error: ‘qvec_data’ was not declared in this scope

[camenduru]

/content/colmap/src/estimators/pose.cc: In function ‘bool colmap::RefineAbsolutePose(const colmap::AbsolutePoseRefinementOptions&, const std::vector<char>&, const std::vector<Eigen::Matrix<double, 2, 1>, std::allocator<Eigen::Matrix<double, 2, 1> > >&, const std::vector<Eigen::Matrix<double, 3, 1> >&, Eigen::Vector4d*, Eigen::Vector3d*, colmap::Camera*, Eigen::Matrix6d*)’:
/content/colmap/src/estimators/pose.cc:239:37: error: ‘qvec_data’ was not declared in this scope
  239 |     SetQuaternionManifold(&problem, qvec_data);
      |                                     ^~~~~~~~~
/content/colmap/src/estimators/pose.cc:304:52: error: ‘qvec_data’ was not declared in this scope
  304 |     std::vector<const double*> parameter_blocks = {qvec_data, tvec_data};
      |                                                    ^~~~~~~~~
/content/colmap/src/estimators/pose.cc:304:63: error: ‘tvec_data’ was not declared in this scope
  304 |     std::vector<const double*> parameter_blocks = {qvec_data, tvec_data};
      |                                                               ^~~~~~~~~
/content/colmap/src/estimators/pose.cc:304:72: error: could not convert ‘{<expression error>, <expression error>}’ from ‘<brace-enclosed initializer list>’ to ‘std::vector<const double*>’
  304 |     std::vector<const double*> parameter_blocks = {qvec_data, tvec_data};
      |                                                                        ^
      |                                                                        |
      |                                                                        <brace-enclosed initializer list>
make[2]: *** [src/CMakeFiles/colmap.dir/build.make:696: src/CMakeFiles/colmap.dir/estimators/pose.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:604: src/CMakeFiles/colmap.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

[camenduru]

!git checkout tags/3.8

[camenduru]

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Looking in indexes: https://pypi.org/simple, https://us-python.pkg.dev/colab-wheels/public/simple/
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/content/instant-ngp
[2]
14m
scene_path = "/content/drive/MyDrive/fox" #@param {type:"string"}
train_path = "/content/train"
if not os.path.isdir(scene_path):
  raise NotADirectoryError(scene_path)
!rm -rf {train_path}
!mkdir {train_path}
!cp -r {scene_path}/. /content/train
transforms_path = os.path.join(train_path, f"transforms.json")
!python ./scripts/colmap2nerf.py --colmap_matcher exhaustive --run_colmap --aabb_scale 4 --images {train_path} --out {transforms_path}

scene_path:
/content/drive/MyDrive/fox
train_steps:
2002
running colmap with:
    db=colmap.db
    images="/content/train"
    sparse=colmap_sparse
    text=colmap_text
warning! folders 'colmap_sparse' and 'colmap_text' will be deleted/replaced. continue? (Y/n)y
==== running: colmap feature_extractor --ImageReader.camera_model OPENCV --ImageReader.camera_params "" --SiftExtraction.estimate_affine_shape=true --SiftExtraction.domain_size_pooling=true --ImageReader.single_camera 1 --database_path colmap.db --image_path "/content/train"
WARNING: Your current options use the maximum number of threads on the machine to extract features. Extracting SIFT features on the CPU can consume a lot of RAM per thread for large images. Consider reducing the maximum image size and/or the first octave or manually limit the number of extraction threads. Ignore this warning, if your machine has sufficient memory for the current settings.

==============================================================================
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==============================================================================

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  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        6478
Processed file [42/50]
  Name:            0090.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        3730
Processed file [43/50]
  Name:            0097.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        4911
Processed file [44/50]
  Name:            0094.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        7149
Processed file [45/50]
  Name:            0105.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        8834
Processed file [46/50]
  Name:            0103.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        10884
Processed file [47/50]
  Name:            0107.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        8660
Processed file [48/50]
  Name:            0108.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        9054
Processed file [49/50]
  Name:            0110.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        7214
Processed file [50/50]
  Name:            0115.jpg
  Dimensions:      1080 x 1920
  Camera:          #1 - OPENCV
  Focal Length:    2304.00px
  Features:        10005
Elapsed time: 5.800 [minutes]
==== running: colmap exhaustive_matcher --SiftMatching.guided_matching=true --database_path colmap.db

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

Matching block [1/1, 1/1] in 13.033s
Elapsed time: 0.222 [minutes]
==== running: mkdir colmap_sparse
==== running: colmap mapper --database_path colmap.db --image_path "/content/train" --output_path colmap_sparse

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

Loading cameras... 1 in 0.000s
Loading matches... 1119 in 0.014s
Loading images... 50 in 0.019s (connected 50)
Building correspondence graph... in 0.167s (ignored 0)

Elapsed time: 0.003 [minutes]

==============================================================================
Finding good initial image pair
==============================================================================

==============================================================================
Initializing with image pair #19 and #15
==============================================================================

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.255638e+03    0.00e+00    1.28e+05   0.00e+00   0.00e+00  1.00e+04        0    1.04e-02    2.28e-02
   1  4.726331e+03   -1.47e+03    1.28e+05   8.27e+01  -1.20e+00  5.00e+03        1    8.91e-03    3.18e-02
   2  3.332731e+03   -7.71e+01    1.28e+05   6.98e+01  -6.77e-02  1.25e+03        1    5.72e-03    3.76e-02
   3  2.527453e+03    7.28e+02    1.23e+05   3.62e+01   9.12e-01  2.85e+03        1    1.73e-02    5.49e-02
   4  2.225298e+03    3.02e+02    1.55e+05   3.81e+01   7.34e-01  3.17e+03        1    1.55e-02    7.05e-02
   5  2.031715e+03    1.94e+02    4.38e+04   1.91e+01   9.54e-01  9.51e+03        1    1.54e-02    8.59e-02
   6  1.984596e+03    4.71e+01    3.55e+04   1.32e+01   8.95e-01  1.88e+04        1    1.55e-02    1.01e-01
   7  1.971679e+03    1.29e+01    1.13e+04   4.50e+00   9.88e-01  5.64e+04        1    1.61e-02    1.18e-01
   8  1.970065e+03    1.61e+00    9.61e+03   2.34e+00   9.58e-01  1.69e+05        1    1.56e-02    1.33e-01
   9  1.969393e+03    6.72e-01    7.51e+03   7.63e+00   6.09e-01  1.71e+05        1    1.62e-02    1.49e-01
  10  1.968510e+03    8.82e-01    4.68e+03   7.49e+00   8.11e-01  2.25e+05        1    1.45e-02    1.64e-01
  11  1.968073e+03    4.37e-01    4.82e+03   1.05e+01   4.69e-01  2.25e+05        1    1.52e-02    1.79e-01
  12  1.967415e+03    6.58e-01    7.47e+03   1.09e+01   5.51e-01  2.25e+05        1    1.49e-02    1.94e-01
  13  1.966771e+03    6.44e-01    1.04e+04   1.12e+01   5.21e-01  2.25e+05        1    1.48e-02    2.09e-01
  14  1.966108e+03    6.64e-01    1.21e+04   1.13e+01   5.11e-01  2.25e+05        1    1.55e-02    2.25e-01
  15  1.965426e+03    6.82e-01    1.30e+04   1.14e+01   5.06e-01  2.25e+05        1    1.61e-02    2.41e-01
  16  1.964730e+03    6.96e-01    1.36e+04   1.15e+01   5.02e-01  2.25e+05        1    1.55e-02    2.56e-01
  17  1.964022e+03    7.08e-01    1.40e+04   1.15e+01   4.99e-01  2.25e+05        1    1.50e-02    2.71e-01
  18  1.963304e+03    7.18e-01    1.43e+04   1.16e+01   4.95e-01  2.25e+05        1    1.55e-02    2.87e-01
  19  1.962578e+03    7.27e-01    1.46e+04   1.16e+01   4.91e-01  2.25e+05        1    1.49e-02    3.02e-01
  20  1.961843e+03    7.35e-01    1.49e+04   1.17e+01   4.88e-01  2.25e+05        1    1.53e-02    3.17e-01
  21  1.961099e+03    7.44e-01    1.52e+04   1.17e+01   4.84e-01  2.25e+05        1    1.80e-02    3.35e-01
  22  1.960347e+03    7.52e-01    1.55e+04   1.17e+01   4.81e-01  2.25e+05        1    1.57e-02    3.51e-01
  23  1.959586e+03    7.61e-01    1.58e+04   1.18e+01   4.77e-01  2.25e+05        1    1.45e-02    3.66e-01
  24  1.958817e+03    7.69e-01    1.61e+04   1.18e+01   4.74e-01  2.25e+05        1    1.52e-02    3.81e-01
  25  1.958039e+03    7.78e-01    1.63e+04   1.18e+01   4.71e-01  2.25e+05        1    1.47e-02    3.95e-01
  26  1.957253e+03    7.86e-01    1.66e+04   1.18e+01   4.68e-01  2.25e+05        1    1.58e-02    4.11e-01
  27  1.956457e+03    7.95e-01    1.69e+04   1.19e+01   4.64e-01  2.25e+05        1    1.50e-02    4.26e-01
  28  1.955653e+03    8.04e-01    1.72e+04   1.19e+01   4.61e-01  2.25e+05        1    1.60e-02    4.42e-01
  29  1.954841e+03    8.13e-01    1.75e+04   1.19e+01   4.59e-01  2.25e+05        1    1.60e-02    4.59e-01
  30  1.954019e+03    8.22e-01    1.78e+04   1.19e+01   4.56e-01  2.25e+05        1    1.55e-02    4.74e-01
  31  1.953188e+03    8.31e-01    1.81e+04   1.20e+01   4.53e-01  2.25e+05        1    1.51e-02    4.89e-01
  32  1.952349e+03    8.39e-01    1.84e+04   1.20e+01   4.51e-01  2.24e+05        1    1.51e-02    5.04e-01
  33  1.951500e+03    8.48e-01    1.87e+04   1.20e+01   4.48e-01  2.24e+05        1    1.59e-02    5.20e-01
  34  1.950643e+03    8.57e-01    1.90e+04   1.20e+01   4.46e-01  2.24e+05        1    1.60e-02    5.36e-01
  35  1.949777e+03    8.66e-01    1.92e+04   1.20e+01   4.44e-01  2.23e+05        1    1.58e-02    5.52e-01
  36  1.948903e+03    8.74e-01    1.95e+04   1.20e+01   4.42e-01  2.23e+05        1    1.54e-02    5.68e-01
  37  1.948020e+03    8.83e-01    1.98e+04   1.20e+01   4.41e-01  2.23e+05        1    1.56e-02    5.83e-01
  38  1.947128e+03    8.91e-01    2.01e+04   1.20e+01   4.39e-01  2.22e+05        1    1.53e-02    5.99e-01
  39  1.946229e+03    9.00e-01    2.03e+04   1.20e+01   4.38e-01  2.22e+05        1    1.59e-02    6.15e-01
  40  1.945321e+03    9.08e-01    2.06e+04   1.20e+01   4.36e-01  2.21e+05        1    2.00e-02    6.35e-01
  41  1.944405e+03    9.16e-01    2.09e+04   1.20e+01   4.35e-01  2.21e+05        1    1.61e-02    6.51e-01
  42  1.943481e+03    9.24e-01    2.11e+04   1.20e+01   4.34e-01  2.20e+05        1    1.58e-02    6.67e-01
  43  1.942550e+03    9.31e-01    2.14e+04   1.20e+01   4.33e-01  2.20e+05        1    1.58e-02    6.82e-01
  44  1.941611e+03    9.39e-01    2.16e+04   1.20e+01   4.32e-01  2.19e+05        1    1.54e-02    6.98e-01
  45  1.940665e+03    9.46e-01    2.18e+04   1.20e+01   4.32e-01  2.19e+05        1    1.61e-02    7.14e-01
  46  1.939712e+03    9.53e-01    2.21e+04   1.19e+01   4.31e-01  2.18e+05        1    1.58e-02    7.30e-01
  47  1.938752e+03    9.60e-01    2.23e+04   1.19e+01   4.31e-01  2.18e+05        1    1.56e-02    7.45e-01
  48  1.937785e+03    9.67e-01    2.25e+04   1.19e+01   4.30e-01  2.17e+05        1    1.55e-02    7.61e-01
  49  1.936812e+03    9.73e-01    2.27e+04   1.19e+01   4.30e-01  2.17e+05        1    1.57e-02    7.77e-01
  50  1.935833e+03    9.79e-01    2.29e+04   1.18e+01   4.30e-01  2.16e+05        1    1.58e-02    7.93e-01
  51  1.934847e+03    9.85e-01    2.31e+04   1.18e+01   4.30e-01  2.15e+05        1    1.57e-02    8.08e-01
  52  1.933856e+03    9.91e-01    2.34e+04   1.18e+01   4.30e-01  2.15e+05        1    1.60e-02    8.24e-01
  53  1.932859e+03    9.97e-01    2.36e+04   1.17e+01   4.30e-01  2.14e+05        1    1.61e-02    8.41e-01
  54  1.931857e+03    1.00e+00    2.37e+04   1.17e+01   4.30e-01  2.14e+05        1    1.57e-02    8.56e-01
  55  1.930849e+03    1.01e+00    2.39e+04   1.17e+01   4.30e-01  2.13e+05        1    1.59e-02    8.72e-01
  56  1.929837e+03    1.01e+00    2.41e+04   1.16e+01   4.30e-01  2.12e+05        1    1.56e-02    8.88e-01
  57  1.928819e+03    1.02e+00    2.43e+04   1.16e+01   4.30e-01  2.12e+05        1    1.56e-02    9.03e-01
  58  1.927797e+03    1.02e+00    2.45e+04   1.16e+01   4.30e-01  2.11e+05        1    1.79e-02    9.21e-01
  59  1.926771e+03    1.03e+00    2.46e+04   1.15e+01   4.31e-01  2.11e+05        1    2.82e-02    9.50e-01
  60  1.925741e+03    1.03e+00    2.48e+04   1.15e+01   4.31e-01  2.10e+05        1    1.52e-02    9.65e-01
  61  1.924706e+03    1.03e+00    2.50e+04   1.14e+01   4.31e-01  2.10e+05        1    1.51e-02    9.80e-01
  62  1.923669e+03    1.04e+00    2.51e+04   1.14e+01   4.32e-01  2.09e+05        1    1.47e-02    9.95e-01
  63  1.922627e+03    1.04e+00    2.53e+04   1.13e+01   4.32e-01  2.08e+05        1    1.56e-02    1.01e+00
  64  1.921583e+03    1.04e+00    2.54e+04   1.13e+01   4.33e-01  2.08e+05        1    1.52e-02    1.03e+00
  65  1.920535e+03    1.05e+00    2.56e+04   1.12e+01   4.33e-01  2.07e+05        1    1.55e-02    1.04e+00
  66  1.919485e+03    1.05e+00    2.57e+04   1.12e+01   4.34e-01  2.07e+05        1    1.72e-02    1.06e+00
  67  1.918432e+03    1.05e+00    2.58e+04   1.11e+01   4.35e-01  2.07e+05        1    1.51e-02    1.07e+00
  68  1.917378e+03    1.05e+00    2.60e+04   1.11e+01   4.35e-01  2.06e+05        1    1.54e-02    1.09e+00
  69  1.916321e+03    1.06e+00    2.61e+04   1.10e+01   4.36e-01  2.06e+05        1    1.48e-02    1.10e+00
  70  1.915263e+03    1.06e+00    2.62e+04   1.10e+01   4.37e-01  2.05e+05        1    1.59e-02    1.12e+00
  71  1.914203e+03    1.06e+00    2.63e+04   1.09e+01   4.38e-01  2.05e+05        1    1.54e-02    1.14e+00
  72  1.913142e+03    1.06e+00    2.64e+04   1.09e+01   4.39e-01  2.04e+05        1    1.59e-02    1.15e+00
  73  1.912081e+03    1.06e+00    2.65e+04   1.08e+01   4.40e-01  2.04e+05        1    1.48e-02    1.17e+00
  74  1.911019e+03    1.06e+00    2.66e+04   1.08e+01   4.41e-01  2.04e+05        1    1.50e-02    1.18e+00
  75  1.909957e+03    1.06e+00    2.67e+04   1.07e+01   4.42e-01  2.03e+05        1    1.50e-02    1.20e+00
  76  1.908895e+03    1.06e+00    2.67e+04   1.07e+01   4.43e-01  2.03e+05        1    1.52e-02    1.21e+00
  77  1.907834e+03    1.06e+00    2.68e+04   1.06e+01   4.44e-01  2.03e+05        1    1.56e-02    1.23e+00
  78  1.906774e+03    1.06e+00    2.69e+04   1.05e+01   4.45e-01  2.03e+05        1    1.93e-02    1.25e+00
  79  1.905714e+03    1.06e+00    2.69e+04   1.05e+01   4.46e-01  2.02e+05        1    1.59e-02    1.26e+00
  80  1.904657e+03    1.06e+00    2.69e+04   1.04e+01   4.48e-01  2.02e+05        1    2.02e-02    1.28e+00
  81  1.903601e+03    1.06e+00    2.70e+04   1.03e+01   4.49e-01  2.02e+05        1    1.61e-02    1.30e+00
  82  1.902548e+03    1.05e+00    2.70e+04   1.03e+01   4.50e-01  2.02e+05        1    1.67e-02    1.32e+00
  83  1.901497e+03    1.05e+00    2.70e+04   1.02e+01   4.52e-01  2.02e+05        1    1.61e-02    1.33e+00
  84  1.900450e+03    1.05e+00    2.70e+04   1.01e+01   4.54e-01  2.01e+05        1    1.72e-02    1.35e+00
  85  1.899406e+03    1.04e+00    2.70e+04   1.01e+01   4.55e-01  2.01e+05        1    1.54e-02    1.36e+00
  86  1.898366e+03    1.04e+00    2.70e+04   9.99e+00   4.57e-01  2.01e+05        1    1.50e-02    1.38e+00
  87  1.897330e+03    1.04e+00    2.69e+04   9.92e+00   4.59e-01  2.01e+05        1    1.51e-02    1.39e+00
  88  1.896299e+03    1.03e+00    2.69e+04   9.84e+00   4.61e-01  2.01e+05        1    1.53e-02    1.41e+00
  89  1.895273e+03    1.03e+00    2.68e+04   9.77e+00   4.63e-01  2.01e+05        1    1.48e-02    1.42e+00
  90  1.894253e+03    1.02e+00    2.68e+04   9.69e+00   4.65e-01  2.01e+05        1    1.52e-02    1.44e+00
  91  1.893239e+03    1.01e+00    2.67e+04   9.61e+00   4.67e-01  2.01e+05        1    1.52e-02    1.45e+00
  92  1.892232e+03    1.01e+00    2.66e+04   9.53e+00   4.70e-01  2.01e+05        1    1.54e-02    1.47e+00
  93  1.891232e+03    1.00e+00    2.64e+04   9.45e+00   4.72e-01  2.01e+05        1    1.50e-02    1.49e+00
  94  1.890239e+03    9.93e-01    2.63e+04   9.37e+00   4.75e-01  2.01e+05        1    1.49e-02    1.50e+00
  95  1.889255e+03    9.84e-01    2.62e+04   9.28e+00   4.78e-01  2.01e+05        1    1.54e-02    1.52e+00
  96  1.888279e+03    9.76e-01    2.60e+04   9.19e+00   4.81e-01  2.01e+05        1    1.58e-02    1.53e+00
  97  1.887312e+03    9.67e-01    2.58e+04   9.10e+00   4.84e-01  2.01e+05        1    1.78e-02    1.55e+00
  98  1.886355e+03    9.57e-01    2.56e+04   9.01e+00   4.87e-01  2.01e+05        1    1.47e-02    1.56e+00
  99  1.885409e+03    9.47e-01    2.54e+04   8.92e+00   4.91e-01  2.01e+05        1    1.47e-02    1.58e+00
 100  1.884472e+03    9.36e-01    2.52e+04   8.82e+00   4.94e-01  2.01e+05        1    1.47e-02    1.59e+00

