07 0.00e+00 0.00e+00 1.00e+04 0 4.94e-02 1.22e-01\n", " 1 2.769575e+04 3.23e+02 3.23e+06 1.71e+00 9.96e-01 3.00e+04 1 7.94e-02 2.01e-01\n", " 2 2.768394e+04 1.18e+01 5.43e+06 1.68e+00 7.79e-01 3.63e+04 1 7.68e-02 2.78e-01\n", " 3 2.767758e+04 6.35e+00 3.52e+06 1.13e+00 9.54e-01 1.09e+05 1 9.16e-02 3.70e-01\n", " 4 2.767628e+04 1.30e+00 6.89e+06 1.19e+00 9.37e-01 3.27e+05 1 8.80e-02 4.58e-01\n", " 5 2.767606e+04 2.22e-01 3.70e+06 5.22e-01 1.04e+00 9.81e+05 1 7.79e-02 5.36e-01\n", " 6 2.767605e+04 8.44e-03 2.69e+06 8.57e-02 1.19e+00 2.94e+06 1 1.04e-01 6.39e-01\n", " 7 2.767605e+04 4.96e-04 4.07e+06 2.22e-02 5.98e-01 2.97e+06 1 8.74e-02 7.27e-01\n", " 8 2.767605e+04 -3.86e-04 4.07e+06 2.84e-02 -4.61e-01 1.48e+06 1 3.63e-02 7.63e-01\n", " 9 2.767605e+04 -2.87e-04 4.07e+06 2.82e-02 -3.43e-01 3.71e+05 1 3.47e-02 7.98e-01\n", " 10 2.767605e+04 -2.90e-04 4.07e+06 2.72e-02 -3.48e-01 4.63e+04 1 3.39e-02 8.32e-01\n", " 11 2.767605e+04 1.43e-04 2.92e+06 2.07e-02 1.84e-01 3.70e+04 1 8.43e-02 9.16e-01\n", " 12 2.767605e+04 2.01e-05 9.53e+06 1.85e-02 3.07e-02 2.03e+04 1 8.11e-02 9.97e-01\n", " 13 2.767605e+04 1.78e-04 3.53e+06 1.28e-02 3.97e-01 2.01e+04 1 7.47e-02 1.07e+00\n", " 14 2.767605e+04 1.27e-04 5.23e+06 7.26e-03 8.22e-01 2.74e+04 1 8.23e-02 1.15e+00\n", " 15 2.767605e+04 -5.23e-05 5.23e+06 4.93e-03 -8.78e-01 1.37e+04 1 3.78e-02 1.19e+00\n", " 16 2.767605e+04 -1.30e-04 5.23e+06 3.72e-03 -2.52e+00 3.42e+03 1 3.45e-02 1.23e+00\n", " 17 2.767605e+04 -2.51e-05 5.23e+06 1.77e-03 -7.72e-01 4.28e+02 1 3.33e-02 1.26e+00\n", " 18 2.767605e+04 -2.59e-05 5.23e+06 5.19e-04 -1.80e+00 2.67e+01 1 3.46e-02 1.29e+00\n", " 19 2.767605e+04 -4.63e-05 5.23e+06 7.00e-05 -1.35e+01 8.35e-01 1 3.52e-02 1.33e+00\n", " 20 2.767605e+04 -4.14e-05 5.23e+06 3.92e-06 -6.32e+01 1.30e-02 1 4.25e-02 1.37e+00\n", " 21 2.767605e+04 2.29e-08 5.23e+06 6.30e-08 9.91e-01 3.91e-02 1 7.77e-02 1.45e+00\n", " 22 2.767605e+04 9.50e-07 5.23e+06 1.90e-07 1.49e+01 1.17e-01 1 7.68e-02 1.53e+00\n", " 23 2.767605e+04 -2.40e-06 5.23e+06 5.74e-07 -1.58e+01 5.87e-02 1 3.84e-02 1.57e+00\n", " 24 2.767605e+04 -2.39e-06 5.23e+06 2.86e-07 -2.86e+01 1.47e-02 1 4.43e-02 1.61e+00\n", " 25 2.767605e+04 2.24e-08 5.23e+06 7.11e-08 9.94e-01 4.40e-02 1 8.51e-02 1.69e+00\n", " 26 2.767605e+04 1.25e-07 5.23e+06 2.15e-07 2.02e+00 1.32e-01 1 8.10e-02 1.78e+00\n", " 27 2.767605e+04 -5.96e-07 5.23e+06 6.50e-07 -4.03e+00 6.61e-02 1 4.10e-02 1.82e+00\n", " 28 