File: /home/panomity.de/gsplat-apartment/log-mapper.txt
I20260707 05:37:54.440768 3605913 misc.cc:198]
==============================================================================
Loading database
==============================================================================
I20260707 05:37:54.442047 3605913 database_cache.cc:54] Loading cameras...
I20260707 05:37:54.442096 3605913 database_cache.cc:64] 1 in 0.000s
I20260707 05:37:54.442111 3605913 database_cache.cc:72] Loading matches...
I20260707 05:37:54.443969 3605913 database_cache.cc:78] 499 in 0.002s
I20260707 05:37:54.444007 3605913 database_cache.cc:94] Loading images...
I20260707 05:37:54.454594 3605913 database_cache.cc:143] 165 in 0.011s (connected 101)
I20260707 05:37:54.454676 3605913 database_cache.cc:154] Building correspondence graph...
I20260707 05:37:54.464635 3605913 database_cache.cc:190] in 0.010s (ignored 0)
I20260707 05:37:54.464876 3605913 timer.cc:91] Elapsed time: 0.000 [minutes]
I20260707 05:37:54.471295 3605913 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 05:37:54.476711 3605913 misc.cc:198]
==============================================================================
Initializing with image pair #16 and #53
==============================================================================
I20260707 05:37:54.477381 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.276155e+05 0.00e+00 1.17e+06 0.00e+00 0.00e+00 1.00e+04 0 7.46e-04 5.03e-03
1 4.103048e+05 1.73e+04 9.74e+05 0.00e+00 7.74e-02 6.24e+03 1 2.28e-03 7.38e-03
2 3.531034e+05 5.72e+04 1.95e+06 4.20e+00 3.04e-01 5.88e+03 1 3.15e-04 7.72e-03
3 2.191262e+05 1.34e+05 4.23e+05 3.41e+00 9.52e-01 1.76e+04 1 3.02e-04 8.02e-03
4 2.381044e+05 -1.90e+04 4.23e+05 7.11e+00 -9.03e-01 8.82e+03 1 9.61e-05 8.12e-03
5 2.186282e+05 4.98e+02 3.05e+05 5.89e+00 2.43e-02 4.74e+03 1 2.89e-04 8.41e-03
6 1.920734e+05 2.66e+04 7.41e+04 5.39e+00 9.23e-01 1.20e+04 1 3.51e-04 8.77e-03
7 1.976731e+05 -5.60e+03 7.41e+04 1.14e+01 -5.62e-01 6.01e+03 1 9.99e-05 8.87e-03
8 1.873021e+05 4.77e+03 4.63e+04 7.93e+00 5.46e-01 6.02e+03 1 3.24e-04 9.20e-03
9 1.807592e+05 6.54e+03 1.47e+04 8.99e+00 8.08e-01 7.85e+03 1 3.02e-04 9.51e-03
10 1.775302e+05 3.23e+03 1.28e+04 1.22e+01 6.70e-01 8.17e+03 1 3.29e-04 9.84e-03
11 1.745033e+05 3.03e+03 1.28e+04 1.38e+01 8.22e-01 1.12e+04 1 3.02e-04 1.02e-02
12 1.727946e+05 1.71e+03 6.84e+03 1.90e+01 7.00e-01 1.19e+04 1 3.00e-04 1.05e-02
13 1.712528e+05 1.54e+03 7.84e+03 2.18e+01 8.26e-01 1.65e+04 1 3.13e-04 1.08e-02
14 1.702666e+05 9.86e+02 3.39e+03 3.01e+01 7.28e-01 1.82e+04 1 3.03e-04 1.11e-02
15 1.694175e+05 8.49e+02 4.00e+03 3.56e+01 8.20e-01 2.47e+04 1 3.02e-04 1.14e-02
16 1.688144e+05 6.03e+02 1.91e+03 4.82e+01 7.57e-01 2.86e+04 1 3.11e-04 1.17e-02
17 1.683189e+05 4.96e+02 1.87e+03 5.92e+01 8.08e-01 3.74e+04 1 3.09e-04 1.20e-02
18 1.679409e+05 3.78e+02 1.05e+03 7.81e+01 7.79e-01 4.52e+04 1 3.01e-04 1.23e-02
19 1.676371e+05 3.04e+02 8.50e+02 9.83e+01 7.99e-01 5.75e+04 1 3.10e-04 1.26e-02
20 1.673969e+05 2.40e+02 5.37e+02 1.27e+02 7.90e-01 7.14e+04 1 3.03e-04 1.29e-02
21 1.672046e+05 1.92e+02 3.86e+02 1.61e+02 7.95e-01 8.99e+04 1 3.07e-04 1.33e-02
22 1.670508e+05 1.54e+02 2.55e+02 2.06e+02 7.94e-01 1.13e+05 1 3.18e-04 1.36e-02
23 1.669276e+05 1.23e+02 1.70e+02 2.60e+02 7.95e-01 1.42e+05 1 3.09e-04 1.39e-02
24 1.668289e+05 9.86e+01 1.09e+02 3.27e+02 7.95e-01 1.79e+05 1 3.10e-04 1.42e-02
25 1.667500e+05 7.89e+01 6.79e+01 4.10e+02 7.96e-01 2.26e+05 1 3.18e-04 1.45e-02
26 1.666870e+05 6.30e+01 3.99e+01 5.10e+02 7.97e-01 2.86e+05 1 3.07e-04 1.49e-02
27 1.666368e+05 5.02e+01 2.16e+01 6.30e+02 7.98e-01 3.63e+05 1 3.11e-04 1.52e-02
28 1.665969e+05 3.99e+01 1.12e+01 7.72e+02 8.00e-01 4.64e+05 1 3.08e-04 1.55e-02
29 1.665652e+05 3.16e+01 6.40e+00 9.40e+02 8.03e-01 5.96e+05 1 3.14e-04 1.58e-02
30 1.665402e+05 2.50e+01 3.53e+00 1.13e+03 8.06e-01 7.74e+05 1 3.10e-04 1.61e-02
31 1.665205e+05 1.97e+01 1.90e+00 1.36e+03 8.11e-01 1.02e+06 1 3.11e-04 1.64e-02
32 1.665050e+05 1.55e+01 1.95e+00 1.61e+03 8.16e-01 1.36e+06 1 3.16e-04 1.67e-02
33 1.664927e+05 1.23e+01 1.66e+00 1.89e+03 8.23e-01 1.87e+06 1 3.09e-04 1.71e-02
34 1.664829e+05 9.77e+00 5.61e-01 2.20e+03 8.30e-01 2.62e+06 1 3.12e-04 1.74e-02
35 1.664751e+05 7.87e+00 1.91e+00 2.55e+03 8.37e-01 3.78e+06 1 3.14e-04 1.77e-02
36 1.664686e+05 6.44e+00 1.13e+00 2.96e+03 8.43e-01 5.59e+06 1 3.10e-04 1.80e-02
37 1.664633e+05 5.34e+00 1.40e+00 3.43e+03 8.48e-01 8.42e+06 1 3.09e-04 1.83e-02
38 1.664588e+05 4.48e+00 1.33e+00 3.98e+03 8.51e-01 1.29e+07 1 3.10e-04 1.86e-02
39 1.664550e+05 3.78e+00 1.96e+00 4.62e+03 8.54e-01 2.00e+07 1 3.09e-04 1.89e-02
40 1.664519e+05 3.17e+00 1.98e+00 5.29e+03 8.58e-01 3.16e+07 1 3.08e-04 1.92e-02
41 1.664492e+05 2.70e+00 1.13e+00 6.11e+03 8.60e-01 5.04e+07 1 3.05e-04 1.96e-02
42 1.664469e+05 2.32e+00 1.71e+00 7.16e+03 8.60e-01 8.03e+07 1 2.99e-04 1.99e-02
43 1.664449e+05 1.98e+00 5.77e-01 8.36e+03 8.59e-01 1.28e+08 1 3.02e-04 2.02e-02
44 1.664432e+05 1.70e+00 4.40e-01 9.76e+03 8.59e-01 2.03e+08 1 2.98e-04 2.05e-02
45 1.664417e+05 1.45e+00 1.56e+00 1.14e+04 8.59e-01 3.23e+08 1 3.05e-04 2.08e-02
46 1.664405e+05 1.24e+00 6.52e-01 1.33e+04 8.59e-01 5.12e+08 1 2.99e-04 2.11e-02
47 1.664394e+05 1.07e+00 1.90e-01 1.55e+04 8.59e-01 8.13e+08 1 3.01e-04 2.14e-02
48 1.664385e+05 9.12e-01 1.33e+00 1.80e+04 8.59e-01 1.29e+09 1 3.05e-04 2.17e-02
49 1.664377e+05 7.81e-01 6.89e-01 2.10e+04 8.59e-01 2.04e+09 1 3.02e-04 2.20e-02
50 1.664371e+05 6.69e-01 9.08e-01 2.45e+04 8.59e-01 3.24e+09 1 2.99e-04 2.23e-02
51 1.664365e+05 5.73e-01 1.73e+00 2.86e+04 8.59e-01 5.14e+09 1 2.98e-04 2.26e-02
52 1.664360e+05 4.91e-01 7.26e-01 3.33e+04 8.59e-01 8.14e+09 1 2.93e-04 2.29e-02
53 1.664356e+05 4.21e-01 8.52e-01 3.88e+04 8.59e-01 1.29e+10 1 2.92e-04 2.32e-02
54 1.664352e+05 3.60e-01 9.53e-01 4.52e+04 8.58e-01 2.04e+10 1 2.92e-04 2.35e-02
55 1.664349e+05 3.09e-01 6.62e-01 5.27e+04 8.58e-01 3.23e+10 1 2.99e-04 2.38e-02
56 1.664346e+05 2.65e-01 1.87e+00 6.14e+04 8.58e-01 5.12e+10 1 2.91e-04 2.41e-02
57 1.664344e+05 2.27e-01 1.90e+00 7.16e+04 8.58e-01 8.10e+10 1 2.90e-04 2.44e-02
58 1.664342e+05 1.95e-01 1.98e+00 8.34e+04 8.58e-01 1.28e+11 1 2.95e-04 2.47e-02
59 1.664340e+05 1.67e-01 1.55e+00 9.71e+04 8.58e-01 2.03e+11 1 2.93e-04 2.50e-02
60 1.664339e+05 1.43e-01 1.12e+00 1.13e+05 8.58e-01 3.21e+11 1 2.93e-04 2.53e-02
61 1.664338e+05 1.23e-01 1.75e+00 1.32e+05 8.58e-01 5.08e+11 1 2.99e-04 2.56e-02
62 1.664337e+05 1.05e-01 9.15e-01 1.54e+05 8.58e-01 8.04e+11 1 2.94e-04 2.59e-02
63 1.664336e+05 9.04e-02 1.76e+00 1.79e+05 8.58e-01 1.27e+12 1 2.91e-04 2.61e-02
64 1.664335e+05 7.75e-02 6.39e-01 2.09e+05 8.58e-01 2.01e+12 1 2.92e-04 2.64e-02
65 1.664334e+05 6.65e-02 1.22e+00 2.43e+05 8.58e-01 3.19e+12 1 2.94e-04 2.67e-02
66 1.664334e+05 5.71e-02 7.38e-01 2.83e+05 8.58e-01 5.04e+12 1 2.94e-04 2.70e-02
67 1.664333e+05 4.90e-02 9.56e-01 3.30e+05 8.58e-01 7.97e+12 1 2.90e-04 2.73e-02
68 1.664333e+05 4.20e-02 1.81e-01 3.85e+05 8.58e-01 1.26e+13 1 2.97e-04 2.76e-02
69 1.664333e+05 3.61e-02 1.86e+00 4.48e+05 8.58e-01 2.00e+13 1 2.93e-04 2.79e-02
70 1.664332e+05 3.09e-02 5.31e-01 5.22e+05 8.58e-01 3.16e+13 1 2.93e-04 2.82e-02
71 1.664332e+05 2.66e-02 2.95e-01 6.08e+05 8.58e-01 4.99e+13 1 2.92e-04 2.85e-02
72 1.664332e+05 2.28e-02 1.89e-01 7.09e+05 8.58e-01 7.90e+13 1 2.96e-04 2.88e-02
73 1.664332e+05 1.96e-02 6.78e-01 8.26e+05 8.58e-01 1.25e+14 1 2.91e-04 2.91e-02
74 1.664331e+05 1.68e-02 1.78e+00 9.62e+05 8.58e-01 1.98e+14 1 2.94e-04 2.94e-02
75 1.664331e+05 1.44e-02 9.49e-01 1.12e+06 8.58e-01 3.13e+14 1 4.11e-04 2.98e-02
76 1.664331e+05 1.24e-02 9.57e-01 1.31e+06 8.58e-01 4.95e+14 1 4.87e-04 3.03e-02
77 1.664331e+05 1.06e-02 9.41e-01 1.52e+06 8.58e-01 7.83e+14 1 4.88e-04 3.08e-02
78 1.664331e+05 9.10e-03 1.74e+00 1.77e+06 8.58e-01 1.24e+15 1 4.53e-04 3.13e-02
79 1.664331e+05 7.81e-03 3.06e-01 2.07e+06 8.58e-01 1.96e+15 1 4.48e-04 3.17e-02
80 1.664331e+05 6.70e-03 9.61e-01 2.41e+06 8.58e-01 3.10e+15 1 4.60e-04 3.22e-02
81 1.664331e+05 5.75e-03 1.99e+00 2.81e+06 8.58e-01 4.90e+15 1 4.65e-04 3.27e-02
82 1.664331e+05 4.94e-03 1.26e+00 3.27e+06 8.58e-01 7.75e+15 1 2.99e-04 3.30e-02
83 1.664331e+05 4.24e-03 6.29e-01 3.81e+06 8.58e-01 1.00e+16 1 2.94e-04 3.33e-02
84 1.664331e+05 3.05e-03 9.19e-01 3.62e+06 8.81e-01 1.00e+16 1 3.10e-04 3.36e-02
85 1.664331e+05 1.91e-03 1.85e+00 2.81e+06 9.16e-01 1.00e+16 1 2.99e-04 3.39e-02
86 1.664331e+05 1.37e-03 9.33e-01 2.36e+06 9.34e-01 1.00e+16 1 2.95e-04 3.42e-02
87 1.664331e+05 1.05e-03 6.30e-01 2.06e+06 9.46e-01 1.00e+16 1 2.95e-04 3.45e-02
88 1.664331e+05 8.49e-04 4.15e-01 1.84e+06 9.54e-01 1.00e+16 1 3.99e-04 3.49e-02
89 1.664331e+05 7.07e-04 2.88e-01 1.67e+06 9.59e-01 1.00e+16 1 4.26e-04 3.53e-02
90 1.664331e+05 6.02e-04 2.10e-01 1.54e+06 9.64e-01 1.00e+16 1 3.16e-04 3.57e-02
91 1.664331e+05 5.22e-04 1.58e-01 1.43e+06 9.68e-01 1.00e+16 1 2.95e-04 3.60e-02
92 1.664331e+05 4.59e-04 1.23e-01 1.34e+06 9.71e-01 1.00e+16 1 3.01e-04 3.63e-02
93 1.664330e+05 4.08e-04 9.85e-02 1.26e+06 9.73e-01 1.00e+16 1 3.10e-04 3.66e-02
I20260707 05:37:54.517299 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.517371 3605913 bundle_adjustment.cc:942]
Residuals : 788
Parameters : 596
Iterations : 94
Time : 0.0366399 [s]
Initial cost : 23.295 [px]
Final cost : 14.533 [px]
Termination : Convergence
I20260707 05:37:54.517841 3605913 incremental_mapper.cc:160] => Filtered observations: 338
I20260707 05:37:54.517869 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.540268 3605913 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 05:37:54.543928 3605913 misc.cc:198]
==============================================================================
Initializing with image pair #15 and #36
==============================================================================
I20260707 05:37:54.544566 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.341264e+03 0.00e+00 1.57e+04 0.00e+00 0.00e+00 1.00e+04 0 2.65e-04 5.51e-04
1 9.310445e+02 4.10e+02 1.02e+05 0.00e+00 6.09e-01 1.01e+04 1 3.21e-04 9.06e-04
2 6.417035e+02 2.89e+02 1.69e+03 1.62e-01 1.00e+00 3.03e+04 1 1.97e-04 1.11e-03
3 6.411972e+02 5.06e-01 8.50e+01 3.29e-02 1.06e+00 9.09e+04 1 2.09e-04 1.33e-03
4 6.411919e+02 5.39e-03 3.31e+00 3.80e-03 1.09e+00 2.73e+05 1 1.95e-04 1.53e-03
5 6.411918e+02 5.79e-05 5.03e-01 3.90e-04 1.10e+00 8.19e+05 1 1.92e-04 1.72e-03
6 6.411918e+02 5.91e-07 4.95e-02 3.78e-05 1.10e+00 2.46e+06 1 1.92e-04 1.92e-03
I20260707 05:37:54.546945 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.546986 3605913 bundle_adjustment.cc:942]
Residuals : 496
Parameters : 377
Iterations : 7
Time : 0.0019362 [s]
Initial cost : 1.64443 [px]
Final cost : 1.13698 [px]
Termination : Convergence
I20260707 05:37:54.547140 3605913 incremental_mapper.cc:160] => Filtered observations: 14
I20260707 05:37:54.547148 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.561414 3605913 misc.cc:198]
==============================================================================
Registering image #30 (3)
==============================================================================
I20260707 05:37:54.561465 3605913 incremental_mapper.cc:495] => Image sees 33 / 494 points
I20260707 05:37:54.563632 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.563688 3605913 bundle_adjustment.cc:942]
Residuals : 64
Parameters : 6
Iterations : 10
Time : 0.000723839 [s]
Initial cost : 0.691803 [px]
Final cost : 0.646039 [px]
Termination : Convergence
I20260707 05:37:54.563761 3605913 incremental_mapper.cc:40] => Continued observations: 32
I20260707 05:37:54.564162 3605913 incremental_mapper.cc:43] => Added observations: 141
I20260707 05:37:54.567444 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.567471 3605913 bundle_adjustment.cc:942]
Residuals : 814
Parameters : 569
Iterations : 7
Time : 0.00293398 [s]
Initial cost : 0.702943 [px]
Final cost : 0.344305 [px]
Termination : Convergence
I20260707 05:37:54.567833 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.567842 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.567844 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.567847 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.567853 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.567899 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.567936 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.567953 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.567972 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.377026e+02 0.00e+00 4.22e+02 0.00e+00 0.00e+00 1.00e+04 0 2.70e-04 5.68e-04
1 1.334877e+02 4.21e+00 3.26e+00 0.00e+00 1.00e+00 3.00e+04 1 3.97e-04 9.78e-04
2 1.334830e+02 4.72e-03 1.97e+00 1.16e-01 1.00e+00 9.00e+04 1 3.66e-04 1.35e-03
3 1.334829e+02 1.84e-05 3.29e-02 6.88e-03 1.01e+00 2.70e+05 1 3.65e-04 1.72e-03
I20260707 05:37:54.569974 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.569988 3605913 bundle_adjustment.cc:942]
Residuals : 814
Parameters : 569
Iterations : 4
Time : 0.00172901 [s]
Initial cost : 0.4113 [px]
Final cost : 0.404949 [px]
Termination : Convergence
I20260707 05:37:54.570147 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.570186 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.570215 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.570217 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.570220 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.579747 3605913 misc.cc:198]
==============================================================================
Registering image #18 (4)
==============================================================================
I20260707 05:37:54.579784 3605913 incremental_mapper.cc:495] => Image sees 57 / 640 points
I20260707 05:37:54.581606 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.581661 3605913 bundle_adjustment.cc:942]
Residuals : 102
Parameters : 6
Iterations : 12
Time : 0.00061512 [s]
Initial cost : 0.701954 [px]
Final cost : 0.660717 [px]
Termination : Convergence
I20260707 05:37:54.581754 3605913 incremental_mapper.cc:40] => Continued observations: 51
I20260707 05:37:54.582497 3605913 incremental_mapper.cc:43] => Added observations: 296
I20260707 05:37:54.590803 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.590866 3605913 bundle_adjustment.cc:942]
Residuals : 1508
Parameters : 1010
Iterations : 9
Time : 0.00762987 [s]
Initial cost : 0.601265 [px]
Final cost : 0.453059 [px]
Termination : Convergence
I20260707 05:37:54.591866 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.591897 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:54.591900 3605913 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 05:37:54.591902 3605913 incremental_mapper.cc:90] => Changed observations: 0.007958