Bundle adjustment report
------------------------
    Residuals : 8992
   Parameters : 6755
   Iterations : 101
         Time : 1.59431 [s]
 Initial cost : 0.601714 [px]
   Final cost : 0.45779 [px]
  Termination : No convergence

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

==============================================================================
Registering image #18 (3)
==============================================================================

  => Image sees 1684 / 6151 points

Pose refinement report
----------------------
    Residuals : 3346
   Parameters : 6
   Iterations : 9
         Time : 0.0432019 [s]
 Initial cost : 0.67763 [px]
   Final cost : 0.525524 [px]
  Termination : Convergence

  => Continued observations: 1672
  => Added observations: 4710

Bundle adjustment report
------------------------
    Residuals : 21756
   Parameters : 13409
   Iterations : 26
         Time : 1.1327 [s]
 Initial cost : 0.486814 [px]
   Final cost : 0.460638 [px]
  Termination : No convergence

  => Merged observations: 0
  => Completed observations: 10
  => Filtered observations: 193
  => Changed observations: 0.018662

Bundle adjustment report
------------------------
    Residuals : 21390
   Parameters : 13370
   Iterations : 26
         Time : 1.09783 [s]
 Initial cost : 0.512817 [px]
   Final cost : 0.494764 [px]
  Termination : No convergence

  => Merged observations: 0
  => Completed observations: 28
  => Filtered observations: 11
  => Changed observations: 0.003647

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

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

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.287302e+03    0.00e+00    1.60e+04   0.00e+00   0.00e+00  1.00e+04        0    2.68e-02    5.71e-02
   1  5.274952e+03    1.24e+01    2.02e+03   1.68e+00   1.00e+00  3.00e+04        1    4.24e-02    9.96e-02
   2  5.274743e+03    2.09e-01    9.76e+02   1.40e+00   1.00e+00  9.00e+04        1    4.07e-02    1.40e-01
   3  5.274645e+03    9.84e-02    2.52e+03   2.84e+00   9.85e-01  2.70e+05        1    4.40e-02    1.84e-01
   4  5.274481e+03    1.63e-01    1.29e+04   7.96e+00   7.95e-01  3.40e+05        1    4.41e-02    2.29e-01
   5  5.274299e+03    1.82e-01    1.28e+04   8.62e+00   7.95e-01  4.27e+05        1    4.20e-02    2.71e-01
   6  5.274143e+03    1.57e-01    1.30e+04   8.88e+00   7.58e-01  4.95e+05        1    4.12e-02    3.12e-01
   7  5.274009e+03    1.34e-01    1.09e+04   8.17e+00   7.93e-01  6.20e+05        1    4.09e-02    3.53e-01
   8  5.273915e+03    9.46e-02    9.60e+03   7.70e+00   7.78e-01  7.48e+05        1    4.09e-02    3.94e-01
   9  5.273847e+03    6.79e-02    7.17e+03   6.67e+00   8.21e-01  1.02e+06        1    4.14e-02    4.35e-01
  10  5.273807e+03    4.01e-02    5.58e+03   5.90e+00   8.21e-01  1.39e+06        1    4.52e-02    4.81e-01
  11  5.273784e+03    2.27e-02    3.44e+03   4.64e+00   8.79e-01  2.45e+06        1    4.48e-02    5.25e-01
  12  5.273774e+03    9.39e-03    2.05e+03   3.59e+00   9.05e-01  5.20e+06        1    4.14e-02    5.67e-01
  13  5.273772e+03    2.86e-03    7.03e+02   2.11e+00   9.84e-01  1.56e+07        1    4.07e-02    6.08e-01
  14  5.273771e+03    3.41e-04    9.91e+01   7.93e-01   1.04e+00  4.68e+07        1    3.95e-02    6.47e-01
  15  5.273771e+03    1.10e-05    4.00e+00   1.61e-01   1.09e+00  1.41e+08        1    4.23e-02    6.89e-01
  16  5.273771e+03    2.06e-07    4.07e-01   2.45e-02   1.13e+00  4.22e+08        1    4.12e-02    7.31e-01
  17  5.273771e+03    4.27e-09    4.48e-02   3.47e-03   1.14e+00  1.26e+09        1    4.46e-02    7.75e-01

Bundle adjustment report
------------------------
    Residuals : 21404
   Parameters : 13376
   Iterations : 18
         Time : 0.778221 [s]
 Initial cost : 0.497015 [px]
   Final cost : 0.496379 [px]
  Termination : Convergence

  => Completed observations: 0
  => Merged observations: 0
  => Filtered observations: 4
  => Changed observations: 0.000374
  => Filtered images: 0

==============================================================================
Registering image #20 (4)
==============================================================================

  => Image sees 2951 / 6342 points

Pose refinement report
----------------------
    Residuals : 5852
   Parameters : 6
   Iterations : 8
         Time : 0.0680909 [s]
 Initial cost : 0.709224 [px]
   Final cost : 0.58658 [px]
  Termination : Convergence

  => Continued observations: 2903
  => Added observations: 2793

Bundle adjustment report
------------------------
    Residuals : 32780
   Parameters : 17237
   Iterations : 26
         Time : 1.84415 [s]
 Initial cost : 0.545191 [px]
   Final cost : 0.496431 [px]
  Termination : No convergence

  => Merged observations: 36
  => Completed observations: 68
  => Filtered observations: 364
  => Changed observations: 0.028554

Bundle adjustment report
------------------------
    Residuals : 32142
   Parameters : 17063
   Iterations : 10
         Time : 0.96359 [s]
 Initial cost : 0.565714 [px]
   Final cost : 0.545507 [px]
  Termination : Convergence

  => Merged observations: 0
  => Completed observations: 70
  => Filtered observations: 7
  => Changed observations: 0.004791

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

  => Completed observations: 8
  => Merged observations: 0
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.729974e+03    0.00e+00    9.83e+03   0.00e+00   0.00e+00  1.00e+04        0    7.06e-02    1.28e-01
   1  9.697864e+03    3.21e+01    1.72e+02   2.92e+00   1.00e+00  3.00e+04        1    1.12e-01    2.40e-01
   2  9.697803e+03    6.12e-02    5.62e+02   6.00e-01   9.98e-01  9.00e+04        1    1.05e-01    3.46e-01
   3  9.697784e+03    1.94e-02    8.54e+02   1.15e+00   9.99e-01  2.70e+05        1    1.03e-01    4.49e-01
   4  9.697754e+03    2.97e-02    1.75e+03   2.94e+00   9.87e-01  8.10e+05        1    1.04e-01    5.54e-01
   5  9.697722e+03    3.20e-02    3.84e+03   5.06e+00   9.10e-01  1.80e+06        1    1.04e-01    6.57e-01
   6  9.697705e+03    1.67e-02    2.56e+03   4.19e+00   9.28e-01  4.81e+06        1    1.05e-01    7.62e-01
   7  9.697701e+03    4.12e-03    6.45e+02   2.11e+00   1.00e+00  1.44e+07        1    1.06e-01    8.68e-01
   8  9.697701e+03    2.37e-04    3.87e+01   5.14e-01   1.03e+00  4.33e+07        1    1.08e-01    9.77e-01
   9  9.697701e+03    2.79e-06    9.37e-01   6.59e-02   1.07e+00  1.30e+08        1    1.11e-01    1.09e+00
  10  9.697701e+03    2.88e-08    8.59e-02   6.62e-03   1.10e+00  3.90e+08        1    1.13e-01    1.20e+00

Bundle adjustment report
------------------------
    Residuals : 32274
   Parameters : 17138
   Iterations : 11
         Time : 1.20397 [s]
 Initial cost : 0.549072 [px]
   Final cost : 0.548161 [px]
  Termination : Convergence

  => Completed observations: 1
  => Merged observations: 0
  => Filtered observations: 2
  => Changed observations: 0.000186
  => Filtered images: 0

==============================================================================
Registering image #17 (5)
==============================================================================

  => Image sees 3082 / 5777 points

Pose refinement report
----------------------
    Residuals : 6118
   Parameters : 6
   Iterations : 10
         Time : 0.157327 [s]
 Initial cost : 0.798507 [px]
   Final cost : 0.635393 [px]
  Termination : Convergence

  => Continued observations: 2991
  => Added observations: 2532

Bundle adjustment report
------------------------
    Residuals : 43314
   Parameters : 20525
   Iterations : 26
         Time : 3.32046 [s]
 Initial cost : 0.577655 [px]
   Final cost : 0.525846 [px]
  Termination : No convergence

  => Merged observations: 181
  => Completed observations: 184
  => Filtered observations: 466
  => Changed observations: 0.038371

Bundle adjustment report
------------------------
    Residuals : 42748
   Parameters : 20372
   Iterations : 8
         Time : 0.760547 [s]
 Initial cost : 0.613333 [px]
   Final cost : 0.59138 [px]
  Termination : Convergence

  => Merged observations: 15
  => Completed observations: 56
  => Filtered observations: 10
  => Changed observations: 0.003790

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

  => Completed observations: 7
  => Merged observations: 7
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.509446e+04    0.00e+00    1.00e+04   0.00e+00   0.00e+00  1.00e+04        0    5.65e-02    1.11e-01
   1  1.500635e+04    8.81e+01    1.20e+02   3.38e+00   1.00e+00  3.00e+04        1    9.88e-02    2.10e-01
   2  1.500633e+04    1.87e-02    1.69e+01   2.36e-01   1.00e+00  9.00e+04        1    9.16e-02    3.01e-01
   3  1.500633e+04    2.40e-03    4.30e+01   3.63e-01   1.00e+00  2.70e+05        1    9.18e-02    3.93e-01
   4  1.500632e+04    1.80e-03    7.85e+01   5.29e-01   1.00e+00  8.10e+05        1    9.75e-02    4.91e-01
   5  1.500632e+04    4.93e-04    3.72e+01   3.66e-01   1.01e+00  2.43e+06        1    9.94e-02    5.90e-01
   6  1.500632e+04    2.91e-05    2.82e+00   1.01e-01   1.01e+00  7.29e+06        1    9.14e-02    6.82e-01
   7  1.500632e+04    3.27e-07    1.02e-01   1.06e-02   1.03e+00  2.19e+07        1    9.68e-02    7.79e-01
   8  1.500632e+04    1.14e-09    4.42e-03   5.45e-04   9.62e-01  6.56e+07        1    9.36e-02    8.72e-01

Bundle adjustment report
------------------------
    Residuals : 42854
   Parameters : 20408
   Iterations : 9
         Time : 0.876515 [s]
 Initial cost : 0.59349 [px]
   Final cost : 0.591754 [px]
  Termination : Convergence

  => Completed observations: 1
  => Merged observations: 0
  => Filtered observations: 2
  => Changed observations: 0.000140
  => Filtered images: 0

==============================================================================
Registering image #16 (6)
==============================================================================

  => Image sees 3454 / 5177 points

Pose refinement report
----------------------
    Residuals : 7014
   Parameters : 6
   Iterations : 7
         Time : 0.0758359 [s]
 Initial cost : 0.634355 [px]
   Final cost : 0.614574 [px]
  Termination : Convergence

  => Continued observations: 3373
  => Added observations: 1733

Bundle adjustment report
------------------------
    Residuals : 53064
   Parameters : 22670
   Iterations : 26
         Time : 2.8644 [s]
 Initial cost : 0.567456 [px]
   Final cost : 0.538365 [px]
  Termination : No convergence

  => Merged observations: 234
  => Completed observations: 139
  => Filtered observations: 586
  => Changed observations: 0.036145

Bundle adjustment report
------------------------
    Residuals : 52156
   Parameters : 22445
   Iterations : 7
         Time : 0.785298 [s]
 Initial cost : 0.636754 [px]
   Final cost : 0.615994 [px]
  Termination : Convergence

  => Merged observations: 33
  => Completed observations: 95
  => Filtered observations: 12
  => Changed observations: 0.005369

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

  => Completed observations: 25
  => Merged observations: 16
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.023444e+04    0.00e+00    3.50e+04   0.00e+00   0.00e+00  1.00e+04        0    7.10e-02    1.43e-01
   1  2.011129e+04    1.23e+02    2.24e+02   3.29e+00   1.00e+00  3.00e+04        1    1.06e-01    2.49e-01
   2  2.011127e+04    2.63e-02    1.35e+01   4.76e-01   1.00e+00  9.00e+04        1    1.06e-01    3.55e-01
   3  2.011126e+04    6.33e-03    6.44e+01   6.66e-01   9.99e-01  2.70e+05        1    1.05e-01    4.60e-01
   4  2.011125e+04    5.47e-03    2.31e+02   9.05e-01   1.00e+00  8.10e+05        1    1.04e-01    5.64e-01
   5  2.011125e+04    1.71e-03    1.36e+02   6.67e-01   1.00e+00  2.43e+06        1    1.01e-01    6.65e-01
   6  2.011125e+04    1.20e-04    1.28e+01   2.01e-01   1.01e+00  7.29e+06        1    1.16e-01    7.81e-01
   7  2.011125e+04    1.55e-06    2.04e-01   2.31e-02   1.03e+00  2.19e+07        1    1.02e-01    8.84e-01
   8  2.011125e+04    6.11e-09    1.21e-02   1.23e-03   1.04e+00  6.56e+07        1    1.07e-01    9.90e-01

Bundle adjustment report
------------------------
    Residuals : 52372
   Parameters : 22493
   Iterations : 9
         Time : 0.994598 [s]
 Initial cost : 0.621579 [px]
   Final cost : 0.619684 [px]
  Termination : Convergence

  => Completed observations: 1
  => Merged observations: 0
  => Filtered observations: 6
  => Changed observations: 0.000267
  => Filtered images: 0

==============================================================================
Registering image #22 (7)
==============================================================================

  => Image sees 3517 / 6994 points

Pose refinement report
----------------------
    Residuals : 7084
   Parameters : 6
   Iterations : 9
         Time : 0.0951071 [s]
 Initial cost : 0.71864 [px]
   Final cost : 0.684587 [px]
  Termination : Convergence

  => Continued observations: 3384
  => Added observations: 2159

Bundle adjustment report
------------------------
    Residuals : 57142
   Parameters : 19481
   Iterations : 9
         Time : 0.875405 [s]
 Initial cost : 0.617081 [px]
   Final cost : 0.561058 [px]
  Termination : Convergence

  => Merged observations: 274
  => Completed observations: 134
  => Filtered observations: 607
  => Changed observations: 0.034117

Bundle adjustment report
------------------------
    Residuals : 56234
   Parameters : 19346
   Iterations : 3
         Time : 0.329512 [s]
 Initial cost : 0.675345 [px]
   Final cost : 0.656178 [px]
  Termination : Convergence

  => Merged observations: 65
  => Completed observations: 68
  => Filtered observations: 10
  => Changed observations: 0.004882

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

  => Completed observations: 30
  => Merged observations: 17
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.626602e+04    0.00e+00    3.93e+04   0.00e+00   0.00e+00  1.00e+04        0    8.01e-02    1.85e-01
   1  2.602437e+04    2.42e+02    9.95e+04   1.02e+01   9.84e-01  3.00e+04        1    2.27e-01    4.12e-01
   2  2.601655e+04    7.83e+00    3.06e+04   4.57e+00   9.96e-01  9.00e+04        1    2.39e-01    6.51e-01
   3  2.601515e+04    1.40e+00    2.18e+04   8.98e+00   9.40e-01  2.70e+05        1    2.39e-01    8.90e-01
   4  2.601429e+04    8.54e-01    2.41e+04   1.07e+01   8.59e-01  4.30e+05        1    2.42e-01    1.13e+00
   5  2.601401e+04    2.87e-01    4.95e+03   4.92e+00   9.83e-01  1.29e+06        1    2.42e-01    1.37e+00
   6  2.601399e+04    1.94e-02    6.24e+02   1.75e+00   1.00e+00  3.87e+06        1    2.37e-01    1.61e+00
   7  2.601399e+04    3.26e-04    1.17e+01   2.38e-01   1.02e+00  1.16e+07        1    2.53e-01    1.86e+00
   8  2.601399e+04    1.05e-06    1.36e-01   1.45e-02   1.04e+00  3.48e+07        1    2.47e-01    2.11e+00
   9  2.601399e+04    2.54e-09    6.38e-03   6.37e-04   1.02e+00  1.04e+08        1    2.54e-01    2.37e+00

Bundle adjustment report
------------------------
    Residuals : 62674
   Parameters : 25223
   Iterations : 10
         Time : 2.37088 [s]
 Initial cost : 0.647371 [px]
   Final cost : 0.644258 [px]
  Termination : Convergence

  => Completed observations: 3
  => Merged observations: 0
  => Filtered observations: 7
  => Changed observations: 0.000319
  => Filtered images: 0

==============================================================================
Registering image #50 (8)
==============================================================================

  => Image sees 3201 / 7000 points

Pose refinement report
----------------------
    Residuals : 2584
   Parameters : 6
   Iterations : 18
         Time : 0.109049 [s]
 Initial cost : 0.866709 [px]
   Final cost : 0.766126 [px]
  Termination : Convergence

  => Continued observations: 1230
  => Added observations: 2847

Bundle adjustment report
------------------------
    Residuals : 51490
   Parameters : 15011
   Iterations : 20
         Time : 2.59859 [s]
 Initial cost : 0.646394 [px]
   Final cost : 0.567695 [px]
  Termination : Convergence

  => Merged observations: 259
  => Completed observations: 131
  => Filtered observations: 387
  => Changed observations: 0.027165

Bundle adjustment report
------------------------
    Residuals : 51028
   Parameters : 14924
   Iterations : 3
         Time : 0.277175 [s]
 Initial cost : 0.68804 [px]
   Final cost : 0.675042 [px]
  Termination : Convergence

  => Merged observations: 46
  => Completed observations: 83
  => Filtered observations: 7
  => Changed observations: 0.004794