2.767605e+04 -5.83e-07 5.23e+06 3.24e-07 -7.20e+00 1.65e-02 1 3.73e-02 1.85e+00\n", " 29 2.767605e+04 2.17e-08 5.23e+06 8.05e-08 9.90e-01 4.95e-02 1 7.50e-02 1.93e+00\n", " 30 2.767605e+04 -3.12e-06 5.23e+06 2.43e-07 -5.19e+01 2.48e-02 1 3.88e-02 1.97e+00\n", " 31 2.767605e+04 3.07e-08 5.23e+06 1.21e-07 9.82e-01 7.43e-02 1 8.48e-02 2.05e+00\n", " 32 2.767605e+04 -6.19e-07 5.23e+06 3.66e-07 -7.52e+00 3.72e-02 1 3.81e-02 2.09e+00\n", " 33 2.767605e+04 -6.04e-07 5.23e+06 1.83e-07 -1.39e+01 9.29e-03 1 3.42e-02 2.13e+00\n", " 34 2.767605e+04 1.12e-08 5.23e+06 4.55e-08 9.86e-01 2.79e-02 1 7.33e-02 2.20e+00\n", " 35 2.767605e+04 3.21e-08 5.23e+06 1.37e-07 9.88e-01 8.36e-02 1 8.55e-02 2.28e+00\n", " 36 2.767605e+04 -6.42e-07 5.23e+06 4.13e-07 -7.56e+00 4.18e-02 1 3.62e-02 2.32e+00\n", " 37 2.767605e+04 -6.02e-07 5.23e+06 2.06e-07 -1.34e+01 1.04e-02 1 3.96e-02 2.36e+00\n", " 38 2.767605e+04 1.16e-08 5.23e+06 5.14e-08 9.82e-01 3.13e-02 1 7.41e-02 2.43e+00\n", " 39 2.767605e+04 3.29e-08 5.23e+06 1.55e-07 9.82e-01 9.40e-02 1 8.53e-02 2.52e+00\n", " 40 2.767605e+04 -6.39e-07 5.23e+06 4.66e-07 -7.34e+00 4.70e-02 1 3.67e-02 2.56e+00\n", " 41 2.767605e+04 -6.01e-07 5.23e+06 2.33e-07 -1.30e+01 1.18e-02 1 4.00e-02 2.60e+00\n", " 42 2.767605e+04 1.20e-08 5.23e+06 5.80e-08 9.85e-01 3.53e-02 1 7.18e-02 2.67e+00\n", " 43 2.767605e+04 3.39e-08 5.23e+06 1.75e-07 9.83e-01 1.06e-01 1 9.81e-02 2.77e+00\n", " 44 2.767605e+04 -6.54e-07 5.23e+06 5.25e-07 -7.35e+00 5.29e-02 1 3.97e-02 2.81e+00\n", " 45 2.767605e+04 -6.09e-07 5.23e+06 2.63e-07 -1.28e+01 1.32e-02 1 3.71e-02 2.84e+00\n", " 46 2.767605e+04 1.23e-08 5.23e+06 6.55e-08 9.83e-01 3.97e-02 1 7.47e-02 2.92e+00\n", " 47 2.767605e+04 3.47e-08 5.23e+06 1.97e-07 9.84e-01 1.19e-01 1 8.29e-02 3.00e+00\n", " 48 2.767605e+04 -6.53e-07 5.23e+06 5.90e-07 -7.20e+00 5.95e-02 1 3.63e-02 3.04e+00\n", " 49 2.767605e+04 -6.16e-07 5.23e+06 2.96e-07 -1.27e+01 1.49e-02 1 3.67e-02 3.07e+00\n", " 50 2.767605e+04 1.24e-08 5.23e+06 7.38e-08 9.72e-01 4.46e-02 1 7.33e-02 3.15e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66112\n", " Parameters : 40787\n", " Iterations : 51\n", " Time : 3.15076 [s]\n", " Initial cost : 0.651001 [px]\n", " Final cost : 0.647011 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 18\n", " => Merged observations: 0\n", " => Filtered observations: 14\n", " => Changed observations: 0.000968\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.766026e+04 