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ppwwyyxx / OpenPano

Automatic Panorama Stitching From Scratch
MIT License
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error: Found a tree of size 17!=24, image 17 18 19 20 21 22 23 are not connected well! #92

Closed iamdanielyin closed 5 years ago

iamdanielyin commented 5 years ago

Hello, I shot a set of pictures from top to bottom. When I used image-stitching to make picture stitching, I encountered an error, but my picture has more than enough repetitions. Why can't I stitch it properly?

  1. What you did: the command you run / config you use.

./image-stitching images/* (I'm using the default config, I have not changed anything.)

  1. What you observed: full logs, and other relevant information (e.g., images).
[init_config@main.cc:252] Run with camera estimation mode.
[calc_feature@stitcherbase.cc:22] Image 0 has 2298 features
[calc_feature@stitcherbase.cc:22] Image 1 has 2226 features
[calc_feature@stitcherbase.cc:22] Image 2 has 2289 features
[calc_feature@stitcherbase.cc:22] Image 3 has 2418 features
[calc_feature@stitcherbase.cc:22] Image 4 has 2478 features
[calc_feature@stitcherbase.cc:22] Image 5 has 3966 features
[calc_feature@stitcherbase.cc:22] Image 6 has 4929 features
[calc_feature@stitcherbase.cc:22] Image 7 has 4948 features
[calc_feature@stitcherbase.cc:22] Image 8 has 5037 features
[calc_feature@stitcherbase.cc:22] Image 9 has 5354 features
[calc_feature@stitcherbase.cc:22] Image 10 has 5189 features
[calc_feature@stitcherbase.cc:22] Image 11 has 5138 features
[calc_feature@stitcherbase.cc:22] Image 12 has 3929 features
[calc_feature@stitcherbase.cc:22] Image 13 has 3904 features
[calc_feature@stitcherbase.cc:22] Image 14 has 1958 features
[calc_feature@stitcherbase.cc:22] Image 15 has 1393 features
[calc_feature@stitcherbase.cc:22] Image 16 has 285 features
[calc_feature@stitcherbase.cc:22] Image 17 has 34 features
[calc_feature@stitcherbase.cc:22] Image 18 has 43 features
[calc_feature@stitcherbase.cc:22] Image 19 has 30 features
[calc_feature@stitcherbase.cc:22] Image 20 has 70 features
[calc_feature@stitcherbase.cc:22] Image 21 has 62 features
[calc_feature@stitcherbase.cc:22] Image 22 has 58 features
[calc_feature@stitcherbase.cc:22] Image 23 has 62 features
calc_feature(): 8267.819000 milliseconds.
BuildTrees: 318.444000 milliseconds.
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.986063,0.370096, r2mr2p: 0.988359,0.383469
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=2046482, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 1, ninliers=849/862=0.984919, conf=0.376782
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.986261,0.437337, r2mr2p: 0.986261,0.444494
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=2051516, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 2, ninliers=1005/1019=0.986261, conf=0.440915
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.977703,0.381802, r2mr2p: 0.978795,0.391518
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1942610, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 3, ninliers=877/897=0.977703, conf=0.386660
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.963333,0.254178, r2mr2p: 0.968174,0.342417
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1638410, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 4, ninliers=578/600=0.963333, conf=0.298297
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.960920,0.256599, r2mr2p: 0.967593,0.272490
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=910421, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.964968,0.282913, r2mr2p: 0.966507,0.326685
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1224129, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 5, ninliers=606/631=0.960380, conf=0.304799
[match_image@stitcher.cc:86] Connection between image 0 and 6, ninliers=418/438=0.954338, conf=0.264545
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.886792,0.130194, r2mr2p: 0.959184,0.157718
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=231292, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.943590,0.198919, r2mr2p: 0.948454,0.221687
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=606707, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 7, ninliers=184/208=0.884615, conf=0.210303
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.876405,0.103723, r2mr2p: 0.939759,0.159184
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=493759, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 12, ninliers=78/96=0.812500, conf=0.131454
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.961276,0.217302, r2mr2p: 0.967890,0.287858
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1061532, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 13, ninliers=422/440=0.959091, conf=0.252580
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.955319,0.198937, r2mr2p: 0.963519,0.312022
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1689987, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 14, ninliers=449/470=0.955319, conf=0.255479
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.985915,0.134615, r2mr2p: 1.000000,0.258303
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1066809, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 16, ninliers=70/71=0.985915, conf=0.196459
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.974217,0.296691, r2mr2p: 0.970642,0.385007
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1711330, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 0 and 15, ninliers=529/546=0.968864, conf=0.340849
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.972912,0.387416, r2mr2p: 0.974011,0.378735
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=2055897, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 2, ninliers=862/886=0.972912, conf=0.383075
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.976331,0.370953, r2mr2p: 0.976331,0.366178
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1948908, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 3, ninliers=825/845=0.976331, conf=0.368566
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.967742,0.245678, r2mr2p: 0.969479,0.316901
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1644067, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 4, ninliers=540/558=0.967742, conf=0.281290
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.951104,0.288655, r2mr2p: 0.958665,0.323845
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1230999, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 5, ninliers=603/634=0.951104, conf=0.306250
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.954327,0.246431, r2mr2p: 0.965937,0.257124
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=917583, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 6, ninliers=397/417=0.952038, conf=0.251778