I20260707 05:37:54.595429 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.595480 3605913 bundle_adjustment.cc:942]
Residuals : 1500
Parameters : 1007
Iterations : 3
Time : 0.00291204 [s]
Initial cost : 0.550815 [px]
Final cost : 0.539253 [px]
Termination : Convergence
I20260707 05:37:54.596302 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.596330 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.596333 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.596336 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.596350 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.596478 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.596542 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.596544 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.596573 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.361903e+02 0.00e+00 7.22e+00 0.00e+00 0.00e+00 1.00e+04 0 6.13e-04 1.18e-03
1 4.361893e+02 1.03e-03 5.11e-01 0.00e+00 1.01e+00 3.00e+04 1 8.66e-04 2.08e-03
2 4.361892e+02 2.08e-05 6.76e-02 4.54e-03 1.00e+00 9.00e+04 1 7.71e-04 2.86e-03
I20260707 05:37:54.600047 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.600080 3605913 bundle_adjustment.cc:942]
Residuals : 1500
Parameters : 1007
Iterations : 3
Time : 0.00289822 [s]
Initial cost : 0.539253 [px]
Final cost : 0.539252 [px]
Termination : Convergence
I20260707 05:37:54.600497 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.600579 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.600642 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.600646 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.600652 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.612260 3605913 misc.cc:198]
==============================================================================
Registering image #158 (5)
==============================================================================
I20260707 05:37:54.612310 3605913 incremental_mapper.cc:495] => Image sees 80 / 508 points
I20260707 05:37:54.615074 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.615106 3605913 bundle_adjustment.cc:942]
Residuals : 130
Parameters : 6
Iterations : 18
Time : 0.00113392 [s]
Initial cost : 0.791123 [px]
Final cost : 0.720376 [px]
Termination : Convergence
I20260707 05:37:54.615216 3605913 incremental_mapper.cc:40] => Continued observations: 65
I20260707 05:37:54.615778 3605913 incremental_mapper.cc:43] => Added observations: 203
I20260707 05:37:54.625984 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.626016 3605913 bundle_adjustment.cc:942]
Residuals : 2036
Parameters : 1304
Iterations : 8
Time : 0.00939012 [s]
Initial cost : 0.624503 [px]
Final cost : 0.551693 [px]
Termination : Convergence
I20260707 05:37:54.626698 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.626710 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.626713 3605913 incremental_mapper.cc:81] => Filtered observations: 12
I20260707 05:37:54.626715 3605913 incremental_mapper.cc:90] => Changed observations: 0.011788
I20260707 05:37:54.629746 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.629765 3605913 bundle_adjustment.cc:942]
Residuals : 2012
Parameters : 1295
Iterations : 2
Time : 0.00246096 [s]
Initial cost : 0.585367 [px]
Final cost : 0.569301 [px]
Termination : Convergence
I20260707 05:37:54.630381 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.630391 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.630394 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.630396 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.630403 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.630519 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.630601 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.630604 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.630620 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.520954e+02 0.00e+00 1.83e+01 0.00e+00 0.00e+00 1.00e+04 0 7.21e-04 1.38e-03
1 6.520669e+02 2.85e-02 1.54e+00 0.00e+00 1.00e+00 3.00e+04 1 1.05e-03 2.45e-03
2 6.520660e+02 9.08e-04 2.37e-01 3.95e-02 1.00e+00 9.00e+04 1 9.96e-04 3.45e-03
3 6.520660e+02 1.17e-05 4.36e-02 4.45e-03 1.00e+00 2.70e+05 1 1.00e-03 4.46e-03
I20260707 05:37:54.635707 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.635738 3605913 bundle_adjustment.cc:942]
Residuals : 2012
Parameters : 1295
Iterations : 4
Time : 0.004498 [s]
Initial cost : 0.569301 [px]
Final cost : 0.569288 [px]
Termination : Convergence
I20260707 05:37:54.636220 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.636322 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.636400 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.636404 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.636409 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.646332 3605913 misc.cc:198]
==============================================================================
Registering image #163 (6)
==============================================================================
I20260707 05:37:54.646374 3605913 incremental_mapper.cc:495] => Image sees 84 / 486 points
I20260707 05:37:54.651046 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.651227 3605913 bundle_adjustment.cc:942]
Residuals : 154
Parameters : 6
Iterations : 15
Time : 0.0025959 [s]
Initial cost : 0.654633 [px]
Final cost : 0.629905 [px]
Termination : Convergence
I20260707 05:37:54.651518 3605913 incremental_mapper.cc:40] => Continued observations: 77
I20260707 05:37:54.652673 3605913 incremental_mapper.cc:43] => Added observations: 189
I20260707 05:37:54.680985 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.681052 3605913 bundle_adjustment.cc:942]
Residuals : 2544
Parameters : 1574
Iterations : 7
Time : 0.026341 [s]
Initial cost : 0.536683 [px]
Final cost : 0.504727 [px]
Termination : Convergence
I20260707 05:37:54.682289 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.682322 3605913 incremental_mapper.cc:79] => Completed observations: 4
I20260707 05:37:54.682328 3605913 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 05:37:54.682333 3605913 incremental_mapper.cc:90] => Changed observations: 0.010220
I20260707 05:37:54.691959 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.692058 3605913 bundle_adjustment.cc:942]
Residuals : 2534
Parameters : 1565
Iterations : 3
Time : 0.00851011 [s]
Initial cost : 0.576911 [px]
Final cost : 0.562493 [px]
Termination : Convergence
I20260707 05:37:54.694192 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.694267 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.694273 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.694278 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.694347 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.694733 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.695021 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.695050 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.695103 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 8.017540e+02 0.00e+00 1.99e+00 0.00e+00 0.00e+00 1.00e+04 0 2.30e-03 4.43e-03
1 8.017539e+02 1.42e-05 7.50e-02 0.00e+00 1.00e+00 3.00e+04 1 3.88e-03 8.37e-03
I20260707 05:37:54.705380 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.705494 3605913 bundle_adjustment.cc:942]
Residuals : 2534
Parameters : 1565
Iterations : 2
Time : 0.00860119 [s]
Initial cost : 0.562493 [px]
Final cost : 0.562493 [px]
Termination : Convergence
I20260707 05:37:54.707576 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.708048 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.708400 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.708453 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.708475 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.727555 3605913 misc.cc:198]
==============================================================================
Registering image #16 (7)
==============================================================================
I20260707 05:37:54.727680 3605913 incremental_mapper.cc:495] => Image sees 115 / 958 points
I20260707 05:37:54.735442 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.735551 3605913 bundle_adjustment.cc:942]
Residuals : 188
Parameters : 6
Iterations : 21
Time : 0.00471282 [s]
Initial cost : 0.720748 [px]
Final cost : 0.703584 [px]
Termination : Convergence
I20260707 05:37:54.735795 3605913 incremental_mapper.cc:40] => Continued observations: 94
I20260707 05:37:54.736912 3605913 incremental_mapper.cc:43] => Added observations: 230
I20260707 05:37:54.771751 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.771868 3605913 bundle_adjustment.cc:942]
Residuals : 2758
Parameters : 1409
Iterations : 11
Time : 0.0331929 [s]
Initial cost : 0.585857 [px]
Final cost : 0.546565 [px]
Termination : Convergence
I20260707 05:37:54.774595 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.774675 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:54.774681 3605913 incremental_mapper.cc:81] => Filtered observations: 15
I20260707 05:37:54.774688 3605913 incremental_mapper.cc:90] => Changed observations: 0.014015
I20260707 05:37:54.784852 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.784960 3605913 bundle_adjustment.cc:942]
Residuals : 2738
Parameters : 1397
Iterations : 2
Time : 0.00819182 [s]
Initial cost : 0.635534 [px]
Final cost : 0.623977 [px]
Termination : Convergence
I20260707 05:37:54.787955 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.788036 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.788044 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.788050 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.788126 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.788684 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.789110 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.789166 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.789232 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.147091e+03 0.00e+00 6.66e+02 0.00e+00 0.00e+00 1.00e+04 0 2.54e-03 4.96e-03
1 1.137379e+03 9.71e+00 6.34e+01 0.00e+00 1.00e+00 3.00e+04 1 3.96e-03 8.96e-03
2 1.137257e+03 1.22e-01 2.26e+00 1.82e-01 1.00e+00 9.00e+04 1 3.26e-03 1.23e-02
3 1.137256e+03 1.32e-03 1.23e+00 2.03e-02 1.00e+00 2.70e+05 1 3.27e-03 1.56e-02
4 1.137256e+03 2.19e-06 3.36e-02 8.24e-04 1.01e+00 8.10e+05 1 3.53e-03 1.91e-02
I20260707 05:37:54.810949 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.811039 3605913 bundle_adjustment.cc:942]
Residuals : 3162
Parameters : 1895
Iterations : 5
Time : 0.0193121 [s]
Initial cost : 0.602307 [px]
Final cost : 0.599719 [px]
Termination : Convergence
I20260707 05:37:54.812532 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.812834 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.813038 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.813048 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.813060 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.832144 3605913 misc.cc:198]
==============================================================================
Registering image #3 (8)
==============================================================================
I20260707 05:37:54.832259 3605913 incremental_mapper.cc:495] => Image sees 123 / 615 points
I20260707 05:37:54.835857 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.835951 3605913 bundle_adjustment.cc:942]
Residuals : 224
Parameters : 6
Iterations : 12
Time : 0.00131083 [s]
Initial cost : 0.615112 [px]
Final cost : 0.577418 [px]
Termination : Convergence
I20260707 05:37:54.836146 3605913 incremental_mapper.cc:40] => Continued observations: 110
I20260707 05:37:54.836908 3605913 incremental_mapper.cc:43] => Added observations: 233
I20260707 05:37:54.857342 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.857393 3605913 bundle_adjustment.cc:942]
Residuals : 2774
Parameters : 1238
Iterations : 10
Time : 0.0189059 [s]
Initial cost : 0.585886 [px]
Final cost : 0.550525 [px]
Termination : Convergence
I20260707 05:37:54.858580 3605913 incremental_mapper.cc:78] => Merged observations: 21
I20260707 05:37:54.858603 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:54.858606 3605913 incremental_mapper.cc:81] => Filtered observations: 15
I20260707 05:37:54.858608 3605913 incremental_mapper.cc:90] => Changed observations: 0.027279
I20260707 05:37:54.864989 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.865028 3605913 bundle_adjustment.cc:942]
Residuals : 2760
Parameters : 1223
Iterations : 3
Time : 0.00530505 [s]
Initial cost : 0.643621 [px]
Final cost : 0.630185 [px]
Termination : Convergence
I20260707 05:37:54.866052 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.866091 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:54.866094 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.866096 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:54.866106 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.866335 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.866501 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.866504 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.866573 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.393005e+03 0.00e+00 4.86e+02 0.00e+00 0.00e+00 1.00e+04 0 1.63e-03 3.26e-03
1 1.390968e+03 2.04e+00 6.79e+00 0.00e+00 9.99e-01 3.00e+04 1 2.53e-03 5.83e-03
2 1.390961e+03 6.55e-03 1.90e+00 3.30e-02 1.00e+00 9.00e+04 1 2.43e-03 8.28e-03
3 1.390961e+03 9.37e-05 2.54e-01 4.47e-03 1.00e+00 2.70e+05 1 2.37e-03 1.07e-02
4 1.390961e+03 2.16e-07 9.22e-03 2.19e-04 1.01e+00 8.10e+05 1 2.47e-03 1.32e-02
I20260707 05:37:54.881168 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.881228 3605913 bundle_adjustment.cc:942]
Residuals : 3828
Parameters : 2207
Iterations : 5
Time : 0.0132871 [s]
Initial cost : 0.60324 [px]
Final cost : 0.602798 [px]
Termination : Convergence
I20260707 05:37:54.882289 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.882500 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.882644 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:54.882648 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:54.882655 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:54.894912 3605913 misc.cc:198]
==============================================================================
Registering image #40 (9)
==============================================================================