0.00e+00 9.49e+06 0.00e+00 0.00e+00 1.00e+04 0 4.33e-02 1.16e-01\n", " 1 2.755889e+04 1.01e+02 5.76e+06 5.92e-01 1.00e+00 3.00e+04 1 1.05e-01 2.21e-01\n", " 2 2.755628e+04 2.61e+00 2.42e+06 4.36e-01 9.99e-01 9.00e+04 1 7.82e-02 2.99e-01\n", " 3 2.755594e+04 3.44e-01 3.21e+06 2.66e-01 1.00e+00 2.70e+05 1 7.67e-02 3.76e-01\n", " 4 2.755592e+04 1.60e-02 3.34e+06 8.86e-02 1.00e+00 8.10e+05 1 8.50e-02 4.61e-01\n", " 5 2.755592e+04 -1.81e-05 3.34e+06 2.78e-02 -1.99e-02 4.05e+05 1 3.62e-02 4.97e-01\n", " 6 2.755592e+04 9.09e-05 3.33e+06 2.72e-02 9.98e-02 2.68e+05 1 9.33e-02 5.90e-01\n", " 7 2.755592e+04 -4.77e-04 3.33e+06 3.47e-02 -3.75e-01 1.34e+05 1 3.95e-02 6.30e-01\n", " 8 2.755592e+04 -2.71e-04 3.33e+06 3.25e-02 -2.16e-01 3.35e+04 1 4.16e-02 6.71e-01\n", " 9 2.755592e+04 2.15e-04 2.78e+06 2.40e-02 1.91e-01 2.71e+04 1 8.98e-02 7.61e-01\n", " 10 2.755592e+04 1.07e-04 6.84e+06 1.72e-02 1.55e-01 2.04e+04 1 8.08e-02 8.42e-01\n", " 11 2.755592e+04 1.27e-04 3.85e+06 1.12e-02 3.66e-01 2.00e+04 1 8.56e-02 9.28e-01\n", " 12 2.755592e+04 4.86e-05 4.41e+06 6.34e-03 4.03e-01 1.98e+04 1 7.38e-02 1.00e+00\n", " 13 2.755592e+04 3.44e-05 5.25e+06 3.81e-03 8.12e-01 2.62e+04 1 7.56e-02 1.08e+00\n", " 14 2.755592e+04 -2.85e-05 5.25e+06 2.44e-03 -1.87e+00 1.31e+04 1 3.74e-02 1.11e+00\n", " 15 2.755592e+04 -2.38e-05 5.25e+06 1.84e-03 -1.80e+00 3.27e+03 1 4.14e-02 1.16e+00\n", " 16 2.755592e+04 -3.41e-05 5.25e+06 8.83e-04 -4.00e+00 4.09e+02 1 3.39e-02 1.19e+00\n", " 17 2.755592e+04 -6.13e-05 5.25e+06 2.62e-04 -1.60e+01 2.56e+01 1 3.55e-02 1.23e+00\n", " 18 2.755592e+04 -8.22e-06 5.25e+06 3.56e-05 -8.91e+00 8.00e-01 1 3.40e-02 1.26e+00\n", " 19 2.755592e+04 1.11e-05 3.65e+06 1.98e-06 6.26e+01 2.40e+00 1 7.19e-02 1.33e+00\n", " 20 2.755592e+04 -2.35e-05 3.65e+06 4.98e-06 -1.29e+02 1.20e+00 1 4.20e-02 1.37e+00\n", " 21 2.755592e+04 3.83e-06 1.82e+06 2.68e-06 3.36e+01 3.60e+00 1 7.17e-02 1.45e+00\n", " 22 2.755592e+04 -4.49e-06 1.82e+06 6.51e-06 -2.59e+01 1.80e+00 1 3.79e-02 1.48e+00\n", " 23 2.755592e+04 -5.90e-05 1.82e+06 3.50e-06 -5.79e+02 4.50e-01 1 3.50e-02 1.52e+00\n", " 24 2.755592e+04 -4.15e-05 1.82e+06 9.54e-07 -1.31e+03 5.62e-02 1 4.34e-02 1.56e+00\n", " 25 2.755592e+04 4.50e-09 1.82e+06 1.23e-07 9.92e-01 1.69e-01 1 1.01e-01 1.66e+00\n", " 26 2.755592e+04 7.35e-07 1.77e+06 3.64e-07 5.82e+01 5.06e-01 1 8.00e-02 1.74e+00\n", " 27 2.755592e+04 -4.33e-05 1.77e+06 1.05e-06 -1.33e+03 2.53e-01 