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.929648,0.192108, r2mr2p: 0.943878,0.220501
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=612991, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 7, ninliers=185/205=0.902439, conf=0.206304
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.982143,0.147059, r2mr2p: 1.000000,0.175719
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=244891, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.931818,0.107471, r2mr2p: 0.942529,0.164990
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=498235, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 12, ninliers=82/98=0.836735, conf=0.136230
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.941725,0.212073, r2mr2p: 0.941725,0.273158
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1065031, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 13, ninliers=404/431=0.937355, conf=0.242616
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.952915,0.194686, r2mr2p: 0.963719,0.292901
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1691137, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 14, ninliers=425/446=0.952915, conf=0.243794
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.986111,0.157778, r2mr2p: 1.000000,0.262963
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1058085, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 16, ninliers=71/73=0.972603, conf=0.210370
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.966173,0.269458, r2mr2p: 0.976496,0.332606
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1702390, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 1 and 15, ninliers=457/473=0.966173, conf=0.301032
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.982222,0.386533, r2mr2p: 0.984410,0.387549
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1965681, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 3, ninliers=884/900=0.982222, conf=0.387041
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.966555,0.255752, r2mr2p: 0.968174,0.335656
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1659604, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 4, ninliers=578/598=0.966555, conf=0.295704
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.951299,0.275895, r2mr2p: 0.954397,0.310875
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1246041, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 5, ninliers=586/617=0.949757, conf=0.293385
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.948498,0.274364, r2mr2p: 0.956710,0.281888
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=930811, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 6, ninliers=442/471=0.938429, conf=0.278126
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.901408,0.160804, r2mr2p: 0.914286,0.186589
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=262005, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.909091,0.203874, r2mr2p: 0.917431,0.233645
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=628428, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 7, ninliers=200/231=0.865801, conf=0.218759
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.878788,0.110406, r2mr2p: 0.887755,0.164461
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=516608, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 12, ninliers=87/110=0.790909, conf=0.137434
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.946882,0.212766, r2mr2p: 0.962441,0.272425
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1080290, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 13, ninliers=410/434=0.944700, conf=0.242596
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.948837,0.181980, r2mr2p: 0.953271,0.275304
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1711132, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 14, ninliers=408/430=0.948837, conf=0.228642
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.970588,0.126437, r2mr2p: 0.985075,0.243542
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1035938, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 16, ninliers=66/69=0.956522, conf=0.184990
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.968191,0.282155, r2mr2p: 0.972056,0.355215
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1686526, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 2 and 15, ninliers=487/503=0.968191, conf=0.318685
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.974474,0.270417, r2mr2p: 0.975940,0.353293
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1762346, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 4, ninliers=649/666=0.974474, conf=0.311855
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.956522,0.279335, r2mr2p: 0.957958,0.315373
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1343619, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 5, ninliers=638/668=0.955090, conf=0.297354
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.973361,0.265957, r2mr2p: 0.977366,0.276323
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1026476, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 6, ninliers=475/491=0.967413, conf=0.271140
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.971660,0.211827, r2mr2p: 0.963855,0.236220
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=725003, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 7, ninliers=240/261=0.919540, conf=0.224024
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.939024,0.137746, r2mr2p: 0.962500,0.158763
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=362345, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 8, ninliers=77/90=0.855556, conf=0.148254
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.872727,0.100418, r2mr2p: 0.897196,0.143498
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=612230, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 12, ninliers=96/120=0.800000, conf=0.121958
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.945233,0.224903, r2mr2p: 0.952965,0.279712
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1175477, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 13, ninliers=466/494=0.943320, conf=0.252308
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.959315,0.188870, r2mr2p: 0.963441,0.279825
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1801621, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 14, ninliers=448/467=0.959315, conf=0.234348
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.985714,0.145877, r2mr2p: 0.985714,0.255556
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=941191, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 16, ninliers=69/70=0.985714, conf=0.200716
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.973140,0.280190, r2mr2p: 0.975155,0.342795
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1594018, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 3 and 15, ninliers=471/484=0.973140, conf=0.311493