I20260707 05:37:54.894977 3605913 incremental_mapper.cc:495] => Image sees 129 / 649 points
I20260707 05:37:54.903007 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:54.903119 3605913 bundle_adjustment.cc:942]
Residuals : 222
Parameters : 6
Iterations : 27
Time : 0.00590706 [s]
Initial cost : 0.754143 [px]
Final cost : 0.741697 [px]
Termination : Convergence
I20260707 05:37:54.903489 3605913 incremental_mapper.cc:40] => Continued observations: 110
I20260707 05:37:54.904824 3605913 incremental_mapper.cc:43] => Added observations: 254
I20260707 05:37:54.959619 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.959754 3605913 bundle_adjustment.cc:942]
Residuals : 3226
Parameters : 1451
Iterations : 12
Time : 0.0520711 [s]
Initial cost : 0.590867 [px]
Final cost : 0.549772 [px]
Termination : Convergence
I20260707 05:37:54.963580 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:54.963670 3605913 incremental_mapper.cc:79] => Completed observations: 7
I20260707 05:37:54.963677 3605913 incremental_mapper.cc:81] => Filtered observations: 27
I20260707 05:37:54.963682 3605913 incremental_mapper.cc:90] => Changed observations: 0.020012
I20260707 05:37:54.979524 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:54.979598 3605913 bundle_adjustment.cc:942]
Residuals : 3186
Parameters : 1451
Iterations : 3
Time : 0.0133331 [s]
Initial cost : 0.664987 [px]
Final cost : 0.648674 [px]
Termination : Convergence
I20260707 05:37:54.982122 3605913 incremental_mapper.cc:78] => Merged observations: 4
I20260707 05:37:54.982197 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:54.982204 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:54.982209 3605913 incremental_mapper.cc:90] => Changed observations: 0.002978
I20260707 05:37:54.982239 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:54.982941 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:54.983467 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:54.983496 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:54.983532 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 1.771526e+03 0.00e+00 5.91e+02 0.00e+00 0.00e+00 1.00e+04 0 3.77e-03 7.35e-03
1 1.752165e+03 1.94e+01 5.47e+01 0.00e+00 1.00e+00 3.00e+04 1 5.79e-03 1.32e-02
2 1.752138e+03 2.76e-02 1.99e+00 8.51e-02 1.00e+00 9.00e+04 1 5.83e-03 1.91e-02
3 1.752137e+03 2.83e-04 1.83e-01 7.23e-03 1.00e+00 2.70e+05 1 6.07e-03 2.52e-02
4 1.752137e+03 5.92e-07 1.68e-02 3.39e-04 1.00e+00 8.10e+05 1 6.40e-03 3.17e-02
I20260707 05:37:55.017867 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.017964 3605913 bundle_adjustment.cc:942]
Residuals : 4518
Parameters : 2573
Iterations : 5
Time : 0.031955 [s]
Initial cost : 0.626182 [px]
Final cost : 0.622746 [px]
Termination : Convergence
I20260707 05:37:55.021261 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:55.022022 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.022541 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.022595 3605913 incremental_mapper.cc:119] => Changed observations: 0.000443
I20260707 05:37:55.022615 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.038486 3605913 misc.cc:198]
==============================================================================
Registering image #53 (10)
==============================================================================
I20260707 05:37:55.038547 3605913 incremental_mapper.cc:495] => Image sees 123 / 825 points
I20260707 05:37:55.044663 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.044728 3605913 bundle_adjustment.cc:942]
Residuals : 194
Parameters : 6
Iterations : 22
Time : 0.00392509 [s]
Initial cost : 0.73283 [px]
Final cost : 0.709491 [px]
Termination : Convergence
I20260707 05:37:55.044893 3605913 incremental_mapper.cc:40] => Continued observations: 97
I20260707 05:37:55.046275 3605913 incremental_mapper.cc:43] => Added observations: 350
I20260707 05:37:55.097939 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.097985 3605913 bundle_adjustment.cc:942]
Residuals : 3408
Parameters : 1496
Iterations : 13
Time : 0.0493681 [s]
Initial cost : 0.582049 [px]
Final cost : 0.547236 [px]
Termination : Convergence
I20260707 05:37:55.099236 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.099251 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.099254 3605913 incremental_mapper.cc:81] => Filtered observations: 12
I20260707 05:37:55.099270 3605913 incremental_mapper.cc:90] => Changed observations: 0.006561
I20260707 05:37:55.105057 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.105108 3605913 bundle_adjustment.cc:942]
Residuals : 3386
Parameters : 1493
Iterations : 2
Time : 0.00456285 [s]
Initial cost : 0.657231 [px]
Final cost : 0.647843 [px]
Termination : Convergence
I20260707 05:37:55.106564 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.106593 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.106597 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.106599 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.106613 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.106948 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.107194 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.107201 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:55.107386 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.061339e+03 0.00e+00 4.50e+02 0.00e+00 0.00e+00 1.00e+04 0 2.38e-03 4.85e-03
1 2.054348e+03 6.99e+00 1.38e+01 0.00e+00 9.99e-01 3.00e+04 1 3.84e-03 8.73e-03
2 2.054247e+03 1.01e-01 2.32e+00 1.12e-01 1.00e+00 9.00e+04 1 3.82e-03 1.26e-02
3 2.054244e+03 2.56e-03 1.81e+00 2.01e-02 1.00e+00 2.70e+05 1 3.79e-03 1.64e-02
4 2.054244e+03 9.25e-06 6.46e-02 1.25e-03 1.00e+00 8.10e+05 1 3.80e-03 2.02e-02
I20260707 05:37:55.129868 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.129928 3605913 bundle_adjustment.cc:942]
Residuals : 5390
Parameters : 3080
Iterations : 5
Time : 0.020427 [s]
Initial cost : 0.618415 [px]
Final cost : 0.61735 [px]
Termination : Convergence
I20260707 05:37:55.132448 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:55.133427 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.133838 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.133850 3605913 incremental_mapper.cc:119] => Changed observations: 0.000371
I20260707 05:37:55.133864 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.144502 3605913 misc.cc:198]
==============================================================================
Registering image #48 (11)
==============================================================================
I20260707 05:37:55.144537 3605913 incremental_mapper.cc:495] => Image sees 170 / 656 points
I20260707 05:37:55.149540 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.149576 3605913 bundle_adjustment.cc:942]
Residuals : 302
Parameters : 6
Iterations : 23
Time : 0.00276494 [s]
Initial cost : 0.799458 [px]
Final cost : 0.678769 [px]
Termination : Convergence
I20260707 05:37:55.149673 3605913 incremental_mapper.cc:40] => Continued observations: 151
I20260707 05:37:55.150369 3605913 incremental_mapper.cc:43] => Added observations: 269
I20260707 05:37:55.179418 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.179504 3605913 bundle_adjustment.cc:942]
Residuals : 3508
Parameters : 1634
Iterations : 13
Time : 0.0276589 [s]
Initial cost : 0.605035 [px]
Final cost : 0.563181 [px]
Termination : Convergence
I20260707 05:37:55.181725 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:55.181772 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:55.181777 3605913 incremental_mapper.cc:81] => Filtered observations: 22
I20260707 05:37:55.181778 3605913 incremental_mapper.cc:90] => Changed observations: 0.015779
I20260707 05:37:55.190697 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.190753 3605913 bundle_adjustment.cc:942]
Residuals : 3474
Parameters : 1628
Iterations : 3
Time : 0.00713491 [s]
Initial cost : 0.690993 [px]
Final cost : 0.676146 [px]
Termination : Convergence
I20260707 05:37:55.192390 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.192412 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.192416 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.192418 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.192430 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.192763 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.193024 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.193029 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:55.193244 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 2.357576e+03 0.00e+00 3.83e+02 0.00e+00 0.00e+00 1.00e+04 0 2.55e-03 5.30e-03
1 2.353638e+03 3.94e+00 5.92e+00 0.00e+00 9.99e-01 3.00e+04 1 3.72e-03 9.05e-03
2 2.353627e+03 1.17e-02 2.00e+00 3.28e-02 1.00e+00 9.00e+04 1 3.71e-03 1.28e-02
3 2.353626e+03 3.66e-04 5.13e-01 6.88e-03 9.99e-01 2.70e+05 1 3.99e-03 1.68e-02
I20260707 05:37:55.212376 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.212427 3605913 bundle_adjustment.cc:942]
Residuals : 6198
Parameters : 3461
Iterations : 4
Time : 0.0169699 [s]
Initial cost : 0.616747 [px]
Final cost : 0.61623 [px]
Termination : Convergence
I20260707 05:37:55.214043 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.214356 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.214572 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.214577 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:55.214586 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.226008 3605913 misc.cc:198]
==============================================================================
Registering image #58 (12)
==============================================================================
I20260707 05:37:55.226054 3605913 incremental_mapper.cc:495] => Image sees 185 / 673 points
I20260707 05:37:55.236923 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.237075 3605913 bundle_adjustment.cc:942]
Residuals : 322
Parameters : 6
Iterations : 21
Time : 0.00793886 [s]
Initial cost : 0.704128 [px]
Final cost : 0.680995 [px]
Termination : Convergence
I20260707 05:37:55.237572 3605913 incremental_mapper.cc:40] => Continued observations: 161
I20260707 05:37:55.239343 3605913 incremental_mapper.cc:43] => Added observations: 248
I20260707 05:37:55.266256 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.266357 3605913 bundle_adjustment.cc:942]
Residuals : 3848
Parameters : 1691
Iterations : 11
Time : 0.0246861 [s]
Initial cost : 0.632723 [px]
Final cost : 0.598858 [px]
Termination : Convergence
I20260707 05:37:55.268399 3605913 incremental_mapper.cc:78] => Merged observations: 6
I20260707 05:37:55.268441 3605913 incremental_mapper.cc:79] => Completed observations: 10
I20260707 05:37:55.268445 3605913 incremental_mapper.cc:81] => Filtered observations: 20
I20260707 05:37:55.268447 3605913 incremental_mapper.cc:90] => Changed observations: 0.017621
I20260707 05:37:55.278316 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.278381 3605913 bundle_adjustment.cc:942]
Residuals : 3828
Parameters : 1667
Iterations : 3
Time : 0.00800896 [s]
Initial cost : 0.650785 [px]
Final cost : 0.636763 [px]
Termination : Convergence
I20260707 05:37:55.280535 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.280576 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.280580 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.280582 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.292668 3605913 misc.cc:198]
==============================================================================
Registering image #28 (13)
==============================================================================
I20260707 05:37:55.292721 3605913 incremental_mapper.cc:495] => Image sees 122 / 538 points
I20260707 05:37:55.297560 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.297704 3605913 bundle_adjustment.cc:942]
Residuals : 130
Parameters : 6
Iterations : 16
Time : 0.00219297 [s]
Initial cost : 0.662615 [px]
Final cost : 0.639008 [px]
Termination : Convergence
I20260707 05:37:55.298004 3605913 incremental_mapper.cc:40] => Continued observations: 65
I20260707 05:37:55.299369 3605913 incremental_mapper.cc:43] => Added observations: 195
I20260707 05:37:55.316114 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.316188 3605913 bundle_adjustment.cc:942]
Residuals : 2540
Parameters : 1106
Iterations : 11
Time : 0.0151019 [s]
Initial cost : 0.688571 [px]
Final cost : 0.671281 [px]
Termination : Convergence
I20260707 05:37:55.317569 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.317592 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:55.317595 3605913 incremental_mapper.cc:81] => Filtered observations: 21
I20260707 05:37:55.317598 3605913 incremental_mapper.cc:90] => Changed observations: 0.014184
I20260707 05:37:55.323174 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.323237 3605913 bundle_adjustment.cc:942]
Residuals : 2500
Parameters : 1082
Iterations : 3
Time : 0.00448608 [s]
Initial cost : 0.724558 [px]
Final cost : 0.714585 [px]
Termination : Convergence
I20260707 05:37:55.324788 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.324815 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.324817 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.324820 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.324833 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.325459 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.325798 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.325805 3605913 incremental_mapper.cc:105] => Retriangulated observations: 12
I20260707 05:37:55.326490 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.077357e+03 0.00e+00 2.08e+03 0.00e+00 0.00e+00 1.00e+04 0 3.78e-03 8.84e-03
1 4.956609e+03 1.12e+03 5.80e+03 0.00e+00 9.87e-01 3.00e+04 1 6.22e-03 1.51e-02
2 4.943842e+03 1.28e+01 7.70e+01 7.72e-01 1.00e+00 9.00e+04 1 5.69e-03 2.08e-02
3 4.943586e+03 2.56e-01 6.02e+00 2.02e-01 1.00e+00 2.70e+05 1 5.30e-03 2.62e-02
4 4.943584e+03 1.84e-03 9.82e-01 1.76e-02 1.00e+00 8.10e+05 1 4.70e-03 3.09e-02
I20260707 05:37:55.360812 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.360849 3605913 bundle_adjustment.cc:942]
Residuals : 7500
Parameters : 4070
Iterations : 5
Time : 0.0310509 [s]
Initial cost : 0.900175 [px]
Final cost : 0.811877 [px]
Termination : Convergence
I20260707 05:37:55.362488 3605913 incremental_mapper.cc:175] => Completed observations: 3
I20260707 05:37:55.362836 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.363101 3605913 incremental_mapper.cc:160] => Filtered observations: 24