1 3.58e-02 1.78e+00\n", " 28 2.755592e+04 -2.36e-05 1.77e+06 5.34e-07 -1.37e+03 6.32e-02 1 3.40e-02 1.81e+00\n", " 29 2.755592e+04 4.33e-09 1.77e+06 1.36e-07 9.49e-01 1.90e-01 1 7.94e-02 1.89e+00\n", " 30 2.755592e+04 -2.35e-05 1.77e+06 4.00e-07 -1.83e+03 9.49e-02 1 3.68e-02 1.93e+00\n", " 31 2.755592e+04 6.45e-09 1.77e+06 2.02e-07 9.75e-01 2.85e-01 1 7.35e-02 2.00e+00\n", " 32 2.755592e+04 -2.36e-05 1.77e+06 5.90e-07 -1.29e+03 1.42e-01 1 3.62e-02 2.04e+00\n", " 33 2.755592e+04 -2.35e-05 1.77e+06 2.99e-07 -2.48e+03 3.56e-02 1 3.33e-02 2.07e+00\n", " 34 2.755592e+04 2.38e-09 1.77e+06 7.53e-08 9.60e-01 1.07e-01 1 8.27e-02 2.15e+00\n", " 35 2.755592e+04 6.90e-09 1.77e+06 2.24e-07 9.75e-01 3.20e-01 1 7.46e-02 2.23e+00\n", " 36 2.755592e+04 -6.35e-05 1.77e+06 6.53e-07 -3.25e+03 1.60e-01 1 3.66e-02 2.27e+00\n", " 37 2.755592e+04 2.69e-10 1.77e+06 3.31e-07 2.76e-02 8.68e-02 1 7.42e-02 2.34e+00\n", " 38 2.755592e+04 5.36e-09 1.77e+06 1.78e-07 9.98e-01 2.61e-01 1 8.47e-02 2.42e+00\n", " 39 2.755592e+04 -2.36e-05 1.77e+06 5.22e-07 -1.56e+03 1.30e-01 1 3.89e-02 2.46e+00\n", " 40 2.755592e+04 7.39e-09 1.77e+06 2.64e-07 9.50e-01 3.91e-01 1 7.51e-02 2.54e+00\n", " 41 2.755592e+04 -2.36e-05 1.77e+06 7.67e-07 -1.10e+03 1.95e-01 1 3.66e-02 2.58e+00\n", " 42 2.755592e+04 -1.21e-08 1.77e+06 3.89e-07 -1.08e+00 4.88e-02 1 5.47e-02 2.63e+00\n", " 43 2.755592e+04 2.75e-09 1.77e+06 9.83e-08 9.65e-01 1.47e-01 1 8.55e-02 2.72e+00\n", " 44 2.755592e+04 8.10e-09 1.77e+06 2.91e-07 9.69e-01 4.40e-01 1 7.50e-02 2.79e+00\n", " 45 2.755592e+04 -2.36e-05 1.77e+06 8.46e-07 -1.03e+03 2.20e-01 1 3.58e-02 2.83e+00\n", " 46 2.755592e+04 -3.22e-08 1.77e+06 4.29e-07 -2.69e+00 5.50e-02 1 4.24e-02 2.87e+00\n", " 47 2.755592e+04 3.04e-09 1.77e+06 1.09e-07 9.79e-01 1.65e-01 1 7.49e-02 2.94e+00\n", " 48 2.755592e+04 1.48e-09 1.77e+06 3.22e-07 1.65e-01 1.27e-01 1 7.64e-02 3.02e+00\n", " 49 2.755592e+04 6.58e-09 1.77e+06 2.45e-07 9.79e-01 3.80e-01 1 9.44e-02 3.11e+00\n", " 50 2.755592e+04 -5.91e-08 1.77e+06 7.16e-07 -3.13e+00 1.90e-01 1 4.07e-02 3.16e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66120\n", " Parameters : 40781\n", " Iterations : 51\n", " Time : 3.15937 [s]\n", " Initial cost : 0.646788 [px]\n", " Final cost : 0.645567 [px]\n", " Termination : No convergence\n", "\n", " => Completed observations: 7\n", " => Merged observations: 17\n", " => Filtered observations: 5\n", " => Changed observations: 