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.952381,0.254902, r2mr2p: 0.961183,0.204082
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1308591, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 6, ninliers=520/547=0.950640, conf=0.229492
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.965389,0.322861, r2mr2p: 0.970186,0.281848
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1633168, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 5, ninliers=781/809=0.965389, conf=0.302354
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.939490,0.193570, r2mr2p: 0.954693,0.167139
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1003354, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 7, ninliers=295/319=0.924765, conf=0.180354
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.928994,0.147834, r2mr2p: 0.934524,0.137478
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=640083, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 8, ninliers=157/180=0.872222, conf=0.142656
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.872727,0.103896, r2mr2p: 0.960000,0.103672
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=206775, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.888889,0.131646, r2mr2p: 0.896552,0.124551
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=426083, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 11, ninliers=104/129=0.806202, conf=0.128098
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.892377,0.144203, r2mr2p: 0.908676,0.167791
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=889071, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 12, ninliers=199/230=0.865217, conf=0.155997
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.959322,0.252004, r2mr2p: 0.956081,0.291602
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1910860, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 14, ninliers=566/592=0.956081, conf=0.271803
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.959292,0.239294, r2mr2p: 0.962700,0.233520
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1445942, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 13, ninliers=542/566=0.957597, conf=0.236407
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.953846,0.201954, r2mr2p: 0.925373,0.233083
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=669761, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 16, ninliers=62/68=0.911765, conf=0.217519
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.975392,0.339564, r2mr2p: 0.966741,0.319883
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1295039, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 4 and 15, ninliers=436/453=0.962472, conf=0.329723
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.961571,0.305895, r2mr2p: 0.960751,0.289982
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1726931, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 6, ninliers=1126/1175=0.958298, conf=0.297939
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.968314,0.248294, r2mr2p: 0.969543,0.253484
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1412945, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 7, ninliers=764/794=0.962217, conf=0.250889
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.918605,0.138192, r2mr2p: 0.929412,0.146116
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=621494, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 9, ninliers=237/275=0.861818, conf=0.142154
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.954635,0.191835, r2mr2p: 0.962227,0.218708
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1048337, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 8, ninliers=484/511=0.947162, conf=0.205271
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.923469,0.127196, r2mr2p: 0.928205,0.135378
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=524900, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 10, ninliers=181/208=0.870192, conf=0.131287
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.927900,0.140019, r2mr2p: 0.925000,0.160957
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=839450, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 11, ninliers=296/329=0.899696, conf=0.150488
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.924939,0.131226, r2mr2p: 0.931707,0.174032
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1294172, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 12, ninliers=382/417=0.916067, conf=0.152629
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.955882,0.236609, r2mr2p: 0.954879,0.262323
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1849924, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 13, ninliers=910/953=0.954879, conf=0.249466
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.934702,0.196934, r2mr2p: 0.932961,0.264799
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1489144, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 14, ninliers=501/538=0.931227, conf=0.230867
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 1.000000,0.174194, r2mr2p: 0.843750,0.126168
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=277686, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.960494,0.302253, r2mr2p: 0.958128,0.300386
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=899349, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 5 and 15, ninliers=389/408=0.953431, conf=0.301320
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.942976,0.180128, r2mr2p: 0.948252,0.220344
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1368500, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 8, ninliers=678/723=0.937759, conf=0.200236
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.962932,0.269977, r2mr2p: 0.966116,0.293792
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1742522, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 7, ninliers=1169/1217=0.960559, conf=0.281885
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.917505,0.153226, r2mr2p: 0.923077,0.178474
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=943505, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 9, ninliers=456/506=0.901186, conf=0.165850
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.926396,0.137684, r2mr2p: 0.921717,0.161576
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=848002, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 10, ninliers=365/404=0.903465, conf=0.149630
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.911368,0.114113, r2mr2p: 0.918447,0.158992
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1611455, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 12, ninliers=473/520=0.909615, conf=0.136552
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.929658,0.144376, r2mr2p: 0.945841,0.181313