I20260707 05:37:55.363106 3605913 incremental_mapper.cc:119] => Changed observations: 0.007200
I20260707 05:37:55.363113 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.436104e+03 0.00e+00 1.92e+03 0.00e+00 0.00e+00 1.00e+04 0 3.38e-03 6.67e-03
1 2.854638e+03 5.81e+02 3.99e+03 0.00e+00 9.94e-01 3.00e+04 1 5.93e-03 1.26e-02
2 2.848997e+03 5.64e+00 3.61e+01 6.29e-01 1.00e+00 9.00e+04 1 5.72e-03 1.84e-02
3 2.848869e+03 1.28e-01 2.99e+00 1.44e-01 1.00e+00 2.70e+05 1 5.90e-03 2.43e-02
4 2.848868e+03 1.08e-03 4.47e-01 1.40e-02 1.00e+00 8.10e+05 1 5.92e-03 3.03e-02
I20260707 05:37:55.396184 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.396238 3605913 bundle_adjustment.cc:942]
Residuals : 7458
Parameters : 4043
Iterations : 5
Time : 0.0305328 [s]
Initial cost : 0.678769 [px]
Final cost : 0.618052 [px]
Termination : Convergence
I20260707 05:37:55.398967 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:55.399397 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.399708 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.399715 3605913 incremental_mapper.cc:119] => Changed observations: 0.000268
I20260707 05:37:55.399724 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.411511 3605913 misc.cc:198]
==============================================================================
Registering image #32 (14)
==============================================================================
I20260707 05:37:55.411541 3605913 incremental_mapper.cc:495] => Image sees 140 / 439 points
I20260707 05:37:55.414618 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.414655 3605913 bundle_adjustment.cc:942]
Residuals : 182
Parameters : 6
Iterations : 16
Time : 0.00129294 [s]
Initial cost : 0.673666 [px]
Final cost : 0.655388 [px]
Termination : Convergence
I20260707 05:37:55.414740 3605913 incremental_mapper.cc:40] => Continued observations: 90
I20260707 05:37:55.415359 3605913 incremental_mapper.cc:43] => Added observations: 157
I20260707 05:37:55.432574 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.432687 3605913 bundle_adjustment.cc:942]
Residuals : 2408
Parameters : 1031
Iterations : 12
Time : 0.0161359 [s]
Initial cost : 0.619971 [px]
Final cost : 0.590643 [px]
Termination : Convergence
I20260707 05:37:55.434303 3605913 incremental_mapper.cc:78] => Merged observations: 6
I20260707 05:37:55.434336 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:55.434340 3605913 incremental_mapper.cc:81] => Filtered observations: 18
I20260707 05:37:55.434341 3605913 incremental_mapper.cc:90] => Changed observations: 0.020626
I20260707 05:37:55.440256 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.440310 3605913 bundle_adjustment.cc:942]
Residuals : 2382
Parameters : 1010
Iterations : 3
Time : 0.00472999 [s]
Initial cost : 0.668169 [px]
Final cost : 0.653713 [px]
Termination : Convergence
I20260707 05:37:55.441846 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.441879 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.441882 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.441885 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.453933 3605913 misc.cc:198]
==============================================================================
Registering image #153 (15)
==============================================================================
I20260707 05:37:55.453977 3605913 incremental_mapper.cc:495] => Image sees 136 / 403 points
I20260707 05:37:55.456895 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.456957 3605913 bundle_adjustment.cc:942]
Residuals : 172
Parameters : 6
Iterations : 12
Time : 0.000977993 [s]
Initial cost : 0.700009 [px]
Final cost : 0.666026 [px]
Termination : Convergence
I20260707 05:37:55.457113 3605913 incremental_mapper.cc:40] => Continued observations: 86
I20260707 05:37:55.457904 3605913 incremental_mapper.cc:43] => Added observations: 193
I20260707 05:37:55.474857 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.474906 3605913 bundle_adjustment.cc:942]
Residuals : 2582
Parameters : 1109
Iterations : 9
Time : 0.015574 [s]
Initial cost : 0.605868 [px]
Final cost : 0.565506 [px]
Termination : Convergence
I20260707 05:37:55.476092 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:55.476114 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:55.476116 3605913 incremental_mapper.cc:81] => Filtered observations: 22
I20260707 05:37:55.476118 3605913 incremental_mapper.cc:90] => Changed observations: 0.020670
I20260707 05:37:55.481521 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.481546 3605913 bundle_adjustment.cc:942]
Residuals : 2542
Parameters : 1079
Iterations : 3
Time : 0.00444198 [s]
Initial cost : 0.639152 [px]
Final cost : 0.625343 [px]
Termination : Convergence
I20260707 05:37:55.482491 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.482502 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.482506 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.482508 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.482517 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.482955 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.483333 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.483341 3605913 incremental_mapper.cc:105] => Retriangulated observations: 8
I20260707 05:37:55.484018 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.533127e+03 0.00e+00 2.58e+03 0.00e+00 0.00e+00 1.00e+04 0 4.04e-03 8.78e-03
1 3.413790e+03 1.19e+02 1.40e+03 0.00e+00 9.91e-01 3.00e+04 1 6.97e-03 1.58e-02
2 3.413293e+03 4.97e-01 3.63e+00 1.43e-01 1.00e+00 9.00e+04 1 6.74e-03 2.26e-02
3 3.413283e+03 1.03e-02 1.98e+00 4.19e-02 1.00e+00 2.70e+05 1 6.72e-03 2.93e-02
4 3.413283e+03 1.13e-04 1.41e-01 4.70e-03 1.00e+00 8.10e+05 1 6.94e-03 3.63e-02
I20260707 05:37:55.523851 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.523900 3605913 bundle_adjustment.cc:942]
Residuals : 8462
Parameters : 4511
Iterations : 5
Time : 0.0366461 [s]
Initial cost : 0.646165 [px]
Final cost : 0.635111 [px]
Termination : Convergence
I20260707 05:37:55.526453 3605913 incremental_mapper.cc:175] => Completed observations: 2
I20260707 05:37:55.526889 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.527197 3605913 incremental_mapper.cc:160] => Filtered observations: 9
I20260707 05:37:55.527207 3605913 incremental_mapper.cc:119] => Changed observations: 0.002600
I20260707 05:37:55.527217 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.268620e+03 0.00e+00 2.08e+03 0.00e+00 0.00e+00 1.00e+04 0 3.57e-03 7.52e-03
1 3.193529e+03 7.51e+01 1.60e+03 0.00e+00 9.94e-01 3.00e+04 1 5.85e-03 1.34e-02
2 3.193249e+03 2.80e-01 1.82e+00 2.01e-02 1.00e+00 9.00e+04 1 6.57e-03 2.00e-02
3 3.193249e+03 1.67e-04 1.52e-01 4.07e-03 1.00e+00 2.70e+05 1 6.94e-03 2.70e-02
I20260707 05:37:55.557770 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.557832 3605913 bundle_adjustment.cc:942]
Residuals : 8448
Parameters : 4499
Iterations : 4
Time : 0.0273659 [s]
Initial cost : 0.622021 [px]
Final cost : 0.614808 [px]
Termination : Convergence
I20260707 05:37:55.561712 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.562256 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.562606 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.562616 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:55.562625 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.573657 3605913 misc.cc:198]
==============================================================================
Registering image #112 (16)
==============================================================================
I20260707 05:37:55.573725 3605913 incremental_mapper.cc:495] => Image sees 76 / 403 points
I20260707 05:37:55.587311 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.587353 3605913 misc.cc:198]
==============================================================================
Registering image #127 (16)
==============================================================================
I20260707 05:37:55.587357 3605913 incremental_mapper.cc:495] => Image sees 71 / 436 points
I20260707 05:37:55.599112 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.599216 3605913 misc.cc:198]
==============================================================================
Registering image #118 (16)
==============================================================================
I20260707 05:37:55.599246 3605913 incremental_mapper.cc:495] => Image sees 65 / 311 points
I20260707 05:37:55.613466 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.613540 3605913 misc.cc:198]
==============================================================================
Registering image #159 (16)
==============================================================================
I20260707 05:37:55.613549 3605913 incremental_mapper.cc:495] => Image sees 62 / 242 points
I20260707 05:37:55.616611 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.616691 3605913 bundle_adjustment.cc:942]
Residuals : 106
Parameters : 6
Iterations : 16
Time : 0.00121212 [s]
Initial cost : 0.613784 [px]
Final cost : 0.591268 [px]
Termination : Convergence
I20260707 05:37:55.616878 3605913 incremental_mapper.cc:40] => Continued observations: 53
I20260707 05:37:55.617450 3605913 incremental_mapper.cc:43] => Added observations: 46
I20260707 05:37:55.630630 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.630669 3605913 bundle_adjustment.cc:942]
Residuals : 2296
Parameters : 719
Iterations : 8
Time : 0.011307 [s]
Initial cost : 0.562301 [px]
Final cost : 0.548958 [px]
Termination : Convergence
I20260707 05:37:55.631654 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.631672 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:55.631675 3605913 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 05:37:55.631678 3605913 incremental_mapper.cc:90] => Changed observations: 0.003687
I20260707 05:37:55.635300 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.635318 3605913 bundle_adjustment.cc:942]
Residuals : 2294
Parameters : 719
Iterations : 2
Time : 0.00266886 [s]
Initial cost : 0.666069 [px]
Final cost : 0.660499 [px]
Termination : Convergence
I20260707 05:37:55.636094 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.636103 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.636106 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.636108 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.644526 3605913 misc.cc:198]
==============================================================================
Registering image #135 (17)
==============================================================================
I20260707 05:37:55.644563 3605913 incremental_mapper.cc:495] => Image sees 64 / 350 points
I20260707 05:37:55.652669 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.652773 3605913 misc.cc:198]
==============================================================================
Registering image #122 (17)
==============================================================================
I20260707 05:37:55.652783 3605913 incremental_mapper.cc:495] => Image sees 54 / 305 points
I20260707 05:37:55.660758 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.660828 3605913 misc.cc:198]
==============================================================================
Registering image #8 (17)
==============================================================================
I20260707 05:37:55.660838 3605913 incremental_mapper.cc:495] => Image sees 69 / 368 points
I20260707 05:37:55.663174 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.663249 3605913 bundle_adjustment.cc:942]
Residuals : 132
Parameters : 6
Iterations : 11
Time : 0.00107789 [s]
Initial cost : 0.580946 [px]
Final cost : 0.553456 [px]
Termination : Convergence
I20260707 05:37:55.663458 3605913 incremental_mapper.cc:40] => Continued observations: 65
I20260707 05:37:55.663978 3605913 incremental_mapper.cc:43] => Added observations: 62
I20260707 05:37:55.689909 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.689949 3605913 bundle_adjustment.cc:942]
Residuals : 3432
Parameters : 1250
Iterations : 11
Time : 0.0226021 [s]
Initial cost : 0.543092 [px]
Final cost : 0.531243 [px]
Termination : Convergence
I20260707 05:37:55.691269 3605913 incremental_mapper.cc:78] => Merged observations: 7
I20260707 05:37:55.691303 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:55.691308 3605913 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 05:37:55.691309 3605913 incremental_mapper.cc:90] => Changed observations: 0.011519
I20260707 05:37:55.698918 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.698968 3605913 bundle_adjustment.cc:942]
Residuals : 3424
Parameters : 1238
Iterations : 3
Time : 0.00616097 [s]
Initial cost : 0.644842 [px]
Final cost : 0.636239 [px]
Termination : Convergence
I20260707 05:37:55.700424 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.700456 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.700459 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.700461 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.700474 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.701143 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.701628 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.701637 3605913 incremental_mapper.cc:105] => Retriangulated observations: 6
I20260707 05:37:55.701781 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.963700e+03 0.00e+00 5.49e+03 0.00e+00 0.00e+00 1.00e+04 0 4.20e-03 9.38e-03
1 3.623020e+03 3.41e+02 6.46e+02 0.00e+00 1.01e+00 3.00e+04 1 7.22e-03 1.66e-02
2 3.622683e+03 3.37e-01 3.86e+00 5.15e-02 9.81e-01 9.00e+04 1 6.33e-03 2.30e-02
3 3.622681e+03 1.98e-03 9.85e-01 1.32e-02 9.74e-01 2.70e+05 1 5.62e-03 2.86e-02
I20260707 05:37:55.734419 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.734449 3605913 bundle_adjustment.cc:942]
Residuals : 8902
Parameters : 4658
Iterations : 4
Time : 0.0287921 [s]
Initial cost : 0.667278 [px]
Final cost : 0.637927 [px]
Termination : Convergence
I20260707 05:37:55.736228 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:55.736629 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.736903 3605913 incremental_mapper.cc:160] => Filtered observations: 4
I20260707 05:37:55.736908 3605913 incremental_mapper.cc:119] => Changed observations: 0.001123
I20260707 05:37:55.736917 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.424835e+03 0.00e+00 9.86e+02 0.00e+00 0.00e+00 1.00e+04 0 3.97e-03 8.54e-03
1 3.381524e+03 4.33e+01 2.32e+02 0.00e+00 9.99e-01 3.00e+04 1 7.49e-03 1.61e-02
2 3.381483e+03 4.16e-02 1.99e+00 2.26e-02 1.00e+00 9.00e+04 1 7.39e-03 2.35e-02