0.000877\n", "\n", "==============================================================================\n", "Global bundle adjustment\n", "==============================================================================\n", "\n", "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n", " 0 2.758287e+04 0.00e+00 1.24e+07 0.00e+00 0.00e+00 1.00e+04 0 5.06e-02 1.39e-01\n", " 1 2.753605e+04 4.68e+01 7.07e+06 5.28e-01 1.00e+00 3.00e+04 1 8.02e-02 2.19e-01\n", " 2 2.753537e+04 6.76e-01 4.68e+06 2.67e-01 1.00e+00 9.00e+04 1 7.56e-02 2.95e-01\n", " 3 2.753530e+04 7.40e-02 4.20e+06 1.48e-01 1.02e+00 2.70e+05 1 1.00e-01 3.95e-01\n", " 4 2.753529e+04 3.87e-03 4.07e+06 9.37e-02 1.00e+00 8.10e+05 1 8.55e-02 4.81e-01\n", " 5 2.753529e+04 1.19e-06 6.20e+06 2.61e-02 2.22e-03 4.08e+05 1 7.59e-02 5.57e-01\n", " 6 2.753529e+04 -4.39e-04 6.20e+06 3.07e-02 -4.81e-01 2.04e+05 1 3.56e-02 5.93e-01\n", " 7 2.753529e+04 -2.87e-04 6.20e+06 2.93e-02 -3.16e-01 5.10e+04 1 4.24e-02 6.35e-01\n", " 8 2.753529e+04 -4.34e-05 6.20e+06 2.33e-02 -5.10e-02 6.37e+03 1 3.46e-02 6.70e-01\n", " 9 2.753529e+04 3.02e-04 2.21e+06 9.12e-03 6.31e-01 6.49e+03 1 7.65e-02 7.46e-01\n", " 10 2.753529e+04 8.95e-06 6.02e+06 1.42e-03 2.50e-01 5.77e+03 1 8.87e-02 8.35e-01\n", " 11 2.753529e+04 4.03e-05 1.14e+06 1.17e-03 4.41e+00 1.73e+04 1 1.56e-01 9.91e-01\n", " 12 2.753529e+04 -6.45e-05 1.14e+06 1.55e-03 -9.89e+00 8.65e+03 1 7.38e-02 1.06e+00\n", " 13 2.753529e+04 6.25e-05 1.36e+06 9.40e-04 1.40e+01 2.60e+04 1 1.22e-01 1.19e+00\n", " 14 2.753529e+04 -4.88e-05 1.36e+06 1.41e-03 -1.39e+01 1.30e+04 1 7.94e-02 1.27e+00\n", " 15 2.753529e+04 -6.58e-05 1.36e+06 8.65e-04 -2.67e+01 3.24e+03 1 7.31e-02 1.34e+00\n", " 16 2.753529e+04 -7.20e-05 1.36e+06 2.69e-04 -7.75e+01 4.06e+02 1 7.18e-02 1.41e+00\n", " 17 2.753529e+04 -5.85e-05 1.36e+06 4.14e-05 -3.33e+02 2.53e+01 1 1.01e-01 1.51e+00\n", " 18 2.753529e+04 -3.58e-05 1.36e+06 4.78e-06 -1.47e+03 7.92e-01 1 7.35e-02 1.59e+00\n", " 19 2.753529e+04 -1.44e-05 1.36e+06 2.85e-07 -3.80e+03 1.24e-02 1 6.75e-02 1.65e+00\n", " 20 2.753529e+04 9.46e-11 1.36e+06 5.67e-09 4.76e-01 1.24e-02 1 1.36e-01 1.79e+00\n", " 21 2.753529e+04 3.64e-11 1.36e+06 5.63e-09 2.89e-01 1.15e-02 1 1.31e-01 1.92e+00\n", " 22 2.753529e+04 3.64e-11 1.36e+06 5.20e-09 3.14e-01 1.09e-02 1 1.47e-01 2.07e+00\n", " 23 2.753529e+04 8.00e-11 1.36e+06 4.92e-09 4.99e-01 1.09e-02 1 1.28e-01 2.20e+00\n", " 24 2.753529e+04 7.28e-12 1.36e+06 4.89e-09 2.80e-01 