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1156748, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 11, ninliers=489/533=0.917448, conf=0.162844
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.949853,0.141352, r2mr2p: 0.936047,0.198398
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1175693, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 14, ninliers=322/349=0.922636, conf=0.169875
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.947486,0.194317, r2mr2p: 0.946429,0.228018
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1837340, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 13, ninliers=848/897=0.945373, conf=0.211168
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.950570,0.246792, r2mr2p: 0.936330,0.282486
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=593648, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 6 and 15, ninliers=250/271=0.922509, conf=0.264639
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.954962,0.256209, r2mr2p: 0.957358,0.291868
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1681186, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 8, ninliers=1145/1200=0.954167, conf=0.274039
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.942821,0.201630, r2mr2p: 0.940431,0.214451
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1248506, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 9, ninliers=742/792=0.936869, conf=0.208041
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.931148,0.167108, r2mr2p: 0.928105,0.180375
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1153726, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 10, ninliers=568/618=0.919094, conf=0.173741
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.943152,0.177443, r2mr2p: 0.943152,0.207918
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1465636, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 11, ninliers=730/781=0.934699, conf=0.192680
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.923899,0.143509, r2mr2p: 0.923899,0.186272
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1929045, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 12, ninliers=692/750=0.922667, conf=0.164890
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.948407,0.180427, r2mr2p: 0.945537,0.193140
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1529563, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 13, ninliers=625/664=0.941265, conf=0.186783
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.962025,0.216524, r2mr2p: 0.974359,0.220290
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=293432, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.940092,0.132640, r2mr2p: 0.918919,0.169717
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=882221, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 7 and 14, ninliers=204/225=0.906667, conf=0.151178
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.950472,0.196970, r2mr2p: 0.956109,0.191631
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1521039, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 10, ninliers=806/852=0.946009, conf=0.194300
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.948577,0.237308, r2mr2p: 0.944241,0.226834
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1617579, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 9, ninliers=1033/1099=0.939945, conf=0.232071
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.942065,0.176832, r2mr2p: 0.939699,0.202436
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1777758, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 12, ninliers=748/796=0.939698, conf=0.189634
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.944915,0.188106, r2mr2p: 0.947928,0.194590
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1833953, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 11, ninliers=892/944=0.944915, conf=0.191348
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.884956,0.105932, r2mr2p: 0.862069,0.124533
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=528585, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 14, ninliers=100/125=0.800000, conf=0.115233
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.944112,0.181296, r2mr2p: 0.929273,0.172125
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1165961, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 8 and 13, ninliers=473/514=0.920233, conf=0.176710
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.938760,0.239660, r2mr2p: 0.938760,0.255001
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1833082, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 9 and 11, ninliers=1211/1294=0.935858, conf=0.247330
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.957114,0.274234, r2mr2p: 0.955812,0.276717
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1967689, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 9 and 10, ninliers=1406/1471=0.955812, conf=0.275476
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.887608,0.146597, r2mr2p: 0.880000,0.150244
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=757143, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 9 and 13, ninliers=308/365=0.843836, conf=0.148420
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.914027,0.161170, r2mr2p: 0.918182,0.193610
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1347255, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 9 and 12, ninliers=606/666=0.909910, conf=0.177390
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.928571,0.064356, r2mr2p: 0.812500,0.056522
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=112508, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.937309,0.177939, r2mr2p: 0.933029,0.209860
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1250389, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 10 and 12, ninliers=613/661=0.927383, conf=0.193899
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.944061,0.259916, r2mr2p: 0.944061,0.273778
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1731205, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 10 and 11, ninliers=1232/1310=0.940458, conf=0.266847
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.905724,0.149944, r2mr2p: 0.896667,0.149694
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=655432, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 10 and 13, ninliers=269/316=0.851266, conf=0.149819
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.931507,0.209139, r2mr2p: 0.926070,0.194206
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=972388, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 11 and 13, ninliers=476/520=0.915385, conf=0.201673
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.935589,0.225883, r2mr2p: 0.931522,0.248478
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1568790, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 11 and 12, ninliers=857/921=0.930510, conf=0.237180