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

  => Completed observations: 11
  => Merged observations: 7
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.977236e+04    0.00e+00    1.65e+04   0.00e+00   0.00e+00  1.00e+04        0    9.29e-02    1.99e-01
   1  2.964376e+04    1.29e+02    4.01e+03   2.40e+00   1.00e+00  3.00e+04        1    1.59e-01    3.58e-01
   2  2.964334e+04    4.26e-01    2.08e+03   1.31e+00   1.00e+00  9.00e+04        1    1.59e-01    5.17e-01
   3  2.964316e+04    1.74e-01    1.99e+03   2.30e+00   9.99e-01  2.70e+05        1    1.52e-01    6.69e-01
   4  2.964310e+04    6.45e-02    1.20e+03   2.05e+00   1.00e+00  8.10e+05        1    1.49e-01    8.18e-01
   5  2.964309e+04    6.02e-03    1.48e+02   7.29e-01   1.01e+00  2.43e+06        1    1.52e-01    9.70e-01
   6  2.964309e+04    1.06e-04    2.68e+00   9.89e-02   1.03e+00  7.29e+06        1    1.40e-01    1.11e+00
   7  2.964309e+04    5.65e-07    1.03e-01   6.26e-03   1.05e+00  2.19e+07        1    1.58e-01    1.27e+00
   8  2.964309e+04    2.29e-09    6.60e-03   3.36e-04   1.10e+00  6.56e+07        1    1.57e-01    1.42e+00

Bundle adjustment report
------------------------
    Residuals : 70480
   Parameters : 28883
   Iterations : 9
         Time : 1.42994 [s]
 Initial cost : 0.649941 [px]
   Final cost : 0.648528 [px]
  Termination : Convergence

  => Completed observations: 3
  => Merged observations: 14
  => Filtered observations: 4
  => Changed observations: 0.000596

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.967444e+04    0.00e+00    7.60e+03   0.00e+00   0.00e+00  1.00e+04        0    9.51e-02    1.94e-01
   1  2.965367e+04    2.08e+01    5.87e+01   3.43e-01   1.00e+00  3.00e+04        1    1.50e-01    3.44e-01
   2  2.965367e+04    7.62e-03    4.17e+01   2.17e-01   1.00e+00  9.00e+04        1    1.48e-01    4.92e-01
   3  2.965366e+04    5.99e-03    6.40e+01   3.49e-01   1.00e+00  2.70e+05        1    1.51e-01    6.43e-01
   4  2.965366e+04    2.26e-03    4.19e+01   2.97e-01   1.01e+00  8.10e+05        1    1.50e-01    7.93e-01
   5  2.965366e+04    2.01e-04    5.05e+00   1.04e-01   1.01e+00  2.43e+06        1    1.58e-01    9.52e-01
   6  2.965366e+04    3.50e-06    2.78e-01   1.40e-02   1.03e+00  7.29e+06        1    1.48e-01    1.10e+00
   7  2.965366e+04    1.94e-08    1.85e-02   8.85e-04   1.05e+00  2.19e+07        1    1.52e-01    1.25e+00

Bundle adjustment report
------------------------
    Residuals : 70478
   Parameters : 28877
   Iterations : 8
         Time : 1.25716 [s]
 Initial cost : 0.64888 [px]
   Final cost : 0.648653 [px]
  Termination : Convergence

  => Completed observations: 1
  => Merged observations: 0
  => Filtered observations: 3
  => Changed observations: 0.000114
  => Filtered images: 0

==============================================================================
Registering image #45 (9)
==============================================================================

  => Image sees 2842 / 6157 points

Pose refinement report
----------------------
    Residuals : 4210
   Parameters : 6
   Iterations : 17
         Time : 0.110299 [s]
 Initial cost : 0.833557 [px]
   Final cost : 0.801724 [px]
  Termination : Convergence

  => Continued observations: 1934
  => Added observations: 1847

Bundle adjustment report
------------------------
    Residuals : 55748
   Parameters : 14258
   Iterations : 26
         Time : 2.26405 [s]
 Initial cost : 0.709648 [px]
   Final cost : 0.638669 [px]
  Termination : No convergence

  => Merged observations: 133
  => Completed observations: 131
  => Filtered observations: 922
  => Changed observations: 0.038560

Bundle adjustment report
------------------------
    Residuals : 54186
   Parameters : 13979
   Iterations : 3
         Time : 0.276289 [s]
 Initial cost : 0.728413 [px]
   Final cost : 0.706114 [px]
  Termination : Convergence

  => Merged observations: 43
  => Completed observations: 186
  => Filtered observations: 6
  => Changed observations: 0.007840

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

  => Completed observations: 64
  => Merged observations: 8
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.465054e+04    0.00e+00    1.19e+05   0.00e+00   0.00e+00  1.00e+04        0    1.01e-01    2.15e-01
   1  3.421088e+04    4.40e+02    5.58e+04   7.47e+00   9.97e-01  3.00e+04        1    1.63e-01    3.78e-01
   2  3.420447e+04    6.41e+00    1.80e+04   4.37e+00   1.00e+00  9.00e+04        1    1.63e-01    5.42e-01
   3  3.420350e+04    9.71e-01    3.98e+03   3.30e+00   9.99e-01  2.70e+05        1    2.02e-01    7.44e-01
   4  3.420342e+04    8.07e-02    3.91e+02   1.10e+00   1.00e+00  8.10e+05        1    1.63e-01    9.07e-01
   5  3.420342e+04    1.12e-03    6.17e+00   1.36e-01   1.01e+00  2.43e+06        1    1.64e-01    1.07e+00
   6  3.420342e+04    3.35e-06    2.27e-01   6.71e-03   1.03e+00  7.29e+06        1    1.71e-01    1.24e+00
   7  3.420342e+04    6.01e-09    6.80e-03   2.23e-04   1.04e+00  2.19e+07        1    1.58e-01    1.40e+00

Bundle adjustment report
------------------------
    Residuals : 76936
   Parameters : 31037
   Iterations : 8
         Time : 1.40607 [s]
 Initial cost : 0.671105 [px]
   Final cost : 0.666761 [px]
  Termination : Convergence

  => Completed observations: 19
  => Merged observations: 7
  => Filtered observations: 4
  => Changed observations: 0.000780

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.430913e+04    0.00e+00    1.40e+04   0.00e+00   0.00e+00  1.00e+04        0    1.14e-01    2.26e-01
   1  3.425925e+04    4.99e+01    2.28e+02   6.58e-01   1.00e+00  3.00e+04        1    1.69e-01    3.96e-01
   2  3.425924e+04    1.02e-02    2.28e+01   1.30e-01   1.00e+00  9.00e+04        1    1.68e-01    5.64e-01
   3  3.425923e+04    1.46e-03    4.91e+00   9.00e-02   1.00e+00  2.70e+05        1    1.58e-01    7.22e-01
   4  3.425923e+04    1.08e-04    1.24e+00   2.85e-02   1.01e+00  8.10e+05        1    1.63e-01    8.85e-01
   5  3.425923e+04    1.40e-06    1.94e-01   3.37e-03   1.02e+00  2.43e+06        1    1.57e-01    1.04e+00
   6  3.425923e+04    4.04e-09    8.39e-03   1.62e-04   9.93e-01  7.29e+06        1    1.76e-01    1.22e+00

Bundle adjustment report
------------------------
    Residuals : 76966
   Parameters : 31034
   Iterations : 7
         Time : 1.22322 [s]
 Initial cost : 0.66766 [px]
   Final cost : 0.667174 [px]
  Termination : Convergence

  => Completed observations: 4
  => Merged observations: 0
  => Filtered observations: 1
  => Changed observations: 0.000130
  => Filtered images: 0

==============================================================================
Registering image #47 (10)
==============================================================================

  => Image sees 3615 / 7474 points

Pose refinement report
----------------------
    Residuals : 5152
   Parameters : 6
   Iterations : 12
         Time : 0.0910869 [s]
 Initial cost : 0.793978 [px]
   Final cost : 0.761996 [px]
  Termination : Convergence

  => Continued observations: 2346
  => Added observations: 4514

Bundle adjustment report
------------------------
    Residuals : 56854
   Parameters : 17675
   Iterations : 26
         Time : 4.05589 [s]
 Initial cost : 0.767495 [px]
   Final cost : 0.689049 [px]
  Termination : No convergence

  => Merged observations: 300
  => Completed observations: 200
  => Filtered observations: 978
  => Changed observations: 0.047073

Bundle adjustment report
------------------------
    Residuals : 55358
   Parameters : 17387
   Iterations : 3
         Time : 0.388622 [s]
 Initial cost : 0.725813 [px]
   Final cost : 0.704066 [px]
  Termination : Convergence

  => Merged observations: 83
  => Completed observations: 156
  => Filtered observations: 8
  => Changed observations: 0.008061

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

  => Completed observations: 32
  => Merged observations: 32
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.109170e+04    0.00e+00    1.45e+05   0.00e+00   0.00e+00  1.00e+04        0    1.14e-01    2.72e-01
   1  4.080134e+04    2.90e+02    2.33e+04   3.46e+00   1.00e+00  3.00e+04        1    2.02e-01    4.74e-01
   2  4.079928e+04    2.06e+00    3.29e+03   1.48e+00   1.00e+00  9.00e+04        1    1.93e-01    6.67e-01
   3  4.079925e+04    3.52e-02    5.90e+01   2.52e-01   1.00e+00  2.70e+05        1    2.11e-01    8.78e-01
   4  4.079925e+04    1.39e-04    1.52e+00   1.61e-02   1.01e+00  8.10e+05        1    2.10e-01    1.09e+00
   5  4.079925e+04    1.78e-07    8.15e-02   6.44e-04   1.02e+00  2.43e+06        1    1.89e-01    1.28e+00

Bundle adjustment report
------------------------
    Residuals : 89492
   Parameters : 36815
   Iterations : 6
         Time : 1.28287 [s]
 Initial cost : 0.677618 [px]
   Final cost : 0.675202 [px]
  Termination : Convergence

  => Completed observations: 7
  => Merged observations: 0
  => Filtered observations: 5
  => Changed observations: 0.000268
  => Filtered images: 0

==============================================================================
Registering image #48 (11)
==============================================================================

  => Image sees 4438 / 7256 points

Pose refinement report
----------------------
    Residuals : 6878
   Parameters : 6
   Iterations : 10
         Time : 0.099782 [s]
 Initial cost : 0.748542 [px]
   Final cost : 0.734758 [px]
  Termination : Convergence

  => Continued observations: 3053
  => Added observations: 4068

Bundle adjustment report
------------------------
    Residuals : 69078
   Parameters : 18653
   Iterations : 26
         Time : 2.58813 [s]
 Initial cost : 0.75141 [px]
   Final cost : 0.70775 [px]
  Termination : No convergence

  => Merged observations: 298
  => Completed observations: 141
  => Filtered observations: 1658
  => Changed observations: 0.058880

Bundle adjustment report
------------------------
    Residuals : 60976
   Parameters : 18119
   Iterations : 4
         Time : 0.38995 [s]
 Initial cost : 0.745803 [px]
   Final cost : 0.714627 [px]
  Termination : Convergence

  => Merged observations: 99
  => Completed observations: 322
  => Filtered observations: 14
  => Changed observations: 0.012766

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

  => Completed observations: 71
  => Merged observations: 69
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.698907e+04    0.00e+00    2.87e+05   0.00e+00   0.00e+00  1.00e+04        0    1.47e-01    3.22e-01
   1  4.662091e+04    3.68e+02    5.25e+03   1.65e+00   1.00e+00  3.00e+04        1    2.19e-01    5.41e-01
   2  4.661954e+04    1.37e+00    2.72e+02   1.26e+00   1.00e+00  9.00e+04        1    2.17e-01    7.58e-01
   3  4.661930e+04    2.41e-01    3.62e+02   9.55e-01   1.00e+00  2.70e+05        1    2.07e-01    9.65e-01
   4  4.661928e+04    1.55e-02    4.09e+01   2.90e-01   1.00e+00  8.10e+05        1    2.18e-01    1.18e+00
   5  4.661928e+04    1.72e-04    1.98e+00   3.20e-02   1.01e+00  2.43e+06        1    2.23e-01    1.41e+00
   6  4.661928e+04    3.76e-07    1.06e-01   1.36e-03   1.02e+00  7.29e+06        1    2.15e-01    1.62e+00

Bundle adjustment report
------------------------
    Residuals : 101332
   Parameters : 41447
   Iterations : 7
         Time : 1.62843 [s]
 Initial cost : 0.680966 [px]
   Final cost : 0.678281 [px]
  Termination : Convergence

  => Completed observations: 6
  => Merged observations: 8
  => Filtered observations: 13
  => Changed observations: 0.000533

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.655993e+04    0.00e+00    5.12e+03   0.00e+00   0.00e+00  1.00e+04        0    1.39e-01    3.08e-01
   1  4.651135e+04    4.86e+01    1.77e+01   2.21e-01   1.00e+00  3.00e+04        1    2.37e-01    5.45e-01
   2  4.651134e+04    4.35e-03    4.35e+00   7.19e-02   1.00e+00  9.00e+04        1    2.24e-01    7.69e-01
   3  4.651134e+04    8.34e-04    2.20e+00   5.40e-02   1.00e+00  2.70e+05        1    2.20e-01    9.89e-01
   4  4.651134e+04    5.07e-05    9.43e-01   1.56e-02   1.00e+00  8.10e+05        1    2.17e-01    1.21e+00

Bundle adjustment report
------------------------
    Residuals : 101318
   Parameters : 41444
   Iterations : 5
         Time : 1.21293 [s]
 Initial cost : 0.677896 [px]
   Final cost : 0.677542 [px]
  Termination : Convergence

  => Completed observations: 1
  => Merged observations: 0
  => Filtered observations: 0
  => Changed observations: 0.000020
  => Filtered images: 0

==============================================================================
Registering image #46 (12)
==============================================================================

  => Image sees 3411 / 6859 points

Pose refinement report
----------------------
    Residuals : 5986
   Parameters : 6
   Iterations : 9
         Time : 0.0778852 [s]
 Initial cost : 0.73589 [px]
   Final cost : 0.732544 [px]
  Termination : Convergence

  => Continued observations: 2783
  => Added observations: 2296

Bundle adjustment report
------------------------
    Residuals : 63066
   Parameters : 17897
   Iterations : 26
         Time : 3.36256 [s]
 Initial cost : 0.701243 [px]
   Final cost : 0.651237 [px]
  Termination : No convergence

  => Merged observations: 217
  => Completed observations: 193
  => Filtered observations: 932
  => Changed observations: 0.038013

Bundle adjustment report
------------------------
    Residuals : 61696
   Parameters : 17807
   Iterations : 3
         Time : 0.542131 [s]
 Initial cost : 0.741644 [px]
   Final cost : 0.722906 [px]
  Termination : Convergence

  => Merged observations: 88
  => Completed observations: 143
  => Filtered observations: 13
  => Changed observations: 0.007137

==============================================================================
Registering image #49 (13)
==============================================================================

  => Image sees 3573 / 4940 points

Pose refinement report
----------------------
    Residuals : 6016
   Parameters : 6
   Iterations : 11
         Time : 0.168122 [s]
 Initial cost : 0.769712 [px]
   Final cost : 0.765777 [px]
  Termination : Convergence

  => Continued observations: 2642
  => Added observations: 1903

Bundle adjustment report
------------------------
    Residuals : 65100
   Parameters : 15647
   Iterations : 26
         Time : 3.01777 [s]
 Initial cost : 0.711433 [px]
   Final cost : 0.653647 [px]
  Termination : No convergence

  => Merged observations: 341
  => Completed observations: 241
  => Filtered observations: 914
  => Changed observations: 0.040975

Bundle adjustment report
------------------------
    Residuals : 63918
   Parameters : 15443
   Iterations : 3
         Time : 0.305949 [s]
 Initial cost : 0.768434 [px]
   Final cost : 0.748647 [px]
  Termination : Convergence

  => Merged observations: 94
  => Completed observations: 149
  => Filtered observations: 13
  => Changed observations: 0.007129

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

  => Completed observations: 119
  => Merged observations: 26
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.851201e+04    0.00e+00    1.22e+05   0.00e+00   0.00e+00  1.00e+04        0    1.55e-01    3.69e-01
   1  5.800034e+04    5.12e+02    1.35e+04   3.25e+00   1.00e+00  3.00e+04        1    2.80e-01    6.49e-01
   2  5.799064e+04    9.71e+00    6.05e+03   3.94e+00   9.98e-01  9.00e+04        1    2.65e-01    9.14e-01
   3  5.798878e+04    1.85e+00    1.68e+03   2.22e+00   1.00e+00  2.70e+05        1    2.69e-01    1.18e+00
   4  5.798872e+04    6.78e-02    7.36e+01   4.75e-01   1.00e+00  8.10e+05        1    2.66e-01    1.45e+00
   5  5.798872e+04    3.69e-04    1.65e+00   3.59e-02   1.01e+00  2.43e+06        1    2.61e-01    1.71e+00
   6  5.798872e+04    4.10e-07    3.89e-02   1.06e-03   1.02e+00  7.29e+06        1    2.70e-01    1.98e+00

Bundle adjustment report
------------------------
    Residuals : 118504
   Parameters : 46298
   Iterations : 7
         Time : 1.98732 [s]
 Initial cost : 0.702677 [px]
   Final cost : 0.699528 [px]
  Termination : Convergence

  => Completed observations: 24
  => Merged observations: 19
  => Filtered observations: 13
  => Changed observations: 0.000945

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.808455e+04    0.00e+00    1.40e+04   0.00e+00   0.00e+00  1.00e+04        0    1.48e-01    3.51e-01
   1  5.798100e+04    1.04e+02    4.32e+01   3.98e-01   1.00e+00  3.00e+04        1    2.71e-01    6.22e-01
   2  5.798097e+04    2.44e-02    9.71e+00   1.91e-01   1.00e+00  9.00e+04        1    2.66e-01    8.88e-01
   3  5.798097e+04    3.94e-03    3.51e+00   1.04e-01   1.00e+00  2.70e+05        1    2.54e-01    1.14e+00
   4  5.798097e+04    1.34e-04    7.26e-01   2.13e-02   1.00e+00  8.10e+05        1    2.64e-01    1.41e+00

Bundle adjustment report
------------------------
    Residuals : 118526
   Parameters : 46289
   Iterations : 5
         Time : 1.41403 [s]
 Initial cost : 0.700041 [px]
   Final cost : 0.699417 [px]
  Termination : Convergence

  => Completed observations: 2
  => Merged observations: 10
  => Filtered observations: 3
  => Changed observations: 0.000253
  => Filtered images: 0

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

  => Image sees 3524 / 4904 points

Pose refinement report
----------------------
    Residuals : 6980
   Parameters : 6
   Iterations : 8
         Time : 0.0860159 [s]
 Initial cost : 0.727559 [px]
   Final cost : 0.72512 [px]
  Termination : Convergence

  => Continued observations: 2987
  => Added observations: 2135

Bundle adjustment report
------------------------
    Residuals : 70504
   Parameters : 15899
   Iterations : 22
         Time : 2.22637 [s]
 Initial cost : 0.687928 [px]
   Final cost : 0.65156 [px]
  Termination : Convergence