1.01e-02 1 1.61e-01 2.36e+00\n", " 25 2.753529e+04 1.27e-10 1.36e+06 4.48e-09 1.07e+00 3.03e-02 1 1.47e-01 2.51e+00\n", " 26 2.753529e+04 -1.46e-11 1.36e+06 1.32e-08 3.25e-02 1.66e-02 1 1.72e-01 2.68e+00\n", " 27 2.753529e+04 1.24e-10 1.36e+06 7.22e-09 7.00e-01 1.78e-02 1 1.38e-01 2.82e+00\n", " 28 2.753529e+04 -3.64e-11 1.36e+06 7.65e-09 -1.11e-01 8.89e-03 1 6.81e-02 2.88e+00\n", " 29 2.753529e+04 -5.09e-11 1.36e+06 3.84e-09 -3.60e-01 2.22e-03 1 8.49e-02 2.97e+00\n", " 30 2.753529e+04 -1.82e-10 1.36e+06 9.63e-10 -6.51e+00 2.78e-04 1 5.87e-02 3.03e+00\n", " 31 2.753529e+04 -1.02e-10 1.36e+06 1.21e-10 -2.70e+01 1.74e-05 1 7.11e-02 3.10e+00\n", " 32 2.753529e+04 -1.16e-10 1.36e+06 7.53e-12 -5.04e+02 5.43e-07 1 6.71e-02 3.17e+00\n", " 33 2.753529e+04 -2.18e-11 1.36e+06 2.36e-13 -1.15e+03 8.48e-09 1 6.32e-02 3.23e+00\n", " 34 2.753529e+04 -1.46e-11 1.36e+06 3.73e-15 0.00e+00 6.63e-11 1 6.21e-02 3.29e+00\n", " 35 2.753529e+04 -1.46e-11 1.36e+06 5.49e-18 0.00e+00 2.59e-13 1 7.20e-02 3.37e+00\n", "\n", "\n", "Bundle adjustment report\n", "------------------------\n", " Residuals : 66124\n", " Parameters : 40772\n", " Iterations : 36\n", " Time : 3.43092 [s]\n", " Initial cost : 0.645863 [px]\n", " Final cost : 0.645305 [px]\n", " Termination : Convergence\n", "\n", " => Completed observations: 3\n", " => Merged observations: 0\n", " => Filtered observations: 3\n", " => Changed observations: 0.000181\n", " => Filtered images: 0\n", "\n", "Elapsed time: 3.861 [minutes]\n", "\n", "✓ COLMAP reconstruction complete: /content/output/colmap/sparse/0\n", "\n", "=== Verifying COLMAP Model for Gaussian Splatting ===\n", "Registered images: 24\n", "3D points: 13544\n", " ✓ cameras.bin\n", " ✓ images.bin\n", " ✓ points3D.bin\n", "\n", "✓ COLMAP model ready for Gaussian Splatting\n", " Source path: /content/output/colmap\n", "\n", "=== Training Gaussian Splatting ===\n", "COLMAP sparse model: /content/output/colmap/sparse/0\n", "Training images: /content/output/processed_images\n", "Output: /content/output/gs_output\n", "Iterations: 3000\n", "\n", "Command: python train.py -s /content/output/colmap --images /content/output/processed_images -m /content/output/gs_output --iterations 3000 --test_iterations 1500 3000 --save_iterations 1500 3000\n", "\n", "Optimizing /content/output/gs_output\n", "Output folder: /content/output/gs_output [04/02 09:14:59]\n", "\n", "Reading camera 1/24\n", "Reading camera 