3 3.381483e+03 1.21e-04 2.25e-01 2.89e-03 1.00e+00 2.70e+05 1 7.16e-03 3.07e-02
I20260707 05:37:55.770843 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.770898 3605913 bundle_adjustment.cc:942]
Residuals : 8896
Parameters : 4652
Iterations : 4
Time : 0.031064 [s]
Initial cost : 0.620472 [px]
Final cost : 0.616533 [px]
Termination : Convergence
I20260707 05:37:55.774039 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.774500 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.774801 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.774808 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:55.774814 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.782629 3605913 misc.cc:198]
==============================================================================
Registering image #38 (18)
==============================================================================
I20260707 05:37:55.782647 3605913 incremental_mapper.cc:495] => Image sees 58 / 321 points
I20260707 05:37:55.784711 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.784726 3605913 bundle_adjustment.cc:942]
Residuals : 98
Parameters : 6
Iterations : 20
Time : 0.000856161 [s]
Initial cost : 0.581524 [px]
Final cost : 0.564591 [px]
Termination : Convergence
I20260707 05:37:55.784770 3605913 incremental_mapper.cc:40] => Continued observations: 49
I20260707 05:37:55.784914 3605913 incremental_mapper.cc:43] => Added observations: 17
I20260707 05:37:55.800463 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.800510 3605913 bundle_adjustment.cc:942]
Residuals : 3106
Parameters : 1100
Iterations : 9
Time : 0.0142879 [s]
Initial cost : 0.560319 [px]
Final cost : 0.552801 [px]
Termination : Convergence
I20260707 05:37:55.801970 3605913 incremental_mapper.cc:78] => Merged observations: 6
I20260707 05:37:55.802000 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:55.802003 3605913 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 05:37:55.802006 3605913 incremental_mapper.cc:90] => Changed observations: 0.005998
I20260707 05:37:55.808851 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.808895 3605913 bundle_adjustment.cc:942]
Residuals : 3100
Parameters : 1097
Iterations : 3
Time : 0.00543308 [s]
Initial cost : 0.688527 [px]
Final cost : 0.681264 [px]
Termination : Convergence
I20260707 05:37:55.810351 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.810382 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.810385 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.810388 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.819761 3605913 misc.cc:198]
==============================================================================
Registering image #107 (19)
==============================================================================
I20260707 05:37:55.819802 3605913 incremental_mapper.cc:495] => Image sees 52 / 325 points
I20260707 05:37:55.827750 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:55.827795 3605913 misc.cc:198]
==============================================================================
Registering image #49 (19)
==============================================================================
I20260707 05:37:55.827801 3605913 incremental_mapper.cc:495] => Image sees 46 / 133 points
I20260707 05:37:55.829939 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.829959 3605913 bundle_adjustment.cc:942]
Residuals : 72
Parameters : 6
Iterations : 19
Time : 0.000933886 [s]
Initial cost : 0.663882 [px]
Final cost : 0.628175 [px]
Termination : Convergence
I20260707 05:37:55.830008 3605913 incremental_mapper.cc:40] => Continued observations: 36
I20260707 05:37:55.830163 3605913 incremental_mapper.cc:43] => Added observations: 15
I20260707 05:37:55.847784 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.847855 3605913 bundle_adjustment.cc:942]
Residuals : 3074
Parameters : 785
Iterations : 10
Time : 0.0159459 [s]
Initial cost : 0.556964 [px]
Final cost : 0.549025 [px]
Termination : Convergence
I20260707 05:37:55.849310 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.849337 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:55.849341 3605913 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 05:37:55.849344 3605913 incremental_mapper.cc:90] => Changed observations: 0.003369
I20260707 05:37:55.856180 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.856242 3605913 bundle_adjustment.cc:942]
Residuals : 3066
Parameters : 785
Iterations : 3
Time : 0.0054481 [s]
Initial cost : 0.674071 [px]
Final cost : 0.669137 [px]
Termination : Convergence
I20260707 05:37:55.857664 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.857692 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.857695 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.857698 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.857709 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:55.858462 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:55.858924 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.858934 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:55.858994 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.463985e+03 0.00e+00 5.42e+02 0.00e+00 0.00e+00 1.00e+04 0 4.09e-03 9.82e-03
1 3.462823e+03 1.16e+00 5.28e+00 0.00e+00 1.00e+00 3.00e+04 1 5.80e-03 1.57e-02
2 3.462821e+03 1.50e-03 6.11e-01 2.76e-03 1.00e+00 9.00e+04 1 5.14e-03 2.08e-02
I20260707 05:37:55.883976 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.883998 3605913 bundle_adjustment.cc:942]
Residuals : 9116
Parameters : 4706
Iterations : 3
Time : 0.0209422 [s]
Initial cost : 0.616433 [px]
Final cost : 0.616329 [px]
Termination : Convergence
I20260707 05:37:55.886554 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:55.887015 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:55.887362 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:55.887372 3605913 incremental_mapper.cc:119] => Changed observations: 0.000219
I20260707 05:37:55.887379 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:55.895742 3605913 misc.cc:198]
==============================================================================
Registering image #165 (20)
==============================================================================
I20260707 05:37:55.895779 3605913 incremental_mapper.cc:495] => Image sees 44 / 295 points
I20260707 05:37:55.897681 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.897763 3605913 bundle_adjustment.cc:942]
Residuals : 74
Parameters : 6
Iterations : 14
Time : 0.000798941 [s]
Initial cost : 0.523517 [px]
Final cost : 0.513123 [px]
Termination : Convergence
I20260707 05:37:55.897914 3605913 incremental_mapper.cc:40] => Continued observations: 37
I20260707 05:37:55.898573 3605913 incremental_mapper.cc:43] => Added observations: 110
I20260707 05:37:55.941123 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.941206 3605913 bundle_adjustment.cc:942]
Residuals : 2924
Parameters : 659
Iterations : 26
Time : 0.040586 [s]
Initial cost : 0.561493 [px]
Final cost : 0.54418 [px]
Termination : No convergence
I20260707 05:37:55.942736 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:55.942775 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:55.942778 3605913 incremental_mapper.cc:81] => Filtered observations: 10
I20260707 05:37:55.942780 3605913 incremental_mapper.cc:90] => Changed observations: 0.011364
I20260707 05:37:55.950074 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.950160 3605913 bundle_adjustment.cc:942]
Residuals : 3080
Parameters : 896
Iterations : 3
Time : 0.00572705 [s]
Initial cost : 0.675602 [px]
Final cost : 0.668165 [px]
Termination : Convergence
I20260707 05:37:55.951975 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.952016 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.952019 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:55.952023 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:55.963229 3605913 misc.cc:198]
==============================================================================
Registering image #45 (21)
==============================================================================
I20260707 05:37:55.963280 3605913 incremental_mapper.cc:495] => Image sees 45 / 190 points
I20260707 05:37:55.965090 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:55.965171 3605913 bundle_adjustment.cc:942]
Residuals : 76
Parameters : 6
Iterations : 12
Time : 0.000556946 [s]
Initial cost : 0.590676 [px]
Final cost : 0.588131 [px]
Termination : Convergence
I20260707 05:37:55.965272 3605913 incremental_mapper.cc:40] => Continued observations: 38
I20260707 05:37:55.965476 3605913 incremental_mapper.cc:43] => Added observations: 32
I20260707 05:37:55.997635 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:55.997695 3605913 bundle_adjustment.cc:942]
Residuals : 3170
Parameters : 476
Iterations : 18
Time : 0.0301149 [s]
Initial cost : 0.600184 [px]
Final cost : 0.593993 [px]
Termination : Convergence
I20260707 05:37:55.999325 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:55.999361 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:55.999364 3605913 incremental_mapper.cc:81] => Filtered observations: 13
I20260707 05:37:55.999366 3605913 incremental_mapper.cc:90] => Changed observations: 0.007112
I20260707 05:37:56.004654 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.004710 3605913 bundle_adjustment.cc:942]
Residuals : 3144
Parameters : 467
Iterations : 2
Time : 0.00374603 [s]
Initial cost : 0.729986 [px]
Final cost : 0.725806 [px]
Termination : Convergence
I20260707 05:37:56.006387 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.006422 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.006425 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.006428 3605913 incremental_mapper.cc:90] => Changed observations: 0.001102
I20260707 05:37:56.006444 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:56.007304 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.007851 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.007866 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:56.007980 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.611552e+03 0.00e+00 1.82e+03 0.00e+00 0.00e+00 1.00e+04 0 5.25e-03 1.27e-02
1 3.604156e+03 7.40e+00 2.19e+01 0.00e+00 1.00e+00 3.00e+04 1 8.50e-03 2.12e-02
2 3.604129e+03 2.70e-02 1.99e+00 3.87e-02 1.01e+00 9.00e+04 1 6.33e-03 2.76e-02
3 3.604127e+03 1.48e-03 9.86e-01 1.16e-02 1.00e+00 2.70e+05 1 5.88e-03 3.35e-02
I20260707 05:37:56.046368 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.046397 3605913 bundle_adjustment.cc:942]
Residuals : 9514
Parameters : 4898
Iterations : 4
Time : 0.033654 [s]
Initial cost : 0.61612 [px]
Final cost : 0.615486 [px]
Termination : Convergence
I20260707 05:37:56.048836 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:56.049407 3605913 incremental_mapper.cc:178] => Merged observations: 7
I20260707 05:37:56.049767 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.049774 3605913 incremental_mapper.cc:119] => Changed observations: 0.001682
I20260707 05:37:56.049787 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.618797e+03 0.00e+00 9.11e+02 0.00e+00 0.00e+00 1.00e+04 0 4.73e-03 1.07e-02
1 3.612435e+03 6.36e+00 1.87e+01 0.00e+00 1.00e+00 3.00e+04 1 7.99e-03 1.88e-02
2 3.612430e+03 5.23e-03 8.44e-01 1.73e-02 1.02e+00 9.00e+04 1 8.06e-03 2.68e-02
I20260707 05:37:56.081233 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.081288 3605913 bundle_adjustment.cc:942]
Residuals : 9516
Parameters : 4895
Iterations : 3
Time : 0.0272319 [s]
Initial cost : 0.616673 [px]
Final cost : 0.61613 [px]
Termination : Convergence
I20260707 05:37:56.084664 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.085155 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.085490 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.085498 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:56.085507 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:56.094265 3605913 misc.cc:198]
==============================================================================
Registering image #87 (22)
==============================================================================
I20260707 05:37:56.094287 3605913 incremental_mapper.cc:495] => Image sees 45 / 237 points
I20260707 05:37:56.105787 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:56.105877 3605913 misc.cc:198]
==============================================================================
Registering image #63 (22)
==============================================================================
I20260707 05:37:56.105885 3605913 incremental_mapper.cc:495] => Image sees 47 / 300 points
I20260707 05:37:56.119583 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:56.119679 3605913 misc.cc:198]
==============================================================================
Registering image #39 (22)
==============================================================================
I20260707 05:37:56.119689 3605913 incremental_mapper.cc:495] => Image sees 37 / 200 points
I20260707 05:37:56.122215 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.122267 3605913 bundle_adjustment.cc:942]
Residuals : 74
Parameters : 6
Iterations : 27
Time : 0.00103998 [s]
Initial cost : 0.635082 [px]
Final cost : 0.621326 [px]
Termination : Convergence
I20260707 05:37:56.122370 3605913 incremental_mapper.cc:40] => Continued observations: 36
I20260707 05:37:56.122654 3605913 incremental_mapper.cc:43] => Added observations: 65
I20260707 05:37:56.132978 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.133059 3605913 bundle_adjustment.cc:942]
Residuals : 1928
Parameters : 446
Iterations : 8
Time : 0.00874805 [s]
Initial cost : 0.65143 [px]
Final cost : 0.62648 [px]
Termination : Convergence
I20260707 05:37:56.134516 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.134555 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.134559 3605913 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 05:37:56.134562 3605913 incremental_mapper.cc:90] => Changed observations: 0.001514
I20260707 05:37:56.138263 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.138301 3605913 bundle_adjustment.cc:942]
Residuals : 1924
Parameters : 443
Iterations : 2
Time : 0.00241494 [s]
Initial cost : 0.783755 [px]
Final cost : 0.779136 [px]
Termination : Convergence
I20260707 05:37:56.139268 3605913 incremental_mapper.cc:78] => Merged observations: 6