  => Merged observations: 464
  => Completed observations: 208
  => Filtered observations: 921
  => Changed observations: 0.042018

Bundle adjustment report
------------------------
    Residuals : 70980
   Parameters : 15614
   Iterations : 3
         Time : 0.331587 [s]
 Initial cost : 0.774624 [px]
   Final cost : 0.757155 [px]
  Termination : Convergence

  => Merged observations: 174
  => Completed observations: 163
  => Filtered observations: 16
  => Changed observations: 0.009472

==============================================================================
Registering image #25 (15)
==============================================================================

  => Image sees 3793 / 7532 points

Pose refinement report
----------------------
    Residuals : 5280
   Parameters : 6
   Iterations : 10
         Time : 0.084393 [s]
 Initial cost : 0.799434 [px]
   Final cost : 0.787031 [px]
  Termination : Convergence

  => Continued observations: 2335
  => Added observations: 4508

Bundle adjustment report
------------------------
    Residuals : 65244
   Parameters : 14846
   Iterations : 17
         Time : 2.38992 [s]
 Initial cost : 0.70443 [px]
   Final cost : 0.66018 [px]
  Termination : Convergence

  => Merged observations: 407
  => Completed observations: 227
  => Filtered observations: 1001
  => Changed observations: 0.044948

Bundle adjustment report
------------------------
    Residuals : 64394
   Parameters : 15263
   Iterations : 3
         Time : 0.490549 [s]
 Initial cost : 0.790349 [px]
   Final cost : 0.770654 [px]
  Termination : Convergence

  => Merged observations: 124
  => Completed observations: 137
  => Filtered observations: 16
  => Changed observations: 0.007641

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

  => Completed observations: 92
  => Merged observations: 15
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  7.386768e+04    0.00e+00    7.85e+04   0.00e+00   0.00e+00  1.00e+04        0    3.28e-01    6.86e-01
   1  7.315885e+04    7.09e+02    5.27e+04   3.24e+00   1.00e+00  3.00e+04        1    5.88e-01    1.27e+00
   2  7.315485e+04    4.00e+00    4.49e+03   1.82e+00   1.00e+00  9.00e+04        1    3.46e-01    1.62e+00
   3  7.315455e+04    2.98e-01    1.99e+02   8.10e-01   1.00e+00  2.70e+05        1    3.14e-01    1.93e+00
   4  7.315455e+04    7.79e-03    4.29e+00   1.46e-01   1.00e+00  8.10e+05        1    3.03e-01    2.24e+00
   5  7.315455e+04    3.14e-05    2.78e-01   9.42e-03   1.01e+00  2.43e+06        1    3.15e-01    2.55e+00

Bundle adjustment report
------------------------
    Residuals : 140196
   Parameters : 54041
   Iterations : 6
         Time : 2.56046 [s]
 Initial cost : 0.725871 [px]
   Final cost : 0.722359 [px]
  Termination : Convergence

  => Completed observations: 21
  => Merged observations: 50
  => Filtered observations: 21
  => Changed observations: 0.001312

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  7.326462e+04    0.00e+00    1.69e+04   0.00e+00   0.00e+00  1.00e+04        0    1.87e-01    4.41e-01
   1  7.318014e+04    8.45e+01    3.31e+01   2.34e-01   1.00e+00  3.00e+04        1    3.21e-01    7.62e-01
   2  7.318014e+04    1.91e-03    1.94e+00   1.63e-02   1.00e+00  9.00e+04        1    3.19e-01    1.08e+00
   3  7.318014e+04    2.99e-05    3.77e-01   7.09e-03   1.00e+00  2.70e+05        1    3.05e-01    1.39e+00

Bundle adjustment report
------------------------
    Residuals : 140196
   Parameters : 54017
   Iterations : 4
         Time : 1.39495 [s]
 Initial cost : 0.722902 [px]
   Final cost : 0.722485 [px]
  Termination : Convergence

  => Completed observations: 5
  => Merged observations: 6
  => Filtered observations: 8
  => Changed observations: 0.000271
  => Filtered images: 0

==============================================================================
Registering image #24 (16)
==============================================================================

  => Image sees 4559 / 7306 points

Pose refinement report
----------------------
    Residuals : 6740
   Parameters : 6
   Iterations : 8
         Time : 0.0854859 [s]
 Initial cost : 0.736082 [px]
   Final cost : 0.726142 [px]
  Termination : Convergence

  => Continued observations: 2878
  => Added observations: 4271

Bundle adjustment report
------------------------
    Residuals : 74374
   Parameters : 18548
   Iterations : 26
         Time : 2.70188 [s]
 Initial cost : 0.740299 [px]
   Final cost : 0.703999 [px]
  Termination : No convergence

  => Merged observations: 530
  => Completed observations: 209
  => Filtered observations: 1254
  => Changed observations: 0.048430

Bundle adjustment report
------------------------
    Residuals : 72530
   Parameters : 18233
   Iterations : 3
         Time : 0.350648 [s]
 Initial cost : 0.787024 [px]
   Final cost : 0.765677 [px]
  Termination : Convergence

  => Merged observations: 194
  => Completed observations: 193
  => Filtered observations: 16
  => Changed observations: 0.010022

==============================================================================
Registering image #21 (17)
==============================================================================

  => Image sees 3755 / 4756 points

Pose refinement report
----------------------
    Residuals : 8800
   Parameters : 6
   Iterations : 11
         Time : 0.163085 [s]
 Initial cost : 0.731744 [px]
   Final cost : 0.704249 [px]
  Termination : Convergence

  => Continued observations: 3505
  => Added observations: 1458

Bundle adjustment report
------------------------
    Residuals : 80186
   Parameters : 15026
   Iterations : 23
         Time : 2.59534 [s]
 Initial cost : 0.696666 [px]
   Final cost : 0.677378 [px]
  Termination : Convergence

  => Merged observations: 496
  => Completed observations: 185
  => Filtered observations: 1040
  => Changed observations: 0.039695

Bundle adjustment report
------------------------
    Residuals : 78706
   Parameters : 14744
   Iterations : 3
         Time : 0.461398 [s]
 Initial cost : 0.799388 [px]
   Final cost : 0.78464 [px]
  Termination : Convergence

  => Merged observations: 128
  => Completed observations: 124
  => Filtered observations: 10
  => Changed observations: 0.006149

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

  => Completed observations: 236
  => Merged observations: 97
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.838280e+04    0.00e+00    5.35e+04   0.00e+00   0.00e+00  1.00e+04        0    3.50e-01    7.71e-01
   1  8.772185e+04    6.61e+02    1.51e+03   1.57e+00   1.00e+00  3.00e+04        1    6.81e-01    1.45e+00
   2  8.772120e+04    6.52e-01    6.79e+02   7.36e-01   1.00e+00  9.00e+04        1    7.08e-01    2.16e+00
   3  8.772114e+04    6.50e-02    3.82e+01   3.37e-01   1.00e+00  2.70e+05        1    6.48e-01    2.81e+00
   4  8.772114e+04    1.88e-03    1.93e+00   6.38e-02   1.00e+00  8.10e+05        1    6.97e-01    3.50e+00
   5  8.772114e+04    8.17e-06    1.35e-01   4.28e-03   1.00e+00  2.43e+06        1    5.58e-01    4.06e+00

Bundle adjustment report
------------------------
    Residuals : 161662
   Parameters : 60431
   Iterations : 6
         Time : 4.07324 [s]
 Initial cost : 0.739401 [px]
   Final cost : 0.736628 [px]
  Termination : Convergence

  => Completed observations: 17
  => Merged observations: 61
  => Filtered observations: 28
  => Changed observations: 0.001311

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.772240e+04    0.00e+00    1.01e+04   0.00e+00   0.00e+00  1.00e+04        0    2.13e-01    5.30e-01
   1  8.761488e+04    1.08e+02    4.34e+01   1.86e-01   1.00e+00  3.00e+04        1    3.84e-01    9.14e-01
   2  8.761487e+04    3.71e-03    5.31e+00   4.51e-02   1.00e+00  9.00e+04        1    3.65e-01    1.28e+00
   3  8.761487e+04    2.66e-04    7.32e-01   1.97e-02   1.00e+00  2.70e+05        1    3.68e-01    1.65e+00

Bundle adjustment report
------------------------
    Residuals : 161640
   Parameters : 60413
   Iterations : 4
         Time : 1.65702 [s]
 Initial cost : 0.736683 [px]
   Final cost : 0.736232 [px]
  Termination : Convergence

  => Completed observations: 5
  => Merged observations: 23
  => Filtered observations: 7
  => Changed observations: 0.000433
  => Filtered images: 0

==============================================================================
Registering image #30 (18)
==============================================================================

  => Image sees 3593 / 6403 points

Pose refinement report
----------------------
    Residuals : 4950
   Parameters : 6
   Iterations : 15
         Time : 0.109308 [s]
 Initial cost : 0.866117 [px]
   Final cost : 0.808455 [px]
  Termination : Convergence

  => Continued observations: 2204
  => Added observations: 2575

Bundle adjustment report
------------------------
    Residuals : 62928
   Parameters : 13949
   Iterations : 26
         Time : 2.31442 [s]
 Initial cost : 0.854121 [px]
   Final cost : 0.804113 [px]
  Termination : No convergence

  => Merged observations: 138
  => Completed observations: 130
  => Filtered observations: 1621
  => Changed observations: 0.052360

Bundle adjustment report
------------------------
    Residuals : 59928
   Parameters : 12524
   Iterations : 3
         Time : 0.284566 [s]
 Initial cost : 0.816456 [px]
   Final cost : 0.79462 [px]
  Termination : Convergence

  => Merged observations: 88
  => Completed observations: 142
  => Filtered observations: 15
  => Changed observations: 0.007143

==============================================================================
Registering image #27 (19)
==============================================================================

  => Image sees 4177 / 6722 points

Pose refinement report
----------------------
    Residuals : 6664
   Parameters : 6
   Iterations : 14
         Time : 0.139815 [s]
 Initial cost : 0.817152 [px]
   Final cost : 0.763478 [px]
  Termination : Convergence

  => Continued observations: 2967
  => Added observations: 3181

Bundle adjustment report
------------------------
    Residuals : 60682
   Parameters : 16307
   Iterations : 24
         Time : 2.16188 [s]
 Initial cost : 0.798617 [px]
   Final cost : 0.762578 [px]
  Termination : Convergence

  => Merged observations: 252
  => Completed observations: 245
  => Filtered observations: 1808
  => Changed observations: 0.065126

Bundle adjustment report
------------------------
    Residuals : 58136
   Parameters : 15650
   Iterations : 3
         Time : 0.276923 [s]
 Initial cost : 0.83804 [px]
   Final cost : 0.809853 [px]
  Termination : Convergence

  => Merged observations: 169
  => Completed observations: 260
  => Filtered observations: 21
  => Changed observations: 0.013200

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

  => Completed observations: 171
  => Merged observations: 52
  => Retriangulated observations: 381

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  8.408156e+05    0.00e+00    4.65e+06   0.00e+00   0.00e+00  1.00e+04        0    2.47e-01    6.13e-01
   1  4.817378e+05    3.59e+05    5.36e+05   1.25e+01   9.86e-01  3.00e+04        1    4.29e-01    1.04e+00
   2  4.806674e+05    1.07e+03    1.26e+05   7.34e+00   9.74e-01  9.00e+04        1    5.65e-01    1.61e+00
   3  4.806463e+05    2.12e+01    5.88e+03   4.19e+00   9.98e-01  2.70e+05        1    7.70e-01    2.38e+00
   4  4.806456e+05    6.57e-01    3.68e+02   9.95e-01   1.00e+00  8.10e+05        1    7.66e-01    3.14e+00
   5  4.806456e+05    5.28e-03    2.11e+01   8.45e-02   1.01e+00  2.43e+06        1    7.17e-01    3.86e+00
   6  4.806456e+05    2.96e-05    1.19e+00   2.63e-03   1.02e+00  7.29e+06        1    7.38e-01    4.60e+00
   7  4.806456e+05    4.26e-07    2.88e-01   5.60e-05   1.04e+00  2.19e+07        1    7.62e-01    5.36e+00

Bundle adjustment report
------------------------
    Residuals : 179218
   Parameters : 66341
   Iterations : 8
         Time : 5.37315 [s]
 Initial cost : 2.16601 [px]
   Final cost : 1.63765 [px]
  Termination : Convergence

  => Completed observations: 323
  => Merged observations: 320
  => Filtered observations: 3619
  => Changed observations: 0.047562

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.103154e+05    0.00e+00    5.81e+05   0.00e+00   0.00e+00  1.00e+04        0    2.24e-01    6.00e-01
   1  9.460828e+04    1.57e+04    1.91e+05   7.11e+00   9.98e-01  3.00e+04        1    4.04e-01    1.00e+00
   2  9.455182e+04    5.65e+01    2.22e+04   4.30e+00   9.99e-01  9.00e+04        1    3.90e-01    1.39e+00
   3  9.454520e+04    6.62e+00    2.65e+03   2.39e+00   1.00e+00  2.70e+05        1    4.01e-01    1.80e+00
   4  9.454495e+04    2.58e-01    1.73e+02   5.31e-01   1.00e+00  8.10e+05        1    3.99e-01    2.19e+00
   5  9.454494e+04    1.50e-03    1.55e+00   4.19e-02   1.00e+00  2.43e+06        1    3.86e-01    2.58e+00
   6  9.454494e+04    1.42e-06    4.76e-02   1.19e-03   1.01e+00  7.29e+06        1    3.93e-01    2.97e+00

Bundle adjustment report
------------------------
    Residuals : 172624
   Parameters : 64094
   Iterations : 7
         Time : 2.98465 [s]
 Initial cost : 0.799406 [px]
   Final cost : 0.740063 [px]
  Termination : Convergence

  => Completed observations: 867
  => Merged observations: 138
  => Filtered observations: 91
  => Changed observations: 0.012698

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.697090e+04    0.00e+00    9.34e+04   0.00e+00   0.00e+00  1.00e+04        0    2.33e-01    5.64e-01
   1  9.537017e+04    1.60e+03    3.85e+03   9.26e-01   1.00e+00  3.00e+04        1    4.17e-01    9.81e-01
   2  9.536899e+04    1.18e+00    4.72e+02   5.72e-01   1.00e+00  9.00e+04        1    3.83e-01    1.36e+00
   3  9.536886e+04    1.29e-01    5.17e+01   3.31e-01   1.00e+00  2.70e+05        1    3.95e-01    1.76e+00
   4  9.536886e+04    5.09e-03    3.62e+00   7.43e-02   1.00e+00  8.10e+05        1    4.01e-01    2.16e+00
   5  9.536886e+04    3.01e-05    2.16e-01   5.90e-03   1.00e+00  2.43e+06        1    3.90e-01    2.55e+00

Bundle adjustment report
------------------------
    Residuals : 174176
   Parameters : 64031
   Iterations : 6
         Time : 2.56107 [s]
 Initial cost : 0.746151 [px]
   Final cost : 0.739962 [px]
  Termination : Convergence

  => Completed observations: 173
  => Merged observations: 26
  => Filtered observations: 35
  => Changed observations: 0.002687

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.620098e+04    0.00e+00    3.70e+04   0.00e+00   0.00e+00  1.00e+04        0    2.28e-01    5.48e-01
   1  9.575363e+04    4.47e+02    6.76e+02   3.44e-01   1.00e+00  3.00e+04        1    4.20e-01    9.67e-01
   2  9.575349e+04    1.37e-01    7.67e+01   2.02e-01   1.00e+00  9.00e+04        1    3.90e-01    1.36e+00
   3  9.575348e+04    1.56e-02    6.60e+00   1.15e-01   1.00e+00  2.70e+05        1    3.96e-01    1.75e+00
   4  9.575348e+04    6.18e-04    8.43e-01   2.58e-02   1.00e+00  8.10e+05        1    4.13e-01    2.17e+00

Bundle adjustment report
------------------------
    Residuals : 174452
   Parameters : 64022
   Iterations : 5
         Time : 2.17632 [s]
 Initial cost : 0.742595 [px]
   Final cost : 0.740865 [px]
  Termination : Convergence

  => Completed observations: 52
  => Merged observations: 7
  => Filtered observations: 22
  => Changed observations: 0.000929

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  9.592676e+04    0.00e+00    3.92e+04   0.00e+00   0.00e+00  1.00e+04        0    2.42e-01    5.80e-01
   1  9.572406e+04    2.03e+02    1.30e+02   1.65e-01   1.00e+00  3.00e+04        1    4.05e-01    9.85e-01
   2  9.572405e+04    1.29e-02    1.99e+00   1.66e-02   1.01e+00  9.00e+04        1    4.95e-01    1.48e+00
   3  9.572405e+04    1.75e-04    3.02e-01   1.13e-02   1.00e+00  2.70e+05        1    7.12e-01    2.19e+00

Bundle adjustment report
------------------------
    Residuals : 174512
   Parameters : 64016
   Iterations : 4
         Time : 2.20526 [s]
 Initial cost : 0.741408 [px]
   Final cost : 0.740624 [px]
  Termination : Convergence

  => Completed observations: 26
  => Merged observations: 0
  => Filtered observations: 9
  => Changed observations: 0.000401
  => Filtered images: 0

==============================================================================
Registering image #26 (20)
==============================================================================

  => Image sees 4608 / 6355 points

Pose refinement report
----------------------
    Residuals : 6590
   Parameters : 6
   Iterations : 14
         Time : 0.217671 [s]
 Initial cost : 0.826326 [px]
   Final cost : 0.776035 [px]
  Termination : Convergence

  => Continued observations: 2809
  => Added observations: 5070

Bundle adjustment report
------------------------
    Residuals : 71194
   Parameters : 21572
   Iterations : 26
         Time : 3.99578 [s]
 Initial cost : 0.916785 [px]
   Final cost : 0.873976 [px]
  Termination : No convergence

  => Merged observations: 253
  => Completed observations: 303
  => Filtered observations: 2855
  => Changed observations: 0.089678

Bundle adjustment report
------------------------
    Residuals : 66306
   Parameters : 20153
   Iterations : 4
         Time : 0.411896 [s]
 Initial cost : 0.822327 [px]
   Final cost : 0.788275 [px]
  Termination : Convergence

  => Merged observations: 259
  => Completed observations: 438
  => Filtered observations: 33
  => Changed observations: 0.020516

==============================================================================
Registering image #23 (21)
==============================================================================

  => Image sees 3846 / 4818 points

Pose refinement report
----------------------
    Residuals : 9446
   Parameters : 6
   Iterations : 10
         Time : 0.145069 [s]
 Initial cost : 0.731456 [px]
   Final cost : 0.724778 [px]
  Termination : Convergence

  => Continued observations: 3593
  => Added observations: 1994

Bundle adjustment report
------------------------
    Residuals : 81720
   Parameters : 15017
   Iterations : 26
         Time : 2.86484 [s]
 Initial cost : 0.72512 [px]
   Final cost : 0.703772 [px]
  Termination : No convergence