2/24\n", "Reading camera 3/24\n", "Reading camera 4/24\n", "Reading camera 5/24\n", "Reading camera 6/24\n", "Reading camera 7/24\n", "Reading camera 8/24\n", "Reading camera 9/24\n", "Reading camera 10/24\n", "Reading camera 11/24\n", "Reading camera 12/24\n", "Reading camera 13/24\n", "Reading camera 14/24\n", "Reading camera 15/24\n", "Reading camera 16/24\n", "Reading camera 17/24\n", "Reading camera 18/24\n", "Reading camera 19/24\n", "Reading camera 20/24\n", "Reading camera 21/24\n", "Reading camera 22/24\n", "Reading camera 23/24\n", "Reading camera 24/24 [04/02 09:14:59]\n", "Converting point3d.bin to .ply, will happen only the first time you open the scene. [04/02 09:14:59]\n", "Loading Training Cameras [04/02 09:14:59]\n", "Loading Test Cameras [04/02 09:15:01]\n", "Number of points at initialisation : 13544 [04/02 09:15:01]\n", "\n", "[ITER 1500] Evaluating train: L1 0.06823356449604034 PSNR 19.64864196777344 [04/02 09:16:41]\n", "\n", "[ITER 1500] Saving Gaussians [04/02 09:16:42]\n", "\n", "[ITER 3000] Evaluating train: L1 0.05113319754600525 PSNR 21.84209442138672 [04/02 09:18:25]\n", "\n", "[ITER 3000] Saving Gaussians [04/02 09:18:25]\n", "\n", "Training complete. [04/02 09:18:27]\n", "\n", "STDERR: 2026-02-04 09:14:53.986263: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:467] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered\n", "WARNING: All log messages before absl::InitializeLog() is called are written to STDERR\n", "E0000 00:00:1770196494.007633 7687 cuda_dnn.cc:8579] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered\n", "E0000 00:00:1770196494.014117 7687 cuda_blas.cc:1407] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered\n", "W0000 00:00:1770196494.034201 7687 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1770196494.034224 7687 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1770196494.034229 7687 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "W0000 00:00:1770196494.034231 7687 computation_placer.cc:177] computation placer already registered. Please check linkage and avoid linking the same target more than once.\n", "2026-02-04 09:14:54.040208: I tensorflow/core/platform/cpu_feature_guard.cc:210] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.\n", "To enable the following instructions: AVX2 AVX512F FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.\n", "\n", "Training progress: 0%| | 0/3000 [00:00