I20260707 05:37:56.139284 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.139288 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.139290 3605913 incremental_mapper.cc:90] => Changed observations: 0.004549
I20260707 05:37:56.147333 3605913 misc.cc:198]
==============================================================================
Registering image #33 (23)
==============================================================================
I20260707 05:37:56.147356 3605913 incremental_mapper.cc:495] => Image sees 43 / 135 points
I20260707 05:37:56.148890 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.148922 3605913 bundle_adjustment.cc:942]
Residuals : 70
Parameters : 6
Iterations : 7
Time : 0.000257015 [s]
Initial cost : 0.599532 [px]
Final cost : 0.558103 [px]
Termination : Convergence
I20260707 05:37:56.148962 3605913 incremental_mapper.cc:40] => Continued observations: 35
I20260707 05:37:56.149147 3605913 incremental_mapper.cc:43] => Added observations: 46
I20260707 05:37:56.155625 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.155678 3605913 bundle_adjustment.cc:942]
Residuals : 1648
Parameters : 344
Iterations : 7
Time : 0.00573492 [s]
Initial cost : 0.548396 [px]
Final cost : 0.537202 [px]
Termination : Convergence
I20260707 05:37:56.156741 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.156771 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.156774 3605913 incremental_mapper.cc:81] => Filtered observations: 2
I20260707 05:37:56.156776 3605913 incremental_mapper.cc:90] => Changed observations: 0.002105
I20260707 05:37:56.159619 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.159667 3605913 bundle_adjustment.cc:942]
Residuals : 1644
Parameters : 344
Iterations : 2
Time : 0.00196409 [s]
Initial cost : 0.656266 [px]
Final cost : 0.652603 [px]
Termination : Convergence
I20260707 05:37:56.160670 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.160703 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.160706 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.160709 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.171286 3605913 misc.cc:198]
==============================================================================
Registering image #23 (24)
==============================================================================
I20260707 05:37:56.171339 3605913 incremental_mapper.cc:495] => Image sees 41 / 343 points
I20260707 05:37:56.173317 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.173382 3605913 bundle_adjustment.cc:942]
Residuals : 76
Parameters : 6
Iterations : 21
Time : 0.000861168 [s]
Initial cost : 0.595384 [px]
Final cost : 0.583204 [px]
Termination : Convergence
I20260707 05:37:56.173484 3605913 incremental_mapper.cc:40] => Continued observations: 38
I20260707 05:37:56.173898 3605913 incremental_mapper.cc:43] => Added observations: 156
I20260707 05:37:56.190063 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.190141 3605913 bundle_adjustment.cc:942]
Residuals : 2638
Parameters : 581
Iterations : 9
Time : 0.014488 [s]
Initial cost : 0.563545 [px]
Final cost : 0.547066 [px]
Termination : Convergence
I20260707 05:37:56.191830 3605913 incremental_mapper.cc:78] => Merged observations: 6
I20260707 05:37:56.191871 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.191874 3605913 incremental_mapper.cc:81] => Filtered observations: 5
I20260707 05:37:56.191877 3605913 incremental_mapper.cc:90] => Changed observations: 0.008453
I20260707 05:37:56.196657 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.196704 3605913 bundle_adjustment.cc:942]
Residuals : 2636
Parameters : 578
Iterations : 2
Time : 0.003407 [s]
Initial cost : 0.673642 [px]
Final cost : 0.669241 [px]
Termination : Convergence
I20260707 05:37:56.197885 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.197907 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.197911 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.197914 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.197924 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:56.198534 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.199034 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.199044 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:56.199086 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 3.837625e+03 0.00e+00 8.81e+02 0.00e+00 0.00e+00 1.00e+04 0 4.44e-03 9.40e-03
1 3.828730e+03 8.90e+00 1.87e+01 0.00e+00 9.99e-01 3.00e+04 1 9.22e-03 1.87e-02
2 3.828719e+03 1.11e-02 1.54e+00 4.91e-02 1.01e+00 9.00e+04 1 9.62e-03 2.83e-02
3 3.828718e+03 3.37e-04 1.95e-01 7.84e-03 1.00e+00 2.70e+05 1 1.07e-02 3.90e-02
I20260707 05:37:56.242759 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.242839 3605913 bundle_adjustment.cc:942]
Residuals : 10254
Parameters : 5294
Iterations : 4
Time : 0.0395842 [s]
Initial cost : 0.611765 [px]
Final cost : 0.611055 [px]
Termination : Convergence
I20260707 05:37:56.248266 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.248984 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.249478 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.249498 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:56.249511 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:56.259261 3605913 misc.cc:198]
==============================================================================
Registering image #26 (25)
==============================================================================
I20260707 05:37:56.259292 3605913 incremental_mapper.cc:495] => Image sees 87 / 269 points
I20260707 05:37:56.261744 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.261781 3605913 bundle_adjustment.cc:942]
Residuals : 164
Parameters : 6
Iterations : 12
Time : 0.000923872 [s]
Initial cost : 0.575635 [px]
Final cost : 0.558153 [px]
Termination : Convergence
I20260707 05:37:56.261849 3605913 incremental_mapper.cc:40] => Continued observations: 82
I20260707 05:37:56.262197 3605913 incremental_mapper.cc:43] => Added observations: 110
I20260707 05:37:56.273016 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.273077 3605913 bundle_adjustment.cc:942]
Residuals : 2444
Parameters : 605
Iterations : 8
Time : 0.00974083 [s]
Initial cost : 0.591489 [px]
Final cost : 0.575231 [px]
Termination : Convergence
I20260707 05:37:56.274580 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.274614 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.274617 3605913 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 05:37:56.274621 3605913 incremental_mapper.cc:90] => Changed observations: 0.007698
I20260707 05:37:56.278501 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.278555 3605913 bundle_adjustment.cc:942]
Residuals : 2354
Parameters : 491
Iterations : 2
Time : 0.00272799 [s]
Initial cost : 0.707261 [px]
Final cost : 0.698725 [px]
Termination : Convergence
I20260707 05:37:56.279906 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.279937 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.279939 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.279942 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.290104 3605913 misc.cc:198]
==============================================================================
Registering image #20 (26)
==============================================================================
I20260707 05:37:56.290176 3605913 incremental_mapper.cc:495] => Image sees 86 / 281 points
I20260707 05:37:56.292851 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.292927 3605913 bundle_adjustment.cc:942]
Residuals : 166
Parameters : 6
Iterations : 13
Time : 0.00110698 [s]
Initial cost : 0.724699 [px]
Final cost : 0.641829 [px]
Termination : Convergence
I20260707 05:37:56.293077 3605913 incremental_mapper.cc:40] => Continued observations: 83
I20260707 05:37:56.293375 3605913 incremental_mapper.cc:43] => Added observations: 87
I20260707 05:37:56.312974 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.313020 3605913 bundle_adjustment.cc:942]
Residuals : 2132
Parameters : 566
Iterations : 15
Time : 0.018239 [s]
Initial cost : 0.640857 [px]
Final cost : 0.599805 [px]
Termination : Convergence
I20260707 05:37:56.314002 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:56.314025 3605913 incremental_mapper.cc:79] => Completed observations: 11
I20260707 05:37:56.314044 3605913 incremental_mapper.cc:81] => Filtered observations: 13
I20260707 05:37:56.314047 3605913 incremental_mapper.cc:90] => Changed observations: 0.022709
I20260707 05:37:56.317487 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.317509 3605913 bundle_adjustment.cc:942]
Residuals : 2132
Parameters : 554
Iterations : 2
Time : 0.00250316 [s]
Initial cost : 0.717304 [px]
Final cost : 0.704896 [px]
Termination : Convergence
I20260707 05:37:56.318325 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.318339 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.318342 3605913 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 05:37:56.318346 3605913 incremental_mapper.cc:90] => Changed observations: 0.002349
I20260707 05:37:56.326655 3605913 misc.cc:198]
==============================================================================
Registering image #14 (27)
==============================================================================
I20260707 05:37:56.326695 3605913 incremental_mapper.cc:495] => Image sees 91 / 266 points
I20260707 05:37:56.329495 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.329618 3605913 bundle_adjustment.cc:942]
Residuals : 174
Parameters : 6
Iterations : 19
Time : 0.00146985 [s]
Initial cost : 0.79798 [px]
Final cost : 0.675732 [px]
Termination : Convergence
I20260707 05:37:56.329898 3605913 incremental_mapper.cc:40] => Continued observations: 87
I20260707 05:37:56.330446 3605913 incremental_mapper.cc:43] => Added observations: 77
I20260707 05:37:56.360152 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.360273 3605913 bundle_adjustment.cc:942]
Residuals : 1624
Parameters : 605
Iterations : 12
Time : 0.0276461 [s]
Initial cost : 0.727574 [px]
Final cost : 0.675253 [px]
Termination : Convergence
I20260707 05:37:56.363070 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:56.363126 3605913 incremental_mapper.cc:79] => Completed observations: 6
I20260707 05:37:56.363142 3605913 incremental_mapper.cc:81] => Filtered observations: 13
I20260707 05:37:56.363148 3605913 incremental_mapper.cc:90] => Changed observations: 0.020033
I20260707 05:37:56.368075 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.368135 3605913 bundle_adjustment.cc:942]
Residuals : 1608
Parameters : 596
Iterations : 2
Time : 0.00372696 [s]
Initial cost : 0.802837 [px]
Final cost : 0.78764 [px]
Termination : Convergence
I20260707 05:37:56.369341 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.369369 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.369374 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.369379 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.369395 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:56.370384 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.371153 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.371170 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:56.371224 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.246856e+03 0.00e+00 9.79e+02 0.00e+00 0.00e+00 1.00e+04 0 1.22e-02 2.72e-02
1 4.231645e+03 1.52e+01 1.55e+01 0.00e+00 1.00e+00 3.00e+04 1 1.82e-02 4.55e-02
2 4.231634e+03 1.13e-02 1.48e+00 4.07e-02 1.01e+00 9.00e+04 1 1.48e-02 6.03e-02
3 4.231634e+03 2.52e-04 1.49e-01 6.33e-03 1.00e+00 2.70e+05 1 1.96e-02 8.00e-02
I20260707 05:37:56.457307 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.457417 3605913 bundle_adjustment.cc:942]
Residuals : 11274
Parameters : 5651
Iterations : 4
Time : 0.0808661 [s]
Initial cost : 0.613755 [px]
Final cost : 0.612654 [px]
Termination : Convergence
I20260707 05:37:56.463441 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.465066 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.465962 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.465996 3605913 incremental_mapper.cc:119] => Changed observations: 0.000000
I20260707 05:37:56.466015 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:56.480623 3605913 misc.cc:198]
==============================================================================
Registering image #13 (28)
==============================================================================
I20260707 05:37:56.480676 3605913 incremental_mapper.cc:495] => Image sees 69 / 212 points
I20260707 05:37:56.484761 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.484812 3605913 bundle_adjustment.cc:942]
Residuals : 130
Parameters : 6
Iterations : 26
Time : 0.00250697 [s]
Initial cost : 0.771325 [px]
Final cost : 0.757701 [px]
Termination : Convergence
I20260707 05:37:56.484932 3605913 incremental_mapper.cc:40] => Continued observations: 65
I20260707 05:37:56.485321 3605913 incremental_mapper.cc:43] => Added observations: 65
I20260707 05:37:56.500743 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.500846 3605913 bundle_adjustment.cc:942]
Residuals : 1698
Parameters : 620
Iterations : 10
Time : 0.0142288 [s]
Initial cost : 0.588166 [px]
Final cost : 0.535651 [px]
Termination : Convergence
I20260707 05:37:56.501871 3605913 incremental_mapper.cc:78] => Merged observations: 5
I20260707 05:37:56.501909 3605913 incremental_mapper.cc:79] => Completed observations: 6
I20260707 05:37:56.501914 3605913 incremental_mapper.cc:81] => Filtered observations: 7
I20260707 05:37:56.501915 3605913 incremental_mapper.cc:90] => Changed observations: 0.019715
I20260707 05:37:56.505059 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.505136 3605913 bundle_adjustment.cc:942]
Residuals : 1696
Parameters : 614
Iterations : 2
Time : 0.00237918 [s]
Initial cost : 0.668114 [px]
Final cost : 0.648265 [px]
Termination : Convergence
I20260707 05:37:56.506143 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.506177 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.506181 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.506182 3605913 incremental_mapper.cc:90] => Changed observations: 0.002193
I20260707 05:37:56.518376 3605913 misc.cc:198]
==============================================================================
Registering image #5 (29)
==============================================================================
I20260707 05:37:56.518458 3605913 incremental_mapper.cc:495] => Image sees 67 / 162 points
I20260707 05:37:56.521214 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.521296 3605913 bundle_adjustment.cc:942]
Residuals : 124