  => Merged observations: 569
  => Completed observations: 256
  => Filtered observations: 1347
  => Changed observations: 0.049128

Bundle adjustment report
------------------------
    Residuals : 79972
   Parameters : 14546
   Iterations : 3
         Time : 0.365667 [s]
 Initial cost : 0.823893 [px]
   Final cost : 0.807325 [px]
  Termination : Convergence

  => Merged observations: 199
  => Completed observations: 190
  => Filtered observations: 18
  => Changed observations: 0.009394

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

  => Completed observations: 258
  => Merged observations: 116
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.111339e+05    0.00e+00    1.33e+05   0.00e+00   0.00e+00  1.00e+04        0    2.60e-01    6.64e-01
   1  1.100890e+05    1.04e+03    3.09e+03   1.23e+00   1.00e+00  3.00e+04        1    4.77e-01    1.14e+00
   2  1.100884e+05    6.16e-01    7.85e+01   1.68e-01   1.00e+00  9.00e+04        1    4.61e-01    1.60e+00
   3  1.100884e+05    5.72e-03    5.49e+00   4.79e-02   1.00e+00  2.70e+05        1    4.72e-01    2.07e+00
   4  1.100884e+05    1.38e-04    4.31e-01   1.20e-02   1.00e+00  8.10e+05        1    4.46e-01    2.52e+00

Bundle adjustment report
------------------------
    Residuals : 195848
   Parameters : 70556
   Iterations : 5
         Time : 2.53262 [s]
 Initial cost : 0.753293 [px]
   Final cost : 0.749741 [px]
  Termination : Convergence

  => Completed observations: 56
  => Merged observations: 39
  => Filtered observations: 33
  => Changed observations: 0.001307

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.102933e+05    0.00e+00    2.79e+04   0.00e+00   0.00e+00  1.00e+04        0    2.66e-01    6.83e-01
   1  1.100911e+05    2.02e+02    8.83e+01   2.45e-01   1.00e+00  3.00e+04        1    4.91e-01    1.17e+00
   2  1.100911e+05    9.12e-03    1.90e+00   2.78e-02   1.00e+00  9.00e+04        1    8.30e-01    2.00e+00
   3  1.100911e+05    1.96e-04    3.75e-01   1.23e-02   1.00e+00  2.70e+05        1    8.02e-01    2.81e+00

Bundle adjustment report
------------------------
    Residuals : 195894
   Parameters : 70541
   Iterations : 4
         Time : 2.82112 [s]
 Initial cost : 0.75035 [px]
   Final cost : 0.749662 [px]
  Termination : Convergence

  => Completed observations: 16
  => Merged observations: 0
  => Filtered observations: 8
  => Changed observations: 0.000245
  => Filtered images: 0

==============================================================================
Registering image #12 (22)
==============================================================================

  => Image sees 4149 / 6301 points

Pose refinement report
----------------------
    Residuals : 8414
   Parameters : 6
   Iterations : 11
         Time : 0.226458 [s]
 Initial cost : 0.769935 [px]
   Final cost : 0.723915 [px]
  Termination : Convergence

  => Continued observations: 3419
  => Added observations: 2795

Bundle adjustment report
------------------------
    Residuals : 81904
   Parameters : 15164
   Iterations : 24
         Time : 3.41992 [s]
 Initial cost : 0.701223 [px]
   Final cost : 0.674354 [px]
  Termination : Convergence

  => Merged observations: 505
  => Completed observations: 338
  => Filtered observations: 1085
  => Changed observations: 0.042823

Bundle adjustment report
------------------------
    Residuals : 80754
   Parameters : 14876
   Iterations : 3
         Time : 0.344678 [s]
 Initial cost : 0.837047 [px]
   Final cost : 0.8202 [px]
  Termination : Convergence

  => Merged observations: 190
  => Completed observations: 202
  => Filtered observations: 24
  => Changed observations: 0.009361

==============================================================================
Registering image #11 (23)
==============================================================================

  => Image sees 4492 / 6209 points

Pose refinement report
----------------------
    Residuals : 9874
   Parameters : 6
   Iterations : 9
         Time : 0.130667 [s]
 Initial cost : 0.767738 [px]
   Final cost : 0.731314 [px]
  Termination : Convergence

  => Continued observations: 3800
  => Added observations: 2906

Bundle adjustment report
------------------------
    Residuals : 84116
   Parameters : 14573
   Iterations : 25
         Time : 2.78232 [s]
 Initial cost : 0.754642 [px]
   Final cost : 0.730422 [px]
  Termination : Convergence

  => Merged observations: 515
  => Completed observations: 290
  => Filtered observations: 1845
  => Changed observations: 0.057471

Bundle adjustment report
------------------------
    Residuals : 81692
   Parameters : 14303
   Iterations : 4
         Time : 0.462919 [s]
 Initial cost : 0.84878 [px]
   Final cost : 0.830365 [px]
  Termination : Convergence

  => Merged observations: 243
  => Completed observations: 298
  => Filtered observations: 33
  => Changed observations: 0.012575

==============================================================================
Registering image #13 (24)
==============================================================================

  => Image sees 3766 / 4530 points

Pose refinement report
----------------------
    Residuals : 9058
   Parameters : 6
   Iterations : 9
         Time : 0.129588 [s]
 Initial cost : 0.771429 [px]
   Final cost : 0.754831 [px]
  Termination : Convergence

  => Continued observations: 3237
  => Added observations: 2427

Bundle adjustment report
------------------------
    Residuals : 70886
   Parameters : 12791
   Iterations : 23
         Time : 2.23305 [s]
 Initial cost : 0.791703 [px]
   Final cost : 0.760535 [px]
  Termination : Convergence

  => Merged observations: 586
  => Completed observations: 323
  => Filtered observations: 1471
  => Changed observations: 0.058961

Bundle adjustment report
------------------------
    Residuals : 69336
   Parameters : 12311
   Iterations : 3
         Time : 0.325035 [s]
 Initial cost : 0.874785 [px]
   Final cost : 0.857446 [px]
  Termination : Convergence

  => Merged observations: 234
  => Completed observations: 212
  => Filtered observations: 15
  => Changed observations: 0.011654

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

  => Completed observations: 378
  => Merged observations: 172
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.363469e+05    0.00e+00    3.39e+05   0.00e+00   0.00e+00  1.00e+04        0    4.61e-01    9.69e-01
   1  1.350329e+05    1.31e+03    1.89e+03   1.25e+00   1.00e+00  3.00e+04        1    1.04e+00    2.01e+00
   2  1.350320e+05    8.90e-01    6.38e+02   6.08e-01   1.00e+00  9.00e+04        1    9.79e-01    2.98e+00
   3  1.350319e+05    1.67e-01    1.38e+02   3.82e-01   1.00e+00  2.70e+05        1    9.44e-01    3.93e+00
   4  1.350319e+05    7.91e-03    8.25e+00   9.55e-02   1.00e+00  8.10e+05        1    1.02e+00    4.94e+00
   5  1.350319e+05    5.64e-05    2.11e-01   8.42e-03   1.00e+00  2.43e+06        1    8.21e-01    5.76e+00

Bundle adjustment report
------------------------
    Residuals : 228152
   Parameters : 78428
   Iterations : 6
         Time : 5.77973 [s]
 Initial cost : 0.773055 [px]
   Final cost : 0.769318 [px]
  Termination : Convergence

  => Completed observations: 81
  => Merged observations: 84
  => Filtered observations: 54
  => Changed observations: 0.001920

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.353568e+05    0.00e+00    9.55e+04   0.00e+00   0.00e+00  1.00e+04        0    3.05e-01    8.22e-01
   1  1.350610e+05    2.96e+02    1.35e+02   2.23e-01   1.00e+00  3.00e+04        1    5.91e-01    1.41e+00
   2  1.350610e+05    1.93e-02    3.36e+00   5.33e-02   1.01e+00  9.00e+04        1    5.32e-01    1.95e+00
   3  1.350610e+05    1.56e-03    1.22e+00   3.56e-02   1.00e+00  2.70e+05        1    5.45e-01    2.49e+00
   4  1.350610e+05    8.18e-05    2.65e-01   9.49e-03   1.00e+00  8.10e+05        1    5.38e-01    3.03e+00

Bundle adjustment report
------------------------
    Residuals : 228204
   Parameters : 78386
   Iterations : 5
         Time : 3.04202 [s]
 Initial cost : 0.770156 [px]
   Final cost : 0.769314 [px]
  Termination : Convergence

  => Completed observations: 31
  => Merged observations: 50
  => Filtered observations: 22
  => Changed observations: 0.000903

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.351819e+05    0.00e+00    3.24e+04   0.00e+00   0.00e+00  1.00e+04        0    3.15e-01    7.81e-01
   1  1.350649e+05    1.17e+02    2.69e+01   1.65e-01   1.00e+00  3.00e+04        1    5.62e-01    1.34e+00
   2  1.350649e+05    6.27e-03    1.96e+00   2.83e-02   1.01e+00  9.00e+04        1    5.46e-01    1.89e+00
   3  1.350649e+05    4.71e-04    5.64e-01   1.96e-02   1.00e+00  2.70e+05        1    5.38e-01    2.43e+00

Bundle adjustment report
------------------------
    Residuals : 228220
   Parameters : 78365
   Iterations : 4
         Time : 2.44155 [s]
 Initial cost : 0.769631 [px]
   Final cost : 0.769298 [px]
  Termination : Convergence

  => Completed observations: 7
  => Merged observations: 0
  => Filtered observations: 8
  => Changed observations: 0.000131
  => Filtered images: 0

==============================================================================
Registering image #44 (25)
==============================================================================

  => Image sees 3058 / 4728 points

Pose refinement report
----------------------
    Residuals : 5168
   Parameters : 6
   Iterations : 18
         Time : 0.149196 [s]
 Initial cost : 0.937174 [px]
   Final cost : 0.865432 [px]
  Termination : Convergence

  => Continued observations: 2123
  => Added observations: 1475

Bundle adjustment report
------------------------
    Residuals : 73928
   Parameters : 9812
   Iterations : 26
         Time : 2.55206 [s]
 Initial cost : 0.774854 [px]
   Final cost : 0.73106 [px]
  Termination : No convergence

  => Merged observations: 122
  => Completed observations: 197
  => Filtered observations: 1571
  => Changed observations: 0.045275

Bundle adjustment report
------------------------
    Residuals : 71842
   Parameters : 9608
   Iterations : 3
         Time : 0.550703 [s]
 Initial cost : 0.868087 [px]
   Final cost : 0.850406 [px]
  Termination : Convergence

  => Merged observations: 119
  => Completed observations: 193
  => Filtered observations: 18
  => Changed observations: 0.008067

==============================================================================
Registering image #28 (26)
==============================================================================

  => Image sees 3417 / 4454 points

Pose refinement report
----------------------
    Residuals : 5342
   Parameters : 6
   Iterations : 19
         Time : 0.241539 [s]
 Initial cost : 0.801387 [px]
   Final cost : 0.778612 [px]
  Termination : Convergence

  => Continued observations: 2272
  => Added observations: 2361

Bundle adjustment report
------------------------
    Residuals : 62816
   Parameters : 14786
   Iterations : 26
         Time : 3.82064 [s]
 Initial cost : 0.856836 [px]
   Final cost : 0.825005 [px]
  Termination : No convergence

  => Merged observations: 71
  => Completed observations: 162
  => Filtered observations: 1875
  => Changed observations: 0.063277

Bundle adjustment report
------------------------
    Residuals : 59820
   Parameters : 14261
   Iterations : 4
         Time : 0.387252 [s]
 Initial cost : 0.832331 [px]
   Final cost : 0.807533 [px]
  Termination : Convergence

  => Merged observations: 96
  => Completed observations: 257
  => Filtered observations: 19
  => Changed observations: 0.011695

==============================================================================
Registering image #10 (27)
==============================================================================

  => Image sees 3866 / 5456 points

Pose refinement report
----------------------
    Residuals : 7988
   Parameters : 6
   Iterations : 11
         Time : 0.129254 [s]
 Initial cost : 0.726873 [px]
   Final cost : 0.71612 [px]
  Termination : Convergence

  => Continued observations: 3205
  => Added observations: 2244

Bundle adjustment report
------------------------
    Residuals : 65860
   Parameters : 12302
   Iterations : 26
         Time : 2.36919 [s]
 Initial cost : 0.794834 [px]
   Final cost : 0.768688 [px]
  Termination : No convergence

  => Merged observations: 277
  => Completed observations: 187
  => Filtered observations: 1247
  => Changed observations: 0.045734

Bundle adjustment report
------------------------
    Residuals : 64184
   Parameters : 11906
   Iterations : 3
         Time : 0.29965 [s]
 Initial cost : 0.885916 [px]
   Final cost : 0.870634 [px]
  Termination : Convergence

  => Merged observations: 138
  => Completed observations: 178
  => Filtered observations: 15
  => Changed observations: 0.009053

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

  => Completed observations: 321
  => Merged observations: 67
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.517451e+05    0.00e+00    1.12e+05   0.00e+00   0.00e+00  1.00e+04        0    3.36e-01    8.79e-01
   1  1.503650e+05    1.38e+03    7.34e+03   1.17e+00   1.00e+00  3.00e+04        1    6.18e-01    1.50e+00
   2  1.503646e+05    3.98e-01    1.59e+02   4.53e-01   1.00e+00  9.00e+04        1    6.03e-01    2.10e+00
   3  1.503645e+05    7.98e-02    7.06e+01   2.55e-01   1.00e+00  2.70e+05        1    6.14e-01    2.71e+00
   4  1.503645e+05    5.26e-03    6.27e+00   7.64e-02   1.00e+00  8.10e+05        1    5.91e-01    3.31e+00
   5  1.503645e+05    5.42e-05    1.77e-01   8.23e-03   1.00e+00  2.43e+06        1    5.86e-01    3.89e+00

Bundle adjustment report
------------------------
    Residuals : 249064
   Parameters : 83999
   Iterations : 6
         Time : 3.90736 [s]
 Initial cost : 0.780552 [px]
   Final cost : 0.776993 [px]
  Termination : Convergence

  => Completed observations: 67
  => Merged observations: 108
  => Filtered observations: 37
  => Changed observations: 0.001702

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.507566e+05    0.00e+00    4.33e+04   0.00e+00   0.00e+00  1.00e+04        0    5.76e-01    1.14e+00
   1  1.505140e+05    2.43e+02    1.03e+02   1.92e-01   1.00e+00  3.00e+04        1    1.14e+00    2.28e+00
   2  1.505140e+05    2.76e-02    5.19e+00   3.33e-02   1.01e+00  9.00e+04        1    1.12e+00    3.40e+00
   3  1.505140e+05    1.20e-03    8.46e-01   2.55e-02   1.00e+00  2.70e+05        1    1.12e+00    4.52e+00

Bundle adjustment report
------------------------
    Residuals : 249124
   Parameters : 83972
   Iterations : 4
         Time : 4.53813 [s]
 Initial cost : 0.777912 [px]
   Final cost : 0.777286 [px]
  Termination : Convergence

  => Completed observations: 24
  => Merged observations: 5
  => Filtered observations: 20
  => Changed observations: 0.000393
  => Filtered images: 0

==============================================================================
Registering image #31 (28)
==============================================================================

  => Image sees 2472 / 3970 points

Pose refinement report
----------------------
    Residuals : 4808
   Parameters : 6
   Iterations : 20
         Time : 0.219028 [s]
 Initial cost : 0.8667 [px]
   Final cost : 0.840051 [px]
  Termination : Convergence

  => Continued observations: 1914
  => Added observations: 1316

Bundle adjustment report
------------------------
    Residuals : 61332
   Parameters : 9299
   Iterations : 26
         Time : 2.16143 [s]
 Initial cost : 0.762406 [px]
   Final cost : 0.727853 [px]
  Termination : No convergence

  => Merged observations: 162
  => Completed observations: 196
  => Filtered observations: 1173
  => Changed observations: 0.045125

Bundle adjustment report
------------------------
    Residuals : 58292
   Parameters : 11255
   Iterations : 3
         Time : 0.26957 [s]
 Initial cost : 0.876556 [px]
   Final cost : 0.859216 [px]
  Termination : Convergence

  => Merged observations: 123
  => Completed observations: 144
  => Filtered observations: 30
  => Changed observations: 0.008947

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

  => Image sees 2782 / 3385 points

Pose refinement report
----------------------
    Residuals : 5944
   Parameters : 6
   Iterations : 12
         Time : 0.107014 [s]
 Initial cost : 0.794639 [px]
   Final cost : 0.793203 [px]
  Termination : Convergence

  => Continued observations: 2273
  => Added observations: 1672

Bundle adjustment report
------------------------
    Residuals : 63654
   Parameters : 12161
   Iterations : 26
         Time : 2.34568 [s]
 Initial cost : 0.767252 [px]
   Final cost : 0.740628 [px]
  Termination : No convergence

  => Merged observations: 445
  => Completed observations: 245
  => Filtered observations: 1221
  => Changed observations: 0.055105

Bundle adjustment report
------------------------
    Residuals : 62560
   Parameters : 11858
   Iterations : 3
         Time : 0.278513 [s]
 Initial cost : 0.856157 [px]
   Final cost : 0.839502 [px]
  Termination : Convergence

  => Merged observations: 192
  => Completed observations: 180
  => Filtered observations: 26
  => Changed observations: 0.011668

==============================================================================
Registering image #43 (30)
==============================================================================

  => Image sees 3020 / 3989 points

Pose refinement report
----------------------
    Residuals : 6124
   Parameters : 6
   Iterations : 14
         Time : 0.12189 [s]
 Initial cost : 0.886974 [px]
   Final cost : 0.815981 [px]
  Termination : Convergence

  => Continued observations: 2468
  => Added observations: 1723

Bundle adjustment report
------------------------
    Residuals : 64132
   Parameters : 9758
   Iterations : 26
         Time : 2.26193 [s]
 Initial cost : 0.777452 [px]
   Final cost : 0.744407 [px]
  Termination : No convergence

  => Merged observations: 294
  => Completed observations: 290
  => Filtered observations: 1356
  => Changed observations: 0.054380

Bundle adjustment report
------------------------
    Residuals : 63368
   Parameters : 10268
   Iterations : 3
         Time : 0.275957 [s]
 Initial cost : 0.872128 [px]
   Final cost : 0.855021 [px]
  Termination : Convergence

  => Merged observations: 229
  => Completed observations: 183
  => Filtered observations: 15
  => Changed observations: 0.011965

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

  => Completed observations: 312
  => Merged observations: 150
  => Retriangulated observations: 198