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.923077,0.112324, r2mr2p: 0.923077,0.139265
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=319249, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 11 and 14, ninliers=72/89=0.808989, conf=0.125795
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.929461,0.220472, r2mr2p: 0.925620,0.205316
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=785529, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 12 and 14, ninliers=224/247=0.906883, conf=0.212894
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 1.000000,0.230263, r2mr2p: 0.972222,0.173267
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=183449, ImageArea=2073600
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.956640,0.273220, r2mr2p: 0.955345,0.226937
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1442235, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 12 and 13, ninliers=706/744=0.948925, conf=0.250078
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.968750,0.308458, r2mr2p: 0.962733,0.272408
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=777501, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 13 and 15, ninliers=310/324=0.956790, conf=0.290433
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.958647,0.242165, r2mr2p: 0.953271,0.282236
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1376113, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 13 and 14, ninliers=510/535=0.953271, conf=0.262200
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.983871,0.238281, r2mr2p: 0.968254,0.222628
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=786660, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 14 and 16, ninliers=61/64=0.953125, conf=0.230455
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.966667,0.359048, r2mr2p: 0.949622,0.272991
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1434231, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 14 and 15, ninliers=377/398=0.947236, conf=0.316019
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.908046,0.196517, r2mr2p: 0.940476,0.286232
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1377447, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 15 and 16, ninliers=79/89=0.887640, conf=0.241375
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 1.000000,0.200000, r2mr2p: 1.000000,0.470588
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1209695, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 18 and 19, ninliers=8/8=1.000000, conf=0.335294
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.850000,0.293103, r2mr2p: 0.809524,0.298246
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1526688, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 20 and 21, ninliers=17/21=0.809524, conf=0.295675
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.900000,0.183673, r2mr2p: 0.900000,0.176471
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1358843, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 20 and 22, ninliers=9/10=0.900000, conf=0.180072
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.882353,0.306122, r2mr2p: 0.937500,0.288462
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1296319, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 20 and 23, ninliers=15/17=0.882353, conf=0.297292
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.933333,0.291667, r2mr2p: 0.875000,0.241379
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1887151, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 21 and 22, ninliers=14/16=0.875000, conf=0.266523
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.894737,0.377778, r2mr2p: 0.894737,0.274194
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1824534, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 21 and 23, ninliers=17/19=0.894737, conf=0.325986
[fill_inliers_to_matchinfo@transform_estimate.cc:198] r1mr1p: 0.913043,0.362069, r2mr2p: 0.913043,0.338710
[fill_inliers_to_matchinfo@transform_estimate.cc:206] OverlapArea=1995534, ImageArea=2073600
[match_image@stitcher.cc:86] Connection between image 22 and 23, ninliers=21/23=0.913043, conf=0.350389
[pairwise_match@stitcher.cc:113] Total number of matched keypoint pairs: 50851
pairwise_match(): 25046.410000 milliseconds.
[estimate_focal@camera_estimator.cc:38] Estimated focal: 1670.084230
[operator()@camera_estimator.cc:60] Best edge from 0 to 2
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 3.095998
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.318793, max: 8.720834
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.261404, max: 8.179905
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259851, max: 8.106958
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259401, max: 8.101893
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259553, max: 8.109147
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259500, max: 8.101554
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259500, max: 8.108677
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259520, max: 8.102325
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.259492, max: 8.107841
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.259851 after 9 iterations
[operator()@camera_estimator.cc:60] Best edge from 2 to 3
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 6.507628
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.688281, max: 7.758463
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.742858, max: 7.918483
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.576977, max: 7.288511
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.635579, max: 7.527196
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.518044, max: 7.554632
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.568693, max: 7.231091
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.489233, max: 7.786338
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.527918, max: 7.447197
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.476509, max: 7.954192
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.503485, max: 7.613661
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.471758, max: 8.073801
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.489035, max: 7.741685
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.470602, max: 8.157146
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.480579, max: 7.839973
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.470825, max: 8.213403
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.479537, max: 7.857312
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.470290, max: 8.176336
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.477119, max: 7.896787
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.470106, max: 8.139669