Parameters : 6
Iterations : 20
Time : 0.00124979 [s]
Initial cost : 0.829603 [px]
Final cost : 0.766378 [px]
Termination : Convergence
I20260707 05:37:56.521413 3605913 incremental_mapper.cc:40] => Continued observations: 62
I20260707 05:37:56.521644 3605913 incremental_mapper.cc:43] => Added observations: 37
I20260707 05:37:56.549435 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.549494 3605913 bundle_adjustment.cc:942]
Residuals : 2142
Parameters : 392
Iterations : 22
Time : 0.026371 [s]
Initial cost : 0.661114 [px]
Final cost : 0.616735 [px]
Termination : Convergence
I20260707 05:37:56.550453 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.550477 3605913 incremental_mapper.cc:79] => Completed observations: 3
I20260707 05:37:56.550480 3605913 incremental_mapper.cc:81] => Filtered observations: 17
I20260707 05:37:56.550482 3605913 incremental_mapper.cc:90] => Changed observations: 0.016849
I20260707 05:37:56.553820 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.553850 3605913 bundle_adjustment.cc:942]
Residuals : 2114
Parameters : 383
Iterations : 2
Time : 0.0023911 [s]
Initial cost : 0.693285 [px]
Final cost : 0.682874 [px]
Termination : Convergence
I20260707 05:37:56.554792 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.554826 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.554831 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.554834 3605913 incremental_mapper.cc:90] => Changed observations: 0.001705
I20260707 05:37:56.566712 3605913 misc.cc:198]
==============================================================================
Registering image #41 (30)
==============================================================================
I20260707 05:37:56.566797 3605913 incremental_mapper.cc:495] => Image sees 71 / 208 points
I20260707 05:37:56.569844 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.569932 3605913 bundle_adjustment.cc:942]
Residuals : 122
Parameters : 6
Iterations : 12
Time : 0.000985861 [s]
Initial cost : 0.819484 [px]
Final cost : 0.730931 [px]
Termination : Convergence
I20260707 05:37:56.570111 3605913 incremental_mapper.cc:40] => Continued observations: 61
I20260707 05:37:56.570518 3605913 incremental_mapper.cc:43] => Added observations: 56
I20260707 05:37:56.593293 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.593379 3605913 bundle_adjustment.cc:942]
Residuals : 1714
Parameters : 410
Iterations : 23
Time : 0.0213141 [s]
Initial cost : 0.695424 [px]
Final cost : 0.634911 [px]
Termination : Convergence
I20260707 05:37:56.594842 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.594887 3605913 incremental_mapper.cc:79] => Completed observations: 5
I20260707 05:37:56.594890 3605913 incremental_mapper.cc:81] => Filtered observations: 20
I20260707 05:37:56.594893 3605913 incremental_mapper.cc:90] => Changed observations: 0.021796
I20260707 05:37:56.599802 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.599875 3605913 bundle_adjustment.cc:942]
Residuals : 2048
Parameters : 401
Iterations : 3
Time : 0.0037961 [s]
Initial cost : 0.666089 [px]
Final cost : 0.654752 [px]
Termination : Convergence
I20260707 05:37:56.601150 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.601195 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.601200 3605913 incremental_mapper.cc:81] => Filtered observations: 1
I20260707 05:37:56.601204 3605913 incremental_mapper.cc:90] => Changed observations: 0.000883
I20260707 05:37:56.601222 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:56.602375 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.603250 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.603274 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:56.603374 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.696031e+03 0.00e+00 1.10e+03 0.00e+00 0.00e+00 1.00e+04 0 5.53e-03 1.22e-02
1 4.676108e+03 1.99e+01 2.98e+01 0.00e+00 1.00e+00 3.00e+04 1 1.18e-02 2.41e-02
2 4.676091e+03 1.67e-02 1.51e+00 5.07e-02 1.02e+00 9.00e+04 1 1.28e-02 3.69e-02
3 4.676091e+03 1.17e-04 5.40e-01 4.69e-03 1.02e+00 2.70e+05 1 1.64e-02 5.34e-02
I20260707 05:37:56.663549 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.663626 3605913 bundle_adjustment.cc:942]
Residuals : 11912
Parameters : 5843
Iterations : 4
Time : 0.0541041 [s]
Initial cost : 0.627875 [px]
Final cost : 0.62654 [px]
Termination : Convergence
I20260707 05:37:56.671362 3605913 incremental_mapper.cc:175] => Completed observations: 1
I20260707 05:37:56.672479 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.673056 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.673072 3605913 incremental_mapper.cc:119] => Changed observations: 0.000168
I20260707 05:37:56.673089 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:56.682416 3605913 misc.cc:198]
==============================================================================
Registering image #160 (31)
==============================================================================
I20260707 05:37:56.682467 3605913 incremental_mapper.cc:495] => Image sees 82 / 252 points
I20260707 05:37:56.686421 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.686482 3605913 bundle_adjustment.cc:942]
Residuals : 148
Parameters : 6
Iterations : 25
Time : 0.00244999 [s]
Initial cost : 0.808686 [px]
Final cost : 0.726287 [px]
Termination : Convergence
I20260707 05:37:56.686614 3605913 incremental_mapper.cc:40] => Continued observations: 71
I20260707 05:37:56.687032 3605913 incremental_mapper.cc:43] => Added observations: 91
I20260707 05:37:56.699743 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.699841 3605913 bundle_adjustment.cc:942]
Residuals : 1766
Parameters : 422
Iterations : 13
Time : 0.011719 [s]
Initial cost : 0.680958 [px]
Final cost : 0.612026 [px]
Termination : Convergence
I20260707 05:37:56.701468 3605913 incremental_mapper.cc:78] => Merged observations: 15
I20260707 05:37:56.701516 3605913 incremental_mapper.cc:79] => Completed observations: 6
I20260707 05:37:56.701521 3605913 incremental_mapper.cc:81] => Filtered observations: 24
I20260707 05:37:56.701524 3605913 incremental_mapper.cc:90] => Changed observations: 0.047071
I20260707 05:37:56.704593 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.704651 3605913 bundle_adjustment.cc:942]
Residuals : 1690
Parameters : 404
Iterations : 2
Time : 0.00209403 [s]
Initial cost : 0.739525 [px]
Final cost : 0.708888 [px]
Termination : Convergence
I20260707 05:37:56.705822 3605913 incremental_mapper.cc:78] => Merged observations: 12
I20260707 05:37:56.705862 3605913 incremental_mapper.cc:79] => Completed observations: 6
I20260707 05:37:56.705866 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.705868 3605913 incremental_mapper.cc:90] => Changed observations: 0.019190
I20260707 05:37:56.718953 3605913 misc.cc:198]
==============================================================================
Registering image #61 (32)
==============================================================================
I20260707 05:37:56.719043 3605913 incremental_mapper.cc:495] => Image sees 42 / 225 points
I20260707 05:37:56.721374 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.721434 3605913 bundle_adjustment.cc:942]
Residuals : 66
Parameters : 6
Iterations : 30
Time : 0.00105405 [s]
Initial cost : 0.704351 [px]
Final cost : 0.665459 [px]
Termination : Convergence
I20260707 05:37:56.721531 3605913 incremental_mapper.cc:40] => Continued observations: 33
I20260707 05:37:56.721843 3605913 incremental_mapper.cc:43] => Added observations: 97
I20260707 05:37:56.741812 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.741921 3605913 bundle_adjustment.cc:942]
Residuals : 2328
Parameters : 566
Iterations : 12
Time : 0.0179601 [s]
Initial cost : 0.656974 [px]
Final cost : 0.612101 [px]
Termination : Convergence
I20260707 05:37:56.743703 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.743746 3605913 incremental_mapper.cc:79] => Completed observations: 1
I20260707 05:37:56.743750 3605913 incremental_mapper.cc:81] => Filtered observations: 9
I20260707 05:37:56.743753 3605913 incremental_mapper.cc:90] => Changed observations: 0.006439
I20260707 05:37:56.748006 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.748049 3605913 bundle_adjustment.cc:942]
Residuals : 2312
Parameters : 557
Iterations : 2
Time : 0.00294495 [s]
Initial cost : 0.732507 [px]
Final cost : 0.727133 [px]
Termination : Convergence
I20260707 05:37:56.749183 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.749207 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.749210 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.749212 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.757171 3605913 misc.cc:198]
==============================================================================
Registering image #11 (33)
==============================================================================
I20260707 05:37:56.757216 3605913 incremental_mapper.cc:495] => Image sees 46 / 130 points
I20260707 05:37:56.760232 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.760378 3605913 bundle_adjustment.cc:942]
Residuals : 72
Parameters : 6
Iterations : 21
Time : 0.00154614 [s]
Initial cost : 0.801345 [px]
Final cost : 0.719008 [px]
Termination : Convergence
I20260707 05:37:56.760557 3605913 incremental_mapper.cc:40] => Continued observations: 36
I20260707 05:37:56.760743 3605913 incremental_mapper.cc:43] => Added observations: 18
I20260707 05:37:56.792464 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.792608 3605913 bundle_adjustment.cc:942]
Residuals : 1144
Parameters : 341
Iterations : 19
Time : 0.030369 [s]
Initial cost : 0.727874 [px]
Final cost : 0.638455 [px]
Termination : Convergence
I20260707 05:37:56.794920 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.795010 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.795019 3605913 incremental_mapper.cc:81] => Filtered observations: 19
I20260707 05:37:56.795024 3605913 incremental_mapper.cc:90] => Changed observations: 0.028744
I20260707 05:37:56.800347 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.800477 3605913 bundle_adjustment.cc:942]
Residuals : 1106
Parameters : 335
Iterations : 2
Time : 0.003757 [s]
Initial cost : 0.660279 [px]
Final cost : 0.642995 [px]
Termination : Convergence
I20260707 05:37:56.802582 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.802636 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.802642 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.802647 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.802702 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:56.804232 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:56.805625 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.805663 3605913 incremental_mapper.cc:105] => Retriangulated observations: 5
I20260707 05:37:56.805787 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.113362e+03 0.00e+00 3.70e+03 0.00e+00 0.00e+00 1.00e+04 0 9.38e-03 1.70e-02
1 5.014411e+03 9.90e+01 8.90e+01 0.00e+00 1.00e+00 3.00e+04 1 2.25e-02 3.96e-02
2 5.014338e+03 7.37e-02 1.99e+00 9.08e-02 1.01e+00 9.00e+04 1 1.26e-02 5.23e-02
3 5.014337e+03 8.05e-04 9.38e-01 1.10e-02 1.01e+00 2.70e+05 1 9.26e-03 6.16e-02
I20260707 05:37:56.874022 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.874063 3605913 bundle_adjustment.cc:942]
Residuals : 12538
Parameters : 6098
Iterations : 4
Time : 0.0618231 [s]
Initial cost : 0.638615 [px]
Final cost : 0.632401 [px]
Termination : Convergence
I20260707 05:37:56.877480 3605913 incremental_mapper.cc:175] => Completed observations: 3
I20260707 05:37:56.878257 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.878777 3605913 incremental_mapper.cc:160] => Filtered observations: 3
I20260707 05:37:56.878786 3605913 incremental_mapper.cc:119] => Changed observations: 0.000957
I20260707 05:37:56.878799 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.989746e+03 0.00e+00 1.02e+03 0.00e+00 0.00e+00 1.00e+04 0 7.86e-03 1.88e-02
1 4.967756e+03 2.20e+01 2.00e+01 0.00e+00 1.00e+00 3.00e+04 1 1.29e-02 3.17e-02
2 4.967743e+03 1.29e-02 1.28e+00 2.42e-02 1.03e+00 9.00e+04 1 9.40e-03 4.12e-02
3 4.967743e+03 6.66e-05 2.31e-01 1.67e-03 1.06e+00 2.70e+05 1 9.60e-03 5.08e-02
I20260707 05:37:56.937064 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.937144 3605913 bundle_adjustment.cc:942]
Residuals : 12538
Parameters : 6095
Iterations : 4
Time : 0.0514901 [s]
Initial cost : 0.630849 [px]
Final cost : 0.629456 [px]
Termination : Convergence
I20260707 05:37:56.943486 3605913 incremental_mapper.cc:175] => Completed observations: 2
I20260707 05:37:56.944639 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:56.945294 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:56.945315 3605913 incremental_mapper.cc:119] => Changed observations: 0.000319
I20260707 05:37:56.945330 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:56.955204 3605913 misc.cc:198]
==============================================================================
Registering image #4 (34)
==============================================================================
I20260707 05:37:56.955271 3605913 incremental_mapper.cc:495] => Image sees 33 / 99 points
I20260707 05:37:56.956213 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:56.956234 3605913 misc.cc:198]
==============================================================================
Registering image #54 (34)
==============================================================================
I20260707 05:37:56.956260 3605913 incremental_mapper.cc:495] => Image sees 44 / 152 points
I20260707 05:37:56.957468 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:56.957512 3605913 bundle_adjustment.cc:942]
Residuals : 82
Parameters : 6
Iterations : 7
Time : 0.000365973 [s]
Initial cost : 0.486596 [px]
Final cost : 0.48156 [px]
Termination : Convergence
I20260707 05:37:56.957587 3605913 incremental_mapper.cc:40] => Continued observations: 41
I20260707 05:37:56.957804 3605913 incremental_mapper.cc:43] => Added observations: 20
I20260707 05:37:56.963490 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.963558 3605913 bundle_adjustment.cc:942]
Residuals : 1016
Parameters : 293
Iterations : 8
Time : 0.0049541 [s]
Initial cost : 0.526549 [px]
Final cost : 0.493559 [px]
Termination : Convergence
I20260707 05:37:56.964277 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.964303 3605913 incremental_mapper.cc:79] => Completed observations: 2
I20260707 05:37:56.964305 3605913 incremental_mapper.cc:81] => Filtered observations: 3