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  5.510238e+05    0.00e+00    2.14e+06   0.00e+00   0.00e+00  1.00e+04        0    5.85e-01    1.22e+00
   1  4.392741e+05    1.12e+05    2.83e+05   8.06e+00   9.92e-01  3.00e+04        1    1.24e+00    2.46e+00
   2  4.390884e+05    1.86e+02    3.98e+04   3.15e+00   9.99e-01  9.00e+04        1    1.21e+00    3.67e+00
   3  4.390795e+05    8.91e+00    6.43e+03   2.22e+00   9.99e-01  2.70e+05        1    1.18e+00    4.85e+00
   4  4.390788e+05    7.15e-01    8.37e+02   7.45e-01   1.00e+00  8.10e+05        1    9.10e-01    5.76e+00
   5  4.390788e+05    9.45e-03    1.29e+01   9.17e-02   1.00e+00  2.43e+06        1    6.70e-01    6.43e+00
   6  4.390788e+05    1.80e-05    3.16e-01   3.95e-03   1.01e+00  7.29e+06        1    6.43e-01    7.07e+00

Bundle adjustment report
------------------------
    Residuals : 267714
   Parameters : 88475
   Iterations : 7
         Time : 7.08725 [s]
 Initial cost : 1.43466 [px]
   Final cost : 1.28067 [px]
  Termination : Convergence

  => Completed observations: 297
  => Merged observations: 352
  => Filtered observations: 1683
  => Changed observations: 0.017422

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.722631e+05    0.00e+00    4.87e+05   0.00e+00   0.00e+00  1.00e+04        0    3.69e-01    9.60e-01
   1  1.644886e+05    7.77e+03    1.28e+05   7.32e+00   9.97e-01  3.00e+04        1    6.56e-01    1.62e+00
   2  1.644475e+05    4.11e+01    2.39e+04   2.68e+00   1.00e+00  9.00e+04        1    6.51e-01    2.27e+00
   3  1.644417e+05    5.77e+00    4.15e+03   1.72e+00   1.00e+00  2.70e+05        1    6.38e-01    2.90e+00
   4  1.644413e+05    4.25e-01    4.81e+02   5.47e-01   1.00e+00  8.10e+05        1    6.34e-01    3.54e+00
   5  1.644413e+05    5.02e-03    6.33e+00   6.33e-02   1.00e+00  2.43e+06        1    6.33e-01    4.17e+00
   6  1.644413e+05    8.53e-06    9.92e-02   2.57e-03   1.01e+00  7.29e+06        1    6.20e-01    4.79e+00

Bundle adjustment report
------------------------
    Residuals : 264928
   Parameters : 87659
   Iterations : 7
         Time : 4.80854 [s]
 Initial cost : 0.806366 [px]
   Final cost : 0.787846 [px]
  Termination : Convergence

  => Completed observations: 526
  => Merged observations: 153
  => Filtered observations: 88
  => Changed observations: 0.005790

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.659190e+05    0.00e+00    2.31e+05   0.00e+00   0.00e+00  1.00e+04        0    3.59e-01    9.39e-01
   1  1.650156e+05    9.03e+02    2.20e+03   8.46e-01   1.00e+00  3.00e+04        1    6.41e-01    1.58e+00
   2  1.650151e+05    5.01e-01    2.87e+02   3.41e-01   1.00e+00  9.00e+04        1    6.57e-01    2.24e+00
   3  1.650150e+05    1.07e-01    8.10e+01   2.34e-01   1.00e+00  2.70e+05        1    1.15e+00    3.38e+00
   4  1.650149e+05    8.01e-03    9.12e+00   7.48e-02   1.00e+00  8.10e+05        1    1.12e+00    4.50e+00
   5  1.650149e+05    9.54e-05    2.10e-01   8.70e-03   1.00e+00  2.43e+06        1    1.18e+00    5.69e+00

Bundle adjustment report
------------------------
    Residuals : 265804
   Parameters : 87614
   Iterations : 6
         Time : 5.70471 [s]
 Initial cost : 0.790073 [px]
   Final cost : 0.787918 [px]
  Termination : Convergence

  => Completed observations: 95
  => Merged observations: 22
  => Filtered observations: 48
  => Changed observations: 0.001242

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.652339e+05    0.00e+00    1.13e+05   0.00e+00   0.00e+00  1.00e+04        0    3.52e-01    1.01e+00
   1  1.649942e+05    2.40e+02    5.45e+02   3.46e-01   1.00e+00  3.00e+04        1    6.86e-01    1.69e+00
   2  1.649941e+05    7.26e-02    4.27e+01   1.29e-01   1.00e+00  9.00e+04        1    6.25e-01    2.32e+00
   3  1.649941e+05    1.39e-02    1.03e+01   8.45e-02   1.00e+00  2.70e+05        1    6.48e-01    2.97e+00
   4  1.649941e+05    1.04e-03    1.16e+00   2.70e-02   1.00e+00  8.10e+05        1    6.35e-01    3.60e+00
   5  1.649941e+05    1.24e-05    7.06e-02   3.14e-03   1.00e+00  2.43e+06        1    6.24e-01    4.23e+00

Bundle adjustment report
------------------------
    Residuals : 265898
   Parameters : 87605
   Iterations : 6
         Time : 4.24286 [s]
 Initial cost : 0.788301 [px]
   Final cost : 0.787729 [px]
  Termination : Convergence

  => Completed observations: 37
  => Merged observations: 19
  => Filtered observations: 13
  => Changed observations: 0.000519

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.651599e+05    0.00e+00    3.08e+04   0.00e+00   0.00e+00  1.00e+04        0    3.68e-01    9.26e-01
   1  1.650640e+05    9.60e+01    4.88e+01   9.77e-02   1.00e+00  3.00e+04        1    6.46e-01    1.57e+00
   2  1.650640e+05    4.01e-03    2.52e+00   2.56e-02   1.01e+00  9.00e+04        1    6.43e-01    2.22e+00
   3  1.650640e+05    6.48e-04    6.14e-01   1.81e-02   1.00e+00  2.70e+05        1    6.66e-01    2.88e+00

Bundle adjustment report
------------------------
    Residuals : 265946
   Parameters : 87599
   Iterations : 4
         Time : 2.8992 [s]
 Initial cost : 0.788053 [px]
   Final cost : 0.787824 [px]
  Termination : Convergence

  => Completed observations: 11
  => Merged observations: 15
  => Filtered observations: 4
  => Changed observations: 0.000226
  => Filtered images: 0

==============================================================================
Registering image #9 (31)
==============================================================================

  => Image sees 2840 / 3986 points

Pose refinement report
----------------------
    Residuals : 6326
   Parameters : 6
   Iterations : 10
         Time : 0.092988 [s]
 Initial cost : 0.778555 [px]
   Final cost : 0.776315 [px]
  Termination : Convergence

  => Continued observations: 2351
  => Added observations: 2030

Bundle adjustment report
------------------------
    Residuals : 66504
   Parameters : 13244
   Iterations : 26
         Time : 2.82245 [s]
 Initial cost : 0.78384 [px]
   Final cost : 0.761401 [px]
  Termination : No convergence

  => Merged observations: 158
  => Completed observations: 149
  => Filtered observations: 1356
  => Changed observations: 0.045364

Bundle adjustment report
------------------------
    Residuals : 64650
   Parameters : 12830
   Iterations : 3
         Time : 0.511791 [s]
 Initial cost : 0.898555 [px]
   Final cost : 0.88397 [px]
  Termination : Convergence

  => Merged observations: 155
  => Completed observations: 173
  => Filtered observations: 12
  => Changed observations: 0.009519

==============================================================================
Registering image #8 (32)
==============================================================================

  => Image sees 3523 / 5311 points

Pose refinement report
----------------------
    Residuals : 8136
   Parameters : 6
   Iterations : 12
         Time : 0.240684 [s]
 Initial cost : 0.737457 [px]
   Final cost : 0.73343 [px]
  Termination : Convergence

  => Continued observations: 3170
  => Added observations: 2334

Bundle adjustment report
------------------------
    Residuals : 63414
   Parameters : 13193
   Iterations : 24
         Time : 3.11001 [s]
 Initial cost : 0.743325 [px]
   Final cost : 0.712969 [px]
  Termination : Convergence

  => Merged observations: 302
  => Completed observations: 275
  => Filtered observations: 951
  => Changed observations: 0.044426

Bundle adjustment report
------------------------
    Residuals : 62592
   Parameters : 12962
   Iterations : 3
         Time : 0.30095 [s]
 Initial cost : 0.889313 [px]
   Final cost : 0.874413 [px]
  Termination : Convergence

  => Merged observations: 153
  => Completed observations: 133
  => Filtered observations: 18
  => Changed observations: 0.008949

==============================================================================
Registering image #41 (33)
==============================================================================

  => Image sees 2979 / 4740 points

Pose refinement report
----------------------
    Residuals : 5812
   Parameters : 6
   Iterations : 12
         Time : 0.11015 [s]
 Initial cost : 0.830103 [px]
   Final cost : 0.800398 [px]
  Termination : Convergence

  => Continued observations: 2282
  => Added observations: 1601

Bundle adjustment report
------------------------
    Residuals : 59060
   Parameters : 8222
   Iterations : 24
         Time : 1.88082 [s]
 Initial cost : 0.792457 [px]
   Final cost : 0.758169 [px]
  Termination : Convergence

  => Merged observations: 227
  => Completed observations: 216
  => Filtered observations: 1184
  => Changed observations: 0.046534

Bundle adjustment report
------------------------
    Residuals : 56120
   Parameters : 8081
   Iterations : 3
         Time : 0.256866 [s]
 Initial cost : 0.907303 [px]
   Final cost : 0.89215 [px]
  Termination : Convergence

  => Merged observations: 185
  => Completed observations: 149
  => Filtered observations: 23
  => Changed observations: 0.010790

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

  => Completed observations: 303
  => Merged observations: 159
  => Retriangulated observations: 46

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.924229e+05    0.00e+00    3.67e+05   0.00e+00   0.00e+00  1.00e+04        0    4.09e-01    1.06e+00
   1  1.881194e+05    4.30e+03    1.40e+03   8.46e-01   1.00e+00  3.00e+04        1    7.31e-01    1.79e+00
   2  1.881185e+05    9.43e-01    3.88e+01   1.29e-01   1.00e+00  9.00e+04        1    6.79e-01    2.47e+00
   3  1.881185e+05    2.01e-03    2.25e+00   2.16e-02   1.01e+00  2.70e+05        1    7.20e-01    3.19e+00
   4  1.881185e+05    7.71e-05    1.45e-01   7.26e-03   1.00e+00  8.10e+05        1    6.97e-01    3.88e+00

Bundle adjustment report
------------------------
    Residuals : 289294
   Parameters : 94103
   Iterations : 5
         Time : 3.90298 [s]
 Initial cost : 0.815565 [px]
   Final cost : 0.806392 [px]
  Termination : Convergence

  => Completed observations: 88
  => Merged observations: 128
  => Filtered observations: 131
  => Changed observations: 0.002399

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  1.825297e+05    0.00e+00    5.44e+04   0.00e+00   0.00e+00  1.00e+04        0    5.32e-01    1.16e+00
   1  1.821607e+05    3.69e+02    6.10e+02   1.94e-01   1.00e+00  3.00e+04        1    1.31e+00    2.46e+00
   2  1.821607e+05    2.07e-02    1.46e+01   6.00e-02   1.00e+00  9.00e+04        1    1.29e+00    3.76e+00
   3  1.821607e+05    4.05e-03    3.34e+00   4.44e-02   1.00e+00  2.70e+05        1    1.35e+00    5.10e+00
   4  1.821607e+05    3.29e-04    3.78e-01   1.49e-02   1.00e+00  8.10e+05        1    9.72e-01    6.08e+00

Bundle adjustment report
------------------------
    Residuals : 289206
   Parameters : 94016
   Iterations : 5
         Time : 6.09339 [s]
 Initial cost : 0.794444 [px]
   Final cost : 0.79364 [px]
  Termination : Convergence

  => Completed observations: 38
  => Merged observations: 8
  => Filtered observations: 18
  => Changed observations: 0.000443
  => Filtered images: 0

==============================================================================
Registering image #7 (34)
==============================================================================

  => Image sees 3192 / 4578 points

Pose refinement report
----------------------
    Residuals : 7350
   Parameters : 6
   Iterations : 10
         Time : 0.106142 [s]
 Initial cost : 0.717726 [px]
   Final cost : 0.700549 [px]
  Termination : Convergence

  => Continued observations: 2902
  => Added observations: 1911

Bundle adjustment report
------------------------
    Residuals : 66666
   Parameters : 13157
   Iterations : 26
         Time : 2.40295 [s]
 Initial cost : 0.730756 [px]
   Final cost : 0.707638 [px]
  Termination : No convergence

  => Merged observations: 228
  => Completed observations: 180
  => Filtered observations: 880
  => Changed observations: 0.037080

Bundle adjustment report
------------------------
    Residuals : 65480
   Parameters : 12923
   Iterations : 3
         Time : 0.307027 [s]
 Initial cost : 0.857393 [px]
   Final cost : 0.84449 [px]
  Termination : Convergence

  => Merged observations: 107
  => Completed observations: 136
  => Filtered observations: 10
  => Changed observations: 0.007409

==============================================================================
Registering image #4 (35)
==============================================================================

  => Image sees 4320 / 7338 points

Pose refinement report
----------------------
    Residuals : 10134
   Parameters : 6
   Iterations : 12
         Time : 0.190848 [s]
 Initial cost : 0.729273 [px]
   Final cost : 0.715171 [px]
  Termination : Convergence

  => Continued observations: 3939
  => Added observations: 2314

Bundle adjustment report
------------------------
    Residuals : 69178
   Parameters : 14363
   Iterations : 26
         Time : 2.44216 [s]
 Initial cost : 0.73644 [px]
   Final cost : 0.708273 [px]
  Termination : No convergence

  => Merged observations: 379
  => Completed observations: 211
  => Filtered observations: 1015
  => Changed observations: 0.042092

Bundle adjustment report
------------------------
    Residuals : 68118
   Parameters : 14120
   Iterations : 3
         Time : 0.303596 [s]
 Initial cost : 0.882696 [px]
   Final cost : 0.868936 [px]
  Termination : Convergence

  => Merged observations: 140
  => Completed observations: 181
  => Filtered observations: 26
  => Changed observations: 0.009233

==============================================================================
Registering image #1 (36)
==============================================================================

  => Image sees 4649 / 7019 points

Pose refinement report
----------------------
    Residuals : 11230
   Parameters : 6
   Iterations : 12
         Time : 0.219648 [s]
 Initial cost : 0.742045 [px]
   Final cost : 0.697438 [px]
  Termination : Convergence

  => Continued observations: 4309
  => Added observations: 2640

Bundle adjustment report
------------------------
    Residuals : 75396
   Parameters : 15458
   Iterations : 26
         Time : 2.99066 [s]
 Initial cost : 0.739759 [px]
   Final cost : 0.719349 [px]
  Termination : No convergence

  => Merged observations: 433
  => Completed observations: 247
  => Filtered observations: 1241
  => Changed observations: 0.046393

Bundle adjustment report
------------------------
    Residuals : 73848
   Parameters : 15113
   Iterations : 3
         Time : 0.56444 [s]
 Initial cost : 0.87684 [px]
   Final cost : 0.86225 [px]
  Termination : Convergence

  => Merged observations: 138
  => Completed observations: 179
  => Filtered observations: 25
  => Changed observations: 0.008421

==============================================================================
Registering image #2 (37)
==============================================================================

  => Image sees 5351 / 7411 points

Pose refinement report
----------------------
    Residuals : 13044
   Parameters : 6
   Iterations : 7
         Time : 0.257035 [s]
 Initial cost : 0.694635 [px]
   Final cost : 0.681552 [px]
  Termination : Convergence

  => Continued observations: 5088
  => Added observations: 1474

Bundle adjustment report
------------------------
    Residuals : 80886
   Parameters : 15368
   Iterations : 26
         Time : 3.72822 [s]
 Initial cost : 0.722135 [px]
   Final cost : 0.706098 [px]
  Termination : No convergence

  => Merged observations: 418
  => Completed observations: 255
  => Filtered observations: 1205
  => Changed observations: 0.042477

Bundle adjustment report
------------------------
    Residuals : 79228
   Parameters : 15047
   Iterations : 3
         Time : 0.344901 [s]
 Initial cost : 0.875789 [px]
   Final cost : 0.86281 [px]
  Termination : Convergence

  => Merged observations: 154
  => Completed observations: 202
  => Filtered observations: 20
  => Changed observations: 0.008668

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

  => Completed observations: 363
  => Merged observations: 129
  => Retriangulated observations: 25

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.260895e+05    0.00e+00    9.79e+05   0.00e+00   0.00e+00  1.00e+04        0    4.66e-01    1.23e+00
   1  2.215497e+05    4.54e+03    3.20e+04   2.96e+00   1.00e+00  3.00e+04        1    8.73e-01    2.10e+00
   2  2.215433e+05    6.40e+00    3.44e+03   1.10e+00   1.00e+00  9.00e+04        1    8.38e-01    2.94e+00
   3  2.215415e+05    1.80e+00    1.66e+03   9.21e-01   1.00e+00  2.70e+05        1    8.33e-01    3.77e+00
   4  2.215413e+05    1.97e-01    2.55e+02   3.68e-01   1.00e+00  8.10e+05        1    8.76e-01    4.65e+00
   5  2.215413e+05    3.62e-03    5.31e+00   5.41e-02   1.00e+00  2.43e+06        1    8.35e-01    5.48e+00
   6  2.215413e+05    9.34e-06    8.47e-02   2.78e-03   1.00e+00  7.29e+06        1    8.41e-01    6.32e+00

Bundle adjustment report
------------------------
    Residuals : 333444
   Parameters : 103358
   Iterations : 7
         Time : 6.34362 [s]
 Initial cost : 0.823434 [px]
   Final cost : 0.815109 [px]
  Termination : Convergence

  => Completed observations: 138
  => Merged observations: 231
  => Filtered observations: 153
  => Changed observations: 0.003131

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.135323e+05    0.00e+00    2.00e+05   0.00e+00   0.00e+00  1.00e+04        0    8.27e-01    1.88e+00
   1  2.130752e+05    4.57e+02    1.79e+02   1.90e-01   1.00e+00  3.00e+04        1    1.60e+00    3.48e+00
   2  2.130751e+05    2.81e-02    1.57e+01   4.36e-02   1.00e+00  9.00e+04        1    1.23e+00    4.71e+00
   3  2.130751e+05    4.06e-03    3.60e+00   3.17e-02   1.00e+00  2.70e+05        1    8.20e-01    5.53e+00
   4  2.130751e+05    3.91e-04    4.36e-01   1.19e-02   1.00e+00  8.10e+05        1    8.28e-01    6.36e+00

Bundle adjustment report
------------------------
    Residuals : 333384
   Parameters : 103268
   Iterations : 5
         Time : 6.38304 [s]
 Initial cost : 0.800312 [px]
   Final cost : 0.799455 [px]
  Termination : Convergence

  => Completed observations: 69
  => Merged observations: 74
  => Filtered observations: 38
  => Changed observations: 0.001086