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.470602 after 19 iterations
[operator()@camera_estimator.cc:60] Best edge from 2 to 1
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 1.952774
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.326880, max: 11.307207
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.993749, max: 8.238533
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.254822, max: 11.104957
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.963091, max: 8.229180
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.137248, max: 10.767601
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.947239, max: 8.353451
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.100768, max: 10.679046
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.969868, max: 8.211968
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.052525, max: 10.527801
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.953798, max: 8.239297
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.971732, max: 10.266463
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.946416, max: 8.481714
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.947239 after 12 iterations
[operator()@camera_estimator.cc:60] Best edge from 0 to 15
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 8.868995
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.790556, max: 12.482448
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.142137, max: 13.458018
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.535132, max: 11.843161
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.797420, max: 12.614863
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.329479, max: 11.289240
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.523537, max: 11.902490
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.166565, max: 10.810589
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.309055, max: 11.300847
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.039626, max: 10.398028
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.143605, max: 10.792893
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.942302, max: 10.043282
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.017878, max: 10.364203
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.868813, max: 9.738933
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.923670, max: 10.002526
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.814088, max: 9.478380
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.853957, max: 9.697485
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.773841, max: 9.255777
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.802923, max: 9.440301
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.744566, max: 9.065975
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.765890, max: 9.223532
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.723480, max: 8.904448
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.739210, max: 9.040887
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.708426, max: 8.767247
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.720095, max: 8.887044
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.697764, max: 8.709333
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.706461, max: 8.796385
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.690272, max: 8.704420
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.696770, max: 8.792951
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.685047, max: 8.699908
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.689900, max: 8.789678
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.681431, max: 8.695727
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.685041, max: 8.786547
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.678948, max: 8.691822
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.681610, max: 8.783541
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.677259, max: 8.688151
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.679190, max: 8.780648
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.676120, max: 8.684677
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.677485, max: 8.777855
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.675360, max: 8.681374
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.677371, max: 8.778474
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.675536, max: 8.680906
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.677081, max: 8.778879
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.675693, max: 8.680548
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.676120 after 43 iterations
[operator()@camera_estimator.cc:60] Best edge from 15 to 4
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 7.740240
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.818326, max: 8.733474
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.880521, max: 8.705592
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.793139, max: 8.708612
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.838240, max: 8.684370
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.776298, max: 8.686012
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.808384, max: 8.664746
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.765067, max: 8.665384
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.787476, max: 8.646595
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.757580, max: 8.646496
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.772933, max: 8.629807
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.752580, max: 8.629159
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.762874, max: 8.614281
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.749227, max: 8.613215
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.755949, max: 8.599923
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.746963, max: 8.598532
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.751200, max: 8.586651
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.745419, max: 8.584996
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.747954, max: 8.574384
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.744352, max: 8.572509
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.745739, max: 8.563050
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.743601, max: 8.560984
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.745523, max: 8.564364
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.743689, max: 8.560645
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.745154, max: 8.564563
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.743801, max: 8.560497
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.744352 after 25 iterations
[operator()@camera_estimator.cc:60] Best edge from 15 to 14
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 1.992112