I20260707 05:37:56.964308 3605913 incremental_mapper.cc:90] => Changed observations: 0.008591
I20260707 05:37:56.966332 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:56.966385 3605913 bundle_adjustment.cc:942]
Residuals : 1014
Parameters : 293
Iterations : 2
Time : 0.00147009 [s]
Initial cost : 0.605485 [px]
Final cost : 0.59737 [px]
Termination : Convergence
I20260707 05:37:56.967029 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:56.967048 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:56.967051 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:56.967053 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:56.976316 3605913 misc.cc:198]
==============================================================================
Registering image #94 (35)
==============================================================================
I20260707 05:37:56.976365 3605913 incremental_mapper.cc:495] => Image sees 34 / 207 points
I20260707 05:37:56.984117 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:56.984154 3605913 misc.cc:198]
==============================================================================
Registering image #112 (35)
==============================================================================
I20260707 05:37:56.984158 3605913 incremental_mapper.cc:495] => Image sees 79 / 403 points
I20260707 05:37:56.997854 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:56.997948 3605913 misc.cc:198]
==============================================================================
Registering image #127 (35)
==============================================================================
I20260707 05:37:56.997957 3605913 incremental_mapper.cc:495] => Image sees 75 / 436 points
I20260707 05:37:57.012065 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.012161 3605913 misc.cc:198]
==============================================================================
Registering image #118 (35)
==============================================================================
I20260707 05:37:57.012173 3605913 incremental_mapper.cc:495] => Image sees 71 / 311 points
I20260707 05:37:57.027621 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.027688 3605913 misc.cc:198]
==============================================================================
Registering image #135 (35)
==============================================================================
I20260707 05:37:57.027721 3605913 incremental_mapper.cc:495] => Image sees 70 / 350 points
I20260707 05:37:57.036972 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.037027 3605913 misc.cc:198]
==============================================================================
Registering image #122 (35)
==============================================================================
I20260707 05:37:57.037034 3605913 incremental_mapper.cc:495] => Image sees 55 / 305 points
I20260707 05:37:57.049557 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.049623 3605913 misc.cc:198]
==============================================================================
Registering image #107 (35)
==============================================================================
I20260707 05:37:57.049628 3605913 incremental_mapper.cc:495] => Image sees 59 / 325 points
I20260707 05:37:57.057227 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.057291 3605913 misc.cc:198]
==============================================================================
Registering image #87 (35)
==============================================================================
I20260707 05:37:57.057296 3605913 incremental_mapper.cc:495] => Image sees 48 / 237 points
I20260707 05:37:57.069918 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.069998 3605913 misc.cc:198]
==============================================================================
Registering image #63 (35)
==============================================================================
I20260707 05:37:57.070003 3605913 incremental_mapper.cc:495] => Image sees 48 / 300 points
I20260707 05:37:57.083637 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.083694 3605913 misc.cc:198]
==============================================================================
Registering image #4 (35)
==============================================================================
I20260707 05:37:57.083698 3605913 incremental_mapper.cc:495] => Image sees 34 / 99 points
I20260707 05:37:57.085007 3605913 misc.cc:205]
Pose refinement report
----------------------
I20260707 05:37:57.085029 3605913 bundle_adjustment.cc:942]
Residuals : 62
Parameters : 6
Iterations : 13
Time : 0.000447035 [s]
Initial cost : 0.80609 [px]
Final cost : 0.681036 [px]
Termination : Convergence
I20260707 05:37:57.085074 3605913 incremental_mapper.cc:40] => Continued observations: 31
I20260707 05:37:57.085204 3605913 incremental_mapper.cc:43] => Added observations: 23
I20260707 05:37:57.096483 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:57.096540 3605913 bundle_adjustment.cc:942]
Residuals : 1676
Parameters : 203
Iterations : 13
Time : 0.0103419 [s]
Initial cost : 0.598098 [px]
Final cost : 0.575792 [px]
Termination : Convergence
I20260707 05:37:57.097592 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:57.097617 3605913 incremental_mapper.cc:79] => Completed observations: 4
I20260707 05:37:57.097620 3605913 incremental_mapper.cc:81] => Filtered observations: 4
I20260707 05:37:57.097622 3605913 incremental_mapper.cc:90] => Changed observations: 0.008565
I20260707 05:37:57.100306 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:57.100347 3605913 bundle_adjustment.cc:942]
Residuals : 1676
Parameters : 200
Iterations : 2
Time : 0.0018189 [s]
Initial cost : 0.715507 [px]
Final cost : 0.711077 [px]
Termination : Convergence
I20260707 05:37:57.101305 3605913 incremental_mapper.cc:78] => Merged observations: 0
I20260707 05:37:57.101328 3605913 incremental_mapper.cc:79] => Completed observations: 0
I20260707 05:37:57.101332 3605913 incremental_mapper.cc:81] => Filtered observations: 0
I20260707 05:37:57.101334 3605913 incremental_mapper.cc:90] => Changed observations: 0.000000
I20260707 05:37:57.110388 3605913 misc.cc:198]
==============================================================================
Registering image #112 (36)
==============================================================================
I20260707 05:37:57.110435 3605913 incremental_mapper.cc:495] => Image sees 79 / 403 points
I20260707 05:37:57.120019 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.120085 3605913 misc.cc:198]
==============================================================================
Registering image #127 (36)
==============================================================================
I20260707 05:37:57.120088 3605913 incremental_mapper.cc:495] => Image sees 75 / 436 points
I20260707 05:37:57.129076 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.129141 3605913 misc.cc:198]
==============================================================================
Registering image #118 (36)
==============================================================================
I20260707 05:37:57.129146 3605913 incremental_mapper.cc:495] => Image sees 71 / 311 points
I20260707 05:37:57.138957 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.139024 3605913 misc.cc:198]
==============================================================================
Registering image #135 (36)
==============================================================================
I20260707 05:37:57.139029 3605913 incremental_mapper.cc:495] => Image sees 70 / 350 points
I20260707 05:37:57.147833 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.147873 3605913 misc.cc:198]
==============================================================================
Registering image #122 (36)
==============================================================================
I20260707 05:37:57.147877 3605913 incremental_mapper.cc:495] => Image sees 55 / 305 points
I20260707 05:37:57.155939 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.155977 3605913 misc.cc:198]
==============================================================================
Registering image #107 (36)
==============================================================================
I20260707 05:37:57.155982 3605913 incremental_mapper.cc:495] => Image sees 59 / 325 points
I20260707 05:37:57.165278 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.165357 3605913 misc.cc:198]
==============================================================================
Registering image #87 (36)
==============================================================================
I20260707 05:37:57.165364 3605913 incremental_mapper.cc:495] => Image sees 48 / 237 points
I20260707 05:37:57.175251 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.175343 3605913 misc.cc:198]
==============================================================================
Registering image #63 (36)
==============================================================================
I20260707 05:37:57.175349 3605913 incremental_mapper.cc:495] => Image sees 48 / 300 points
I20260707 05:37:57.185568 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.185688 3605913 misc.cc:198]
==============================================================================
Registering image #94 (36)
==============================================================================
I20260707 05:37:57.185701 3605913 incremental_mapper.cc:495] => Image sees 34 / 207 points
I20260707 05:37:57.193703 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.193792 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:57.196959 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:57.199328 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:57.199404 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:57.199518 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.048983e+03 0.00e+00 1.33e+03 0.00e+00 0.00e+00 1.00e+04 0 1.23e-02 2.40e-02
1 5.042893e+03 6.09e+00 2.45e+01 0.00e+00 9.98e-01 3.00e+04 1 2.17e-02 4.57e-02
2 5.042884e+03 9.44e-03 1.32e+00 2.11e-02 1.01e+00 9.00e+04 1 1.17e-02 5.75e-02
3 5.042884e+03 6.33e-05 1.28e-01 2.92e-03 1.01e+00 2.70e+05 1 8.67e-03 6.62e-02
I20260707 05:37:57.276190 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:57.276274 3605913 bundle_adjustment.cc:942]
Residuals : 12770
Parameters : 6155
Iterations : 4
Time : 0.0666769 [s]
Initial cost : 0.628791 [px]
Final cost : 0.628411 [px]
Termination : Convergence
I20260707 05:37:57.289057 3605913 incremental_mapper.cc:175] => Completed observations: 5
I20260707 05:37:57.292517 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:57.294746 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:57.294833 3605913 incremental_mapper.cc:119] => Changed observations: 0.000783
I20260707 05:37:57.294876 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.075958e+03 0.00e+00 1.68e+03 0.00e+00 0.00e+00 1.00e+04 0 7.03e-03 2.43e-02
1 5.059486e+03 1.65e+01 2.60e+01 0.00e+00 1.00e+00 3.00e+04 1 1.25e-02 3.68e-02
2 5.059480e+03 5.91e-03 1.24e+00 1.66e-02 1.01e+00 9.00e+04 1 1.34e-02 5.03e-02
3 5.059480e+03 1.16e-04 2.21e-01 4.08e-03 1.00e+00 2.70e+05 1 1.90e-02 6.94e-02
I20260707 05:37:57.378772 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:57.378860 3605913 bundle_adjustment.cc:942]
Residuals : 12780
Parameters : 6155
Iterations : 4
Time : 0.0701299 [s]
Initial cost : 0.630222 [px]
Final cost : 0.629198 [px]
Termination : Convergence
I20260707 05:37:57.385679 3605913 incremental_mapper.cc:175] => Completed observations: 2
I20260707 05:37:57.387035 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:57.387877 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:57.387910 3605913 incremental_mapper.cc:119] => Changed observations: 0.000313
I20260707 05:37:57.387928 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:57.387948 3605913 misc.cc:198]
==============================================================================
Registering image #94 (36)
==============================================================================
I20260707 05:37:57.387953 3605913 incremental_mapper.cc:495] => Image sees 34 / 207 points
I20260707 05:37:57.397430 3605913 incremental_mapper.cc:535] => Could not register, trying another image.
I20260707 05:37:57.397552 3605913 misc.cc:198]
==============================================================================
Retriangulation
==============================================================================
I20260707 05:37:57.400373 3605913 incremental_mapper.cc:175] => Completed observations: 0
I20260707 05:37:57.403015 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:57.403096 3605913 incremental_mapper.cc:105] => Retriangulated observations: 0
I20260707 05:37:57.403254 3605913 misc.cc:198]
==============================================================================
Global bundle adjustment
==============================================================================
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 5.065826e+03 0.00e+00 5.04e+02 0.00e+00 0.00e+00 1.00e+04 0 1.08e-02 3.30e-02
1 5.063840e+03 1.99e+00 1.83e+00 0.00e+00 1.00e+00 3.00e+04 1 1.88e-02 5.18e-02
2 5.063839e+03 2.67e-04 5.16e-01 3.30e-03 1.01e+00 9.00e+04 1 2.00e-02 7.18e-02
I20260707 05:37:57.487126 3605913 misc.cc:205]
Bundle adjustment report
------------------------
I20260707 05:37:57.487249 3605913 bundle_adjustment.cc:942]
Residuals : 12784
Parameters : 6155
Iterations : 3
Time : 0.072746 [s]
Initial cost : 0.629494 [px]
Final cost : 0.629371 [px]
Termination : Convergence
I20260707 05:37:57.494639 3605913 incremental_mapper.cc:175] => Completed observations: 2
I20260707 05:37:57.495851 3605913 incremental_mapper.cc:178] => Merged observations: 0
I20260707 05:37:57.496647 3605913 incremental_mapper.cc:160] => Filtered observations: 0
I20260707 05:37:57.496675 3605913 incremental_mapper.cc:119] => Changed observations: 0.000313
I20260707 05:37:57.496692 3605913 incremental_mapper.cc:167] => Filtered images: 0
I20260707 05:37:57.512255 3605913 misc.cc:198]
==============================================================================
Finding good initial image pair
==============================================================================
I20260707 05:37:57.520726 3605913 incremental_mapper.cc:404] => No good initial image pair found.
I20260707 05:37:57.521286 3605913 timer.cc:91] Elapsed time: 0.051 [minutes]