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.132366e+05    0.00e+00    7.05e+04   0.00e+00   0.00e+00  1.00e+04        0    4.97e-01    1.27e+00
   1  2.130829e+05    1.54e+02    1.08e+02   7.19e-02   1.00e+00  3.00e+04        1    8.51e-01    2.12e+00
   2  2.130829e+05    1.26e-03    1.85e+00   8.86e-03   1.01e+00  9.00e+04        1    8.32e-01    2.95e+00
   3  2.130829e+05    9.07e-05    4.06e-01   4.78e-03   1.00e+00  2.70e+05        1    8.34e-01    3.79e+00

Bundle adjustment report
------------------------
    Residuals : 333444
   Parameters : 103238
   Iterations : 4
         Time : 3.80878 [s]
 Initial cost : 0.799686 [px]
   Final cost : 0.799398 [px]
  Termination : Convergence

  => Completed observations: 13
  => Merged observations: 0
  => Filtered observations: 7
  => Changed observations: 0.000120
  => Filtered images: 0

==============================================================================
Registering image #6 (38)
==============================================================================

  => Image sees 4538 / 5814 points

Pose refinement report
----------------------
    Residuals : 11664
   Parameters : 6
   Iterations : 14
         Time : 0.232227 [s]
 Initial cost : 0.777221 [px]
   Final cost : 0.699942 [px]
  Termination : Convergence

  => Continued observations: 4307
  => Added observations: 1433

Bundle adjustment report
------------------------
    Residuals : 81940
   Parameters : 14339
   Iterations : 26
         Time : 2.99291 [s]
 Initial cost : 0.729161 [px]
   Final cost : 0.714126 [px]
  Termination : No convergence

  => Merged observations: 330
  => Completed observations: 208
  => Filtered observations: 1299
  => Changed observations: 0.040918

Bundle adjustment report
------------------------
    Residuals : 80046
   Parameters : 13994
   Iterations : 4
         Time : 0.764265 [s]
 Initial cost : 0.871175 [px]
   Final cost : 0.858254 [px]
  Termination : Convergence

  => Merged observations: 134
  => Completed observations: 216
  => Filtered observations: 31
  => Changed observations: 0.008671

==============================================================================
Registering image #3 (39)
==============================================================================

  => Image sees 5117 / 6502 points

Pose refinement report
----------------------
    Residuals : 13092
   Parameters : 6
   Iterations : 9
         Time : 0.28045 [s]
 Initial cost : 0.818175 [px]
   Final cost : 0.686187 [px]
  Termination : Convergence

  => Continued observations: 4878
  => Added observations: 2815

Bundle adjustment report
------------------------
    Residuals : 82386
   Parameters : 14975
   Iterations : 26
         Time : 3.87723 [s]
 Initial cost : 0.722277 [px]
   Final cost : 0.705358 [px]
  Termination : No convergence

  => Merged observations: 414
  => Completed observations: 423
  => Filtered observations: 1339
  => Changed observations: 0.048915

Bundle adjustment report
------------------------
    Residuals : 83648
   Parameters : 14585
   Iterations : 3
         Time : 0.359858 [s]
 Initial cost : 0.835772 [px]
   Final cost : 0.82098 [px]
  Termination : Convergence

  => Merged observations: 177
  => Completed observations: 307
  => Filtered observations: 21
  => Changed observations: 0.011558

==============================================================================
Registering image #5 (40)
==============================================================================

  => Image sees 4400 / 4905 points

Pose refinement report
----------------------
    Residuals : 11556
   Parameters : 6
   Iterations : 10
         Time : 0.177751 [s]
 Initial cost : 0.720134 [px]
   Final cost : 0.702263 [px]
  Termination : Convergence

  => Continued observations: 4157
  => Added observations: 1867

Bundle adjustment report
------------------------
    Residuals : 82246
   Parameters : 13862
   Iterations : 26
         Time : 3.031 [s]
 Initial cost : 0.739027 [px]
   Final cost : 0.717302 [px]
  Termination : No convergence

  => Merged observations: 597
  => Completed observations: 338
  => Filtered observations: 1361
  => Changed observations: 0.053052

Bundle adjustment report
------------------------
    Residuals : 80480
   Parameters : 13361
   Iterations : 4
         Time : 0.485046 [s]
 Initial cost : 0.83502 [px]
   Final cost : 0.819428 [px]
  Termination : Convergence

  => Merged observations: 164
  => Completed observations: 244
  => Filtered observations: 26
  => Changed observations: 0.010238

==============================================================================
Registering image #40 (41)
==============================================================================

  => Image sees 2872 / 4194 points

Pose refinement report
----------------------
    Residuals : 6068
   Parameters : 6
   Iterations : 13
         Time : 0.124402 [s]
 Initial cost : 0.83705 [px]
   Final cost : 0.79326 [px]
  Termination : Convergence

  => Continued observations: 2288
  => Added observations: 1454

Bundle adjustment report
------------------------
    Residuals : 50614
   Parameters : 8624
   Iterations : 26
         Time : 1.71396 [s]
 Initial cost : 0.833513 [px]
   Final cost : 0.80278 [px]
  Termination : No convergence

  => Merged observations: 327
  => Completed observations: 236
  => Filtered observations: 1226
  => Changed observations: 0.057676

Bundle adjustment report
------------------------
    Residuals : 49298
   Parameters : 8024
   Iterations : 3
         Time : 0.210592 [s]
 Initial cost : 0.944711 [px]
   Final cost : 0.928451 [px]
  Termination : Convergence

  => Merged observations: 147
  => Completed observations: 119
  => Filtered observations: 17
  => Changed observations: 0.009592

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

  => Completed observations: 503
  => Merged observations: 136
  => Retriangulated observations: 27

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.737848e+05    0.00e+00    6.06e+05   0.00e+00   0.00e+00  1.00e+04        0    8.84e-01    1.94e+00
   1  2.650072e+05    8.78e+03    9.28e+03   9.68e-01   1.01e+00  3.00e+04        1    1.81e+00    3.75e+00
   2  2.649915e+05    1.57e+01    2.53e+02   1.11e-01   1.03e+00  9.00e+04        1    1.53e+00    5.27e+00
   3  2.649915e+05    2.92e-02    2.33e+01   4.97e-02   1.02e+00  2.70e+05        1    9.58e-01    6.23e+00
   4  2.649915e+05    1.27e-03    1.78e+00   2.13e-02   1.00e+00  8.10e+05        1    9.47e-01    7.18e+00
   5  2.649915e+05    2.71e-05    8.40e-02   3.44e-03   1.00e+00  2.43e+06        1    9.59e-01    8.14e+00

Bundle adjustment report
------------------------
    Residuals : 374220
   Parameters : 109406
   Iterations : 6
         Time : 8.16147 [s]
 Initial cost : 0.855345 [px]
   Final cost : 0.841497 [px]
  Termination : Convergence

  => Completed observations: 104
  => Merged observations: 80
  => Filtered observations: 177
  => Changed observations: 0.001929

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.411407e+05    0.00e+00    4.77e+04   0.00e+00   0.00e+00  1.00e+04        0    5.39e-01    1.42e+00
   1  2.406193e+05    5.21e+02    6.10e+02   4.92e-01   1.00e+00  3.00e+04        1    9.81e-01    2.40e+00
   2  2.406192e+05    6.29e-02    9.10e+00   4.82e-02   1.00e+00  9.00e+04        1    9.48e-01    3.35e+00
   3  2.406192e+05    2.60e-03    2.39e+00   2.30e-02   1.00e+00  2.70e+05        1    9.42e-01    4.29e+00
   4  2.406192e+05    2.65e-04    3.34e-01   9.02e-03   1.00e+00  8.10e+05        1    9.54e-01    5.24e+00

Bundle adjustment report
------------------------
    Residuals : 374072
   Parameters : 109358
   Iterations : 5
         Time : 5.26611 [s]
 Initial cost : 0.802893 [px]
   Final cost : 0.802024 [px]
  Termination : Convergence

  => Completed observations: 66
  => Merged observations: 81
  => Filtered observations: 29
  => Changed observations: 0.000941

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.407432e+05    0.00e+00    2.70e+04   0.00e+00   0.00e+00  1.00e+04        0    8.97e-01    2.03e+00
   1  2.406110e+05    1.32e+02    4.98e+01   8.30e-02   1.00e+00  3.00e+04        1    1.70e+00    3.73e+00
   2  2.406110e+05    1.20e-03    1.64e+00   6.06e-03   1.00e+00  9.00e+04        1    1.09e+00    4.82e+00
   3  2.406110e+05    8.20e-06    2.62e-01   1.41e-03   1.00e+00  2.70e+05        1    9.63e-01    5.79e+00

Bundle adjustment report
------------------------
    Residuals : 374146
   Parameters : 109340
   Iterations : 4
         Time : 5.81037 [s]
 Initial cost : 0.802152 [px]
   Final cost : 0.801931 [px]
  Termination : Convergence

  => Completed observations: 15
  => Merged observations: 23
  => Filtered observations: 6
  => Changed observations: 0.000235
  => Filtered images: 0

==============================================================================
Registering image #39 (42)
==============================================================================

  => Image sees 3003 / 4241 points

Pose refinement report
----------------------
    Residuals : 6568
   Parameters : 6
   Iterations : 10
         Time : 0.0978138 [s]
 Initial cost : 0.811887 [px]
   Final cost : 0.780712 [px]
  Termination : Convergence

  => Continued observations: 2430
  => Added observations: 1860

Bundle adjustment report
------------------------
    Residuals : 58114
   Parameters : 10190
   Iterations : 26
         Time : 1.9241 [s]
 Initial cost : 0.834752 [px]
   Final cost : 0.803443 [px]
  Termination : No convergence

  => Merged observations: 376
  => Completed observations: 171
  => Filtered observations: 1340
  => Changed observations: 0.055860

Bundle adjustment report
------------------------
    Residuals : 52044
   Parameters : 10880
   Iterations : 3
         Time : 0.228981 [s]
 Initial cost : 0.937773 [px]
   Final cost : 0.920276 [px]
  Termination : Convergence

  => Merged observations: 232
  => Completed observations: 206
  => Filtered observations: 19
  => Changed observations: 0.015049

==============================================================================
Registering image #38 (43)
==============================================================================

  => Image sees 3261 / 4466 points

Pose refinement report
----------------------
    Residuals : 7528
   Parameters : 6
   Iterations : 13
         Time : 0.147176 [s]
 Initial cost : 0.807103 [px]
   Final cost : 0.797909 [px]
  Termination : Convergence

  => Continued observations: 2676
  => Added observations: 1774

Bundle adjustment report
------------------------
    Residuals : 51204
   Parameters : 10976
   Iterations : 26
         Time : 1.73687 [s]
 Initial cost : 0.839862 [px]
   Final cost : 0.80406 [px]
  Termination : No convergence

  => Merged observations: 312
  => Completed observations: 198
  => Filtered observations: 1554
  => Changed observations: 0.075134

Bundle adjustment report
------------------------
    Residuals : 48772
   Parameters : 10544
   Iterations : 3
         Time : 0.212992 [s]
 Initial cost : 0.915256 [px]
   Final cost : 0.895574 [px]
  Termination : Convergence

  => Merged observations: 159
  => Completed observations: 185
  => Filtered observations: 17
  => Changed observations: 0.013673

==============================================================================
Registering image #42 (44)
==============================================================================

  => Image sees 2524 / 3075 points

Pose refinement report
----------------------
    Residuals : 5998
   Parameters : 6
   Iterations : 14
         Time : 0.125724 [s]
 Initial cost : 0.827351 [px]
   Final cost : 0.785045 [px]
  Termination : Convergence

  => Continued observations: 2076
  => Added observations: 1146

Bundle adjustment report
------------------------
    Residuals : 49394
   Parameters : 6236
   Iterations : 26
         Time : 1.72404 [s]
 Initial cost : 0.827219 [px]
   Final cost : 0.803624 [px]
  Termination : No convergence

  => Merged observations: 321
  => Completed observations: 170
  => Filtered observations: 1100
  => Changed observations: 0.053003

Bundle adjustment report
------------------------
    Residuals : 41524
   Parameters : 6569
   Iterations : 4
         Time : 0.229731 [s]
 Initial cost : 0.958952 [px]
   Final cost : 0.942164 [px]
  Termination : Convergence

  => Merged observations: 113
  => Completed observations: 128
  => Filtered observations: 22
  => Changed observations: 0.010354

==============================================================================
Registering image #37 (45)
==============================================================================

  => Image sees 2783 / 4178 points

Pose refinement report
----------------------
    Residuals : 6612
   Parameters : 6
   Iterations : 9
         Time : 0.105209 [s]
 Initial cost : 0.771896 [px]
   Final cost : 0.761351 [px]
  Termination : Convergence

  => Continued observations: 2409
  => Added observations: 1712

Bundle adjustment report
------------------------
    Residuals : 47956
   Parameters : 9971
   Iterations : 26
         Time : 3.06101 [s]
 Initial cost : 0.805439 [px]
   Final cost : 0.775548 [px]
  Termination : No convergence

  => Merged observations: 487
  => Completed observations: 241
  => Filtered observations: 1095
  => Changed observations: 0.069673

Bundle adjustment report
------------------------
    Residuals : 46954
   Parameters : 9662
   Iterations : 3
         Time : 0.367217 [s]
 Initial cost : 0.917161 [px]
   Final cost : 0.901174 [px]
  Termination : Convergence

  => Merged observations: 198
  => Completed observations: 146
  => Filtered observations: 14
  => Changed observations: 0.013961

==============================================================================
Registering image #36 (46)
==============================================================================

  => Image sees 2564 / 3672 points

Pose refinement report
----------------------
    Residuals : 6096
   Parameters : 6
   Iterations : 8
         Time : 0.129017 [s]
 Initial cost : 0.772656 [px]
   Final cost : 0.75902 [px]
  Termination : Convergence

  => Continued observations: 2213
  => Added observations: 1599

Bundle adjustment report
------------------------
    Residuals : 43968
   Parameters : 9437
   Iterations : 26
         Time : 1.9882 [s]
 Initial cost : 0.805899 [px]
   Final cost : 0.777799 [px]
  Termination : No convergence

  => Merged observations: 373
  => Completed observations: 207
  => Filtered observations: 958
  => Changed observations: 0.062873

Bundle adjustment report
------------------------
    Residuals : 43080
   Parameters : 9140
   Iterations : 3
         Time : 0.215898 [s]
 Initial cost : 0.909076 [px]
   Final cost : 0.895269 [px]
  Termination : Convergence

  => Merged observations: 187
  => Completed observations: 149
  => Filtered observations: 10
  => Changed observations: 0.014412

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

  => Completed observations: 528
  => Merged observations: 162
  => Retriangulated observations: 0

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.671125e+05    0.00e+00    9.57e+04   0.00e+00   0.00e+00  1.00e+04        0    5.60e-01    1.51e+00
   1  2.651893e+05    1.92e+03    1.61e+03   5.96e-01   1.00e+00  3.00e+04        1    1.07e+00    2.58e+00
   2  2.651891e+05    1.89e-01    9.11e+00   5.32e-02   1.00e+00  9.00e+04        1    1.03e+00    3.62e+00
   3  2.651891e+05    5.25e-04    1.55e+00   3.63e-03   1.01e+00  2.70e+05        1    1.05e+00    4.67e+00
   4  2.651891e+05    1.05e-06    8.59e-02   4.25e-04   1.01e+00  8.10e+05        1    1.03e+00    5.70e+00

Bundle adjustment report
------------------------
    Residuals : 406318
   Parameters : 117104
   Iterations : 5
         Time : 5.72453 [s]
 Initial cost : 0.810801 [px]
   Final cost : 0.807876 [px]
  Termination : Convergence

  => Completed observations: 103
  => Merged observations: 227
  => Filtered observations: 114
  => Changed observations: 0.002185

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.653023e+05    0.00e+00    8.85e+04   0.00e+00   0.00e+00  1.00e+04        0    9.89e-01    2.06e+00
   1  2.649907e+05    3.12e+02    6.24e+01   9.62e-02   1.00e+00  3.00e+04        1    1.91e+00    3.98e+00
   2  2.649907e+05    3.67e-03    1.87e+00   7.92e-03   1.00e+00  9.00e+04        1    1.63e+00    5.60e+00
   3  2.649907e+05    1.13e-04    3.04e-01   4.07e-03   1.00e+00  2.70e+05        1    1.06e+00    6.67e+00

Bundle adjustment report
------------------------
    Residuals : 406292
   Parameters : 117047
   Iterations : 4
         Time : 6.6902 [s]
 Initial cost : 0.808074 [px]
   Final cost : 0.8076 [px]
  Termination : Convergence

  => Completed observations: 44
  => Merged observations: 20
  => Filtered observations: 33
  => Changed observations: 0.000477
  => Filtered images: 0

==============================================================================
Registering image #35 (47)
==============================================================================

  => Image sees 2726 / 3530 points

Pose refinement report
----------------------
    Residuals : 6650
   Parameters : 6
   Iterations : 9
         Time : 0.092464 [s]
 Initial cost : 0.754028 [px]
   Final cost : 0.743814 [px]
  Termination : Convergence

  => Continued observations: 2433
  => Added observations: 1270

Bundle adjustment report
------------------------
    Residuals : 49468
   Parameters : 10580
   Iterations : 26
         Time : 1.74896 [s]
 Initial cost : 0.777285 [px]
   Final cost : 0.750187 [px]
  Termination : No convergence

  => Merged observations: 305
  => Completed observations: 170
  => Filtered observations: 982
  => Changed observations: 0.054453

Bundle adjustment report
------------------------
    Residuals : 48346
   Parameters : 10361
   Iterations : 3
         Time : 0.214316 [s]
 Initial cost : 0.88874 [px]
   Final cost : 0.873673 [px]
  Termination : Convergence

  => Merged observations: 67
  => Completed observations: 183
  => Filtered observations: 24
  => Changed observations: 0.010464

==============================================================================
Registering image #34 (48)
==============================================================================

  => Image sees 2479 / 3370 points

Pose refinement report
----------------------
    Residuals : 5928
   Parameters : 6
   Iterations : 11
         Time : 0.105533 [s]
 Initial cost : 0.759334 [px]
   Final cost : 0.754198 [px]
  Termination : Convergence

  => Continued observations: 2146
  => Added observations: 1218

Bundle adjustment report
------------------------
    Residuals : 42974
   Parameters : 8600
   Iterations : 26
         Time : 1.78831 [s]
 Initial cost : 0.794503 [px]
   Final cost : 0.762071 [px]
  Termination : No convergence

  => Merged observations: 290
  => Completed observations: 175
  => Filtered observations: 858
  => Changed observations: 0.055189

Bundle adjustment report
------------------------
    Residuals : 41984
   Parameters : 8372
   Iterations : 3
         Time : 0.220935 [s]
 Initial cost : 0.898327 [px]
   Final cost : 0.882557 [px]
  Termination : Convergence

  => Merged observations: 123
  => Completed observations: 127
  => Filtered observations: 15
  => Changed observations: 0.011290

==============================================================================
Registering image #33 (49)
==============================================================================

  => Image sees 2817 / 3775 points

Pose refinement report
----------------------
    Residuals : 6920
   Parameters : 6
   Iterations : 9
         Time : 0.0924881 [s]
 Initial cost : 0.752102 [px]
   Final cost : 0.746739 [px]
  Termination : Convergence