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.018067, max: 10.317171
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.985866, max: 9.411816
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.972866, max: 10.073172
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.982425, max: 10.132881
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.935511, max: 9.851198
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.943645, max: 9.906010
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.905769, max: 9.655412
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912555, max: 9.704950
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.882136, max: 9.482629
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.887701, max: 9.526754
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.863381, max: 9.330058
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.867875, max: 9.368796
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.848510, max: 9.195257
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.852086, max: 9.228750
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.836721, max: 9.076079
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.839527, max: 9.104578
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.827376, max: 8.970659
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.829546, max: 8.994458
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.819966, max: 8.877351
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.821616, max: 8.896783
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.814084, max: 8.794712
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.815317, max: 8.810136
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.809413, max: 8.721480
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.810314, max: 8.733252
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.805698, max: 8.656544
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.806337, max: 8.665019
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.802740, max: 8.598928
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.803174, max: 8.604453
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.800381, max: 8.547775
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.800658, max: 8.550679
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.798497, max: 8.540165
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.798654, max: 8.537198
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.796989, max: 8.538322
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.797055, max: 8.535602
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.795780, max: 8.536651
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.795779, max: 8.534159
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.794809, max: 8.535136
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.795731, max: 8.534407
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.794952, max: 8.535036
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.795583, max: 8.534482
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.795068, max: 8.534971
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.795780 after 41 iterations
[operator()@camera_estimator.cc:60] Best edge from 1 to 5
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 4.254101
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.888162, max: 8.859362
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.875225, max: 8.689861
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.869904, max: 8.649465
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.866235, max: 8.639275
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.863336, max: 8.632141
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.861023, max: 8.627215
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.859188, max: 8.623876
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.857735, max: 8.621680
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.856585, max: 8.620305
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855671, max: 8.619519
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855748, max: 8.619961
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855779, max: 8.619820
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855739, max: 8.619862
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855774, max: 8.619857
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.855745, max: 8.619845
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.856585 after 15 iterations
[operator()@camera_estimator.cc:60] Best edge from 5 to 6
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 3.124008
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.881811, max: 8.641603
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.888334, max: 8.649403
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.882518, max: 8.649448
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.886298, max: 8.647416
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.883223, max: 8.649768
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.885640, max: 8.647585
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.883581, max: 8.649477
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.881811 after 7 iterations
[operator()@camera_estimator.cc:60] Best edge from 15 to 13
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 3.151432
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.922499, max: 8.703247
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.924081, max: 8.707190
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.920912, max: 8.707426
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.922213, max: 8.710184
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.919635, max: 8.710884
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.920350, max: 8.712675
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.918384, max: 8.713771
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.918548, max: 8.714771
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.917103, max: 8.716204
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.916867, max: 8.716556
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.915826, max: 8.718277
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.915355, max: 8.718096
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.914610, max: 8.720063
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.914041, max: 8.719443
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.913501, max: 8.721621
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912933, max: 8.720637
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912534, max: 8.722997
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912925, max: 8.720388
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912572, max: 8.723107
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912907, max: 8.720318