  => Continued observations: 2474
  => Added observations: 1334

Bundle adjustment report
------------------------
    Residuals : 44822
   Parameters : 9293
   Iterations : 26
         Time : 1.88659 [s]
 Initial cost : 0.798262 [px]
   Final cost : 0.766462 [px]
  Termination : No convergence

  => Merged observations: 556
  => Completed observations: 249
  => Filtered observations: 965
  => Changed observations: 0.071564

Bundle adjustment report
------------------------
    Residuals : 43696
   Parameters : 8990
   Iterations : 3
         Time : 0.225273 [s]
 Initial cost : 0.902019 [px]
   Final cost : 0.885297 [px]
  Termination : Convergence

  => Merged observations: 188
  => Completed observations: 182
  => Filtered observations: 18
  => Changed observations: 0.016059

==============================================================================
Registering image #32 (50)
==============================================================================

  => Image sees 2721 / 3390 points

Pose refinement report
----------------------
    Residuals : 6878
   Parameters : 6
   Iterations : 8
         Time : 0.08145 [s]
 Initial cost : 0.742589 [px]
   Final cost : 0.740376 [px]
  Termination : Convergence

  => Continued observations: 2452
  => Added observations: 1041

Bundle adjustment report
------------------------
    Residuals : 45390
   Parameters : 8447
   Iterations : 26
         Time : 2.59376 [s]
 Initial cost : 0.781839 [px]
   Final cost : 0.756533 [px]
  Termination : No convergence

  => Merged observations: 545
  => Completed observations: 189
  => Filtered observations: 874
  => Changed observations: 0.063840

Bundle adjustment report
------------------------
    Residuals : 44560
   Parameters : 8231
   Iterations : 3
         Time : 0.327664 [s]
 Initial cost : 0.906331 [px]
   Final cost : 0.89106 [px]
  Termination : Convergence

  => Merged observations: 89
  => Completed observations: 156
  => Filtered observations: 19
  => Changed observations: 0.010665

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

  => Completed observations: 435
  => Merged observations: 204
  => Retriangulated observations: 314

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  3.214751e+05    0.00e+00    8.96e+05   0.00e+00   0.00e+00  1.00e+04        0    5.76e-01    1.74e+00
   1  3.059245e+05    1.56e+04    3.43e+04   1.10e+00   9.98e-01  3.00e+04        1    1.14e+00    2.88e+00
   2  3.059168e+05    7.78e+00    3.25e+02   1.29e-01   1.01e+00  9.00e+04        1    1.13e+00    4.01e+00
   3  3.059167e+05    9.00e-02    8.47e+01   1.11e-01   1.00e+00  2.70e+05        1    1.15e+00    5.16e+00
   4  3.059167e+05    1.35e-02    1.63e+01   5.49e-02   1.00e+00  8.10e+05        1    1.13e+00    6.28e+00
   5  3.059167e+05    3.86e-04    6.14e-01   1.03e-02   1.00e+00  2.43e+06        1    1.11e+00    7.40e+00

Bundle adjustment report
------------------------
    Residuals : 431888
   Parameters : 121784
   Iterations : 6
         Time : 7.42567 [s]
 Initial cost : 0.862756 [px]
   Final cost : 0.84162 [px]
  Termination : Convergence

  => Completed observations: 170
  => Merged observations: 342
  => Filtered observations: 707
  => Changed observations: 0.005645

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.867783e+05    0.00e+00    4.62e+05   0.00e+00   0.00e+00  1.00e+04        0    6.10e-01    1.61e+00
   1  2.840322e+05    2.75e+03    1.92e+04   7.15e-01   1.00e+00  3.00e+04        1    1.74e+00    3.35e+00
   2  2.840304e+05    1.74e+00    3.40e+02   1.34e-01   1.01e+00  9.00e+04        1    2.09e+00    5.44e+00
   3  2.840303e+05    9.16e-02    8.47e+01   1.08e-01   1.00e+00  2.70e+05        1    1.75e+00    7.20e+00
   4  2.840303e+05    1.22e-02    1.36e+01   4.91e-02   1.00e+00  8.10e+05        1    1.10e+00    8.30e+00
   5  2.840303e+05    2.93e-04    3.90e-01   8.37e-03   1.00e+00  2.43e+06        1    1.14e+00    9.44e+00

Bundle adjustment report
------------------------
    Residuals : 430814
   Parameters : 121424
   Iterations : 6
         Time : 9.46135 [s]
 Initial cost : 0.815884 [px]
   Final cost : 0.811965 [px]
  Termination : Convergence

  => Completed observations: 166
  => Merged observations: 150
  => Filtered observations: 80
  => Changed observations: 0.001838

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.842194e+05    0.00e+00    4.29e+04   0.00e+00   0.00e+00  1.00e+04        0    5.78e-01    1.55e+00
   1  2.838960e+05    3.23e+02    2.70e+02   1.15e-01   1.00e+00  3.00e+04        1    1.12e+00    2.67e+00
   2  2.838960e+05    1.27e-02    7.76e+00   1.22e-02   1.01e+00  9.00e+04        1    1.09e+00    3.76e+00
   3  2.838960e+05    5.41e-04    5.90e-01   8.30e-03   1.00e+00  2.70e+05        1    1.11e+00    4.88e+00

Bundle adjustment report
------------------------
    Residuals : 430986
   Parameters : 121391
   Iterations : 4
         Time : 4.9027 [s]
 Initial cost : 0.812073 [px]
   Final cost : 0.811611 [px]
  Termination : Convergence

  => Completed observations: 40
  => Merged observations: 33
  => Filtered observations: 17
  => Changed observations: 0.000418
  => Filtered images: 0

Elapsed time: 6.213 [minutes]
==== running: colmap bundle_adjuster --input_path colmap_sparse/0 --output_path colmap_sparse/0 --BundleAdjustment.refine_principal_point 1

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

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  2.839705e+05    0.00e+00    3.37e+04   0.00e+00   0.00e+00  1.00e+04        0    1.01e+00    2.31e+00
   1  2.836077e+05    3.63e+02    1.09e+05   3.10e+00   9.99e-01  3.00e+04        1    2.10e+00    4.41e+00
   2  2.832552e+05    3.53e+02    3.35e+05   5.31e+00   9.94e-01  9.00e+04        1    1.12e+00    5.53e+00
   3  2.830963e+05    1.59e+02    2.68e+05   4.94e+00   9.91e-01  2.70e+05        1    1.12e+00    6.65e+00
   4  2.830778e+05    1.86e+01    3.65e+04   1.95e+00   1.00e+00  8.10e+05        1    1.12e+00    7.77e+00
   5  2.830774e+05    3.89e-01    2.76e+03   3.44e-01   1.01e+00  2.43e+06        1    1.12e+00    8.89e+00
   6  2.830773e+05    8.65e-02    6.45e+02   5.65e-01   1.00e+00  7.29e+06        1    1.14e+00    1.00e+01
   7  2.830772e+05    1.30e-01    9.30e+02   1.13e+00   1.00e+00  2.19e+07        1    1.14e+00    1.12e+01
   8  2.830771e+05    8.63e-02    1.28e+03   1.34e+00   1.00e+00  6.56e+07        1    1.15e+00    1.23e+01
   9  2.830771e+05    1.60e-02    3.78e+02   7.31e-01   1.01e+00  1.97e+08        1    1.11e+00    1.34e+01
  10  2.830771e+05    5.91e-04    1.67e+01   1.55e-01   1.02e+00  5.90e+08        1    1.20e+00    1.46e+01
  11  2.830771e+05    4.42e-06    7.61e-01   1.27e-02   1.03e+00  1.77e+09        1    2.04e+00    1.67e+01
  12  2.830771e+05    1.19e-08    5.08e-02   5.91e-04   8.88e-01  3.33e+09        1    2.01e+00    1.87e+01
  13  2.830771e+05    1.40e-09    2.50e-03   2.80e-05   3.51e+01  1.00e+10        1    1.43e+00    2.01e+01
  14  2.830771e+05   -1.16e-10    2.50e-03   1.33e-06   0.00e+00  5.00e+09        1    5.52e-01    2.07e+01
  15  2.830771e+05    5.82e-11    1.53e-04   1.33e-06   1.76e+03  1.50e+10        1    1.11e+00    2.18e+01
  16  2.830771e+05    4.66e-10    8.74e-06   6.66e-08   1.45e+06  4.50e+10        1    1.13e+00    2.29e+01
  17  2.830771e+05   -6.40e-10    8.74e-06   3.38e-09  -9.24e+08  2.25e+10        1    5.56e-01    2.35e+01
  18  2.830771e+05   -1.16e-10    8.74e-06   3.35e-09  -2.84e+08  5.63e+09        1    5.96e-01    2.40e+01
  19  2.830771e+05   -6.98e-10    8.74e-06   3.36e-09  -9.94e+08  7.03e+08        1    5.63e-01    2.46e+01
  20  2.830771e+05   -3.49e-10    8.74e-06   3.28e-09  -5.69e+08  4.40e+07        1    5.43e-01    2.52e+01
  21  2.830771e+05    6.98e-10    2.79e-06   2.52e-09   7.22e+08  1.32e+08        1    1.11e+00    2.63e+01
  22  2.830771e+05   -9.31e-10    2.79e-06   8.94e-10  -3.82e+10  6.59e+07        1    5.70e-01    2.68e+01
  23  2.830771e+05   -2.33e-10    2.79e-06   8.27e-10  -9.66e+09  1.65e+07        1    5.42e-01    2.74e+01
  24  2.830771e+05   -1.98e-09    2.79e-06   5.31e-10  -9.68e+10  2.06e+06        1    5.52e-01    2.79e+01
  25  2.830771e+05   -8.73e-10    2.79e-06   1.22e-10  -9.21e+10  1.29e+05        1    5.61e-01    2.85e+01
  26  2.830771e+05   -9.31e-10    2.79e-06   1.08e-11  -1.77e+11  4.02e+03        1    5.58e-01    2.91e+01
  27  2.830771e+05   -2.10e-09    2.79e-06   4.79e-12  -4.34e+11  6.29e+01        1    7.81e-01    2.98e+01
  28  2.830771e+05   -8.15e-10    2.79e-06   1.04e-12  -2.07e+11  4.91e-01        1    1.06e+00    3.09e+01
  29  2.830771e+05   -3.49e-10    2.79e-06   5.89e-14  -1.56e+11  1.92e-03        1    1.08e+00    3.20e+01

Bundle adjustment report
------------------------
    Residuals : 431032
   Parameters : 121390
   Iterations : 30
         Time : 33.0696 [s]
 Initial cost : 0.811674 [px]
   Final cost : 0.810397 [px]
  Termination : Convergence

Elapsed time: 0.559 [minutes]
==== running: mkdir colmap_text
==== running: colmap model_converter --input_path colmap_sparse/0 --output_path colmap_text --output_type TXT
outputting to /content/train/transforms.json...
camera:
    res=(1080.0, 1920.0)
    center=(550.8237717680678, 961.128620864095)
    focal=(1376.0495577837273, 1375.0415914157666)
    fov=(42.852838093691986, 69.84246292798325)
    k=(0.050622397912637576, -0.06805346118756882) p=(-0.0011823436197616363, 0.00016381618024515626) 
./../train/0052.jpg sharpness= 13.456406073969257
./../train/0046.jpg sharpness= 19.804643513969268
./../train/0045.jpg sharpness= 28.106999420846048
./../train/0044.jpg sharpness= 22.645864180640608
./../train/0042.jpg sharpness= 29.709370165166295
./../train/0039.jpg sharpness= 27.656625787009336
./../train/0035.jpg sharpness= 19.613383296754098
./../train/0033.jpg sharpness= 32.02583291089095
./../train/0034.jpg sharpness= 18.662095202534157
./../train/0031.jpg sharpness= 25.101529685578996
./../train/0030.jpg sharpness= 28.50210444869171
./../train/0029.jpg sharpness= 26.585992931101654
./../train/0027.jpg sharpness= 26.90392349054784
./../train/0026.jpg sharpness= 19.840499907651644
./../train/0025.jpg sharpness= 22.886663306836194
./../train/0022.jpg sharpness= 20.68469744351142
./../train/0001.jpg sharpness= 31.752987436300323
./../train/0002.jpg sharpness= 34.478819913413005
./../train/0004.jpg sharpness= 29.769472255739693
./../train/0003.jpg sharpness= 34.03253962361947
./../train/0007.jpg sharpness= 21.502008020345116
./../train/0081.jpg sharpness= 22.335544930506998
./../train/0012.jpg sharpness= 18.79738999665605
./../train/0084.jpg sharpness= 22.036419643640826
./../train/0014.jpg sharpness= 24.573150463855786
./../train/0085.jpg sharpness= 21.745143126936977
./../train/0018.jpg sharpness= 26.132315759762008
./../train/0089.jpg sharpness= 25.274699007258214
./../train/0019.jpg sharpness= 26.730619209501448
./../train/0090.jpg sharpness= 16.70842253664655
./../train/0021.jpg sharpness= 18.27247047087116
./../train/0097.jpg sharpness= 17.557719836028564
./../train/0094.jpg sharpness= 26.230335626371414
./../train/0105.jpg sharpness= 23.788726792775847
./../train/0103.jpg sharpness= 30.851219562897608
./../train/0107.jpg sharpness= 26.744635648823298
./../train/0108.jpg sharpness= 27.500816137743453
./../train/0110.jpg sharpness= 22.35281006506821
./../train/0115.jpg sharpness= 47.445226579087695
./../train/0078.jpg sharpness= 19.52352332697529
./../train/0009.jpg sharpness= 24.330851175887958
./../train/0077.jpg sharpness= 17.710142740192367
./../train/0008.jpg sharpness= 19.888845965288485
./../train/0076.jpg sharpness= 17.170383869027763
./../train/0006.jpg sharpness= 27.124473160185637
./../train/0074.jpg sharpness= 19.649967577352644
./../train/0073.jpg sharpness= 22.27376531814042
./../train/0072.jpg sharpness= 21.37331275597275
./../train/0054.jpg sharpness= 18.43705331441456
./../train/0049.jpg sharpness= 30.015080859073596
up vector was [-0.98895792  0.04485335 -0.14124595]
computing center of attention...
[-3.62887603  3.48588505 -0.00434642]
avg camera distance from origin 5.9292769628692135
50 frames
writing /content/train/transforms.json
17:47:29 SUCCESS  Initialized CUDA. Active GPU is #0: Tesla T4 [75]
17:47:29 INFO     Loading NeRF dataset from
17:47:29 INFO       /content/train/transforms.json
17:47:29 PROGRESS []   0% ( 0/50)  0s/inf17:47:29 PROGRESS []   2% ( 1/50) 0s/1s17:47:29 PROGRESS []   4% ( 2/50) 0s/0s17:47:29 PROGRESS []   6% ( 3/50) 0s/0s17:47:29 PROGRESS []   8% ( 4/50) 0s/0s17:47:29 PROGRESS []  10% ( 5/50) 0s/0s17:47:29 PROGRESS []  12% ( 6/50) 0s/0s17:47:29 PROGRESS []  14% ( 7/50) 0s/0s17:47:29 PROGRESS []  16% ( 8/50) 0s/0s17:47:29 PROGRESS []  18% ( 9/50) 0s/0s17:47:29 PROGRESS []  20% (10/50) 0s/0s17:47:29 PROGRESS []  22% (11/50) 0s/0s17:47:29 PROGRESS []  24% (12/50) 0s/0s17:47:29 PROGRESS []  26% (13/50) 0s/0s17:47:29 PROGRESS []  28% (14/50) 0s/0s17:47:29 PROGRESS []  30% (15/50) 0s/0s17:47:29 PROGRESS []  32% (16/50) 0s/0s17:47:29 PROGRESS []  34% (17/50) 0s/0s17:47:29 PROGRESS []  36% (18/50) 0s/0s17:47:29 PROGRESS []  38% (19/50) 0s/0s17:47:29 PROGRESS []  40% (20/50) 0s/0s17:47:29 PROGRESS []  42% (21/50) 0s/0s17:47:29 PROGRESS []  44% (22/50) 0s/0s17:47:29 PROGRESS []  46% (23/50) 0s/0s17:47:29 PROGRESS []  48% (24/50) 0s/0s17:47:29 PROGRESS []  50% (25/50) 0s/0s17:47:29 PROGRESS []  52% (26/50) 0s/0s17:47:29 PROGRESS []  54% (27/50) 0s/0s17:47:29 PROGRESS []  56% (28/50) 0s/0s17:47:29 PROGRESS []  58% (29/50) 0s/0s17:47:29 PROGRESS []  60% (30/50) 0s/0s17:47:29 PROGRESS []  62% (31/50) 0s/0s17:47:29 PROGRESS []  64% (32/50) 0s/0s17:47:29 PROGRESS []  66% (33/50) 0s/0s17:47:29 PROGRESS []  68% (34/50) 0s/0s17:47:29 PROGRESS []  70% (35/50) 0s/0s17:47:29 PROGRESS []  72% (36/50) 0s/0s17:47:29 PROGRESS []  74% (37/50) 0s/0s17:47:29 PROGRESS []  76% (38/50) 0s/0s17:47:29 PROGRESS []  78% (39/50) 0s/0s17:47:29 PROGRESS []  80% (40/50) 0s/0s17:47:29 PROGRESS []  82% (41/50) 0s/0s17:47:29 PROGRESS []  84% (42/50) 0s/0s17:47:29 PROGRESS []  86% (43/50) 0s/0s17:47:29 PROGRESS []  88% (44/50) 0s/0s17:47:29 PROGRESS []  90% (45/50) 0s/0s17:47:29 PROGRESS []  92% (46/50) 0s/0s17:47:29 PROGRESS []  94% (47/50) 0s/0s17:47:29 PROGRESS []  96% (48/50) 0s/0s17:47:30 PROGRESS []  98% (49/50) 0s/0s17:47:30 PROGRESS [] 100% (50/50) 0s/0s17:47:30 SUCCESS  Loaded 50 images after 0s
17:47:30 INFO       cam_aabb=[min=[0.591487,-1.08536,-0.140718], max=[1.92428,0.588073,1.24709]]
17:47:30 INFO     Loading network config from: /content/instant-ngp/configs/nerf/base.json
17:47:30 INFO     GridEncoding:  Nmin=16 b=1.51572 F=2 T=2^19 L=16
17:47:30 INFO     Density model: 3--[HashGrid]-->32--[FullyFusedMLP(neurons=64,layers=3)]-->1
17:47:30 INFO     Color model:   3--[Composite]-->16+16--[FullyFusedMLP(neurons=64,layers=4)]-->3
17:47:30 INFO       total_encoding_params=13074912 total_network_params=10240
Training: 100% 2001/2002 [00:36<00:00, 54.13step/s, loss=0.000754]
Saving snapshot  /content/train/2002.msgpack
17:48:07 SUCCESS  Saved snapshot '/content/train/2002.msgpack'