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.912579, max: 8.723163
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.913501 after 21 iterations
[operator()@camera_estimator.cc:60] Best edge from 6 to 7
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 5.487502
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.950836, max: 8.781022
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.956461, max: 8.752704
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.948327, max: 8.773721
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.950770, max: 8.755927
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.946400, max: 8.766234
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.946595, max: 8.759214
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.945047, max: 8.758805
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.943772, max: 8.762537
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.942126, max: 8.765557
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940948, max: 8.769061
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940814, max: 8.772644
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940799, max: 8.772650
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940790, max: 8.772569
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940787, max: 8.772650
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940797, max: 8.772575
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 1.940784, max: 8.772643
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 1.940948 after 16 iterations
[operator()@camera_estimator.cc:60] Best edge from 7 to 8
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 7.779564
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.070109, max: 10.978325
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.018632, max: 10.568080
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.020493, max: 10.562273
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.032238, max: 10.542528
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.021038, max: 10.560567
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.029890, max: 10.544707
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.022908, max: 10.558747
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.028243, max: 10.546212
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 2.018632 after 8 iterations
[operator()@camera_estimator.cc:60] Best edge from 13 to 12
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 4.367907
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.093309, max: 10.441040
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.084177, max: 10.440196
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.098597, max: 10.413709
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.100792, max: 10.413518
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.096967, max: 10.414223
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.100105, max: 10.413860
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.097685, max: 10.413918
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.099505, max: 10.414108
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 2.084177 after 8 iterations
[operator()@camera_estimator.cc:60] Best edge from 15 to 16
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 9.339302
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.370795, max: 11.263341
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.137516, max: 10.387598
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.038395, max: 10.358486
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.034674, max: 10.329589
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.091697, max: 10.301950
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.077334, max: 10.305078
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.079715, max: 10.303097
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.078930, max: 10.304923
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.079442, max: 10.303182
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.079023, max: 10.304858
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 2.034674 after 10 iterations
[operator()@camera_estimator.cc:60] Best edge from 12 to 11
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 8.094605
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.418249, max: 12.663251
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.478134, max: 13.161919
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.548393, max: 13.553625
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.474572, max: 13.140740
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.530707, max: 13.442681
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.489830, max: 13.241821
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.518257, max: 13.364009
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 2.418249 after 7 iterations
[operator()@camera_estimator.cc:60] Best edge from 11 to 10
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 7.691303
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.925059, max: 15.962266
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.003890, max: 16.509208
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.078121, max: 16.814005
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 2.999165, max: 16.478671
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.055607, max: 16.697716
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.018600, max: 16.582073
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.040707, max: 16.620808
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 2.925059 after 7 iterations
[operator()@camera_estimator.cc:60] Best edge from 10 to 9
[optimize@incremental_bundle_adjuster.cc:133] BA: init err: 6.600271
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.218020, max: 18.189600
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.322849, max: 18.838522
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.373124, max: 19.030467
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.310304, max: 18.767095
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.356042, max: 18.942426
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.326080, max: 18.850254
[optimize@incremental_bundle_adjuster.cc:150] BA: average err: 3.343937, max: 18.879713
[optimize@incremental_bundle_adjuster.cc:162] BA: Error 3.218020 after 7 iterations
error: Found a tree of size 17!=24, image 17 18 19 20 21 22 23  are not connected well!


  1. What you expected, if not obvious.

  2. Your environment information.

os: ubuntu:bionic

iamdanielyin commented 5 years ago

image-stitching.log images.zip

ppwwyyxx commented 5 years ago

Your last few images contain too few textures and are too blurred. Feature extractors do not work well on such images.

iamdanielyin commented 5 years ago

Thank you, I will delete those few pictures and try again.